+ python -m lidar_slam --result /working/result.json --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.16 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters Centerline goodness : 0.460768 with order 2 Centerline is valid? [0, False] SLAMing on 0.085769231 meters Centerline goodness : 0.459459 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99997957e-01 2.01550069e-03 1.52369163e-04 6.26616073e-03] [-2.01577361e-03 9.99996325e-01 1.81280059e-03 -9.79722900e-03] [-1.48714903e-04 -1.81310403e-03 9.99998345e-01 -3.45842563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters Centerline goodness : 0.453113 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99987401e-01 5.01984010e-03 -2.38115725e-06 1.32730678e-02] [-5.01980336e-03 9.99981684e-01 3.38136808e-03 -1.30460451e-02] [ 1.93550407e-05 -3.38131352e-03 9.99994283e-01 -7.12920887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205769231 meters Centerline goodness : 0.447699 with order 3 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99984347 0.01594373 0.00767072 0.04000622] [-0.01596826 0.99986755 0.00314673 -0.01797507] [-0.00761953 -0.00326872 0.99996563 -0.01796859] [ 0. 0. 0. 1. ]] SLAMing on 0.265769231 meters Centerline goodness : 0.474083 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 0.99959845 0.02782144 0.00537642 0.07201015] [-0.02785269 0.99959504 0.00582922 -0.02183429] [-0.00521206 -0.00597662 0.99996856 -0.02000665] [ 0. 0. 0. 1. ]] SLAMing on 0.325769231 meters Centerline goodness : 0.073939 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.03 [[ 0.99954385 0.02988627 0.00434723 0.08725646] [-0.02991243 0.99953402 0.00608256 -0.01910373] [-0.00416342 -0.00620982 0.99997205 -0.02954316] [ 0. 0. 0. 1. ]] SLAMing on 0.385769231 meters Centerline goodness : 0.445890 with order 2 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.03 [[ 0.99949234 0.03153619 0.00453113 0.09316115] [-0.03156608 0.99947932 0.00668362 -0.01572357] [-0.00431799 -0.00682326 0.9999674 -0.03314116] [ 0. 0. 0. 1. ]] SLAMing on 0.445769231 meters Centerline goodness : 0.439547 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.04 [[ 0.99944897 0.03292918 0.00417492 0.10169645] [-0.03295702 0.99943375 0.00678387 -0.00832121] [-0.00394917 -0.00691772 0.99996827 -0.03764613] [ 0. 0. 0. 1. ]] SLAMing on 0.5057692309999999 meters Centerline goodness : 0.379120 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:-0.04 [[ 9.99574854e-01 2.91539710e-02 3.96424229e-04 1.32378729e-01] [-2.91560398e-02 9.99550105e-01 7.03652664e-03 3.78435410e-03] [-1.91103187e-04 -7.04509325e-03 9.99975165e-01 -4.00576912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565769231 meters Centerline goodness : 0.491110 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.04 [[ 9.99593052e-01 2.85249754e-02 2.36798339e-04 1.36537200e-01] [-2.85259107e-02 9.99572103e-01 6.47172893e-03 7.78413138e-03] [-5.20911055e-05 -6.47585016e-03 9.99979030e-01 -4.14552191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6257692309999999 meters Centerline goodness : 0.074871 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.05 [[ 0.99972128 0.02305452 0.00508518 0.18683042] [-0.02306735 0.99973084 0.00247857 0.01125162] [-0.00502667 -0.00259518 0.999984 -0.04948084] [ 0. 0. 0. 1. ]] SLAMing on 0.6857692309999999 meters SLAMing on 0.7457692309999999 meters Centerline goodness : 0.381368 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.01, Z:-0.06 [[ 0.99989378 0.0130388 0.0065131 0.26367431] [-0.01305653 0.99991115 0.00268715 0.00607644] [-0.00647748 -0.00277191 0.99997518 -0.0568264 ] [ 0. 0. 0. 1. ]] SLAMing on 0.805769231 meters Centerline goodness : 0.397984 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.01, Z:-0.06 [[ 9.99937961e-01 9.12273779e-03 6.39134046e-03 2.69017500e-01] [-9.11624598e-03 9.99957901e-01 -1.04411794e-03 5.35902268e-03] [-6.40059661e-03 9.85788128e-04 9.99979030e-01 -5.85302357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8657692309999999 meters Centerline goodness : 0.073476 with order 2 Centerline is valid? [False, False] Translation: X:0.27, Y:0.00, Z:-0.06 [[ 9.99936949e-01 9.20869239e-03 6.42628637e-03 2.72090020e-01] [-9.20404239e-03 9.99957359e-01 -7.52789752e-04 3.92735648e-03] [-6.43294455e-03 6.93594476e-04 9.99979068e-01 -5.90204583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9257692309999999 meters Centerline goodness : 0.341678 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.00, Z:-0.06 [[ 9.99934086e-01 9.49899067e-03 6.44920677e-03 2.76103295e-01] [-9.49649658e-03 9.99954820e-01 -4.17241340e-04 2.16396998e-03] [-6.45287876e-03 3.55968968e-04 9.99979117e-01 -6.04590083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9857692309999999 meters SLAMing on 1.045769231 meters Centerline goodness : 0.245048 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.00, Z:-0.06 [[ 9.99827865e-01 1.60320032e-02 9.33886291e-03 3.50488502e-01] [-1.60221149e-02 9.99870996e-01 -1.13269229e-03 -1.94234571e-03] [-9.35581749e-03 9.82868979e-04 9.99955750e-01 -6.29398056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.105769231 meters Centerline goodness : 0.073418 with order 2 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.06 [[ 9.99900933e-01 1.30376713e-02 5.30500930e-03 3.78776446e-01] [-1.30378642e-02 9.99915003e-01 1.78207089e-06 -3.62811779e-03] [-5.30453516e-03 -7.09478854e-05 9.99985928e-01 -6.18784888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1657692309999999 meters Centerline goodness : 0.074424 with order 2 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.00, Z:-0.06 [[ 9.99898851e-01 1.31748619e-02 5.35821140e-03 3.82395893e-01] [-1.31749880e-02 9.99913206e-01 -1.17746145e-05 -3.16470677e-03] [-5.35790147e-03 -5.88209472e-05 9.99985645e-01 -6.27280335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.225769231 meters Centerline goodness : 0.057083 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:-0.06 [[ 9.99962685e-01 8.60299629e-03 7.85318886e-04 4.16212536e-01] [-8.60409208e-03 9.99962000e-01 1.40280350e-03 -3.29941835e-03] [-7.73220731e-04 -1.40950811e-03 9.99998708e-01 -6.41409780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters Centerline goodness : 0.207930 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.00, Z:-0.07 [[ 9.99987986e-01 4.89321274e-03 2.89423876e-04 4.26603961e-01] [-4.89268262e-03 9.99986402e-01 -1.80484365e-03 -1.87967271e-03] [-2.98251424e-04 1.80340591e-03 9.99998329e-01 -6.86272813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3457692309999998 meters Centerline goodness : 0.388096 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.08 [[ 0.99998411 0.00213403 0.00521775 0.47787696] [-0.00211723 0.99999257 -0.0032222 -0.00471404] [-0.00522458 0.0032111 0.9999812 -0.07781047] [ 0. 0. 0. 1. ]] SLAMing on 1.4057692309999998 meters Centerline goodness : 0.054281 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.01, Z:-0.08 [[ 0.99999122 0.00143014 0.00393908 0.49085696] [-0.00141822 0.99999441 -0.00302667 -0.00648293] [-0.00394339 0.00302106 0.99998766 -0.08459745] [ 0. 0. 0. 1. ]] SLAMing on 1.465769231 meters Centerline goodness : 0.132513 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.09 [[ 9.99994635e-01 -1.65461296e-04 3.27139228e-03 5.02493906e-01] [ 1.76140796e-04 9.99994656e-01 -3.26449339e-03 -1.28496136e-02] [-3.27083465e-03 3.26505210e-03 9.99989320e-01 -8.98374046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.525769231 meters Centerline goodness : 0.136441 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.09 [[ 0.99996015 -0.00886786 -0.0010264 0.53548265] [ 0.00886359 0.99995233 -0.00409647 -0.01954001] [ 0.00106268 0.0040872 0.99999108 -0.0895678 ] [ 0. 0. 0. 1. ]] SLAMing on 1.585769231 meters Centerline goodness : 0.052596 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:-0.10 [[ 0.99990132 -0.01333249 0.00442674 0.58341778] [ 0.01335749 0.99989473 -0.00566586 -0.03178225] [-0.00435073 0.00572443 0.99997415 -0.09646749] [ 0. 0. 0. 1. ]] SLAMing on 1.6457692309999998 meters Centerline goodness : 0.220741 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.10 [[ 0.99990683 -0.0132397 0.00332256 0.59691279] [ 0.01325408 0.99990272 -0.00434439 -0.04441514] [-0.00326472 0.00438802 0.99998504 -0.10181815] [ 0. 0. 0. 1. ]] SLAMing on 1.7057692309999999 meters SLAMing on 1.765769231 meters SLAMing on 1.8257692309999998 meters SLAMing on 1.8857692309999998 meters SLAMing on 1.9457692309999999 meters SLAMing on 2.005769231 meters Centerline goodness : 0.160953 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.11 [[ 0.99982581 0.01788184 0.00534614 0.83479335] [-0.01786603 0.99983592 -0.00298918 -0.06822998] [-0.00539872 0.00289314 0.99998124 -0.11319477] [ 0. 0. 0. 1. ]] SLAMing on 2.065769231 meters Centerline goodness : 0.158196 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.12 [[ 9.99738676e-01 2.02058476e-02 1.06913246e-02 8.84137986e-01] [-2.01975248e-02 9.99795617e-01 -8.85872700e-04 -6.96234316e-02] [-1.07070392e-02 6.69702907e-04 9.99942454e-01 -1.21092574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.125769231 meters Centerline goodness : 0.164115 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:-0.12 [[ 0.99985568 0.01558224 0.00676887 0.91535897] [-0.01559148 0.99987758 0.00131357 -0.07269699] [-0.00674758 -0.00141892 0.99997623 -0.11993837] [ 0. 0. 0. 1. ]] SLAMing on 2.185769231 meters Centerline goodness : 0.169314 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:-0.12 [[ 9.99962177e-01 8.29519057e-03 2.61414656e-03 9.43018598e-01] [-8.29269231e-03 9.99965149e-01 -9.65062930e-04 -7.27353192e-02] [-2.62206083e-03 9.43348115e-04 9.99996117e-01 -1.20438434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2457692309999997 meters Centerline goodness : 0.101811 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:-0.12 [[ 9.99998896e-01 -1.39912575e-03 -4.99730692e-04 9.71833065e-01] [ 1.39810311e-03 9.99996940e-01 -2.04090255e-03 -7.85885427e-02] [ 5.02584642e-04 2.04020162e-03 9.99997792e-01 -1.17085928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3057692309999998 meters Centerline goodness : 0.137957 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.09, Z:-0.12 [[ 0.99997598 -0.00660574 -0.00209749 0.98878609] [ 0.00659447 0.99996402 -0.00533663 -0.08680486] [ 0.00213266 0.00532267 0.99998356 -0.12443769] [ 0. 0. 0. 1. ]] SLAMing on 2.365769231 meters Centerline goodness : 0.128042 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.09, Z:-0.13 [[ 0.99996618 -0.00752608 -0.00331549 1.00075069] [ 0.00750876 0.99995825 -0.00520721 -0.09198571] [ 0.00335454 0.00518214 0.99998095 -0.13034464] [ 0. 0. 0. 1. ]] SLAMing on 2.425769231 meters Centerline goodness : 0.128504 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:-0.13 [[ 0.99996974 -0.00708064 -0.00322315 1.00569172] [ 0.00706666 0.99996567 -0.00432779 -0.09820413] [ 0.00325369 0.00430489 0.99998544 -0.13030298] [ 0. 0. 0. 1. ]] SLAMing on 2.485769231 meters Centerline goodness : 0.099501 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.10, Z:-0.14 [[ 0.9999701 -0.00652551 -0.00415039 1.01860776] [ 0.00651053 0.99997227 -0.00361422 -0.10342877] [ 0.00417386 0.00358709 0.99998486 -0.13582202] [ 0. 0. 0. 1. ]] SLAMing on 2.545769231 meters Centerline goodness : 0.117400 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.14 [[ 0.9999592 -0.00715697 -0.00551057 1.03243109] [ 0.00713956 0.99996948 -0.00317211 -0.11018328] [ 0.0055331 0.00313263 0.99997979 -0.14173631] [ 0. 0. 0. 1. ]] SLAMing on 2.605769231 meters Centerline goodness : 0.138025 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.15 [[ 0.99994693 -0.007648 -0.00690244 1.04560203] [ 0.0076304 0.99996758 -0.00257194 -0.11887816] [ 0.00692189 0.00251914 0.99997287 -0.14674075] [ 0. 0. 0. 1. ]] SLAMing on 2.6657692309999996 meters Centerline goodness : 0.084937 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.15 [[ 0.99994824 -0.0071493 -0.00723923 1.05111444] [ 0.0071381 0.99997329 -0.0015724 -0.12516625] [ 0.00725028 0.00152065 0.99997256 -0.1480439 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7257692309999997 meters Centerline goodness : 0.087028 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.15 [[ 9.99946089e-01 -6.74121351e-03 -7.89779142e-03 1.05552285e+00] [ 6.73373088e-03 9.99976854e-01 -9.73641442e-04 -1.29544860e-01] [ 7.90417215e-03 9.20407350e-04 9.99968338e-01 -1.48652421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7857692309999997 meters Centerline goodness : 0.155079 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.16 [[ 9.99938528e-01 -6.24867908e-03 -9.15940583e-03 1.06800194e+00] [ 6.24606278e-03 9.99980444e-01 -3.14218533e-04 -1.33778247e-01] [ 9.16119016e-03 2.56988993e-04 9.99958002e-01 -1.55454817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845769231 meters Centerline goodness : 0.086651 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.14, Z:-0.16 [[ 9.99935299e-01 -6.21411082e-03 -9.52800481e-03 1.07354719e+00] [ 6.22023889e-03 9.99980466e-01 6.13665157e-04 -1.41861123e-01] [ 9.52400530e-03 -6.72891918e-04 9.99954419e-01 -1.56204424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.905769231 meters Centerline goodness : 0.084603 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.16 [[ 9.99976493e-01 -6.69287853e-03 -1.48948915e-03 1.10548569e+00] [ 6.69314772e-03 9.99977585e-01 1.75808977e-04 -1.46617482e-01] [ 1.48827909e-03 -1.85774215e-04 9.99998875e-01 -1.55816224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.965769231 meters Centerline goodness : 0.086634 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.15 [[ 9.99986267e-01 -4.80424297e-04 -5.21877824e-03 1.12956125e+00] [ 4.75021177e-04 9.99999350e-01 -1.03651309e-03 -1.50776706e-01] [ 5.21927281e-03 1.03401982e-03 9.99985845e-01 -1.48994533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.025769231 meters Centerline goodness : 0.086297 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.15 [[ 0.9999711 0.00537087 -0.00538102 1.13296929] [-0.00535143 0.99997913 0.00361959 -0.15114122] [ 0.00540034 -0.00359069 0.99997897 -0.14871573] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters Centerline goodness : 0.086853 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:-0.15 [[ 0.9999501 0.00772678 -0.00633221 1.14093669] [-0.00769557 0.9999582 0.00493772 -0.14943573] [ 0.0063701 -0.00488875 0.99996776 -0.15217848] [ 0. 0. 0. 1. ]] SLAMing on 3.145769231 meters Centerline goodness : 0.105930 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:-0.15 [[ 0.99994304 0.00819636 -0.00683572 1.14491444] [-0.00816441 0.99995567 0.00468999 -0.14629017] [ 0.00687385 -0.00463391 0.99996564 -0.15205067] [ 0. 0. 0. 1. ]] SLAMing on 3.2057692309999997 meters Centerline goodness : 0.087325 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:-0.15 [[ 0.99993826 0.00811575 -0.00759079 1.15008254] [-0.00808236 0.99995757 0.00441966 -0.14455862] [ 0.00762633 -0.00435803 0.99996142 -0.15333273] [ 0. 0. 0. 1. ]] SLAMing on 3.2657692309999997 meters Centerline goodness : 0.089553 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:-0.15 [[ 0.99993008 0.00857298 -0.00814444 1.15373081] [-0.00854145 0.99995592 0.00389799 -0.13923544] [ 0.0081775 -0.00382816 0.99995924 -0.1535904 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3257692309999998 meters Centerline goodness : 0.090365 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.14, Z:-0.15 [[ 0.99992565 0.00847604 -0.00876698 1.15777793] [-0.00844369 0.99995743 0.00372094 -0.13858058] [ 0.00879814 -0.00364664 0.99995465 -0.15376709] [ 0. 0. 0. 1. ]] SLAMing on 3.385769231 meters Centerline goodness : 0.092891 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.14, Z:-0.15 [[ 0.99992488 0.00781573 -0.00944187 1.16220193] [-0.00777867 0.99996192 0.00395509 -0.1421317 ] [ 0.00947242 -0.00388134 0.9999476 -0.1545898 ] [ 0. 0. 0. 1. ]] SLAMing on 3.445769231 meters Centerline goodness : 0.092240 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.15 [[ 9.99974606e-01 7.04286069e-03 -1.08918265e-03 1.19068081e+00] [-7.03986636e-03 9.99971496e-01 2.72897707e-03 -1.42445777e-01] [ 1.10837141e-03 -2.72124007e-03 9.99995683e-01 -1.52829025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.505769231 meters Centerline goodness : 0.091903 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.15 [[ 0.99997345 0.00706245 -0.00179695 1.19522465] [-0.00705777 0.99997172 0.00259597 -0.14148009] [ 0.00181523 -0.00258322 0.99999502 -0.15431191] [ 0. 0. 0. 1. ]] SLAMing on 3.565769231 meters Centerline goodness : 0.094375 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.16 [[ 0.99997015 0.00735348 -0.00237365 1.19897097] [-0.00734774 0.99997008 0.00242012 -0.13983499] [ 0.00239137 -0.00240261 0.99999425 -0.15564922] [ 0. 0. 0. 1. ]] SLAMing on 3.6257692309999996 meters Centerline goodness : 0.111358 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.16 [[ 0.99996489 0.00789829 -0.00280078 1.20177332] [-0.00789212 0.99996642 0.00220888 -0.1365463 ] [ 0.00281813 -0.0021867 0.99999364 -0.15601026] [ 0. 0. 0. 1. ]] SLAMing on 3.6857692309999996 meters Centerline goodness : 0.109398 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:-0.15 [[ 0.99996003 0.0083226 -0.00326791 1.20403913] [-0.00831625 0.99996352 0.00195119 -0.13369453] [ 0.00328403 -0.00192394 0.99999276 -0.15484256] [ 0. 0. 0. 1. ]] SLAMing on 3.7457692309999997 meters Centerline goodness : 0.109814 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.13, Z:-0.16 [[ 0.99995595 0.00865626 -0.00362986 1.20637898] [-0.00865089 0.99996147 0.00149275 -0.12933666] [ 0.00364264 -0.00146128 0.9999923 -0.15595628] [ 0. 0. 0. 1. ]] SLAMing on 3.8057692309999998 meters Centerline goodness : 0.113221 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.13, Z:-0.16 [[ 0.99994159 0.0099443 -0.00423472 1.20980868] [-0.00993823 0.99994956 0.00145215 -0.12500241] [ 0.00424895 -0.00140998 0.99998998 -0.15642581] [ 0. 0. 0. 1. ]] SLAMing on 3.865769231 meters Centerline goodness : 0.108392 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.15 [[ 0.99995129 0.00628726 -0.00760856 1.23556937] [-0.00625149 0.99996934 0.00471664 -0.12105527] [ 0.00763799 -0.00466885 0.99995993 -0.15426951] [ 0. 0. 0. 1. ]] SLAMing on 3.925769231 meters Centerline goodness : 0.116826 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:-0.16 [[ 9.99998932e-01 -1.49042515e-04 -1.45421425e-03 1.25741572e+00] [ 1.60853451e-04 9.99966978e-01 8.12513425e-03 -1.24638222e-01] [ 1.45295524e-03 -8.12535948e-03 9.99965933e-01 -1.60699148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.985769231 meters Centerline goodness : 0.112614 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.13, Z:-0.16 [[ 0.99999043 -0.00292886 -0.00325082 1.33867069] [ 0.00294497 0.99998335 0.00496173 -0.1262763 ] [ 0.00323623 -0.00497126 0.99998241 -0.15667347] [ 0. 0. 0. 1. ]] SLAMing on 4.0457692309999995 meters Centerline goodness : 0.097522 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.12, Z:-0.16 [[ 9.99993527e-01 -3.39049939e-03 1.20415126e-03 1.32086102e+00] [ 3.39307600e-03 9.99991945e-01 -2.14421678e-03 -1.23830048e-01] [-1.19687159e-03 2.14828868e-03 9.99996976e-01 -1.62413841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105769231 meters Centerline goodness : 0.108082 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.12, Z:-0.17 [[ 0.99997881 -0.00377776 0.0053011 1.27886135] [ 0.00379207 0.99998919 -0.00269111 -0.12265803] [-0.00529088 0.00271116 0.99998233 -0.16759025] [ 0. 0. 0. 1. ]] SLAMing on 4.165769231 meters Centerline goodness : 0.105115 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.12, Z:-0.17 [[ 9.99989807e-01 7.43081930e-04 4.45359276e-03 1.28251970e+00] [-7.47770354e-04 9.99999168e-01 1.05115580e-03 -1.20080540e-01] [-4.45280796e-03 -1.05447535e-03 9.99989530e-01 -1.67282740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225769231 meters Centerline goodness : 0.106420 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:-0.17 [[ 9.99932554e-01 2.31415210e-04 1.16117870e-02 1.26162681e+00] [-1.76098022e-04 9.99988633e-01 -4.76467877e-03 -1.17174639e-01] [-1.16127576e-02 4.76231260e-03 9.99921229e-01 -1.70585784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285769231 meters Centerline goodness : 0.104392 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.11, Z:-0.17 [[ 0.99986414 -0.00333714 0.01614203 1.17436856] [ 0.00347003 0.99996027 -0.00821133 -0.11321314] [-0.01611398 0.00826622 0.99983599 -0.1715929 ] [ 0. 0. 0. 1. ]] SLAMing on 4.345769231 meters Centerline goodness : 0.102649 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:-0.18 [[ 9.99878300e-01 -8.24159698e-04 1.55790135e-02 1.16169712e+00] [ 1.08310184e-03 9.99861290e-01 -1.66200927e-02 -1.06443022e-01] [-1.55631550e-02 1.66349437e-02 9.99740500e-01 -1.78251388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405769231 meters Centerline goodness : 0.100906 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.18 [[ 0.9997128 -0.00204059 0.02387789 1.06446094] [ 0.00256251 0.99975803 -0.02184775 -0.09700518] [-0.02382753 0.02190266 0.99947612 -0.17964277] [ 0. 0. 0. 1. ]] SLAMing on 4.4657692309999995 meters Centerline goodness : 0.102156 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.18 [[ 9.99635263e-01 -3.03025212e-04 2.70046205e-02 9.55800467e-01] [ 1.09246524e-03 9.99572304e-01 -2.92235606e-02 -8.99125756e-02] [-2.69842152e-02 2.92424033e-02 9.99208053e-01 -1.76666745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525769231 meters Centerline goodness : 0.098524 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:-0.17 [[ 9.99711483e-01 -3.74741516e-04 2.40168786e-02 9.36016802e-01] [ 1.36012040e-03 9.99157178e-01 -4.10254109e-02 -8.12620478e-02] [-2.39812627e-02 4.10462402e-02 9.98869413e-01 -1.74123872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.585769231 meters Centerline goodness : 0.097004 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:-0.17 [[ 9.99646563e-01 9.17029193e-04 2.65689372e-02 9.08142815e-01] [ 9.32504791e-04 9.97580350e-01 -6.95167255e-02 -6.87101403e-02] [-2.65683985e-02 6.95169314e-02 9.97226913e-01 -1.71979608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.645769231 meters Centerline goodness : 0.105106 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:-0.17 [[ 9.99777712e-01 2.30881812e-03 2.09570102e-02 9.12993559e-01] [-4.52513491e-04 9.96106872e-01 -8.81526837e-02 -5.88618426e-02] [-2.10789504e-02 8.81236051e-02 9.95886494e-01 -1.70908639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705769231 meters Centerline goodness : 0.090957 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:-0.17 [[ 0.99975648 -0.00153527 0.02201438 0.9147892 ] [ 0.0030883 0.99749377 -0.07068696 -0.0651142 ] [-0.02185069 0.07073773 0.99725559 -0.17240734] [ 0. 0. 0. 1. ]] SLAMing on 4.765769231 meters Centerline goodness : 0.093273 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:-0.17 [[ 0.99975733 -0.00171883 0.02196202 0.91513761] [ 0.00327772 0.99746068 -0.07114384 -0.06297387] [-0.02178397 0.07119856 0.99722426 -0.172606 ] [ 0. 0. 0. 1. ]] SLAMing on 4.825769231 meters Centerline goodness : 0.088106 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.17 [[ 9.99857544e-01 1.16823181e-03 1.68382444e-02 9.54513900e-01] [ 2.90588000e-04 9.96262608e-01 -8.63755294e-02 -5.66912229e-02] [-1.68762200e-02 8.63681177e-02 9.96120345e-01 -1.66584651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885769230999999 meters Centerline goodness : 0.988463 with order 1 Centerline is valid? [False, True] Translation: X:0.95, Y:-0.07, Z:-0.16 [[ 0.9999314 -0.00381551 0.01107429 0.94753034] [ 0.00441461 0.99849919 -0.05458822 -0.07206189] [-0.01084939 0.05463336 0.99844754 -0.1622781 ] [ 0. 0. 0. 1. ]] SLAMing on 4.945769231 meters Centerline goodness : 0.988842 with order 1 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.10, Z:-0.16 [[ 9.99889384e-01 -1.04326176e-02 1.06009189e-02 1.00892970e+00] [ 1.04321984e-02 9.99945579e-01 9.48438381e-05 -1.00084335e-01] [-1.06013315e-02 1.57575426e-05 9.99943804e-01 -1.64957497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0057692309999995 meters Centerline goodness : 0.990596 with order 1 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.10, Z:-0.16 [[ 9.99870320e-01 -1.21228879e-02 1.06009221e-02 1.07038194e+00] [ 1.21225674e-02 9.99926515e-01 9.44916184e-05 -1.01052017e-01] [-1.06012886e-02 3.40310274e-05 9.99943804e-01 -1.64324745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters Centerline goodness : 0.994670 with order 1 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.10, Z:-0.16 [[ 9.99831429e-01 -1.49911501e-02 1.06009252e-02 1.13248827e+00] [ 1.49909945e-02 9.99887624e-01 9.41432078e-05 -1.02560688e-01] [-1.06011452e-02 6.47910735e-05 9.99943804e-01 -1.60548231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.125769231 meters Centerline goodness : 0.996843 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.11, Z:-0.16 [[ 9.99762830e-01 -1.90237665e-02 1.06009294e-02 1.19505074e+00] [ 1.90238427e-02 9.99819026e-01 9.36616311e-05 -1.09739337e-01] [-1.06007927e-02 1.08030997e-04 9.99943804e-01 -1.62271650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters Centerline goodness : 0.995817 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.12, Z:-0.16 [[ 9.99737235e-01 -2.03243881e-02 1.06009337e-02 1.25649327e+00] [ 2.03245425e-02 9.99793431e-01 9.31807602e-05 -1.16557676e-01] [-1.06006377e-02 1.22302851e-04 9.99943804e-01 -1.64600679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.12, Z:-0.16 [[ 9.99788403e-01 -1.76286519e-02 1.06009368e-02 1.31762457e+00] [ 1.76286585e-02 9.99844599e-01 9.28239886e-05 -1.21203410e-01] [-1.06009257e-02 9.40759473e-05 9.99943804e-01 -1.60813067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769230999999 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.12, Z:-0.16 [[ 9.99893894e-01 -9.99106374e-03 1.06009389e-02 1.37904080e+00] [ 9.99064365e-03 9.99950088e-01 9.25847487e-05 -1.21667314e-01] [-1.06013348e-02 1.33352777e-05 9.99943804e-01 -1.56751110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.12, Z:-0.16 [[ 9.99926564e-01 -5.87250539e-03 1.06009410e-02 1.44145134e+00] [ 5.87185638e-03 9.99982756e-01 9.23451594e-05 -1.19653426e-01] [-1.06013005e-02 -3.00911752e-05 9.99943804e-01 -1.59916597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769230999999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.12, Z:-0.17 [[ 9.99943743e-01 -3.60859704e-04 1.06009451e-02 1.50347111e+00] [ 3.59906061e-04 9.99999931e-01 9.18659169e-05 -1.15995222e-01] [-1.06009775e-02 -8.80454044e-05 9.99943804e-01 -1.65640475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.11, Z:-0.16 [[ 9.99918945e-01 7.05145544e-03 1.06009492e-02 1.56531744e+00] [-7.05282052e-03 9.99975124e-01 9.13902440e-05 -1.07136937e-01] [-1.06000411e-02 -1.66149429e-04 9.99943804e-01 -1.60045299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5457692309999995 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:-0.16 [[ 9.99841581e-01 1.42980202e-02 1.06009534e-02 1.62688987e+00] [-1.42997873e-02 9.99897749e-01 9.09020522e-05 -9.83889880e-02] [-1.05985697e-02 -2.42479030e-04 9.99943804e-01 -1.59198057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.09, Z:-0.16 [[ 9.99806900e-01 1.65463990e-02 1.06009586e-02 1.68901691e+00] [-1.65482859e-02 9.99863064e-01 9.02965751e-05 -8.94730885e-02] [-1.05980128e-02 -2.65706832e-04 9.99943804e-01 -1.64325822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.665769231 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.09, Z:-0.17 [[ 9.99793142e-01 1.73577951e-02 1.06009725e-02 1.75179245e+00] [-1.73597099e-02 9.99849305e-01 8.86298908e-05 -8.54704637e-02] [-1.05978366e-02 -2.72641364e-04 9.99943804e-01 -1.66108904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.08, Z:-0.16 [[ 9.99799629e-01 1.69800317e-02 1.06009880e-02 1.81250417e+00] [-1.69819053e-02 9.99855793e-01 8.67375346e-05 -7.61161158e-02] [-1.05979864e-02 -2.66745129e-04 9.99943804e-01 -1.62800046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.07, Z:-0.16 [[ 9.99832083e-01 1.49473941e-02 1.06009953e-02 1.87499308e+00] [-1.49491439e-02 9.99888252e-01 8.58357522e-05 -6.93761952e-02] [-1.05985276e-02 -2.44297143e-04 9.99943804e-01 -1.64800473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769230999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.07, Z:-0.17 [[ 9.99866630e-01 1.24233701e-02 1.06010100e-02 1.93697477e+00] [-1.24249584e-02 9.99922804e-01 8.39769530e-05 -6.57232335e-02] [-1.05991484e-02 -2.15682861e-04 9.99943804e-01 -1.70658708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.06, Z:-0.17 [[ 9.99922790e-01 6.48331202e-03 1.06010225e-02 1.99942986e+00] [-6.48454949e-03 9.99978972e-01 8.23628812e-05 -6.18575703e-02] [-1.06002656e-02 -1.51099377e-04 9.99943804e-01 -1.73398607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9657692309999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.06, Z:-0.17 [[ 9.99929020e-01 5.43806409e-03 1.06010365e-02 2.06282980e+00] [-5.43922333e-03 9.99985204e-01 8.05231255e-05 -5.95931385e-02] [-1.06004418e-02 -1.38178815e-04 9.99943804e-01 -1.74355457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.05, Z:-0.17 [[ 9.99920772e-01 6.78730746e-03 1.06010508e-02 2.12500286e+00] [-6.78852202e-03 9.99976955e-01 7.85895576e-05 -5.48916079e-02] [-1.06002731e-02 -1.50548798e-04 9.99943804e-01 -1.69556524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085769231 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.05, Z:-0.17 [[ 9.99907385e-01 8.53454256e-03 1.06010639e-02 2.18764049e+00] [-8.53583625e-03 9.99963566e-01 7.67936947e-05 -4.91855907e-02] [-1.06000222e-02 -1.67275528e-04 9.99943804e-01 -1.72643038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.04, Z:-0.17 [[ 9.99925709e-01 6.01608567e-03 1.06010785e-02 2.24919065e+00] [-6.01721576e-03 9.99981894e-01 7.47089467e-05 -4.47907581e-02] [-1.06004371e-02 -1.38492373e-04 9.99943804e-01 -1.70886197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.04, Z:-0.17 [[ 9.99937180e-01 3.64058447e-03 1.06010918e-02 2.31069727e+00] [-3.64156060e-03 9.99993367e-01 7.27771727e-05 -4.04493652e-02] [-1.06007565e-02 -1.11377119e-04 9.99943804e-01 -1.72606261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.04, Z:-0.17 [[ 9.99936952e-01 3.70259476e-03 1.06011003e-02 2.37405551e+00] [-3.70356103e-03 9.99993139e-01 7.15176060e-05 -3.56399954e-02] [-1.06007628e-02 -1.10774919e-04 9.99943804e-01 -1.69666702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.03, Z:-0.17 [[ 9.99899716e-01 9.39007034e-03 1.06011135e-02 2.43666210e+00] [-9.39133481e-03 9.99955898e-01 6.95015052e-05 -3.00459036e-02] [-1.05999934e-02 -1.69053142e-04 9.99943804e-01 -1.71979763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.02, Z:-0.18 [[ 9.99840311e-01 1.43864228e-02 1.06011168e-02 2.49849810e+00] [-1.43879627e-02 9.99896486e-01 6.90008057e-05 -1.96120488e-02] [-1.05990267e-02 -2.21518260e-04 9.99943804e-01 -1.76288704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.01, Z:-0.17 [[ 9.99811851e-01 1.62443552e-02 1.06011279e-02 2.55985385e+00] [-1.62459808e-02 9.99868023e-01 6.72423198e-05 -9.81184093e-03] [-1.05986365e-02 -2.39455390e-04 9.99943804e-01 -1.70864899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5057692309999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:2.62, Y:0.00, Z:-0.18 [[ 9.99864993e-01 1.25543250e-02 1.06011379e-02 2.62309252e+00] [-1.25557263e-02 9.99921172e-01 6.56322046e-05 4.63179235e-05] [-1.05994783e-02 -1.98728330e-04 9.99943804e-01 -1.76833631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.69, Y:0.00, Z:-0.18 [[ 9.99901890e-01 9.15565555e-03 1.06011499e-02 2.68634079e+00] [-9.15684470e-03 9.99958073e-01 6.36381572e-05 1.61568440e-03] [-1.06001228e-02 -1.60704997e-04 9.99943804e-01 -1.79992360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:0.00, Z:-0.18 [[ 9.99934958e-01 -4.20645746e-03 1.06011615e-02 2.74857321e+00] [ 4.20604036e-03 9.99991153e-01 6.16393808e-05 4.70458502e-03] [-1.06013270e-02 -1.70464585e-05 9.99943804e-01 -1.75610422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:0.01, Z:-0.18 [[ 9.99861743e-01 -1.28105192e-02 1.06011714e-02 2.81054427e+00] [ 1.28106042e-02 9.99917939e-01 5.98901253e-05 8.77744865e-03] [-1.06010687e-02 7.59255660e-05 9.99943804e-01 -1.81814409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:0.01, Z:-0.18 [[ 9.99738463e-01 -2.02637604e-02 1.06011811e-02 2.87208990e+00] [ 2.02642831e-02 9.99794657e-01 5.81158367e-05 5.14549736e-03] [-1.06001819e-02 1.56724698e-04 9.99943804e-01 -1.82680326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769230999999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.00, Z:-0.18 [[ 9.99548079e-01 -2.81292010e-02 1.06011878e-02 2.93394272e+00] [ 2.81301791e-02 9.99604267e-01 5.68619503e-05 -4.60612412e-03] [-1.05985921e-02 2.41377060e-04 9.99943804e-01 -1.80561922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.01, Z:-0.18 [[ 9.99388079e-01 -3.33329088e-02 1.06011905e-02 2.99584745e+00] [ 3.33341847e-02 9.99444260e-01 5.63671866e-05 -1.37842860e-02] [-1.05971778e-02 2.97049346e-04 9.99943804e-01 -1.83002704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769230999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.02, Z:-0.18 [[ 9.99376738e-01 -3.36711967e-02 1.06011931e-02 3.05730729e+00] [ 3.36724968e-02 9.99432919e-01 5.58753566e-05 -2.47124278e-02] [-1.05970627e-02 3.01128108e-04 9.99943804e-01 -1.84515854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.04, Z:-0.19 [[ 9.99615828e-01 -2.56088206e-02 1.06011950e-02 3.11771025e+00] [ 2.56096714e-02 9.99672017e-01 5.55106666e-05 -3.62200504e-02] [-1.05991395e-02 2.16003778e-04 9.99943804e-01 -1.85395667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0457692309999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.05, Z:-0.19 [[ 9.99713896e-01 -2.14415809e-02 1.06011971e-02 3.17984922e+00] [ 2.14422018e-02 9.99770088e-01 5.50992305e-05 -4.57462330e-02] [-1.05999412e-02 1.72229541e-04 9.99943804e-01 -1.85680002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.06, Z:-0.19 [[ 9.99711755e-01 -2.15411467e-02 1.06011996e-02 3.24194624e+00] [ 2.15417782e-02 9.99767947e-01 5.46230128e-05 -5.64975997e-02] [-1.05999162e-02 1.73761422e-04 9.99943804e-01 -1.85031758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.165769231 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.06, Z:-0.18 [[ 9.99711099e-01 -2.15715953e-02 1.06012023e-02 3.30309898e+00] [ 2.15722342e-02 9.99767291e-01 5.40882056e-05 -6.40401106e-02] [-1.05999021e-02 1.74619039e-04 9.99943804e-01 -1.80384473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769230999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.07, Z:-0.18 [[ 9.99819161e-01 -1.57879330e-02 1.06012043e-02 3.36493303e+00] [ 1.57882510e-02 9.99875356e-01 5.36919249e-05 -7.20666187e-02] [-1.06007306e-02 1.13692259e-04 9.99943804e-01 -1.81396765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.07, Z:-0.19 [[ 9.99943173e-01 -1.12492349e-03 1.06012069e-02 3.42532067e+00] [ 1.12442295e-03 9.99999366e-01 5.31753788e-05 -7.41568521e-02] [-1.06012600e-02 -4.12521167e-05 9.99943804e-01 -1.88561758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769230999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.07, Z:-0.19 [[ 9.99862456e-01 1.27547137e-02 1.06012075e-02 3.48771598e+00] [-1.27559928e-02 9.99918638e-01 5.30474641e-05 -7.35469560e-02] [-1.05996684e-02 -1.88269094e-04 9.99943804e-01 -1.85383054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.07, Z:-0.19 [[ 9.99744975e-01 1.99398910e-02 1.06012101e-02 3.54852436e+00] [-1.99415683e-02 9.99801146e-01 5.25291743e-05 -6.87879653e-02] [-1.05980546e-02 -2.63920533e-04 9.99943804e-01 -1.93926158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4657692309999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.06, Z:-0.19 [[ 9.99716536e-01 2.13180931e-02 1.06012120e-02 3.61152212e+00] [-2.13198438e-02 9.99772705e-01 5.21476710e-05 -6.34338012e-02] [-1.05976907e-02 -2.78149073e-04 9.99943804e-01 -1.93086251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.05, Z:-0.19 [[ 9.99706669e-01 2.17758840e-02 1.06012215e-02 3.67314647e+00] [-2.17776390e-02 9.99762838e-01 5.01318854e-05 -5.27206609e-02] [-1.05976156e-02 -2.80986756e-04 9.99943804e-01 -1.86288414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.04, Z:-0.19 [[ 9.99782559e-01 1.79568287e-02 1.06012289e-02 3.73636580e+00] [-1.79583521e-02 9.99838735e-01 4.85143139e-05 -4.46867575e-02] [-1.05986481e-02 -2.38884366e-04 9.99943804e-01 -1.87428163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.04, Z:-0.19 [[ 9.99886680e-01 1.06883498e-02 1.06012377e-02 3.79776560e+00] [-1.06894434e-02 9.99942865e-01 4.64981895e-05 -3.53221945e-02] [-1.06001351e-02 -1.59814251e-04 9.99943804e-01 -1.94954512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.03, Z:-0.19 [[ 9.99942278e-01 1.74739761e-03 1.06012446e-02 3.86014210e+00] [-1.74797153e-03 9.99998471e-01 4.48718660e-05 -3.00643006e-02] [-1.06011500e-02 -6.33999497e-05 9.99943804e-01 -1.85843789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769230999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.03, Z:-0.19 [[ 9.99904622e-01 -8.85216406e-03 1.06012518e-02 3.92236866e+00] [ 8.85220448e-03 9.99960818e-01 4.31120309e-05 -2.59519361e-02] [-1.06012180e-02 5.07365296e-05 9.99943804e-01 -1.89366329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.02, Z:-0.19 [[ 9.99833236e-01 -1.48698648e-02 1.06012567e-02 3.98395964e+00] [ 1.48702567e-02 9.99889431e-01 4.18603982e-05 -2.49395743e-02] [-1.06007070e-02 1.15789991e-04 9.99943804e-01 -1.90806974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769230999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.02, Z:-0.19 [[ 9.99829887e-01 -1.50933956e-02 1.06012637e-02 4.04621499e+00] [ 1.50938196e-02 9.99886081e-01 4.00183033e-05 -2.29091017e-02] [-1.06006600e-02 1.20002066e-04 9.99943804e-01 -1.90012038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.02, Z:-0.19 [[ 9.99842379e-01 -1.42418246e-02 1.06012655e-02 4.10832593e+00] [ 1.42422059e-02 9.99898574e-01 3.95319069e-05 -1.98097897e-02] [-1.06007533e-02 1.11459730e-04 9.99943804e-01 -1.92189460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.19 [[ 9.99857161e-01 -1.31632575e-02 1.06012673e-02 4.16899427e+00] [ 1.31635834e-02 9.99913356e-01 3.90352325e-05 -1.81478152e-02] [-1.06008626e-02 1.00521010e-04 9.99943804e-01 -1.94429064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769230999999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.02, Z:-0.20 [[ 9.99758713e-01 -1.92387553e-02 1.06012687e-02 4.23161303e+00] [ 1.92394266e-02 9.99814904e-01 3.86657848e-05 -2.12132001e-02] [-1.06000503e-02 1.65305876e-04 9.99943804e-01 -1.98501569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.02, Z:-0.19 [[ 9.99658730e-01 -2.38754552e-02 1.06012708e-02 4.29391925e+00] [ 2.38763934e-02 9.99714918e-01 3.80747705e-05 -2.35609220e-02] [-1.05991576e-02 2.15058336e-04 9.99943804e-01 -1.93964426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.03, Z:-0.19 [[ 9.99654514e-01 -2.40513107e-02 1.06012726e-02 4.35506792e+00] [ 2.40522642e-02 9.99710702e-01 3.75613816e-05 -2.57780689e-02] [-1.05991091e-02 2.17436205e-04 9.99943804e-01 -1.91069286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769230999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.03, Z:-0.19 [[ 9.99664413e-01 -2.36363106e-02 1.06012739e-02 4.41606887e+00] [ 2.36372448e-02 9.99720601e-01 3.71818289e-05 -2.56063365e-02] [-1.05991908e-02 2.13415557e-04 9.99943804e-01 -1.92030503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.02, Z:-0.19 [[ 9.99650485e-01 -2.42182053e-02 1.06012752e-02 4.47826572e+00] [ 2.42191761e-02 9.99706672e-01 3.68110907e-05 -2.46814016e-02] [-1.05990571e-02 2.19955927e-04 9.99943804e-01 -1.91450759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.02, Z:-0.19 [[ 9.99643722e-01 -2.44957538e-02 1.06012769e-02 4.54082111e+00] [ 2.44967455e-02 9.99699909e-01 3.63145869e-05 -2.26327917e-02] [-1.05989851e-02 2.23395135e-04 9.99943804e-01 -1.92074505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.02, Z:-0.19 [[ 9.99583717e-01 -2.68329059e-02 1.06012786e-02 4.60307339e+00] [ 2.68340343e-02 9.99639902e-01 3.58165752e-05 -2.20165886e-02] [-1.05984222e-02 2.48673409e-04 9.99943804e-01 -1.91087099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769230999999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.02, Z:-0.19 [[ 9.99543283e-01 -2.82990797e-02 1.06012804e-02 4.66440226e+00] [ 2.83002960e-02 9.99599466e-01 3.52915313e-05 -2.29192834e-02] [-1.05980329e-02 2.64743960e-04 9.99943804e-01 -1.92371540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.03, Z:-0.20 [[ 9.99489953e-01 -3.01238481e-02 1.06012816e-02 4.72632661e+00] [ 3.01251711e-02 9.99546133e-01 3.49024279e-05 -2.58793642e-02] [-1.05975215e-02 2.84480798e-04 9.99943804e-01 -1.95536536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.03, Z:-0.19 [[ 9.99597963e-01 -2.62968819e-02 1.06012831e-02 4.78845844e+00] [ 2.62979944e-02 9.99654147e-01 3.44639417e-05 -2.95123324e-02] [-1.05985229e-02 2.44342397e-04 9.99943804e-01 -1.91038321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.03, Z:-0.19 [[ 9.99738451e-01 -2.02642922e-02 1.06012847e-02 4.85065018e+00] [ 2.02650709e-02 9.99794642e-01 3.39704931e-05 -2.88735489e-02] [-1.05997960e-02 1.80874177e-04 9.99943804e-01 -1.94766020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.03, Z:-0.20 [[ 9.99818755e-01 -1.58135904e-02 1.06012863e-02 4.91157752e+00] [ 1.58141244e-02 9.99874948e-01 3.34595032e-05 -3.00413981e-02] [-1.06004897e-02 1.34196621e-04 9.99943804e-01 -1.99182123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.03, Z:-0.20 [[ 9.99888950e-01 -1.04737983e-02 1.06012875e-02 4.97374099e+00] [ 1.04740362e-02 9.99945145e-01 3.30799500e-05 -2.94963031e-02] [-1.06010524e-02 7.79619920e-05 9.99943804e-01 -1.98972046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.03, Z:-0.20 [[ 9.99917041e-01 -7.31599081e-03 1.06012890e-02 5.03587309e+00] [ 7.31605655e-03 9.99973237e-01 3.25796936e-05 -2.87502090e-02] [-1.06012436e-02 4.49826389e-05 9.99943804e-01 -1.96969973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769230999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.03, Z:-0.20 [[ 9.99935510e-01 -4.07292099e-03 1.06012905e-02 5.09756783e+00] [ 4.07280976e-03 9.99991706e-01 3.20816813e-05 -2.68207481e-02] [-1.06013332e-02 1.10974270e-05 9.99943804e-01 -2.00752005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.03, Z:-0.20 [[ 9.99937736e-01 -3.48388799e-03 1.06012920e-02 5.15979202e+00] [ 3.48374898e-03 9.99993931e-01 3.15798941e-05 -2.53763957e-02] [-1.06013377e-02 5.35431226e-06 9.99943804e-01 -2.02822854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.02, Z:-0.20 [[ 9.99936594e-01 -3.79751339e-03 1.06012935e-02 5.22134335e+00] [ 3.79739728e-03 9.99992789e-01 3.10815722e-05 -2.33971892e-02] [-1.06013350e-02 9.17772148e-06 9.99943804e-01 -1.98988660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.02, Z:-0.20 [[ 9.99927017e-01 -5.79424056e-03 1.06012945e-02 5.28397232e+00] [ 5.79424060e-03 9.99983213e-01 3.07103753e-05 -2.32659241e-02] [-1.06012945e-02 3.07183172e-05 9.99943804e-01 -2.01375674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.02, Z:-0.20 [[ 9.99892149e-01 -1.01638291e-02 1.06012967e-02 5.34592897e+00] [ 1.01640828e-02 9.99948344e-01 2.99540232e-05 -2.29815444e-02] [-1.06010535e-02 7.78016641e-05 9.99943804e-01 -1.97785618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.02, Z:-0.20 [[ 9.99854207e-01 -1.33857322e-02 1.06013016e-02 5.40854568e+00] [ 1.33861866e-02 9.99910401e-01 2.80977120e-05 -2.43624974e-02] [-1.06007278e-02 1.13817386e-04 9.99943804e-01 -2.01379065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.03, Z:-0.21 [[ 9.99770355e-01 -1.86239263e-02 1.06013029e-02 5.46958742e+00] [ 1.86246806e-02 9.99826545e-01 2.75784479e-05 -2.90853609e-02] [-1.05999777e-02 1.69873767e-04 9.99943804e-01 -2.05010822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769230999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.04, Z:-0.20 [[ 9.99607070e-01 -2.59483861e-02 1.06013050e-02 5.53094239e+00] [ 2.59495609e-02 9.99663253e-01 2.67394476e-05 -3.82879843e-02] [-1.05984289e-02 2.48370270e-04 9.99943804e-01 -2.02537858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.04, Z:-0.20 [[ 9.99725926e-01 -2.08730514e-02 1.06013060e-02 5.59295601e+00] [ 2.08739450e-02 9.99782115e-01 2.63610617e-05 -4.19207426e-02] [-1.05995464e-02 1.94937241e-04 9.99943804e-01 -2.00759513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.04, Z:-0.21 [[ 9.99854755e-01 -1.33447225e-02 1.06013072e-02 5.65386428e+00] [ 1.33451983e-02 9.99910949e-01 2.58627391e-05 -4.11989942e-02] [-1.06007083e-02 1.15617564e-04 9.99943804e-01 -2.06410369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.04, Z:-0.20 [[ 9.99916874e-01 -7.33879619e-03 1.06013081e-02 5.71651519e+00] [ 7.33893837e-03 9.99973069e-01 2.54913123e-05 -4.21196202e-02] [-1.06012097e-02 5.23131534e-05 9.99943804e-01 -2.04612867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769230999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.04, Z:-0.21 [[ 9.99880555e-01 -1.12467028e-02 1.06013093e-02 5.77989816e+00] [ 1.12470700e-02 9.99936749e-01 2.49871405e-05 -4.29944622e-02] [-1.06009198e-02 9.42495117e-05 9.99943804e-01 -2.06381513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.05, Z:-0.20 [[ 9.99808635e-01 -1.64409709e-02 1.06013110e-02 5.84231474e+00] [ 1.64416380e-02 9.99864827e-01 2.42289322e-05 -4.67959842e-02] [-1.06002764e-02 1.50078623e-04 9.99943804e-01 -2.01082693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.05, Z:-0.20 [[ 9.99807721e-01 -1.64964351e-02 1.06013122e-02 5.90312694e+00] [ 1.64971108e-02 9.99863913e-01 2.37149566e-05 -5.06423046e-02] [-1.06002607e-02 1.51180625e-04 9.99943804e-01 -2.02990866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769230999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.06, Z:-0.21 [[ 9.99781502e-01 -1.80155547e-02 1.06013140e-02 5.96519296e+00] [ 1.80163247e-02 9.99837693e-01 2.28666298e-05 -5.85485480e-02] [-1.06000053e-02 1.68135082e-04 9.99943804e-01 -2.06713845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.06, Z:-0.21 [[ 9.99790902e-01 -1.74861402e-02 1.06013151e-02 6.02597071e+00] [ 1.74868860e-02 9.99847092e-01 2.23440938e-05 -6.19985494e-02] [-1.06000848e-02 1.63044567e-04 9.99943804e-01 -2.06906028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.07, Z:-0.21 [[ 9.99829247e-01 -1.51356588e-02 1.06013159e-02 6.08756630e+00] [ 1.51362767e-02 9.99885440e-01 2.19552124e-05 -6.50411546e-02] [-1.06004337e-02 1.38512987e-04 9.99943804e-01 -2.05729328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.07, Z:-0.21 [[ 9.99858961e-01 -1.30257870e-02 1.06013167e-02 6.14973575e+00] [ 1.30262903e-02 9.99915154e-01 2.15765877e-05 -6.87988578e-02] [-1.06006983e-02 1.16522284e-04 9.99943804e-01 -2.05594231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769230999999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.08, Z:-0.21 [[ 9.99841542e-01 -1.43004436e-02 1.06013177e-02 6.21235747e+00] [ 1.43010238e-02 9.99897735e-01 2.10797399e-05 -7.55300039e-02] [-1.06005350e-02 1.30533296e-04 9.99943804e-01 -2.11077485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.09, Z:-0.21 [[ 9.99815764e-01 -1.60015556e-02 1.06013189e-02 6.27404519e+00] [ 1.60022381e-02 9.99871956e-01 2.04546028e-05 -8.53853926e-02] [-1.06002887e-02 1.49193994e-04 9.99943804e-01 -2.10627279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.09, Z:-0.21 [[ 9.99837819e-01 -1.45584148e-02 1.06013196e-02 6.33558150e+00] [ 1.45590200e-02 9.99894012e-01 2.00814085e-05 -9.05498258e-02] [-1.06004883e-02 1.34266673e-04 9.99943804e-01 -2.09302892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769230999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.10, Z:-0.21 [[ 9.99908443e-01 -8.40938605e-03 1.06013203e-02 6.39731958e+00] [ 8.40964964e-03 9.99964638e-01 1.97148864e-05 -1.01345311e-01] [-1.06011112e-02 6.94403077e-05 9.99943804e-01 -2.13661951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.11, Z:-0.21 [[ 9.99943569e-01 -6.86133774e-04 1.06013211e-02 6.45912724e+00] [ 6.85968502e-04 9.99999765e-01 1.92259498e-05 -1.09070015e-01] [-1.06013318e-02 -1.19526925e-05 9.99943804e-01 -2.12819213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.11, Z:-0.21 [[ 9.99923394e-01 6.38883976e-03 1.06013220e-02 6.52146522e+00] [-6.38939747e-03 9.99979587e-01 1.87389929e-05 -1.12742789e-01] [-1.06009859e-02 -8.64736174e-05 9.99943804e-01 -2.10992581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.11, Z:-0.21 [[ 9.99892144e-01 1.01643091e-02 1.06013229e-02 6.58297693e+00] [-1.01650737e-02 9.99948334e-01 1.82343620e-05 -1.14017858e-01] [-1.06005898e-02 -1.25995623e-04 9.99943804e-01 -2.13213352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769230999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.11, Z:-0.22 [[ 9.99871940e-01 1.19881383e-02 1.06013235e-02 6.64606204e+00] [-1.19890014e-02 9.99928129e-01 1.78607298e-05 -1.13918597e-01] [-1.06003475e-02 -1.44957724e-04 9.99943804e-01 -2.16494904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.11, Z:-0.22 [[ 9.99895153e-01 9.86379751e-03 1.06013265e-02 6.70770628e+00] [-9.86452013e-03 9.99951344e-01 1.58741132e-05 -1.12060676e-01] [-1.06006541e-02 -1.20449447e-04 9.99943804e-01 -2.22134653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.11, Z:-0.22 [[ 9.99911737e-01 8.00807032e-03 1.06013288e-02 6.76987815e+00] [-8.00867049e-03 9.99967930e-01 1.41610753e-05 -1.08914170e-01] [-1.06008754e-02 -9.90623743e-05 9.99943804e-01 -2.17067148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769230999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.11, Z:-0.21 [[ 9.99935663e-01 4.03508213e-03 1.06013308e-02 6.83219212e+00] [-4.03544096e-03 9.99991857e-01 1.24570522e-05 -1.11224573e-01] [-1.06011942e-02 -5.52372952e-05 9.99943804e-01 -2.13417146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.11, Z:-0.22 [[ 9.99942897e-01 1.34736764e-03 1.06013325e-02 6.89334704e+00] [-1.34755753e-03 9.99999092e-01 1.07690693e-05 -1.14047846e-01] [-1.06013083e-02 -2.50543598e-05 9.99943804e-01 -2.21207768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.12, Z:-0.22 [[ 9.99943273e-01 1.03040571e-03 1.06013338e-02 6.95624045e+00] [-1.03056130e-03 9.99999469e-01 9.21308683e-06 -1.15479923e-01] [-1.06013187e-02 -2.01378885e-05 9.99943804e-01 -2.18805969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.11, Z:-0.22 [[ 9.99933794e-01 4.47437808e-03 1.06013352e-02 7.01728190e+00] [-4.47470701e-03 9.99989988e-01 7.30797644e-06 -1.12449940e-01] [-1.06011963e-02 -5.47453614e-05 9.99943804e-01 -2.16189826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769230999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.11, Z:-0.22 [[ 9.99918303e-01 7.14139020e-03 1.06013354e-02 7.07939774e+00] [-7.14186525e-03 9.99974497e-01 6.95331903e-06 -1.12286367e-01] [-1.06010154e-02 -8.26660598e-05 9.99943804e-01 -2.20413982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.11, Z:-0.22 [[ 9.99921588e-01 6.66559888e-03 1.06013357e-02 7.14139291e+00] [-6.66604227e-03 9.99977782e-01 6.48892525e-06 -1.09511317e-01] [-1.06010569e-02 -7.71573681e-05 9.99943804e-01 -2.23461718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.11, Z:-0.22 [[ 9.99916192e-01 7.43100995e-03 1.06013364e-02 7.20348204e+00] [-7.43147931e-03 9.99972386e-01 4.88059408e-06 -1.06635170e-01] [-1.06010074e-02 -8.36637972e-05 9.99943804e-01 -2.16659672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.10, Z:-0.22 [[ 9.99878766e-01 1.14046428e-02 1.06013369e-02 7.26576872e+00] [-1.14053170e-02 9.99934957e-01 3.13523632e-06 -1.03774161e-01] [-1.06006116e-02 -1.24046464e-04 9.99943804e-01 -2.18085161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769230999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.10, Z:-0.22 [[ 9.99819027e-01 1.57963423e-02 1.06013371e-02 7.32884180e+00] [-1.57972436e-02 9.99875216e-01 1.27920870e-06 -9.80947026e-02] [-1.05999941e-02 -1.68750883e-04 9.99943804e-01 -2.19379959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.09, Z:-0.22 [[ 9.99880303e-01 1.12690847e-02 1.06013370e-02 7.39161281e+00] [-1.12697108e-02 9.99936495e-01 -6.81735278e-07 -9.48197550e-02] [-1.06006715e-02 -1.18792348e-04 9.99943804e-01 -2.20075085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.09, Z:-0.22 [[ 9.99874883e-01 1.17401040e-02 1.06013365e-02 7.45416117e+00] [-1.17407353e-02 9.99931075e-01 -2.68743594e-06 -8.84839613e-02] [-1.06006374e-02 -1.21780386e-04 9.99943804e-01 -2.18112947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769230999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.08, Z:-0.22 [[ 9.99820122e-01 1.57268990e-02 1.06013356e-02 7.51743979e+00] [-1.57277331e-02 9.99876312e-01 -4.69132623e-06 -8.23300272e-02] [-1.06000981e-02 -1.62044495e-04 9.99943804e-01 -2.18790171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.07, Z:-0.22 [[ 9.99742697e-01 2.00537235e-02 1.06013344e-02 7.57989728e+00] [-2.00547796e-02 9.99798883e-01 -6.69193626e-06 -7.11215861e-02] [-1.05993365e-02 -2.05917209e-04 9.99943804e-01 -2.20111690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.07, Z:-0.22 [[ 9.99739822e-01 2.01965414e-02 1.06013329e-02 7.64327272e+00] [-2.01975859e-02 9.99796008e-01 -8.54552583e-06 -6.60058338e-02] [-1.05993429e-02 -2.05578029e-04 9.99943804e-01 -2.21548255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.06, Z:-0.22 [[ 9.99857891e-01 1.31075899e-02 1.06013309e-02 7.70601304e+00] [-1.31082149e-02 9.99914084e-01 -1.05363593e-05 -6.08747895e-02] [-1.06005582e-02 -1.28429661e-04 9.99943804e-01 -2.23331126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769230999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.06, Z:-0.22 [[ 9.99916012e-01 7.45519953e-03 1.06013285e-02 7.76796969e+00] [-7.45548555e-03 9.99972207e-01 -1.25415761e-05 -6.15515440e-02] [-1.06011274e-02 -6.64975288e-05 9.99943804e-01 -2.23289478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.06, Z:-0.23 [[ 9.99941198e-01 -2.28318072e-03 1.06013260e-02 7.83105014e+00] [ 2.28346177e-03 9.99997393e-01 -1.44067911e-05 -6.48915490e-02] [-1.06012655e-02 3.86136665e-05 9.99943804e-01 -2.25282402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.07, Z:-0.22 [[ 9.99934948e-01 -4.20854704e-03 1.06013229e-02 7.89265599e+00] [ 4.20895727e-03 9.99991142e-01 -1.63859986e-05 -6.77048998e-02] [-1.06011601e-02 6.10054479e-05 9.99943804e-01 -2.23198260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769230999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.07, Z:-0.22 [[ 9.99943652e-01 -5.51873550e-04 1.06013198e-02 7.95484366e+00] [ 5.52097729e-04 9.99999847e-01 -1.82197052e-05 -6.99067808e-02] [-1.06013081e-02 2.40716431e-05 9.99943804e-01 -2.20471884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.07, Z:-0.22 [[ 9.99942240e-01 1.76902552e-03 1.06013189e-02 8.01735882e+00] [-1.76892664e-03 9.99998435e-01 -1.87042424e-05 -7.29090779e-02] [-1.06013354e-02 -4.97934468e-08 9.99943804e-01 -2.21950321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.08, Z:-0.22 [[ 9.99943283e-01 1.02162923e-03 1.06013180e-02 8.07991167e+00] [-1.02148325e-03 9.99999478e-01 -1.91848744e-05 -7.52678081e-02] [-1.06013321e-02 8.35471756e-06 9.99943804e-01 -2.24041934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.08, Z:-0.23 [[ 9.99942959e-01 -1.30050055e-03 1.06013142e-02 8.14230637e+00] [ 1.30079767e-03 9.99999154e-01 -2.11314301e-05 -8.19523881e-02] [-1.06012777e-02 3.49203895e-05 9.99943804e-01 -2.29865548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769230999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.09, Z:-0.23 [[ 9.99943762e-01 2.91445705e-04 1.06013103e-02 8.20486999e+00] [-2.91218998e-04 9.99999957e-01 -2.29284475e-05 -8.73881145e-02] [-1.06013165e-02 1.98398551e-05 9.99943804e-01 -2.34857561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.09, Z:-0.23 [[ 9.99937425e-01 3.57199670e-03 1.06013092e-02 8.26674066e+00] [-3.57194923e-03 9.99993620e-01 -2.34115568e-05 -9.07163132e-02] [-1.06013252e-02 -1.44572465e-05 9.99943804e-01 -2.32400425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.09, Z:-0.23 [[ 9.99910107e-01 8.20915096e-03 1.06013081e-02 8.32754583e+00] [-8.20935894e-03 9.99966302e-01 -2.38980534e-05 -9.21999023e-02] [-1.06011471e-02 -6.31340384e-05 9.99943804e-01 -2.32606676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769230999999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.10, Z:-0.24 [[ 9.99911140e-01 8.08236611e-03 1.06013063e-02 8.38902564e+00] [-8.08255877e-03 9.99967335e-01 -2.46716975e-05 -9.69614691e-02] [-1.06011594e-02 -6.10161762e-05 9.99943804e-01 -2.35771424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.10, Z:-0.24 [[ 9.99925958e-01 5.97421906e-03 1.06013020e-02 8.45198020e+00] [-5.97427473e-03 9.99982154e-01 -2.64172140e-05 -9.96527183e-02] [-1.06012706e-02 -3.69198324e-05 9.99943804e-01 -2.35891026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.10, Z:-0.23 [[ 9.99934373e-01 4.34306676e-03 1.06012966e-02 8.51460836e+00] [-4.34300961e-03 9.99990569e-01 -2.84124236e-05 -1.02882694e-01] [-1.06013200e-02 -1.76309741e-05 9.99943804e-01 -2.32030698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.10, Z:-0.23 [[ 9.99930725e-01 5.11445181e-03 1.06012909e-02 8.57781997e+00] [-5.11441688e-03 9.99986921e-01 -3.04058408e-05 -1.03519900e-01] [-1.06013078e-02 -2.38156867e-05 9.99943804e-01 -2.32783528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769230999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.10, Z:-0.23 [[ 9.99895576e-01 9.82086452e-03 1.06012848e-02 8.63957842e+00] [-9.82107290e-03 9.99951772e-01 -3.24046404e-05 -1.01724254e-01] [-1.06010918e-02 -7.17147342e-05 9.99943804e-01 -2.34131700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.10, Z:-0.24 [[ 9.99814999e-01 1.60493050e-02 1.06012832e-02 8.70275999e+00] [-1.60498581e-02 9.99871192e-01 -3.29065668e-05 -9.96259117e-02] [-1.06004458e-02 -1.37248613e-04 9.99943804e-01 -2.35636064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.09, Z:-0.24 [[ 9.99666334e-01 2.35549036e-02 1.06012808e-02 8.76384075e+00] [-2.35558706e-02 9.99722521e-01 -3.36584014e-05 -8.93950833e-02] [-1.05991320e-02 -2.16075229e-04 9.99943804e-01 -2.38431197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.08, Z:-0.24 [[ 9.99565603e-01 2.74994299e-02 1.06012777e-02 8.82582283e+00] [-2.75006083e-02 9.99621786e-01 -3.46343853e-05 -8.07975679e-02] [-1.05982205e-02 -2.56922244e-04 9.99943804e-01 -2.43126750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769230999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.07, Z:-0.24 [[ 9.99608334e-01 2.58996470e-02 1.06012718e-02 8.88928646e+00] [-2.59007174e-02 9.99664519e-01 -3.63364037e-05 -6.54579839e-02] [-1.05986564e-02 -2.38258374e-04 9.99943804e-01 -2.40662372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.05, Z:-0.24 [[ 9.99780374e-01 1.80780558e-02 1.06012646e-02 8.95160057e+00] [-1.80786653e-02 9.99836567e-01 -3.83448073e-05 -5.29536347e-02] [-1.06002252e-02 -1.53320328e-04 9.99943804e-01 -2.42093456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.04, Z:-0.24 [[ 9.99899035e-01 9.46218800e-03 1.06012575e-02 9.01369655e+00] [-9.46229345e-03 9.99955231e-01 -4.02124782e-05 -3.79863874e-02] [-1.06011634e-02 -6.01037910e-05 9.99943804e-01 -2.43916746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769230999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.03, Z:-0.24 [[ 9.99930493e-01 5.15968718e-03 1.06012501e-02 9.07711488e+00] [-5.15953120e-03 9.99986689e-01 -4.20638274e-05 -3.31228676e-02] [-1.06013261e-02 -1.26365771e-05 9.99943804e-01 -2.43064346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.03, Z:-0.24 [[ 9.99939446e-01 -2.95269731e-03 1.06012420e-02 9.13883265e+00] [ 2.95333006e-03 9.99995638e-01 -4.40313859e-05 -2.97707423e-02] [-1.06010657e-02 7.53376861e-05 9.99943804e-01 -2.39610868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.03, Z:-0.25 [[ 9.99899253e-01 -9.43910780e-03 1.06012341e-02 9.19988941e+00] [ 9.44012438e-03 9.99955440e-01 -4.58556750e-05 -3.24223932e-02] [-1.06003288e-02 1.45928023e-04 9.99943804e-01 -2.46120630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.25 [[ 9.99874594e-01 -1.17647733e-02 1.06012272e-02 9.26175678e+00] [ 1.17659369e-02 9.99930778e-01 -4.74007740e-05 -3.41891128e-02] [-1.05999357e-02 1.72128200e-04 9.99943804e-01 -2.48582262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769230999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.04, Z:-0.24 [[ 9.99907841e-01 -8.48074699e-03 1.06012250e-02 9.32429101e+00] [ 8.48173110e-03 9.99964028e-01 -4.78734987e-05 -3.67202098e-02] [-1.06004377e-02 1.37785827e-04 9.99943804e-01 -2.40772430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.03, Z:-0.25 [[ 9.99943786e-01 1.96054358e-04 1.06012229e-02 9.38602592e+00] [-1.95552770e-04 9.99999980e-01 -4.83506938e-05 -3.40199352e-02] [-1.06012321e-02 4.62748773e-05 9.99943804e-01 -2.48258714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.04, Z:-0.25 [[ 9.99942221e-01 1.78005216e-03 1.06012206e-02 9.44837020e+00] [-1.77963438e-03 9.99998415e-01 -4.88423574e-05 -3.52684739e-02] [-1.06012907e-02 2.99732387e-05 9.99943804e-01 -2.52154398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769230999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.04, Z:-0.25 [[ 9.99943555e-01 -7.07928802e-04 1.06012182e-02 9.51020311e+00] [ 7.08491800e-04 9.99999748e-01 -4.93515053e-05 -3.57513457e-02] [-1.06011806e-02 5.68595959e-05 9.99943804e-01 -2.53198364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.04, Z:-0.26 [[ 9.99943189e-01 -1.11004331e-03 1.06012091e-02 9.57108245e+00] [ 1.11064898e-03 9.99999382e-01 -5.12446473e-05 -3.73771386e-02] [-1.06011456e-02 6.30159581e-05 9.99943804e-01 -2.56230049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.04, Z:-0.26 [[ 9.99943790e-01 1.76016542e-04 1.06012043e-02 9.63357206e+00] [-1.75472813e-04 9.99999983e-01 -5.22195355e-05 -3.51505498e-02] [-1.06012133e-02 5.03563771e-05 9.99943804e-01 -2.56671514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.03, Z:-0.26 [[ 9.99937412e-01 3.57591104e-03 1.06012018e-02 9.69612486e+00] [-3.57555317e-03 9.99993606e-01 -5.27106295e-05 -3.37207479e-02] [-1.06013225e-02 1.48021696e-05 9.99943804e-01 -2.58111254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769230999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.04, Z:-0.25 [[ 9.99942824e-01 1.40118869e-03 1.06011993e-02 9.75755324e+00] [-1.40070337e-03 9.99999018e-01 -5.32036358e-05 -3.59957831e-02] [-1.06012635e-02 3.83514582e-05 9.99943804e-01 -2.52141944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.04, Z:-0.26 [[ 9.99927440e-01 -5.72097875e-03 1.06011912e-02 9.81862365e+00] [ 5.72188110e-03 9.99983628e-01 -5.47892616e-05 -3.93623700e-02] [-1.06007041e-02 1.15444041e-04 9.99943804e-01 -2.56799736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.04, Z:-0.26 [[ 9.99903709e-01 -8.95479541e-03 1.06011829e-02 9.88081932e+00] [ 8.95589591e-03 9.99959894e-01 -5.63398722e-05 -4.13790094e-02] [-1.06002532e-02 1.51277538e-04 9.99943804e-01 -2.59090809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769230999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.04, Z:-0.25 [[ 9.99901559e-01 -9.19165931e-03 1.06011804e-02 9.94305384e+00] [ 9.19277812e-03 9.99957744e-01 -5.68117603e-05 -4.39758720e-02] [-1.06002102e-02 1.54260467e-04 9.99943804e-01 -2.53492859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.05, Z:-0.25 [[ 9.99853412e-01 -1.34450840e-02 1.06011777e-02 1.00045790e+01] [ 1.34464471e-02 9.99909591e-01 -5.73127755e-05 -5.11239486e-02] [-1.05994487e-02 1.99852549e-04 9.99943804e-01 -2.49954413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.06, Z:-0.25 [[ 9.99786015e-01 -1.77634519e-02 1.06011756e-02 1.00668335e+01] [ 1.77650616e-02 9.99842187e-01 -5.76858358e-05 -5.76293147e-02] [-1.05984779e-02 2.46004031e-04 9.99943804e-01 -2.50518472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.07, Z:-0.26 [[ 9.99702551e-01 -2.19641896e-02 1.06011729e-02 1.01280993e+01] [ 2.19660407e-02 9.99758716e-01 -5.81880713e-05 -6.77766794e-02] [-1.05973369e-02 2.91036558e-04 9.99943804e-01 -2.55515400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769230999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.08, Z:-0.26 [[ 9.99731550e-01 -2.06020318e-02 1.06011708e-02 1.01899847e+01] [ 2.06038102e-02 9.99787717e-01 -5.85597989e-05 -7.94914740e-02] [-1.05977139e-02 2.76968590e-04 9.99943804e-01 -2.57640675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.09, Z:-0.26 [[ 9.99856454e-01 -1.32168939e-02 1.06011681e-02 1.02511978e+01] [ 1.32182626e-02 9.99912633e-01 -5.90485960e-05 -8.88859857e-02] [-1.05994615e-02 1.99169143e-04 9.99943804e-01 -2.59888877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.10, Z:-0.26 [[ 9.99913217e-01 -7.82137776e-03 1.06011635e-02 1.03133111e+01] [ 7.82245196e-03 9.99969402e-01 -5.98668262e-05 -9.50531511e-02] [-1.06003709e-02 1.42788723e-04 9.99943804e-01 -2.56529279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769230999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.10, Z:-0.26 [[ 9.99925257e-01 -6.09063297e-03 1.06011606e-02 1.03759464e+01] [ 6.09161527e-03 9.99981444e-01 -6.03724040e-05 -9.92391313e-02] [-1.06005962e-02 1.24946084e-04 9.99943804e-01 -2.58304549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.10, Z:-0.26 [[ 9.99940625e-01 -2.52247966e-03 1.06011570e-02 1.04380815e+01] [ 2.52326816e-03 9.99996815e-01 -6.10043202e-05 -1.03385089e-01] [-1.06009693e-02 8.77502599e-05 9.99943804e-01 -2.60037612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.11, Z:-0.26 [[ 9.99943780e-01 2.27471530e-04 1.06011541e-02 1.04994043e+01] [-2.26832254e-04 9.99999972e-01 -6.15048826e-05 -1.05272608e-01] [-1.06011678e-02 5.90967411e-05 9.99943804e-01 -2.58806782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.11, Z:-0.26 [[ 9.99942570e-01 1.57245404e-03 1.06011493e-02 1.05615784e+01] [-1.57188168e-03 9.99998763e-01 -6.23215569e-05 -1.10673678e-01] [-1.06012341e-02 4.56542254e-05 9.99943804e-01 -2.60895173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.12, Z:-0.27 [[ 9.99940582e-01 2.53949618e-03 1.06011465e-02 1.06240190e+01] [-2.53897313e-03 9.99996775e-01 -6.27967999e-05 -1.15540319e-01] [-1.06012717e-02 3.58770425e-05 9.99943804e-01 -2.66097214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.12, Z:-0.26 [[ 9.99937364e-01 3.58932696e-03 1.06011436e-02 1.06865191e+01] [-3.58885778e-03 9.99993558e-01 -6.32807766e-05 -1.20280638e-01] [-1.06013024e-02 2.52308164e-05 9.99943804e-01 -2.63119717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.13, Z:-0.26 [[ 9.99937472e-01 3.55931474e-03 1.06011329e-02 1.07494408e+01] [-3.55882541e-03 9.99993665e-01 -6.50216682e-05 -1.30334349e-01] [-1.06012972e-02 2.72900213e-05 9.99943804e-01 -2.60506204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.13, Z:-0.26 [[ 9.99909230e-01 8.31548338e-03 1.06011201e-02 1.08116766e+01] [-8.31523987e-03 9.99965426e-01 -6.70474577e-05 -1.33148684e-01] [-1.06013111e-02 -2.11094845e-05 9.99943804e-01 -2.60652252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.13, Z:-0.26 [[ 9.99844670e-01 1.40802221e-02 1.06011168e-02 1.08732470e+01] [-1.40802972e-02 9.99900865e-01 -6.75556685e-05 -1.32111198e-01] [-1.06010171e-02 -8.17217010e-05 9.99943804e-01 -2.61898261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.13, Z:-0.26 [[ 9.99825538e-01 1.53788523e-02 1.06011087e-02 1.09359795e+01] [-1.53789871e-02 9.99881734e-01 -6.88084136e-05 -1.32132224e-01] [-1.06009131e-02 -9.42379049e-05 9.99943804e-01 -2.58593044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.12, Z:-0.26 [[ 9.99869491e-01 1.21909121e-02 1.06010954e-02 1.09972956e+01] [-1.21908465e-02 9.99925686e-01 -7.08071775e-05 -1.24729316e-01] [-1.06011708e-02 -5.84383899e-05 9.99943804e-01 -2.55393965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.12, Z:-0.26 [[ 9.99918769e-01 7.07623272e-03 1.06010889e-02 1.10599112e+01] [-7.07586958e-03 9.99974963e-01 -7.17621841e-05 -1.21615933e-01] [-1.06013313e-02 -3.25556759e-06 9.99943804e-01 -2.61000701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.12, Z:-0.27 [[ 9.99923964e-01 6.29953705e-03 1.06010749e-02 1.11216165e+01] [-6.29910891e-03 9.99980158e-01 -7.37761134e-05 -1.17636424e-01] [-1.06013293e-02 6.99317859e-06 9.99943804e-01 -2.65922195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.11, Z:-0.27 [[ 9.99923972e-01 6.29825486e-03 1.06010623e-02 1.11826288e+01] [-6.29780794e-03 9.99980166e-01 -7.55404467e-05 -1.12679724e-01] [-1.06013278e-02 8.77124912e-06 9.99943804e-01 -2.70870487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.11, Z:-0.26 [[ 9.99910821e-01 8.12202563e-03 1.06010505e-02 1.12443703e+01] [-8.12166397e-03 9.99967016e-01 -7.71660594e-05 -1.13041861e-01] [-1.06013275e-02 -8.93899186e-06 9.99943804e-01 -2.64786988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.11, Z:-0.26 [[ 9.99908484e-01 8.40489096e-03 1.06010435e-02 1.13070005e+01] [-8.40453521e-03 9.99964678e-01 -7.81077653e-05 -1.12720627e-01] [-1.06013256e-02 -1.09962265e-05 9.99943804e-01 -2.61632113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.12, Z:-0.27 [[ 9.99911408e-01 8.04943875e-03 1.06010284e-02 1.13689867e+01] [-8.04904180e-03 9.99967603e-01 -8.01101218e-05 -1.21197691e-01] [-1.06013298e-02 -5.22509596e-06 9.99943804e-01 -2.68305376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.13, Z:-0.27 [[ 9.99906326e-01 8.65785254e-03 1.06010148e-02 1.14317372e+01] [-8.65747117e-03 9.99962520e-01 -8.18654113e-05 -1.25421545e-01] [-1.06013263e-02 -9.92023778e-06 9.99943804e-01 -2.67449890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.14, Z:-0.26 [[ 9.99896957e-01 9.67962468e-03 1.06009991e-02 1.14936012e+01] [-9.67927963e-03 9.99953151e-01 -8.38566579e-05 -1.36186632e-01] [-1.06013141e-02 -1.87620175e-05 9.99943804e-01 -2.62910274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.14, Z:-0.26 [[ 9.99847243e-01 1.38963798e-02 1.06009851e-02 1.15551931e+01] [-1.38962533e-02 9.99903439e-01 -8.55949266e-05 -1.42808614e-01] [-1.06011509e-02 -6.17321223e-05 9.99943804e-01 -2.61551049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.15, Z:-0.26 [[ 9.99739049e-01 2.02349606e-02 1.06009699e-02 1.16182438e+01] [-2.02351708e-02 9.99795244e-01 -8.74377446e-05 -1.45902076e-01] [-1.06005685e-02 -1.27097508e-04 9.99943804e-01 -2.58989477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.14, Z:-0.26 [[ 9.99368520e-01 3.39143210e-02 1.06009536e-02 1.16814702e+01] [-3.39152798e-02 9.99424707e-01 -8.93717432e-05 -1.43459245e-01] [-1.05978859e-02 -2.70218999e-04 9.99943804e-01 -2.61204771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.14, Z:-0.26 [[ 9.99058767e-01 4.20618517e-02 1.06009471e-02 1.17436992e+01] [-4.20632605e-02 9.99114945e-01 -9.01320023e-05 -1.36334579e-01] [-1.05953558e-02 -3.55863232e-04 9.99943804e-01 -2.62915131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.13, Z:-0.27 [[ 9.98985475e-01 4.37680264e-02 1.06009364e-02 1.18054683e+01] [-4.37695179e-02 9.99041651e-01 -9.13757446e-05 -1.31636106e-01] [-1.05947763e-02 -3.72714833e-04 9.99943804e-01 -2.65629916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.12, Z:-0.26 [[ 9.99009976e-01 4.32051793e-02 1.06009209e-02 1.18689941e+01] [-4.32066205e-02 9.99066154e-01 -9.31344718e-05 -1.20741189e-01] [-1.05950452e-02 -3.64987701e-04 9.99943804e-01 -2.63035490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.11, Z:-0.27 [[ 9.99040035e-01 4.25044557e-02 1.06009030e-02 1.19309270e+01] [-4.25058364e-02 9.99096214e-01 -9.51317313e-05 -1.09008319e-01] [-1.05953656e-02 -3.55559840e-04 9.99943804e-01 -2.67939442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.10, Z:-0.27 [[ 9.99189883e-01 3.88226664e-02 1.06008860e-02 1.19930432e+01] [-3.88238204e-02 9.99246067e-01 -9.69860265e-05 -9.95361605e-02] [-1.05966589e-02 -3.14659439e-04 9.99943804e-01 -2.70151928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.09, Z:-0.27 [[ 9.99352892e-01 3.43717692e-02 1.06008697e-02 1.20563477e+01] [-3.43726543e-02 9.99409081e-01 -9.87383880e-05 -9.07935800e-02] [-1.05979993e-02 -2.65705536e-04 9.99943804e-01 -2.67907559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.08, Z:-0.27 [[ 9.99383306e-01 3.34758029e-02 1.06008506e-02 1.21198566e+01] [-3.34766164e-02 9.99439496e-01 -1.00750784e-04 -8.41268551e-02] [-1.05982815e-02 -2.54191956e-04 9.99943804e-01 -2.68683447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.08, Z:-0.27 [[ 9.99468763e-01 3.08190398e-02 1.06008313e-02 1.21825523e+01] [-3.08196828e-02 9.99524955e-01 -1.02738760e-04 -7.87099491e-02] [-1.05989618e-02 -2.24030077e-04 9.99943804e-01 -2.72616206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.08, Z:-0.27 [[ 9.99720478e-01 2.11326263e-02 1.06008252e-02 1.22454433e+01] [-2.11327181e-02 9.99776674e-01 -1.03364432e-04 -7.97710824e-02] [-1.06006421e-02 -1.20688711e-04 9.99943804e-01 -2.69054554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.08, Z:-0.27 [[ 9.99894049e-01 9.97565968e-03 1.06008052e-02 1.23079607e+01] [-9.97510307e-03 9.99950242e-01 -1.05380049e-04 -8.27898277e-02] [-1.06013289e-02 -3.75239998e-07 9.99943804e-01 -2.71991929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.09, Z:-0.28 [[ 9.99938878e-01 3.14073700e-03 1.06007846e-02 1.23703851e+01] [-3.13977480e-03 9.99995065e-01 -1.07407964e-04 -8.58150239e-02] [-1.06010697e-02 7.41173230e-05 9.99943804e-01 -2.75390982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769230999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.09, Z:-0.28 [[ 9.99943806e-01 8.77241852e-05 1.06007652e-02 1.24336305e+01] [-8.65704771e-05 9.99999990e-01 -1.09291349e-04 -9.00512617e-02] [-1.06007747e-02 1.08367495e-04 9.99943804e-01 -2.76048148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.09, Z:-0.28 [[ 9.99930719e-01 5.11681232e-03 1.06007440e-02 1.24951924e+01] [-5.11591982e-03 9.99986907e-01 -1.11307868e-04 -9.46479038e-02] [-1.06011748e-02 5.70675996e-05 9.99943804e-01 -2.77624954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.10, Z:-0.28 [[ 9.99915367e-01 7.54205029e-03 1.06007401e-02 1.25584709e+01] [-7.54129010e-03 9.99971558e-01 -1.11682384e-04 -9.62522579e-02] [-1.06012809e-02 3.17296761e-05 9.99943804e-01 -2.78017558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.10, Z:-0.28 [[ 9.99825266e-01 1.53968571e-02 1.06007189e-02 1.26203520e+01] [-1.53965174e-02 9.99881460e-01 -1.13661156e-04 -9.65435196e-02] [-1.06012123e-02 -4.95728571e-05 9.99943804e-01 -2.76537563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.09, Z:-0.27 [[ 9.99588998e-01 2.66356913e-02 1.06007133e-02 1.26813250e+01] [-2.66359778e-02 9.99645193e-01 -1.14180578e-04 -9.42298611e-02] [-1.05999934e-02 -1.68226714e-04 9.99943804e-01 -2.73970143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.09, Z:-0.28 [[ 9.99391917e-01 3.32177730e-02 1.06007091e-02 1.27442896e+01] [-3.32184255e-02 9.99448109e-01 -1.14565345e-04 -9.13571780e-02] [-1.05986643e-02 -2.37643186e-04 9.99943804e-01 -2.76714696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.09, Z:-0.28 [[ 9.99247227e-01 3.73176319e-02 1.06006872e-02 1.28061456e+01] [-3.73184938e-02 9.99303416e-01 -1.16559634e-04 -8.53258748e-02] [-1.05976527e-02 -2.79129789e-04 9.99943804e-01 -2.80805283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.08, Z:-0.28 [[ 9.99248355e-01 3.72873993e-02 1.06006676e-02 1.28693314e+01] [-3.72882408e-02 9.99304545e-01 -1.18317515e-04 -7.92125916e-02] [-1.05977070e-02 -2.77051663e-04 9.99943804e-01 -2.78979742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.08, Z:-0.28 [[ 9.99517374e-01 2.92000865e-02 1.06006448e-02 1.29310729e+01] [-2.92004520e-02 9.99573569e-01 -1.20320794e-04 -7.54931187e-02] [-1.05996378e-02 -1.89280898e-04 9.99943804e-01 -2.83719648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.08, Z:-0.28 [[ 9.99738887e-01 2.02431588e-02 1.06006247e-02 1.29940313e+01] [-2.02430023e-02 9.99795082e-01 -1.22073909e-04 -7.61996623e-02] [-1.06009236e-02 -9.25464354e-05 9.99943804e-01 -2.82121482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.08, Z:-0.28 [[ 9.99929325e-01 5.38268099e-03 1.06006010e-02 1.30562077e+01] [-5.38166784e-03 9.99985511e-01 -1.24097753e-04 -8.19619577e-02] [-1.06011153e-02 6.70400688e-05 9.99943804e-01 -2.80868646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.08, Z:-0.28 [[ 9.99937596e-01 -3.52574357e-03 1.06005861e-02 1.31180894e+01] [ 3.52727057e-03 9.99993771e-01 -1.25356116e-04 -8.44613307e-02] [-1.06000781e-02 1.62739429e-04 9.99943804e-01 -2.84220887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.09, Z:-0.28 [[ 9.99925628e-01 -6.03047304e-03 1.06005654e-02 1.31809541e+01] [ 6.03215900e-03 9.99981798e-01 -1.27078648e-04 -9.02639687e-02] [-1.05996061e-02 1.91013493e-04 9.99943804e-01 -2.79704849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.09, Z:-0.28 [[ 9.99929854e-01 -5.28345619e-03 1.06005410e-02 1.32431763e+01] [ 5.28512149e-03 9.99986025e-01 -1.29088451e-04 -9.19738220e-02] [-1.05997108e-02 1.85104543e-04 9.99943804e-01 -2.77425517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.10, Z:-0.28 [[ 9.99943687e-01 -5.01787728e-04 1.06005349e-02 1.33049947e+01] [ 5.03189664e-04 9.99999865e-01 -1.29584783e-04 -9.55120425e-02] [-1.06004684e-02 1.34911566e-04 9.99943804e-01 -2.77851900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.10, Z:-0.28 [[ 9.99935975e-01 3.95916288e-03 1.06005287e-02 1.33674261e+01] [-3.95800620e-03 9.99992159e-01 -1.30092001e-04 -9.64706570e-02] [-1.06009606e-02 8.81267140e-05 9.99943804e-01 -2.80976855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.10, Z:-0.28 [[ 9.99916957e-01 7.32862931e-03 1.06005225e-02 1.34293174e+01] [-7.32765662e-03 9.99973144e-01 -1.30595678e-04 -9.77862246e-02] [-1.06011949e-02 5.29078446e-05 9.99943804e-01 -2.84047915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.10, Z:-0.28 [[ 9.99885319e-01 1.08156305e-02 1.06005147e-02 1.34920363e+01] [-1.08148471e-02 9.99941509e-01 -1.31222808e-04 -9.90589557e-02] [-1.06013139e-02 1.65648136e-05 9.99943804e-01 -2.84283056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.10, Z:-0.28 [[ 9.99912869e-01 7.86664927e-03 1.06004897e-02 1.35548028e+01] [-7.86567909e-03 9.99969056e-01 -1.33210720e-04 -1.02180976e-01] [-1.06012096e-02 4.98190631e-05 9.99943804e-01 -2.84344955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.11, Z:-0.29 [[ 9.99941958e-01 1.92626170e-03 1.06004643e-02 1.36161204e+01] [-1.92493663e-03 9.99998138e-01 -1.35202849e-04 -1.08946311e-01] [-1.06007050e-02 1.14789780e-04 9.99943804e-01 -2.89678494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.11, Z:-0.29 [[ 9.99943812e-01 -4.99903375e-05 1.06004437e-02 1.36787194e+01] [ 5.14433535e-05 9.99999989e-01 -1.36798616e-04 -1.12042334e-01] [-1.06004368e-02 1.37336252e-04 9.99943804e-01 -2.90992731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.11, Z:-0.29 [[ 9.99941840e-01 1.98686484e-03 1.06004187e-02 1.37409385e+01] [-1.98550599e-03 9.99998019e-01 -1.38710863e-04 -1.13816894e-01] [-1.06006733e-02 1.17655601e-04 9.99943804e-01 -2.89794501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.11, Z:-0.29 [[ 9.99884866e-01 1.08575053e-02 1.06004124e-02 1.38027696e+01] [-1.08566398e-02 9.99941055e-01 -1.39191870e-04 -1.12403176e-01] [-1.06012988e-02 2.40909857e-05 9.99943804e-01 -2.93903830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.11, Z:-0.29 [[ 9.99876728e-01 1.15827795e-02 1.06004061e-02 1.38660983e+01] [-1.15819497e-02 9.99932917e-01 -1.39668178e-04 -1.12064584e-01] [-1.06013127e-02 1.68775911e-05 9.99943804e-01 -2.90453967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.11, Z:-0.30 [[ 9.99893198e-01 1.00610608e-02 1.06003806e-02 1.39273297e+01] [-1.00601252e-02 9.99949386e-01 -1.41574453e-04 -1.11696768e-01] [-1.06012685e-02 3.49181755e-05 9.99943804e-01 -2.97762871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.11, Z:-0.29 [[ 9.99917771e-01 7.21691987e-03 1.06003600e-02 1.39894869e+01] [-7.21580828e-03 9.99973955e-01 -1.43106305e-04 -1.13607285e-01] [-1.06011167e-02 6.66043724e-05 9.99943804e-01 -2.92251041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.12, Z:-0.29 [[ 9.99938502e-01 3.25964767e-03 1.06003379e-02 1.40523868e+01] [-3.25829664e-03 9.99994681e-01 -1.44719606e-04 -1.16461905e-01] [-1.06007533e-02 1.10171660e-04 9.99943804e-01 -2.88103829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.13, Z:-0.30 [[ 9.99929493e-01 -5.35178502e-03 1.06003127e-02 1.41148298e+01] [ 5.35363918e-03 9.99985658e-01 -1.46547121e-04 -1.27627952e-01] [-1.05993764e-02 2.03287038e-04 9.99943804e-01 -2.95872705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.14, Z:-0.30 [[ 9.99865793e-01 -1.24911850e-02 1.06003048e-02 1.41767786e+01] [ 1.24934461e-02 9.99921943e-01 -1.47113941e-04 -1.41959206e-01] [-1.05976397e-02 2.79528534e-04 9.99943804e-01 -2.98410283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.16, Z:-0.30 [[ 9.99837770e-01 -1.45625167e-02 1.06002821e-02 1.42383574e+01] [ 1.45649113e-02 9.99893915e-01 -1.48733505e-04 -1.58369904e-01] [-1.05969916e-02 3.03101544e-04 9.99943804e-01 -2.99945769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.17, Z:-0.30 [[ 9.99897089e-01 -9.66673343e-03 1.06002751e-02 1.42995402e+01] [ 9.66885835e-03 9.99953244e-01 -1.49228532e-04 -1.70089895e-01] [-1.05983369e-02 2.51705733e-04 9.99943804e-01 -3.00269255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.18, Z:-0.30 [[ 9.99931466e-01 -4.96967207e-03 1.06002644e-02 1.43614066e+01] [ 4.97154119e-03 9.99987631e-01 -1.49984570e-04 -1.79896160e-01] [-1.05993879e-02 2.02673942e-04 9.99943804e-01 -3.01180764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.19, Z:-0.30 [[ 9.99943387e-01 -9.25828614e-04 1.06002578e-02 1.44221499e+01] [ 9.27475526e-04 9.99999559e-01 -1.50450476e-04 -1.90612403e-01] [-1.06001138e-02 1.60273438e-04 9.99943804e-01 -3.02487059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.20, Z:-0.30 [[ 9.99940424e-01 2.60433842e-03 1.06002529e-02 1.44840858e+01] [-2.60288615e-03 9.99996601e-01 -1.50797013e-04 -1.99369827e-01] [-1.06006096e-02 1.23196777e-04 9.99943804e-01 -2.95500136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.20, Z:-0.30 [[ 9.99934421e-01 4.33458173e-03 1.06002463e-02 1.45470482e+01] [-4.33322179e-03 9.99990600e-01 -1.51257271e-04 -2.03398912e-01] [-1.06008023e-02 1.05314133e-04 9.99943804e-01 -2.95064940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.21, Z:-0.30 [[ 9.99906748e-01 8.60992556e-03 1.06002355e-02 1.46087381e+01] [-8.60879786e-03 9.99962932e-01 -1.52008823e-04 -2.12634660e-01] [-1.06011514e-02 6.07393634e-05 9.99943804e-01 -2.95576969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.21, Z:-0.30 [[ 9.99823206e-01 1.55303406e-02 1.06002266e-02 1.46706294e+01] [-1.55295952e-02 9.99879397e-01 -1.52629978e-04 -2.13821103e-01] [-1.06013186e-02 -1.20142343e-05 9.99943804e-01 -3.00670611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.21, Z:-0.30 [[ 9.99596589e-01 2.63494616e-02 1.06002202e-02 1.47327235e+01] [-2.63493196e-02 9.99652785e-01 -1.53074608e-04 -2.10428096e-01] [-1.06005730e-02 -1.26295733e-04 9.99943804e-01 -3.02074313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.21, Z:-0.30 [[ 9.99431811e-01 3.19951618e-02 1.06002136e-02 1.47957804e+01] [-3.19953324e-02 9.99488006e-01 -1.53528952e-04 -2.06444911e-01] [-1.05996985e-02 -1.85715639e-04 9.99943804e-01 -2.96741753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.20, Z:-0.30 [[ 9.99372505e-01 3.37969249e-02 1.06001842e-02 1.48581673e+01] [-3.37971756e-02 9.99428700e-01 -1.55531480e-04 -2.00315369e-01] [-1.05993848e-02 -2.02822401e-04 9.99943804e-01 -3.02924282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.19, Z:-0.31 [[ 9.99437740e-01 3.18094506e-02 1.06001585e-02 1.49216662e+01] [-3.18095712e-02 9.99493935e-01 -1.57263415e-04 -1.92104078e-01] [-1.05997966e-02 -1.80011504e-04 9.99943804e-01 -3.06993138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.19, Z:-0.30 [[ 9.99512532e-01 2.93655470e-02 1.06001288e-02 1.49833389e+01] [-2.93655093e-02 9.99568728e-01 -1.59237443e-04 -1.87196265e-01] [-1.06002334e-02 -1.52118362e-04 9.99943804e-01 -3.04864335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.18, Z:-0.30 [[ 9.99553854e-01 2.79236565e-02 1.06001009e-02 1.50456328e+01] [-2.79235182e-02 9.99610050e-01 -1.61075797e-04 -1.82892573e-01] [-1.06004652e-02 -1.34988176e-04 9.99943804e-01 -3.01039894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.18, Z:-0.30 [[ 9.99616922e-01 2.55665536e-02 1.06000733e-02 1.51085743e+01] [-2.55662637e-02 9.99673116e-01 -1.62873886e-04 -1.84641625e-01] [-1.06007724e-02 -1.08192777e-04 9.99943804e-01 -3.00184285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.19, Z:-0.30 [[ 9.99783388e-01 1.79113404e-02 1.06000434e-02 1.51704869e+01] [-1.79105998e-02 9.99839579e-01 -1.64798275e-04 -1.86450058e-01] [-1.06012946e-02 -2.50905566e-05 9.99943804e-01 -3.01953819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.19, Z:-0.31 [[ 9.99825545e-01 1.53791709e-02 1.06000246e-02 1.52331822e+01] [-1.53782753e-02 9.99881734e-01 -1.65993696e-04 -1.92759369e-01] [-1.06013239e-02 2.95463943e-06 9.99943804e-01 -3.06579726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.19, Z:-0.30 [[ 9.99777635e-01 1.82296604e-02 1.05999939e-02 1.52958913e+01] [-1.82289045e-02 9.99833826e-01 -1.67933207e-04 -1.90088641e-01] [-1.06012938e-02 -2.53304122e-05 9.99943804e-01 -3.04281721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.19, Z:-0.31 [[ 9.99717496e-01 2.12736629e-02 1.05999615e-02 1.53584410e+01] [-2.12730566e-02 9.99773688e-01 -1.69957267e-04 -1.90493963e-01] [-1.06011782e-02 -5.55843260e-05 9.99943804e-01 -3.08491590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.19, Z:-0.32 [[ 9.99606226e-01 2.59814413e-02 1.05999288e-02 1.54197084e+01] [-2.59810783e-02 9.99662420e-01 -1.71968411e-04 -1.87025024e-01] [-1.06008185e-02 -1.03496887e-04 9.99943804e-01 -3.19211387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.19, Z:-0.31 [[ 9.99597204e-01 2.63262415e-02 1.05999025e-02 1.54822666e+01] [-2.63258808e-02 9.99653399e-01 -1.73577893e-04 -1.87115283e-01] [-1.06007982e-02 -1.05543793e-04 9.99943804e-01 -3.10498584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.19, Z:-0.31 [[ 9.99676825e-01 2.31060046e-02 1.05998745e-02 1.55454731e+01] [-2.31054450e-02 9.99733018e-01 -1.75268338e-04 -1.85130772e-01] [-1.06010943e-02 -6.97031225e-05 9.99943804e-01 -3.12710119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.19, Z:-0.31 [[ 9.99757198e-01 1.93180846e-02 1.05998422e-02 1.56076166e+01] [-1.93172916e-02 9.99813388e-01 -1.77201377e-04 -1.87300209e-01] [-1.06012873e-02 -2.76018907e-05 9.99943804e-01 -3.09010655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.19, Z:-0.30 [[ 9.99801814e-01 1.68516330e-02 1.05998137e-02 1.56710202e+01] [-1.68506834e-02 9.99858001e-01 -1.78892788e-04 -1.86324637e-01] [-1.06013231e-02 2.43229610e-07 9.99943804e-01 -3.03328920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.18, Z:-0.31 [[ 9.99823650e-01 1.55020460e-02 1.05997810e-02 1.57339597e+01] [-1.55010002e-02 9.99879836e-01 -1.80808826e-04 -1.84193326e-01] [-1.06013102e-02 1.64697327e-05 9.99943804e-01 -3.11530652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.18, Z:-0.31 [[ 9.99847692e-01 1.38649818e-02 1.05997479e-02 1.57965454e+01] [-1.38638237e-02 9.99903876e-01 -1.82729527e-04 -1.80422148e-01] [-1.06012625e-02 3.57486602e-05 9.99943804e-01 -3.12977074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.18, Z:-0.31 [[ 9.99851562e-01 1.35830857e-02 1.05997137e-02 1.58598476e+01] [-1.35818909e-02 9.99907745e-01 -1.84690950e-04 -1.79731561e-01] [-1.06012445e-02 4.06993789e-05 9.99943804e-01 -3.12293774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.18, Z:-0.31 [[ 9.99880775e-01 1.12286904e-02 1.05996792e-02 1.59222951e+01] [-1.12273426e-02 9.99936954e-01 -1.86649223e-04 -1.80724585e-01] [-1.06011068e-02 6.76207395e-05 9.99943804e-01 -3.13908893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.18, Z:-0.31 [[ 9.99910124e-01 8.20923772e-03 1.05996468e-02 1.59848831e+01] [-8.20770100e-03 9.99966298e-01 -1.88471683e-04 -1.81487926e-01] [-1.06008368e-02 1.01456012e-04 9.99943804e-01 -3.12075849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.19, Z:-0.32 [[ 9.99924440e-01 6.22590063e-03 1.05996120e-02 1.60474562e+01] [-6.22423193e-03 9.99980611e-01 -1.90411125e-04 -1.85086602e-01] [-1.06005919e-02 1.24422294e-04 9.99943804e-01 -3.16717865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.19, Z:-0.32 [[ 9.99934434e-01 4.33313608e-03 1.05996011e-02 1.61094457e+01] [-4.33135466e-03 9.99990601e-01 -1.91014903e-04 -1.87542479e-01] [-1.06003292e-02 1.45091748e-04 9.99943804e-01 -3.19546092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.19, Z:-0.32 [[ 9.99940578e-01 2.54738185e-03 1.05995693e-02 1.61715031e+01] [-2.54548162e-03 9.99996742e-01 -1.92762061e-04 -1.91124570e-01] [-1.06000258e-02 1.65769597e-04 9.99943804e-01 -3.21272123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.19, Z:-0.32 [[ 9.99933587e-01 4.52446396e-03 1.05995352e-02 1.62332157e+01] [-4.52265509e-03 9.99989754e-01 -1.94619719e-04 -1.94273501e-01] [-1.06003072e-02 1.46668752e-04 9.99943804e-01 -3.15279845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.20, Z:-0.32 [[ 9.99933667e-01 4.50691874e-03 1.05995284e-02 1.62965704e+01] [-4.50510498e-03 9.99989833e-01 -1.94987674e-04 -2.00955834e-01] [-1.06002995e-02 1.47222752e-04 9.99943804e-01 -3.16494862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.21, Z:-0.32 [[ 9.99934753e-01 4.25924910e-03 1.05994906e-02 1.63588759e+01] [-4.25739983e-03 9.99990918e-01 -1.97025673e-04 -2.05215773e-01] [-1.06002335e-02 1.51886549e-04 9.99943804e-01 -3.15667305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.22, Z:-0.32 [[ 9.99943653e-01 5.85033204e-04 1.05994552e-02 1.64218460e+01] [-5.82957619e-04 9.99999810e-01 -1.98908527e-04 -2.18106752e-01] [-1.05995696e-02 1.92718286e-04 9.99943804e-01 -3.17121691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.22, Z:-0.32 [[ 9.99941633e-01 -2.09331575e-03 1.05994188e-02 1.64850680e+01] [ 2.09556210e-03 9.99997784e-01 -2.00829474e-04 -2.24323842e-01] [-1.05989749e-02 2.23029492e-04 9.99943804e-01 -3.18251936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.24, Z:-0.32 [[ 9.99913446e-01 -7.79439638e-03 1.05993825e-02 1.65474453e+01] [ 7.79698295e-03 9.99969583e-01 -2.02728746e-04 -2.40264698e-01] [-1.05974799e-02 2.85354404e-04 9.99943804e-01 -3.19555223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.26, Z:-0.32 [[ 9.99936936e-01 -3.71177971e-03 1.05993438e-02 1.66080875e+01] [ 3.71415830e-03 9.99993082e-01 -2.04734070e-04 -2.55233551e-01] [-1.05985105e-02 2.44088799e-04 9.99943804e-01 -3.20530514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.26, Z:-0.32 [[ 9.99943371e-01 9.53422204e-04 1.05993366e-02 1.66700315e+01] [-9.51301638e-04 9.99999526e-01 -2.05105861e-04 -2.63277918e-01] [-1.05995271e-02 1.95011080e-04 9.99943804e-01 -3.22627735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.28, Z:-0.32 [[ 9.99939732e-01 2.86130510e-03 1.05993270e-02 1.67320300e+01] [-2.85928648e-03 9.99995891e-01 -2.05597437e-04 -2.78225517e-01] [-1.05998718e-02 1.75278533e-04 9.99943804e-01 -3.24125764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.29, Z:-0.32 [[ 9.99934495e-01 4.31983327e-03 1.05993171e-02 1.67940254e+01] [-4.31789115e-03 9.99990657e-01 -2.06108043e-04 -2.88989159e-01] [-1.06001084e-02 1.60327844e-04 9.99943804e-01 -3.23236087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.30, Z:-0.33 [[ 9.99886743e-01 1.06844230e-02 1.05992798e-02 1.68550825e+01] [-1.06828183e-02 9.99942915e-01 -2.08008663e-04 -2.96810806e-01] [-1.06008972e-02 9.47549241e-05 9.99943804e-01 -3.25734759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.30, Z:-0.33 [[ 9.99719105e-01 2.11982926e-02 1.05992638e-02 1.69158454e+01] [-2.11972701e-02 9.99775291e-01 -2.08821951e-04 -3.03581548e-01] [-1.06013087e-02 -1.59121630e-05 9.99943804e-01 -3.29569677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.31, Z:-0.33 [[ 9.99529976e-01 2.87659980e-02 1.05992565e-02 1.69780978e+01] [-2.87653969e-02 9.99586168e-01 -2.09190875e-04 -3.06220362e-01] [-1.06008878e-02 -9.57992703e-05 9.99943804e-01 -3.27220652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.31, Z:-0.32 [[ 9.99238882e-01 3.75408242e-02 1.05992223e-02 1.70405122e+01] [-3.75406982e-02 9.99295077e-01 -2.10911409e-04 -3.08288609e-01] [-1.05996684e-02 -1.87151324e-04 9.99943804e-01 -3.23124909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.31, Z:-0.32 [[ 9.98809062e-01 4.76247197e-02 1.05991878e-02 1.71035315e+01] [-4.76251427e-02 9.98865256e-01 -2.12627630e-04 -3.05214598e-01] [-1.05972868e-02 -2.92413430e-04 9.99943804e-01 -3.18359252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.30, Z:-0.32 [[ 9.98353500e-01 5.63732897e-02 1.05991469e-02 1.71658066e+01] [-5.63741835e-02 9.98409688e-01 -2.14650029e-04 -2.98354441e-01] [-1.05943915e-02 -3.83221644e-04 9.99943804e-01 -3.24858771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.29, Z:-0.33 [[ 9.98144066e-01 5.99673382e-02 1.05991115e-02 1.72289415e+01] [-5.99684160e-02 9.98200252e-01 -2.16384115e-04 -2.92971550e-01] [-1.05930117e-02 -4.19629406e-04 9.99943804e-01 -3.26965188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.29, Z:-0.33 [[ 9.98270016e-01 5.78328141e-02 1.05990708e-02 1.72906529e+01] [-5.78337508e-02 9.98326204e-01 -2.18359058e-04 -2.88463810e-01] [-1.05939584e-02 -3.95002718e-04 9.99943804e-01 -3.29256664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.28, Z:-0.33 [[ 9.98376162e-01 5.59705286e-02 1.05990508e-02 1.73522476e+01] [-5.59713503e-02 9.98432351e-01 -2.19323729e-04 -2.81307216e-01] [-1.05947109e-02 -3.74275604e-04 9.99943804e-01 -3.25360642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.28, Z:-0.32 [[ 9.98241893e-01 5.83162394e-02 1.05990181e-02 1.74152612e+01] [-5.83171764e-02 9.98298081e-01 -2.20895641e-04 -2.75188315e-01] [-1.05938612e-02 -3.97597523e-04 9.99943804e-01 -3.24095305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.27, Z:-0.33 [[ 9.98196500e-01 5.90881409e-02 1.05989770e-02 1.74769360e+01] [-5.90891007e-02 9.98252688e-01 -2.22847986e-04 -2.65374865e-01] [-1.05936250e-02 -4.03837940e-04 9.99943804e-01 -3.28745358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.26, Z:-0.33 [[ 9.98194181e-01 5.91273143e-02 1.05989438e-02 1.75398453e+01] [-5.91282596e-02 9.98250369e-01 -2.24418731e-04 -2.61684943e-01] [-1.05936688e-02 -4.02683627e-04 9.99943804e-01 -3.28721997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.25, Z:-0.33 [[ 9.98092284e-01 6.08231462e-02 1.05989033e-02 1.76008991e+01] [-6.08241669e-02 9.98148471e-01 -2.26312032e-04 -2.48474355e-01] [-1.05930442e-02 -4.18789173e-04 9.99943804e-01 -3.33114189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.24, Z:-0.33 [[ 9.97973156e-01 6.27474576e-02 1.05988705e-02 1.76635903e+01] [-6.27485705e-02 9.98029341e-01 -2.27837393e-04 -2.44198706e-01] [-1.05922800e-02 -4.37688373e-04 9.99943804e-01 -3.26615491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.24, Z:-0.33 [[ 9.97971223e-01 6.27782032e-02 1.05988340e-02 1.77256948e+01] [-6.27792999e-02 9.98027408e-01 -2.29524242e-04 -2.38673850e-01] [-1.05923360e-02 -4.36328791e-04 9.99943804e-01 -3.27758766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.23, Z:-0.33 [[ 9.98113581e-01 6.04726739e-02 1.05987951e-02 1.77888334e+01] [-6.04736219e-02 9.98169769e-01 -2.31308242e-04 -2.32877265e-01] [-1.05933847e-02 -4.10075629e-04 9.99943804e-01 -3.32521711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.23, Z:-0.33 [[ 9.98173761e-01 5.94710747e-02 1.05987552e-02 1.78524757e+01] [-5.94719471e-02 9.98229950e-01 -2.33122867e-04 -2.26510190e-01] [-1.05938589e-02 -3.97631477e-04 9.99943804e-01 -3.28765265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.22, Z:-0.33 [[ 9.98099765e-01 6.07003040e-02 1.05987152e-02 1.79152363e+01] [-6.07012265e-02 9.98155953e-01 -2.34925159e-04 -2.22176625e-01] [-1.05934307e-02 -4.08876267e-04 9.99943804e-01 -3.32064932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.22, Z:-0.33 [[ 9.98137996e-01 6.00683766e-02 1.05986752e-02 1.79785451e+01] [-6.00692445e-02 9.98194184e-01 -2.36718440e-04 -2.16929552e-01] [-1.05937552e-02 -4.00376741e-04 9.99943804e-01 -3.29104858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.21, Z:-0.33 [[ 9.98424808e-01 5.50960149e-02 1.05986325e-02 1.80403787e+01] [-5.50965829e-02 9.98481001e-01 -2.38612419e-04 -2.12038847e-01] [-1.05956798e-02 -3.45711876e-04 9.99943804e-01 -3.30513925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.21, Z:-0.33 [[ 9.98699134e-01 4.98769478e-02 1.05985926e-02 1.81033111e+01] [-4.98772034e-02 9.98755329e-01 -2.40371021e-04 -2.05219480e-01] [-1.05973899e-02 -2.88569831e-04 9.99943804e-01 -3.32751764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.20, Z:-0.34 [[ 9.98873768e-01 4.62478792e-02 1.05985501e-02 1.81652111e+01] [-4.62479108e-02 9.98929964e-01 -2.42231933e-04 -2.01230402e-01] [-1.05984120e-02 -2.48201677e-04 9.99943804e-01 -3.35286255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.20, Z:-0.33 [[ 9.98944634e-01 4.46910478e-02 1.05985101e-02 1.82284027e+01] [-4.46909734e-02 9.99000830e-01 -2.43968254e-04 -1.99050234e-01] [-1.05988236e-02 -2.29946958e-04 9.99943804e-01 -3.33501474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.20, Z:-0.33 [[ 9.99024028e-01 4.28796572e-02 1.05984635e-02 1.82904984e+01] [-4.28794597e-02 9.99080223e-01 -2.45977373e-04 -2.00343266e-01] [-1.05992627e-02 -2.08719083e-04 9.99943804e-01 -3.31344681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.20, Z:-0.33 [[ 9.99144404e-01 3.99766665e-02 1.05984198e-02 1.83524158e+01] [-3.99762858e-02 9.99200598e-01 -2.47844838e-04 -2.00723186e-01] [-1.05998555e-02 -1.76052678e-04 9.99943804e-01 -3.30350326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.20, Z:-0.33 [[ 9.99010631e-01 4.31906569e-02 1.05983764e-02 1.84156328e+01] [-4.31904375e-02 9.99066826e-01 -2.49687491e-04 -2.01363154e-01] [-1.05992705e-02 -2.08308057e-04 9.99943804e-01 -3.33646505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.20, Z:-0.33 [[ 9.98938693e-01 4.48236824e-02 1.05983286e-02 1.84786144e+01] [-4.48235335e-02 9.98994889e-01 -2.51702726e-04 -2.01338162e-01] [-1.05989583e-02 -2.23618943e-04 9.99943804e-01 -3.33713040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.20, Z:-0.33 [[ 9.98830701e-01 4.71689208e-02 1.05982802e-02 1.85408270e+01] [-4.71688824e-02 9.98886897e-01 -2.53721282e-04 -2.01138847e-01] [-1.05984510e-02 -2.46484429e-04 9.99943804e-01 -3.33131992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.20, Z:-0.34 [[ 9.98828030e-01 4.72254487e-02 1.05982352e-02 1.86034615e+01] [-4.72253938e-02 9.98884226e-01 -2.55587625e-04 -2.02607258e-01] [-1.05984802e-02 -2.45217748e-04 9.99943804e-01 -3.37130375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.21, Z:-0.34 [[ 9.98943882e-01 4.47079286e-02 1.05981872e-02 1.86659276e+01] [-4.47077110e-02 9.99000077e-01 -2.57563049e-04 -2.05272881e-01] [-1.05991050e-02 -2.16529660e-04 9.99943804e-01 -3.40856991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.21, Z:-0.34 [[ 9.99128743e-01 4.03662404e-02 1.05981392e-02 1.87289387e+01] [-4.03657578e-02 9.99184937e-01 -2.59523084e-04 -2.05952325e-01] [-1.05999771e-02 -1.68504949e-04 9.99943804e-01 -3.38785297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.21, Z:-0.33 [[ 9.99171928e-01 3.92827939e-02 1.05980909e-02 1.87910093e+01] [-3.92822296e-02 9.99228121e-01 -2.61482792e-04 -2.07163862e-01] [-1.06001822e-02 -1.55050374e-04 9.99943804e-01 -3.33163956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.21, Z:-0.33 [[ 9.99173904e-01 3.92325241e-02 1.05980457e-02 1.88535350e+01] [-3.92319377e-02 9.99230096e-01 -2.63302825e-04 -2.07907626e-01] [-1.06002162e-02 -1.52696555e-04 9.99943804e-01 -3.34341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.21, Z:-0.34 [[ 9.99271262e-01 3.66691722e-02 1.05979980e-02 1.89169065e+01] [-3.66684214e-02 9.99327452e-01 -2.65208971e-04 -2.07259861e-01] [-1.06005953e-02 -1.23596153e-04 9.99943804e-01 -3.41517310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.21, Z:-0.34 [[ 9.99413093e-01 3.25753306e-02 1.05979503e-02 1.89787405e+01] [-3.25743296e-02 9.99469280e-01 -2.67100785e-04 -2.11693362e-01] [-1.06010266e-02 -7.82771041e-05 9.99943804e-01 -3.38980810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.21, Z:-0.34 [[ 9.99448916e-01 3.14571061e-02 1.05979055e-02 1.90412650e+01] [-3.14560235e-02 9.99505101e-01 -2.68864265e-04 -2.13985619e-01] [-1.06011183e-02 -6.46518678e-05 9.99943804e-01 -3.43012961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.22, Z:-0.34 [[ 9.99421293e-01 3.23228210e-02 1.05978542e-02 1.91027875e+01] [-3.23217658e-02 9.99477479e-01 -2.70875089e-04 -2.16303254e-01] [-1.06010720e-02 -7.18230276e-05 9.99943804e-01 -3.42786911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.22, Z:-0.34 [[ 9.99317405e-01 3.53894045e-02 1.05978062e-02 1.91661100e+01] [-3.53885019e-02 9.99373594e-01 -2.72738808e-04 -2.18143433e-01] [-1.06008197e-02 -1.02487846e-04 9.99943804e-01 -3.43136190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.22, Z:-0.34 [[ 9.99223192e-01 3.79565650e-02 1.05977590e-02 1.92296376e+01] [-3.79557874e-02 9.99279382e-01 -2.74560710e-04 -2.18209202e-01] [-1.06005434e-02 -1.27898859e-04 9.99943804e-01 -3.42384466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.22, Z:-0.34 [[ 9.99208982e-01 3.83288254e-02 1.05977119e-02 1.92925832e+01] [-3.83280496e-02 9.99265172e-01 -2.76366961e-04 -2.15335216e-01] [-1.06005172e-02 -1.30041277e-04 9.99943804e-01 -3.37368868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.22, Z:-0.34 [[ 9.99198847e-01 3.85921407e-02 1.05976587e-02 1.93553411e+01] [-3.85913583e-02 9.99255037e-01 -2.78392089e-04 -2.16816079e-01] [-1.06005076e-02 -1.30808989e-04 9.99943804e-01 -3.37046298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.22, Z:-0.34 [[ 9.99231377e-01 3.77405045e-02 1.05976053e-02 1.94169294e+01] [-3.77396527e-02 9.99287566e-01 -2.80410852e-04 -2.17560493e-01] [-1.06006380e-02 -1.19754620e-04 9.99943804e-01 -3.43199151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.21, Z:-0.34 [[ 9.99162132e-01 3.95313352e-02 1.05975554e-02 1.94804377e+01] [-3.95305643e-02 9.99218322e-01 -2.82283205e-04 -2.14249827e-01] [-1.06004306e-02 -1.36880656e-04 9.99943804e-01 -3.43622184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.21, Z:-0.34 [[ 9.98991242e-01 4.36370471e-02 1.05975040e-02 1.95424571e+01] [-4.36364868e-02 9.99047434e-01 -2.84198225e-04 -2.10667350e-01] [-1.05998108e-02 -1.78526308e-04 9.99943804e-01 -3.42049610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.21, Z:-0.34 [[ 9.98912381e-01 4.54064835e-02 1.05974560e-02 1.96051338e+01] [-4.54060039e-02 9.98968575e-01 -2.85978224e-04 -2.07393939e-01] [-1.05995108e-02 -1.95520940e-04 9.99943804e-01 -3.41268470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.20, Z:-0.35 [[ 9.99055605e-01 4.21377865e-02 1.05974017e-02 1.96679836e+01] [-4.21371018e-02 9.99111796e-01 -2.87977282e-04 -2.04385134e-01] [-1.06001238e-02 -1.58838477e-04 9.99943804e-01 -3.45187060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.20, Z:-0.34 [[ 9.99300308e-01 3.58690693e-02 1.05973453e-02 1.97298170e+01] [-3.58680102e-02 9.99356494e-01 -2.90038426e-04 -2.01637105e-01] [-1.06009292e-02 -9.02702000e-05 9.99943804e-01 -3.42076460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.20, Z:-0.34 [[ 9.99354894e-01 3.43146350e-02 1.05972923e-02 1.97923869e+01] [-3.43134682e-02 9.99411077e-01 -2.91960588e-04 -2.01816635e-01] [-1.06010698e-02 -7.18576102e-05 9.99943804e-01 -3.40105753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.20, Z:-0.34 [[ 9.99314520e-01 3.54709684e-02 1.05972388e-02 1.98550446e+01] [-3.54698461e-02 9.99370704e-01 -2.93891471e-04 -1.99916800e-01] [-1.06009946e-02 -8.21924144e-05 9.99943805e-01 -3.44051639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.20, Z:-0.34 [[ 9.99228351e-01 3.78206599e-02 1.05971804e-02 1.99170532e+01] [-3.78196475e-02 9.99284537e-01 -2.95982784e-04 -1.98719055e-01] [-1.06007927e-02 -1.05027237e-04 9.99943805e-01 -3.44765106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.20, Z:-0.35 [[ 9.99307119e-01 3.56788729e-02 1.05971257e-02 1.99800756e+01] [-3.56777195e-02 9.99363303e-01 -2.97926780e-04 -2.00085557e-01] [-1.06010082e-02 -8.03609257e-05 9.99943805e-01 -3.46518946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.20, Z:-0.34 [[ 9.99375103e-01 3.37209988e-02 1.05970689e-02 2.00425790e+01] [-3.37197141e-02 9.99431284e-01 -2.99934818e-04 -2.04484754e-01] [-1.06011562e-02 -5.75827424e-05 9.99943805e-01 -3.42360615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.20, Z:-0.35 [[ 9.99243257e-01 3.74248004e-02 1.05970121e-02 2.01043159e+01] [-3.74237027e-02 9.99299442e-01 -3.01927431e-04 -2.03306908e-01] [-1.06008878e-02 -9.48804810e-05 9.99943805e-01 -3.45876488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.20, Z:-0.35 [[ 9.98854444e-01 4.66637275e-02 1.05969590e-02 2.01666432e+01] [-4.66631298e-02 9.98910637e-01 -3.03779678e-04 -1.96323798e-01] [-1.05995905e-02 -1.91055592e-04 9.99943805e-01 -3.48651721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.19, Z:-0.35 [[ 9.98727794e-01 4.93001015e-02 1.05969061e-02 2.02272998e+01] [-4.92996326e-02 9.98783987e-01 -3.05615279e-04 -1.87029595e-01] [-1.05990869e-02 -2.17197102e-04 9.99943805e-01 -3.47212807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.18, Z:-0.35 [[ 9.98867345e-01 4.63867838e-02 1.05969023e-02 2.02891536e+01] [-4.63861497e-02 9.98923536e-01 -3.05744935e-04 -1.84854353e-01] [-1.05996777e-02 -1.86150866e-04 9.99943805e-01 -3.53286900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.18, Z:-0.36 [[ 9.99254126e-01 3.71335121e-02 1.05968951e-02 2.03511674e+01] [-3.71323550e-02 9.99310309e-01 -3.05994942e-04 -1.78216339e-01] [-1.06009492e-02 -8.77209623e-05 9.99943805e-01 -3.55001733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.18, Z:-0.35 [[ 9.99555042e-01 2.78823463e-02 1.05968422e-02 2.04129246e+01] [-2.78806498e-02 9.99611212e-01 -3.07816472e-04 -1.78411504e-01] [-1.06013049e-02 1.22326613e-05 9.99943805e-01 -3.48913137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.18, Z:-0.35 [[ 9.99679543e-01 2.29895425e-02 1.05967935e-02 2.04746442e+01] [-2.29875535e-02 9.99735703e-01 -3.09483972e-04 -1.80532522e-01] [-1.06011077e-02 6.57904392e-05 9.99943805e-01 -3.47864321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.19, Z:-0.35 [[ 9.99766048e-01 1.88562574e-02 1.05967421e-02 2.05379195e+01] [-1.88540176e-02 9.99822199e-01 -3.11234334e-04 -1.85267356e-01] [-1.06007267e-02 1.11370359e-04 9.99943805e-01 -3.46843856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.20, Z:-0.35 [[ 9.99858600e-01 1.30572178e-02 1.05966829e-02 2.05992478e+01] [-1.30546311e-02 9.99914736e-01 -3.13236201e-04 -1.95135332e-01] [-1.05998694e-02 1.74856123e-04 9.99943805e-01 -3.52378455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.20, Z:-0.36 [[ 9.99910196e-01 8.20432860e-03 1.05966462e-02 2.06616422e+01] [-8.20145643e-03 9.99966318e-01 -3.14472790e-04 -2.04511366e-01] [-1.05988693e-02 2.27536617e-04 9.99943805e-01 -3.56734297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.21, Z:-0.36 [[ 9.99928937e-01 5.46204740e-03 1.05965840e-02 2.07221654e+01] [-5.45899928e-03 9.99985049e-01 -3.16554699e-04 -2.11882969e-01] [-1.05981546e-02 2.58685459e-04 9.99943805e-01 -3.62339019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.22, Z:-0.36 [[ 9.99940636e-01 2.53714525e-03 1.05965338e-02 2.07852876e+01] [-2.53391532e-03 9.99996739e-01 -3.18225008e-04 -2.24024849e-01] [-1.05973067e-02 2.91355398e-04 9.99943805e-01 -3.61581177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.24, Z:-0.36 [[ 9.99942808e-01 1.44737677e-03 1.05964721e-02 2.08469772e+01] [-1.44406406e-03 9.99998906e-01 -3.20267709e-04 -2.37619670e-01] [-1.05969241e-02 3.04947408e-04 9.99943805e-01 -3.57935494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.25, Z:-0.36 [[ 9.99934398e-01 4.34924391e-03 1.05964145e-02 2.09088916e+01] [-4.34607393e-03 9.99990504e-01 -3.22164048e-04 -2.50617034e-01] [-1.05977150e-02 2.76090113e-04 9.99943805e-01 -3.64423708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.26, Z:-0.36 [[ 9.99851473e-01 1.35922279e-02 1.05963994e-02 2.09710159e+01] [-1.35895715e-02 9.99907605e-01 -3.22657843e-04 -2.62443850e-01] [-1.05998060e-02 1.78609392e-04 9.99943805e-01 -3.64123507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.27, Z:-0.37 [[ 9.99738189e-01 2.02797766e-02 1.05963837e-02 2.10319884e+01] [-2.02774902e-02 9.99794338e-01 -3.23173527e-04 -2.68009786e-01] [-1.06007583e-02 1.08220850e-04 9.99943805e-01 -3.68345116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.27, Z:-0.36 [[ 9.99510106e-01 2.94493877e-02 1.05963327e-02 2.10941307e+01] [-2.94475988e-02 9.99566273e-01 -3.24837638e-04 -2.74592741e-01] [-1.06013030e-02 1.26419485e-05 9.99943805e-01 -3.61481652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.27, Z:-0.36 [[ 9.99226830e-01 3.78610671e-02 1.05962792e-02 2.11571100e+01] [-3.78597326e-02 9.99283010e-01 -3.26574362e-04 -2.74986107e-01] [-1.06010462e-02 -7.48504304e-05 9.99943805e-01 -3.55430407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.28, Z:-0.36 [[ 9.99214820e-01 3.81767326e-02 1.05962179e-02 2.12198102e+01] [-3.81753950e-02 9.99271000e-01 -3.28549418e-04 -2.76489737e-01] [-1.06010362e-02 -7.62233561e-05 9.99943805e-01 -3.61077433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.28, Z:-0.37 [[ 9.99373440e-01 3.37705243e-02 1.05961551e-02 2.12809533e+01] [-3.37689175e-02 9.99429613e-01 -3.30561743e-04 -2.80700503e-01] [-1.06012745e-02 -2.74660625e-05 9.99943805e-01 -3.68294603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.29, Z:-0.37 [[ 9.99421694e-01 3.23110049e-02 1.05961044e-02 2.13433833e+01] [-3.23092990e-02 9.99477863e-01 -3.32181437e-04 -2.86164859e-01] [-1.06013049e-02 -1.03633695e-05 9.99943805e-01 -3.66867652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.29, Z:-0.37 [[ 9.99478050e-01 3.05180602e-02 1.05960421e-02 2.14058283e+01] [-3.05162326e-02 9.99534215e-01 -3.34154705e-04 -2.92481881e-01] [-1.06013044e-02 1.06290061e-05 9.99943805e-01 -3.68885268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.31, Z:-0.37 [[ 9.99612820e-01 2.57280869e-02 1.05959798e-02 2.14686927e+01] [-2.57259693e-02 9.99668976e-01 -3.36120328e-04 -3.06058220e-01] [-1.06011200e-02 6.33983382e-05 9.99943805e-01 -3.68884201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.31, Z:-0.37 [[ 9.99660306e-01 2.38117429e-02 1.05959152e-02 2.15298659e+01] [-2.38094962e-02 9.99716457e-01 -3.38142786e-04 -3.13873860e-01] [-1.06009626e-02 8.57445173e-05 9.99943805e-01 -3.72323223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.32, Z:-0.37 [[ 9.99551683e-01 2.80028872e-02 1.05958633e-02 2.15927476e+01] [-2.80008588e-02 9.99607841e-01 -3.39763674e-04 -3.22244857e-01] [-1.06012224e-02 4.29180804e-05 9.99943805e-01 -3.73444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.33, Z:-0.38 [[ 9.99446627e-01 3.15304267e-02 1.05958021e-02 2.16558439e+01] [-3.15285764e-02 9.99502792e-01 -3.41659953e-04 -3.28417060e-01] [-1.06013065e-02 7.40033137e-06 9.99943805e-01 -3.75174018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.34, Z:-0.38 [[ 9.99510041e-01 2.94517855e-02 1.05957400e-02 2.17176224e+01] [-2.94497981e-02 9.99566202e-01 -3.43574214e-04 -3.38787818e-01] [-1.06012625e-02 3.13634722e-05 9.99943805e-01 -3.78491858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.34, Z:-0.38 [[ 9.99572312e-01 2.72566546e-02 1.05956848e-02 2.17798260e+01] [-2.72545259e-02 9.99628467e-01 -3.45269395e-04 -3.43606754e-01] [-1.06011590e-02 5.63413618e-05 9.99943805e-01 -3.78208242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.35, Z:-0.37 [[ 9.99573256e-01 2.72220068e-02 1.05956257e-02 2.18419114e+01] [-2.72198570e-02 9.99629411e-01 -3.47075075e-04 -3.49784567e-01] [-1.06011471e-02 5.85155477e-05 9.99943805e-01 -3.74780417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.36, Z:-0.37 [[ 9.99555313e-01 2.78730937e-02 1.05955703e-02 2.19042581e+01] [-2.78709627e-02 9.99611468e-01 -3.48755567e-04 -3.56085946e-01] [-1.06011745e-02 5.32917338e-05 9.99943805e-01 -3.74751169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.36, Z:-0.38 [[ 9.99502682e-01 2.97005605e-02 1.05955049e-02 2.19674001e+01] [-2.96985112e-02 9.99558840e-01 -3.50732572e-04 -3.63617159e-01] [-1.06012475e-02 3.58874259e-05 9.99943805e-01 -3.75893520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.37, Z:-0.38 [[ 9.99466097e-01 3.09072270e-02 1.05954383e-02 2.20279725e+01] [-3.09052243e-02 9.99522257e-01 -3.52732731e-04 -3.70481786e-01] [-1.06012784e-02 2.50900085e-05 9.99943805e-01 -3.78929677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.38, Z:-0.38 [[ 9.99493978e-01 2.99920959e-02 1.05953845e-02 2.20885070e+01] [-2.99900247e-02 9.99550135e-01 -3.54340537e-04 -3.76476819e-01] [-1.06012455e-02 3.64053885e-05 9.99943805e-01 -3.83128903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.39, Z:-0.38 [[ 9.99457186e-01 3.11941136e-02 1.05953313e-02 2.21507552e+01] [-3.11920932e-02 9.99513345e-01 -3.55924541e-04 -3.85717660e-01] [-1.06012778e-02 2.52407779e-05 9.99943805e-01 -3.79052411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.39, Z:-0.38 [[ 9.99360159e-01 3.41615636e-02 1.05952719e-02 2.22123304e+01] [-3.41596912e-02 9.99416323e-01 -3.57686311e-04 -3.91840680e-01] [-1.06013068e-02 -4.47376669e-06 9.99943805e-01 -3.76923535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.39, Z:-0.38 [[ 9.99088899e-01 4.13414203e-02 1.05952113e-02 2.22740754e+01] [-4.13399326e-02 9.99145075e-01 -3.59472379e-04 -3.93231855e-01] [-1.06010142e-02 -7.88604561e-05 9.99943805e-01 -3.76085078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.39, Z:-0.37 [[ 9.98905232e-01 4.55640179e-02 1.05951682e-02 2.23371460e+01] [-4.55627543e-02 9.98961413e-01 -3.60736980e-04 -3.93213509e-01] [-1.06006008e-02 -1.22402989e-04 9.99943805e-01 -3.73460764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.39, Z:-0.38 [[ 9.98725844e-01 4.93399748e-02 1.05951000e-02 2.23993820e+01] [-4.93389024e-02 9.98782029e-01 -3.62728905e-04 -3.92981282e-01] [-1.06000925e-02 -1.60483874e-04 9.99943805e-01 -3.78016674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.39, Z:-0.38 [[ 9.98682078e-01 5.02180442e-02 1.05950402e-02 2.24606574e+01] [-5.02170028e-02 9.98738264e-01 -3.64467755e-04 -3.94555740e-01] [-1.05999749e-02 -1.68063748e-04 9.99943805e-01 -3.81953351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.39, Z:-0.38 [[ 9.98579154e-01 5.22246933e-02 1.05949850e-02 2.25230241e+01] [-5.22237479e-02 9.98635342e-01 -3.66065089e-04 -3.89674933e-01] [-1.05996441e-02 -1.87764859e-04 9.99943805e-01 -3.80712265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.38, Z:-0.38 [[ 9.98193860e-01 5.91334599e-02 1.05949246e-02 2.25859083e+01] [-5.91328848e-02 9.98250052e-01 -3.67803978e-04 -3.80374095e-01] [-1.05981336e-02 -2.59368786e-04 9.99943805e-01 -3.81833126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.37, Z:-0.38 [[ 9.97790725e-01 6.55852036e-02 1.05948579e-02 2.26496020e+01] [-6.55849716e-02 9.97846920e-01 -3.69715826e-04 -3.72493041e-01] [-1.05962942e-02 -3.25964434e-04 9.99943805e-01 -3.80019930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.36, Z:-0.38 [[ 9.97443667e-01 7.06674033e-02 1.05947868e-02 2.27110961e+01] [-7.06674360e-02 9.97499862e-01 -3.71744106e-04 -3.56279873e-01] [-1.05945685e-02 -3.77912611e-04 9.99943805e-01 -3.78945777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.34, Z:-0.38 [[ 9.97843654e-01 6.47749475e-02 1.05947294e-02 2.27736949e+01] [-6.47746311e-02 9.97899849e-01 -3.73371910e-04 -3.39698001e-01] [-1.05966640e-02 -3.13702896e-04 9.99943805e-01 -3.83167910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.33, Z:-0.38 [[ 9.98375835e-01 5.59771810e-02 1.05946651e-02 2.28363184e+01] [-5.59763500e-02 9.98432024e-01 -3.75187103e-04 -3.26018240e-01] [-1.05990549e-02 -2.18472944e-04 9.99943805e-01 -3.84490994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.32, Z:-0.38 [[ 9.98819656e-01 4.74030436e-02 1.05945961e-02 2.28980829e+01] [-4.74017096e-02 9.98875836e-01 -3.77126694e-04 -3.22125492e-01] [-1.06005630e-02 -1.25520411e-04 9.99943805e-01 -3.83436361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.32, Z:-0.38 [[ 9.98955802e-01 4.44416644e-02 1.05945394e-02 2.29609568e+01] [-4.44401470e-02 9.99011977e-01 -3.78713151e-04 -3.20821851e-01] [-1.06009024e-02 -9.25051871e-05 9.99943805e-01 -3.80966635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.32, Z:-0.38 [[ 9.98936397e-01 4.48757510e-02 1.05944637e-02 2.30229498e+01] [-4.48742357e-02 9.98992572e-01 -3.80817078e-04 -3.18728861e-01] [-1.06008800e-02 -9.50064231e-05 9.99943805e-01 -3.81027548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.32, Z:-0.38 [[ 9.98900163e-01 4.56751997e-02 1.05943933e-02 2.30850277e+01] [-4.56737087e-02 9.98956338e-01 -3.82766036e-04 -3.19809404e-01] [-1.06008193e-02 -1.01540179e-04 9.99943805e-01 -3.79010503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.32, Z:-0.38 [[ 9.98925577e-01 4.51159765e-02 1.05943505e-02 2.31474560e+01] [-4.51144415e-02 9.98981751e-01 -3.83946577e-04 -3.20195979e-01] [-1.06008850e-02 -9.44241520e-05 9.99943805e-01 -3.80008363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.32, Z:-0.39 [[ 9.99045890e-01 4.23682662e-02 1.05942861e-02 2.32099962e+01] [-4.23665580e-02 9.99102060e-01 -3.85715134e-04 -3.23224847e-01] [-1.06011152e-02 -6.34963195e-05 9.99943805e-01 -3.90046515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.33, Z:-0.39 [[ 9.99066490e-01 4.18797054e-02 1.05942631e-02 2.32714464e+01] [-4.18779630e-02 9.99122659e-01 -3.86346683e-04 -3.27895770e-01] [-1.06011484e-02 -5.76801346e-05 9.99943805e-01 -3.87244036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.33, Z:-0.39 [[ 9.99119330e-01 4.05995827e-02 1.05942282e-02 2.33343538e+01] [-4.05977582e-02 9.99175496e-01 -3.87302637e-04 -3.32708001e-01] [-1.06012175e-02 -4.31403624e-05 9.99943805e-01 -3.87286871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.34, Z:-0.39 [[ 9.99288794e-01 3.61893507e-02 1.05941571e-02 2.33959437e+01] [-3.61872578e-02 9.99344951e-01 -3.89237700e-04 -3.43393204e-01] [-1.06013036e-02 5.58737842e-06 9.99943805e-01 -3.89194135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.35, Z:-0.39 [[ 9.99373490e-01 3.37697011e-02 1.05940907e-02 2.34579701e+01] [-3.37674532e-02 9.99429640e-01 -3.91036327e-04 -3.51962547e-01] [-1.06012534e-02 3.30558776e-05 9.99943805e-01 -3.92892865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.36, Z:-0.40 [[ 9.99327322e-01 3.51094133e-02 1.05940266e-02 2.35204694e+01] [-3.51072223e-02 9.99383474e-01 -3.92763668e-04 -3.57683210e-01] [-1.06012849e-02 2.05726160e-05 9.99943805e-01 -3.96064095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.36, Z:-0.39 [[ 9.99061763e-01 4.19923815e-02 1.05940038e-02 2.35820653e+01] [-4.19905709e-02 9.99117930e-01 -3.93379455e-04 -3.62822998e-01] [-1.06011781e-02 -5.18378945e-05 9.99943805e-01 -3.87880702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.36, Z:-0.39 [[ 9.98684584e-01 5.01684193e-02 1.05939434e-02 2.36443864e+01] [-5.01670513e-02 9.98740763e-01 -3.94999598e-04 -3.64938158e-01] [-1.06004196e-02 -1.36986891e-04 9.99943805e-01 -3.89964350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.36, Z:-0.39 [[ 9.98289470e-01 5.74969953e-02 1.05938739e-02 2.37066349e+01] [-5.74960200e-02 9.98345657e-01 -3.96854319e-04 -3.63867640e-01] [-1.05991659e-02 -2.12930097e-04 9.99943805e-01 -3.90827446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.36, Z:-0.39 [[ 9.98274331e-01 5.77592506e-02 1.05938100e-02 2.37698934e+01] [-5.77582720e-02 9.98330518e-01 -3.98553157e-04 -3.61221798e-01] [-1.05991439e-02 -2.14014772e-04 9.99943805e-01 -3.89120502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.36, Z:-0.39 [[ 9.98508272e-01 5.35630836e-02 1.05937371e-02 2.38330810e+01] [-5.35618484e-02 9.98564454e-01 -4.00480356e-04 -3.62485595e-01] [-1.05999803e-02 -1.67537194e-04 9.99943805e-01 -3.89213078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.36, Z:-0.39 [[ 9.99004182e-01 4.33407176e-02 1.05936623e-02 2.38955375e+01] [-4.33388866e-02 9.99060348e-01 -4.02449678e-04 -3.63295689e-01] [-1.06011504e-02 -5.70686180e-05 9.99943805e-01 -3.87850712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.37, Z:-0.39 [[ 9.99217482e-01 3.81077239e-02 1.05935925e-02 2.39586400e+01] [-3.81055794e-02 9.99273637e-01 -4.04279871e-04 -3.65662844e-01] [-1.06013039e-02 2.88536343e-07 9.99943805e-01 -3.87156398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.37, Z:-0.39 [[ 9.99289974e-01 3.61569457e-02 1.05935150e-02 2.40215855e+01] [-3.61546702e-02 9.99346124e-01 -4.06300857e-04 -3.71928580e-01] [-1.06012787e-02 2.30073346e-05 9.99943805e-01 -3.87724280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.38, Z:-0.39 [[ 9.99626436e-01 2.51946007e-02 1.05934374e-02 2.40842201e+01] [-2.51916881e-02 9.99682556e-01 -4.08313336e-04 -3.84650226e-01] [-1.06003618e-02 1.41294234e-04 9.99943805e-01 -3.90575798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.40, Z:-0.39 [[ 9.99716527e-01 2.13224374e-02 1.05933596e-02 2.41471249e+01] [-2.13192862e-02 9.99772634e-01 -4.10322489e-04 -3.95973532e-01] [-1.05997001e-02 1.84363310e-04 9.99943805e-01 -3.93059359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.41, Z:-0.40 [[ 9.99760548e-01 1.91475590e-02 1.05932821e-02 2.42074956e+01] [-1.91442646e-02 9.99816647e-01 -4.12311484e-04 -4.11204853e-01] [-1.05992346e-02 2.09412158e-04 9.99943805e-01 -3.97365200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.42, Z:-0.40 [[ 9.99653943e-01 2.40785607e-02 1.05932200e-02 2.42695811e+01] [-2.40755262e-02 9.99710057e-01 -4.13903129e-04 -4.24041314e-01] [-1.06001147e-02 1.58722551e-04 9.99943805e-01 -3.95069431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.43, Z:-0.40 [[ 9.99464869e-01 3.09477095e-02 1.05931731e-02 2.43319749e+01] [-3.09450480e-02 9.99521001e-01 -4.15098807e-04 -4.31273017e-01] [-1.06009453e-02 8.70704241e-05 9.99943805e-01 -3.96371659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.44, Z:-0.40 [[ 9.98934210e-01 4.49247106e-02 1.05930984e-02 2.43942683e+01] [-4.49228144e-02 9.98990374e-01 -4.16997251e-04 -4.38517114e-01] [-1.06011368e-02 -5.93189719e-05 9.99943805e-01 -4.00657316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.44, Z:-0.40 [[ 9.98834024e-01 4.70996746e-02 1.05930321e-02 2.44558944e+01] [-4.70978829e-02 9.98890191e-01 -4.18673716e-04 -4.41549583e-01] [-1.06009953e-02 -8.07238334e-05 9.99943805e-01 -4.00770443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.44, Z:-0.39 [[ 9.98726654e-01 4.93240331e-02 1.05929850e-02 2.45178855e+01] [-4.93223539e-02 9.98782824e-01 -4.19861181e-04 -4.43436190e-01] [-1.06008008e-02 -1.03144405e-04 9.99943805e-01 -3.92088488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.45, Z:-0.39 [[ 9.98727445e-01 4.93080100e-02 1.05929198e-02 2.45811489e+01] [-4.93063126e-02 9.98783615e-01 -4.21501272e-04 -4.45712147e-01] [-1.06008181e-02 -1.01332925e-04 9.99943805e-01 -3.89731065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.45, Z:-0.39 [[ 9.98702476e-01 4.98112093e-02 1.05928406e-02 2.46436631e+01] [-4.98095192e-02 9.98758646e-01 -4.23481633e-04 -4.45088106e-01] [-1.06007853e-02 -1.04692143e-04 9.99943805e-01 -3.93768310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.44, Z:-0.40 [[ 9.98607797e-01 5.16745678e-02 1.05927667e-02 2.47052982e+01] [-5.16729629e-02 9.98663970e-01 -4.25321966e-04 -4.43769305e-01] [-1.06005928e-02 -1.22629810e-04 9.99943805e-01 -3.98375011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.44, Z:-0.40 [[ 9.98484310e-01 5.40081195e-02 1.05927282e-02 2.47688699e+01] [-5.40066358e-02 9.98540486e-01 -4.26279037e-04 -4.41846400e-01] [-1.06002905e-02 -1.46444684e-04 9.99943805e-01 -3.96325693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.44, Z:-0.40 [[ 9.98612562e-01 5.15824234e-02 1.05926510e-02 2.48309459e+01] [-5.15807830e-02 9.98668734e-01 -4.28188841e-04 -4.39393667e-01] [-1.06006364e-02 -1.18782477e-04 9.99943805e-01 -3.97478087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.44, Z:-0.40 [[ 9.98676871e-01 5.03220183e-02 1.05925790e-02 2.48937493e+01] [-5.03202882e-02 9.98733039e-01 -4.29963466e-04 -4.37745738e-01] [-1.06007952e-02 -1.03627057e-04 9.99943805e-01 -3.96664060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.44, Z:-0.40 [[ 9.98851933e-01 4.67184601e-02 1.05924954e-02 2.49553744e+01] [-4.67165055e-02 9.98908095e-01 -4.32011905e-04 -4.37723720e-01] [-1.06011124e-02 -6.33284446e-05 9.99943805e-01 -4.03794973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.44, Z:-0.41 [[ 9.99031289e-01 4.27116378e-02 1.05924228e-02 2.50184164e+01] [-4.27094391e-02 9.99087441e-01 -4.33786348e-04 -4.39107049e-01] [-1.06012843e-02 -1.90303008e-05 9.99943805e-01 -4.05582430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.44, Z:-0.40 [[ 9.99075998e-01 4.16527583e-02 1.05923401e-02 2.50801026e+01] [-4.16504789e-02 9.99132147e-01 -4.35794307e-04 -4.42199693e-01] [-1.06012996e-02 -5.78440702e-06 9.99943805e-01 -4.03959757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.44, Z:-0.41 [[ 9.99178281e-01 3.91224521e-02 1.05922634e-02 2.51429158e+01] [-3.91200108e-02 9.99234424e-01 -4.37650691e-04 -4.43452651e-01] [-1.06012762e-02 2.29216047e-05 9.99943805e-01 -4.05889098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.44, Z:-0.41 [[ 9.99186160e-01 3.89207310e-02 1.05921805e-02 2.52053150e+01] [-3.89182572e-02 9.99242301e-01 -4.39648104e-04 -4.43710774e-01] [-1.06012663e-02 2.70610946e-05 9.99943805e-01 -4.05725330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.44, Z:-0.40 [[ 9.99108134e-01 4.08747409e-02 1.05921032e-02 2.52676422e+01] [-4.08723573e-02 9.99164279e-01 -4.41503094e-04 -4.42883879e-01] [-1.06012975e-02 8.18510562e-06 9.99943805e-01 -4.01934585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.44, Z:-0.40 [[ 9.99064711e-01 4.19226862e-02 1.05920296e-02 2.53292991e+01] [-4.19203427e-02 9.99120858e-01 -4.43263257e-04 -4.44193285e-01] [-1.06013004e-02 -1.17283069e-06 9.99943805e-01 -4.02004388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.44, Z:-0.41 [[ 9.99079440e-01 4.15702071e-02 1.05919775e-02 2.53915781e+01] [-4.15678307e-02 9.99135585e-01 -4.44503725e-04 -4.42935714e-01] [-1.06012997e-02 3.80900563e-06 9.99943805e-01 -4.07775189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.44, Z:-0.41 [[ 9.99143760e-01 3.99944765e-02 1.05919048e-02 2.54541865e+01] [-3.99919932e-02 9.99199901e-01 -4.46229949e-04 -4.40651221e-01] [-1.06012769e-02 2.22564850e-05 9.99943805e-01 -4.07965276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.44, Z:-0.41 [[ 9.99297507e-01 3.59486537e-02 1.05918308e-02 2.55173973e+01] [-3.59459246e-02 9.99353636e-01 -4.47980031e-04 -4.44538150e-01] [-1.06010889e-02 6.69321785e-05 9.99943805e-01 -4.05745661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.45, Z:-0.41 [[ 9.99502140e-01 2.97201422e-02 1.05917451e-02 2.55801196e+01] [-2.97170420e-02 9.99558250e-01 -4.49996669e-04 -4.51773260e-01] [-1.06004401e-02 1.35017300e-04 9.99943805e-01 -4.07788077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.46, Z:-0.41 [[ 9.99525157e-01 2.89357586e-02 1.05916571e-02 2.56432696e+01] [-2.89325926e-02 9.99581263e-01 -4.52058622e-04 -4.57813206e-01] [-1.06003026e-02 1.45399866e-04 9.99943805e-01 -4.05167865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.46, Z:-0.41 [[ 9.99380834e-01 3.35524499e-02 1.05915686e-02 2.57040762e+01] [-3.35495212e-02 9.99436953e-01 -4.54120909e-04 -4.63628174e-01] [-1.06008420e-02 9.84976766e-05 9.99943805e-01 -4.09940985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.47, Z:-0.41 [[ 9.99239666e-01 3.75221272e-02 1.05914974e-02 2.57670179e+01] [-3.75194039e-02 9.99295795e-01 -4.55775572e-04 -4.67745747e-01] [-1.06011405e-02 5.80423594e-05 9.99943805e-01 -4.07446036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.48, Z:-0.41 [[ 9.99122970e-01 4.05106567e-02 1.05914104e-02 2.58289700e+01] [-4.05080799e-02 9.99179106e-01 -4.57788486e-04 -4.75180692e-01] [-1.06012613e-02 2.83492912e-05 9.99943805e-01 -4.06386220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.48, Z:-0.41 [[ 9.98989057e-01 4.36885381e-02 1.05913289e-02 2.58912120e+01] [-4.36861200e-02 9.99045200e-01 -4.59666499e-04 -4.83871855e-01] [-1.06012985e-02 -3.49226510e-06 9.99943805e-01 -4.13726306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.49, Z:-0.42 [[ 9.98703379e-01 4.97934436e-02 1.05912538e-02 2.59535433e+01] [-4.97913503e-02 9.98759535e-01 -4.61391599e-04 -4.88250292e-01] [-1.06010900e-02 -6.65594794e-05 9.99943805e-01 -4.18330673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.49, Z:-0.42 [[ 9.97953019e-01 6.30682098e-02 1.05911785e-02 2.60168503e+01] [-6.30668452e-02 9.98009198e-01 -4.63112605e-04 -4.86491570e-01] [-1.05993013e-02 -2.05787595e-04 9.99943805e-01 -4.16148129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.48, Z:-0.42 [[ 9.97375769e-01 7.16198543e-02 1.05910911e-02 2.60776921e+01] [-7.16189502e-02 9.97431957e-01 -4.65103300e-04 -4.84033758e-01] [-1.05972034e-02 -2.94640064e-04 9.99943805e-01 -4.16537173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.48, Z:-0.42 [[ 9.97062490e-01 7.58565864e-02 1.05910315e-02 2.61403073e+01] [-7.58559067e-02 9.97118681e-01 -4.66456089e-04 -4.81849086e-01] [-1.05958992e-02 -3.38306429e-04 9.99943805e-01 -4.19232182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.48, Z:-0.42 [[ 9.97413504e-01 7.10924336e-02 1.05909587e-02 2.62025710e+01] [-7.10914679e-02 9.97469691e-01 -4.68103065e-04 -4.78665786e-01] [-1.05974389e-02 -2.86034485e-04 9.99943805e-01 -4.17094870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.48, Z:-0.42 [[ 9.97830388e-01 6.49796150e-02 1.05908848e-02 2.62642344e+01] [-6.49782874e-02 9.97886567e-01 -4.69771025e-04 -4.78070220e-01] [-1.05990272e-02 -2.19425749e-04 9.99943805e-01 -4.18386526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.48, Z:-0.42 [[ 9.98217660e-01 5.87310668e-02 1.05908057e-02 2.63259543e+01] [-5.87293686e-02 9.98273830e-01 -4.71546603e-04 -4.80398277e-01] [-1.06002186e-02 -1.51285185e-04 9.99943805e-01 -4.22684557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.49, Z:-0.42 [[ 9.98607938e-01 5.16722673e-02 1.05907321e-02 2.63875122e+01] [-5.16701546e-02 9.98664093e-01 -4.73194478e-04 -4.86865129e-01] [-1.06010349e-02 -7.46890016e-05 9.99943805e-01 -4.21333173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.50, Z:-0.41 [[ 9.99168300e-01 3.93769812e-02 1.05906585e-02 2.64497726e+01] [-3.93741600e-02 9.99224424e-01 -4.74836303e-04 -4.98225262e-01] [-1.06011422e-02 5.74431006e-05 9.99943805e-01 -4.11504183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.51, Z:-0.42 [[ 9.99506388e-01 2.95773710e-02 1.05905800e-02 2.65103640e+01] [-2.95739811e-02 9.99562481e-01 -4.76579103e-04 -5.11075796e-01] [-1.06000424e-02 1.63138244e-04 9.99943805e-01 -4.19488385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.52, Z:-0.42 [[ 9.99533662e-01 2.86408814e-02 1.05905081e-02 2.65717157e+01] [-2.86374221e-02 9.99589751e-01 -4.78172183e-04 -5.19924675e-01] [-1.05998586e-02 1.74664343e-04 9.99943805e-01 -4.21327207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.53, Z:-0.42 [[ 9.99378300e-01 3.36281960e-02 1.05904296e-02 2.66331334e+01] [-3.36249983e-02 9.99434405e-01 -4.79905619e-04 -5.30595533e-01] [-1.06005780e-02 1.23504086e-04 9.99943805e-01 -4.18410749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.54, Z:-0.42 [[ 9.99169096e-01 3.93568501e-02 1.05903512e-02 2.66945974e+01] [-3.93539558e-02 9.99225217e-01 -4.81629294e-04 -5.37577781e-01] [-1.06011013e-02 6.44568954e-05 9.99943805e-01 -4.22294593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.54, Z:-0.42 [[ 9.99204910e-01 3.84368849e-02 1.05902715e-02 2.67562386e+01] [-3.84339204e-02 9.99261027e-01 -4.83374658e-04 -5.43139122e-01] [-1.06010250e-02 7.59646801e-05 9.99943805e-01 -4.23663012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.54, Z:-0.42 [[ 9.99223244e-01 3.79573063e-02 1.05901864e-02 2.68193417e+01] [-3.79542953e-02 9.99279358e-01 -4.85232918e-04 -5.44585913e-01] [-1.06009728e-02 8.29129506e-05 9.99943805e-01 -4.22547888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.55, Z:-0.42 [[ 9.99096614e-01 4.11558626e-02 1.05900979e-02 2.68816952e+01] [-4.11530108e-02 9.99152737e-01 -4.87156558e-04 -5.45477662e-01] [-1.06011746e-02 5.09020556e-05 9.99943805e-01 -4.18632076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.55, Z:-0.42 [[ 9.99035738e-01 4.26080368e-02 1.05900208e-02 2.69447258e+01] [-4.26052489e-02 9.99091865e-01 -4.88825340e-04 -5.46400176e-01] [-1.06012315e-02 3.71635116e-05 9.99943805e-01 -4.18630228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.55, Z:-0.42 [[ 9.98887810e-01 4.59455846e-02 1.05899285e-02 2.70071777e+01] [-4.59429631e-02 9.98943944e-01 -4.90817277e-04 -5.48633058e-01] [-1.06012958e-02 3.73870056e-06 9.99943805e-01 -4.22793497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.55, Z:-0.42 [[ 9.98772173e-01 4.83942327e-02 1.05898483e-02 2.70700274e+01] [-4.83917305e-02 9.98828312e-01 -4.92540870e-04 -5.49635912e-01] [-1.06012765e-02 -2.05249722e-05 9.99943805e-01 -4.22409566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.55, Z:-0.42 [[ 9.98802904e-01 4.77558041e-02 1.05897545e-02 2.71328361e+01] [-4.77532447e-02 9.98859041e-01 -4.94551160e-04 -5.54250571e-01] [-1.06012897e-02 -1.17360020e-05 9.99943805e-01 -4.20546723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.57, Z:-0.42 [[ 9.99077140e-01 4.16260339e-02 1.05896610e-02 2.71941881e+01] [-4.16231090e-02 9.99133260e-01 -4.96545166e-04 -5.65914299e-01] [-1.06011517e-02 5.53123121e-05 9.99943805e-01 -4.24211738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.58, Z:-0.42 [[ 9.99201160e-01 3.85344245e-02 1.05896030e-02 2.72564291e+01] [-3.85313129e-02 9.99257269e-01 -4.97777637e-04 -5.75104163e-01] [-1.06009194e-02 8.93486842e-05 9.99943805e-01 -4.24435466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.59, Z:-0.43 [[ 9.99237149e-01 3.75896562e-02 1.05895110e-02 2.73176395e+01] [-3.75864709e-02 9.99293254e-01 -4.99726838e-04 -5.89407905e-01] [-1.06008115e-02 1.01323273e-04 9.99943805e-01 -4.26232606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.60, Z:-0.43 [[ 9.99141762e-01 4.00450062e-02 1.05894256e-02 2.73801281e+01] [-4.00419397e-02 9.99197874e-01 -5.01530170e-04 -6.04257700e-01] [-1.06010154e-02 7.70785957e-05 9.99943805e-01 -4.27452450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.62, Z:-0.43 [[ 9.98919946e-01 4.52416572e-02 1.05893351e-02 2.74415957e+01] [-4.52388624e-02 9.98976072e-01 -5.03434459e-04 -6.17284236e-01] [-1.06012686e-02 2.38412481e-05 9.99943805e-01 -4.26138568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.62, Z:-0.43 [[ 9.98647285e-01 5.09064688e-02 1.05892503e-02 2.75041852e+01] [-5.09039735e-02 9.98703425e-01 -5.05211027e-04 -6.22874373e-01] [-1.06012391e-02 -3.45072988e-05 9.99943805e-01 -4.25538520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.62, Z:-0.43 [[ 9.97938791e-01 6.32932823e-02 1.05891562e-02 2.75662717e+01] [-6.32914629e-02 9.97994957e-01 -5.07176342e-04 -6.24810028e-01] [-1.06000254e-02 -1.64072242e-04 9.99943805e-01 -4.26758778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.62, Z:-0.42 [[ 9.97140531e-01 7.48240082e-02 1.05890688e-02 2.76272481e+01] [-7.48228189e-02 9.97196714e-01 -5.08995391e-04 -6.20393925e-01] [-1.05974697e-02 -2.84764041e-04 9.99943805e-01 -4.24661157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000002 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.62, Z:-0.43 [[ 9.96650085e-01 8.10955014e-02 1.05890286e-02 2.76903479e+01] [-8.10946566e-02 9.96706274e-01 -5.09829752e-04 -6.15625391e-01] [-1.05954961e-02 -3.50591772e-04 9.99943805e-01 -4.26327273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.61, Z:-0.42 [[ 9.96418372e-01 8.38945948e-02 1.05889375e-02 2.77525945e+01] [-8.38938878e-02 9.96474563e-01 -5.11714843e-04 -6.05119976e-01] [-1.05945370e-02 -3.78465065e-04 9.99943805e-01 -4.23540067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.60, Z:-0.42 [[ 9.96265433e-01 8.56916782e-02 1.05888531e-02 2.78161575e+01] [-8.56910541e-02 9.96321625e-01 -5.13456156e-04 -5.99753756e-01] [-1.05939022e-02 -3.95831362e-04 9.99943805e-01 -4.22528015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.59, Z:-0.43 [[ 9.96340792e-01 8.48109906e-02 1.05887633e-02 2.78783061e+01] [-8.48102973e-02 9.96396983e-01 -5.15301709e-04 -5.88526792e-01] [-1.05943150e-02 -3.84620047e-04 9.99943805e-01 -4.27247601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:-0.58, Z:-0.43 [[ 9.96867012e-01 7.83839293e-02 1.05887191e-02 2.79408668e+01] [-7.83828640e-02 9.96923197e-01 -5.16207818e-04 -5.79588436e-01] [-1.05966021e-02 -3.15383583e-04 9.99943805e-01 -4.28416582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.57, Z:-0.43 [[ 9.97523150e-01 6.95373759e-02 1.05886364e-02 2.80038137e+01] [-6.95357943e-02 9.97579323e-01 -5.17899265e-04 -5.74677447e-01] [-1.05990180e-02 -2.19672733e-04 9.99943805e-01 -4.28708457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.58, Z:-0.43 [[ 9.97925922e-01 6.34959563e-02 1.05885483e-02 2.80660703e+01] [-6.34940155e-02 9.97982084e-01 -5.19692813e-04 -5.75712851e-01] [-1.06001799e-02 -1.53694521e-04 9.99943805e-01 -4.30989599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.58, Z:-0.43 [[ 9.98081798e-01 6.09967980e-02 1.05884576e-02 2.81281625e+01] [-6.09946971e-02 9.98137954e-01 -5.21534202e-04 -5.76940819e-01] [-1.06005533e-02 -1.25305971e-04 9.99943805e-01 -4.30780046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000002 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.58, Z:-0.43 [[ 9.98227986e-01 5.85557380e-02 1.05883930e-02 2.81902567e+01] [-5.85534859e-02 9.98284136e-01 -5.22843356e-04 -5.81260316e-01] [-1.06008402e-02 -9.80704490e-05 9.99943805e-01 -4.26438757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.59, Z:-0.43 [[ 9.98426291e-01 5.50711212e-02 1.05883057e-02 2.82533754e+01] [-5.50686544e-02 9.98482433e-01 -5.24605566e-04 -5.85926277e-01] [-1.06011278e-02 -5.93037563e-05 9.99943805e-01 -4.27029211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.59, Z:-0.43 [[ 9.98450595e-01 5.46287422e-02 1.05882056e-02 2.83159057e+01] [-5.46262292e-02 9.98506734e-01 -5.26618206e-04 -5.92511098e-01] [-1.06011631e-02 -5.25914831e-05 9.99943805e-01 -4.29135402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000002 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.60, Z:-0.43 [[ 9.98407671e-01 5.54077105e-02 1.05881060e-02 2.83784034e+01] [-5.54052201e-02 9.98463811e-01 -5.28613055e-04 -5.96114814e-01] [-1.06011299e-02 -5.88650134e-05 9.99943805e-01 -4.30150755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.60, Z:-0.44 [[ 9.98139593e-01 6.00437022e-02 1.05880047e-02 2.84402585e+01] [-6.00414511e-02 9.98195744e-01 -5.30634494e-04 -5.99270098e-01] [-1.06007625e-02 -1.06071867e-04 9.99943805e-01 -4.35083880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.60, Z:-0.43 [[ 9.97896755e-01 6.39528125e-02 1.05879162e-02 2.85013144e+01] [-6.39507627e-02 9.97952913e-01 -5.32394238e-04 -6.04530471e-01] [-1.06002899e-02 -1.45830833e-04 9.99943805e-01 -4.31616891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.61, Z:-0.43 [[ 9.97698234e-01 6.69785862e-02 1.05878343e-02 2.85643650e+01] [-6.69766895e-02 9.97754398e-01 -5.34018277e-04 -6.07933115e-01] [-1.05998260e-02 -1.76348996e-04 9.99943805e-01 -4.32091292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.61, Z:-0.44 [[ 9.97435821e-01 7.07791096e-02 1.05877331e-02 2.86265647e+01] [-7.07774057e-02 9.97491991e-01 -5.36017312e-04 -6.10212756e-01] [-1.05991178e-02 -2.14729411e-04 9.99943805e-01 -4.35362210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.61, Z:-0.44 [[ 9.97289269e-01 7.28149377e-02 1.05876441e-02 2.86890709e+01] [-7.28133298e-02 9.97345442e-01 -5.37769330e-04 -6.09955963e-01] [-1.05986962e-02 -2.34610039e-04 9.99943805e-01 -4.35845097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.61, Z:-0.43 [[ 9.97283323e-01 7.28963517e-02 1.05875497e-02 2.87513867e+01] [-7.28947288e-02 9.97339495e-01 -5.39621870e-04 -6.09133929e-01] [-1.05987179e-02 -2.33620670e-04 9.99943805e-01 -4.34142780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.60, Z:-0.44 [[ 9.97396978e-01 7.13244255e-02 1.05874596e-02 2.88127232e+01] [-7.13226953e-02 9.97453147e-01 -5.41382606e-04 -6.04260154e-01] [-1.05991087e-02 -2.15152782e-04 9.99943805e-01 -4.36003958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.60, Z:-0.44 [[ 9.97722317e-01 6.66189596e-02 1.05873769e-02 2.88752429e+01] [-6.66169474e-02 9.97778476e-01 -5.42996168e-04 -6.00775595e-01] [-1.06000306e-02 -1.63539333e-04 9.99943805e-01 -4.40944170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.60, Z:-0.44 [[ 9.97977341e-01 6.26828151e-02 1.05872875e-02 2.89370258e+01] [-6.26805629e-02 9.98033492e-01 -5.44733230e-04 -6.00637972e-01] [-1.06006129e-02 -1.19985720e-04 9.99943805e-01 -4.42248498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.60, Z:-0.44 [[ 9.98245407e-01 5.82582005e-02 1.05871965e-02 2.89991799e+01] [-5.82556808e-02 9.98301546e-01 -5.46496857e-04 -6.02943631e-01] [-1.06010525e-02 -7.12263597e-05 9.99943805e-01 -4.37786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.61, Z:-0.44 [[ 9.98760111e-01 4.86431371e-02 1.05871005e-02 2.90608826e+01] [-4.86400573e-02 9.98816221e-01 -5.48348846e-04 -6.06760077e-01] [-1.06012412e-02 3.27117773e-05 9.99943805e-01 -4.39938276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.62, Z:-0.44 [[ 9.99106358e-01 4.09194403e-02 1.05870326e-02 2.91213175e+01] [-4.09159129e-02 9.99162442e-01 -5.49657832e-04 -6.15005163e-01] [-1.06006570e-02 1.15988532e-04 9.99943805e-01 -4.35906544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.62, Z:-0.44 [[ 9.99266432e-01 3.68037391e-02 1.05869500e-02 2.91843290e+01] [-3.67999639e-02 9.99322500e-01 -5.51244549e-04 -6.22971533e-01] [-1.06000652e-02 1.61240797e-04 9.99943805e-01 -4.35274838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769230999995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.64, Z:-0.45 [[ 9.99587296e-01 2.67049728e-02 1.05868406e-02 2.92449212e+01] [-2.67006091e-02 9.99643322e-01 -5.53337041e-04 -6.39992199e-01] [-1.05978414e-02 2.70433585e-04 9.99943805e-01 -4.47359750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.65, Z:-0.45 [[ 9.99681394e-01 2.29135396e-02 1.05867525e-02 2.93077439e+01] [-2.29089456e-02 9.99737402e-01 -5.55018024e-04 -6.50861762e-01] [-1.05966898e-02 3.12309856e-04 9.99943805e-01 -4.47485510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.66, Z:-0.45 [[ 9.99681657e-01 2.29021465e-02 1.05866467e-02 2.93690033e+01] [-2.28975306e-02 9.99737662e-01 -5.57027724e-04 -6.64701750e-01] [-1.05966266e-02 3.14442330e-04 9.99943805e-01 -4.49263280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769230999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.67, Z:-0.45 [[ 9.99414688e-01 3.25300796e-02 1.05865482e-02 2.94321409e+01] [-3.25259837e-02 9.99470734e-01 -5.58893683e-04 -6.71919512e-01] [-1.05991260e-02 2.14228662e-04 9.99943805e-01 -4.49333834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.68, Z:-0.45 [[ 9.99037995e-01 4.25559790e-02 1.05864428e-02 2.94928718e+01] [-4.25524245e-02 9.99094078e-01 -5.60882523e-04 -6.75905949e-01] [-1.06007213e-02 1.09864141e-04 9.99943805e-01 -4.48311389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.68, Z:-0.45 [[ 9.98795334e-01 4.79146033e-02 1.05863574e-02 2.95556941e+01] [-4.79113326e-02 9.98851434e-01 -5.62491607e-04 -6.75862781e-01] [-1.06011498e-02 5.46075043e-05 9.99943805e-01 -4.48707091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769230999994 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.68, Z:-0.45 [[ 9.98583972e-01 5.21342795e-02 1.05862521e-02 2.96179094e+01] [-5.21312250e-02 9.98640084e-01 -5.64466240e-04 -6.76758634e-01] [-1.06012837e-02 1.17926523e-05 9.99943805e-01 -4.46118361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.67, Z:-0.45 [[ 9.98262177e-01 5.79703263e-02 1.05861584e-02 2.96806860e+01] [-5.79675813e-02 9.98318305e-01 -5.66217225e-04 -6.70939854e-01] [-1.06011795e-02 -4.84207577e-05 9.99943805e-01 -4.47958910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:-0.67, Z:-0.45 [[ 9.98145819e-01 5.99404651e-02 1.05860584e-02 2.97440792e+01] [-5.99378111e-02 9.98201952e-01 -5.68081132e-04 -6.71253954e-01] [-1.06010752e-02 -6.74773609e-05 9.99943805e-01 -4.45596961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.67, Z:-0.44 [[ 9.98006959e-01 6.22096996e-02 1.05859455e-02 2.98054124e+01] [-6.22071509e-02 9.98063097e-01 -5.70176150e-04 -6.67399835e-01] [-1.06009121e-02 -8.94817465e-05 9.99943805e-01 -4.44252671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769230999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.67, Z:-0.45 [[ 9.98140407e-01 6.00305494e-02 1.05858914e-02 2.98683926e+01] [-6.00278675e-02 9.98196538e-01 -5.71179818e-04 -6.65765305e-01] [-1.06010884e-02 -6.53308298e-05 9.99943805e-01 -4.47008998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:-0.67, Z:-0.45 [[ 9.98325203e-01 5.68746887e-02 1.05857830e-02 2.99305810e+01] [-5.68718082e-02 9.98381324e-01 -5.73181431e-04 -6.65860487e-01] [-1.06012476e-02 -2.98111525e-05 9.99943805e-01 -4.53126648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769230999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:-0.66, Z:-0.45 [[ 9.98625410e-01 5.13345206e-02 1.05856889e-02 2.99937120e+01] [-5.13313103e-02 9.98681514e-01 -5.74913835e-04 -6.63419349e-01] [-1.06012448e-02 3.07462807e-05 9.99943805e-01 -4.53303035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769230999996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.66, Z:-0.45 [[ 9.98855452e-01 4.66447340e-02 1.05855789e-02 3.00549196e+01] [-4.66412390e-02 9.98911539e-01 -5.76932970e-04 -6.59360450e-01] [-1.06009678e-02 8.25481284e-05 9.99943805e-01 -4.51132897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.66, Z:-0.45 [[ 9.99029689e-01 4.27507621e-02 1.05855269e-02 3.01177432e+01] [-4.27470384e-02 9.99085760e-01 -5.77885680e-04 -6.56993509e-01] [-1.06005542e-02 1.24825028e-04 9.99943805e-01 -4.50883400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.65, Z:-0.45 [[ 9.99126406e-01 4.04273930e-02 1.05854217e-02 3.01798191e+01] [-4.04235186e-02 9.99182467e-01 -5.79806056e-04 -6.54843724e-01] [-1.06002078e-02 1.51399551e-04 9.99943805e-01 -4.48117300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769230999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.65, Z:-0.45 [[ 9.99076764e-01 4.16361776e-02 1.05853292e-02 3.02414132e+01] [-4.16323531e-02 9.99132829e-01 -5.81490028e-04 -6.52170815e-01] [-1.06003609e-02 1.40261013e-04 9.99943805e-01 -4.53432748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.65, Z:-0.45 [[ 9.99026155e-01 4.28333373e-02 1.05852437e-02 3.03037321e+01] [-4.28295635e-02 9.99082223e-01 -5.83041895e-04 -6.52863633e-01] [-1.06005024e-02 1.29112735e-04 9.99943805e-01 -4.52524515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.65, Z:-0.45 [[ 9.99053668e-01 4.21867585e-02 1.05851526e-02 3.03663529e+01] [-4.21829310e-02 9.99109733e-01 -5.84690534e-04 -6.54237203e-01] [-1.06003952e-02 1.37624459e-04 9.99943805e-01 -4.50116788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769230999995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.66, Z:-0.45 [[ 9.99126759e-01 4.04187611e-02 1.05850576e-02 3.04276737e+01] [-4.04148163e-02 9.99182815e-01 -5.86405982e-04 -6.58320849e-01] [-1.06001095e-02 1.58100751e-04 9.99943805e-01 -4.52206995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.66, Z:-0.45 [[ 9.99131241e-01 4.03078354e-02 1.05849696e-02 3.04894960e+01] [-4.03038676e-02 9.99187296e-01 -5.87990791e-04 -6.61556626e-01] [-1.06000677e-02 1.60864757e-04 9.99943805e-01 -4.49003946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.67, Z:-0.45 [[ 9.99133024e-01 4.02636378e-02 1.05848735e-02 3.05519625e+01] [-4.02596492e-02 9.99189078e-01 -5.89715614e-04 -6.66210285e-01] [-1.06000340e-02 1.63061053e-04 9.99943805e-01 -4.49765034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769230999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.68, Z:-0.45 [[ 9.99210174e-01 3.83013148e-02 1.05847764e-02 3.06141082e+01] [-3.82971977e-02 9.99266218e-01 -5.91453038e-04 -6.77327408e-01] [-1.05996629e-02 1.85618619e-04 9.99943805e-01 -4.49229709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.69, Z:-0.45 [[ 9.99328035e-01 3.50919356e-02 1.05846755e-02 3.06756351e+01] [-3.50876195e-02 9.99384064e-01 -5.93252502e-04 -6.90231679e-01] [-1.05989744e-02 2.21462790e-04 9.99943805e-01 -4.52043657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.70, Z:-0.46 [[ 9.99274593e-01 3.65821675e-02 1.05845687e-02 3.07363566e+01] [-3.65779148e-02 9.99330627e-01 -5.95153044e-04 -7.03854691e-01] [-1.05992556e-02 2.07559865e-04 9.99943805e-01 -4.55364777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769230999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.72, Z:-0.46 [[ 9.99079302e-01 4.15754465e-02 1.05844768e-02 3.07975911e+01] [-4.15714567e-02 9.99135355e-01 -5.96782671e-04 -7.15558986e-01] [-1.06001365e-02 1.56221097e-04 9.99943805e-01 -4.59702756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.72, Z:-0.46 [[ 9.98862547e-01 4.64928227e-02 1.05843780e-02 3.08605078e+01] [-4.64890903e-02 9.98918618e-01 -5.98529417e-04 -7.21560492e-01] [-1.06007596e-02 1.05790514e-04 9.99943805e-01 -4.60900254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.73, Z:-0.46 [[ 9.98354170e-01 5.63642184e-02 1.05842649e-02 3.09214405e+01] [-5.63610193e-02 9.98410274e-01 -6.00523542e-04 -7.27340109e-01] [-1.06012868e-02 2.99522542e-06 9.99943805e-01 -4.58481937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.72, Z:-0.45 [[ 9.97384691e-01 7.14965253e-02 1.05842111e-02 3.09828562e+01] [-7.14941673e-02 9.97440836e-01 -6.01469121e-04 -7.23451604e-01] [-1.06001273e-02 -1.56813268e-04 9.99943805e-01 -4.54962483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.72, Z:-0.45 [[ 9.96862427e-01 7.84428203e-02 1.05841970e-02 3.10434643e+01] [-7.84408509e-02 9.96918588e-01 -6.01717263e-04 -7.20472171e-01] [-1.05987831e-02 -2.30404088e-04 9.99943805e-01 -4.48659612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.72, Z:-0.46 [[ 9.96848263e-01 7.86226179e-02 1.05841970e-02 3.11037819e+01] [-7.86206586e-02 9.96904424e-01 -6.01717263e-04 -7.17742779e-01] [-1.05987414e-02 -2.32315732e-04 9.99943805e-01 -4.55306092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769230999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.72, Z:-0.46 [[ 9.96863174e-01 7.84333363e-02 1.05841899e-02 3.11646315e+01] [-7.84313649e-02 9.96919334e-01 -6.01841983e-04 -7.15231108e-01] [-1.05987880e-02 -2.30178353e-04 9.99943805e-01 -4.58371743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.71, Z:-0.46 [[ 9.96695452e-01 8.05366393e-02 1.05841829e-02 3.12258816e+01] [-8.05347852e-02 9.96751617e-01 -6.01965008e-04 -7.08534322e-01] [-1.05982817e-02 -2.52419113e-04 9.99943805e-01 -4.57463081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.71, Z:-0.46 [[ 9.96574379e-01 8.20212290e-02 1.05841829e-02 3.12851669e+01] [-8.20194585e-02 9.96630546e-01 -6.01965008e-04 -7.06671178e-01] [-1.05978939e-02 -2.68206049e-04 9.99943805e-01 -4.56031351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.69, Z:-0.46 [[ 9.96734299e-01 8.00544326e-02 1.05841757e-02 3.13460365e+01] [-8.00525500e-02 9.96790463e-01 -6.02091399e-04 -6.93282328e-01] [-1.05984055e-02 -2.47165109e-04 9.99943805e-01 -4.60892468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769230999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.69, Z:-0.47 [[ 9.97036572e-01 7.61974365e-02 1.05841895e-02 3.14062381e+01] [-7.61953392e-02 9.97092728e-01 -6.01849986e-04 -6.91170715e-01] [-1.05992778e-02 -2.06399460e-04 9.99943805e-01 -4.66840913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.68, Z:-0.47 [[ 9.97628697e-01 6.80070384e-02 1.05842032e-02 3.14664758e+01] [-6.80044825e-02 9.97684834e-01 -6.01607596e-04 -6.82885071e-01] [-1.06006126e-02 -1.19592261e-04 9.99943805e-01 -4.67507511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769230999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.68, Z:-0.46 [[ 9.98334969e-01 5.67032909e-02 1.05842182e-02 3.15260234e+01] [-5.67001022e-02 9.98391074e-01 -6.01343723e-04 -6.79930848e-01] [-1.06012872e-02 2.16211704e-07 9.99943805e-01 -4.60739021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.69, Z:-0.46 [[ 9.99030247e-01 4.27380358e-02 1.05842256e-02 3.15872910e+01] [-4.27340643e-02 9.99086302e-01 -6.01213391e-04 -6.85281107e-01] [-1.06002495e-02 1.48323384e-04 9.99943805e-01 -4.61068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.70, Z:-0.46 [[ 9.99433129e-01 3.19592810e-02 1.05842113e-02 3.16487707e+01] [-3.19547024e-02 9.99489137e-01 -6.01466521e-04 -6.97183450e-01] [-1.05980266e-02 2.62910246e-04 9.99943805e-01 -4.63587976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.71, Z:-0.46 [[ 9.99533392e-01 2.86526461e-02 1.05841114e-02 3.17102094e+01] [-2.86478637e-02 9.99589384e-01 -6.03218749e-04 -7.06368711e-01] [-1.05970492e-02 2.99725102e-04 9.99943805e-01 -4.60849238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.72, Z:-0.47 [[ 9.99529554e-01 2.87862763e-02 1.05840058e-02 3.17713985e+01] [-2.87814818e-02 9.99585544e-01 -6.05065444e-04 -7.18778590e-01] [-1.05970368e-02 3.00157423e-04 9.99943805e-01 -4.67554075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.74, Z:-0.47 [[ 9.99385445e-01 3.34172686e-02 1.05839048e-02 3.18336955e+01] [-3.34127150e-02 9.99441455e-01 -6.06826922e-04 -7.35065391e-01] [-1.05982717e-02 2.52816998e-04 9.99943805e-01 -4.67384443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.75, Z:-0.46 [[ 9.99091015e-01 4.12931801e-02 1.05837897e-02 3.18956128e+01] [-4.12890468e-02 9.99147058e-01 -6.08828158e-04 -7.45238239e-01] [-1.05999028e-02 1.71280154e-04 9.99943805e-01 -4.61136075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769230999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.75, Z:-0.47 [[ 9.98465607e-01 5.43545550e-02 1.05836882e-02 3.19560399e+01] [-5.43511363e-02 9.98521698e-01 -6.10588001e-04 -7.52293866e-01] [-1.06012305e-02 3.44156409e-05 9.99943805e-01 -4.70727795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.75, Z:-0.47 [[ 9.97794795e-01 6.55250735e-02 1.05835945e-02 3.20176295e+01] [-6.55222655e-02 9.97850920e-01 -6.12208018e-04 -7.52888804e-01] [-1.06009644e-02 -8.26031133e-05 9.99943805e-01 -4.67229754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.76, Z:-0.46 [[ 9.97785744e-01 6.56627561e-02 1.05835800e-02 3.20782902e+01] [-6.56599532e-02 9.97841869e-01 -6.12458754e-04 -7.56249053e-01] [-1.06009549e-02 -8.38147515e-05 9.99943805e-01 -4.60436629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.76, Z:-0.46 [[ 9.98047349e-01 6.15587285e-02 1.05835800e-02 3.21395567e+01] [-6.15556948e-02 9.98103462e-01 -6.12458754e-04 -7.59423090e-01] [-1.06012100e-02 -4.02167825e-05 9.99943805e-01 -4.64449357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.77, Z:-0.47 [[ 9.98433701e-01 5.49375269e-02 1.05835652e-02 3.22012224e+01] [-5.49341185e-02 9.98489793e-01 -6.12714257e-04 -7.68816496e-01] [-1.06012428e-02 3.03557409e-05 9.99943805e-01 -4.69190084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.78, Z:-0.47 [[ 9.98521960e-01 5.33093480e-02 1.05834597e-02 3.22636333e+01] [-5.33058288e-02 9.98578045e-01 -6.14531209e-04 -7.75112552e-01] [-1.06011707e-02 4.94628187e-05 9.99943805e-01 -4.66881669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.78, Z:-0.47 [[ 9.98462522e-01 5.44112500e-02 1.05833546e-02 3.23240556e+01] [-5.44077735e-02 9.98518610e-01 -6.16336027e-04 -7.82991541e-01] [-1.06012121e-02 3.95716669e-05 9.99943805e-01 -4.68427665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.79, Z:-0.47 [[ 9.98441801e-01 5.47901740e-02 1.05832965e-02 3.23855201e+01] [-5.47867082e-02 9.98497890e-01 -6.17330951e-04 -7.88329040e-01] [-1.06012229e-02 3.65450479e-05 9.99943805e-01 -4.71759044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.79, Z:-0.47 [[ 9.98497323e-01 5.37688699e-02 1.05831947e-02 3.24473240e+01] [-5.37653284e-02 9.98553407e-01 -6.19072017e-04 -7.93963752e-01] [-1.06011719e-02 4.91328148e-05 9.99943805e-01 -4.73031517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.80, Z:-0.48 [[ 9.98587523e-01 5.20668459e-02 1.05830933e-02 3.25091902e+01] [-5.20631905e-02 9.98643599e-01 -6.20799623e-04 -7.98012242e-01] [-1.06010615e-02 6.89331539e-05 9.99943805e-01 -4.76525220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.80, Z:-0.47 [[ 9.98378746e-01 5.59274441e-02 1.05829910e-02 3.25696835e+01] [-5.59239871e-02 9.98434835e-01 -6.22539612e-04 -8.03411825e-01] [-1.06012439e-02 2.96872663e-05 9.99943805e-01 -4.74885418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.81, Z:-0.47 [[ 9.98006040e-01 6.22249574e-02 1.05829407e-02 3.26314432e+01] [-6.22218453e-02 9.98062149e-01 -6.23394068e-04 -8.05441097e-01] [-1.06012232e-02 -3.63390506e-05 9.99943805e-01 -4.72958415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.81, Z:-0.47 [[ 9.97599728e-01 6.84308837e-02 1.05828397e-02 3.26923914e+01] [-6.84281024e-02 9.97655855e-01 -6.25102612e-04 -8.07718703e-01] [-1.06008083e-02 -1.00561446e-04 9.99943805e-01 -4.71893011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.81, Z:-0.47 [[ 9.97623709e-01 6.80803819e-02 1.05828254e-02 3.27523590e+01] [-6.80775784e-02 9.97679835e-01 -6.25344506e-04 -8.11401061e-01] [-1.06008452e-02 -9.65946221e-05 9.99943805e-01 -4.73307106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.82, Z:-0.48 [[ 9.97905158e-01 6.38224041e-02 1.05828184e-02 3.28140846e+01] [-6.38193598e-02 9.97961271e-01 -6.25464109e-04 -8.17718228e-01] [-1.06011615e-02 -5.12348332e-05 9.99943805e-01 -4.78098440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.82, Z:-0.48 [[ 9.98019496e-01 6.20088006e-02 1.05827106e-02 3.28750979e+01] [-6.20056350e-02 9.98075602e-01 -6.27281788e-04 -8.23957755e-01] [-1.06012423e-02 -3.01482386e-05 9.99943805e-01 -4.78756907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.83, Z:-0.48 [[ 9.98092162e-01 6.08279902e-02 1.05826115e-02 3.29370522e+01] [-6.08247406e-02 9.98148263e-01 -6.28949663e-04 -8.32693979e-01] [-1.06012730e-02 -1.59348706e-05 9.99943805e-01 -4.75291512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.84, Z:-0.48 [[ 9.98059637e-01 6.13593576e-02 1.05825072e-02 3.29992217e+01] [-6.13561193e-02 9.98115739e-01 -6.30700044e-04 -8.41922266e-01] [-1.06012663e-02 -1.98253155e-05 9.99943805e-01 -4.77774206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.85, Z:-0.48 [[ 9.98006374e-01 6.22196975e-02 1.05823845e-02 3.30605255e+01] [-6.22164859e-02 9.98062477e-01 -6.32751706e-04 -8.48460643e-01] [-1.06012505e-02 -2.69085403e-05 9.99943805e-01 -4.82498907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769230999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.85, Z:-0.48 [[ 9.97724413e-01 6.65883649e-02 1.05822857e-02 3.31220751e+01] [-6.65853814e-02 9.97780529e-01 -6.34400388e-04 -8.53194507e-01] [-1.06010423e-02 -7.16687718e-05 9.99943805e-01 -4.81583227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.85, Z:-0.48 [[ 9.97567191e-01 6.89036833e-02 1.05821743e-02 3.31828083e+01] [-6.89008104e-02 9.97623312e-01 -6.36253350e-04 -8.54566059e-01] [-1.06008639e-02 -9.44149146e-05 9.99943805e-01 -4.80706672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.86, Z:-0.48 [[ 9.97804866e-01 6.53717721e-02 1.05820863e-02 3.32452889e+01] [-6.53686850e-02 9.97860976e-01 -6.37712140e-04 -8.58342043e-01] [-1.06011394e-02 -5.54247926e-05 9.99943805e-01 -4.78791706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.86, Z:-0.48 [[ 9.97999958e-01 6.23225980e-02 1.05819805e-02 3.33068148e+01] [-6.23193209e-02 9.98056057e-01 -6.39463221e-04 -8.63020828e-01] [-1.06012628e-02 -2.12775734e-05 9.99943805e-01 -4.79317075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.87, Z:-0.48 [[ 9.98100416e-01 6.06925309e-02 1.05819055e-02 3.33693742e+01] [-6.06891491e-02 9.98156509e-01 -6.40702509e-04 -8.66572873e-01] [-1.06012837e-02 -2.72139965e-06 9.99943805e-01 -4.81304404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.87, Z:-0.49 [[ 9.98239059e-01 5.83678368e-02 1.05818680e-02 3.34308899e+01] [-5.83643178e-02 9.98295144e-01 -6.41320545e-04 -8.72695455e-01] [-1.06012600e-02 2.25877084e-05 9.99943805e-01 -4.86518862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.88, Z:-0.49 [[ 9.98144748e-01 5.99590489e-02 1.05817642e-02 3.34919129e+01] [-5.99556012e-02 9.98200838e-01 -6.43029665e-04 -8.78520118e-01] [-1.06012813e-02 7.40064939e-06 9.99943805e-01 -4.85224220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.88, Z:-0.48 [[ 9.97930554e-01 6.34242558e-02 1.05817075e-02 3.35541247e+01] [-6.34209930e-02 9.97986655e-01 -6.43961019e-04 -8.81545434e-01] [-1.06012456e-02 -2.84740200e-05 9.99943805e-01 -4.78856520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.89, Z:-0.48 [[ 9.97862141e-01 6.44916767e-02 1.05816062e-02 3.36163697e+01] [-6.44884563e-02 9.97918244e-01 -6.45621338e-04 -8.88347902e-01] [-1.06012151e-02 -3.81503584e-05 9.99943805e-01 -4.80069245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.89, Z:-0.48 [[ 9.97835711e-01 6.48993441e-02 1.05815030e-02 3.36778638e+01] [-6.48961287e-02 9.97891815e-01 -6.47308115e-04 -8.94841325e-01] [-1.06012051e-02 -4.07914281e-05 9.99943805e-01 -4.82898724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.90, Z:-0.48 [[ 9.97576328e-01 6.87713808e-02 1.05814004e-02 3.37397981e+01] [-6.87683654e-02 9.97632443e-01 -6.48981534e-04 -8.98828415e-01] [-1.06009797e-02 -8.02569925e-05 9.99943805e-01 -4.83373214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.90, Z:-0.49 [[ 9.96821387e-01 7.89630227e-02 1.05812918e-02 3.38014933e+01] [-7.89605622e-02 9.96877528e-01 -6.50746847e-04 -8.96832260e-01] [-1.05996370e-02 -1.86826376e-04 9.99943805e-01 -4.85273305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769230999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.89, Z:-0.48 [[ 9.95942447e-01 8.93682171e-02 1.05812764e-02 3.38612241e+01] [-8.93663404e-02 9.95998611e-01 -6.50996989e-04 -8.90582610e-01] [-1.05971151e-02 -2.97254416e-04 9.99943805e-01 -4.81764636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.88, Z:-0.48 [[ 9.95747292e-01 9.15170284e-02 1.05812840e-02 3.39205225e+01] [-9.15152742e-02 9.95803460e-01 -6.50873992e-04 -8.80826337e-01] [-1.05964453e-02 -3.20243091e-04 9.99943805e-01 -4.82806560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.87, Z:-0.49 [[ 9.95759090e-01 9.13885685e-02 1.05813049e-02 3.39802322e+01] [-9.13868106e-02 9.95815258e-01 -6.50533793e-04 -8.74692246e-01] [-1.05964762e-02 -3.19216769e-04 9.99943805e-01 -4.87480534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.87, Z:-0.49 [[ 9.96254509e-01 8.58195103e-02 1.05813188e-02 3.40401920e+01] [-8.58174408e-02 9.96310666e-01 -6.50307433e-04 -8.66620240e-01] [-1.05980899e-02 -2.60189988e-04 9.99943805e-01 -4.85117056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.87, Z:-0.49 [[ 9.97494937e-01 6.99420145e-02 1.05813338e-02 3.41000703e+01] [-6.99390535e-02 9.97551054e-01 -6.50062822e-04 -8.68592074e-01] [-1.06008874e-02 -9.16140995e-05 9.99943805e-01 -4.90772049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.88, Z:-0.49 [[ 9.98456925e-01 5.45142479e-02 1.05813413e-02 3.41614672e+01] [-5.45104210e-02 9.98512990e-01 -6.49941228e-04 -8.76511675e-01] [-1.06010378e-02 7.21449502e-05 9.99943805e-01 -4.87629075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.88, Z:-0.49 [[ 9.98652365e-01 5.08083782e-02 1.05812461e-02 3.42223315e+01] [-5.08043270e-02 9.98708414e-01 -6.51488236e-04 -8.82922901e-01] [-1.06006805e-02 1.13037183e-04 9.99943805e-01 -4.86683106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.89, Z:-0.48 [[ 9.98975952e-01 4.39895959e-02 1.05812315e-02 3.42842933e+01] [-4.39851596e-02 9.99031972e-01 -6.51724261e-04 -8.91757073e-01] [-1.05996577e-02 1.85639707e-04 9.99943805e-01 -4.83511327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.90, Z:-0.49 [[ 9.99013194e-01 4.31355858e-02 1.05811229e-02 3.43447163e+01] [-4.31310830e-02 9.99069208e-01 -6.53482347e-04 -9.01577157e-01] [-1.05994625e-02 1.96462195e-04 9.99943805e-01 -4.90241356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.91, Z:-0.49 [[ 9.99078212e-01 4.16025008e-02 1.05810621e-02 3.44064611e+01] [-4.15979016e-02 9.99134218e-01 -6.54466856e-04 -9.12766800e-01] [-1.05991286e-02 2.13713597e-04 9.99943805e-01 -4.90769144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.92, Z:-0.49 [[ 9.98889336e-01 4.59144597e-02 1.05809550e-02 3.44679755e+01] [-4.59100840e-02 9.98945361e-01 -6.56193602e-04 -9.22090672e-01] [-1.05999247e-02 1.69692261e-04 9.99943805e-01 -4.90980639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.93, Z:-0.49 [[ 9.98400011e-01 5.55469533e-02 1.05808791e-02 3.45303495e+01] [-5.55431053e-02 9.98456074e-01 -6.57415282e-04 -9.26872065e-01] [-1.06010604e-02 6.86685448e-05 9.99943805e-01 -4.92406948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.93, Z:-0.49 [[ 9.97667440e-01 6.74368368e-02 1.05807722e-02 3.45902821e+01] [-6.74336387e-02 9.97723544e-01 -6.59130539e-04 -9.27946379e-01] [-1.06011352e-02 -5.59068932e-05 9.99943805e-01 -4.93799843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.92, Z:-0.49 [[ 9.97188359e-01 7.41850708e-02 1.05807646e-02 3.46512378e+01] [-7.41822510e-02 9.97244483e-01 -6.59252541e-04 -9.23394298e-01] [-1.06005158e-02 -1.27505977e-04 9.99943805e-01 -4.92477123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.92, Z:-0.49 [[ 9.97291731e-01 7.27822161e-02 1.05807646e-02 3.47118948e+01] [-7.27793174e-02 9.97347851e-01 -6.59252541e-04 -9.21103686e-01] [-1.06006847e-02 -1.12593719e-04 9.99943805e-01 -4.94956179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.92, Z:-0.50 [[ 9.97889712e-01 6.40638045e-02 1.05807646e-02 3.47724667e+01] [-6.40604155e-02 9.97945804e-01 -6.59252541e-04 -9.17219891e-01] [-1.06012639e-02 -1.99468496e-05 9.99943805e-01 -4.95040733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.92, Z:-0.49 [[ 9.98634067e-01 5.11668626e-02 1.05807293e-02 3.48333964e+01] [-5.11627432e-02 9.98690111e-01 -6.59819105e-04 -9.20268849e-01] [-1.06006306e-02 1.17578701e-04 9.99943805e-01 -4.92973628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.92, Z:-0.50 [[ 9.98951359e-01 4.45447272e-02 1.05806354e-02 3.48950461e+01] [-4.45402204e-02 9.99007373e-01 -6.61320258e-04 -9.24877301e-01] [-1.05995912e-02 1.89362935e-04 9.99943805e-01 -5.00366506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.93, Z:-0.50 [[ 9.99041876e-01 4.24662441e-02 1.05805240e-02 3.49558213e+01] [-4.24616020e-02 9.99097879e-01 -6.63099213e-04 -9.33971066e-01] [-1.05991384e-02 2.13197885e-04 9.99943805e-01 -4.98419298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.94, Z:-0.50 [[ 9.99143210e-01 4.00112624e-02 1.05804216e-02 3.50175008e+01] [-4.00064654e-02 9.99199200e-01 -6.64727760e-04 -9.43509497e-01] [-1.05985454e-02 2.40872955e-04 9.99943805e-01 -4.98583542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.96, Z:-0.50 [[ 9.99418955e-01 3.24007611e-02 1.05803111e-02 3.50774536e+01] [-3.23955193e-02 9.99474905e-01 -6.66482266e-04 -9.64818643e-01] [-1.05963500e-02 3.23340337e-04 9.99943805e-01 -4.96238946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.98, Z:-0.50 [[ 9.99387182e-01 3.33664538e-02 1.05802096e-02 3.51393598e+01] [-3.33612490e-02 9.99443135e-01 -6.68090193e-04 -9.75438191e-01] [-1.05966096e-02 3.14711768e-04 9.99943805e-01 -4.98784875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.98, Z:-0.50 [[ 9.99065154e-01 4.19151479e-02 1.05801012e-02 3.52000534e+01] [-4.19104039e-02 9.99121149e-01 -6.69801560e-04 -9.83850400e-01] [-1.05988777e-02 2.25759082e-04 9.99943805e-01 -5.00923352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.99, Z:-0.50 [[ 9.98570420e-01 5.23944674e-02 1.05800014e-02 3.52608314e+01] [-5.23902944e-02 9.98626460e-01 -6.71375715e-04 -9.87916111e-01] [-1.06006457e-02 1.16126543e-04 9.99943805e-01 -4.99971702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.99, Z:-0.50 [[ 9.98324096e-01 5.68952082e-02 1.05799021e-02 3.53226501e+01] [-5.68912714e-02 9.98380153e-01 -6.72936420e-04 -9.89287678e-01] [-1.06010511e-02 6.99045622e-05 9.99943805e-01 -5.00320876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.99, Z:-0.50 [[ 9.98248115e-01 5.82131298e-02 1.05797954e-02 3.53853371e+01] [-5.82092493e-02 9.98304176e-01 -6.74609825e-04 -9.88606028e-01] [-1.06011251e-02 5.75860389e-05 9.99943805e-01 -4.97971235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.99, Z:-0.50 [[ 9.98297572e-01 5.73587603e-02 1.05797198e-02 3.54472263e+01] [-5.73548192e-02 9.98353629e-01 -6.75793775e-04 -9.89283180e-01] [-1.06010643e-02 6.78453702e-05 9.99943805e-01 -4.97050309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.99, Z:-0.50 [[ 9.98389985e-01 5.57270990e-02 1.05796149e-02 3.55093547e+01] [-5.57230490e-02 9.98446034e-01 -6.77430652e-04 -9.92355274e-01] [-1.06009258e-02 8.68115769e-05 9.99943805e-01 -4.97226019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.99, Z:-0.50 [[ 9.98410316e-01 5.53616776e-02 1.05795107e-02 3.55703796e+01] [-5.53575898e-02 9.98466362e-01 -6.79055170e-04 -9.92706064e-01] [-1.06008792e-02 9.23194738e-05 9.99943805e-01 -4.98980151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.99, Z:-0.51 [[ 9.98222347e-01 5.86534060e-02 1.05794145e-02 3.56319374e+01] [-5.86494872e-02 9.98278405e-01 -6.80550111e-04 -9.91451591e-01] [-1.06011176e-02 5.88630928e-05 9.99943805e-01 -5.07014963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.99, Z:-0.51 [[ 9.98349352e-01 5.64503952e-02 1.05793994e-02 3.56932402e+01] [-5.64463502e-02 9.98405402e-01 -6.80784497e-04 -9.93837439e-01] [-1.06009601e-02 8.24922763e-05 9.99943805e-01 -5.06589565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.00, Z:-0.51 [[ 9.98761579e-01 4.86146733e-02 1.05793018e-02 3.57556416e+01] [-4.86101726e-02 9.98817594e-01 -6.82298278e-04 -9.97736213e-01] [-1.05999625e-02 1.67191619e-04 9.99943805e-01 -5.08546904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.01, Z:-0.51 [[ 9.98977064e-01 4.39648241e-02 1.05791931e-02 3.58168081e+01] [-4.39600449e-02 9.99033056e-01 -6.83979081e-04 -1.00804629e+00] [-1.05990347e-02 2.18217610e-04 9.99943805e-01 -5.10331193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.02, Z:-0.51 [[ 9.99112444e-01 4.07726389e-02 1.05790779e-02 3.58779751e+01] [-4.07676620e-02 9.99168418e-01 -6.85756981e-04 -1.02308297e+00] [-1.05982406e-02 2.53864062e-04 9.99943805e-01 -5.05096372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.04, Z:-0.51 [[ 9.99034477e-01 4.26403461e-02 1.05789708e-02 3.59397809e+01] [-4.26354564e-02 9.99090459e-01 -6.87404425e-04 -1.04176166e+00] [-1.05986600e-02 2.35701470e-04 9.99943805e-01 -5.05015524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.05, Z:-0.50 [[ 9.98862754e-01 4.64896359e-02 1.05788442e-02 3.60013667e+01] [-4.64849414e-02 9.98918753e-01 -6.89347934e-04 -1.05268944e+00] [-1.05994534e-02 1.96807023e-04 9.99943805e-01 -5.01396878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.07, Z:-0.50 [[ 9.98347492e-01 5.64834187e-02 1.05787307e-02 3.60627346e+01] [-5.64792665e-02 9.98403533e-01 -6.91084888e-04 -1.06905631e+00] [-1.06008770e-02 9.24639131e-05 9.99943805e-01 -5.03371156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.08, Z:-0.51 [[ 9.97591803e-01 6.85469797e-02 1.05786100e-02 3.61231109e+01] [-6.85434857e-02 9.97647889e-01 -6.92927081e-04 -1.07785057e+00] [-1.06012260e-02 -3.38364302e-05 9.99943805e-01 -5.12408768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769230999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.08, Z:-0.51 [[ 9.97269641e-01 7.30845986e-02 1.05785077e-02 3.61855647e+01] [-7.30813432e-02 9.97325742e-01 -6.94485298e-04 -1.08227564e+00] [-1.06009743e-02 -8.05024524e-05 9.99943805e-01 -5.11485688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.08, Z:-0.50 [[ 9.96128486e-01 8.72704879e-02 1.05783808e-02 3.62468623e+01] [-8.72680108e-02 9.96184626e-01 -6.96414114e-04 -1.07746312e+00] [-1.05987967e-02 -2.29436310e-04 9.99943805e-01 -4.99692282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.08, Z:-0.51 [[ 9.95669335e-01 9.23616409e-02 1.05783650e-02 3.63080308e+01] [-9.23594483e-02 9.95725488e-01 -6.96654031e-04 -1.07603926e+00] [-1.05974917e-02 -2.83374896e-04 9.99943805e-01 -5.06330964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769230999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.06, Z:-0.51 [[ 9.95590906e-01 9.32032485e-02 1.05783573e-02 3.63696528e+01] [-9.32011021e-02 9.95647060e-01 -6.96770614e-04 -1.06442647e+00] [-1.05972516e-02 -2.92216070e-04 9.99943805e-01 -5.07772046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.05, Z:-0.51 [[ 9.95642967e-01 9.26454524e-02 1.05783497e-02 3.64309248e+01] [-9.26432733e-02 9.95699120e-01 -6.96886086e-04 -1.05254372e+00] [-1.05974168e-02 -2.86163210e-04 9.99943805e-01 -5.05069517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.04, Z:-0.51 [[ 9.96104129e-01 8.75480570e-02 1.05783497e-02 3.64903881e+01] [-8.75455905e-02 9.96160270e-01 -6.96886086e-04 -1.03827141e+00] [-1.05987427e-02 -2.31916762e-04 9.99943805e-01 -5.05230187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.03, Z:-0.51 [[ 9.96817977e-01 7.90064426e-02 1.05783745e-02 3.65495223e+01] [-7.90034990e-02 9.96874095e-01 -6.96509821e-04 -1.03158624e+00] [-1.06003362e-02 -1.41435084e-04 9.99943805e-01 -5.09223937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:-1.03, Z:-0.51 [[ 9.97558377e-01 6.90317515e-02 1.05783991e-02 3.66101572e+01] [-6.90282507e-02 9.97614463e-01 -6.96135951e-04 -1.02663255e+00] [-1.06012194e-02 -3.57721332e-05 9.99943805e-01 -5.12309920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:-1.03, Z:-0.51 [[ 9.98198466e-01 5.90586095e-02 1.05783991e-02 3.66704747e+01] [-5.90545483e-02 9.98254515e-01 -6.96135951e-04 -1.03015153e+00] [-1.06010474e-02 7.01792599e-05 9.99943805e-01 -5.12048601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:-1.04, Z:-0.51 [[ 9.98542457e-01 5.29250451e-02 1.05783622e-02 3.67309967e+01] [-5.29206337e-02 9.98598478e-01 -6.96696146e-04 -1.03594876e+00] [-1.06004090e-02 1.35867052e-04 9.99943805e-01 -5.11470646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:-1.04, Z:-0.51 [[ 9.98686752e-01 5.01285266e-02 1.05783622e-02 3.67912373e+01] [-5.01239584e-02 9.98742761e-01 -6.96696146e-04 -1.04130767e+00] [-1.05999870e-02 1.65551826e-04 9.99943805e-01 -5.06569466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:-1.05, Z:-0.51 [[ 9.98906164e-01 4.55474841e-02 1.05783543e-02 3.68528713e+01] [-4.55426578e-02 9.98962152e-01 -6.96815089e-04 -1.05176229e+00] [-1.05991138e-02 2.14286517e-04 9.99943805e-01 -5.10635414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769230999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:-1.06, Z:-0.52 [[ 9.99006201e-01 4.32979286e-02 1.05782402e-02 3.69131420e+01] [-4.32929579e-02 9.99062176e-01 -6.98543187e-04 -1.06375915e+00] [-1.05985652e-02 2.39885667e-04 9.99943805e-01 -5.16696051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.08, Z:-0.51 [[ 9.99075259e-01 4.16740953e-02 1.05781345e-02 3.69748656e+01] [-4.16690167e-02 9.99131224e-01 -7.00140052e-04 -1.07852449e+00] [-1.05981222e-02 2.58712139e-04 9.99943805e-01 -5.14549870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.04, Y:-1.09, Z:-0.52 [[ 9.99173607e-01 3.92454952e-02 1.05780228e-02 3.70355287e+01] [-3.92402628e-02 9.99229558e-01 -7.01824081e-04 -1.09306520e+00] [-1.05974165e-02 2.86159704e-04 9.99943805e-01 -5.18263221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:-1.11, Z:-0.52 [[ 9.99110736e-01 4.08147405e-02 1.05779606e-02 3.70975752e+01] [-4.08095861e-02 9.99166695e-01 -7.02760336e-04 -1.10800424e+00] [-1.05978289e-02 2.70453204e-04 9.99943805e-01 -5.16868704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:-1.12, Z:-0.52 [[ 9.98871189e-01 4.63082955e-02 1.05778316e-02 3.71591651e+01] [-4.63034284e-02 9.98927172e-01 -7.04696413e-04 -1.11843689e+00] [-1.05991167e-02 2.14111076e-04 9.99943805e-01 -5.16314069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:-1.13, Z:-0.51 [[ 9.98451108e-01 5.46213947e-02 1.05777118e-02 3.72205556e+01] [-5.46169748e-02 9.98507129e-01 -7.06489973e-04 -1.12576621e+00] [-1.06005101e-02 1.27673077e-04 9.99943805e-01 -5.14603952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:-1.13, Z:-0.51 [[ 9.98199974e-01 5.90332690e-02 1.05775998e-02 3.72828939e+01] [-5.90290789e-02 9.98256012e-01 -7.08163270e-04 -1.13008383e+00] [-1.06009578e-02 8.25025843e-05 9.99943805e-01 -5.14764724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:-1.14, Z:-0.52 [[ 9.98206766e-01 5.89183319e-02 1.05774851e-02 3.73440110e+01] [-5.89141172e-02 9.98262803e-01 -7.09872455e-04 -1.13588372e+00] [-1.06009344e-02 8.54362911e-05 9.99943805e-01 -5.17755226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:-1.14, Z:-0.51 [[ 9.98189801e-01 5.92050713e-02 1.05773792e-02 3.74060159e+01] [-5.92008561e-02 9.98245838e-01 -7.11446859e-04 -1.14120217e+00] [-1.06009460e-02 8.39690957e-05 9.99943805e-01 -5.11991292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769230999994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-1.14, Z:-0.51 [[ 9.98002876e-01 6.22766461e-02 1.05772652e-02 3.74679942e+01] [-6.22725854e-02 9.98058924e-01 -7.13137617e-04 -1.14353959e+00] [-1.06011457e-02 5.30397427e-05 9.99943805e-01 -5.14365377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-1.14, Z:-0.52 [[ 9.97766388e-01 6.59572541e-02 1.05771440e-02 3.75304431e+01] [-6.59533811e-02 9.97822449e-01 -7.14930809e-04 -1.14362300e+00] [-1.06012666e-02 1.57355222e-05 9.99943805e-01 -5.17294542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-1.14, Z:-0.51 [[ 9.97797557e-01 6.54840546e-02 1.05770204e-02 3.75916346e+01] [-6.54801358e-02 9.97853616e-01 -7.16754632e-04 -1.14497146e+00] [-1.06012540e-02 2.25912893e-05 9.99943805e-01 -5.13385837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-1.15, Z:-0.52 [[ 9.98015070e-01 6.20809784e-02 1.05769529e-02 3.76529177e+01] [-6.20768579e-02 9.98071114e-01 -7.17749950e-04 -1.15006090e+00] [-1.06011097e-02 5.97412673e-05 9.99943805e-01 -5.19598253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.16, Z:-0.51 [[ 9.98259729e-01 5.80141665e-02 1.05768238e-02 3.77156471e+01] [-5.80097976e-02 9.98315754e-01 -7.19647228e-04 -1.15779537e+00] [-1.06007595e-02 1.04835442e-04 9.99943805e-01 -5.14056060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.17, Z:-0.52 [[ 9.98652600e-01 5.08047087e-02 1.05766857e-02 3.77762792e+01] [-5.07999139e-02 9.98708590e-01 -7.21670533e-04 -1.17095037e+00] [-1.05996911e-02 1.83403431e-04 9.99943805e-01 -5.21688917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58576923099999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-1.19, Z:-0.52 [[ 9.98963635e-01 4.42695419e-02 1.05765748e-02 3.78382485e+01] [-4.42643637e-02 9.99019591e-01 -7.23292393e-04 -1.18592892e+00] [-1.05982252e-02 2.54377444e-04 9.99943805e-01 -5.21155474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769230999996 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.20, Z:-0.52 [[ 9.99008075e-01 4.32551160e-02 1.05764388e-02 3.79007517e+01] [-4.32498600e-02 9.99064024e-01 -7.25275469e-04 -1.19669348e+00] [-1.05979114e-02 2.67126552e-04 9.99943805e-01 -5.20830421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-1.21, Z:-0.53 [[ 9.98956798e-01 4.44236245e-02 1.05763036e-02 3.79622714e+01] [-4.44184132e-02 9.99012751e-01 -7.27241244e-04 -1.21059097e+00] [-1.05981689e-02 2.56699960e-04 9.99943805e-01 -5.25813669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-1.23, Z:-0.52 [[ 9.98896134e-01 4.57674296e-02 1.05761859e-02 3.80235597e+01] [-4.57622755e-02 9.98952092e-01 -7.28948963e-04 -1.22705285e+00] [-1.05984652e-02 2.44153967e-04 9.99943805e-01 -5.22887421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.09, Y:-1.24, Z:-0.52 [[ 9.98784075e-01 4.81509850e-02 1.05760666e-02 3.80859808e+01] [-4.81459462e-02 9.98840044e-01 -7.30676706e-04 -1.24282970e+00] [-1.05989816e-02 2.20593526e-04 9.99943805e-01 -5.18318238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:-1.25, Z:-0.52 [[ 9.98771729e-01 4.84064296e-02 1.05759293e-02 3.81484125e+01] [-4.84013841e-02 9.98827697e-01 -7.32658238e-04 -1.25056306e+00] [-1.05989965e-02 2.19868719e-04 9.99943805e-01 -5.18383154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:-1.27, Z:-0.52 [[ 9.98696321e-01 4.99380763e-02 1.05757911e-02 3.82095173e+01] [-4.99330956e-02 9.98752295e-01 -7.34648319e-04 -1.27142940e+00] [-1.05992825e-02 2.05608588e-04 9.99943805e-01 -5.24121851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.28, Z:-0.53 [[ 9.98666182e-01 5.05372317e-02 1.05756625e-02 3.82713505e+01] [-5.05322650e-02 9.98722157e-01 -7.36493846e-04 -1.28424043e+00] [-1.05993689e-02 2.01099315e-04 9.99943805e-01 -5.28896026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.30, Z:-0.53 [[ 9.98459579e-01 5.44667592e-02 1.05755387e-02 3.83336329e+01] [-5.44619941e-02 9.98515571e-01 -7.38267081e-04 -1.29709270e+00] [-1.06000511e-02 1.61164911e-04 9.99943805e-01 -5.27994496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.30, Z:-0.53 [[ 9.97865032e-01 6.44479604e-02 1.05753942e-02 3.83947338e+01] [-6.44437334e-02 9.97921068e-01 -7.40331979e-04 -1.30381227e+00] [-1.06011215e-02 5.72335092e-05 9.99943805e-01 -5.26047656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:-1.31, Z:-0.52 [[ 9.97149340e-01 7.47084756e-02 1.05753255e-02 3.84578355e+01] [-7.47048149e-02 9.97205416e-01 -7.41312124e-04 -1.30765400e+00] [-1.06011541e-02 -5.08288379e-05 9.99943805e-01 -5.22201773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:38.52, Y:-1.31, Z:-0.53 [[ 9.96685772e-01 8.06575331e-02 1.05751795e-02 3.85208342e+01] [-8.06541850e-02 9.96741867e-01 -7.43388952e-04 -1.30880903e+00] [-1.06006841e-02 -1.12007292e-04 9.99943805e-01 -5.26440769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:38.58, Y:-1.31, Z:-0.53 [[ 9.96424926e-01 8.38184681e-02 1.05750350e-02 3.85827106e+01] [-8.38152762e-02 9.96481030e-01 -7.45438493e-04 -1.31082047e+00] [-1.06003033e-02 -1.43575986e-04 9.99943805e-01 -5.25202457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.31, Z:-0.53 [[ 9.96100868e-01 8.75855702e-02 1.05749009e-02 3.86455478e+01] [-8.75825704e-02 9.96156983e-01 -7.47335867e-04 -1.31093116e+00] [-1.05997172e-02 -1.81755099e-04 9.99943805e-01 -5.27656774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.71, Y:-1.30, Z:-0.53 [[ 9.95386876e-01 9.53579695e-02 1.05747579e-02 3.87074377e+01] [-9.53553864e-02 9.95443011e-01 -7.49353612e-04 -1.30054430e+00] [-1.05980257e-02 -2.62463379e-04 9.99943805e-01 -5.32242791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:38.77, Y:-1.30, Z:-0.53 [[ 9.95387716e-01 9.53492096e-02 1.05746431e-02 3.87704321e+01] [-9.53466087e-02 9.95443851e-01 -7.50970804e-04 -1.29953367e+00] [-1.05980679e-02 -2.60749245e-04 9.99943805e-01 -5.28923447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769230999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:-1.30, Z:-0.54 [[ 9.96291096e-01 8.53945632e-02 1.05745004e-02 3.88319459e+01] [-8.53913801e-02 9.96347201e-01 -7.52974233e-04 -1.29866816e+00] [-1.06001738e-02 -1.52789663e-04 9.99943805e-01 -5.36351059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.30, Z:-0.53 [[ 9.97146032e-01 7.47527506e-02 1.05743856e-02 3.88949808e+01] [-7.47489516e-02 9.97202098e-01 -7.54584150e-04 -1.30030914e+00] [-1.06012067e-02 -3.79936430e-05 9.99943805e-01 -5.33441480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:-1.30, Z:-0.53 [[ 9.97297382e-01 7.27056864e-02 1.05742453e-02 3.89580051e+01] [-7.27017516e-02 9.97353439e-01 -7.56545156e-04 -1.30212585e+00] [-1.06012650e-02 -1.42656476e-05 9.99943805e-01 -5.28618828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769230999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.30, Z:-0.53 [[ 9.97319249e-01 7.24051399e-02 1.05740938e-02 3.90209227e+01] [-7.24011657e-02 9.97375303e-01 -7.58655779e-04 -1.30340598e+00] [-1.06012706e-02 -8.95470850e-06 9.99943805e-01 -5.28932586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.31, Z:-0.53 [[ 9.97321244e-01 7.23776816e-02 1.05739405e-02 3.90830407e+01] [-7.23736834e-02 9.97377296e-01 -7.60786303e-04 -1.30719630e+00] [-1.06012722e-02 -6.52668273e-06 9.99943805e-01 -5.32383356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:-1.31, Z:-0.54 [[ 9.97492724e-01 6.99747157e-02 1.05737985e-02 3.91456103e+01] [-6.99705615e-02 9.97548765e-01 -7.62755783e-04 -1.30665194e+00] [-1.06012532e-02 2.09887278e-05 9.99943805e-01 -5.37270825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:-1.31, Z:-0.53 [[ 9.97581416e-01 6.86987339e-02 1.05736697e-02 3.92065109e+01] [-6.86944892e-02 9.97637450e-01 -7.64537125e-04 -1.30925515e+00] [-1.06012116e-02 3.63351913e-05 9.99943805e-01 -5.34944994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769230999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:-1.31, Z:-0.53 [[ 9.97613517e-01 6.82309987e-02 1.05735988e-02 3.92698118e+01] [-6.82267174e-02 9.97669549e-01 -7.65516014e-04 -1.30853282e+00] [-1.06011895e-02 4.22871871e-05 9.99943805e-01 -5.34386911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:-1.31, Z:-0.54 [[ 9.97723431e-01 6.66044782e-02 1.05734623e-02 3.93322741e+01] [-6.66000856e-02 9.97779454e-01 -7.67396751e-04 -1.30928456e+00] [-1.06010955e-02 6.14562260e-05 9.99943805e-01 -5.36513693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-1.31, Z:-0.54 [[ 9.97807143e-01 6.53384225e-02 1.05733356e-02 3.93953043e+01] [-6.53339403e-02 9.97863159e-01 -7.69138174e-04 -1.31199414e+00] [-1.06009964e-02 7.66538864e-05 9.99943805e-01 -5.37027987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-1.31, Z:-0.54 [[ 9.97634463e-01 6.79241115e-02 1.05731897e-02 3.94580661e+01] [-6.79197533e-02 9.97690489e-01 -7.71139545e-04 -1.31448100e+00] [-1.06011497e-02 5.11869533e-05 9.99943805e-01 -5.38985357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-1.31, Z:-0.54 [[ 9.97470694e-01 7.02881623e-02 1.05730445e-02 3.95213938e+01] [-7.02839158e-02 9.97526728e-01 -7.73124413e-04 -1.31247398e+00] [-1.06012360e-02 2.80539743e-05 9.99943805e-01 -5.38199368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:-1.31, Z:-0.54 [[ 9.97448371e-01 7.06042605e-02 1.05728999e-02 3.95837786e+01] [-7.06000109e-02 9.97504405e-01 -7.75096556e-04 -1.31305289e+00] [-1.06012394e-02 2.66719469e-05 9.99943805e-01 -5.40432540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:-1.31, Z:-0.54 [[ 9.97511860e-01 6.97015549e-02 1.05727660e-02 3.96449780e+01] [-6.96972353e-02 9.97567888e-01 -7.76918903e-04 -1.30906715e+00] [-1.06012043e-02 3.80932577e-05 9.99943805e-01 -5.37416979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.31, Z:-0.54 [[ 9.97434057e-01 7.08062121e-02 1.05726977e-02 3.97073376e+01] [-7.08019447e-02 9.97490090e-01 -7.77847665e-04 -1.30803911e+00] [-1.06012376e-02 2.72841951e-05 9.99943805e-01 -5.44276695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:-1.31, Z:-0.55 [[ 9.97296846e-01 7.27132789e-02 1.05725748e-02 3.97685902e+01] [-7.27091010e-02 9.97352886e-01 -7.79514412e-04 -1.30930253e+00] [-1.06012690e-02 8.68485551e-06 9.99943805e-01 -5.45381657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.83, Y:-1.31, Z:-0.54 [[ 9.97297457e-01 7.27049078e-02 1.05725573e-02 3.98305326e+01] [-7.27007269e-02 9.97353496e-01 -7.79751300e-04 -1.30880392e+00] [-1.06012688e-02 9.01138465e-06 9.99943805e-01 -5.41732212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.89, Y:-1.31, Z:-0.54 [[ 9.97461222e-01 7.04225230e-02 1.05725388e-02 3.98912330e+01] [-7.04182112e-02 9.97517252e-01 -7.80003142e-04 -1.31075151e+00] [-1.06012196e-02 3.35236201e-05 9.99943805e-01 -5.44825806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:39.95, Y:-1.31, Z:-0.54 [[ 9.97593091e-01 6.85291763e-02 1.05724191e-02 3.99538388e+01] [-6.85247410e-02 9.97649111e-01 -7.81621898e-04 -1.31440589e+00] [-1.06011284e-02 5.52683267e-05 9.99943805e-01 -5.41679594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.32, Z:-0.54 [[ 9.97509645e-01 6.97333082e-02 1.05722827e-02 4.00154183e+01] [-6.97289210e-02 9.97565669e-01 -7.83461931e-04 -1.31758322e+00] [-1.06011797e-02 4.43169655e-05 9.99943805e-01 -5.40841111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.32, Z:-0.54 [[ 9.97484162e-01 7.00969005e-02 1.05721573e-02 4.00768887e+01] [-7.00925158e-02 9.97540186e-01 -7.85150293e-04 -1.32126814e+00] [-1.06011884e-02 4.21458763e-05 9.99943805e-01 -5.44432844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.33, Z:-0.55 [[ 9.97740663e-01 6.63460701e-02 1.05720351e-02 4.01387213e+01] [-6.63414574e-02 9.97796669e-01 -7.86792402e-04 -1.32901888e+00] [-1.06009420e-02 8.36505548e-05 9.99943805e-01 -5.47408498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:-1.34, Z:-0.55 [[ 9.97835019e-01 6.49115591e-02 1.05719041e-02 4.02001900e+01] [-6.49068473e-02 9.97891016e-01 -7.88548692e-04 -1.33720186e+00] [-1.06007941e-02 1.00652532e-04 9.99943805e-01 -5.47347885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:-1.35, Z:-0.55 [[ 9.98124848e-01 6.02911768e-02 1.05717650e-02 4.02630247e+01] [-6.02861861e-02 9.98180821e-01 -7.90410082e-04 -1.34572325e+00] [-1.06001878e-02 1.51596554e-04 9.99943805e-01 -5.45553017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.35, Z:-0.55 [[ 9.98196173e-01 5.90985708e-02 1.05716141e-02 4.03251970e+01] [-5.90934919e-02 9.98252138e-01 -7.92423223e-04 -1.35183788e+00] [-1.05999674e-02 1.66280239e-04 9.99943805e-01 -5.45237165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-1.36, Z:-0.55 [[ 9.98302482e-01 5.72747674e-02 1.05714740e-02 4.03872373e+01] [-5.72695666e-02 9.98358436e-01 -7.94287906e-04 -1.36110740e+00] [-1.05996129e-02 1.87515856e-04 9.99943805e-01 -5.48055972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.37, Z:-0.55 [[ 9.98288393e-01 5.75198347e-02 1.05713248e-02 4.04499589e+01] [-5.75146266e-02 9.98344346e-01 -7.96268250e-04 -1.36965216e+00] [-1.05996236e-02 1.86899554e-04 9.99943805e-01 -5.46405318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.38, Z:-0.55 [[ 9.98236373e-01 5.84156953e-02 1.05711755e-02 4.05115713e+01] [-5.84105165e-02 9.98292329e-01 -7.98245031e-04 -1.38099776e+00] [-1.05997535e-02 1.79369402e-04 9.99943805e-01 -5.49276035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.39, Z:-0.54 [[ 9.98272483e-01 5.77953569e-02 1.05710372e-02 4.05727050e+01] [-5.77901239e-02 9.98328434e-01 -8.00072171e-04 -1.39186285e+00] [-1.05996075e-02 1.87788481e-04 9.99943805e-01 -5.44344946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-1.41, Z:-0.55 [[ 9.98402774e-01 5.54991632e-02 1.05709006e-02 4.06350591e+01] [-5.54937825e-02 9.98458711e-01 -8.01873364e-04 -1.40570160e+00] [-1.05991111e-02 2.13973332e-04 9.99943805e-01 -5.49156852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.42, Z:-0.55 [[ 9.98454494e-01 5.45608204e-02 1.05707500e-02 4.06949338e+01] [-5.45553662e-02 9.98510424e-01 -8.03853926e-04 -1.42229084e+00] [-1.05988630e-02 2.25920428e-04 9.99943805e-01 -5.54762530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769230999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-1.44, Z:-0.55 [[ 9.98290409e-01 5.74849624e-02 1.05706286e-02 4.07569633e+01] [-5.74796552e-02 9.98346353e-01 -8.05446613e-04 -1.44352830e+00] [-1.05994496e-02 1.96473541e-04 9.99943805e-01 -5.48232764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:-1.46, Z:-0.55 [[ 9.98049509e-01 6.15259434e-02 1.05704760e-02 4.08183938e+01] [-6.15208416e-02 9.98105472e-01 -8.07445001e-04 -1.45926486e+00] [-1.06001287e-02 1.55565509e-04 9.99943805e-01 -5.50788074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:-1.48, Z:-0.56 [[ 9.97426525e-01 7.09125802e-02 1.05703814e-02 4.08786395e+01] [-7.09079920e-02 9.97482533e-01 -8.08680728e-04 -1.47858492e+00] [-1.06011165e-02 5.70750865e-05 9.99943805e-01 -5.61428008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-1.49, Z:-0.56 [[ 9.96599064e-01 8.17225458e-02 1.05702569e-02 4.09408252e+01] [-8.17185478e-02 9.96655117e-01 -8.10304960e-04 -1.49344909e+00] [-1.06011208e-02 -5.62368815e-05 9.99943805e-01 -5.60356273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769230999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-1.50, Z:-0.55 [[ 9.95821045e-01 9.07122854e-02 1.05701118e-02 4.10017179e+01] [-9.07087733e-02 9.95877130e-01 -8.12193414e-04 -1.50208489e+00] [-1.06002086e-02 -1.50002583e-04 9.99943805e-01 -5.52052693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.51, Z:-0.56 [[ 9.95020446e-01 9.91089618e-02 1.05699953e-02 4.10649499e+01] [-9.91059069e-02 9.95076558e-01 -8.13706939e-04 -1.50577143e+00] [-1.05986002e-02 -2.37893929e-04 9.99943805e-01 -5.57983822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:-1.50, Z:-0.56 [[ 9.93923564e-01 1.09563806e-01 1.05698491e-02 4.11280688e+01] [-1.09561321e-01 9.93979704e-01 -8.15601515e-04 -1.50194709e+00] [-1.05955759e-02 -3.47401069e-04 9.99943805e-01 -5.56043628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769230999995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:-1.49, Z:-0.55 [[ 9.93238863e-01 1.15606410e-01 1.05697023e-02 4.11914906e+01] [-1.15604247e-01 9.93295017e-01 -8.17500044e-04 -1.49221015e+00] [-1.05933408e-02 -4.09929654e-04 9.99943805e-01 -5.53509946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:-1.49, Z:-0.56 [[ 9.93490361e-01 1.13424811e-01 1.05695662e-02 4.12535587e+01] [-1.13422506e-01 9.93546508e-01 -8.19255052e-04 -1.48956879e+00] [-1.05942795e-02 -3.84904691e-04 9.99943805e-01 -5.55865408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-1.48, Z:-0.56 [[ 9.94472295e-01 1.04465978e-01 1.05694343e-02 4.13175441e+01] [-1.04463148e-01 9.94528419e-01 -8.20954005e-04 -1.48355039e+00] [-1.05973645e-02 -2.87700367e-04 9.99943805e-01 -5.57364370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769230999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.47, Z:-0.56 [[ 9.95048897e-01 9.88229850e-02 1.05692890e-02 4.13808117e+01] [-9.88198172e-02 9.95105003e-01 -8.22820446e-04 -1.47377680e+00] [-1.05988659e-02 -2.25708628e-04 9.99943805e-01 -5.61782537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:-1.47, Z:-0.56 [[ 9.95508190e-01 9.40836729e-02 1.05691530e-02 4.14448161e+01] [-9.40802195e-02 9.95564278e-01 -8.24563898e-04 -1.46670085e+00] [-1.05998491e-02 -1.73488118e-04 9.99943805e-01 -5.57002859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:-1.47, Z:-0.56 [[ 9.96501659e-01 8.29019900e-02 1.05689936e-02 4.15070437e+01] [-8.28978855e-02 9.96557704e-01 -8.26601645e-04 -1.46899112e+00] [-1.06011389e-02 -5.24373095e-05 9.99943805e-01 -5.61717428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769230999995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.48, Z:-0.57 [[ 9.97677130e-01 6.72952033e-02 1.05688457e-02 4.15692978e+01] [-6.72902022e-02 9.97733102e-01 -8.28488194e-04 -1.47552641e+00] [-1.06006405e-02 1.15383959e-04 9.99943805e-01 -5.70378276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.49, Z:-0.56 [[ 9.98220951e-01 5.86790692e-02 1.05687871e-02 4.16310635e+01] [-5.86735771e-02 9.98276877e-01 -8.29234761e-04 -1.48534615e+00] [-1.05992345e-02 2.07650965e-04 9.99943805e-01 -5.64039414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.50, Z:-0.56 [[ 9.98602366e-01 5.17843356e-02 1.05686449e-02 4.16925814e+01] [-5.17784383e-02 9.98658251e-01 -8.31043245e-04 -1.49928135e+00] [-1.05974995e-02 2.82653821e-04 9.99943805e-01 -5.63000068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:-1.51, Z:-0.57 [[ 9.98684716e-01 5.01711557e-02 1.05684964e-02 4.17539960e+01] [-5.01651483e-02 9.98740589e-01 -8.32927418e-04 -1.50936823e+00] [-1.05969753e-02 3.01661691e-04 9.99943805e-01 -5.66902394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:-1.52, Z:-0.57 [[ 9.98706530e-01 4.97350530e-02 1.05684466e-02 4.18149748e+01] [-4.97290145e-02 9.98762399e-01 -8.33559154e-04 -1.52162204e+00] [-1.05968242e-02 3.06922536e-04 9.99943805e-01 -5.67371090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-1.53, Z:-0.57 [[ 9.98417641e-01 5.52315521e-02 1.05682967e-02 4.18771707e+01] [-5.52258011e-02 9.98473541e-01 -8.35455040e-04 -1.53292878e+00] [-1.05983081e-02 2.50490398e-04 9.99943805e-01 -5.66444298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769230999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-1.54, Z:-0.56 [[ 9.97914805e-01 6.36738350e-02 1.05681391e-02 4.19382648e+01] [-6.36685359e-02 9.97970749e-01 -8.37444009e-04 -1.54121509e+00] [-1.06000170e-02 1.62839830e-04 9.99943805e-01 -5.64578487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-1.55, Z:-0.57 [[ 9.97381007e-01 7.15502978e-02 1.05679922e-02 4.19986524e+01] [-7.15454209e-02 9.97436990e-01 -8.39294199e-04 -1.54870260e+00] [-1.06009581e-02 8.10046446e-05 9.99943805e-01 -5.71199192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:-1.56, Z:-0.57 [[ 9.96970640e-01 7.70575337e-02 1.05678678e-02 4.20616846e+01] [-7.70529495e-02 9.97026648e-01 -8.40857615e-04 -1.55521647e+00] [-1.06012402e-02 2.40249718e-05 9.99943805e-01 -5.73776662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:-1.56, Z:-0.57 [[ 9.96548138e-01 8.23415518e-02 1.05677152e-02 4.21249339e+01] [-8.23372443e-02 9.96604168e-01 -8.42771463e-04 -1.55976327e+00] [-1.06012241e-02 -3.02542116e-05 9.99943805e-01 -5.71102490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769230999996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-1.56, Z:-0.57 [[ 9.96424048e-01 8.38298512e-02 1.05675608e-02 4.21872098e+01] [-8.38256069e-02 9.96480082e-01 -8.44703043e-04 -1.56308130e+00] [-1.06011751e-02 -4.41497679e-05 9.99943805e-01 -5.71462857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-1.57, Z:-0.58 [[ 9.96501750e-01 8.29010876e-02 1.05674654e-02 4.22497440e+01] [-8.28967785e-02 9.96557780e-01 -8.45894792e-04 -1.56657120e+00] [-1.06012154e-02 -3.30731944e-05 9.99943805e-01 -5.75982057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:-1.57, Z:-0.58 [[ 9.96393349e-01 8.41939739e-02 1.05673068e-02 4.23117359e+01] [-8.41897165e-02 9.96449383e-01 -8.47871172e-04 -1.56828681e+00] [-1.06011720e-02 -4.48453649e-05 9.99943805e-01 -5.77201401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769230999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:-1.57, Z:-0.58 [[ 9.96439254e-01 8.36489600e-02 1.05671592e-02 4.23747546e+01] [-8.36446525e-02 9.96495284e-01 -8.49707056e-04 -1.56987472e+00] [-1.06012014e-02 -3.72048908e-05 9.99943805e-01 -5.77276699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:-1.57, Z:-0.57 [[ 9.96595243e-01 8.17695583e-02 1.05670118e-02 4.24378034e+01] [-8.17651257e-02 9.96651263e-01 -8.51535126e-04 -1.57346287e+00] [-1.06012553e-02 -1.53771962e-05 9.99943805e-01 -5.74646846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:-1.58, Z:-0.58 [[ 9.96783281e-01 7.94445234e-02 1.05668642e-02 4.25008734e+01] [-7.94399408e-02 9.96839289e-01 -8.53363724e-04 -1.57907144e+00] [-1.06012604e-02 1.11876286e-05 9.99943805e-01 -5.77308518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769230999996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:-1.59, Z:-0.57 [[ 9.96705739e-01 8.04115296e-02 1.05667081e-02 4.25628413e+01] [-8.04069809e-02 9.96761750e-01 -8.55292092e-04 -1.58667453e+00] [-1.06012658e-02 2.83744166e-06 9.99943805e-01 -5.73806865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:-1.59, Z:-0.57 [[ 9.96396331e-01 8.41587800e-02 1.05665630e-02 4.26261677e+01] [-8.41544230e-02 9.96452356e-01 -8.57080672e-04 -1.59010346e+00] [-1.06012075e-02 -3.52309768e-05 9.99943805e-01 -5.72126422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:-1.59, Z:-0.58 [[ 9.96085050e-01 8.77663096e-02 1.05664093e-02 4.26894282e+01] [-8.77621354e-02 9.96141089e-01 -8.58971691e-04 -1.59317897e+00] [-1.06010232e-02 -7.17217834e-05 9.99943805e-01 -5.77372815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769230999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:-1.59, Z:-0.58 [[ 9.96084038e-01 8.77778037e-02 1.05662472e-02 4.27520296e+01] [-8.77736090e-02 9.96140077e-01 -8.60960631e-04 -1.59366021e+00] [-1.06010355e-02 -6.98485095e-05 9.99943805e-01 -5.81632368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:-1.59, Z:-0.59 [[ 9.96200891e-01 8.64415587e-02 1.05660966e-02 4.28146253e+01] [-8.64372693e-02 9.96256922e-01 -8.62805554e-04 -1.59419366e+00] [-1.06011291e-02 -5.37768730e-05 9.99943805e-01 -5.90141389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-1.59, Z:-0.58 [[ 9.96126845e-01 8.72907113e-02 1.05659610e-02 4.28763664e+01] [-8.72864522e-02 9.96182879e-01 -8.64462470e-04 -1.59082491e+00] [-1.06010890e-02 -6.11509767e-05 9.99943805e-01 -5.84958499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769230999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-1.59, Z:-0.58 [[ 9.96098032e-01 8.76189096e-02 1.05658876e-02 4.29387106e+01] [-8.76146593e-02 9.96154066e-01 -8.65358864e-04 -1.59406939e+00] [-1.06010737e-02 -6.37443807e-05 9.99943805e-01 -5.81055217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-1.60, Z:-0.58 [[ 9.96362502e-01 8.45584442e-02 1.05657479e-02 4.30004490e+01] [-8.45540038e-02 9.96418521e-01 -8.67061648e-04 -1.59824241e+00] [-1.06012242e-02 -2.94685712e-05 9.99943805e-01 -5.81299034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:-1.61, Z:-0.58 [[ 9.96662098e-01 8.09507927e-02 1.05655994e-02 4.30632840e+01] [-8.09461304e-02 9.96718099e-01 -8.68867187e-04 -1.60651641e+00] [-1.06012596e-02 1.07226087e-05 9.99943805e-01 -5.80424034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769230999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:-1.61, Z:-0.59 [[ 9.96453483e-01 8.34794999e-02 1.05654353e-02 4.31245764e+01] [-8.34749586e-02 9.96509495e-01 -8.70857435e-04 -1.61461627e+00] [-1.06012554e-02 -1.41803513e-05 9.99943805e-01 -5.85779734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-1.62, Z:-0.59 [[ 9.95984941e-01 8.88952876e-02 1.05652833e-02 4.31876656e+01] [-8.88910314e-02 9.96040975e-01 -8.72697931e-04 -1.62104544e+00] [-1.06010338e-02 -6.99649315e-05 9.99943805e-01 -5.85824048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-1.63, Z:-0.58 [[ 9.95284391e-01 9.64228132e-02 1.05651163e-02 4.32501640e+01] [-9.64189593e-02 9.95340454e-01 -8.74714511e-04 -1.62534515e+00] [-1.06002301e-02 -1.48087823e-04 9.99943805e-01 -5.84361725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-1.62, Z:-0.59 [[ 9.94614778e-01 1.03101041e-01 1.05649661e-02 4.33105074e+01] [-1.03097544e-01 9.94670864e-01 -8.76525466e-04 -1.62278107e+00] [-1.05990346e-02 -2.17416879e-04 9.99943805e-01 -5.85259230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-1.62, Z:-0.59 [[ 9.94118632e-01 1.07779992e-01 1.05649555e-02 4.33711049e+01] [-1.07776758e-01 9.94174734e-01 -8.76653061e-04 -1.62035700e+00] [-1.05978975e-02 -2.67159508e-04 9.99943805e-01 -5.85870285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:-1.62, Z:-0.59 [[ 9.94085886e-01 1.08081605e-01 1.05649555e-02 4.34325610e+01] [-1.08078388e-01 9.94141989e-01 -8.76653061e-04 -1.61611167e+00] [-1.05978159e-02 -2.70374925e-04 9.99943805e-01 -5.87268285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:-1.61, Z:-0.59 [[ 9.94108663e-01 1.07871908e-01 1.05649555e-02 4.34920232e+01] [-1.07868679e-01 9.94164765e-01 -8.76653061e-04 -1.61291002e+00] [-1.05978727e-02 -2.68139394e-04 9.99943805e-01 -5.89662112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:-1.61, Z:-0.58 [[ 9.94382068e-01 1.05321817e-01 1.05649658e-02 4.35517216e+01] [-1.05318445e-01 9.94438161e-01 -8.76529034e-04 -1.61068576e+00] [-1.05985228e-02 -2.41081021e-04 9.99943805e-01 -5.84082800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:-1.61, Z:-0.58 [[ 9.94594172e-01 1.03299636e-01 1.05649862e-02 4.36101553e+01] [-1.03296153e-01 9.94650259e-01 -8.76283282e-04 -1.61179370e+00] [-1.05989860e-02 -2.19776185e-04 9.99943805e-01 -5.82583314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.67, Y:-1.61, Z:-0.58 [[ 9.95030922e-01 9.90042712e-02 1.05650079e-02 4.36707713e+01] [-9.90005489e-02 9.95086993e-01 -8.76021741e-04 -1.60844034e+00] [-1.05998318e-02 -1.74272858e-04 9.99943805e-01 -5.83810936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:-1.61, Z:-0.58 [[ 9.95125963e-01 9.80443691e-02 1.05650286e-02 4.37296178e+01] [-9.80405953e-02 9.95182031e-01 -8.75771228e-04 -1.60817004e+00] [-1.05999911e-02 -1.64299010e-04 9.99943805e-01 -5.83928429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:-1.60, Z:-0.58 [[ 9.95291820e-01 9.63461123e-02 1.05650506e-02 4.37900602e+01] [-9.63422456e-02 9.95347881e-01 -8.75506599e-04 -1.60477236e+00] [-1.06002524e-02 -1.46476140e-04 9.99943805e-01 -5.81908787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.60, Z:-0.59 [[ 9.95646187e-01 9.26123626e-02 1.05650703e-02 4.38499132e+01] [-9.26082883e-02 9.95702234e-01 -8.75267909e-04 -1.60065528e+00] [-1.06007248e-02 -1.06955923e-04 9.99943805e-01 -5.85948582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.60, Z:-0.59 [[ 9.96201127e-01 8.64389603e-02 1.05650911e-02 4.39090969e+01] [-8.64345413e-02 9.96257148e-01 -8.75016870e-04 -1.59825507e+00] [-1.06011831e-02 -4.14960139e-05 9.99943805e-01 -5.88362138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:-1.60, Z:-0.59 [[ 9.96629159e-01 8.13553794e-02 1.05651219e-02 4.39688129e+01] [-8.13506785e-02 9.96685157e-01 -8.74645347e-04 -1.59749338e+00] [-1.06012573e-02 1.22172222e-05 9.99943805e-01 -5.90903167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:-1.60, Z:-0.59 [[ 9.96747847e-01 7.98880936e-02 1.05651423e-02 4.40287306e+01] [-7.98833130e-02 9.96803838e-01 -8.74398258e-04 -1.60076531e+00] [-1.06012284e-02 2.75760088e-05 9.99943805e-01 -5.92743134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769230999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:-1.60, Z:-0.59 [[ 9.96961558e-01 7.71753134e-02 1.05651630e-02 4.40873517e+01] [-7.71703830e-02 9.97017536e-01 -8.74148265e-04 -1.60159040e+00] [-1.06011155e-02 5.61745388e-05 9.99943805e-01 -5.90018622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:-1.61, Z:-0.59 [[ 9.97069778e-01 7.57643405e-02 1.05651937e-02 4.41466472e+01] [-7.57593349e-02 9.97125749e-01 -8.73777861e-04 -1.60502289e+00] [-1.06010278e-02 7.08054537e-05 9.99943805e-01 -5.89991513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:-1.61, Z:-0.59 [[ 9.97204463e-01 7.39704959e-02 1.05652143e-02 4.42055625e+01] [-7.39653922e-02 9.97260426e-01 -8.73528248e-04 -1.61190269e+00] [-1.06008854e-02 8.96260499e-05 9.99943805e-01 -5.92966691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.62, Z:-0.59 [[ 9.97160464e-01 7.45612792e-02 1.05652351e-02 4.42637681e+01] [-7.45562113e-02 9.97216430e-01 -8.73276679e-04 -1.61629366e+00] [-1.06009386e-02 8.30930792e-05 9.99943805e-01 -5.87218895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:-1.62, Z:-0.59 [[ 9.96906597e-01 7.78820330e-02 1.05652661e-02 4.43224856e+01] [-7.78771555e-02 9.96962580e-01 -8.72901245e-04 -1.61951795e+00] [-1.06011583e-02 4.74081390e-05 9.99943805e-01 -5.86927450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:-1.62, Z:-0.59 [[ 9.96835438e-01 7.87875884e-02 1.05652962e-02 4.43823719e+01] [-7.87827656e-02 9.96891426e-01 -8.72536795e-04 -1.62055268e+00] [-1.06011983e-02 3.74123441e-05 9.99943805e-01 -5.91242457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:-1.62, Z:-0.58 [[ 9.97071460e-01 7.57421738e-02 1.05653164e-02 4.44422087e+01] [-7.57371826e-02 9.97127433e-01 -8.72292323e-04 -1.62181146e+00] [-1.06010361e-02 6.95504836e-05 9.99943805e-01 -5.84907079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:-1.62, Z:-0.59 [[ 9.97295392e-01 7.27342731e-02 1.05653365e-02 4.45009219e+01] [-7.27291157e-02 9.97351350e-01 -8.72049155e-04 -1.62426962e+00] [-1.06007804e-02 1.01283026e-04 9.99943805e-01 -5.91522701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.63, Z:-0.60 [[ 9.98022475e-01 6.19637936e-02 1.05653663e-02 4.45603224e+01] [-6.19580362e-02 9.98078375e-01 -8.71687659e-04 -1.63448881e+00] [-1.05990767e-02 2.15354528e-04 9.99943805e-01 -5.96212727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.64, Z:-0.60 [[ 9.98277036e-01 5.77177030e-02 1.05653663e-02 4.46200604e+01] [-5.77117079e-02 9.98332910e-01 -8.71687659e-04 -1.64485883e+00] [-1.05980647e-02 2.60440439e-04 9.99943805e-01 -5.96721772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.66, Z:-0.60 [[ 9.98299147e-01 5.73339924e-02 1.05653663e-02 4.46793295e+01] [-5.73279758e-02 9.98355019e-01 -8.71687659e-04 -1.65948340e+00] [-1.05979638e-02 2.64513984e-04 9.99943805e-01 -5.99348958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.67, Z:-0.60 [[ 9.98324413e-01 5.68923538e-02 1.05653563e-02 4.47398839e+01] [-5.68863113e-02 9.98380282e-01 -8.71808957e-04 -1.67055724e+00] [-1.05978426e-02 2.69324019e-04 9.99943805e-01 -6.00418401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.68, Z:-0.60 [[ 9.98340286e-01 5.66131410e-02 1.05653361e-02 4.48005950e+01] [-5.66070803e-02 9.98396153e-01 -8.72053424e-04 -1.68337705e+00] [-1.05977606e-02 2.72533236e-04 9.99943805e-01 -5.99741127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.69, Z:-0.60 [[ 9.98235754e-01 5.84273316e-02 1.05653158e-02 4.48614815e+01] [-5.84213698e-02 9.98291632e-01 -8.72298707e-04 -1.69360602e+00] [-1.05982325e-02 2.53519534e-04 9.99943805e-01 -5.97429888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.70, Z:-0.60 [[ 9.97851894e-01 6.46527022e-02 1.05652954e-02 4.49218838e+01] [-6.46470864e-02 9.97907808e-01 -8.72546321e-04 -1.70158121e+00] [-1.05996032e-02 1.87656436e-04 9.99943805e-01 -5.96939885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:-1.71, Z:-0.59 [[ 9.97382045e-01 7.15362224e-02 1.05652457e-02 4.49818218e+01] [-7.15309862e-02 9.97437996e-01 -8.73147434e-04 -1.70856504e+00] [-1.06006392e-02 1.15119128e-04 9.99943805e-01 -5.94833386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:-1.72, Z:-0.60 [[ 9.97169954e-01 7.44342571e-02 1.05652457e-02 4.50408974e+01] [-7.44291835e-02 9.97225919e-01 -8.73147434e-04 -1.71515441e+00] [-1.06009290e-02 8.43137748e-05 9.99943805e-01 -5.98045541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:-1.72, Z:-0.61 [[ 9.97015026e-01 7.64814552e-02 1.05652560e-02 4.51002361e+01] [-7.64764978e-02 9.97071002e-01 -8.73023480e-04 -1.72375831e+00] [-1.06010804e-02 6.24237537e-05 9.99943805e-01 -6.06028628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.16, Y:-1.73, Z:-0.60 [[ 9.96932910e-01 7.75444897e-02 1.05652661e-02 4.51604382e+01] [-7.75395933e-02 9.96988891e-01 -8.72900887e-04 -1.73011765e+00] [-1.06011416e-02 5.09971861e-05 9.99943805e-01 -6.01322000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.73, Z:-0.60 [[ 9.96719025e-01 8.02468752e-02 1.05652561e-02 4.52198866e+01] [-8.02421293e-02 9.96775019e-01 -8.73022077e-04 -1.73451876e+00] [-1.06012406e-02 2.23790699e-05 9.99943805e-01 -6.03728539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.74, Z:-0.61 [[ 9.96512646e-01 8.27702993e-02 1.05652660e-02 4.52800162e+01] [-8.27656964e-02 9.96568652e-01 -8.72902342e-04 -1.73725000e+00] [-1.06012632e-02 -4.58337347e-06 9.99943805e-01 -6.05086381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:45.34, Y:-1.74, Z:-0.61 [[ 9.96645657e-01 8.11530033e-02 1.05652660e-02 4.53407408e+01] [-8.11483095e-02 9.96701655e-01 -8.72902342e-04 -1.73663079e+00] [-1.06012567e-02 1.26208551e-05 9.99943805e-01 -6.08433328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.40, Y:-1.74, Z:-0.61 [[ 9.97091763e-01 7.54744366e-02 1.05652660e-02 4.54009713e+01] [-7.54694240e-02 9.97147734e-01 -8.72902342e-04 -1.74114199e+00] [-1.06010128e-02 7.30091992e-05 9.99943805e-01 -6.08258938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:-1.75, Z:-0.60 [[ 9.97517146e-01 6.96269975e-02 1.05652182e-02 4.54620212e+01] [-6.96216506e-02 9.97573086e-01 -8.73480652e-04 -1.75097358e+00] [-1.06003951e-02 1.35744000e-04 9.99943805e-01 -6.04964162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:-1.77, Z:-0.60 [[ 9.97851417e-01 6.46600835e-02 1.05651972e-02 4.55219860e+01] [-6.46544555e-02 9.97907329e-01 -8.73733789e-04 -1.76547487e+00] [-1.05995834e-02 1.88769426e-04 9.99943805e-01 -6.03328799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:-1.78, Z:-0.60 [[ 9.97947380e-01 6.31617419e-02 1.05650628e-02 4.55828554e+01] [-6.31560129e-02 9.98003282e-01 -8.75355797e-04 -1.77904886e+00] [-1.05992564e-02 2.06311781e-04 9.99943805e-01 -5.97173112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.64, Y:-1.80, Z:-0.60 [[ 9.97758944e-01 6.60717170e-02 1.05649185e-02 4.56436441e+01] [-6.60661325e-02 9.97814861e-01 -8.77094375e-04 -1.79742519e+00] [-1.05997838e-02 1.77145452e-04 9.99943805e-01 -6.03450030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.70, Y:-1.81, Z:-0.60 [[ 9.97217261e-01 7.37978390e-02 1.05647656e-02 4.57040830e+01] [-7.37926684e-02 9.97273217e-01 -8.78931754e-04 -1.81335434e+00] [-1.06008211e-02 9.68836689e-05 9.99943805e-01 -6.02658347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.82, Z:-0.61 [[ 9.96239681e-01 8.59935272e-02 1.05646144e-02 4.57649522e+01] [-8.59890224e-02 9.96295695e-01 -8.80746323e-04 -1.82277144e+00] [-1.06012183e-02 -3.10064240e-05 9.99943805e-01 -6.05170740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:-1.83, Z:-0.61 [[ 9.95342178e-01 9.58245132e-02 1.05645942e-02 4.58250282e+01] [-9.58205590e-02 9.95398234e-01 -8.80988354e-04 -1.83172655e+00] [-1.06003987e-02 -1.35420452e-04 9.99943805e-01 -6.05124322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.84, Z:-0.61 [[ 9.94434200e-01 1.04828482e-01 1.05645841e-02 4.58863191e+01] [-1.04825034e-01 9.94490289e-01 -8.81108903e-04 -1.83798528e+00] [-1.05987416e-02 -2.31228062e-04 9.99943805e-01 -6.06125767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.84, Z:-0.61 [[ 9.93994244e-01 1.08921226e-01 1.05645630e-02 4.59463469e+01] [-1.08918006e-01 9.94050346e-01 -8.81361563e-04 -1.84194915e+00] [-1.05977065e-02 -2.74602820e-04 9.99943805e-01 -6.08963667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.84, Z:-0.61 [[ 9.92633967e-01 1.20690503e-01 1.05645527e-02 4.60051464e+01] [-1.20687947e-01 9.92690104e-01 -8.81485940e-04 -1.83807398e+00] [-1.05937139e-02 -4.00021281e-04 9.99943805e-01 -6.11191540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:-1.83, Z:-0.61 [[ 9.91657043e-01 1.28470618e-01 1.05645738e-02 4.60650172e+01] [-1.28468505e-01 9.91713198e-01 -8.81232587e-04 -1.83160340e+00] [-1.05902398e-02 -4.83334498e-04 9.99943805e-01 -6.06438986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:-1.82, Z:-0.61 [[ 9.91300142e-01 1.31196104e-01 1.05646149e-02 4.61238964e+01] [-1.31194150e-01 9.91356303e-01 -8.80739334e-04 -1.82348071e+00] [-1.05888472e-02 -5.12938648e-04 9.99943805e-01 -6.07390797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:-1.81, Z:-0.61 [[ 9.91724167e-01 1.27951416e-01 1.05646656e-02 4.61836791e+01] [-1.27949285e-01 9.91780321e-01 -8.80131037e-04 -1.81440463e+00] [-1.05904414e-02 -4.78894188e-04 9.99943805e-01 -6.07812552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.81, Z:-0.62 [[ 9.93056583e-01 1.17162320e-01 1.05647058e-02 4.62422179e+01] [-1.17159584e-01 9.93112712e-01 -8.79648114e-04 -1.80709392e+00] [-1.05950052e-02 -3.64216182e-04 9.99943805e-01 -6.16963983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.81, Z:-0.61 [[ 9.95182702e-01 9.74667952e-02 1.05647585e-02 4.63021845e+01] [-9.74629545e-02 9.95238765e-01 -8.79015213e-04 -1.81038941e+00] [-1.06001320e-02 -1.54891839e-04 9.99943805e-01 -6.10944787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:-1.82, Z:-0.61 [[ 9.97043674e-01 7.61071499e-02 1.05647783e-02 4.63627490e+01] [-7.61021105e-02 9.97099642e-01 -8.78777004e-04 -1.82115878e+00] [-1.06010179e-02 7.21771284e-05 9.99943805e-01 -6.09186138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:-1.84, Z:-0.61 [[ 9.98308725e-01 5.71670779e-02 1.05647584e-02 4.64246619e+01] [-5.71609745e-02 9.98364588e-01 -8.79015300e-04 -1.83903588e+00] [-1.05977315e-02 2.73636755e-04 9.99943805e-01 -6.11072441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:-1.86, Z:-0.61 [[ 9.98765379e-01 4.85397506e-02 1.05645942e-02 4.64861242e+01] [-4.85331440e-02 9.98821184e-01 -8.80984784e-04 -1.86118664e+00] [-1.05949033e-02 3.67164129e-04 9.99943805e-01 -6.10723873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.88, Z:-0.61 [[ 9.98702203e-01 4.98227190e-02 1.05644291e-02 4.65479254e+01] [-4.98161632e-02 9.98758014e-01 -8.82960626e-04 -1.87721914e+00] [-1.05952997e-02 3.55535399e-04 9.99943805e-01 -6.09405660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:-1.90, Z:-0.61 [[ 9.98090525e-01 6.08580318e-02 1.05642642e-02 4.66081114e+01] [-6.08520724e-02 9.98146403e-01 -8.84928617e-04 -1.89833331e+00] [-1.05985374e-02 2.40381497e-04 9.99943805e-01 -6.09880651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:-1.91, Z:-0.61 [[ 9.97136155e-01 7.48858316e-02 1.05641008e-02 4.66700725e+01] [-7.48806379e-02 9.97192110e-01 -8.86875480e-04 -1.91220612e+00] [-1.06008524e-02 9.32890014e-05 9.99943805e-01 -6.09795611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:-1.93, Z:-0.61 [[ 9.96189574e-01 8.65721444e-02 1.05639297e-02 4.67310733e+01] [-8.65675856e-02 9.96245584e-01 -8.88908166e-04 -1.92644345e+00] [-1.06012230e-02 -2.89728446e-05 9.99943805e-01 -6.13655315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:-1.93, Z:-0.62 [[ 9.95236699e-01 9.69139839e-02 1.05637696e-02 4.67939777e+01] [-9.69099869e-02 9.95292751e-01 -8.90806709e-04 -1.93273995e+00] [-1.06003750e-02 -1.37171249e-04 9.99943805e-01 -6.16899523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:-1.94, Z:-0.62 [[ 9.94305329e-01 1.06043968e-01 1.05635982e-02 4.68550629e+01] [-1.06040464e-01 9.94361415e-01 -8.92835262e-04 -1.93698143e+00] [-1.05987142e-02 -2.32417993e-04 9.99943805e-01 -6.16468706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769230999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:-1.94, Z:-0.62 [[ 9.94251923e-01 1.06543548e-01 1.05634605e-02 4.69176260e+01] [-1.06540055e-01 9.94308009e-01 -8.94460970e-04 -1.94269130e+00] [-1.05986325e-02 -2.36112126e-04 9.99943805e-01 -6.19429428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:-1.95, Z:-0.62 [[ 9.94968623e-01 9.96285869e-02 1.05632907e-02 4.69800846e+01] [-9.96246827e-02 9.95024683e-01 -8.96461612e-04 -1.94957462e+00] [-1.06000482e-02 -1.60413313e-04 9.99943805e-01 -6.20521624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:-1.95, Z:-0.62 [[ 9.95502248e-01 9.41471994e-02 1.05631221e-02 4.70424573e+01] [-9.41429656e-02 9.95558283e-01 -8.98444292e-04 -1.95494422e+00] [-1.06007897e-02 -1.00040329e-04 9.99943805e-01 -6.16929663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:-1.96, Z:-0.61 [[ 9.95826210e-01 9.06564013e-02 1.05629529e-02 4.71043155e+01] [-9.06519500e-02 9.95882229e-01 -9.00429372e-04 -1.95813419e+00] [-1.06010868e-02 -6.08811087e-05 9.99943805e-01 -6.14168844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.17, Y:-1.97, Z:-0.62 [[ 9.96687601e-01 8.06365569e-02 1.05627952e-02 4.71663501e+01] [-8.06315228e-02 9.96743570e-01 -9.02275359e-04 -1.96614093e+00] [-1.06011546e-02 4.75924001e-05 9.99943805e-01 -6.19819782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.97, Z:-0.62 [[ 9.97343241e-01 7.20755909e-02 1.05626222e-02 4.72279140e+01] [-7.20700550e-02 9.97399163e-01 -9.04295974e-04 -1.97488699e+00] [-1.06003282e-02 1.40644713e-04 9.99943805e-01 -6.22391003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769230999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.99, Z:-0.62 [[ 9.97978098e-01 6.26749476e-02 1.05625153e-02 4.72900807e+01] [-6.26688719e-02 9.98033964e-01 -9.05543033e-04 -1.98969529e+00] [-1.05985039e-02 2.41771195e-04 9.99943805e-01 -6.21450521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:-2.01, Z:-0.62 [[ 9.98047364e-01 6.15621251e-02 1.05623426e-02 4.73519401e+01] [-6.15559658e-02 9.98103221e-01 -9.07553586e-04 -2.00559973e+00] [-1.05981790e-02 2.55606268e-04 9.99943805e-01 -6.19175366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:-2.02, Z:-0.62 [[ 9.97756489e-01 6.61092173e-02 1.05621708e-02 4.74128710e+01] [-6.61032915e-02 9.97812371e-01 -9.09547794e-04 -2.01822948e+00] [-1.05991942e-02 2.09312957e-04 9.99943805e-01 -6.23945699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:-2.02, Z:-0.63 [[ 9.97253346e-01 7.33089873e-02 1.05620106e-02 4.74743667e+01] [-7.33034453e-02 9.97309267e-01 -9.11404137e-04 -2.02486520e+00] [-1.06004052e-02 1.34669057e-04 9.99943805e-01 -6.25685739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:-2.03, Z:-0.62 [[ 9.96775277e-01 7.95455540e-02 1.05618517e-02 4.75370289e+01] [-7.95403425e-02 9.96831229e-01 -9.13242067e-04 -2.02963188e+00] [-1.06010280e-02 7.02038111e-05 9.99943805e-01 -6.24792410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.03, Z:-0.62 [[ 9.96532767e-01 8.25281459e-02 1.05616833e-02 4.76002830e+01] [-8.25230813e-02 9.96588733e-01 -9.15185379e-04 -2.03050493e+00] [-1.06011832e-02 4.04295663e-05 9.99943805e-01 -6.24566824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.04, Z:-0.62 [[ 9.96653684e-01 8.10548471e-02 1.05615136e-02 4.76631580e+01] [-8.10496790e-02 9.96709641e-01 -9.17140366e-04 -2.04032075e+00] [-1.06011011e-02 5.80640413e-05 9.99943805e-01 -6.24198109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:-2.05, Z:-0.63 [[ 9.96669267e-01 8.08630283e-02 1.05613395e-02 4.77259857e+01] [-8.08578283e-02 9.96725221e-01 -9.19140638e-04 -2.04723484e+00] [-1.06010779e-02 6.21122527e-05 9.99943805e-01 -6.25859212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:-2.05, Z:-0.63 [[ 9.96280981e-01 8.55141471e-02 1.05611599e-02 4.77873770e+01] [-8.55091865e-02 9.96336956e-01 -9.21198918e-04 -2.05447216e+00] [-1.06012495e-02 1.46967667e-05 9.99943805e-01 -6.25460907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:-2.06, Z:-0.63 [[ 9.95985137e-01 8.88936019e-02 1.05609928e-02 4.78493336e+01] [-8.88888109e-02 9.96041127e-01 -9.23110964e-04 -2.05885514e+00] [-1.06012419e-02 -1.93492935e-05 9.99943805e-01 -6.26808746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.06, Z:-0.63 [[ 9.95689265e-01 9.21485542e-02 1.05608286e-02 4.79121381e+01] [-9.21439263e-02 9.95745269e-01 -9.24985854e-04 -2.06355097e+00] [-1.06011312e-02 -5.21177275e-05 9.99943805e-01 -6.28896714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:47.98, Y:-2.07, Z:-0.63 [[ 9.95610767e-01 9.29928639e-02 1.05606539e-02 4.79755437e+01] [-9.29882624e-02 9.95666773e-01 -9.26976187e-04 -2.06570054e+00] [-1.06010944e-02 -5.91093831e-05 9.99943805e-01 -6.29748774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.07, Z:-0.63 [[ 9.95709504e-01 9.19296505e-02 1.05604798e-02 4.80385691e+01] [-9.19249682e-02 9.95765503e-01 -9.28955474e-04 -2.06580835e+00] [-1.06011600e-02 -4.58019746e-05 9.99943805e-01 -6.27466542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.07, Z:-0.63 [[ 9.95752951e-01 9.14578633e-02 1.05603053e-02 4.81019617e+01] [-9.14531335e-02 9.95808946e-01 -9.30935053e-04 -2.06931812e+00] [-1.06011878e-02 -3.87916819e-05 9.99943805e-01 -6.28050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.07, Z:-0.63 [[ 9.96021330e-01 8.84872553e-02 1.05601213e-02 4.81639895e+01] [-8.84823364e-02 9.96077309e-01 -9.33017973e-04 -2.07155372e+00] [-1.06012574e-02 -5.07839862e-06 9.99943805e-01 -6.28252287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769230999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.23, Y:-2.08, Z:-0.63 [[ 9.96406383e-01 8.40405104e-02 1.05599501e-02 4.82265325e+01] [-8.40353212e-02 9.96462338e-01 -9.34951221e-04 -2.07760620e+00] [-1.06011663e-02 4.41825668e-05 9.99943805e-01 -6.29199333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769230999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.09, Z:-0.63 [[ 9.97031400e-01 7.62684673e-02 1.05597682e-02 4.82883602e+01] [-7.62628203e-02 9.97087310e-01 -9.37001249e-04 -2.08770803e+00] [-1.06004745e-02 1.28901964e-04 9.99943805e-01 -6.31732889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.10, Z:-0.63 [[ 9.97289916e-01 7.28101550e-02 1.05595881e-02 4.83510282e+01] [-7.28042926e-02 9.97345804e-01 -9.39026834e-04 -2.09867706e+00] [-1.05999315e-02 1.67698654e-04 9.99943805e-01 -6.28891798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.10, Z:-0.63 [[ 9.97019775e-01 7.64203297e-02 1.05594109e-02 4.84132111e+01] [-7.64146486e-02 9.97075682e-01 -9.41015144e-04 -2.10478276e+00] [-1.06004445e-02 1.31317037e-04 9.99943805e-01 -6.28003813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.11, Z:-0.63 [[ 9.96944871e-01 7.73913888e-02 1.05592465e-02 4.84751054e+01] [-7.73857427e-02 9.97000781e-01 -9.42855883e-04 -2.11431421e+00] [-1.06005459e-02 1.22840204e-04 9.99943805e-01 -6.30507935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.12, Z:-0.64 [[ 9.97135298e-01 7.48979590e-02 1.05590695e-02 4.85359344e+01] [-7.48921522e-02 9.97191192e-01 -9.44833461e-04 -2.12434806e+00] [-1.06001772e-02 1.51335351e-04 9.99943805e-01 -6.40083476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.13, Z:-0.63 [[ 9.97437707e-01 7.07568405e-02 1.05589263e-02 4.85975928e+01] [-7.07507847e-02 9.97493574e-01 -9.46431240e-04 -2.13184245e+00] [-1.05994276e-02 1.96953882e-04 9.99943805e-01 -6.34179141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.14, Z:-0.64 [[ 9.97525172e-01 6.95128960e-02 1.05587694e-02 4.86597610e+01] [-6.95067520e-02 9.97581030e-01 -9.48179272e-04 -2.14214746e+00] [-1.05991387e-02 2.11926929e-04 9.99943805e-01 -6.35490237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:-2.15, Z:-0.64 [[ 9.97558422e-01 6.90341336e-02 1.05585847e-02 4.87207478e+01] [-6.90279411e-02 9.97614274e-01 -9.50230624e-04 -2.15134553e+00] [-1.05989932e-02 2.19073195e-04 9.99943805e-01 -6.42271301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:-2.16, Z:-0.64 [[ 9.97587887e-01 6.86070443e-02 1.05584942e-02 4.87833162e+01] [-6.86008173e-02 9.97643736e-01 -9.51235349e-04 -2.16067898e+00] [-1.05988771e-02 2.24619528e-04 9.99943805e-01 -6.44391921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.84, Y:-2.17, Z:-0.64 [[ 9.97474778e-01 7.02323930e-02 1.05583185e-02 4.88449555e+01] [-7.02262364e-02 9.97530635e-01 -9.53181461e-04 -2.17122314e+00] [-1.05991904e-02 2.09303492e-04 9.99943805e-01 -6.40126125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-2.19, Z:-0.64 [[ 9.97250994e-01 7.33415292e-02 1.05581578e-02 4.89066758e+01] [-7.33355280e-02 9.97306868e-01 -9.54959098e-04 -2.18549495e+00] [-1.05997614e-02 1.78045836e-04 9.99943805e-01 -6.39742146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-2.20, Z:-0.64 [[ 9.97040921e-01 7.61441522e-02 1.05579709e-02 4.89673355e+01] [-7.61382861e-02 9.97096808e-01 -9.57020593e-04 -2.20042918e+00] [-1.06001906e-02 1.50322884e-04 9.99943805e-01 -6.39287016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:-2.22, Z:-0.64 [[ 9.96737160e-01 8.00222807e-02 1.05578547e-02 4.90290820e+01] [-8.00166186e-02 9.96793069e-01 -9.58300582e-04 -2.21592351e+00] [-1.06006818e-02 1.10369967e-04 9.99943805e-01 -6.39112230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:-2.23, Z:-0.64 [[ 9.96253663e-01 8.58322411e-02 1.05576725e-02 4.90900933e+01] [-8.58268838e-02 9.96309602e-01 -9.60304115e-04 -2.22962564e+00] [-1.06011355e-02 5.05743641e-05 9.99943805e-01 -6.42221957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:-2.24, Z:-0.64 [[ 9.95746795e-01 9.15251791e-02 1.05575031e-02 4.91520583e+01] [-9.15201219e-02 9.95802762e-01 -9.62162410e-04 -2.24374030e+00] [-1.06012529e-02 -8.15383579e-06 9.99943805e-01 -6.40155147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:-2.25, Z:-0.64 [[ 9.94913295e-01 1.00180228e-01 1.05573215e-02 4.92145860e+01] [-1.00175637e-01 9.94969302e-01 -9.64151130e-04 -2.25141860e+00] [-1.06007997e-02 -9.83396260e-05 9.99943805e-01 -6.38251009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:-2.26, Z:-0.64 [[ 9.93947304e-01 1.09349458e-01 1.05571386e-02 4.92767101e+01] [-1.09345362e-01 9.94003349e-01 -9.66149462e-04 -2.25543669e+00] [-1.05994791e-02 -1.94072485e-04 9.99943805e-01 -6.38366667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:-2.25, Z:-0.64 [[ 9.92187149e-01 1.24310947e-01 1.05569691e-02 4.93398263e+01] [-1.24307676e-01 9.92243249e-01 -9.67998011e-04 -2.24988793e+00] [-1.05954141e-02 -3.51877111e-04 9.99943805e-01 -6.42129759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:-2.25, Z:-0.64 [[ 9.92074875e-01 1.25203815e-01 1.05568592e-02 4.94035957e+01] [-1.25200582e-01 9.92130977e-01 -9.69194749e-04 -2.24810182e+00] [-1.05951340e-02 -3.60211165e-04 9.99943805e-01 -6.39802187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.25, Z:-0.64 [[ 9.92498242e-01 1.21802283e-01 1.05566837e-02 4.94667078e+01] [-1.21798837e-01 9.92554331e-01 -9.71102997e-04 -2.24903821e+00] [-1.05963647e-02 -3.21973784e-04 9.99943805e-01 -6.40761473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.25, Z:-0.64 [[ 9.92908965e-01 1.18407552e-01 1.05565006e-02 4.95304786e+01] [-1.18403893e-01 9.92965040e-01 -9.73089775e-04 -2.24674126e+00] [-1.05974572e-02 -2.83741202e-04 9.99943805e-01 -6.41685823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.25, Z:-0.65 [[ 9.92765961e-01 1.19600629e-01 1.05563178e-02 4.95932238e+01] [-1.19597017e-01 9.92822040e-01 -9.75068282e-04 -2.24913185e+00] [-1.05971638e-02 -2.94489521e-04 9.99943805e-01 -6.45441252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:-2.25, Z:-0.65 [[ 9.92782468e-01 1.19463546e-01 1.05561354e-02 4.96548469e+01] [-1.19459906e-01 9.92838545e-01 -9.77039376e-04 -2.25105474e+00] [-1.05972587e-02 -2.91047372e-04 9.99943805e-01 -6.45424878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:-2.26, Z:-0.65 [[ 9.93015736e-01 1.17508810e-01 1.05559652e-02 4.97175661e+01] [-1.17505040e-01 9.93071804e-01 -9.78874940e-04 -2.25668119e+00] [-1.05978578e-02 -2.68340887e-04 9.99943805e-01 -6.50821442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:-2.26, Z:-0.65 [[ 9.93104787e-01 1.16753833e-01 1.05557780e-02 4.97792170e+01] [-1.16749998e-01 9.93160851e-01 -9.80889063e-04 -2.26113819e+00] [-1.05981080e-02 -2.58261434e-04 9.99943805e-01 -6.45344750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:-2.27, Z:-0.65 [[ 9.93018100e-01 1.17488861e-01 1.05556036e-02 4.98421282e+01] [-1.17485048e-01 9.93074165e-01 -9.82762729e-04 -2.26699930e+00] [-1.05979609e-02 -2.64224414e-04 9.99943805e-01 -6.45785345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.90, Y:-2.27, Z:-0.65 [[ 9.92676421e-01 1.20341624e-01 1.05554251e-02 4.99036205e+01] [-1.20337951e-01 9.92732496e-01 -9.84676006e-04 -2.27006691e+00] [-1.05972110e-02 -2.92753577e-04 9.99943805e-01 -6.52009527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:-2.27, Z:-0.65 [[ 9.92736170e-01 1.19847753e-01 1.05552590e-02 4.99654228e+01] [-1.19844034e-01 9.92792241e-01 -9.86453479e-04 -2.27341680e+00] [-1.05974034e-02 -2.85696763e-04 9.99943805e-01 -6.49289525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:-2.28, Z:-0.65 [[ 9.93576025e-01 1.12673297e-01 1.05551495e-02 5.00281966e+01] [-1.12669160e-01 9.93632067e-01 -9.87623675e-04 -2.28317258e+00] [-1.05992138e-02 -2.07960622e-04 9.99943805e-01 -6.52137984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.09, Y:-2.29, Z:-0.65 [[ 9.94452691e-01 1.04653900e-01 1.05549653e-02 5.00900150e+01] [-1.04649291e-01 9.94508696e-01 -9.89587866e-04 -2.29438901e+00] [-1.06005690e-02 -1.20471320e-04 9.99943805e-01 -6.54027944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58576923099999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:-2.31, Z:-0.66 [[ 9.94843661e-01 1.00869654e-01 1.05547716e-02 5.01513007e+01] [-1.00864810e-01 9.94899647e-01 -9.91649954e-04 -2.30501870e+00] [-1.06009659e-02 -7.80683544e-05 9.99943805e-01 -6.55696876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769230999996 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:-2.32, Z:-0.66 [[ 9.94639757e-01 1.02860853e-01 1.05545913e-02 5.02123194e+01] [-1.02856101e-01 9.94695750e-01 -9.93564681e-04 -2.31555715e+00] [-1.06008061e-02 -9.73651767e-05 9.99943805e-01 -6.56891805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:-2.32, Z:-0.66 [[ 9.94144669e-01 1.07540608e-01 1.05544133e-02 5.02746702e+01] [-1.07536099e-01 9.94200682e-01 -9.95452084e-04 -2.32462851e+00] [-1.06002564e-02 -1.45357049e-04 9.99943805e-01 -6.56557462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76576923099999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:50.34, Y:-2.33, Z:-0.65 [[ 9.93720414e-01 1.11392758e-01 1.05542237e-02 5.03369746e+01] [-1.11388444e-01 9.93776443e-01 -9.97458933e-04 -2.32676318e+00] [-1.05996485e-02 -1.84423251e-04 9.99943805e-01 -6.50337453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769230999995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:-2.33, Z:-0.65 [[ 9.93463476e-01 1.13661487e-01 1.05540480e-02 5.03984091e+01] [-1.13657282e-01 9.93519513e-01 -9.99314168e-04 -2.33284398e+00] [-1.05992362e-02 -2.06762286e-04 9.99943805e-01 -6.51533287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:-2.34, Z:-0.65 [[ 9.93310307e-01 1.14992388e-01 1.05539322e-02 5.04600931e+01] [-1.14988245e-01 9.93366349e-01 -1.00053597e-03 -2.33704607e+00] [-1.05989751e-02 -2.19735447e-04 9.99943805e-01 -6.54022128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94576923099999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:50.52, Y:-2.34, Z:-0.65 [[ 9.92787158e-01 1.19424772e-01 1.05537601e-02 5.05227761e+01] [-1.19420860e-01 9.92843217e-01 -1.00234737e-03 -2.34211563e+00] [-1.05979343e-02 -2.65221519e-04 9.99943805e-01 -6.52974168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769230999995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:50.59, Y:-2.34, Z:-0.66 [[ 9.92435585e-01 1.22312024e-01 1.05535782e-02 5.05861808e+01] [-1.22308254e-01 9.92491654e-01 -1.00425896e-03 -2.34349304e+00] [-1.05971712e-02 -2.94127402e-04 9.99943805e-01 -6.57968622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:-2.34, Z:-0.66 [[ 9.92347903e-01 1.23021401e-01 1.05533982e-02 5.06495142e+01] [-1.23017652e-01 9.92403973e-01 -1.00614735e-03 -2.34382053e+00] [-1.05970119e-02 -2.99806049e-04 9.99943805e-01 -6.56994986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:50.71, Y:-2.34, Z:-0.66 [[ 9.92597077e-01 1.20994515e-01 1.05532192e-02 5.07124209e+01] [-1.20990631e-01 9.92653137e-01 -1.00802101e-03 -2.34102907e+00] [-1.05976512e-02 -2.76281942e-04 9.99943805e-01 -6.60001746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769230999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:-2.34, Z:-0.66 [[ 9.93145543e-01 1.16406889e-01 1.05530527e-02 5.07753887e+01] [-1.16402728e-01 9.93201583e-01 -1.00976081e-03 -2.34084025e+00] [-1.05988518e-02 -2.25564674e-04 9.99943805e-01 -6.60436492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:-2.34, Z:-0.66 [[ 9.93700518e-01 1.11570235e-01 1.05528770e-02 5.08384117e+01] [-1.11565782e-01 9.93756536e-01 -1.01159373e-03 -2.34028688e+00] [-1.05998543e-02 -1.72118768e-04 9.99943805e-01 -6.60584152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:-2.35, Z:-0.67 [[ 9.94046649e-01 1.08443075e-01 1.05526887e-02 5.08997937e+01] [-1.08438424e-01 9.94102651e-01 -1.01355511e-03 -2.34511556e+00] [-1.06003688e-02 -1.36795866e-04 9.99943805e-01 -6.65237432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769230999994 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:-2.35, Z:-0.66 [[ 9.94611582e-01 1.03133143e-01 1.05525362e-02 5.09617905e+01] [-1.03128177e-01 9.94667557e-01 -1.01513968e-03 -2.35036113e+00] [-1.06009600e-02 -7.85941422e-05 9.99943805e-01 -6.64930789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:-2.36, Z:-0.66 [[ 9.94756172e-01 1.01729075e-01 1.05524211e-02 5.10238993e+01] [-1.01724017e-01 9.94812139e-01 -1.01633488e-03 -2.35860350e+00] [-1.06010674e-02 -6.24292649e-05 9.99943805e-01 -6.60191555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-2.36, Z:-0.66 [[ 9.94859091e-01 1.00717620e-01 1.05522262e-02 5.10867977e+01] [-1.00712484e-01 9.94915051e-01 -1.01835452e-03 -2.36234200e+00] [-1.06011349e-02 -4.96216591e-05 9.99943805e-01 -6.55983142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769230999994 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.37, Z:-0.66 [[ 9.94825209e-01 1.01051763e-01 1.05520316e-02 5.11500281e+01] [-1.01046624e-01 9.94881168e-01 -1.02036677e-03 -2.36754660e+00] [-1.06011274e-02 -5.11605861e-05 9.99943805e-01 -6.59766277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-2.37, Z:-0.67 [[ 9.94832317e-01 1.00981782e-01 1.05518383e-02 5.12126665e+01] [-1.00976619e-01 9.94888274e-01 -1.02236197e-03 -2.37027018e+00] [-1.06011401e-02 -4.84102295e-05 9.99943805e-01 -6.67060448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-2.38, Z:-0.66 [[ 9.95347147e-01 9.57743163e-02 1.05516440e-02 5.12743919e+01] [-9.57688385e-02 9.95403074e-01 -1.02436321e-03 -2.37792208e+00] [-1.06012466e-02 9.07830273e-06 9.99943805e-01 -6.60137774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769230999994 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:-2.39, Z:-0.66 [[ 9.96422406e-01 8.38513939e-02 1.05514631e-02 5.13366745e+01] [-8.38452273e-02 9.96478261e-01 -1.02622298e-03 -2.39055363e+00] [-1.06003539e-02 1.37861746e-04 9.99943805e-01 -6.62177386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769230999996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.41, Z:-0.67 [[ 9.97211930e-01 7.38717610e-02 1.05512711e-02 5.13980239e+01] [-7.38650147e-02 9.97267719e-01 -1.02819381e-03 -2.40982580e+00] [-1.05983965e-02 2.45957341e-04 9.99943805e-01 -6.70621313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.43, Z:-0.67 [[ 9.97418500e-01 7.10282356e-02 1.05510767e-02 5.14589186e+01] [-7.10213092e-02 9.97474267e-01 -1.03018494e-03 -2.43324771e+00] [-1.05975997e-02 2.78174236e-04 9.99943805e-01 -6.69919187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769230999994 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.46, Z:-0.67 [[ 9.97121290e-01 7.50853652e-02 1.05508792e-02 5.15201222e+01] [-7.50786443e-02 9.97177081e-01 -1.03220364e-03 -2.45655754e+00] [-1.05985983e-02 2.37086522e-04 9.99943805e-01 -6.69561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769230999996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-2.47, Z:-0.67 [[ 9.96612367e-01 8.15626912e-02 1.05506831e-02 5.15810140e+01] [-8.15563118e-02 9.96668199e-01 -1.03420437e-03 -2.47205688e+00] [-1.05998828e-02 1.70226066e-04 9.99943805e-01 -6.67922993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-2.49, Z:-0.67 [[ 9.95322028e-01 9.60351362e-02 1.05505002e-02 5.16430621e+01] [-9.60295490e-02 9.95377944e-01 -1.03606673e-03 -2.48920393e+00] [-1.06012340e-02 1.80602678e-05 9.99943805e-01 -6.66342535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08576923099999 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-2.50, Z:-0.67 [[ 9.94895592e-01 1.00356622e-01 1.05503073e-02 5.17047258e+01] [-1.00351257e-01 9.94951530e-01 -1.03802768e-03 -2.49855264e+00] [-1.06012173e-02 -2.60074367e-05 9.99943805e-01 -6.69262053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769230999996 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-2.50, Z:-0.67 [[ 9.94019838e-01 1.08688807e-01 1.05501286e-02 5.17675344e+01] [-1.08683892e-01 9.94075817e-01 -1.03984079e-03 -2.50485109e+00] [-1.06006467e-02 -1.13006659e-04 9.99943805e-01 -6.66265938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-2.51, Z:-0.67 [[ 9.93776817e-01 1.10888852e-01 1.05499299e-02 5.18293818e+01] [-1.10884039e-01 9.93832805e-01 -1.04185264e-03 -2.50973762e+00] [-1.06003962e-02 -1.34449843e-04 9.99943805e-01 -6.66069393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26576923099999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:-2.51, Z:-0.67 [[ 9.93354732e-01 1.14608369e-01 1.05497461e-02 5.18930256e+01] [-1.14603746e-01 9.93410737e-01 -1.04370986e-03 -2.51069328e+00] [-1.05998490e-02 -1.72266302e-04 9.99943805e-01 -6.69926365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769230999995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:-2.51, Z:-0.68 [[ 9.93256177e-01 1.15459399e-01 1.05495573e-02 5.19550486e+01] [-1.15454804e-01 9.93312184e-01 -1.04561547e-03 -2.51311468e+00] [-1.05997299e-02 -1.79433035e-04 9.99943805e-01 -6.76420196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:-2.52, Z:-0.68 [[ 9.93441712e-01 1.13851992e-01 1.05493855e-02 5.20169953e+01] [-1.13847288e-01 9.93497709e-01 -1.04734554e-03 -2.51541819e+00] [-1.06000327e-02 -1.60542185e-04 9.99943805e-01 -6.75515853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44576923099999 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:-2.51, Z:-0.68 [[ 9.93697647e-01 1.11596148e-01 1.05492630e-02 5.20799485e+01] [-1.11591303e-01 9.93753632e-01 -1.04857770e-03 -2.51267365e+00] [-1.06003857e-02 -1.35236819e-04 9.99943805e-01 -6.75590184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769230999995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:-2.51, Z:-0.67 [[ 9.94100790e-01 1.07945987e-01 1.05490860e-02 5.21432844e+01] [-1.07940918e-01 9.94156756e-01 -1.05035512e-03 -2.51026926e+00] [-1.06008268e-02 -9.45191815e-05 9.99943805e-01 -6.72813953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:52.21, Y:-2.51, Z:-0.68 [[ 9.94765199e-01 1.01641136e-01 1.05488900e-02 5.22061638e+01] [-1.01635692e-01 9.94821129e-01 -1.05232025e-03 -2.51052060e+00] [-1.06012177e-02 -2.53321766e-05 9.99943805e-01 -6.77707773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.52, Z:-0.68 [[ 9.95580191e-01 9.33209970e-02 1.05486946e-02 5.22678332e+01] [-9.33150644e-02 9.95636072e-01 -1.05427537e-03 -2.51526758e+00] [-1.06010469e-02 6.52635534e-05 9.99943805e-01 -6.76766558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769230999995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:52.33, Y:-2.52, Z:-0.67 [[ 9.96144684e-01 8.70890171e-02 1.05485730e-02 5.23307392e+01] [-8.70827221e-02 9.96200525e-01 -1.05549117e-03 -2.52297386e+00] [-1.06004156e-02 1.32823472e-04 9.99943805e-01 -6.72926879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:52.39, Y:-2.53, Z:-0.68 [[ 9.96101496e-01 8.75816277e-02 1.05483782e-02 5.23914918e+01] [-8.75753397e-02 9.96157338e-01 -1.05743420e-03 -2.53010805e+00] [-1.06004561e-02 1.29533983e-04 9.99943805e-01 -6.81587517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:-2.54, Z:-0.68 [[ 9.95759488e-01 9.13880500e-02 1.05482822e-02 5.24537844e+01] [-9.13819654e-02 9.95815352e-01 -1.05839061e-03 -2.53614788e+00] [-1.06008656e-02 8.99797363e-05 9.99943805e-01 -6.82746832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769230999994 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.54, Z:-0.68 [[ 9.95474035e-01 9.44467231e-02 1.05480915e-02 5.25161155e+01] [-9.44407900e-02 9.95529916e-01 -1.06028808e-03 -2.54336762e+00] [-1.06010814e-02 5.93191640e-05 9.99943805e-01 -6.80470471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.55, Z:-0.68 [[ 9.95486630e-01 9.43138947e-02 1.05478912e-02 5.25777768e+01] [-9.43079330e-02 9.95542508e-01 -1.06227714e-03 -2.55327364e+00] [-1.06010615e-02 6.27328815e-05 9.99943805e-01 -6.80327167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.56, Z:-0.68 [[ 9.95226397e-01 9.70214659e-02 1.05477050e-02 5.26400128e+01] [-9.70156367e-02 9.95282289e-01 -1.06412271e-03 -2.56387014e+00] [-1.06011867e-02 3.57507004e-05 9.99943805e-01 -6.80482328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769230999994 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.58, Z:-0.68 [[ 9.94594264e-01 1.03300529e-01 1.05475014e-02 5.27005446e+01] [-1.03295031e-01 9.94650190e-01 -1.06613676e-03 -2.57568348e+00] [-1.06012067e-02 -2.91309857e-05 9.99943805e-01 -6.84339483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.59, Z:-0.68 [[ 9.93897315e-01 1.09803826e-01 1.05473384e-02 5.27626487e+01] [-1.09798677e-01 9.93953274e-01 -1.06774710e-03 -2.58767340e+00] [-1.06008042e-02 -9.68528249e-05 9.99943805e-01 -6.80177835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.60, Z:-0.68 [[ 9.92956795e-01 1.18006612e-01 1.05471392e-02 5.28248786e+01] [-1.18001905e-01 9.93012793e-01 -1.06971094e-03 -2.59683443e+00] [-1.05996771e-02 -1.82405765e-04 9.99943805e-01 -6.78196533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769230999994 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:52.89, Y:-2.59, Z:-0.68 [[ 9.91133981e-01 1.32446945e-01 1.05469413e-02 5.28883122e+01] [-1.32443033e-01 9.91190040e-01 -1.07165884e-03 -2.59488544e+00] [-1.05959611e-02 -3.34711394e-04 9.99943805e-01 -6.83152826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769230999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:-2.59, Z:-0.68 [[ 9.89647828e-01 1.43129109e-01 1.05467439e-02 5.29524878e+01] [-1.43125781e-01 9.89703925e-01 -1.07359770e-03 -2.58934512e+00] [-1.05918169e-02 -4.47027325e-04 9.99943805e-01 -6.81575899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:53.02, Y:-2.59, Z:-0.68 [[ 9.89623100e-01 1.43300002e-01 1.05465424e-02 5.30162592e+01] [-1.43296662e-01 9.89679195e-01 -1.07557373e-03 -2.58734526e+00] [-1.05918233e-02 -4.46871719e-04 9.99943805e-01 -6.84345295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769230999994 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:-2.57, Z:-0.69 [[ 9.89841004e-01 1.41787026e-01 1.05463426e-02 5.30798674e+01] [-1.41783580e-01 9.89897093e-01 -1.07752936e-03 -2.57473331e+00] [-1.05925735e-02 -4.28715460e-04 9.99943805e-01 -6.86397983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769230999996 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:53.15, Y:-2.56, Z:-0.68 [[ 9.90498569e-01 1.37118064e-01 1.05461563e-02 5.31450056e+01] [-1.37114334e-01 9.90554640e-01 -1.07934900e-03 -2.56091899e+00] [-1.05945423e-02 -3.76935562e-04 9.99943805e-01 -6.78500458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:53.21, Y:-2.55, Z:-0.69 [[ 9.91748072e-01 1.27767544e-01 1.05459540e-02 5.32083086e+01] [-1.27763265e-01 9.91804103e-01 -1.08132283e-03 -2.55379581e+00] [-1.05976784e-02 -2.74985680e-04 9.99943805e-01 -6.86351556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58576923099999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:53.27, Y:-2.55, Z:-0.69 [[ 9.93168233e-01 1.16213803e-01 1.05457657e-02 5.32710602e+01] [-1.16208852e-01 9.93224209e-01 -1.08315605e-03 -2.55098101e+00] [-1.06001874e-02 -1.49755141e-04 9.99943805e-01 -6.85633833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769230999996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:-2.55, Z:-0.68 [[ 9.94143223e-01 1.07554833e-01 1.05455867e-02 5.33327537e+01] [-1.07549375e-01 9.94199153e-01 -1.08489561e-03 -2.55046717e+00] [-1.06010991e-02 -5.56296440e-05 9.99943805e-01 -6.76755853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:-2.56, Z:-0.69 [[ 9.94796390e-01 1.01335764e-01 1.05454219e-02 5.33941796e+01] [-1.01329940e-01 9.94852282e-01 -1.08649539e-03 -2.55602127e+00] [-1.06012379e-02 1.22747274e-05 9.99943805e-01 -6.85260573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.56, Z:-0.69 [[ 9.95283918e-01 9.64298708e-02 1.05452414e-02 5.34561067e+01] [-9.64237528e-02 9.95339779e-01 -1.08824408e-03 -2.56392990e+00] [-1.06010375e-02 6.63000840e-05 9.99943805e-01 -6.87989164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769230999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:53.52, Y:-2.57, Z:-0.69 [[ 9.95494385e-01 9.42323241e-02 1.05450501e-02 5.35183671e+01] [-9.42260632e-02 9.95550230e-01 -1.09009521e-03 -2.57224898e+00] [-1.06008492e-02 9.15651064e-05 9.99943805e-01 -6.88622215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:53.58, Y:-2.59, Z:-0.69 [[ 9.95485877e-01 9.43221882e-02 1.05448464e-02 5.35790974e+01] [-9.43159115e-02 9.95541720e-01 -1.09206180e-03 -2.58636023e+00] [-1.06008402e-02 9.25852972e-05 9.99943805e-01 -6.88077087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.64, Y:-2.60, Z:-0.69 [[ 9.95374064e-01 9.54949301e-02 1.05447201e-02 5.36408061e+01] [-9.54887063e-02 9.95429913e-01 -1.09328038e-03 -2.60084000e+00] [-1.06009325e-02 8.13212565e-05 9.99943805e-01 -6.89928101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769230999995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:53.70, Y:-2.62, Z:-0.69 [[ 9.94852377e-01 1.00784723e-01 1.05445119e-02 5.37029159e+01] [-1.00778775e-01 9.94908257e-01 -1.09528389e-03 -2.61532913e+00] [-1.06012099e-02 2.69827936e-05 9.99943805e-01 -6.92618799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.63, Z:-0.69 [[ 9.93999179e-01 1.08878141e-01 1.05443033e-02 5.37655700e+01] [-1.08872627e-01 9.94055103e-01 -1.09728886e-03 -2.62572588e+00] [-1.06010893e-02 -5.72817762e-05 9.99943805e-01 -6.91396828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:-2.63, Z:-0.69 [[ 9.93733858e-01 1.11273723e-01 1.05440930e-02 5.38273183e+01] [-1.11268322e-01 9.93789793e-01 -1.09930627e-03 -2.63326916e+00] [-1.06009359e-02 -8.08056710e-05 9.99943805e-01 -6.92912447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-2.64, Z:-0.70 [[ 9.93098045e-01 1.16812242e-01 1.05438980e-02 5.38893040e+01] [-1.16807134e-01 9.93154007e-01 -1.10117309e-03 -2.64218067e+00] [-1.06003450e-02 -1.38029663e-04 9.99943805e-01 -6.96048121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:-2.65, Z:-0.70 [[ 9.93291468e-01 1.15155936e-01 1.05436872e-02 5.39516686e+01] [-1.15150712e-01 9.93347420e-01 -1.10318824e-03 -2.65106003e+00] [-1.06005831e-02 -1.18325620e-04 9.99943805e-01 -6.95309998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:-2.66, Z:-0.69 [[ 9.93736274e-01 1.11252200e-01 1.05434685e-02 5.40123160e+01] [-1.11246735e-01 9.93792203e-01 -1.10527413e-03 -2.66367937e+00] [-1.06009810e-02 -7.45754483e-05 9.99943805e-01 -6.93884345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.07, Y:-2.67, Z:-0.69 [[ 9.93510642e-01 1.13249472e-01 1.05432650e-02 5.40742846e+01] [-1.13244098e-01 9.93566580e-01 -1.10721155e-03 -2.67406242e+00] [-1.06008269e-02 -9.39360861e-05 9.99943805e-01 -6.93501550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:-2.68, Z:-0.70 [[ 9.93047492e-01 1.17241300e-01 1.05430531e-02 5.41352345e+01] [-1.17236130e-01 9.93103449e-01 -1.10922624e-03 -2.68266476e+00] [-1.06003895e-02 -1.34512403e-04 9.99943805e-01 -6.95123283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:-2.69, Z:-0.69 [[ 9.92948905e-01 1.18073371e-01 1.05428568e-02 5.41974477e+01] [-1.18068228e-01 9.93004864e-01 -1.11108863e-03 -2.69151773e+00] [-1.06002980e-02 -1.41522173e-04 9.99943805e-01 -6.94319023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:-2.70, Z:-0.70 [[ 9.93356538e-01 1.14593375e-01 1.05426454e-02 5.42584965e+01] [-1.14588014e-01 9.93412476e-01 -1.11309113e-03 -2.70261499e+00] [-1.06007483e-02 -1.02364447e-04 9.99943805e-01 -6.95719532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:-2.72, Z:-0.70 [[ 9.94109981e-01 1.07861956e-01 1.05424491e-02 5.43191249e+01] [-1.07856197e-01 9.94165880e-01 -1.11494736e-03 -2.71998651e+00] [-1.06012036e-02 -2.86881672e-05 9.99943805e-01 -6.99923045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:-2.73, Z:-0.70 [[ 9.94383376e-01 1.05311739e-01 1.05422548e-02 5.43807381e+01] [-1.05305818e-01 9.94439258e-01 -1.11678082e-03 -2.73433277e+00] [-1.06012422e-02 3.47518004e-07 9.99943805e-01 -6.98148627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.44, Y:-2.75, Z:-0.70 [[ 9.93881585e-01 1.09946624e-01 1.05420376e-02 5.44419324e+01] [-1.09940941e-01 9.93937492e-01 -1.11882810e-03 -2.74926068e+00] [-1.06011377e-02 -4.70188827e-05 9.99943805e-01 -7.00690008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:-2.76, Z:-0.70 [[ 9.92647487e-01 1.20581242e-01 1.05418355e-02 5.45036120e+01] [-1.20576138e-01 9.92703450e-01 -1.12072853e-03 -2.75971472e+00] [-1.06000553e-02 -1.58605453e-04 9.99943805e-01 -6.98784362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.77, Z:-0.70 [[ 9.91285185e-01 1.31310911e-01 1.05416448e-02 5.45658834e+01] [-1.31306393e-01 9.91341198e-01 -1.12251907e-03 -2.76869762e+00] [-1.05977658e-02 -2.71448841e-04 9.99943805e-01 -7.00925453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:-2.77, Z:-0.70 [[ 9.90095855e-01 1.39996698e-01 1.05414350e-02 5.46286525e+01] [-1.39992651e-01 9.90151904e-01 -1.12448631e-03 -2.77175959e+00] [-1.05950463e-02 -3.62374194e-04 9.99943805e-01 -7.00594538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:-2.77, Z:-0.70 [[ 9.89532631e-01 1.43923777e-01 1.05412276e-02 5.46911405e+01] [-1.43919932e-01 9.89588695e-01 -1.12642694e-03 -2.77212479e+00] [-1.05935993e-02 -4.02456554e-04 9.99943805e-01 -6.98479988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:-2.77, Z:-0.70 [[ 9.89567537e-01 1.43683595e-01 1.05410358e-02 5.47542978e+01] [-1.43679717e-01 9.89623598e-01 -1.12821892e-03 -2.77408091e+00] [-1.05937644e-02 -3.98084227e-04 9.99943805e-01 -7.01573376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.77, Z:-0.70 [[ 9.89937348e-01 1.41113208e-01 1.05408336e-02 5.48170031e+01] [-1.41109165e-01 9.89993397e-01 -1.13010536e-03 -2.77292715e+00] [-1.05948284e-02 -3.68674717e-04 9.99943805e-01 -7.04522257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:-2.77, Z:-0.70 [[ 9.90411874e-01 1.37743294e-01 1.05406455e-02 5.48802619e+01] [-1.37739040e-01 9.90467907e-01 -1.13185731e-03 -2.77082217e+00] [-1.05960768e-02 -3.30853474e-04 9.99943805e-01 -7.04779625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:-2.77, Z:-0.70 [[ 9.90833261e-01 1.34678682e-01 1.05404347e-02 5.49441530e+01] [-1.34674235e-01 9.90889280e-01 -1.13381642e-03 -2.76944888e+00] [-1.05971047e-02 -2.96101960e-04 9.99943805e-01 -7.03988308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.77, Z:-0.70 [[ 9.91319350e-01 1.31052852e-01 1.05402225e-02 5.50074771e+01] [-1.31048179e-01 9.91375350e-01 -1.13578565e-03 -2.76960945e+00] [-1.05981647e-02 -2.55350678e-04 9.99943805e-01 -7.03227389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.77, Z:-0.70 [[ 9.91843590e-01 1.27024408e-01 1.05400112e-02 5.50705753e+01] [-1.27019487e-01 9.91899569e-01 -1.13774294e-03 -2.76695756e+00] [-1.05991537e-02 -2.10323770e-04 9.99943805e-01 -7.02732522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.13, Y:-2.77, Z:-0.70 [[ 9.92114931e-01 1.24887449e-01 1.05398249e-02 5.51326827e+01] [-1.24882389e-01 9.92170898e-01 -1.13946605e-03 -2.76739046e+00] [-1.05996126e-02 -1.85757240e-04 9.99943805e-01 -7.01392923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.77, Z:-0.71 [[ 9.92558369e-01 1.21312820e-01 1.05396353e-02 5.51945170e+01] [-1.21307540e-01 9.92614315e-01 -1.14121724e-03 -2.76828502e+00] [-1.06002372e-02 -1.45812515e-04 9.99943805e-01 -7.06804843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:-2.77, Z:-0.71 [[ 9.93170315e-01 1.16196574e-01 1.05395299e-02 5.52575392e+01] [-1.16190995e-01 9.93226232e-01 -1.14219024e-03 -2.76784140e+00] [-1.06008562e-02 -9.02090236e-05 9.99943805e-01 -7.06835784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.77, Z:-0.70 [[ 9.93939678e-01 1.09420467e-01 1.05393428e-02 5.53200149e+01] [-1.09414489e-01 9.93995554e-01 -1.14391352e-03 -2.76992941e+00] [-1.06012275e-02 -1.61757724e-05 9.99943805e-01 -7.04851717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.77, Z:-0.71 [[ 9.94635390e-01 1.02904653e-01 1.05391562e-02 5.53826644e+01] [-1.02898290e-01 9.94691223e-01 -1.14563039e-03 -2.77173628e+00] [-1.06010969e-02 5.50233726e-05 9.99943805e-01 -7.06786163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.78, Z:-0.71 [[ 9.95570730e-01 9.34229698e-02 1.05389665e-02 5.54443621e+01] [-9.34160570e-02 9.95626498e-01 -1.14737278e-03 -2.77974200e+00] [-1.06000653e-02 1.57782055e-04 9.99943805e-01 -7.10801920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:-2.79, Z:-0.71 [[ 9.96372315e-01 8.44460976e-02 1.05388321e-02 5.55065662e+01] [-8.44386695e-02 9.96428016e-01 -1.14860592e-03 -2.78965651e+00] [-1.05981829e-02 2.54554174e-04 9.99943805e-01 -7.12398847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.80, Z:-0.71 [[ 9.96563853e-01 8.21548854e-02 1.05386253e-02 5.55685939e+01] [-8.21473092e-02 9.96619534e-01 -1.15050079e-03 -2.79952258e+00] [-1.05975191e-02 2.80827789e-04 9.99943805e-01 -7.14037365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.81, Z:-0.72 [[ 9.96561865e-01 8.21790177e-02 1.05384189e-02 5.56307763e+01] [-8.21714229e-02 9.96617544e-01 -1.15238811e-03 -2.81299172e+00] [-1.05974753e-02 2.82469173e-04 9.99943805e-01 -7.15536055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.83, Z:-0.72 [[ 9.96711096e-01 8.03488448e-02 1.05382123e-02 5.56919999e+01] [-8.03411278e-02 9.96766758e-01 -1.15427379e-03 -2.83092809e+00] [-1.05968843e-02 3.03825630e-04 9.99943805e-01 -7.18407338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.75, Y:-2.84, Z:-0.72 [[ 9.96812565e-01 7.90800902e-02 1.05379962e-02 5.57542594e+01] [-7.90722816e-02 9.96868215e-01 -1.15624325e-03 -2.84159744e+00] [-1.05964293e-02 3.19294396e-04 9.99943805e-01 -7.17732373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769230999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.86, Z:-0.71 [[ 9.97228175e-01 7.36540700e-02 1.05377810e-02 5.58141818e+01] [-7.36459380e-02 9.97283778e-01 -1.15820187e-03 -2.86000630e+00] [-1.05944643e-02 3.78926770e-04 9.99943805e-01 -7.12713933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:-2.88, Z:-0.71 [[ 9.97456617e-01 7.04929446e-02 1.05376781e-02 5.58757857e+01] [-7.04846265e-02 9.97512192e-01 -1.15913723e-03 -2.88015367e+00] [-1.05931734e-02 4.13444792e-04 9.99943805e-01 -7.14769164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:-2.90, Z:-0.72 [[ 9.97212534e-01 7.38655848e-02 1.05374687e-02 5.59362122e+01] [-7.38574347e-02 9.97268134e-01 -1.16103768e-03 -2.90042399e+00] [-1.05944425e-02 3.79530922e-04 9.99943805e-01 -7.17546230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:-2.92, Z:-0.72 [[ 9.96505962e-01 8.28542963e-02 1.05372743e-02 5.59972728e+01] [-8.28466292e-02 9.96561631e-01 -1.16279951e-03 -2.91772495e+00] [-1.05973862e-02 2.85758988e-04 9.99943805e-01 -7.18712388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.06, Y:-2.93, Z:-0.72 [[ 9.95941542e-01 8.93835332e-02 1.05370529e-02 5.60579361e+01] [-8.93762099e-02 9.95997257e-01 -1.16480209e-03 -2.92984587e+00] [-1.05989899e-02 2.18312939e-04 9.99943805e-01 -7.17884883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.12, Y:-2.94, Z:-0.72 [[ 9.95099583e-01 9.83147737e-02 1.05368464e-02 5.61200979e+01] [-9.83079308e-02 9.95155360e-01 -1.16666708e-03 -2.94338089e+00] [-1.06004998e-02 1.25094353e-04 9.99943805e-01 -7.20662093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:-2.95, Z:-0.72 [[ 9.94557975e-01 1.03650444e-01 1.05366253e-02 5.61812636e+01] [-1.03643879e-01 9.94613785e-01 -1.16866053e-03 -2.95131398e+00] [-1.06010050e-02 7.02439304e-05 9.99943805e-01 -7.22266847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:-2.96, Z:-0.72 [[ 9.94505724e-01 1.04150602e-01 1.05364880e-02 5.62437409e+01] [-1.04144052e-01 9.94561535e-01 -1.16989671e-03 -2.96131967e+00] [-1.06010312e-02 6.61564173e-05 9.99943805e-01 -7.22312990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:-2.97, Z:-0.72 [[ 9.94878035e-01 1.00531996e-01 1.05362710e-02 5.63045671e+01] [-1.00525223e-01 9.94933820e-01 -1.17184780e-03 -2.97491736e+00] [-1.06007006e-02 1.06684647e-04 9.99943805e-01 -7.23122393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:-2.99, Z:-0.72 [[ 9.95275749e-01 9.65151469e-02 1.05361367e-02 5.63660576e+01] [-9.65081356e-02 9.95331504e-01 -1.17305474e-03 -2.99026373e+00] [-1.06001663e-02 1.50690025e-04 9.99943805e-01 -7.21032893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:-3.00, Z:-0.72 [[ 9.95314757e-01 9.61120616e-02 1.05359224e-02 5.64273595e+01] [-9.61050074e-02 9.95370507e-01 -1.17497643e-03 -3.00466130e+00] [-1.06000758e-02 1.56916479e-04 9.99943805e-01 -7.18535814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:-3.02, Z:-0.72 [[ 9.94910202e-01 1.00213218e-01 1.05357225e-02 5.64899466e+01] [-1.00206375e-01 9.94965978e-01 -1.17676596e-03 -3.01547547e+00] [-1.06006129e-02 1.15029899e-04 9.99943805e-01 -7.17496666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:-3.02, Z:-0.72 [[ 9.93987693e-01 1.08983806e-01 1.05355109e-02 5.65518832e+01] [-1.08977435e-01 9.94043525e-01 -1.17865702e-03 -3.02271168e+00] [-1.06012109e-02 2.34376147e-05 9.99943805e-01 -7.18130942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769230999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:56.61, Y:-3.03, Z:-0.72 [[ 9.93284919e-01 1.15213183e-01 1.05353148e-02 5.66141729e+01] [-1.15207144e-01 9.93340788e-01 -1.18040782e-03 -3.03135451e+00] [-1.06011564e-02 -4.12622325e-05 9.99943805e-01 -7.22835534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.04, Z:-0.72 [[ 9.92862156e-01 1.18801306e-01 1.05351082e-02 5.66767197e+01] [-1.18795449e-01 9.92918045e-01 -1.18224805e-03 -3.03550749e+00] [-1.06009517e-02 -7.77135578e-05 9.99943805e-01 -7.23438905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.04, Z:-0.72 [[ 9.92169546e-01 1.24453232e-01 1.05349033e-02 5.67400056e+01] [-1.24447674e-01 9.92225466e-01 -1.18407112e-03 -3.03897668e+00] [-1.06003609e-02 -1.36244908e-04 9.99943805e-01 -7.19945624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.04, Z:-0.73 [[ 9.91056742e-01 1.33024641e-01 1.05347006e-02 5.68021555e+01] [-1.33019547e-01 9.91112705e-01 -1.18587184e-03 -3.03706892e+00] [-1.05988258e-02 -2.26054828e-04 9.99943805e-01 -7.27286653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.04, Z:-0.73 [[ 9.90238547e-01 1.38984328e-01 1.05345374e-02 5.68645177e+01] [-1.38979555e-01 9.90294539e-01 -1.18732055e-03 -3.03548226e+00] [-1.05973138e-02 -2.88354740e-04 9.99943805e-01 -7.33536892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:-3.04, Z:-0.73 [[ 9.89924440e-01 1.41204214e-01 1.05343635e-02 5.69269512e+01] [-1.41199551e-01 9.89980441e-01 -1.18886070e-03 -3.03713109e+00] [-1.05966860e-02 -3.10565137e-04 9.99943805e-01 -7.28241249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:-3.04, Z:-0.73 [[ 9.89944435e-01 1.41063978e-01 1.05341759e-02 5.69901211e+01] [-1.41059289e-01 9.90000434e-01 -1.19052069e-03 -3.03708725e+00] [-1.05967783e-02 -3.07394037e-04 9.99943805e-01 -7.31382895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:-3.04, Z:-0.74 [[ 9.90166918e-01 1.39493766e-01 1.05339547e-02 5.70516834e+01] [-1.39488968e-01 9.90222907e-01 -1.19247544e-03 -3.03776156e+00] [-1.05973061e-02 -2.88620732e-04 9.99943805e-01 -7.35133552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:-3.04, Z:-0.73 [[ 9.90449694e-01 1.37471606e-01 1.05337767e-02 5.71126955e+01] [-1.37466676e-01 9.90505672e-01 -1.19404546e-03 -3.03995552e+00] [-1.05979129e-02 -2.65401305e-04 9.99943805e-01 -7.31019018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.18, Y:-3.04, Z:-0.73 [[ 9.90696765e-01 1.35679625e-01 1.05336699e-02 5.71762128e+01] [-1.35674584e-01 9.90752734e-01 -1.19498655e-03 -3.04163077e+00] [-1.05983976e-02 -2.45281984e-04 9.99943805e-01 -7.26991631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.24, Y:-3.04, Z:-0.73 [[ 9.90652794e-01 1.36000322e-01 1.05334547e-02 5.72388381e+01] [-1.35995279e-01 9.90708762e-01 -1.19688078e-03 -3.04482481e+00] [-1.05983620e-02 -2.46806815e-04 9.99943805e-01 -7.26144431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:-3.05, Z:-0.73 [[ 9.90740009e-01 1.35363529e-01 1.05332318e-02 5.73019226e+01] [-1.35358429e-01 9.90795972e-01 -1.19883887e-03 -3.04559178e+00] [-1.05985627e-02 -2.38024080e-04 9.99943805e-01 -7.25232856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.36, Y:-3.05, Z:-0.73 [[ 9.91059193e-01 1.33006507e-01 1.05330091e-02 5.73636969e+01] [-1.33001254e-01 9.91115142e-01 -1.20079281e-03 -3.04957927e+00] [-1.05991380e-02 -2.10846655e-04 9.99943805e-01 -7.30660612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:-3.06, Z:-0.73 [[ 9.91446729e-01 1.30086293e-01 1.05328022e-02 5.74266838e+01] [-1.30080856e-01 9.91502660e-01 -1.20260453e-03 -3.05704989e+00] [-1.05997438e-02 -1.77797592e-04 9.99943805e-01 -7.31840498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-3.07, Z:-0.73 [[ 9.90755835e-01 1.35247701e-01 1.05325942e-02 5.74890068e+01] [-1.35242536e-01 9.90811791e-01 -1.20442337e-03 -3.06577257e+00] [-1.05987141e-02 -2.31165271e-04 9.99943805e-01 -7.28781378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769230999994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.07, Z:-0.73 [[ 9.89947555e-01 1.41042222e-01 1.05323715e-02 5.75500642e+01] [-1.41037364e-01 9.90003539e-01 -1.20636781e-03 -3.07065736e+00] [-1.05972339e-02 -2.91217052e-04 9.99943805e-01 -7.31712754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.08, Z:-0.73 [[ 9.90205159e-01 1.39222181e-01 1.05321925e-02 5.76126035e+01] [-1.39217203e-01 9.90261133e-01 -1.20792845e-03 -3.07906744e+00] [-1.05977913e-02 -2.70165406e-04 9.99943805e-01 -7.33922612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.09, Z:-0.74 [[ 9.90510104e-01 1.37035802e-01 1.05319698e-02 5.76752434e+01] [-1.37030679e-01 9.90566065e-01 -1.20986706e-03 -3.08933030e+00] [-1.05984070e-02 -2.44817434e-04 9.99943805e-01 -7.36700055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.10, Z:-0.74 [[ 9.90611980e-01 1.36297422e-01 1.05317457e-02 5.77373418e+01] [-1.36292237e-01 9.90667935e-01 -1.21181481e-03 -3.09745851e+00] [-1.05986300e-02 -2.34956910e-04 9.99943805e-01 -7.39548072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769230999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-3.10, Z:-0.74 [[ 9.89996585e-01 1.40697709e-01 1.05316736e-02 5.77981065e+01] [-1.40692766e-01 9.90052562e-01 -1.21244145e-03 -3.10219611e+00] [-1.05974981e-02 -2.81417394e-04 9.99943805e-01 -7.39380028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-3.11, Z:-0.74 [[ 9.89110555e-01 1.46797131e-01 1.05314877e-02 5.78597049e+01] [-1.46792517e-01 9.89166560e-01 -1.21405394e-03 -3.11060130e+00] [-1.05956151e-02 -3.45110020e-04 9.99943805e-01 -7.36614283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-3.12, Z:-0.74 [[ 9.89428680e-01 1.44637405e-01 1.05312973e-02 5.79218643e+01] [-1.44632650e-01 9.89484673e-01 -1.21570283e-03 -3.11783203e+00] [-1.05963934e-02 -3.20318203e-04 9.99943805e-01 -7.36495482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.13, Z:-0.74 [[ 9.90034051e-01 1.40433881e-01 1.05310657e-02 5.79839323e+01] [-1.40428868e-01 9.90090021e-01 -1.21770643e-03 -3.12647383e+00] [-1.05977103e-02 -2.73294801e-04 9.99943805e-01 -7.40023938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:-3.13, Z:-0.74 [[ 9.89882082e-01 1.41501113e-01 1.05308321e-02 5.80455338e+01] [-1.41496139e-01 9.89938056e-01 -1.21972348e-03 -3.13166961e+00] [-1.05974636e-02 -2.82689656e-04 9.99943805e-01 -7.39614903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:-3.13, Z:-0.74 [[ 9.89039064e-01 1.47278094e-01 1.05306142e-02 5.81078055e+01] [-1.47273426e-01 9.89095064e-01 -1.22160120e-03 -3.13248684e+00] [-1.05956936e-02 -3.42668330e-04 9.99943805e-01 -7.35861611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:-3.13, Z:-0.74 [[ 9.88683751e-01 1.49644747e-01 1.05304146e-02 5.81684249e+01] [-1.49640195e-01 9.88739761e-01 -1.22331995e-03 -3.13217830e+00] [-1.05949030e-02 -3.66296733e-04 9.99943805e-01 -7.41100677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:-3.13, Z:-0.74 [[ 9.89557206e-01 1.43755507e-01 1.05304004e-02 5.82305812e+01] [-1.43750620e-01 9.89613188e-01 -1.22344141e-03 -3.13388050e+00] [-1.05968996e-02 -3.03086333e-04 9.99943805e-01 -7.41086832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:-3.14, Z:-0.74 [[ 9.90921161e-01 1.34031220e-01 1.05302032e-02 5.82939754e+01] [-1.34025766e-01 9.90977090e-01 -1.22513647e-03 -3.13712001e+00] [-1.05993967e-02 -1.97304900e-04 9.99943805e-01 -7.39308411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.36, Y:-3.14, Z:-0.75 [[ 9.91562140e-01 1.29203880e-01 1.05299737e-02 5.83569112e+01] [-1.29198133e-01 9.91618040e-01 -1.22710619e-03 -3.14456376e+00] [-1.06002588e-02 -1.43700895e-04 9.99943805e-01 -7.45120086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:-3.15, Z:-0.75 [[ 9.92054395e-01 1.25368264e-01 1.05297437e-02 5.84181218e+01] [-1.25362280e-01 9.92110270e-01 -1.22907652e-03 -3.15449973e+00] [-1.06007541e-02 -1.00721916e-04 9.99943805e-01 -7.47930752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-3.17, Z:-0.75 [[ 9.92127681e-01 1.24786995e-01 1.05295341e-02 5.84791567e+01] [-1.24780959e-01 9.92183550e-01 -1.23086994e-03 -3.16538356e+00] [-1.06008271e-02 -9.27052254e-05 9.99943805e-01 -7.47379937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.17, Z:-0.75 [[ 9.91964177e-01 1.26080147e-01 1.05293851e-02 5.85409487e+01] [-1.26074170e-01 9.92020053e-01 -1.23214294e-03 -3.17404064e+00] [-1.06007099e-02 -1.05241833e-04 9.99943805e-01 -7.46118746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-3.18, Z:-0.75 [[ 9.91297024e-01 1.31222512e-01 1.05291685e-02 5.86027939e+01] [-1.31216805e-01 9.91352928e-01 -1.23399127e-03 -3.18062212e+00] [-1.06000494e-02 -1.58351976e-04 9.99943805e-01 -7.45462105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-3.18, Z:-0.75 [[ 9.90355484e-01 1.38149034e-01 1.05289630e-02 5.86645079e+01] [-1.38143700e-01 9.90411425e-01 -1.23574228e-03 -3.18097651e+00] [-1.05987218e-02 -2.30685754e-04 9.99943805e-01 -7.45614508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:-3.18, Z:-0.74 [[ 9.89637733e-01 1.43200203e-01 1.05289337e-02 5.87243739e+01] [-1.43195151e-01 9.89693701e-01 -1.23599136e-03 -3.17968057e+00] [-1.05974136e-02 -2.84508576e-04 9.99943805e-01 -7.44361371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:-3.18, Z:-0.75 [[ 9.89183235e-01 1.46306767e-01 1.05289210e-02 5.87847948e+01] [-1.46301891e-01 9.89239217e-01 -1.23609979e-03 -3.17794876e+00] [-1.05964713e-02 -3.17671859e-04 9.99943805e-01 -7.46092041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-3.17, Z:-0.74 [[ 9.88247820e-01 1.52497172e-01 1.05289493e-02 5.88453341e+01] [-1.52492648e-01 9.88303832e-01 -1.23585893e-03 -3.16873033e+00] [-1.05942659e-02 -3.84252465e-04 9.99943805e-01 -7.41140818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:-3.16, Z:-0.74 [[ 9.87711409e-01 1.55933682e-01 1.05290075e-02 5.89045440e+01] [-1.55929358e-01 9.87767437e-01 -1.23536229e-03 -3.15805159e+00] [-1.05928454e-02 -4.21599954e-04 9.99943805e-01 -7.39820962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:-3.15, Z:-0.74 [[ 9.87644431e-01 1.56357335e-01 1.05290795e-02 5.89649149e+01] [-1.56353042e-01 9.87700462e-01 -1.23474866e-03 -3.14772845e+00] [-1.05926387e-02 -4.26760971e-04 9.99943805e-01 -7.41618274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:-3.14, Z:-0.74 [[ 9.87755854e-01 1.55651890e-01 1.05291370e-02 5.90243896e+01] [-1.55647562e-01 9.87811881e-01 -1.23425790e-03 -3.13864246e+00] [-1.05929212e-02 -4.19689039e-04 9.99943805e-01 -7.40492242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:-3.13, Z:-0.75 [[ 9.87876532e-01 1.54884129e-01 1.05292228e-02 5.90838178e+01] [-1.54879765e-01 9.87932557e-01 -1.23352615e-03 -3.13314748e+00] [-1.05932156e-02 -4.12192014e-04 9.99943805e-01 -7.45288334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.14, Y:-3.13, Z:-0.74 [[ 9.88698676e-01 1.49546188e-01 1.05293095e-02 5.91422396e+01] [-1.49541530e-01 9.88754677e-01 -1.23278496e-03 -3.13058184e+00] [-1.05952623e-02 -3.55716198e-04 9.99943805e-01 -7.43879845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:59.20, Y:-3.13, Z:-0.75 [[ 9.90034259e-01 1.40432535e-01 1.05293980e-02 5.91992833e+01] [-1.40427369e-01 9.90090216e-01 -1.23202933e-03 -3.13004759e+00] [-1.05980709e-02 -2.58864409e-04 9.99943805e-01 -7.45247466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.26, Y:-3.13, Z:-0.75 [[ 9.91265065e-01 1.31463684e-01 1.05295004e-02 5.92572532e+01] [-1.31458021e-01 9.91320974e-01 -1.23115332e-03 -3.13174133e+00] [-1.05999665e-02 -1.63788013e-04 9.99943805e-01 -7.49025422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.32, Y:-3.13, Z:-0.75 [[ 9.91941319e-01 1.26259841e-01 1.05295873e-02 5.93150986e+01] [-1.26253892e-01 9.91997198e-01 -1.23040970e-03 -3.13446785e+00] [-1.06006724e-02 -1.08907159e-04 9.99943805e-01 -7.49781457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.14, Z:-0.75 [[ 9.92815840e-01 1.19188229e-01 1.05296741e-02 5.93740738e+01] [-1.19181891e-01 9.92871676e-01 -1.22966623e-03 -3.13728152e+00] [-1.06011769e-02 -3.41143597e-05 9.99943805e-01 -7.45778053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.14, Z:-0.75 [[ 9.93409390e-01 1.14135485e-01 1.05297318e-02 5.94328874e+01] [-1.14128867e-01 9.93465194e-01 -1.22917196e-03 -3.14005926e+00] [-1.06012142e-02 1.93246007e-05 9.99943805e-01 -7.49901502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769230999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.49, Y:-3.14, Z:-0.75 [[ 9.93982236e-01 1.09034114e-01 1.05297909e-02 5.94903221e+01] [-1.09027216e-01 9.94038006e-01 -1.22866528e-03 -3.14323887e+00] [-1.06009788e-02 7.32376758e-05 9.99943805e-01 -7.53140761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:-3.15, Z:-0.75 [[ 9.94665125e-01 1.02617792e-01 1.05298712e-02 5.95488262e+01] [-1.02610541e-01 9.94720850e-01 -1.22797716e-03 -3.15026365e+00] [-1.06002947e-02 1.40950271e-04 9.99943805e-01 -7.48638960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.61, Y:-3.16, Z:-0.75 [[ 9.95037818e-01 9.89386779e-02 1.05299293e-02 5.96072970e+01] [-9.89312264e-02 9.95093516e-01 -1.22747827e-03 -3.16010828e+00] [-1.05997095e-02 1.79648476e-04 9.99943805e-01 -7.50147090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.66, Y:-3.17, Z:-0.76 [[ 9.95319679e-01 9.60617254e-02 1.05299869e-02 5.96642994e+01] [-9.60541181e-02 9.95375357e-01 -1.22698426e-03 -3.16854696e+00] [-1.05991557e-02 2.09792977e-04 9.99943805e-01 -7.55820123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.72, Y:-3.18, Z:-0.76 [[ 9.95420259e-01 9.50138211e-02 1.05300579e-02 5.97220618e+01] [-9.50061616e-02 9.95475929e-01 -1.22637457e-03 -3.17862086e+00] [-1.05989417e-02 2.20337712e-04 9.99943805e-01 -7.57743560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:-3.19, Z:-0.76 [[ 9.95404531e-01 9.51784480e-02 1.05301147e-02 5.97788855e+01] [-9.51708029e-02 9.95460203e-01 -1.22588668e-03 -3.19171106e+00] [-1.05989881e-02 2.18093684e-04 9.99943805e-01 -7.59865337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.84, Y:-3.21, Z:-0.76 [[ 9.95697822e-01 9.20595619e-02 1.05301852e-02 5.98354651e+01] [-9.20517488e-02 9.95753471e-01 -1.22528053e-03 -3.20522185e+00] [-1.05982673e-02 2.50687191e-04 9.99943805e-01 -7.57876019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-3.22, Z:-0.76 [[ 9.96158710e-01 8.69306576e-02 1.05302541e-02 5.98926852e+01] [-8.69225644e-02 9.96214318e-01 -1.22468864e-03 -3.21992333e+00] [-1.05968529e-02 3.04667564e-04 9.99943805e-01 -7.55208033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-3.23, Z:-0.75 [[ 9.96371457e-01 8.44572787e-02 1.05302951e-02 5.99504638e+01] [-8.44490511e-02 9.96427046e-01 -1.22433581e-03 -3.23403185e+00] [-1.05960749e-02 3.30619829e-04 9.99943805e-01 -7.54910400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769230999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-3.25, Z:-0.76 [[ 9.96238182e-01 8.60150993e-02 1.05303353e-02 6.00087488e+01] [-8.60069623e-02 9.96293784e-01 -1.22398949e-03 -3.24526070e+00] [-1.05965892e-02 3.13702907e-04 9.99943805e-01 -7.55619742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.07, Y:-3.26, Z:-0.75 [[ 9.95887978e-01 8.99791480e-02 1.05303624e-02 6.00666759e+01] [-8.99712348e-02 9.95943613e-01 -1.22375688e-03 -3.25958094e+00] [-1.05977597e-02 2.71295057e-04 9.99943805e-01 -7.53579696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.12, Y:-3.27, Z:-0.76 [[ 9.95302166e-01 9.62429711e-02 1.05303894e-02 6.01246807e+01] [-9.62354106e-02 9.95357850e-01 -1.22352387e-03 -3.27317446e+00] [-1.05992614e-02 2.04379610e-04 9.99943805e-01 -7.56927696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.18, Y:-3.28, Z:-0.76 [[ 9.94482667e-01 1.04371146e-01 1.05304164e-02 6.01823186e+01] [-1.04364043e-01 9.94538411e-01 -1.22329178e-03 -3.28474486e+00] [-1.06005800e-02 1.17545638e-04 9.99943805e-01 -7.58074339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.24, Y:-3.29, Z:-0.76 [[ 9.93583411e-01 1.12610459e-01 1.05304565e-02 6.02391030e+01] [-1.12603822e-01 9.93639212e-01 -1.22294623e-03 -3.29483678e+00] [-1.06011911e-02 2.93294341e-05 9.99943805e-01 -7.60053137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:-3.30, Z:-0.76 [[ 9.92741987e-01 1.19801729e-01 1.05305292e-02 6.02972007e+01] [-1.19795503e-01 9.92797836e-01 -1.22232045e-03 -3.30218684e+00] [-1.06011227e-02 -4.80612026e-05 9.99943805e-01 -7.60656269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769230999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:-3.31, Z:-0.76 [[ 9.91919083e-01 1.26434331e-01 1.05305822e-02 6.03560365e+01] [-1.26428483e-01 9.91974972e-01 -1.22186343e-03 -3.30828638e+00] [-1.06005595e-02 -1.19375885e-04 9.99943805e-01 -7.60120230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:-3.31, Z:-0.76 [[ 9.91449285e-01 1.30066988e-01 1.05306413e-02 6.04147759e+01] [-1.30061351e-01 9.91505196e-01 -1.22135343e-03 -3.31215659e+00] [-1.06000434e-02 -1.58719455e-04 9.99943805e-01 -7.62730654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.32, Z:-0.77 [[ 9.91524461e-01 1.29492652e-01 1.05307003e-02 6.04730220e+01] [-1.29486987e-01 9.91580370e-01 -1.22084495e-03 -3.31557487e+00] [-1.06001261e-02 -1.53091022e-04 9.99943805e-01 -7.66382645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769230999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.32, Z:-0.77 [[ 9.92105269e-01 1.24964947e-01 1.05307732e-02 6.05317897e+01] [-1.24959033e-01 9.92161152e-01 -1.22021556e-03 -3.32042521e+00] [-1.06007083e-02 -1.05332957e-04 9.99943805e-01 -7.66265992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769230999996 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.33, Z:-0.76 [[ 9.93043530e-01 1.17275955e-01 1.05308265e-02 6.05900739e+01] [-1.17269614e-01 9.93099366e-01 -1.21975521e-03 -3.32611650e+00] [-1.06012051e-02 -2.36759441e-05 9.99943805e-01 -7.64859596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.33, Z:-0.77 [[ 9.93511248e-01 1.13245315e-01 1.05308840e-02 6.06482908e+01] [-1.13238753e-01 9.93567058e-01 -1.21925866e-03 -3.33324489e+00] [-1.06012148e-02 1.88430177e-05 9.99943805e-01 -7.67494512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769230999994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:60.71, Y:-3.34, Z:-0.77 [[ 9.93646948e-01 1.12048393e-01 1.05309420e-02 6.07066513e+01] [-1.12041769e-01 9.93702751e-01 -1.21875805e-03 -3.34117624e+00] [-1.06011859e-02 3.11098529e-05 9.99943805e-01 -7.68628270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769230999996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:60.76, Y:-3.35, Z:-0.77 [[ 9.93556805e-01 1.12844910e-01 1.05309995e-02 6.07646353e+01] [-1.12838336e-01 9.93612614e-01 -1.21826060e-03 -3.35007776e+00] [-1.06012085e-02 2.21106485e-05 9.99943805e-01 -7.67444915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:60.82, Y:-3.36, Z:-0.76 [[ 9.93254887e-01 1.15472191e-01 1.05310422e-02 6.08224636e+01] [-1.15465768e-01 9.93310713e-01 -1.21789192e-03 -3.35722130e+00] [-1.06012296e-02 -6.29776531e-06 9.99943805e-01 -7.64338482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08576923099999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:60.88, Y:-3.36, Z:-0.77 [[ 9.92959743e-01 1.17983239e-01 1.05311117e-02 6.08808032e+01] [-1.17976964e-01 9.93015586e-01 -1.21729016e-03 -3.36282663e+00] [-1.06011779e-02 -3.37084671e-05 9.99943805e-01 -7.66463105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769230999996 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:60.94, Y:-3.37, Z:-0.77 [[ 9.92826491e-01 1.19099341e-01 1.05311676e-02 6.09397243e+01] [-1.19093134e-01 9.92882342e-01 -1.21680624e-03 -3.36920970e+00] [-1.06011312e-02 -4.61122925e-05 9.99943805e-01 -7.67894620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:61.00, Y:-3.38, Z:-0.77 [[ 9.93094119e-01 1.16846757e-01 1.05312233e-02 6.09974180e+01] [-1.16840428e-01 9.93149956e-01 -1.21632384e-03 -3.37726440e+00] [-1.06012075e-02 -2.25485920e-05 9.99943805e-01 -7.70330714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26576923099999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:-3.38, Z:-0.77 [[ 9.93335841e-01 1.14773687e-01 1.05312921e-02 6.10555547e+01] [-1.14767248e-01 9.93391665e-01 -1.21572831e-03 -3.38420471e+00] [-1.06012314e-02 -1.02091168e-06 9.99943805e-01 -7.68383028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769230999995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-3.39, Z:-0.77 [[ 9.93221425e-01 1.15759627e-01 1.05313464e-02 6.11142614e+01] [-1.15753248e-01 9.93277257e-01 -1.21525784e-03 -3.38998641e+00] [-1.06012246e-02 -1.20174288e-05 9.99943805e-01 -7.68755421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-3.39, Z:-0.77 [[ 9.92157916e-01 1.24546214e-01 1.05314015e-02 6.11736698e+01] [-1.24540335e-01 9.92213802e-01 -1.21477962e-03 -3.39048425e+00] [-1.06006982e-02 -1.06331058e-04 9.99943805e-01 -7.67415368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-3.39, Z:-0.77 [[ 9.90927345e-01 1.33985391e-01 1.05314573e-02 6.12334213e+01] [-1.33980049e-01 9.90983285e-01 -1.21429611e-03 -3.38510090e+00] [-1.05991961e-02 -2.07725949e-04 9.99943805e-01 -7.73290655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769230999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-3.38, Z:-0.77 [[ 9.90546205e-01 1.36774645e-01 1.05315129e-02 6.12936272e+01] [-1.36769466e-01 9.90602160e-01 -1.21381357e-03 -3.38071070e+00] [-1.05985584e-02 -2.38050977e-04 9.99943805e-01 -7.69973858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-3.38, Z:-0.77 [[ 9.91134987e-01 1.32440639e-01 1.05315697e-02 6.13529869e+01] [-1.32435220e-01 9.91190920e-01 -1.21332040e-03 -3.37684929e+00] [-1.05994892e-02 -1.92186459e-04 9.99943805e-01 -7.66955217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-3.37, Z:-0.77 [[ 9.91847779e-01 1.26992391e-01 1.05316269e-02 6.14112425e+01] [-1.26986671e-01 9.91903682e-01 -1.21282412e-03 -3.37497817e+00] [-1.06003789e-02 -1.34439321e-04 9.99943805e-01 -7.73539690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769230999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-3.37, Z:-0.77 [[ 9.91758734e-01 1.27685930e-01 1.05316976e-02 6.14707988e+01] [-1.27680255e-01 9.91814641e-01 -1.21220962e-03 -3.37359429e+00] [-1.06002740e-02 -1.42470360e-04 9.99943805e-01 -7.74877754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.38, Z:-0.78 [[ 9.91596501e-01 1.28939755e-01 1.05317547e-02 6.15278732e+01] [-1.28934156e-01 9.91652416e-01 -1.21171316e-03 -3.37679228e+00] [-1.06000780e-02 -1.56372375e-04 9.99943805e-01 -7.76855486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.37, Z:-0.77 [[ 9.91170621e-01 1.32173676e-01 1.05318540e-02 6.15875219e+01] [-1.32168269e-01 9.91226555e-01 -1.21084926e-03 -3.37376946e+00] [-1.05994958e-02 -1.91818703e-04 9.99943805e-01 -7.72622015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769230999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:-3.37, Z:-0.77 [[ 9.90869301e-01 1.34413937e-01 1.05319106e-02 6.16453743e+01] [-1.34408661e-01 9.90925248e-01 -1.21035679e-03 -3.36695852e+00] [-1.05990250e-02 -2.16274619e-04 9.99943805e-01 -7.73859925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.70, Y:-3.36, Z:-0.78 [[ 9.91333514e-01 1.30946325e-01 1.05320087e-02 6.17035478e+01] [-1.30940863e-01 9.91389443e-01 -1.20950276e-03 -3.36240952e+00] [-1.05997022e-02 -1.80049688e-04 9.99943805e-01 -7.76367668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:61.76, Y:-3.36, Z:-0.77 [[ 9.92130016e-01 1.24768209e-01 1.05321027e-02 6.17628770e+01] [-1.24762407e-01 9.92185910e-01 -1.20868427e-03 -3.36380332e+00] [-1.06006092e-02 -1.14838539e-04 9.99943805e-01 -7.74907662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:-3.37, Z:-0.77 [[ 9.94375047e-01 1.05391365e-01 1.05321559e-02 6.18197639e+01] [-1.05384479e-01 9.94430818e-01 -1.20821971e-03 -3.36768324e+00] [-1.06008364e-02 9.14977666e-05 9.99943805e-01 -7.71715749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:-3.38, Z:-0.77 [[ 9.95157654e-01 9.77257119e-02 1.05322483e-02 6.18782347e+01] [-9.77184048e-02 9.95213372e-01 -1.20741419e-03 -3.37789060e+00] [-1.05998297e-02 1.72372970e-04 9.99943805e-01 -7.72857813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:61.93, Y:-3.39, Z:-0.77 [[ 9.95843286e-01 9.04722041e-02 1.05323042e-02 6.19347925e+01] [-9.04644964e-02 9.95898950e-01 -1.20692606e-03 -3.39429156e+00] [-1.05983040e-02 2.49109616e-04 9.99943805e-01 -7.74731709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:61.99, Y:-3.41, Z:-0.78 [[ 9.95687926e-01 9.21662833e-02 1.05323819e-02 6.19922360e+01] [-9.21586775e-02 9.95743603e-01 -1.20624805e-03 -3.41066799e+00] [-1.05987273e-02 2.30396231e-04 9.99943805e-01 -7.78772217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:-3.42, Z:-0.78 [[ 9.94739822e-01 1.01890890e-01 1.05324384e-02 6.20504118e+01] [-1.01883834e-01 9.94795572e-01 -1.20575406e-03 -3.42041361e+00] [-1.06004785e-02 1.26326370e-04 9.99943805e-01 -7.84601859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:-3.43, Z:-0.78 [[ 9.93532461e-01 1.13058902e-01 1.05324955e-02 6.21088920e+01] [-1.13052477e-01 9.93588287e-01 -1.20525533e-03 -3.42579761e+00] [-1.06012290e-02 6.73558270e-06 9.99943805e-01 -7.80270737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.405769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:-3.43, Z:-0.78 [[ 9.92735005e-01 1.19859400e-01 1.05325526e-02 6.21670295e+01] [-1.19853363e-01 9.92790874e-01 -1.20475583e-03 -3.43176477e+00] [-1.06010234e-02 -6.63585749e-05 9.99943805e-01 -7.80169950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:62.22, Y:-3.43, Z:-0.78 [[ 9.92056243e-01 1.25353397e-01 1.05326102e-02 6.22237814e+01] [-1.25347676e-01 9.92112146e-01 -1.20425240e-03 -3.43430885e+00] [-1.06004876e-02 -1.25552096e-04 9.99943805e-01 -7.81380547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:-3.44, Z:-0.78 [[ 9.91956491e-01 1.26140325e-01 1.05327101e-02 6.22814403e+01] [-1.26134657e-01 9.92012399e-01 -1.20337825e-03 -3.43939823e+00] [-1.06003735e-02 -1.34840901e-04 9.99943805e-01 -7.80608297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:-3.45, Z:-0.79 [[ 9.92217898e-01 1.24067329e-01 1.05327944e-02 6.23389545e+01] [-1.24061552e-01 9.92273795e-01 -1.20263967e-03 -3.44842931e+00] [-1.06006242e-02 -1.13434217e-04 9.99943805e-01 -7.87461079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:-3.46, Z:-0.78 [[ 9.92512600e-01 1.21687293e-01 1.05328637e-02 6.23969611e+01] [-1.21681388e-01 9.92568484e-01 -1.20203250e-03 -3.45913381e+00] [-1.06008606e-02 -8.86210660e-05 9.99943805e-01 -7.83971178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-3.47, Z:-0.79 [[ 9.92635452e-01 1.20681052e-01 1.05329210e-02 6.24539919e+01] [-1.20675096e-01 9.92691330e-01 -1.20153012e-03 -3.47162747e+00] [-1.06009413e-02 -7.83798586e-05 9.99943805e-01 -7.86833192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.765769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:-3.48, Z:-0.79 [[ 9.92483002e-01 1.21928446e-01 1.05330114e-02 6.25098325e+01] [-1.21922568e-01 9.92538889e-01 -1.20073699e-03 -3.48201917e+00] [-1.06008274e-02 -9.25007445e-05 9.99943805e-01 -7.87393854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-3.49, Z:-0.78 [[ 9.92004400e-01 1.25762968e-01 1.05331298e-02 6.25672710e+01] [-1.25757317e-01 9.92060310e-01 -1.19969722e-03 -3.48897857e+00] [-1.06003775e-02 -1.34513230e-04 9.99943805e-01 -7.81014060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:-3.49, Z:-0.78 [[ 9.91696228e-01 1.28170363e-01 1.05332255e-02 6.26246335e+01] [-1.28164857e-01 9.91752153e-01 -1.19885644e-03 -3.49493684e+00] [-1.06000070e-02 -1.61087937e-04 9.99943805e-01 -7.84497445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:-3.50, Z:-0.79 [[ 9.91673996e-01 1.28342255e-01 1.05333066e-02 6.26833187e+01] [-1.28336767e-01 9.91729922e-01 -1.19814391e-03 -3.49828907e+00] [-1.05999678e-02 -1.63642352e-04 9.99943805e-01 -7.86946629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:-3.50, Z:-0.79 [[ 9.91433869e-01 1.30184218e-01 1.05333615e-02 6.27407596e+01] [-1.30178839e-01 9.91489806e-01 -1.19766102e-03 -3.49688518e+00] [-1.05996371e-02 -1.83819069e-04 9.99943805e-01 -7.87521040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:-3.49, Z:-0.79 [[ 9.90685853e-01 1.35759301e-01 1.05334565e-02 6.28006159e+01] [-1.35754245e-01 9.90741819e-01 -1.19682514e-03 -3.48835000e+00] [-1.05984160e-02 -2.44283703e-04 9.99943805e-01 -7.91447279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12576923099999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:-3.48, Z:-0.79 [[ 9.90224366e-01 1.39085406e-01 1.05335089e-02 6.28603647e+01] [-1.39080543e-01 9.90280350e-01 -1.19636327e-03 -3.47786335e+00] [-1.05975236e-02 -2.80338078e-04 9.99943805e-01 -7.90166719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:-3.47, Z:-0.79 [[ 9.90544093e-01 1.36789780e-01 1.05335948e-02 6.29190393e+01] [-1.36784795e-01 9.90600066e-01 -1.19560644e-03 -3.47445955e+00] [-1.05981265e-02 -2.56534715e-04 9.99943805e-01 -7.94185842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:-3.47, Z:-0.79 [[ 9.91892937e-01 1.26639030e-01 1.05336657e-02 6.29790990e+01] [-1.26633479e-01 9.91948857e-01 -1.19498201e-03 -3.47132327e+00] [-1.06001890e-02 -1.48620514e-04 9.99943805e-01 -7.88548516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:-3.47, Z:-0.79 [[ 9.93205329e-01 1.15897430e-01 1.05337215e-02 6.30379762e+01] [-1.15891279e-01 9.93261186e-01 -1.19448973e-03 -3.47273455e+00] [-1.06011750e-02 -3.43928960e-05 9.99943805e-01 -7.85860002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:63.10, Y:-3.48, Z:-0.79 [[ 9.94106368e-01 1.07896101e-01 1.05337764e-02 6.30955212e+01] [-1.07889506e-01 9.94162174e-01 -1.19400565e-03 -3.48023246e+00] [-1.06011106e-02 5.04846962e-05 9.99943805e-01 -7.88692593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42576923099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:63.15, Y:-3.49, Z:-0.79 [[ 9.94406932e-01 1.05089920e-01 1.05338576e-02 6.31518971e+01] [-1.05083175e-01 9.94462720e-01 -1.19328856e-03 -3.48833453e+00] [-1.06009313e-02 7.96832155e-05 9.99943805e-01 -7.89238537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48576923099999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:63.21, Y:-3.50, Z:-0.78 [[ 9.94531907e-01 1.03900536e-01 1.05339512e-02 6.32097438e+01] [-1.03893733e-01 9.94587689e-01 -1.19246151e-03 -3.50302352e+00] [-1.06008356e-02 9.15295044e-05 9.99943805e-01 -7.84223984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.27, Y:-3.51, Z:-0.78 [[ 9.94769011e-01 1.01605366e-01 1.05340032e-02 6.32663970e+01] [-1.01598439e-01 9.94824777e-01 -1.19200205e-03 -3.51438561e+00] [-1.06006012e-02 1.15528414e-04 9.99943805e-01 -7.82937620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:63.32, Y:-3.53, Z:-0.79 [[ 9.94944534e-01 9.98719523e-02 1.05340826e-02 6.33234372e+01] [-9.98649360e-02 9.95000289e-01 -1.19129956e-03 -3.52565718e+00] [-1.06003927e-02 1.33291499e-04 9.99943805e-01 -7.87601863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:63.38, Y:-3.54, Z:-0.79 [[ 9.94783750e-01 1.01460938e-01 1.05341614e-02 6.33812891e+01] [-1.01454018e-01 9.94839517e-01 -1.19060321e-03 -3.53851021e+00] [-1.06005997e-02 1.15659727e-04 9.99943805e-01 -7.94062912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:-3.55, Z:-0.80 [[ 9.94265767e-01 1.06417169e-01 1.05342134e-02 6.34377577e+01] [-1.06410532e-01 9.94321569e-01 -1.19014232e-03 -3.55128088e+00] [-1.06010472e-02 6.23665108e-05 9.99943805e-01 -7.96269339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-3.56, Z:-0.80 [[ 9.93531500e-01 1.13067177e-01 1.05342779e-02 6.34943908e+01] [-1.13060920e-01 9.93587346e-01 -1.18957114e-03 -3.56276084e+00] [-1.06012267e-02 -9.13874686e-06 9.99943805e-01 -7.97888535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84576923099999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-3.57, Z:-0.80 [[ 9.92918449e-01 1.18329964e-01 1.05343550e-02 6.35523600e+01] [-1.18324010e-01 9.92974328e-01 -1.18888778e-03 -3.57264044e+00] [-1.06010252e-02 -6.59985187e-05 9.99943805e-01 -7.95502370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.905769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-3.58, Z:-0.80 [[ 9.92591626e-01 1.21040864e-01 1.05344061e-02 6.36092369e+01] [-1.21035067e-01 9.92647521e-01 -1.18843521e-03 -3.58325408e+00] [-1.06008013e-02 -9.54017164e-05 9.99943805e-01 -7.96891391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:-3.59, Z:-0.79 [[ 9.92505678e-01 1.21743597e-01 1.05344876e-02 6.36663335e+01] [-1.21737848e-01 9.92561578e-01 -1.18771205e-03 -3.59245318e+00] [-1.06007240e-02 -1.03634896e-04 9.99943805e-01 -7.94827491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-3.60, Z:-0.80 [[ 9.92410606e-01 1.22516167e-01 1.05345820e-02 6.37235214e+01] [-1.22510470e-01 9.92466511e-01 -1.18687449e-03 -3.59962296e+00] [-1.06006312e-02 -1.12729760e-04 9.99943805e-01 -7.95275632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.61, Z:-0.80 [[ 9.92475212e-01 1.21991697e-01 1.05346562e-02 6.37804215e+01] [-1.21985977e-01 9.92531115e-01 -1.18621560e-03 -3.60805904e+00] [-1.06006825e-02 -1.07790755e-04 9.99943805e-01 -7.95968859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:-3.62, Z:-0.79 [[ 9.93142069e-01 1.16438183e-01 1.05347304e-02 6.38384837e+01] [-1.16432158e-01 9.93197940e-01 -1.18555654e-03 -3.61957023e+00] [-1.06011165e-02 -4.91553074e-05 9.99943805e-01 -7.94308047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-3.63, Z:-0.79 [[ 9.93543905e-01 1.12958079e-01 1.05347828e-02 6.38947775e+01] [-1.12951863e-01 9.93599754e-01 -1.18509006e-03 -3.62900892e+00] [-1.06012231e-02 -1.24843492e-05 9.99943805e-01 -7.94981996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.265769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-3.64, Z:-0.80 [[ 9.93977951e-01 1.09072679e-01 1.05348733e-02 6.39525861e+01] [-1.09066253e-01 9.94033777e-01 -1.18428521e-03 -3.64092490e+00] [-1.06011931e-02 2.81542256e-05 9.99943805e-01 -7.98835141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:-3.66, Z:-0.80 [[ 9.94402050e-01 1.05135997e-01 1.05349241e-02 6.40096559e+01] [-1.05129355e-01 9.94457851e-01 -1.18383324e-03 -3.65651195e+00] [-1.06010015e-02 6.96764268e-05 9.99943805e-01 -7.99409555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.67, Z:-0.80 [[ 9.94607835e-01 1.03171064e-01 1.05349813e-02 6.40670799e+01] [-1.03164317e-01 9.94663623e-01 -1.18332445e-03 -3.66958405e+00] [-1.06008475e-02 9.01096200e-05 9.99943805e-01 -7.98685489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.12, Y:-3.69, Z:-0.80 [[ 9.94607877e-01 1.03170651e-01 1.05350394e-02 6.41223861e+01] [-1.03163909e-01 9.94663666e-01 -1.18280657e-03 -3.69093263e+00] [-1.06008518e-02 8.95928845e-05 9.99943805e-01 -8.00770540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.70, Z:-0.80 [[ 9.94312376e-01 1.05980712e-01 1.05351113e-02 6.41806077e+01] [-1.05974135e-01 9.94368184e-01 -1.18216576e-03 -3.70370711e+00] [-1.06010663e-02 5.89927407e-05 9.99943805e-01 -7.99085708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.72, Z:-0.80 [[ 9.94004248e-01 1.08832738e-01 1.05351668e-02 6.42367823e+01] [-1.08826326e-01 9.94060076e-01 -1.18167120e-03 -3.71917209e+00] [-1.06011932e-02 2.80827005e-05 9.99943805e-01 -7.99921672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:-3.74, Z:-0.80 [[ 9.93814948e-01 1.10547987e-01 1.05352355e-02 6.42938892e+01] [-1.10541678e-01 9.93870788e-01 -1.18105834e-03 -3.73576136e+00] [-1.06012264e-02 9.17081643e-06 9.99943805e-01 -8.02761085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:-3.75, Z:-0.80 [[ 9.93295523e-01 1.15121728e-01 1.05352899e-02 6.43502070e+01] [-1.15115681e-01 9.93351391e-01 -1.18057265e-03 -3.74944031e+00] [-1.06011544e-02 -4.01195514e-05 9.99943805e-01 -8.01767068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.76, Z:-0.80 [[ 9.92355861e-01 1.22958736e-01 1.05353575e-02 6.44084900e+01] [-1.22953137e-01 9.92411776e-01 -1.17996943e-03 -3.75834237e+00] [-1.06005004e-02 -1.24405672e-04 9.99943805e-01 -8.01277204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.77, Z:-0.81 [[ 9.91840528e-01 1.27048697e-01 1.05354109e-02 6.44663380e+01] [-1.27043333e-01 9.91896467e-01 -1.17949242e-03 -3.76688689e+00] [-1.05998898e-02 -1.68585327e-04 9.99943805e-01 -8.06345552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-3.77, Z:-0.81 [[ 9.91273547e-01 1.31399239e-01 1.05354665e-02 6.45246033e+01] [-1.31394126e-01 9.91329508e-01 -1.17899562e-03 -3.77251452e+00] [-1.05990379e-02 -2.15591236e-04 9.99943805e-01 -8.07835415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-3.77, Z:-0.81 [[ 9.90932661e-01 1.33945747e-01 1.05355221e-02 6.45837147e+01] [-1.33940784e-01 9.90988636e-01 -1.17849841e-03 -3.77076286e+00] [-1.05984375e-02 -2.43323521e-04 9.99943805e-01 -8.06597238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-3.77, Z:-0.80 [[ 9.90916920e-01 1.34062146e-01 1.05355770e-02 6.46422125e+01] [-1.34057195e-01 9.90972896e-01 -1.17800725e-03 -3.77129774e+00] [-1.05983974e-02 -2.45062579e-04 9.99943805e-01 -8.04120050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:-3.77, Z:-0.81 [[ 9.91313805e-01 1.31095154e-01 1.05356447e-02 6.47015846e+01] [-1.31090041e-01 9.91369767e-01 -1.17740185e-03 -3.77100131e+00] [-1.05990713e-02 -2.13943377e-04 9.99943805e-01 -8.07941567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-3.77, Z:-0.81 [[ 9.91996579e-01 1.25824430e-01 1.05356977e-02 6.47608382e+01] [-1.25819025e-01 9.92052513e-01 -1.17692677e-03 -3.77233904e+00] [-1.06000515e-02 -1.58083889e-04 9.99943805e-01 -8.08062655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-3.78, Z:-0.80 [[ 9.93132391e-01 1.16520608e-01 1.05357506e-02 6.48191690e+01] [-1.16514684e-01 9.93188272e-01 -1.17645299e-03 -3.77734276e+00] [-1.06010650e-02 -5.91960750e-05 9.99943805e-01 -8.02719283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-3.79, Z:-0.80 [[ 9.94135948e-01 1.07623020e-01 1.05358032e-02 6.48776176e+01] [-1.07616601e-01 9.94191774e-01 -1.17598208e-03 -3.78750598e+00] [-1.06011716e-02 3.52587327e-05 9.99943805e-01 -8.00787435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.80, Z:-0.80 [[ 9.95545252e-01 9.36944364e-02 1.05358590e-02 6.49360976e+01] [-9.36872414e-02 9.95600984e-01 -1.17548201e-03 -3.80247157e+00] [-1.05996477e-02 1.83169966e-04 9.99943805e-01 -8.03775978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.99, Y:-3.82, Z:-0.80 [[ 9.96396494e-01 8.41606971e-02 1.05358458e-02 6.49948852e+01] [-8.41529677e-02 9.96452154e-01 -1.17559985e-03 -3.82134661e+00] [-1.05974056e-02 2.84740877e-04 9.99943805e-01 -8.02682814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.405769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:-3.84, Z:-0.81 [[ 9.96524594e-01 8.26300761e-02 1.05358458e-02 6.50546453e+01] [-8.26222612e-02 9.96580243e-01 -1.17559985e-03 -3.83830331e+00] [-1.05969557e-02 3.01018760e-04 9.99943805e-01 -8.07099979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:-3.85, Z:-0.81 [[ 9.96384004e-01 8.43084440e-02 1.05358209e-02 6.51130326e+01] [-8.43007205e-02 9.96439665e-01 -1.17582307e-03 -3.85465130e+00] [-1.05974417e-02 2.83394006e-04 9.99943805e-01 -8.12519951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:-3.86, Z:-0.81 [[ 9.96344068e-01 8.47791007e-02 1.05357597e-02 6.51736167e+01] [-8.47713978e-02 9.96399732e-01 -1.17637120e-03 -3.86441984e+00] [-1.05975599e-02 2.78939391e-04 9.99943805e-01 -8.09417737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:-3.88, Z:-0.81 [[ 9.96061245e-01 8.80397365e-02 1.05357326e-02 6.52347537e+01] [-8.80322132e-02 9.96116933e-01 -1.17661427e-03 -3.88115891e+00] [-1.05984104e-02 2.44496022e-04 9.99943805e-01 -8.08936768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:-3.90, Z:-0.82 [[ 9.95675707e-01 9.22978246e-02 1.05355345e-02 6.52941291e+01] [-9.22905208e-02 9.95731425e-01 -1.17838485e-03 -3.89836580e+00] [-1.05993252e-02 2.00959198e-04 9.99943805e-01 -8.16314291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:-3.92, Z:-0.82 [[ 9.94938252e-01 9.99343828e-02 1.05353523e-02 6.53538006e+01] [-9.99274895e-02 9.94994022e-01 -1.18001212e-03 -3.91518348e+00] [-1.06005363e-02 1.21267890e-04 9.99943805e-01 -8.15159188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:-3.93, Z:-0.82 [[ 9.94250935e-01 1.06555548e-01 1.05353277e-02 6.54149588e+01] [-1.06549024e-01 9.94306750e-01 -1.18023113e-03 -3.92774225e+00] [-1.06011077e-02 5.09170148e-05 9.99943805e-01 -8.15475854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:-3.94, Z:-0.81 [[ 9.93023330e-01 1.17446488e-01 1.05351322e-02 6.54750539e+01] [-1.17440557e-01 9.93079211e-01 -1.18197367e-03 -3.94059724e+00] [-1.06010395e-02 -6.35243646e-05 9.99943805e-01 -8.09455576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.53, Y:-3.95, Z:-0.81 [[ 9.92011776e-01 1.25704604e-01 1.05351041e-02 6.55349062e+01] [-1.25699136e-01 9.92067704e-01 -1.18222469e-03 -3.94615667e+00] [-1.06001476e-02 -1.51472656e-04 9.99943805e-01 -8.07210456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:-3.95, Z:-0.81 [[ 9.91649208e-01 1.28533502e-01 1.05350365e-02 6.55954776e+01] [-1.28528187e-01 9.91705151e-01 -1.18282656e-03 -3.94735376e+00] [-1.05996828e-02 -1.81100115e-04 9.99943805e-01 -8.11143171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:-3.95, Z:-0.81 [[ 9.92055556e-01 1.25358634e-01 1.05350365e-02 6.56568526e+01] [-1.25353140e-01 9.92111481e-01 -1.18282656e-03 -3.94745076e+00] [-1.06002082e-02 -1.47170246e-04 9.99943805e-01 -8.11023791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.72, Y:-3.95, Z:-0.81 [[ 9.92442228e-01 1.22259713e-01 1.05350225e-02 6.57173063e+01] [-1.22254043e-01 9.92498136e-01 -1.18295123e-03 -3.94626908e+00] [-1.06006175e-02 -1.13938332e-04 9.99943805e-01 -8.13149259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.78, Y:-3.95, Z:-0.81 [[ 9.92949256e-01 1.18071116e-01 1.05350363e-02 6.57780215e+01] [-1.18065211e-01 9.93005139e-01 -1.18282797e-03 -3.94954769e+00] [-1.06010030e-02 -6.93331425e-05 9.99943805e-01 -8.13123743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:-3.96, Z:-0.82 [[ 9.94024323e-01 1.08649249e-01 1.05350363e-02 6.58398956e+01] [-1.08642815e-01 9.94080148e-01 -1.18282797e-03 -3.95804192e+00] [-1.06011838e-02 3.12037689e-05 9.99943805e-01 -8.17802976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:-3.97, Z:-0.82 [[ 9.94946908e-01 9.98482186e-02 1.05348402e-02 6.59015069e+01] [-9.98412721e-02 9.95002672e-01 -1.18457230e-03 -3.96779492e+00] [-1.06004716e-02 1.26774699e-04 9.99943805e-01 -8.18169027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:-3.98, Z:-0.82 [[ 9.95035230e-01 9.89641970e-02 1.05346421e-02 6.59629884e+01] [-9.89571823e-02 9.95090985e-01 -1.18633143e-03 -3.97715320e+00] [-1.06003317e-02 1.37963069e-04 9.99943805e-01 -8.15647397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:-3.98, Z:-0.82 [[ 9.95010035e-01 9.92172133e-02 1.05344322e-02 6.60246556e+01] [-9.92101931e-02 9.95065790e-01 -1.18819234e-03 -3.98416798e+00] [-1.06003422e-02 1.37140246e-04 9.99943805e-01 -8.18819100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:-3.99, Z:-0.82 [[ 9.95182717e-01 9.74699430e-02 1.05342380e-02 6.60860514e+01] [-9.74628067e-02 9.95238457e-01 -1.18991146e-03 -3.99320635e+00] [-1.06000594e-02 1.57482916e-04 9.99943805e-01 -8.18534687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:-4.00, Z:-0.82 [[ 9.95477376e-01 9.44130672e-02 1.05340454e-02 6.61485381e+01] [-9.44057418e-02 9.95533091e-01 -1.19161437e-03 -3.99765730e+00] [-1.05994947e-02 1.91750781e-04 9.99943805e-01 -8.19714750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:-4.00, Z:-0.82 [[ 9.95571940e-01 9.34106522e-02 1.05338544e-02 6.62105770e+01] [-9.34032529e-02 9.95627645e-01 -1.19330065e-03 -4.00388659e+00] [-1.05992636e-02 2.04120376e-04 9.99943805e-01 -8.18197816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:-4.01, Z:-0.82 [[ 9.95903404e-01 8.98078578e-02 1.05336565e-02 6.62728783e+01] [-8.98002385e-02 9.95959080e-01 -1.19504504e-03 -4.01415336e+00] [-1.05984152e-02 2.44224565e-04 9.99943805e-01 -8.16280847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:-4.03, Z:-0.82 [[ 9.96257413e-01 8.57916929e-02 1.05334317e-02 6.63335670e+01] [-8.57838283e-02 9.96313054e-01 -1.19702313e-03 -4.02977015e+00] [-1.05972901e-02 2.88945069e-04 9.99943805e-01 -8.21193498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:-4.04, Z:-0.82 [[ 9.96331305e-01 8.49292759e-02 1.05332232e-02 6.63952220e+01] [-8.49213437e-02 9.96386937e-01 -1.19885474e-03 -4.04482177e+00] [-1.05969839e-02 2.99961035e-04 9.99943805e-01 -8.18978721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:-4.06, Z:-0.82 [[ 9.96136524e-01 8.71841797e-02 1.05330136e-02 6.64565855e+01] [-8.71763541e-02 9.96192171e-01 -1.20069363e-03 -4.06137585e+00] [-1.05975872e-02 2.77825060e-04 9.99943805e-01 -8.22947230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.52, Y:-4.07, Z:-0.83 [[ 9.95836810e-01 9.05434004e-02 1.05327864e-02 6.65172055e+01] [-9.05357415e-02 9.95892481e-01 -1.20268343e-03 -4.07444345e+00] [-1.05984178e-02 2.44082804e-04 9.99943805e-01 -8.29394745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.905769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.58, Y:-4.09, Z:-0.83 [[ 9.95314546e-01 9.61146191e-02 1.05325885e-02 6.65784209e+01] [-9.61072535e-02 9.95370255e-01 -1.20441383e-03 -4.08911226e+00] [-1.05995871e-02 1.86512455e-04 9.99943805e-01 -8.30148355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.64, Y:-4.10, Z:-0.83 [[ 9.94817843e-01 1.01126295e-01 1.05323774e-02 6.66380504e+01] [-1.01119191e-01 9.94873587e-01 -1.20625701e-03 -4.10360402e+00] [-1.06003684e-02 1.34980515e-04 9.99943805e-01 -8.27824530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.70, Y:-4.11, Z:-0.82 [[ 9.94225415e-01 1.06793710e-01 1.05321999e-02 6.66995887e+01] [-1.06786907e-01 9.94281196e-01 -1.20780510e-03 -4.11493589e+00] [-1.06009543e-02 7.61294807e-05 9.99943805e-01 -8.23683235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.76, Y:-4.12, Z:-0.83 [[ 9.93264661e-01 1.15387996e-01 1.05319964e-02 6.67613290e+01] [-1.15381657e-01 9.93320497e-01 -1.20957714e-03 -4.12206991e+00] [-1.06012185e-02 -1.37689656e-05 9.99943805e-01 -8.26160786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:-4.13, Z:-0.83 [[ 9.92541716e-01 1.21449671e-01 1.05317949e-02 6.68243333e+01] [-1.21443654e-01 9.92597588e-01 -1.21132910e-03 -4.12679375e+00] [-1.06009497e-02 -7.67249925e-05 9.99943805e-01 -8.27663716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:-4.13, Z:-0.83 [[ 9.92211192e-01 1.24121056e-01 1.05315766e-02 6.68874223e+01] [-1.24115170e-01 9.92267077e-01 -1.21322359e-03 -4.13059584e+00] [-1.06007233e-02 -1.03354389e-04 9.99943805e-01 -8.25730178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.95, Y:-4.13, Z:-0.83 [[ 9.91762276e-01 1.27658442e-01 1.05313486e-02 6.69505326e+01] [-1.27652734e-01 9.91818180e-01 -1.21519999e-03 -4.13017575e+00] [-1.06003135e-02 -1.39165928e-04 9.99943805e-01 -8.26005953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.01, Y:-4.13, Z:-0.83 [[ 9.91382909e-01 1.30571903e-01 1.05311496e-02 6.70132995e+01] [-1.30566341e-01 9.91438828e-01 -1.21692142e-03 -4.12545829e+00] [-1.05998864e-02 -1.68578585e-04 9.99943805e-01 -8.26788115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.12, Z:-0.83 [[ 9.91160004e-01 1.32253327e-01 1.05311214e-02 6.70756509e+01] [-1.32247858e-01 9.91215931e-01 -1.21716539e-03 -4.11946134e+00] [-1.05995895e-02 -1.86312596e-04 9.99943805e-01 -8.27560352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:-4.12, Z:-0.83 [[ 9.91212396e-01 1.31860084e-01 1.05310922e-02 6.71353341e+01] [-1.31854589e-01 9.91268321e-01 -1.21741824e-03 -4.12187361e+00] [-1.05996670e-02 -1.81852782e-04 9.99943805e-01 -8.28267018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:-4.12, Z:-0.83 [[ 9.91736475e-01 1.27858752e-01 1.05311067e-02 6.71966506e+01] [-1.27853033e-01 9.91792377e-01 -1.21729297e-03 -4.11739285e+00] [-1.06003129e-02 -1.39200095e-04 9.99943805e-01 -8.26574106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.26, Y:-4.12, Z:-0.83 [[ 9.93144726e-01 1.16415843e-01 1.05311067e-02 6.72572762e+01] [-1.16409480e-01 9.93200559e-01 -1.21729297e-03 -4.11846330e+00] [-1.06012132e-02 -1.69725579e-05 9.99943805e-01 -8.29759121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.32, Y:-4.12, Z:-0.83 [[ 9.94650233e-01 1.02761910e-01 1.05310924e-02 6.73195710e+01] [-1.02754779e-01 9.94705973e-01 -1.21741681e-03 -4.12286512e+00] [-1.06004446e-02 1.28783841e-04 9.99943805e-01 -8.31933372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:67.38, Y:-4.13, Z:-0.83 [[ 9.95667383e-01 9.23881047e-02 1.05308927e-02 6.73812011e+01] [-9.23803749e-02 9.95723044e-01 -1.21914127e-03 -4.13135375e+00] [-1.05984867e-02 2.41011383e-04 9.99943805e-01 -8.28782458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:-4.14, Z:-0.83 [[ 9.96108818e-01 8.75004442e-02 1.05306864e-02 6.74427662e+01] [-8.74924225e-02 9.96164437e-01 -1.22092138e-03 -4.14270374e+00] [-1.05971264e-02 2.94815291e-04 9.99943805e-01 -8.29367154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:-4.16, Z:-0.83 [[ 9.96427270e-01 8.37962145e-02 1.05304673e-02 6.75042523e+01] [-8.37879661e-02 9.96482856e-01 -1.22280763e-03 -4.15786185e+00] [-1.05958968e-02 3.36112433e-04 9.99943805e-01 -8.30874106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.56, Y:-4.17, Z:-0.84 [[ 9.95806845e-01 9.08726623e-02 1.05302386e-02 6.75647209e+01] [-9.08647883e-02 9.95862486e-01 -1.22477421e-03 -4.17174743e+00] [-1.05979681e-02 2.62810646e-04 9.99943805e-01 -8.36224718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.62, Y:-4.18, Z:-0.84 [[ 9.94452302e-01 1.04660103e-01 1.05300396e-02 6.76243415e+01] [-1.04652982e-01 9.94508044e-01 -1.22648276e-03 -4.17946112e+00] [-1.06005729e-02 1.17678554e-04 9.99943805e-01 -8.35410286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.68, Y:-4.18, Z:-0.83 [[ 9.92918844e-01 1.18327044e-01 1.05299737e-02 6.76842651e+01] [-1.18320684e-01 9.92974677e-01 -1.22704794e-03 -4.18443036e+00] [-1.06011902e-02 -2.75546790e-05 9.99943805e-01 -8.33083912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:-4.19, Z:-0.84 [[ 9.92181741e-01 1.24356390e-01 1.05299737e-02 6.77441686e+01] [-1.24350370e-01 9.92237613e-01 -1.22704794e-03 -4.18748335e+00] [-1.06008272e-02 -9.19515737e-05 9.99943805e-01 -8.36532508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:-4.19, Z:-0.83 [[ 9.91685311e-01 1.28255068e-01 1.05300019e-02 6.78036152e+01] [-1.28249270e-01 9.91741206e-01 -1.22680635e-03 -4.18833616e+00] [-1.06003809e-02 -1.33859216e-04 9.99943805e-01 -8.32296517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.86, Y:-4.19, Z:-0.84 [[ 9.92028829e-01 1.25570383e-01 1.05300157e-02 6.78636963e+01] [-1.25564435e-01 9.92084708e-01 -1.22668726e-03 -4.19440804e+00] [-1.06007032e-02 -1.05286352e-04 9.99943805e-01 -8.36155312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:-4.21, Z:-0.84 [[ 9.92957113e-01 1.18005464e-01 1.05300157e-02 6.79238387e+01] [-1.17999091e-01 9.93012945e-01 -1.22668726e-03 -4.20747695e+00] [-1.06011977e-02 -2.44844405e-05 9.99943805e-01 -8.38687341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:-4.22, Z:-0.84 [[ 9.93423698e-01 1.14010856e-01 1.05299869e-02 6.79839597e+01] [-1.14004255e-01 9.93479504e-01 -1.22693500e-03 -4.22227963e+00] [-1.06012100e-02 1.84029946e-05 9.99943805e-01 -8.36768203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:-4.24, Z:-0.84 [[ 9.93054855e-01 1.17180107e-01 1.05298004e-02 6.80452267e+01] [-1.17173668e-01 9.93110680e-01 -1.22853308e-03 -4.23638355e+00] [-1.06012169e-02 -1.38146008e-05 9.99943805e-01 -8.36577503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.405769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-4.25, Z:-0.84 [[ 9.91959978e-01 1.26113159e-01 1.05295934e-02 6.81048255e+01] [-1.26107204e-01 9.92015856e-01 -1.23030482e-03 -4.24759220e+00] [-1.06006813e-02 -1.07444434e-04 9.99943805e-01 -8.37574289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:-4.25, Z:-0.84 [[ 9.91229637e-01 1.31730539e-01 1.05295787e-02 6.81657995e+01] [-1.31724899e-01 9.91285548e-01 -1.23043060e-03 -4.25406439e+00] [-1.05999045e-02 -1.67368415e-04 9.99943805e-01 -8.41208478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:-4.26, Z:-0.84 [[ 9.90656580e-01 1.35973043e-01 1.05295498e-02 6.82251436e+01] [-1.35967640e-01 9.90712514e-01 -1.23067804e-03 -4.25830213e+00] [-1.05990958e-02 -2.12498735e-04 9.99943805e-01 -8.39701029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:-4.26, Z:-0.84 [[ 9.90672073e-01 1.35860123e-01 1.05295379e-02 6.82851678e+01] [-1.35854712e-01 9.90728006e-01 -1.23077985e-03 -4.26249320e+00] [-1.05991220e-02 -2.11188118e-04 9.99943805e-01 -8.36863523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:-4.27, Z:-0.84 [[ 9.90796397e-01 1.34950466e-01 1.05295379e-02 6.83458859e+01] [-1.34945003e-01 9.90852326e-01 -1.23077985e-03 -4.26797564e+00] [-1.05993114e-02 -2.01456285e-04 9.99943805e-01 -8.38895283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:68.41, Y:-4.27, Z:-0.84 [[ 9.90787597e-01 1.35015061e-01 1.05295379e-02 6.84056309e+01] [-1.35009603e-01 9.90843526e-01 -1.23077985e-03 -4.27256034e+00] [-1.05992983e-02 -2.02147320e-04 9.99943805e-01 -8.40027505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.765769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:68.47, Y:-4.28, Z:-0.84 [[ 9.90713829e-01 1.35555293e-01 1.05295527e-02 6.84658839e+01] [-1.35549866e-01 9.90769761e-01 -1.23065353e-03 -4.27644054e+00] [-1.05991840e-02 -2.08053981e-04 9.99943805e-01 -8.37689240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.53, Y:-4.28, Z:-0.84 [[ 9.91002768e-01 1.33426542e-01 1.05295527e-02 6.85250395e+01] [-1.33420995e-01 9.91058688e-01 -1.23065353e-03 -4.28157090e+00] [-1.05996065e-02 -1.85282341e-04 9.99943805e-01 -8.43604722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:-4.29, Z:-0.84 [[ 9.91509674e-01 1.29605922e-01 1.05295670e-02 6.85848331e+01] [-1.29600161e-01 9.91565572e-01 -1.23053048e-03 -4.28869809e+00] [-1.06002402e-02 -1.44550709e-04 9.99943805e-01 -8.44163454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:-4.30, Z:-0.84 [[ 9.92264456e-01 1.23694697e-01 1.05295670e-02 6.86442565e+01] [-1.23688603e-01 9.92320319e-01 -1.23053048e-03 -4.29657316e+00] [-1.06009134e-02 -8.13757864e-05 9.99943805e-01 -8.42056563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.71, Y:-4.31, Z:-0.85 [[ 9.92731775e-01 1.19886409e-01 1.05295526e-02 6.87053772e+01] [-1.19880099e-01 9.92787614e-01 -1.23065429e-03 -4.30506073e+00] [-1.06011481e-02 -4.05741889e-05 9.99943805e-01 -8.45121546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-4.32, Z:-0.84 [[ 9.93275795e-01 1.15292346e-01 1.05295235e-02 6.87665062e+01] [-1.15285775e-01 9.93331604e-01 -1.23090253e-03 -4.31602819e+00] [-1.06012222e-02 8.72140763e-06 9.99943805e-01 -8.44867860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-4.33, Z:-0.84 [[ 9.93779708e-01 1.10864895e-01 1.05293185e-02 6.88275014e+01] [-1.10858057e-01 9.93835485e-01 -1.23265413e-03 -4.32804999e+00] [-1.06010684e-02 5.77268659e-05 9.99943805e-01 -8.44647775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:-4.34, Z:-0.85 [[ 9.93680345e-01 1.11752002e-01 1.05291130e-02 6.88889315e+01] [-1.11745195e-01 9.93736126e-01 -1.23440701e-03 -4.33582711e+00] [-1.06011074e-02 5.00282014e-05 9.99943805e-01 -8.45383863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:-4.34, Z:-0.84 [[ 9.93380833e-01 1.14383836e-01 1.05289093e-02 6.89500084e+01] [-1.14377159e-01 9.93436630e-01 -1.23614226e-03 -4.34143498e+00] [-1.06011988e-02 2.36933071e-05 9.99943805e-01 -8.41830076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:-4.35, Z:-0.84 [[ 9.93309289e-01 1.15003473e-01 1.05288802e-02 6.90098118e+01] [-1.14996827e-01 9.93365089e-01 -1.23638969e-03 -4.34681516e+00] [-1.06012111e-02 1.73295437e-05 9.99943805e-01 -8.41376587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:-4.35, Z:-0.84 [[ 9.93243005e-01 1.15574549e-01 1.05288658e-02 6.90709166e+01] [-1.15567935e-01 9.93298809e-01 -1.23651221e-03 -4.35333964e+00] [-1.06012192e-02 1.13578274e-05 9.99943805e-01 -8.42973935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:-4.36, Z:-0.85 [[ 9.93243656e-01 1.15568958e-01 1.05288368e-02 6.91322585e+01] [-1.15562341e-01 9.93299459e-01 -1.23675928e-03 -4.36029381e+00] [-1.06012189e-02 1.16662822e-05 9.99943805e-01 -8.48570304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:-4.37, Z:-0.85 [[ 9.93258206e-01 1.15443860e-01 1.05286350e-02 6.91944358e+01] [-1.15437217e-01 9.93314006e-01 -1.23847443e-03 -4.36745038e+00] [-1.06012149e-02 1.47285625e-05 9.99943805e-01 -8.47907760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:-4.37, Z:-0.85 [[ 9.93069503e-01 1.17056027e-01 1.05284348e-02 6.92556635e+01] [-1.17049458e-01 9.93125313e-01 -1.24017444e-03 -4.37482622e+00] [-1.06012250e-02 -7.68164677e-07 9.99943805e-01 -8.47619553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:-4.38, Z:-0.85 [[ 9.92601915e-01 1.20956983e-01 1.05284064e-02 6.93161032e+01] [-1.20950630e-01 9.92657749e-01 -1.24041524e-03 -4.37815295e+00] [-1.06011411e-02 -4.21788495e-05 9.99943805e-01 -8.52868364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:-4.38, Z:-0.85 [[ 9.92490130e-01 1.21870809e-01 1.05284064e-02 6.93768529e+01] [-1.21864507e-01 9.92545970e-01 -1.24041524e-03 -4.38091709e+00] [-1.06010978e-02 -5.19391774e-05 9.99943805e-01 -8.46444043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-4.38, Z:-0.85 [[ 9.92754185e-01 1.19700795e-01 1.05284064e-02 6.94368375e+01] [-1.19694371e-01 9.92810011e-01 -1.24041524e-03 -4.38452590e+00] [-1.06011860e-02 -2.87635653e-05 9.99943805e-01 -8.49996705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:-4.39, Z:-0.85 [[ 9.93047501e-01 1.17242545e-01 1.05284064e-02 6.94970636e+01] [-1.17235983e-01 9.93103311e-01 -1.24041524e-03 -4.38994399e+00] [-1.06012247e-02 -2.51682790e-06 9.99943805e-01 -8.51991903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:-4.39, Z:-0.85 [[ 9.93385908e-01 1.14339800e-01 1.05283927e-02 6.95573583e+01] [-1.14333073e-01 9.93441699e-01 -1.24053178e-03 -4.39435807e+00] [-1.06011865e-02 2.85832953e-05 9.99943805e-01 -8.52670548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:-4.40, Z:-0.85 [[ 9.93488923e-01 1.13441231e-01 1.05283927e-02 6.96169008e+01] [-1.13434454e-01 9.93544707e-01 -1.24053178e-03 -4.39975999e+00] [-1.06011563e-02 3.81721053e-05 9.99943805e-01 -8.53414962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:-4.41, Z:-0.85 [[ 9.93798311e-01 1.10698102e-01 1.05284061e-02 6.96766028e+01] [-1.10691173e-01 9.93854077e-01 -1.24041773e-03 -4.40687955e+00] [-1.06010112e-02 6.73234270e-05 9.99943805e-01 -8.51834348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:-4.42, Z:-0.85 [[ 9.94255070e-01 1.06517643e-01 1.05284061e-02 6.97376063e+01] [-1.06510479e-01 9.94310806e-01 -1.24041773e-03 -4.41842572e+00] [-1.06006344e-02 1.11906039e-04 9.99943805e-01 -8.54093695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:-4.43, Z:-0.86 [[ 9.94259954e-01 1.06472069e-01 1.05282066e-02 6.97972682e+01] [-1.06464884e-01 9.94315687e-01 -1.24210852e-03 -4.42805063e+00] [-1.06006109e-02 1.14094455e-04 9.99943805e-01 -8.60938217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.86, Y:-4.44, Z:-0.86 [[ 9.93531702e-01 1.13065975e-01 1.05281925e-02 6.98576662e+01] [-1.13059160e-01 9.93587481e-01 -1.24222806e-03 -4.43619691e+00] [-1.06011340e-02 4.38843576e-05 9.99943805e-01 -8.59126212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:69.92, Y:-4.44, Z:-0.86 [[ 9.92641461e-01 1.20632031e-01 1.05281925e-02 6.99166165e+01] [-1.20625641e-01 9.92697291e-01 -1.24222806e-03 -4.44403758e+00] [-1.06011607e-02 -3.68828937e-05 9.99943805e-01 -8.60243612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.265769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:69.98, Y:-4.45, Z:-0.86 [[ 9.92411888e-01 1.22506328e-01 1.05282207e-02 6.99751305e+01] [-1.22500045e-01 9.92467731e-01 -1.24198944e-03 -4.45300433e+00] [-1.06010709e-02 -5.71424234e-05 9.99943805e-01 -8.62258527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:-4.46, Z:-0.86 [[ 9.91527249e-01 1.29471504e-01 1.05282346e-02 7.00347546e+01] [-1.29465615e-01 9.91583134e-01 -1.24187135e-03 -4.45973662e+00] [-1.06004068e-02 -1.31695082e-04 9.99943805e-01 -8.64263498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-4.46, Z:-0.86 [[ 9.90641941e-01 1.36079757e-01 1.05282629e-02 7.00934694e+01] [-1.36074243e-01 9.90697865e-01 -1.24163157e-03 -4.46302700e+00] [-1.05992885e-02 -2.02613096e-04 9.99943805e-01 -8.64887009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-4.46, Z:-0.86 [[ 9.89547280e-01 1.43823974e-01 1.05283189e-02 7.01524443e+01] [-1.43818902e-01 9.89603245e-01 -1.24115653e-03 -4.46147786e+00] [-1.05973666e-02 -2.85988201e-04 9.99943805e-01 -8.61759709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-4.46, Z:-0.86 [[ 9.89548810e-01 1.43813443e-01 1.05283954e-02 7.02116906e+01] [-1.43808378e-01 9.89604775e-01 -1.24050749e-03 -4.46190951e+00] [-1.05973520e-02 -2.86528744e-04 9.99943805e-01 -8.62767821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-4.46, Z:-0.87 [[ 9.90051833e-01 1.40308657e-01 1.05284528e-02 7.02702378e+01] [-1.40303399e-01 9.90107781e-01 -1.24001981e-03 -4.46462140e+00] [-1.05982886e-02 -2.49493833e-04 9.99943805e-01 -8.65103308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-4.47, Z:-0.87 [[ 9.91049640e-01 1.33078026e-01 1.05285104e-02 7.03285653e+01] [-1.33072365e-01 9.91105549e-01 -1.23953029e-03 -4.46876266e+00] [-1.05998194e-02 -1.72617741e-04 9.99943805e-01 -8.65869037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-4.47, Z:-0.87 [[ 9.91242835e-01 1.31631268e-01 1.05285531e-02 7.03878161e+01] [-1.31625529e-01 9.91298736e-01 -1.23916796e-03 -4.47271134e+00] [-1.06000546e-02 -1.57510005e-04 9.99943805e-01 -8.65651485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:-4.47, Z:-0.87 [[ 9.90904438e-01 1.34154925e-01 1.05286089e-02 7.04464586e+01] [-1.34149334e-01 9.90960353e-01 -1.23869398e-03 -4.47425788e+00] [-1.05996108e-02 -1.84978504e-04 9.99943805e-01 -8.66120207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:70.51, Y:-4.47, Z:-0.87 [[ 9.90345725e-01 1.38219001e-01 1.05286642e-02 7.05062800e+01] [-1.38213644e-01 9.90401664e-01 -1.23822364e-03 -4.47191005e+00] [-1.05987525e-02 -2.28935555e-04 9.99943805e-01 -8.68298108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-4.47, Z:-0.87 [[ 9.90427545e-01 1.37631479e-01 1.05287223e-02 7.05640944e+01] [-1.37626095e-01 9.90483481e-01 -1.23772880e-03 -4.47245060e+00] [-1.05988760e-02 -2.23146240e-04 9.99943805e-01 -8.74333011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-4.47, Z:-0.87 [[ 9.90971961e-01 1.33655214e-01 1.05287940e-02 7.06237890e+01] [-1.33649611e-01 9.91027876e-01 -1.23711902e-03 -4.46868307e+00] [-1.05996758e-02 -1.81218959e-04 9.99943805e-01 -8.68803259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:70.68, Y:-4.47, Z:-0.87 [[ 9.92049668e-01 1.25405740e-01 1.05288518e-02 7.06830533e+01] [-1.25399677e-01 9.92105535e-01 -1.23662669e-03 -4.46542175e+00] [-1.06008122e-02 -9.35195178e-05 9.99943805e-01 -8.67122852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:-4.47, Z:-0.87 [[ 9.93323553e-01 1.14880208e-01 1.05289103e-02 7.07422352e+01] [-1.14873558e-01 9.93379352e-01 -1.23612886e-03 -4.46592672e+00] [-1.06012088e-02 1.83825220e-05 9.99943805e-01 -8.69562039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-4.47, Z:-0.87 [[ 9.94314408e-01 1.05962254e-01 1.05289690e-02 7.08010598e+01] [-1.05955110e-01 9.94370146e-01 -1.23562866e-03 -4.47222517e+00] [-1.06006224e-02 1.13005315e-04 9.99943805e-01 -8.70968478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:-4.48, Z:-0.87 [[ 9.94957951e-01 9.97387321e-02 1.05290270e-02 7.08591273e+01] [-9.97312444e-02 9.95013645e-01 -1.23513428e-03 -4.48443086e+00] [-1.05997162e-02 1.78833716e-04 9.99943805e-01 -8.70113928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:-4.49, Z:-0.87 [[ 9.95111253e-01 9.81974133e-02 1.05290847e-02 7.09169996e+01] [-9.81898445e-02 9.95166936e-01 -1.23464167e-03 -4.49319238e+00] [-1.05994356e-02 1.94756632e-04 9.99943805e-01 -8.70938012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28576923099999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:70.98, Y:-4.51, Z:-0.87 [[ 9.95216319e-01 9.71268056e-02 1.05291275e-02 7.09757869e+01] [-9.71191808e-02 9.95271994e-01 -1.23427642e-03 -4.50751662e+00] [-1.05992271e-02 2.05791799e-04 9.99943805e-01 -8.72688907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-4.52, Z:-0.87 [[ 9.94921923e-01 1.00097471e-01 1.05291580e-02 7.10334711e+01] [-1.00090016e-01 9.94977621e-01 -1.23401664e-03 -4.51761392e+00] [-1.05997985e-02 1.73886627e-04 9.99943805e-01 -8.73229334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.405769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-4.52, Z:-0.87 [[ 9.93699180e-01 1.11584390e-01 1.05292032e-02 7.10918087e+01] [-1.11577582e-01 9.93754960e-01 -1.23363095e-03 -4.52365135e+00] [-1.06011018e-02 5.10350308e-05 9.99943805e-01 -8.73154235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:-4.53, Z:-0.87 [[ 9.93157304e-01 1.16308658e-01 1.05292610e-02 7.11512022e+01] [-1.16302121e-01 9.93213117e-01 -1.23313742e-03 -4.52631097e+00] [-1.06012247e-02 1.24051829e-07 9.99943805e-01 -8.73452658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-4.53, Z:-0.87 [[ 9.93095206e-01 1.16837689e-01 1.05293188e-02 7.12096828e+01] [-1.16831186e-01 9.93151023e-01 -1.23264361e-03 -4.52548820e+00] [-1.06012229e-02 -6.02034530e-06 9.99943805e-01 -8.72616514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:-4.53, Z:-0.87 [[ 9.93802621e-01 1.10659310e-01 1.05293904e-02 7.12692379e+01] [-1.10652467e-01 9.93858397e-01 -1.23203163e-03 -4.52677070e+00] [-1.06010588e-02 5.92932361e-05 9.99943805e-01 -8.70590069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:-4.53, Z:-0.87 [[ 9.94039053e-01 1.08514938e-01 1.05294460e-02 7.13288872e+01] [-1.08507980e-01 9.94094815e-01 -1.23155610e-03 -4.52716945e+00] [-1.06009099e-02 8.16859371e-05 9.99943805e-01 -8.71454471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:-4.53, Z:-0.87 [[ 9.94007055e-01 1.08807647e-01 1.05295038e-02 7.13874264e+01] [-1.08800711e-01 9.94062820e-01 -1.23106214e-03 -4.53042577e+00] [-1.06009372e-02 7.80669645e-05 9.99943805e-01 -8.72084073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.765769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:-4.54, Z:-0.88 [[ 9.94217592e-01 1.06866778e-01 1.05295619e-02 7.14450982e+01] [-1.06859738e-01 9.94273344e-01 -1.23056445e-03 -4.53675164e+00] [-1.06007692e-02 9.82625962e-05 9.99943805e-01 -8.75030299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:-4.55, Z:-0.87 [[ 9.94201338e-01 1.07017878e-01 1.05296404e-02 7.15028430e+01] [-1.07010854e-01 9.94257092e-01 -1.22989229e-03 -4.54644268e+00] [-1.06007901e-02 9.59747469e-05 9.99943805e-01 -8.71723470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:-4.55, Z:-0.87 [[ 9.93784421e-01 1.10822607e-01 1.05296977e-02 7.15611364e+01] [-1.10815801e-01 9.93840202e-01 -1.22940167e-03 -4.55131270e+00] [-1.06010824e-02 5.49033394e-05 9.99943805e-01 -8.73730209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:-4.56, Z:-0.88 [[ 9.93296522e-01 1.15113608e-01 1.05297544e-02 7.16196540e+01] [-1.15107048e-01 9.93352333e-01 -1.22891555e-03 -4.55544173e+00] [-1.06012210e-02 8.62858944e-06 9.99943805e-01 -8.78800247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:-4.56, Z:-0.88 [[ 9.92966896e-01 1.17923139e-01 1.05298115e-02 7.16774496e+01] [-1.17916743e-01 9.93022725e-01 -1.22842637e-03 -4.55531030e+00] [-1.06012020e-02 -2.18543551e-05 9.99943805e-01 -8.81664453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:-4.56, Z:-0.88 [[ 9.93074998e-01 1.17009274e-01 1.05298822e-02 7.17369743e+01] [-1.17002832e-01 9.93130822e-01 -1.22782024e-03 -4.55586557e+00] [-1.06012169e-02 -1.27084574e-05 9.99943805e-01 -8.78760718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:-4.56, Z:-0.88 [[ 9.93321588e-01 1.14897100e-01 1.05299374e-02 7.17964716e+01] [-1.14890545e-01 9.93377399e-01 -1.22734648e-03 -4.55554075e+00] [-1.06012204e-02 9.35950897e-06 9.99943805e-01 -8.78317391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:-4.56, Z:-0.88 [[ 9.93648247e-01 1.12036961e-01 1.05299923e-02 7.18540044e+01] [-1.12030251e-01 9.93704039e-01 -1.22687530e-03 -4.55858433e+00] [-1.06011513e-02 3.94048146e-05 9.99943805e-01 -8.80520976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-4.57, Z:-0.88 [[ 9.93923902e-01 1.09564569e-01 1.05300602e-02 7.19124149e+01] [-1.09557725e-01 9.93979678e-01 -1.22629258e-03 -4.56542023e+00] [-1.06010240e-02 6.51920635e-05 9.99943805e-01 -8.79008589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:-4.57, Z:-0.88 [[ 9.94582784e-01 1.03412775e-01 1.05301132e-02 7.19704232e+01] [-1.03405591e-01 9.94638518e-01 -1.22583694e-03 -4.57295960e+00] [-1.06004234e-02 1.30323732e-04 9.99943805e-01 -8.76515349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:-4.58, Z:-0.88 [[ 9.94797752e-01 1.01323977e-01 1.05301658e-02 7.20293014e+01] [-1.01316681e-01 9.94853471e-01 -1.22538543e-03 -4.57993453e+00] [-1.06001329e-02 1.52129225e-04 9.99943805e-01 -8.79601616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:-4.58, Z:-0.88 [[ 9.94733823e-01 1.01949670e-01 1.05302182e-02 7.20883932e+01] [-1.01942414e-01 9.94789547e-01 -1.22493500e-03 -4.58497410e+00] [-1.06002327e-02 1.45008421e-04 9.99943805e-01 -8.82179210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:-4.59, Z:-0.88 [[ 9.94828991e-01 1.01016790e-01 1.05302749e-02 7.21468893e+01] [-1.01009486e-01 9.94884709e-01 -1.22444670e-03 -4.59165806e+00] [-1.06000992e-02 1.54457412e-04 9.99943805e-01 -8.80504812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-4.60, Z:-0.88 [[ 9.94948005e-01 9.98377704e-02 1.05303334e-02 7.22044965e+01] [-9.98304066e-02 9.95003715e-01 -1.22394352e-03 -4.59561001e+00] [-1.05999167e-02 1.66512695e-04 9.99943805e-01 -8.83877104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-4.59, Z:-0.88 [[ 9.94868389e-01 1.00628023e-01 1.05304054e-02 7.22640350e+01] [-1.00620711e-01 9.94924106e-01 -1.22332412e-03 -4.59497128e+00] [-1.06000548e-02 1.57469623e-04 9.99943805e-01 -8.84992265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.60, Z:-0.88 [[ 9.94974337e-01 9.95749913e-02 1.05304607e-02 7.23223564e+01] [-9.95676244e-02 9.95030046e-01 -1.22284775e-03 -4.59905261e+00] [-1.05998898e-02 1.68209174e-04 9.99943805e-01 -8.84532204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-4.61, Z:-0.88 [[ 9.95639780e-01 9.26851463e-02 1.05305156e-02 7.23807179e+01] [-9.26773989e-02 9.95695438e-01 -1.22237453e-03 -4.60784041e+00] [-1.05984823e-02 2.41103906e-04 9.99943805e-01 -8.82566770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-4.62, Z:-0.88 [[ 9.96065521e-01 8.79919584e-02 1.05305717e-02 7.24389225e+01] [-8.79839539e-02 9.96121143e-01 -1.22189134e-03 -4.61611456e+00] [-1.05972417e-02 2.90562505e-04 9.99943805e-01 -8.84439300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-4.63, Z:-0.88 [[ 9.95983488e-01 8.89156785e-02 1.05306278e-02 7.24970577e+01] [-8.89077307e-02 9.96039117e-01 -1.22140784e-03 -4.62528354e+00] [-1.05975195e-02 2.80247820e-04 9.99943805e-01 -8.83952773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:-4.64, Z:-0.89 [[ 9.96083142e-01 8.77922500e-02 1.05306842e-02 7.25549262e+01] [-8.77842446e-02 9.96138763e-01 -1.22092121e-03 -4.63773187e+00] [-1.05972101e-02 2.91710878e-04 9.99943805e-01 -8.86720465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:-4.65, Z:-0.89 [[ 9.96323070e-01 8.50261311e-02 1.05307426e-02 7.26116985e+01] [-8.50179766e-02 9.96378670e-01 -1.22041680e-03 -4.65095708e+00] [-1.05963747e-02 3.20626986e-04 9.99943805e-01 -8.87398690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-4.67, Z:-0.89 [[ 9.96655208e-01 8.10401039e-02 1.05308180e-02 7.26691123e+01] [-8.10317340e-02 9.96710776e-01 -1.21976599e-03 -4.66759728e+00] [-1.05950298e-02 3.62355680e-04 9.99943805e-01 -8.85412775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:-4.68, Z:-0.89 [[ 9.96531578e-01 8.25464368e-02 1.05308598e-02 7.27262796e+01] [-8.25381547e-02 9.96587159e-01 -1.21940483e-03 -4.68467700e+00] [-1.05955772e-02 3.45977677e-04 9.99943805e-01 -8.87616201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:-4.70, Z:-0.89 [[ 9.96396582e-01 8.41602758e-02 1.05309003e-02 7.27852097e+01] [-8.41520874e-02 9.96452177e-01 -1.21905558e-03 -4.69542536e+00] [-1.05961346e-02 3.28465573e-04 9.99943805e-01 -8.87680661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:-4.71, Z:-0.89 [[ 9.95879784e-01 9.00697249e-02 1.05309286e-02 7.28423825e+01] [-9.00618690e-02 9.95935427e-01 -1.21881097e-03 -4.71375663e+00] [-1.05979028e-02 2.65354097e-04 9.99943805e-01 -8.87576712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:-4.73, Z:-0.88 [[ 9.95518728e-01 9.39763893e-02 1.05309705e-02 7.29007484e+01] [-9.39687556e-02 9.95574401e-01 -1.21844856e-03 -4.72667611e+00] [-1.05988701e-02 2.23406168e-04 9.99943805e-01 -8.84767702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:-4.74, Z:-0.89 [[ 9.94640199e-01 1.02858998e-01 1.05309985e-02 7.29591749e+01] [-1.02851864e-01 9.94695939e-01 -1.21820625e-03 -4.74154929e+00] [-1.06004450e-02 1.28544079e-04 9.99943805e-01 -8.85872127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:-4.75, Z:-0.89 [[ 9.94093654e-01 1.08013449e-01 1.05310268e-02 7.30179051e+01] [-1.08006606e-01 9.94149430e-01 -1.21796179e-03 -4.74992654e+00] [-1.06009706e-02 7.33476173e-05 9.99943805e-01 -8.89136504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:73.08, Y:-4.75, Z:-0.89 [[ 9.93088792e-01 1.16892035e-01 1.05310691e-02 7.30766900e+01] [-1.16885695e-01 9.93144628e-01 -1.21759599e-03 -4.75409190e+00] [-1.06012020e-02 -2.17503985e-05 9.99943805e-01 -8.91382319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:-4.75, Z:-0.89 [[ 9.92276573e-01 1.23597318e-01 1.05311249e-02 7.31359765e+01] [-1.23591361e-01 9.92332451e-01 -1.21711318e-03 -4.75351353e+00] [-1.06008089e-02 -9.38431695e-05 9.99943805e-01 -8.92486522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56576923099999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.75, Z:-0.89 [[ 9.92240436e-01 1.23887089e-01 1.05311818e-02 7.31947274e+01] [-1.23881153e-01 9.92296317e-01 -1.21662091e-03 -4.75408069e+00] [-1.06007765e-02 -9.74344786e-05 9.99943805e-01 -8.90167158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62576923099999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.76, Z:-0.89 [[ 9.92826222e-01 1.19101575e-01 1.05312404e-02 7.32528435e+01] [-1.19095375e-01 9.92882074e-01 -1.21611320e-03 -4.75781438e+00] [-1.06011208e-02 -4.68329581e-05 9.99943805e-01 -8.93699191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.76, Z:-0.90 [[ 9.94095959e-01 1.07992206e-01 1.05313128e-02 7.33113213e+01] [-1.07985389e-01 9.94151738e-01 -1.21548567e-03 -4.76410290e+00] [-1.06009859e-02 7.10814849e-05 9.99943805e-01 -8.97466979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.78, Z:-0.89 [[ 9.95197485e-01 9.73193465e-02 1.05313681e-02 7.33697981e+01] [-9.73119363e-02 9.95253189e-01 -1.21500691e-03 -4.77555416e+00] [-1.05996213e-02 1.84344001e-04 9.99943805e-01 -8.90497527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:-4.79, Z:-0.89 [[ 9.95375476e-01 9.54816857e-02 1.05313953e-02 7.34279662e+01] [-9.54741751e-02 9.95431166e-01 -1.21477122e-03 -4.78625278e+00] [-1.05992675e-02 2.03677203e-04 9.99943805e-01 -8.92227008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:-4.80, Z:-0.90 [[ 9.95206815e-01 9.72238882e-02 1.05314355e-02 7.34858089e+01] [-9.72164789e-02 9.95262519e-01 -1.21442193e-03 -4.79686205e+00] [-1.05996139e-02 1.84771902e-04 9.99943805e-01 -8.95432682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92576923099999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:-4.81, Z:-0.89 [[ 9.95050023e-01 9.88156821e-02 1.05314626e-02 7.35451476e+01] [-9.88083644e-02 9.95105740e-01 -1.21418709e-03 -4.80635411e+00] [-1.05998996e-02 1.67580293e-04 9.99943805e-01 -8.94976664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98576923099999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:-4.81, Z:-0.90 [[ 9.94885714e-01 1.00456473e-01 1.05314905e-02 7.36037925e+01] [-1.00449250e-01 9.94941443e-01 -1.21394547e-03 -4.81499841e+00] [-1.06001650e-02 1.49856686e-04 9.99943805e-01 -8.96042149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-4.82, Z:-0.90 [[ 9.94857941e-01 1.00731149e-01 1.05315187e-02 7.36632785e+01] [-1.00723943e-01 9.94913672e-01 -1.21370086e-03 -4.82233223e+00] [-1.06002094e-02 1.46683851e-04 9.99943805e-01 -8.99037946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-4.83, Z:-0.90 [[ 9.94684059e-01 1.02433929e-01 1.05315466e-02 7.37219879e+01] [-1.02426821e-01 9.94739802e-01 -1.21345824e-03 -4.83293421e+00] [-1.06004479e-02 1.28294726e-04 9.99943805e-01 -8.97969058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-4.84, Z:-0.90 [[ 9.94311337e-01 1.05990806e-01 1.05315742e-02 7.37807449e+01] [-1.05983901e-01 9.94367106e-01 -1.21321852e-03 -4.83742171e+00] [-1.06008410e-02 9.01396158e-05 9.99943805e-01 -8.95617014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-4.84, Z:-0.90 [[ 9.93786079e-01 1.10807559e-01 1.05316154e-02 7.38397061e+01] [-1.10800927e-01 9.93841881e-01 -1.21286120e-03 -4.84305222e+00] [-1.06011546e-02 3.84118263e-05 9.99943805e-01 -8.99543600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28576923099999 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-4.85, Z:-0.90 [[ 9.93399103e-01 1.14224801e-01 1.05316694e-02 7.38979954e+01] [-1.14218367e-01 9.93454928e-01 -1.21239192e-03 -4.84615684e+00] [-1.06012241e-02 1.47896833e-06 9.99943805e-01 -9.00642699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34576923099999 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-4.85, Z:-0.90 [[ 9.93170288e-01 1.16197514e-01 1.05317363e-02 7.39566813e+01] [-1.16191197e-01 9.93226126e-01 -1.21181092e-03 -4.85067624e+00] [-1.06012050e-02 -2.01604376e-05 9.99943805e-01 -9.02180894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.405769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:-4.85, Z:-0.90 [[ 9.92942644e-01 1.18126997e-01 1.05317892e-02 7.40157826e+01] [-1.18120793e-01 9.92998495e-01 -1.21135026e-03 -4.85342249e+00] [-1.06011440e-02 -4.12219650e-05 9.99943805e-01 -8.99625514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:74.07, Y:-4.86, Z:-0.90 [[ 9.93111209e-01 1.16701357e-01 1.05318468e-02 7.40731813e+01] [-1.16695078e-01 9.93167052e-01 -1.21084975e-03 -4.85854023e+00] [-1.06011910e-02 -2.65062280e-05 9.99943805e-01 -9.01678707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:74.13, Y:-4.86, Z:-0.91 [[ 9.93310824e-01 1.14989934e-01 1.05319177e-02 7.41314352e+01] [-1.14983566e-01 9.93366657e-01 -1.21023248e-03 -4.86440187e+00] [-1.06012204e-02 -8.86043466e-06 9.99943805e-01 -9.05532794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:-4.87, Z:-0.91 [[ 9.93361138e-01 1.14554473e-01 1.05319696e-02 7.41900470e+01] [-1.14548085e-01 9.93416968e-01 -1.20978112e-03 -4.86955908e+00] [-1.06012231e-02 -4.66739637e-06 9.99943805e-01 -9.05039954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64576923099999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:-4.88, Z:-0.90 [[ 9.93408313e-01 1.14144643e-01 1.05320209e-02 7.42490276e+01] [-1.14138237e-01 9.93464141e-01 -1.20933356e-03 -4.87515538e+00] [-1.06012241e-02 -7.44286440e-07 9.99943805e-01 -9.02476094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70576923099999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:-4.89, Z:-0.90 [[ 9.93724712e-01 1.11356507e-01 1.05320756e-02 7.43067357e+01] [-1.11349949e-01 9.93780523e-01 -1.20885750e-03 -4.88666609e+00] [-1.06011857e-02 2.85254906e-05 9.99943805e-01 -9.02018160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.765769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:74.36, Y:-4.90, Z:-0.90 [[ 9.94099540e-01 1.07959153e-01 1.05321317e-02 7.43646950e+01] [-1.07952409e-01 9.94155329e-01 -1.20836822e-03 -4.89872490e+00] [-1.06010293e-02 6.42692964e-05 9.99943805e-01 -9.01931393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:-4.92, Z:-0.90 [[ 9.94584270e-01 1.03398276e-01 1.05321890e-02 7.44225353e+01] [-1.03391281e-01 9.94640027e-01 -1.20786874e-03 -4.91681651e+00] [-1.06006283e-02 1.12390727e-04 9.99943805e-01 -9.01473933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:-4.93, Z:-0.90 [[ 9.94391819e-01 1.05232997e-01 1.05322176e-02 7.44800650e+01] [-1.05226109e-01 9.94447589e-01 -1.20761975e-03 -4.92891669e+00] [-1.06008198e-02 9.25829281e-05 9.99943805e-01 -9.02327757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:-4.94, Z:-0.91 [[ 9.93634439e-01 1.12159142e-01 1.05322473e-02 7.45383789e+01] [-1.12152645e-01 9.93690257e-01 -1.20736036e-03 -4.93773830e+00] [-1.06012080e-02 1.84554408e-05 9.99943805e-01 -9.06504094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:74.60, Y:-4.95, Z:-0.90 [[ 9.92693231e-01 1.20204913e-01 1.05322764e-02 7.45970188e+01] [-1.20198871e-01 9.92749099e-01 -1.20710648e-03 -4.94647714e+00] [-1.06010080e-02 -6.76812978e-05 9.99943805e-01 -9.02356174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06576923099999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:74.66, Y:-4.95, Z:-0.90 [[ 9.92442212e-01 1.22260077e-01 1.05323329e-02 7.46558901e+01] [-1.22254156e-01 9.92498093e-01 -1.20661311e-03 -4.95323391e+00] [-1.06008409e-02 -9.01276902e-05 9.99943805e-01 -9.02253645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.96, Z:-0.91 [[ 9.91956318e-01 1.26141715e-01 1.05323901e-02 7.47135799e+01] [-1.26136018e-01 9.92012223e-01 -1.20611362e-03 -4.96040072e+00] [-1.06004010e-02 -1.32101725e-04 9.99943805e-01 -9.05929426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185769231 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.97, Z:-0.91 [[ 9.91850746e-01 1.26969153e-01 1.05324608e-02 7.47720118e+01] [-1.26963509e-01 9.91906656e-01 -1.20549597e-03 -4.96664896e+00] [-1.06002788e-02 -1.41566108e-04 9.99943805e-01 -9.07463082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.97, Z:-0.91 [[ 9.92166152e-01 1.24480490e-01 1.05325204e-02 7.48302098e+01] [-1.24474711e-01 9.92222049e-01 -1.20497529e-03 -4.97348971e+00] [-1.06005949e-02 -1.15496738e-04 9.99943805e-01 -9.11173398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:-4.98, Z:-0.91 [[ 9.92536327e-01 1.21493642e-01 1.05325509e-02 7.48894968e+01] [-1.21487698e-01 9.92592206e-01 -1.20470852e-03 -4.98179021e+00] [-1.06008923e-02 -8.38583927e-05 9.99943805e-01 -9.09697207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.99, Z:-0.91 [[ 9.93236083e-01 1.15633685e-01 1.05325782e-02 7.49488249e+01] [-1.15627414e-01 9.93291926e-01 -1.20446947e-03 -4.99195045e+00] [-1.06012022e-02 -2.15322489e-05 9.99943805e-01 -9.06787386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:-5.01, Z:-0.91 [[ 9.93997032e-01 1.08898871e-01 1.05326058e-02 7.50077358e+01] [-1.08892224e-01 9.94052832e-01 -1.20422810e-03 -5.00728425e+00] [-1.06011057e-02 5.00802834e-05 9.99943805e-01 -9.10408949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:-5.02, Z:-0.91 [[ 9.94363004e-01 1.05504879e-01 1.05326058e-02 7.50670491e+01] [-1.05498042e-01 9.94418781e-01 -1.20422810e-03 -5.02315834e+00] [-1.06008730e-02 8.62705793e-05 9.99943805e-01 -9.12435334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:-5.04, Z:-0.91 [[ 9.94215809e-01 1.06883066e-01 1.05325918e-02 7.51260856e+01] [-1.06876304e-01 9.94271595e-01 -1.20435063e-03 -5.03834582e+00] [-1.06009815e-02 7.16999503e-05 9.99943805e-01 -9.08919449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:-5.05, Z:-0.91 [[ 9.93914385e-01 1.09650627e-01 1.05325784e-02 7.51865053e+01] [-1.09644020e-01 9.93970190e-01 -1.20446765e-03 -5.04967962e+00] [-1.06011396e-02 4.23034834e-05 9.99943805e-01 -9.07809292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:-5.06, Z:-0.91 [[ 9.93390726e-01 1.14297552e-01 1.05325502e-02 7.52472568e+01] [-1.14291204e-01 9.93446561e-01 -1.20471414e-03 -5.06086539e+00] [-1.06012217e-02 -7.02599187e-06 9.99943805e-01 -9.10660315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:75.31, Y:-5.07, Z:-0.91 [[ 9.93187652e-01 1.16048925e-01 1.05325221e-02 7.53076076e+01] [-1.16042672e-01 9.93243498e-01 -1.20495997e-03 -5.06964977e+00] [-1.06011934e-02 -2.54706442e-05 9.99943805e-01 -9.12758665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:-5.08, Z:-0.91 [[ 9.93073847e-01 1.17018807e-01 1.05324942e-02 7.53678709e+01] [-1.17012606e-01 9.93129698e-01 -1.20520411e-03 -5.07837185e+00] [-1.06011643e-02 -3.55779105e-05 9.99943805e-01 -9.09879063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:-5.09, Z:-0.91 [[ 9.93153956e-01 1.16336950e-01 1.05324799e-02 7.54292976e+01] [-1.16330709e-01 9.93209803e-01 -1.20532889e-03 -5.08636453e+00] [-1.06011866e-02 -2.81737004e-05 9.99943805e-01 -9.09383901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:-5.09, Z:-0.91 [[ 9.93313381e-01 1.14967812e-01 1.05322822e-02 7.54913608e+01] [-1.14961476e-01 9.93369217e-01 -1.20705358e-03 -5.09480437e+00] [-1.06012173e-02 -1.18242319e-05 9.99943805e-01 -9.11096264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-5.10, Z:-0.91 [[ 9.93713531e-01 1.11456242e-01 1.05320821e-02 7.55524847e+01] [-1.11449690e-01 9.93769342e-01 -1.20879746e-03 -5.10457908e+00] [-1.06011883e-02 2.74011065e-05 9.99943805e-01 -9.11039530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-5.12, Z:-0.92 [[ 9.94261732e-01 1.06455098e-01 1.05318699e-02 7.56143981e+01] [-1.06448246e-01 9.94317507e-01 -1.21064355e-03 -5.11559021e+00] [-1.06009018e-02 8.25974706e-05 9.99943805e-01 -9.15328472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:-5.13, Z:-0.92 [[ 9.94953911e-01 9.97787533e-02 1.05316414e-02 7.56757570e+01] [-9.97715059e-02 9.95009636e-01 -1.21262743e-03 -5.13106460e+00] [-1.06000792e-02 1.55750676e-04 9.99943805e-01 -9.15685306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:75.74, Y:-5.14, Z:-0.92 [[ 9.94841924e-01 1.00889224e-01 1.05313963e-02 7.57365273e+01] [-1.00882016e-01 9.94897655e-01 -1.21475272e-03 -5.14261864e+00] [-1.06002169e-02 1.46058441e-04 9.99943805e-01 -9.19049351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:-5.15, Z:-0.92 [[ 9.94167227e-01 1.07334151e-01 1.05311697e-02 7.57978172e+01] [-1.07327284e-01 9.94223000e-01 -1.21671393e-03 -5.14876782e+00] [-1.06009261e-02 7.93352759e-05 9.99943805e-01 -9.20097832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.265769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:-5.15, Z:-0.92 [[ 9.93079032e-01 1.16974930e-01 1.05309642e-02 7.58610196e+01] [-1.16968586e-01 9.93134868e-01 -1.21849010e-03 -5.14786280e+00] [-1.06012005e-02 -2.17350267e-05 9.99943805e-01 -9.18002537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:-5.15, Z:-0.92 [[ 9.92457977e-01 1.22132167e-01 1.05307561e-02 7.59224861e+01] [-1.22126093e-01 9.92513843e-01 -1.22028567e-03 -5.14635335e+00] [-1.06009574e-02 -7.49978594e-05 9.99943805e-01 -9.17277637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:-5.15, Z:-0.92 [[ 9.92466921e-01 1.22059471e-01 1.05307266e-02 7.59834334e+01] [-1.22053391e-01 9.92522786e-01 -1.22054022e-03 -5.14587041e+00] [-1.06009646e-02 -7.39651017e-05 9.99943805e-01 -9.18293016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:-5.14, Z:-0.92 [[ 9.92586688e-01 1.21081671e-01 1.05307120e-02 7.60443276e+01] [-1.21075534e-01 9.92642546e-01 -1.22066604e-03 -5.14246353e+00] [-1.06010331e-02 -6.33947204e-05 9.99943805e-01 -9.17093931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:-5.14, Z:-0.92 [[ 9.92668329e-01 1.20410518e-01 1.05307120e-02 7.61042937e+01] [-1.20404343e-01 9.92724183e-01 -1.22066604e-03 -5.14026263e+00] [-1.06010735e-02 -5.62269469e-05 9.99943805e-01 -9.16096867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:-5.14, Z:-0.92 [[ 9.92559314e-01 1.21305863e-01 1.05307263e-02 7.61645626e+01] [-1.21299740e-01 9.92615174e-01 -1.22054275e-03 -5.13777456e+00] [-1.06010177e-02 -6.59132978e-05 9.99943805e-01 -9.18467558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62576923099999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:-5.13, Z:-0.92 [[ 9.92507663e-01 1.21727734e-01 1.05307549e-02 7.62232198e+01] [-1.21721638e-01 9.92563526e-01 -1.22029626e-03 -5.13497634e+00] [-1.06009871e-02 -7.06673437e-05 9.99943805e-01 -9.18813626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.28, Y:-5.13, Z:-0.92 [[ 9.93275542e-01 1.15294405e-01 1.05308315e-02 7.62823831e+01] [-1.15287954e-01 9.93331365e-01 -1.21963500e-03 -5.13232599e+00] [-1.06012223e-02 -2.64439497e-06 9.99943805e-01 -9.19572446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:-5.13, Z:-0.92 [[ 9.94363241e-01 1.05502821e-01 1.05308848e-02 7.63417873e+01] [-1.05495825e-01 9.94418998e-01 -1.21917491e-03 -5.13431873e+00] [-1.06007383e-02 1.01338342e-04 9.99943805e-01 -9.24075019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-5.14, Z:-0.92 [[ 9.95246302e-01 9.68188908e-02 1.05309126e-02 7.64014825e+01] [-9.68114110e-02 9.95301997e-01 -1.21893458e-03 -5.13945808e+00] [-1.05994542e-02 1.93627633e-04 9.99943805e-01 -9.23487458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.46, Y:-5.15, Z:-0.92 [[ 9.95831865e-01 9.05979935e-02 1.05309002e-02 7.64613002e+01] [-9.05901647e-02 9.95887512e-01 -1.21904160e-03 -5.14547591e+00] [-1.05980347e-02 2.59964486e-04 9.99943805e-01 -9.21176304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.52, Y:-5.15, Z:-0.92 [[ 9.95810868e-01 9.08284956e-02 1.05309271e-02 7.65207289e+01] [-9.08206822e-02 9.95866516e-01 -1.21880923e-03 -5.15049887e+00] [-1.05981003e-02 2.57277498e-04 9.99943805e-01 -9.19804884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:-5.15, Z:-0.93 [[ 9.95701001e-01 9.20250829e-02 1.05309542e-02 7.65801197e+01] [-9.20173389e-02 9.95756659e-01 -1.21857463e-03 -5.15481773e+00] [-1.05984072e-02 2.44305596e-04 9.99943805e-01 -9.26701618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.64, Y:-5.16, Z:-0.93 [[ 9.95544731e-01 9.37005132e-02 1.05309827e-02 7.66401554e+01] [-9.36928654e-02 9.95600403e-01 -1.21832871e-03 -5.15871742e+00] [-1.05988086e-02 2.26222787e-04 9.99943805e-01 -9.30089640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.70, Y:-5.17, Z:-0.93 [[ 9.95687302e-01 9.21731784e-02 1.05310111e-02 7.66997643e+01] [-9.21654478e-02 9.95742962e-01 -1.21808323e-03 -5.16592202e+00] [-1.05984548e-02 2.42234654e-04 9.99943805e-01 -9.30537995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:-5.18, Z:-0.93 [[ 9.95911132e-01 8.97224274e-02 1.05310393e-02 7.67590965e+01] [-8.97145624e-02 9.95966774e-01 -1.21783885e-03 -5.17546657e+00] [-1.05978327e-02 2.68071685e-04 9.99943805e-01 -9.30467952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:-5.19, Z:-0.93 [[ 9.95712661e-01 9.18988202e-02 1.05310678e-02 7.68186678e+01] [-9.18910794e-02 9.95768320e-01 -1.21759229e-03 -5.18670611e+00] [-1.05983990e-02 2.44660865e-04 9.99943805e-01 -9.30279000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:-5.20, Z:-0.93 [[ 9.95367631e-01 9.55634602e-02 1.05310678e-02 7.68779522e+01] [-9.55559244e-02 9.95423318e-01 -1.21759229e-03 -5.19552448e+00] [-1.05992278e-02 2.05646029e-04 9.99943805e-01 -9.31277279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:-5.20, Z:-0.94 [[ 9.94894178e-01 1.00372656e-01 1.05310959e-02 7.69365808e+01] [-1.00365392e-01 9.94949901e-01 -1.21734991e-03 -5.20498448e+00] [-1.06001014e-02 1.54176774e-04 9.99943805e-01 -9.36318244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.99, Y:-5.21, Z:-0.93 [[ 9.94775162e-01 1.01545422e-01 1.05311237e-02 7.69943231e+01] [-1.01538226e-01 9.94830894e-01 -1.21710935e-03 -5.21298779e+00] [-1.06002790e-02 1.41438538e-04 9.99943805e-01 -9.30079074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:-5.22, Z:-0.92 [[ 9.94668045e-01 1.02589355e-01 1.05311183e-02 7.70529528e+01] [-1.02582217e-01 9.94723784e-01 -1.21715543e-03 -5.22032810e+00] [-1.06004211e-02 1.30360142e-04 9.99943805e-01 -9.24628988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:-5.23, Z:-0.93 [[ 9.94549956e-01 1.03727908e-01 1.05311592e-02 7.71123231e+01] [-1.03720838e-01 9.94605704e-01 -1.21680167e-03 -5.22714471e+00] [-1.06005673e-02 1.17869390e-04 9.99943805e-01 -9.27245329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:-5.23, Z:-0.93 [[ 9.94179713e-01 1.07218434e-01 1.05311862e-02 7.71716292e+01] [-1.07211562e-01 9.94235486e-01 -1.21656826e-03 -5.23211242e+00] [-1.06009175e-02 8.04225603e-05 9.99943805e-01 -9.28306786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:-5.24, Z:-0.93 [[ 9.94051897e-01 1.08397046e-01 1.05312141e-02 7.72293131e+01] [-1.08390243e-01 9.94107678e-01 -1.21632679e-03 -5.24059864e+00] [-1.06010070e-02 6.76111022e-05 9.99943805e-01 -9.33029949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:-5.25, Z:-0.93 [[ 9.94245756e-01 1.06604270e-01 1.05312553e-02 7.72874219e+01] [-1.06597370e-01 9.94301525e-01 -1.21596948e-03 -5.24835611e+00] [-1.06008708e-02 8.63683765e-05 9.99943805e-01 -9.34625656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:-5.26, Z:-0.93 [[ 9.94251145e-01 1.06553984e-01 1.05313077e-02 7.73466756e+01] [-1.06547086e-01 9.94306915e-01 -1.21551529e-03 -5.25527991e+00] [-1.06008701e-02 8.64473219e-05 9.99943805e-01 -9.34205070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:-5.26, Z:-0.93 [[ 9.94189491e-01 1.07127715e-01 1.05313347e-02 7.74060625e+01] [-1.07120852e-01 9.94245265e-01 -1.21528186e-03 -5.26115501e+00] [-1.06009200e-02 8.00949070e-05 9.99943805e-01 -9.33691254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.27, Z:-0.93 [[ 9.93902566e-01 1.09757822e-01 1.05313633e-02 7.74648873e+01] [-1.09751109e-01 9.93958358e-01 -1.21503364e-03 -5.26758867e+00] [-1.06010960e-02 5.17962575e-05 9.99943805e-01 -9.33278138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:-5.27, Z:-0.94 [[ 9.93584258e-01 1.12602898e-01 1.05313925e-02 7.75232151e+01] [-1.12596347e-01 9.93640069e-01 -1.21478033e-03 -5.27063397e+00] [-1.06012014e-02 2.11902852e-05 9.99943805e-01 -9.35645265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:-5.28, Z:-0.94 [[ 9.93678436e-01 1.11768754e-01 1.05314359e-02 7.75819599e+01] [-1.11762160e-01 9.93734243e-01 -1.21440437e-03 -5.27546784e+00] [-1.06011809e-02 2.97114149e-05 9.99943805e-01 -9.35893962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:-5.28, Z:-0.94 [[ 9.94271079e-01 1.06367797e-01 1.05314933e-02 7.76411126e+01] [-1.06360906e-01 9.94326850e-01 -1.21390642e-03 -5.28451409e+00] [-1.06008671e-02 8.68128767e-05 9.99943805e-01 -9.35636060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:-5.30, Z:-0.94 [[ 9.94689823e-01 1.02377942e-01 1.05315075e-02 7.77009003e+01] [-1.02370828e-01 9.94745566e-01 -1.21378327e-03 -5.29568159e+00] [-1.06004350e-02 1.29218717e-04 9.99943805e-01 -9.36730983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:-5.31, Z:-0.93 [[ 9.94808403e-01 1.01219207e-01 1.05315075e-02 7.77597839e+01] [-1.01212028e-01 9.94864138e-01 -1.21378327e-03 -5.30920852e+00] [-1.06002773e-02 1.41566566e-04 9.99943805e-01 -9.34709839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.82, Y:-5.32, Z:-0.94 [[ 9.94648476e-01 1.02778867e-01 1.05315363e-02 7.78182758e+01] [-1.02771778e-01 9.94704222e-01 -1.21353334e-03 -5.31940623e+00] [-1.06004892e-02 1.24694378e-04 9.99943805e-01 -9.40075634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-5.33, Z:-0.94 [[ 9.94504082e-01 1.04166774e-01 1.05315505e-02 7.78767301e+01] [-1.04159765e-01 9.94559838e-01 -1.21340978e-03 -5.33202922e+00] [-1.06006541e-02 1.09777155e-04 9.99943805e-01 -9.42560336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-5.34, Z:-0.94 [[ 9.94479631e-01 1.04399946e-01 1.05315646e-02 7.79367711e+01] [-1.04392951e-01 9.94535389e-01 -1.21328778e-03 -5.34436030e+00] [-1.06006808e-02 1.07168890e-04 9.99943805e-01 -9.40371458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:-5.35, Z:-0.94 [[ 9.94020655e-01 1.08683135e-01 1.05315353e-02 7.79961818e+01] [-1.08676377e-01 9.94076442e-01 -1.21354135e-03 -5.35268960e+00] [-1.06010427e-02 6.17560565e-05 9.99943805e-01 -9.37831591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.05, Y:-5.36, Z:-0.94 [[ 9.93597816e-01 1.12483183e-01 1.05315499e-02 7.80548655e+01] [-1.12476639e-01 9.93653628e-01 -1.21341534e-03 -5.35928437e+00] [-1.06012015e-02 2.10934948e-05 9.99943805e-01 -9.35392973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:-5.36, Z:-0.94 [[ 9.93028389e-01 1.17404022e-01 1.05315798e-02 7.81132481e+01] [-1.17397758e-01 9.93084233e-01 -1.21315580e-03 -5.36094825e+00] [-1.06011752e-02 -3.16857024e-05 9.99943805e-01 -9.40202680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:-5.36, Z:-0.95 [[ 9.92578924e-01 1.21145219e-01 1.05316216e-02 7.81723618e+01] [-1.21139170e-01 9.92634792e-01 -1.21279229e-03 -5.36278040e+00] [-1.06009780e-02 -7.19998314e-05 9.99943805e-01 -9.45905072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:-5.36, Z:-0.94 [[ 9.92275800e-01 1.23603478e-01 1.05316789e-02 7.82304205e+01] [-1.23597572e-01 9.92331684e-01 -1.21229467e-03 -5.36363509e+00] [-1.06007625e-02 -9.87592793e-05 9.99943805e-01 -9.40214834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:-5.36, Z:-0.95 [[ 9.92188343e-01 1.24303560e-01 1.05317495e-02 7.82891401e+01] [-1.24297700e-01 9.92244231e-01 -1.21168125e-03 -5.36324871e+00] [-1.06006839e-02 -1.06856223e-04 9.99943805e-01 -9.45518576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:-5.37, Z:-0.95 [[ 9.92549967e-01 1.21382224e-01 1.05318052e-02 7.83482145e+01] [-1.21376205e-01 9.92605838e-01 -1.21119658e-03 -5.36721992e+00] [-1.06009491e-02 -7.61374192e-05 9.99943805e-01 -9.48427974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-5.37, Z:-0.95 [[ 9.93170853e-01 1.16192670e-01 1.05318620e-02 7.84069615e+01] [-1.16186364e-01 9.93226693e-01 -1.21070265e-03 -5.37186480e+00] [-1.06012012e-02 -2.12241640e-05 9.99943805e-01 -9.47096760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-5.38, Z:-0.94 [[ 9.94147506e-01 1.07516584e-01 1.05319188e-02 7.84652846e+01] [-1.07509796e-01 9.94203289e-01 -1.21020814e-03 -5.37846980e+00] [-1.06009858e-02 7.08409637e-05 9.99943805e-01 -9.43032569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:-5.39, Z:-0.94 [[ 9.94679535e-01 1.02477806e-01 1.05319608e-02 7.85239445e+01] [-1.02470739e-01 9.94735283e-01 -1.20984247e-03 -5.38704334e+00] [-1.06004950e-02 1.24187737e-04 9.99943805e-01 -9.42240889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.58, Y:-5.40, Z:-0.94 [[ 9.95056135e-01 9.87540615e-02 1.05319894e-02 7.85824523e+01] [-9.87467889e-02 9.95111857e-01 -1.20959372e-03 -5.39742913e+00] [-1.05999598e-02 1.63613514e-04 9.99943805e-01 -9.41509052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.64, Y:-5.41, Z:-0.95 [[ 9.95228656e-01 9.69999978e-02 1.05320185e-02 7.86422953e+01] [-9.69926296e-02 9.95284365e-01 -1.20934038e-03 -5.40871893e+00] [-1.05996593e-02 1.82042038e-04 9.99943805e-01 -9.46518747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.70, Y:-5.42, Z:-0.95 [[ 9.95425342e-01 9.49603362e-02 1.05320041e-02 7.87022161e+01] [-9.49528526e-02 9.95481036e-01 -1.20946547e-03 -5.42333854e+00] [-1.05992616e-02 2.03888744e-04 9.99943805e-01 -9.50926465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.76, Y:-5.44, Z:-0.95 [[ 9.95565656e-01 9.34778164e-02 1.05319762e-02 7.87620678e+01] [-9.34702473e-02 9.95621338e-01 -1.20970839e-03 -5.43691302e+00] [-1.05989412e-02 2.19917703e-04 9.99943805e-01 -9.52213145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:-5.45, Z:-0.95 [[ 9.95574148e-01 9.33873356e-02 1.05319476e-02 7.88214006e+01] [-9.33797588e-02 9.95629829e-01 -1.20995759e-03 -5.45392619e+00] [-1.05989159e-02 2.21131770e-04 9.99943805e-01 -9.49950633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:-5.47, Z:-0.95 [[ 9.95323757e-01 9.60192726e-02 1.05317628e-02 7.88821019e+01] [-9.60118260e-02 9.95379456e-01 -1.21156389e-03 -5.47014584e+00] [-1.05994338e-02 1.94724547e-04 9.99943805e-01 -9.53614895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.94, Y:-5.49, Z:-0.96 [[ 9.94814411e-01 1.01160135e-01 1.05315657e-02 7.89418195e+01] [-1.01152959e-01 9.94870146e-01 -1.21327471e-03 -5.48795919e+00] [-1.06002753e-02 1.41684134e-04 9.99943805e-01 -9.57524816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:-5.50, Z:-0.95 [[ 9.94133902e-01 1.07642340e-01 1.05314535e-02 7.90022389e+01] [-1.07635517e-01 9.94189681e-01 -1.21424824e-03 -5.50169307e+00] [-1.06009669e-02 7.35669088e-05 9.99943805e-01 -9.52443114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.06, Y:-5.51, Z:-0.95 [[ 9.93284068e-01 1.15220889e-01 1.05312730e-02 7.90637051e+01] [-1.15214474e-01 9.93339895e-01 -1.21581126e-03 -5.50851927e+00] [-1.06012205e-02 -5.70912835e-06 9.99943805e-01 -9.50998038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.12, Y:-5.51, Z:-0.96 [[ 9.92587166e-01 1.21077703e-01 1.05312454e-02 7.91241991e+01] [-1.21071616e-01 9.92643030e-01 -1.21605066e-03 -5.51280271e+00] [-1.06010039e-02 -6.79986163e-05 9.99943805e-01 -9.56538268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:-5.51, Z:-0.96 [[ 9.92184049e-01 1.24337866e-01 1.05312454e-02 7.91837874e+01] [-1.24331962e-01 9.92239933e-01 -1.21605066e-03 -5.51331605e+00] [-1.06007233e-02 -1.02824335e-04 9.99943805e-01 -9.55997951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:-5.51, Z:-0.96 [[ 9.92391695e-01 1.22669539e-01 1.05312590e-02 7.92444081e+01] [-1.22663542e-01 9.92447569e-01 -1.21593237e-03 -5.51374455e+00] [-1.06008803e-02 -8.51203457e-05 9.99943805e-01 -9.56289914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-5.52, Z:-0.96 [[ 9.92499489e-01 1.21794320e-01 1.05312590e-02 7.93050082e+01] [-1.21788274e-01 9.92555358e-01 -1.21593237e-03 -5.51772741e+00] [-1.06009512e-02 -7.57716040e-05 9.99943805e-01 -9.58860223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:-5.52, Z:-0.96 [[ 9.92489189e-01 1.21878227e-01 1.05312590e-02 7.93643582e+01] [-1.21872186e-01 9.92545058e-01 -1.21593237e-03 -5.51876268e+00] [-1.06009448e-02 -7.66678263e-05 9.99943805e-01 -9.56045367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-5.52, Z:-0.96 [[ 9.92539311e-01 1.21469366e-01 1.05312991e-02 7.94238484e+01] [-1.21463306e-01 9.92595178e-01 -1.21558543e-03 -5.52109358e+00] [-1.06009731e-02 -7.26500689e-05 9.99943805e-01 -9.58945452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-5.53, Z:-0.96 [[ 9.92855063e-01 1.18860903e-01 1.05313251e-02 7.94832020e+01] [-1.18854698e-01 9.92910914e-01 -1.21535959e-03 -5.52582306e+00] [-1.06011264e-02 -4.50215505e-05 9.99943805e-01 -9.61858662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-5.53, Z:-0.96 [[ 9.92899620e-01 1.18488123e-01 1.05313510e-02 7.95425390e+01] [-1.18481900e-01 9.92955469e-01 -1.21513497e-03 -5.53069499e+00] [-1.06011417e-02 -4.12674223e-05 9.99943805e-01 -9.55074077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:-5.54, Z:-0.96 [[ 9.93017702e-01 1.17494402e-01 1.05313804e-02 7.96020112e+01] [-1.17488125e-01 9.93073544e-01 -1.21488018e-03 -5.53801787e+00] [-1.06011769e-02 -3.09146161e-05 9.99943805e-01 -9.58309272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:-5.55, Z:-0.96 [[ 9.93286496e-01 1.15199945e-01 1.05313950e-02 7.96608848e+01] [-1.15193540e-01 9.93342324e-01 -1.21475429e-03 -5.54873166e+00] [-1.06012200e-02 -6.54963348e-06 9.99943805e-01 -9.58737376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:-5.56, Z:-0.96 [[ 9.93712131e-01 1.11468786e-01 1.05314204e-02 7.97203231e+01] [-1.11462174e-01 9.93767935e-01 -1.21453351e-03 -5.55978989e+00] [-1.06011705e-02 3.30416681e-05 9.99943805e-01 -9.56634840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:-5.57, Z:-0.96 [[ 9.93721340e-01 1.11386655e-01 1.05314204e-02 7.97801943e+01] [-1.11380039e-01 9.93777144e-01 -1.21453351e-03 -5.57072339e+00] [-1.06011677e-02 3.39178522e-05 9.99943805e-01 -9.58045273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:-5.58, Z:-0.95 [[ 9.93541579e-01 1.12978848e-01 1.05314063e-02 7.98411415e+01] [-1.12972319e-01 9.93597393e-01 -1.21465595e-03 -5.58107727e+00] [-1.06012083e-02 1.70537985e-05 9.99943805e-01 -9.54817937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:-5.59, Z:-0.96 [[ 9.93449416e-01 1.13786414e-01 1.05313777e-02 7.99004014e+01] [-1.13779929e-01 9.93505235e-01 -1.21490424e-03 -5.59406539e+00] [-1.06012184e-02 8.68651199e-06 9.99943805e-01 -9.57492824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.405769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:79.96, Y:-5.61, Z:-0.96 [[ 9.93938778e-01 1.09429408e-01 1.05313635e-02 7.99621547e+01] [-1.09422677e-01 9.93994568e-01 -1.21502676e-03 -5.61078169e+00] [-1.06010778e-02 5.52922308e-05 9.99943805e-01 -9.60484919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:80.02, Y:-5.63, Z:-0.96 [[ 9.93980027e-01 1.09054124e-01 1.05311272e-02 8.00230092e+01] [-1.09047349e-01 9.94035811e-01 -1.21707193e-03 -5.62836052e+00] [-1.06010443e-02 6.13536836e-05 9.99943805e-01 -9.63885924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-5.64, Z:-0.96 [[ 9.93470478e-01 1.13602424e-01 1.05308928e-02 8.00850678e+01] [-1.13595883e-01 9.93526290e-01 -1.21909674e-03 -5.64249056e+00] [-1.06012112e-02 1.48705544e-05 9.99943805e-01 -9.63921584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:-5.65, Z:-0.96 [[ 9.92817082e-01 1.19177797e-01 1.05306638e-02 8.01461681e+01] [-1.19171549e-01 9.92872928e-01 -1.22107123e-03 -5.65213530e+00] [-1.06011356e-02 -4.26551402e-05 9.99943805e-01 -9.64031967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:-5.66, Z:-0.97 [[ 9.91534214e-01 1.29417976e-01 1.05304507e-02 8.02067390e+01] [-1.29412285e-01 9.91590119e-01 -1.22290667e-03 -5.65809558e+00] [-1.06001569e-02 -1.50215889e-04 9.99943805e-01 -9.67375277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:-5.66, Z:-0.96 [[ 9.90204567e-01 1.39226524e-01 1.05304220e-02 8.02670367e+01] [-1.39221384e-01 9.90260526e-01 -1.22315346e-03 -5.65610599e+00] [-1.05981566e-02 -2.54887781e-04 9.99943805e-01 -9.64505589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.765769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:80.33, Y:-5.66, Z:-0.96 [[ 9.89798075e-01 1.42087579e-01 1.05304361e-02 8.03275603e+01] [-1.42082603e-01 9.89854049e-01 -1.22303188e-03 -5.65849212e+00] [-1.05973725e-02 -2.85637173e-04 9.99943805e-01 -9.63239779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:80.39, Y:-5.65, Z:-0.97 [[ 9.89056172e-01 1.47163171e-01 1.05304361e-02 8.03864378e+01] [-1.47158481e-01 9.89112170e-01 -1.22303188e-03 -5.64903487e+00] [-1.05957678e-02 -3.39995758e-04 9.99943805e-01 -9.66496239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:80.45, Y:-5.64, Z:-0.97 [[ 9.89241163e-01 1.45914462e-01 1.05305069e-02 8.04460679e+01] [-1.45909708e-01 9.89297156e-01 -1.22242179e-03 -5.64233488e+00] [-1.05961696e-02 -3.27233238e-04 9.99943805e-01 -9.68852581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:-5.64, Z:-0.97 [[ 9.89944084e-01 1.41066712e-01 1.05305635e-02 8.05059672e+01] [-1.41061689e-01 9.90000054e-01 -1.22193434e-03 -5.63744396e+00] [-1.05976327e-02 -2.75812406e-04 9.99943805e-01 -9.68636326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.63, Z:-0.96 [[ 9.90219504e-01 1.39120235e-01 1.05306201e-02 8.05648443e+01] [-1.39115108e-01 9.90275464e-01 -1.22144659e-03 -5.63343945e+00] [-1.05981426e-02 -2.55468115e-04 9.99943805e-01 -9.64707641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.63, Z:-0.97 [[ 9.90163056e-01 1.39521422e-01 1.05306903e-02 8.06234965e+01] [-1.39516323e-01 9.90219019e-01 -1.22084131e-03 -5.63464395e+00] [-1.05980233e-02 -2.60371223e-04 9.99943805e-01 -9.65039487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:-5.64, Z:-0.97 [[ 9.90464599e-01 1.37364414e-01 1.05307460e-02 8.06812508e+01] [-1.37359199e-01 9.90520551e-01 -1.22036065e-03 -5.63550575e+00] [-1.05985544e-02 -2.37770802e-04 9.99943805e-01 -9.65819554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:-5.64, Z:-0.97 [[ 9.91048669e-01 1.33085080e-01 1.05308149e-02 8.07405381e+01] [-1.33079630e-01 9.91104598e-01 -1.21976498e-03 -5.63685173e+00] [-1.05994716e-02 -1.92590490e-04 9.99943805e-01 -9.68117518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-5.64, Z:-0.97 [[ 9.91844665e-01 1.27016775e-01 1.05308696e-02 8.07991219e+01] [-1.27010988e-01 9.91900561e-01 -1.21929321e-03 -5.64172147e+00] [-1.06004461e-02 -1.28186682e-04 9.99943805e-01 -9.68570917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:80.86, Y:-5.65, Z:-0.97 [[ 9.92350590e-01 1.23001650e-01 1.05309264e-02 8.08566853e+01] [-1.22995641e-01 9.92406462e-01 -1.21880240e-03 -5.64787707e+00] [-1.06008741e-02 -8.57787572e-05 9.99943805e-01 -9.67395030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-5.65, Z:-0.97 [[ 9.92727501e-01 1.19921673e-01 1.05309967e-02 8.09146774e+01] [-1.19915497e-01 9.92783355e-01 -1.21819481e-03 -5.65421442e+00] [-1.06010862e-02 -5.34942140e-05 9.99943805e-01 -9.70901268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42576923099999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.66, Z:-0.97 [[ 9.93159078e-01 1.16293348e-01 1.05310522e-02 8.09723783e+01] [-1.16286974e-01 9.93214910e-01 -1.21771413e-03 -5.66283727e+00] [-1.06012102e-02 -1.52403488e-05 9.99943805e-01 -9.74758269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-5.68, Z:-0.98 [[ 9.93868337e-01 1.10067362e-01 1.05311122e-02 8.10302687e+01] [-1.10060644e-01 9.93924128e-01 -1.21719499e-03 -5.67611811e+00] [-1.06011000e-02 5.06705696e-05 9.99943805e-01 -9.79394237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:81.09, Y:-5.69, Z:-0.97 [[ 9.94264865e-01 1.06425904e-01 1.05311270e-02 8.10898495e+01] [-1.06418982e-01 9.94320632e-01 -1.21706712e-03 -5.69016560e+00] [-1.06008443e-02 8.93752558e-05 9.99943805e-01 -9.72549260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:81.15, Y:-5.70, Z:-0.97 [[ 9.94246690e-01 1.06595567e-01 1.05311270e-02 8.11492104e+01] [-1.06588654e-01 9.94302458e-01 -1.21706712e-03 -5.69976289e+00] [-1.06008594e-02 8.75662942e-05 9.99943805e-01 -9.73879990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:-5.71, Z:-0.97 [[ 9.93547268e-01 1.12928831e-01 1.05311556e-02 8.12087756e+01] [-1.12922277e-01 9.93603079e-01 -1.21681965e-03 -5.70595034e+00] [-1.06012027e-02 1.97657637e-05 9.99943805e-01 -9.73642016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:-5.71, Z:-0.98 [[ 9.93372712e-01 1.14454132e-01 1.05311855e-02 8.12673333e+01] [-1.14447666e-01 9.93428534e-01 -1.21656120e-03 -5.71034180e+00] [-1.06012206e-02 3.22910272e-06 9.99943805e-01 -9.75649234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:-5.72, Z:-0.98 [[ 9.93888829e-01 1.09882156e-01 1.05312170e-02 8.13259327e+01] [-1.09875437e-01 9.93944621e-01 -1.21628816e-03 -5.71582739e+00] [-1.06010949e-02 5.17331513e-05 9.99943805e-01 -9.75926712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:-5.72, Z:-0.98 [[ 9.94405503e-01 1.05103698e-01 1.05312591e-02 8.13861861e+01] [-1.05096714e-01 9.94461262e-01 -1.21592328e-03 -5.72045161e+00] [-1.06007273e-02 1.02320072e-04 9.99943805e-01 -9.76907861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.905769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:-5.73, Z:-0.98 [[ 9.94659559e-01 1.02671585e-01 1.05312591e-02 8.14453086e+01] [-1.02664465e-01 9.94715301e-01 -1.21592328e-03 -5.72516920e+00] [-1.06004454e-02 1.28243636e-04 9.99943805e-01 -9.78872351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:-5.73, Z:-0.98 [[ 9.94884851e-01 1.00465046e-01 1.05312875e-02 8.15046916e+01] [-1.00457805e-01 9.94940577e-01 -1.21567758e-03 -5.73216520e+00] [-1.06001384e-02 1.51509183e-04 9.99943805e-01 -9.78201444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:-5.74, Z:-0.98 [[ 9.95111536e-01 9.81943065e-02 1.05313156e-02 8.15643511e+01] [-9.81869407e-02 9.95167246e-01 -1.21543389e-03 -5.73934416e+00] [-1.05997690e-02 1.75454624e-04 9.99943805e-01 -9.79676400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:-5.75, Z:-0.98 [[ 9.95163926e-01 9.76619270e-02 1.05313440e-02 8.16234830e+01] [-9.76545340e-02 9.95219632e-01 -1.21518812e-03 -5.74508940e+00] [-1.05996779e-02 1.80877886e-04 9.99943805e-01 -9.81772566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14576923099999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:-5.75, Z:-0.98 [[ 9.94768144e-01 1.01614123e-01 1.05313724e-02 8.16815601e+01] [-1.01606954e-01 9.94823879e-01 -1.21494137e-03 -5.75108132e+00] [-1.06003160e-02 1.38524300e-04 9.99943805e-01 -9.81425476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20576923099999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:-5.76, Z:-0.98 [[ 9.94525889e-01 1.03958384e-01 1.05314144e-02 8.17409836e+01] [-1.03951350e-01 9.94581642e-01 -1.21457723e-03 -5.75539206e+00] [-1.06006169e-02 1.13173753e-04 9.99943805e-01 -9.81537616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.265769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:-5.76, Z:-0.98 [[ 9.94711583e-01 1.02166316e-01 1.05314427e-02 8.18001040e+01] [-1.02159184e-01 9.94767323e-01 -1.21433226e-03 -5.76332695e+00] [-1.06003989e-02 1.32026771e-04 9.99943805e-01 -9.78492945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.78, Z:-0.98 [[ 9.95183229e-01 9.74650162e-02 1.05314710e-02 8.18587123e+01] [-9.74576239e-02 9.95238935e-01 -1.21408626e-03 -5.77522900e+00] [-1.05996610e-02 1.81866142e-04 9.99943805e-01 -9.79446946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.79, Z:-0.98 [[ 9.95450267e-01 9.46987559e-02 1.05314993e-02 8.19178402e+01] [-9.46912114e-02 9.95505952e-01 -1.21384114e-03 -5.78869294e+00] [-1.05991195e-02 2.11078059e-04 9.99943805e-01 -9.82861311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:-5.81, Z:-0.98 [[ 9.95607088e-01 9.30355525e-02 1.05314993e-02 8.19769889e+01] [-9.30279150e-02 9.95662761e-01 -1.21384114e-03 -5.80655398e+00] [-1.05987521e-02 2.28785420e-04 9.99943805e-01 -9.81554599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:-5.83, Z:-0.98 [[ 9.95538729e-01 9.37642161e-02 1.05313815e-02 8.20377009e+01] [-9.37566085e-02 9.95594407e-01 -1.21486245e-03 -5.82592065e+00] [-1.05988951e-02 2.22056008e-04 9.99943805e-01 -9.76968793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:-5.84, Z:-0.98 [[ 9.95181756e-01 9.74800811e-02 1.05311794e-02 8.20971883e+01] [-9.74726630e-02 9.95237459e-01 -1.21661144e-03 -5.83946793e+00] [-1.05996196e-02 1.84247407e-04 9.99943805e-01 -9.84731311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:-5.85, Z:-0.98 [[ 9.94549033e-01 1.03736770e-01 1.05311128e-02 8.21576278e+01] [-1.03729696e-01 9.94604780e-01 -1.21718827e-03 -5.84969786e+00] [-1.06005623e-02 1.18164288e-04 9.99943805e-01 -9.84546256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:-5.86, Z:-0.99 [[ 9.94320151e-01 1.05908152e-01 1.05309283e-02 8.22183108e+01] [-1.05901183e-01 9.94375912e-01 -1.21878225e-03 -5.85650742e+00] [-1.06007804e-02 9.66219800e-05 9.99943805e-01 -9.85865787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:-5.86, Z:-0.99 [[ 9.93707533e-01 1.11509816e-01 1.05308994e-02 8.22784788e+01] [-1.11503159e-01 9.93763332e-01 -1.21903144e-03 -5.86196282e+00] [-1.06011557e-02 3.71321700e-05 9.99943805e-01 -9.88875003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:-5.87, Z:-0.99 [[ 9.93374022e-01 1.14442794e-01 1.05308851e-02 8.23386339e+01] [-1.14436300e-01 9.93429840e-01 -1.21915515e-03 -5.86586030e+00] [-1.06012190e-02 5.96153023e-06 9.99943805e-01 -9.90511469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:-5.87, Z:-0.99 [[ 9.93165955e-01 1.16234614e-01 1.05308851e-02 8.23980411e+01] [-1.16228221e-01 9.93221785e-01 -1.21915515e-03 -5.86870521e+00] [-1.06012125e-02 -1.31626461e-05 9.99943805e-01 -9.91364070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92576923099999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:-5.87, Z:-0.99 [[ 9.93277400e-01 1.15278386e-01 1.05309137e-02 8.24574735e+01] [-1.15271942e-01 9.93333224e-01 -1.21890836e-03 -5.87155479e+00] [-1.06012202e-02 -3.20474530e-06 9.99943805e-01 -9.89607277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98576923099999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-5.88, Z:-0.99 [[ 9.93837002e-01 1.10349959e-01 1.05309034e-02 8.25172946e+01] [-1.10343237e-01 9.93892793e-01 -1.21899687e-03 -5.87737879e+00] [-1.06011053e-02 4.94702191e-05 9.99943805e-01 -9.89958666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-5.89, Z:-0.99 [[ 9.94870948e-01 1.00602669e-01 1.05309034e-02 8.25782428e+01] [-1.00595400e-01 9.94926670e-01 -1.21899687e-03 -5.89013168e+00] [-1.06001110e-02 1.53384126e-04 9.99943805e-01 -9.89846900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-5.91, Z:-0.99 [[ 9.95862405e-01 9.02617016e-02 1.05307035e-02 8.26383882e+01] [-9.02538362e-02 9.95918046e-01 -1.22072182e-03 -5.90799065e+00] [-1.05979021e-02 2.65234578e-04 9.99943805e-01 -9.90591206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-5.93, Z:-0.99 [[ 9.96174958e-01 8.67442374e-02 1.05304904e-02 8.26998214e+01] [-8.67361562e-02 9.96230568e-01 -1.22255754e-03 -5.92523744e+00] [-1.05968462e-02 3.04506953e-04 9.99943805e-01 -9.93437356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-5.95, Z:-0.99 [[ 9.96245790e-01 8.59269456e-02 1.05302592e-02 8.27608259e+01] [-8.59187978e-02 9.96301390e-01 -1.22454540e-03 -5.94798766e+00] [-1.05965333e-02 3.15200988e-04 9.99943805e-01 -9.93448941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-5.97, Z:-0.99 [[ 9.96258454e-01 8.57800139e-02 1.05300262e-02 8.28208024e+01] [-8.57718368e-02 9.96314051e-01 -1.22654583e-03 -5.96948061e+00] [-1.05964262e-02 3.18776966e-04 9.99943805e-01 -9.92584739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-5.99, Z:-0.99 [[ 9.96340537e-01 8.48213288e-02 1.05298098e-02 8.28818083e+01] [-8.48130786e-02 9.96396122e-01 -1.22840091e-03 -5.98719402e+00] [-1.05960562e-02 3.30840043e-04 9.99943805e-01 -9.92096029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.405769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-6.00, Z:-0.99 [[ 9.96262263e-01 8.57358271e-02 1.05295802e-02 8.29422588e+01] [-8.57276072e-02 9.96317853e-01 -1.23036562e-03 -6.00418819e+00] [-1.05962951e-02 3.23091120e-04 9.99943805e-01 -9.93200755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-6.02, Z:-0.99 [[ 9.95558189e-01 9.35576023e-02 1.05293665e-02 8.30048398e+01] [-9.35498000e-02 9.95613839e-01 -1.23219199e-03 -6.01537127e+00] [-1.05984639e-02 2.41698698e-04 9.99943805e-01 -9.91774268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:-6.02, Z:-0.99 [[ 9.94861593e-01 1.00695319e-01 1.05291410e-02 8.30671121e+01] [-1.00687896e-01 9.94917295e-01 -1.23411548e-03 -6.02471544e+00] [-1.05998942e-02 1.67617046e-04 9.99943805e-01 -9.91975763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:-6.03, Z:-1.00 [[ 9.94082091e-01 1.08120020e-01 1.05289162e-02 8.31296702e+01] [-1.08112992e-01 9.94137844e-01 -1.23603089e-03 -6.03062742e+00] [-1.06008337e-02 9.04035408e-05 9.99943805e-01 -9.95036669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:-6.04, Z:-1.00 [[ 9.93599407e-01 1.12469399e-01 1.05286837e-02 8.31921976e+01] [-1.12462594e-01 9.93655188e-01 -1.23800776e-03 -6.03792601e+00] [-1.06011192e-02 4.60006888e-05 9.99943805e-01 -9.97896999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:-6.04, Z:-1.00 [[ 9.93535347e-01 1.13033916e-01 1.05284387e-02 8.32542498e+01] [-1.13027121e-01 9.93591129e-01 -1.24008799e-03 -6.04443192e+00] [-1.06011353e-02 4.20721351e-05 9.99943806e-01 -1.00099537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.765769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:83.32, Y:-6.05, Z:-1.00 [[ 9.93548056e-01 1.12922174e-01 1.05282112e-02 8.33170366e+01] [-1.12915352e-01 9.93603835e-01 -1.24201637e-03 -6.05422662e+00] [-1.06011222e-02 4.52062707e-05 9.99943806e-01 -1.00000078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:-6.07, Z:-1.00 [[ 9.93718204e-01 1.11414953e-01 1.05279756e-02 8.33787482e+01] [-1.11408026e-01 9.93773970e-01 -1.24401032e-03 -6.06511974e+00] [-1.06010295e-02 6.32947231e-05 9.99943806e-01 -9.96053524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.44, Y:-6.07, Z:-0.99 [[ 9.93564343e-01 1.12778823e-01 1.05277513e-02 8.34411211e+01] [-1.12771953e-01 9.93620116e-01 -1.24590586e-03 -6.07372296e+00] [-1.06010972e-02 5.06525714e-05 9.99943806e-01 -9.94083613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:-6.08, Z:-1.00 [[ 9.93255312e-01 1.15468854e-01 1.05275084e-02 8.35030366e+01] [-1.15462112e-01 9.93311101e-01 -1.24795498e-03 -6.07832437e+00] [-1.06011908e-02 2.40095559e-05 9.99943806e-01 -9.95928206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:-6.09, Z:-1.00 [[ 9.93399748e-01 1.14219601e-01 1.05272833e-02 8.35653371e+01] [-1.14212769e-01 9.93455526e-01 -1.24985043e-03 -6.08507979e+00] [-1.06011452e-02 3.92509258e-05 9.99943806e-01 -9.97452616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:-6.09, Z:-1.00 [[ 9.93877379e-01 1.09986079e-01 1.05270439e-02 8.36267801e+01] [-1.09978989e-01 9.93933124e-01 -1.25186390e-03 -6.09243744e+00] [-1.06008652e-02 8.64455743e-05 9.99943806e-01 -9.99903183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:-6.10, Z:-1.00 [[ 9.93880914e-01 1.09954144e-01 1.05268205e-02 8.36881685e+01] [-1.09947032e-01 9.93936657e-01 -1.25373954e-03 -6.10008759e+00] [-1.06008466e-02 8.86751301e-05 9.99943806e-01 -1.00062760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:-6.10, Z:-1.00 [[ 9.93379797e-01 1.14393053e-01 1.05266013e-02 8.37498665e+01] [-1.14386170e-01 9.93435568e-01 -1.25557679e-03 -6.10487176e+00] [-1.06011295e-02 4.31670018e-05 9.99943806e-01 -1.00165034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:-6.11, Z:-1.00 [[ 9.92841785e-01 1.18972199e-01 1.05263853e-02 8.38130964e+01] [-1.18965555e-01 9.92897586e-01 -1.25738582e-03 -6.10719741e+00] [-1.06012165e-02 -3.89207733e-06 9.99943806e-01 -1.00218050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:-6.11, Z:-1.00 [[ 9.92795750e-01 1.19355766e-01 1.05261532e-02 8.38764269e+01] [-1.19349123e-01 9.92851550e-01 -1.25932569e-03 -6.10990402e+00] [-1.06012153e-02 -6.03395144e-06 9.99943806e-01 -1.00114174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:-6.11, Z:-1.00 [[ 9.92938680e-01 1.18160836e-01 1.05259163e-02 8.39386761e+01] [-1.18154104e-01 9.92994470e-01 -1.26130283e-03 -6.11064491e+00] [-1.06012132e-02 8.71616524e-06 9.99943806e-01 -1.00256564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:-6.11, Z:-0.99 [[ 9.92748303e-01 1.19749798e-01 1.05257696e-02 8.40020719e+01] [-1.19743143e-01 9.92804102e-01 -1.26252570e-03 -6.11025316e+00] [-1.06012144e-02 -7.01848033e-06 9.99943806e-01 -9.94919342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:-6.11, Z:-1.00 [[ 9.92689180e-01 1.20238951e-01 1.05255213e-02 8.40647398e+01] [-1.20232301e-01 9.92744980e-01 -1.26459207e-03 -6.11101515e+00] [-1.06012117e-02 -1.01607832e-05 9.99943806e-01 -1.00361926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:-6.12, Z:-1.01 [[ 9.92828771e-01 1.19080858e-01 1.05252896e-02 8.41267854e+01] [-1.19074122e-01 9.92884560e-01 -1.26651780e-03 -6.11563693e+00] [-1.06012156e-02 4.14569106e-06 9.99943806e-01 -1.00827785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:-6.12, Z:-1.01 [[ 9.92874578e-01 1.18698337e-01 1.05250825e-02 8.41894401e+01] [-1.18691562e-01 9.92930362e-01 -1.26823671e-03 -6.11839988e+00] [-1.06012115e-02 9.96150731e-06 9.99943806e-01 -1.00752763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:84.25, Y:-6.12, Z:-1.00 [[ 9.92860172e-01 1.18818797e-01 1.05248686e-02 8.42513738e+01] [-1.18812010e-01 9.92915955e-01 -1.27000874e-03 -6.11966517e+00] [-1.06012109e-02 1.04602946e-05 9.99943806e-01 -1.00195903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:-6.13, Z:-1.00 [[ 9.92979632e-01 1.17816309e-01 1.05246727e-02 8.43121566e+01] [-1.17809448e-01 9.93035406e-01 -1.27163063e-03 -6.12541287e+00] [-1.06011914e-02 2.27974275e-05 9.99943806e-01 -1.00448542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:-6.13, Z:-1.01 [[ 9.93305767e-01 1.15034294e-01 1.05244855e-02 8.43739827e+01] [-1.15027261e-01 9.93361519e-01 -1.27317779e-03 -6.13484639e+00] [-1.06010780e-02 5.40521031e-05 9.99943806e-01 -1.00746899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:-6.15, Z:-1.01 [[ 9.93371569e-01 1.14464694e-01 1.05242771e-02 8.44354606e+01] [-1.14457611e-01 9.93427315e-01 -1.27489810e-03 -6.14647350e+00] [-1.06010352e-02 6.18639107e-05 9.99943806e-01 -1.00589071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:-6.16, Z:-1.01 [[ 9.93334445e-01 1.14786432e-01 1.05240702e-02 8.44963009e+01] [-1.14779349e-01 9.93390191e-01 -1.27660391e-03 -6.15783477e+00] [-1.06010449e-02 6.01487173e-05 9.99943806e-01 -1.00721583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:84.56, Y:-6.17, Z:-1.01 [[ 9.93398101e-01 1.14234243e-01 1.05238508e-02 8.45566387e+01] [-1.14227109e-01 9.93453840e-01 -1.27841018e-03 -6.17242257e+00] [-1.06009982e-02 6.78611908e-05 9.99943806e-01 -1.01104525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.62, Y:-6.19, Z:-1.01 [[ 9.93778095e-01 1.10879898e-01 1.05236329e-02 8.46182990e+01] [-1.10872557e-01 9.93833808e-01 -1.28020149e-03 -6.18961965e+00] [-1.06006907e-02 1.05454110e-04 9.99943806e-01 -1.01126116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:-6.20, Z:-1.01 [[ 9.93931134e-01 1.09499588e-01 1.05233894e-02 8.46789650e+01] [-1.09492149e-01 9.93986834e-01 -1.28220000e-03 -6.20317318e+00] [-1.06005108e-02 1.22189983e-04 9.99943806e-01 -1.00917971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:-6.22, Z:-1.01 [[ 9.93854934e-01 1.10189072e-01 1.05232389e-02 8.47392001e+01] [-1.10181658e-01 9.93910637e-01 -1.28343352e-03 -6.22004997e+00] [-1.06005794e-02 1.16078823e-04 9.99943806e-01 -1.00729967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:-6.23, Z:-1.01 [[ 9.93083212e-01 1.16940156e-01 1.05230211e-02 8.48001125e+01] [-1.16933102e-01 9.93138962e-01 -1.28521699e-03 -6.23456883e+00] [-1.06011157e-02 4.58379225e-05 9.99943806e-01 -1.00911993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.86, Y:-6.25, Z:-1.01 [[ 9.92471203e-01 1.22025333e-01 1.05228114e-02 8.48619638e+01] [-1.22018547e-01 9.92526986e-01 -1.28693165e-03 -6.25072261e+00] [-1.06012125e-02 -6.73555334e-06 9.99943806e-01 -1.01217046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.92, Y:-6.26, Z:-1.01 [[ 9.92330378e-01 1.23165321e-01 1.05225666e-02 8.49230632e+01] [-1.23158578e-01 9.92386166e-01 -1.28893000e-03 -6.26176758e+00] [-1.06012010e-02 -1.68999464e-05 9.99943806e-01 -1.01272672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:-6.27, Z:-1.01 [[ 9.91635304e-01 1.28641770e-01 1.05223396e-02 8.49858863e+01] [-1.28635315e-01 9.91691126e-01 -1.29078045e-03 -6.27062862e+00] [-1.06009591e-02 -7.35610141e-05 9.99943806e-01 -1.01490193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:-6.27, Z:-1.01 [[ 9.90759230e-01 1.35223646e-01 1.05220904e-02 8.50487840e+01] [-1.35217540e-01 9.90815091e-01 -1.29280881e-03 -6.27376989e+00] [-1.06002643e-02 -1.41908924e-04 9.99943806e-01 -1.01474632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:-6.28, Z:-1.01 [[ 9.90190273e-01 1.39328797e-01 1.05218412e-02 8.51113935e+01] [-1.39322901e-01 9.90246158e-01 -1.29483374e-03 -6.27716570e+00] [-1.05996205e-02 -1.83801672e-04 9.99943806e-01 -1.01284508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:-6.28, Z:-1.01 [[ 9.90552104e-01 1.36732677e-01 1.05215941e-02 8.51736634e+01] [-1.36726614e-01 9.90607971e-01 -1.29683836e-03 -6.28026858e+00] [-1.06000952e-02 -1.53995972e-04 9.99943806e-01 -1.01252838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.24, Y:-6.29, Z:-1.02 [[ 9.91020182e-01 1.33297789e-01 1.05213653e-02 8.52366475e+01] [-1.33291513e-01 9.91076024e-01 -1.29869195e-03 -6.28518744e+00] [-1.06005857e-02 -1.15378764e-04 9.99943806e-01 -1.01582234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.30, Y:-6.29, Z:-1.02 [[ 9.91208269e-01 1.31891898e-01 1.05211218e-02 8.52994367e+01] [-1.31885521e-01 9.91264101e-01 -1.30066178e-03 -6.29226206e+00] [-1.06007571e-02 -9.83569286e-05 9.99943806e-01 -1.01832645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.36, Y:-6.30, Z:-1.02 [[ 9.91770982e-01 1.27591657e-01 1.05208785e-02 8.53616480e+01] [-1.27585017e-01 9.91826783e-01 -1.30262693e-03 -6.30205256e+00] [-1.06010934e-02 -5.03988759e-05 9.99943806e-01 -1.01878323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:-6.32, Z:-1.02 [[ 9.92523733e-01 1.21597518e-01 1.05206358e-02 8.54226484e+01] [-1.21590520e-01 9.92579490e-01 -1.30458409e-03 -6.31516331e+00] [-1.06012015e-02 1.56210922e-05 9.99943806e-01 -1.02023290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.48, Y:-6.33, Z:-1.02 [[ 9.92981138e-01 1.17803993e-01 1.05204097e-02 8.54846540e+01] [-1.17796763e-01 9.93036865e-01 -1.30640485e-03 -6.32761166e+00] [-1.06010544e-02 5.79651618e-05 9.99943806e-01 -1.02321513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.55, Y:-6.34, Z:-1.02 [[ 9.92875420e-01 1.18691730e-01 1.05201726e-02 8.55470364e+01] [-1.18684530e-01 9.92931151e-01 -1.30831174e-03 -6.33946432e+00] [-1.06010928e-02 5.04088232e-05 9.99943806e-01 -1.02126796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.61, Y:-6.35, Z:-1.02 [[ 9.92763787e-01 1.19621877e-01 1.05199258e-02 8.56091325e+01] [-1.19614708e-01 9.92819523e-01 -1.31029308e-03 -6.34983144e+00] [-1.06011274e-02 4.24736742e-05 9.99943806e-01 -1.02249306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:-6.36, Z:-1.02 [[ 9.92541650e-01 1.21451263e-01 1.05196741e-02 8.56701335e+01] [-1.21444175e-01 9.92597396e-01 -1.31231101e-03 -6.36334552e+00] [-1.06011829e-02 2.49701973e-05 9.99943806e-01 -1.02297179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.73, Y:-6.37, Z:-1.02 [[ 9.92030590e-01 1.25557352e-01 1.05195178e-02 8.57327456e+01] [-1.25550482e-01 9.92086363e-01 -1.31356202e-03 -6.37242173e+00] [-1.06011976e-02 -1.76368300e-05 9.99943806e-01 -1.02202285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.80, Y:-6.38, Z:-1.02 [[ 9.91303004e-01 1.31178118e-01 1.05192717e-02 8.57951600e+01] [-1.31171543e-01 9.91358813e-01 -1.31553006e-03 -6.38196764e+00] [-1.06009415e-02 -7.57401988e-05 9.99943806e-01 -1.02002272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.86, Y:-6.39, Z:-1.02 [[ 9.90258667e-01 1.38842074e-01 1.05190259e-02 8.58582067e+01] [-1.38835911e-01 9.90314523e-01 -1.31749280e-03 -6.38898888e+00] [-1.06000675e-02 -1.55759876e-04 9.99943806e-01 -1.01694367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:-6.40, Z:-1.02 [[ 9.89629383e-01 1.43258644e-01 1.05187730e-02 8.59203885e+01] [-1.43252708e-01 9.89685263e-01 -1.31950905e-03 -6.39507021e+00] [-1.05993057e-02 -2.01017792e-04 9.99943806e-01 -1.02425204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:-6.40, Z:-1.02 [[ 9.89059829e-01 1.47139441e-01 1.05185235e-02 8.59816776e+01] [-1.47133703e-01 9.89115730e-01 -1.32149436e-03 -6.40187507e+00] [-1.05984810e-02 -2.40592338e-04 9.99943806e-01 -1.02400101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:-6.41, Z:-1.03 [[ 9.88667317e-01 1.49754136e-01 1.05182914e-02 8.60443759e+01] [-1.49748526e-01 9.88723231e-01 -1.32333914e-03 -6.40547100e+00] [-1.05978546e-02 -2.66756487e-04 9.99943806e-01 -1.02693499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-6.41, Z:-1.03 [[ 9.88584729e-01 1.50298385e-01 1.05180456e-02 8.61071156e+01] [-1.50292786e-01 9.88640644e-01 -1.32529030e-03 -6.41276381e+00] [-1.05977564e-02 -2.70624622e-04 9.99943806e-01 -1.02799794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:-6.42, Z:-1.02 [[ 9.88470931e-01 1.51045011e-01 1.05177986e-02 8.61696642e+01] [-1.51039433e-01 9.88526847e-01 -1.32724726e-03 -6.41805141e+00] [-1.05976004e-02 -2.76657010e-04 9.99943806e-01 -1.02470340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:-6.42, Z:-1.03 [[ 9.88213256e-01 1.52721777e-01 1.05175502e-02 8.62316781e+01] [-1.52716273e-01 9.88269181e-01 -1.32921290e-03 -6.42401222e+00] [-1.05971705e-02 -2.92655261e-04 9.99943806e-01 -1.02668974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:-6.43, Z:-1.03 [[ 9.87590133e-01 1.56700719e-01 1.05173192e-02 8.62953214e+01] [-1.56695421e-01 9.87646077e-01 -1.33103851e-03 -6.42613761e+00] [-1.05959637e-02 -3.33495256e-04 9.99943806e-01 -1.03110005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70576923099999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:-6.43, Z:-1.03 [[ 9.87126020e-01 1.59598281e-01 1.05170749e-02 8.63575089e+01] [-1.59593126e-01 9.87181978e-01 -1.33296622e-03 -6.42506816e+00] [-1.05950059e-02 -3.62647219e-04 9.99943806e-01 -1.03031023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.765769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:-6.42, Z:-1.03 [[ 9.87408031e-01 1.57844151e-01 1.05168786e-02 8.64194412e+01] [-1.57838881e-01 9.87463977e-01 -1.33451247e-03 -6.42460610e+00] [-1.05956838e-02 -3.42264028e-04 9.99943806e-01 -1.02933281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:-6.43, Z:-1.03 [[ 9.88143261e-01 1.53174056e-01 1.05168479e-02 8.64814245e+01] [-1.53168518e-01 9.88199182e-01 -1.33475447e-03 -6.42849565e+00] [-1.05971903e-02 -2.91921382e-04 9.99943806e-01 -1.02971469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.54, Y:-6.43, Z:-1.03 [[ 9.89313648e-01 1.45423197e-01 1.05166324e-02 8.65426022e+01] [-1.45417203e-01 9.89369522e-01 -1.33645083e-03 -6.43307147e+00] [-1.05991865e-02 -2.07130223e-04 9.99943806e-01 -1.02977117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:-6.44, Z:-1.03 [[ 9.90208038e-01 1.39202898e-01 1.05164333e-02 8.66041543e+01] [-1.39196537e-01 9.90263871e-01 -1.33801574e-03 -6.43786815e+00] [-1.06002996e-02 -1.38937157e-04 9.99943806e-01 -1.03137438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:-6.44, Z:-1.03 [[ 9.90100238e-01 1.39967595e-01 1.05162226e-02 8.66652792e+01] [-1.39961260e-01 9.90156074e-01 -1.33966910e-03 -6.44111864e+00] [-1.06002120e-02 -1.45457077e-04 9.99943806e-01 -1.03107738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.73, Y:-6.45, Z:-1.04 [[ 9.89872428e-01 1.41569720e-01 1.05161911e-02 8.67255867e+01] [-1.41563472e-01 9.89928274e-01 -1.33991636e-03 -6.44640739e+00] [-1.05999665e-02 -1.62362272e-04 9.99943806e-01 -1.03568906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:-6.45, Z:-1.04 [[ 9.90066600e-01 1.40205346e-01 1.05161177e-02 8.67862823e+01] [-1.40199015e-01 9.90122437e-01 -1.34049233e-03 -6.45233438e+00] [-1.06001883e-02 -1.47172657e-04 9.99943806e-01 -1.03811088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:-6.46, Z:-1.04 [[ 9.90805653e-01 1.34883540e-01 1.05160864e-02 8.68479083e+01] [-1.34876907e-01 9.90861455e-01 -1.34073827e-03 -6.46264940e+00] [-1.06008281e-02 -8.99661418e-05 9.99943806e-01 -1.03991986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:-6.47, Z:-1.04 [[ 9.91049733e-01 1.33078333e-01 1.05158673e-02 8.69095453e+01] [-1.33071580e-01 9.91105520e-01 -1.34245414e-03 -6.47233973e+00] [-1.06009857e-02 -6.89242590e-05 9.99943806e-01 -1.03806130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:-6.48, Z:-1.04 [[ 9.90422240e-01 1.37670649e-01 1.05156439e-02 8.69709171e+01] [-1.37664135e-01 9.90478056e-01 -1.34420214e-03 -6.48261936e+00] [-1.06005717e-02 -1.16299329e-04 9.99943806e-01 -1.03740121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:-6.49, Z:-1.04 [[ 9.89222643e-01 1.46041052e-01 1.05154206e-02 8.70304297e+01] [-1.46034993e-01 9.89278509e-01 -1.34594640e-03 -6.48703202e+00] [-1.05992430e-02 -2.04178712e-04 9.99943806e-01 -1.03637798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.09, Y:-6.49, Z:-1.04 [[ 9.88521655e-01 1.50712851e-01 1.05154364e-02 8.70899622e+01] [-1.50707056e-01 9.88577550e-01 -1.34582315e-03 -6.48901078e+00] [-1.05981572e-02 -2.54375138e-04 9.99943806e-01 -1.04063438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.15, Y:-6.49, Z:-1.04 [[ 9.88316387e-01 1.52053099e-01 1.05154517e-02 8.71500280e+01] [-1.52047382e-01 9.88372290e-01 -1.34570305e-03 -6.49116449e+00] [-1.05977994e-02 -2.68866538e-04 9.99943806e-01 -1.04086907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:-6.49, Z:-1.04 [[ 9.88033388e-01 1.53881280e-01 1.05154822e-02 8.72099188e+01] [-1.53875669e-01 9.88089302e-01 -1.34546513e-03 -6.48756745e+00] [-1.05972774e-02 -2.88712381e-04 9.99943806e-01 -1.03581916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-6.48, Z:-1.04 [[ 9.87758509e-01 1.55635958e-01 1.05155426e-02 8.72701475e+01] [-1.55630451e-01 9.87814433e-01 -1.34499258e-03 -6.48122568e+00] [-1.05967340e-02 -3.08010783e-04 9.99943806e-01 -1.04098745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-6.47, Z:-1.04 [[ 9.88014699e-01 1.54001222e-01 1.05156040e-02 8.73304356e+01] [-1.53995627e-01 9.88070614e-01 -1.34451245e-03 -6.47111694e+00] [-1.05972159e-02 -2.90958975e-04 9.99943806e-01 -1.04300367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-6.47, Z:-1.04 [[ 9.88673841e-01 1.49711242e-01 1.05156651e-02 8.73900312e+01] [-1.49705410e-01 9.88729732e-01 -1.34403494e-03 -6.46723847e+00] [-1.05983678e-02 -2.45439757e-04 9.99943806e-01 -1.04395948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-6.46, Z:-1.04 [[ 9.90377409e-01 1.37992776e-01 1.05157276e-02 8.74489931e+01] [-1.37986288e-01 9.90433228e-01 -1.34354511e-03 -6.45979089e+00] [-1.06005256e-02 -1.20409494e-04 9.99943806e-01 -1.04324070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-6.46, Z:-1.04 [[ 9.92145677e-01 1.24644988e-01 1.05158052e-02 8.75087935e+01] [-1.24637755e-01 9.92201404e-01 -1.34293766e-03 -6.45529425e+00] [-1.06011871e-02 2.17234412e-05 9.99943806e-01 -1.03866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-6.46, Z:-1.04 [[ 9.93374821e-01 1.14437237e-01 1.05158682e-02 8.75676315e+01] [-1.14429436e-01 9.93430472e-01 -1.34244404e-03 -6.45559140e+00] [-1.06004095e-02 1.30225233e-04 9.99943806e-01 -1.04406185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.63, Y:-6.46, Z:-1.05 [[ 9.94042234e-01 1.08487103e-01 1.05159320e-02 8.76254313e+01] [-1.08478975e-01 9.94097838e-01 -1.34194460e-03 -6.46230550e+00] [-1.05994489e-02 1.93192085e-04 9.99943806e-01 -1.04945866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.68, Y:-6.47, Z:-1.04 [[ 9.94677893e-01 1.02495381e-01 1.05160103e-02 8.76840729e+01] [-1.02486924e-01 9.94733447e-01 -1.34133008e-03 -6.46995344e+00] [-1.05981074e-02 2.56437821e-04 9.99943806e-01 -1.04444177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.74, Y:-6.48, Z:-1.05 [[ 9.94963686e-01 9.96828764e-02 1.05160731e-02 8.77422829e+01] [-9.96742682e-02 9.95019217e-01 -1.34083774e-03 -6.48061291e+00] [-1.05973534e-02 2.85902969e-04 9.99943806e-01 -1.04850203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14576923099999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.80, Y:-6.49, Z:-1.05 [[ 9.95534970e-01 9.38058325e-02 1.05161058e-02 8.78013263e+01] [-9.37968993e-02 9.95590450e-01 -1.34058139e-03 -6.49289281e+00] [-1.05954889e-02 3.48217542e-04 9.99943806e-01 -1.05021291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.86, Y:-6.51, Z:-1.05 [[ 9.96016461e-01 8.85472767e-02 1.05161375e-02 8.78599975e+01] [-8.85380532e-02 9.96071893e-01 -1.34033294e-03 -6.50598255e+00] [-1.05935118e-02 4.03915334e-04 9.99943806e-01 -1.05144666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.92, Y:-6.52, Z:-1.05 [[ 9.96500856e-01 8.29183561e-02 1.05161531e-02 8.79183700e+01] [-8.29088208e-02 9.96556236e-01 -1.34021048e-03 -6.52174456e+00] [-1.05910660e-02 4.63639043e-04 9.99943806e-01 -1.05032619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:-6.54, Z:-1.05 [[ 9.96540404e-01 8.24416989e-02 1.05161378e-02 8.79777242e+01] [-8.24321359e-02 9.96595779e-01 -1.34033009e-03 -6.53663234e+00] [-1.05908377e-02 4.68825391e-04 9.99943806e-01 -1.05222569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-6.55, Z:-1.05 [[ 9.96489517e-01 8.30545255e-02 1.05161378e-02 8.80384813e+01] [-8.30449965e-02 9.96544897e-01 -1.34033009e-03 -6.54623092e+00] [-1.05911240e-02 4.62312259e-04 9.99943806e-01 -1.05306449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-6.56, Z:-1.05 [[ 9.96124418e-01 8.73244220e-02 1.05161073e-02 8.80984201e+01] [-8.73151280e-02 9.96179839e-01 -1.34056982e-03 -6.55810833e+00] [-1.05929985e-02 4.17159081e-04 9.99943806e-01 -1.05311546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50576923099999 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-6.57, Z:-1.05 [[ 9.95766778e-01 9.13122944e-02 1.05161073e-02 8.81579462e+01] [-9.13032223e-02 9.95822235e-01 -1.34056982e-03 -6.57010632e+00] [-1.05945839e-02 3.74740412e-04 9.99943806e-01 -1.04813880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56576923099999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:-6.58, Z:-1.05 [[ 9.95455645e-01 9.46439119e-02 1.05161073e-02 8.82181230e+01] [-9.46350255e-02 9.95511132e-01 -1.34056982e-03 -6.57833590e+00] [-1.05957786e-02 3.39285717e-04 9.99943806e-01 -1.05267448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62576923099999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-6.59, Z:-1.05 [[ 9.94708566e-01 1.02197264e-01 1.05160913e-02 8.82770414e+01] [-1.02188798e-01 9.94764119e-01 -1.34069517e-03 -6.58589210e+00] [-1.05980457e-02 2.58974247e-04 9.99943806e-01 -1.04988407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685769231 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:-6.59, Z:-1.05 [[ 9.94059051e-01 1.08332890e-01 1.05161069e-02 8.83360312e+01] [-1.08324768e-01 9.94114655e-01 -1.34057260e-03 -6.59254219e+00] [-1.05994441e-02 1.93453491e-04 9.99943806e-01 -1.04890286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-6.60, Z:-1.05 [[ 9.93894258e-01 1.09834488e-01 1.05161385e-02 8.83947090e+01] [-1.09826453e-01 9.93949875e-01 -1.34032504e-03 -6.60346100e+00] [-1.05997284e-02 1.77191183e-04 9.99943806e-01 -1.05346364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-6.62, Z:-1.05 [[ 9.94273255e-01 1.06348972e-01 1.05161700e-02 8.84535785e+01] [-1.06340745e-01 9.94328844e-01 -1.34007771e-03 -6.61630010e+00] [-1.05990470e-02 2.14106079e-04 9.99943806e-01 -1.05125432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:88.51, Y:-6.63, Z:-1.05 [[ 9.94526475e-01 1.03954319e-01 1.05161857e-02 8.85133791e+01] [-1.03945958e-01 9.94582044e-01 -1.33995422e-03 -6.63467695e+00] [-1.05985035e-02 2.39504943e-04 9.99943806e-01 -1.05297802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92576923099999 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:88.57, Y:-6.65, Z:-1.06 [[ 9.94084638e-01 1.08097843e-01 1.05161546e-02 8.85727323e+01] [-1.08089712e-01 9.94140241e-01 -1.34019841e-03 -6.65129380e+00] [-1.05994050e-02 1.95582533e-04 9.99943806e-01 -1.06007494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98576923099999 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:88.63, Y:-6.67, Z:-1.06 [[ 9.93180790e-01 1.16109127e-01 1.05161234e-02 8.86316911e+01] [-1.16101442e-01 9.93236456e-01 -1.34044277e-03 -6.66634089e+00] [-1.06006348e-02 1.10364913e-04 9.99943806e-01 -1.05856065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045769231 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:-6.68, Z:-1.06 [[ 9.92493390e-01 1.21845323e-01 1.05161080e-02 8.86907612e+01] [-1.21837959e-01 9.92549099e-01 -1.34056399e-03 -6.67554382e+00] [-1.06010950e-02 4.92397700e-05 9.99943806e-01 -1.05716239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105769231 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:-6.68, Z:-1.06 [[ 9.91502143e-01 1.29664608e-01 1.05161232e-02 8.87512676e+01] [-1.29657684e-01 9.91557910e-01 -1.34044468e-03 -6.68203646e+00] [-1.06011534e-02 -3.44424092e-05 9.99943806e-01 -1.05979530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:-6.69, Z:-1.06 [[ 9.91087031e-01 1.32800255e-01 1.05161232e-02 8.88113017e+01] [-1.32793507e-01 9.91142819e-01 -1.34044468e-03 -6.68693491e+00] [-1.06009914e-02 -6.79755478e-05 9.99943806e-01 -1.05852277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:88.87, Y:-6.69, Z:-1.06 [[ 9.90985861e-01 1.33553112e-01 1.05161532e-02 8.88711662e+01] [-1.33546409e-01 9.91041654e-01 -1.34020965e-03 -6.69160051e+00] [-1.06009350e-02 -7.62656706e-05 9.99943806e-01 -1.05971017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28576923099999 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:-6.70, Z:-1.06 [[ 9.91170812e-01 1.32173486e-01 1.05161835e-02 8.89311758e+01] [-1.32166708e-01 9.91226597e-01 -1.33997131e-03 -6.69536492e+00] [-1.06010295e-02 -6.17489049e-05 9.99943806e-01 -1.06287640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34576923099999 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:-6.70, Z:-1.06 [[ 9.91624455e-01 1.28725874e-01 1.05161835e-02 8.89909682e+01] [-1.28718902e-01 9.91680215e-01 -1.33997131e-03 -6.69596049e+00] [-1.06011801e-02 -2.48832788e-05 9.99943806e-01 -1.06203719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.405769231 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:-6.70, Z:-1.06 [[ 9.92481073e-01 1.21945602e-01 1.05161994e-02 8.90502970e+01] [-1.21938251e-01 9.92536784e-01 -1.33984697e-03 -6.69829634e+00] [-1.06011031e-02 4.74458025e-05 9.99943806e-01 -1.06371913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465769231 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:89.11, Y:-6.70, Z:-1.06 [[ 9.93118302e-01 1.16642389e-01 1.05162149e-02 8.91114478e+01] [-1.16634742e-01 9.93173974e-01 -1.33972472e-03 -6.69881490e+00] [-1.06006997e-02 1.03949127e-04 9.99943806e-01 -1.06007649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525769231 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:-6.70, Z:-1.06 [[ 9.93390903e-01 1.14297523e-01 1.05162149e-02 8.91716135e+01] [-1.14289743e-01 9.93446556e-01 -1.33972472e-03 -6.70402396e+00] [-1.06004247e-02 1.28974842e-04 9.99943806e-01 -1.06151634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:-6.71, Z:-1.06 [[ 9.93780843e-01 1.10855964e-01 1.05162149e-02 8.92318110e+01] [-1.10847992e-01 9.93836469e-01 -1.33972472e-03 -6.70609181e+00] [-1.05999144e-02 1.65691457e-04 9.99943806e-01 -1.06409497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64576923099999 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:89.29, Y:-6.71, Z:-1.06 [[ 9.94413444e-01 1.05030044e-01 1.05162451e-02 8.92914782e+01] [-1.05021749e-01 9.94469023e-01 -1.33948789e-03 -6.71209916e+00] [-1.05987665e-02 2.27570309e-04 9.99943806e-01 -1.06195375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70576923099999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:-6.72, Z:-1.07 [[ 9.94805008e-01 1.01254157e-01 1.05162319e-02 8.93505255e+01] [-1.01245650e-01 9.94860555e-01 -1.33959171e-03 -6.71934453e+00] [-1.05978235e-02 2.67909814e-04 9.99943806e-01 -1.06540004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.765769231 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:89.41, Y:-6.73, Z:-1.07 [[ 9.94755454e-01 1.01739848e-01 1.05162184e-02 8.94097158e+01] [-1.01731367e-01 9.94811004e-01 -1.33969723e-03 -6.72734606e+00] [-1.05979504e-02 2.62841842e-04 9.99943806e-01 -1.06814173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825769231 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:89.47, Y:-6.73, Z:-1.07 [[ 9.94140954e-01 1.07578679e-01 1.05162477e-02 8.94695262e+01] [-1.07570527e-01 9.94196554e-01 -1.33946770e-03 -6.73175763e+00] [-1.05993154e-02 2.00381392e-04 9.99943806e-01 -1.06845180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:-6.74, Z:-1.07 [[ 9.93680532e-01 1.11751545e-01 1.05162789e-02 8.95284022e+01] [-1.11743628e-01 9.93736166e-01 -1.33922236e-03 -6.73565998e+00] [-1.06000669e-02 1.55632026e-04 9.99943806e-01 -1.06957389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:-6.74, Z:-1.07 [[ 9.93583121e-01 1.12614337e-01 1.05163253e-02 8.95860480e+01] [-1.12606473e-01 9.93638762e-01 -1.33885820e-03 -6.74031918e+00] [-1.06002031e-02 1.46060610e-04 9.99943806e-01 -1.06774212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00576923099999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:-6.74, Z:-1.07 [[ 9.93544893e-01 1.12951096e-01 1.05163960e-02 8.96444058e+01] [-1.12943256e-01 9.93600538e-01 -1.33830240e-03 -6.74449910e+00] [-1.06002595e-02 1.41907508e-04 9.99943806e-01 -1.06625497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.70, Y:-6.75, Z:-1.07 [[ 9.93633954e-01 1.12164917e-01 1.05164553e-02 8.97030344e+01] [-1.12157039e-01 9.93689594e-01 -1.33783657e-03 -6.75009080e+00] [-1.06001505e-02 1.49825367e-04 9.99943806e-01 -1.06691105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:89.76, Y:-6.76, Z:-1.07 [[ 9.93965924e-01 1.09183992e-01 1.05165177e-02 8.97623758e+01] [-1.09175952e-01 9.94021541e-01 -1.33734584e-03 -6.75942126e+00] [-1.05996619e-02 1.81125364e-04 9.99943806e-01 -1.06756138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:89.82, Y:-6.77, Z:-1.07 [[ 9.93965369e-01 1.09189048e-01 1.05165493e-02 8.98198207e+01] [-1.09181010e-01 9.94020985e-01 -1.33709699e-03 -6.76871147e+00] [-1.05996671e-02 1.80820627e-04 9.99943806e-01 -1.07185471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245769231 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:89.88, Y:-6.78, Z:-1.07 [[ 9.93632598e-01 1.12176917e-01 1.05165962e-02 8.98784359e+01] [-1.12169051e-01 9.93688239e-01 -1.33672774e-03 -6.77743150e+00] [-1.06001680e-02 1.48579638e-04 9.99943806e-01 -1.07139033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:-6.79, Z:-1.07 [[ 9.93307681e-01 1.15018480e-01 1.05166276e-02 8.99367244e+01] [-1.15010776e-01 9.93363345e-01 -1.33648136e-03 -6.78521948e+00] [-1.06005524e-02 1.18011706e-04 9.99943806e-01 -1.07139661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:-6.79, Z:-1.07 [[ 9.93101118e-01 1.16788568e-01 1.05166740e-02 8.99948887e+01] [-1.16780966e-01 9.93156796e-01 -1.33611559e-03 -6.79373772e+00] [-1.06007493e-02 9.87505375e-05 9.99943806e-01 -1.07202741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42576923099999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:90.05, Y:-6.80, Z:-1.07 [[ 9.92821243e-01 1.19144352e-01 1.05167377e-02 9.00520611e+01] [-1.19136888e-01 9.92876940e-01 -1.33561430e-03 -6.80198160e+00] [-1.06009572e-02 7.30948398e-05 9.99943806e-01 -1.07424014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:90.11, Y:-6.80, Z:-1.07 [[ 9.92013262e-01 1.25694413e-01 1.05168219e-02 9.01109587e+01] [-1.25687324e-01 9.92069007e-01 -1.33495053e-03 -6.80453458e+00] [-1.06012089e-02 2.45742170e-06 9.99943806e-01 -1.07011389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:90.17, Y:-6.81, Z:-1.07 [[ 9.91463263e-01 1.29961507e-01 1.05168846e-02 9.01699964e+01] [-1.29954663e-01 9.91519039e-01 -1.33445638e-03 -6.80900918e+00] [-1.06011193e-02 -4.36537223e-05 9.99943806e-01 -1.06962669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:90.23, Y:-6.81, Z:-1.07 [[ 9.90839285e-01 1.34636195e-01 1.05169474e-02 9.02294239e+01] [-1.34629619e-01 9.90895093e-01 -1.33396169e-03 -6.80901210e+00] [-1.06007911e-02 -9.41509753e-05 9.99943806e-01 -1.07276672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.29, Y:-6.81, Z:-1.08 [[ 9.91007728e-01 1.33390691e-01 1.05170106e-02 9.02879731e+01] [-1.33384050e-01 9.91063528e-01 -1.33346352e-03 -6.81065379e+00] [-1.06008972e-02 -8.13288120e-05 9.99943806e-01 -1.07667330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:-6.81, Z:-1.08 [[ 9.91529980e-01 1.29451493e-01 1.05170733e-02 9.03458382e+01] [-1.29444636e-01 9.91585755e-01 -1.33296837e-03 -6.81090766e+00] [-1.06011348e-02 -3.97006221e-05 9.99943806e-01 -1.07766912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:-6.81, Z:-1.08 [[ 9.91921239e-01 1.26418534e-01 1.05171564e-02 9.04036401e+01] [-1.26411513e-01 9.91976993e-01 -1.33231263e-03 -6.81440962e+00] [-1.06012062e-02 -7.94045635e-06 9.99943806e-01 -1.07997554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84576923099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:-6.82, Z:-1.08 [[ 9.92512036e-01 1.21693249e-01 1.05172323e-02 9.04618841e+01] [-1.21685969e-01 9.92567757e-01 -1.33171339e-03 -6.81795169e+00] [-1.06011262e-02 4.19419706e-05 9.99943806e-01 -1.08024490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.905769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:-6.82, Z:-1.08 [[ 9.92764890e-01 1.19612956e-01 1.05173116e-02 9.05210246e+01] [-1.19605566e-01 9.92820596e-01 -1.33108679e-03 -6.82177894e+00] [-1.06010188e-02 6.35272288e-05 9.99943806e-01 -1.08174502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:-6.82, Z:-1.08 [[ 9.92910865e-01 1.18395094e-01 1.05173708e-02 9.05805294e+01] [-1.18387641e-01 9.92966563e-01 -1.33061843e-03 -6.82376517e+00] [-1.06009363e-02 7.60587760e-05 9.99943806e-01 -1.08267675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:-6.83, Z:-1.08 [[ 9.92815270e-01 1.19194061e-01 1.05174295e-02 9.06394254e+01] [-1.19186658e-01 9.92870974e-01 -1.33015455e-03 -6.82849262e+00] [-1.06009970e-02 6.70604770e-05 9.99943806e-01 -1.08059329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:-6.83, Z:-1.08 [[ 9.92777460e-01 1.19508568e-01 1.05174875e-02 9.06979929e+01] [-1.19501188e-01 9.92833167e-01 -1.32969593e-03 -6.83411814e+00] [-1.06010205e-02 6.32399032e-05 9.99943806e-01 -1.07678404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14576923099999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.76, Y:-6.84, Z:-1.08 [[ 9.92435502e-01 1.22315802e-01 1.05175450e-02 9.07557683e+01] [-1.22308583e-01 9.92491231e-01 -1.32924109e-03 -6.83603680e+00] [-1.06011583e-02 3.28000312e-05 9.99943806e-01 -1.07809093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20576923099999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:90.81, Y:-6.84, Z:-1.08 [[ 9.92414704e-01 1.22484423e-01 1.05176303e-02 9.08141068e+01] [-1.22477222e-01 9.92470435e-01 -1.32856552e-03 -6.84044355e+00] [-1.06011657e-02 3.03178184e-05 9.99943806e-01 -1.08071407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.265769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:-6.85, Z:-1.08 [[ 9.92368353e-01 1.22859389e-01 1.05176959e-02 9.08711919e+01] [-1.22852214e-01 9.92424088e-01 -1.32804587e-03 -6.84655911e+00] [-1.06011777e-02 2.57884586e-05 9.99943806e-01 -1.08430391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:-6.85, Z:-1.08 [[ 9.92563204e-01 1.21275149e-01 1.05177769e-02 9.09291716e+01] [-1.21267891e-01 9.92618928e-01 -1.32740372e-03 -6.85366954e+00] [-1.06011256e-02 4.20634597e-05 9.99943806e-01 -1.08461074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:-6.86, Z:-1.08 [[ 9.92715560e-01 1.20021628e-01 1.05178386e-02 9.09876111e+01] [-1.20014305e-01 9.92771276e-01 -1.32691480e-03 -6.86240252e+00] [-1.06010665e-02 5.49578742e-05 9.99943806e-01 -1.08220762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-6.87, Z:-1.09 [[ 9.92689138e-01 1.20239965e-01 1.05179023e-02 9.10445033e+01] [-1.20232660e-01 9.92744856e-01 -1.32640962e-03 -6.87073866e+00] [-1.06010809e-02 5.21170523e-05 9.99943806e-01 -1.08685116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:-6.88, Z:-1.09 [[ 9.92397411e-01 1.22624427e-01 1.05179807e-02 9.11029774e+01] [-1.22617263e-01 9.92453147e-01 -1.32578760e-03 -6.88001501e+00] [-1.06011770e-02 2.60221732e-05 9.99943806e-01 -1.09100884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-6.89, Z:-1.09 [[ 9.92139362e-01 1.24695054e-01 1.05180400e-02 9.11614879e+01] [-1.24688010e-01 9.92195114e-01 -1.32531692e-03 -6.88687305e+00] [-1.06012084e-02 3.42560222e-06 9.99943806e-01 -1.08959597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-6.90, Z:-1.09 [[ 9.91669823e-01 1.28375744e-01 1.05180994e-02 9.12200300e+01] [-1.28368913e-01 9.91725601e-01 -1.32484544e-03 -6.89625997e+00] [-1.06011465e-02 -3.63877477e-05 9.99943806e-01 -1.08506195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:-6.90, Z:-1.08 [[ 9.91106556e-01 1.32654301e-01 1.05181639e-02 9.12767325e+01] [-1.32647716e-01 9.91162363e-01 -1.32433383e-03 -6.90023849e+00] [-1.06008867e-02 -8.26544711e-05 9.99943806e-01 -1.08497143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-6.91, Z:-1.09 [[ 9.90363214e-01 1.38094426e-01 1.05182751e-02 9.13345128e+01] [-1.38088157e-01 9.90419057e-01 -1.32344967e-03 -6.90508236e+00] [-1.06002611e-02 -1.41753359e-04 9.99943806e-01 -1.08782801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:-6.91, Z:-1.09 [[ 9.89895893e-01 1.41405390e-01 1.05183837e-02 9.13928581e+01] [-1.41399317e-01 9.89951758e-01 -1.32258563e-03 -6.90791620e+00] [-1.05997132e-02 -1.78070195e-04 9.99943806e-01 -1.08745847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:-6.91, Z:-1.09 [[ 9.89637188e-01 1.43204744e-01 1.05184735e-02 9.14514622e+01] [-1.43198780e-01 9.89693065e-01 -1.32187144e-03 -6.90960485e+00] [-1.05993585e-02 -1.98059435e-04 9.99943806e-01 -1.08545247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-6.91, Z:-1.08 [[ 9.89590609e-01 1.43526255e-01 1.05185509e-02 9.15099325e+01] [-1.43520315e-01 9.89646489e-01 -1.32125496e-03 -6.91065270e+00] [-1.05992818e-02 -2.02124250e-04 9.99943806e-01 -1.08421486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-6.91, Z:-1.09 [[ 9.89780854e-01 1.42208365e-01 1.05186451e-02 9.15678005e+01] [-1.42202359e-01 9.89836727e-01 -1.32050458e-03 -6.91367965e+00] [-1.05995281e-02 -1.88766009e-04 9.99943806e-01 -1.09042211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:-6.92, Z:-1.09 [[ 9.90333460e-01 1.38307610e-01 1.05187226e-02 9.16251332e+01] [-1.38301391e-01 9.90389309e-01 -1.31988714e-03 -6.91918018e+00] [-1.06001809e-02 -1.47625569e-04 9.99943806e-01 -1.09473376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:-6.93, Z:-1.09 [[ 9.91331279e-01 1.30964305e-01 1.05187994e-02 9.16832319e+01] [-1.30957679e-01 9.91387082e-01 -1.31927469e-03 -6.92908892e+00] [-1.06009798e-02 -6.96792943e-05 9.99943806e-01 -1.09266408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:-6.94, Z:-1.09 [[ 9.91976914e-01 1.25980776e-01 1.05188610e-02 9.17409842e+01] [-1.25973874e-01 9.92032683e-01 -1.31878387e-03 -6.93812099e+00] [-1.06011953e-02 -1.68985095e-05 9.99943806e-01 -1.09003849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:-6.95, Z:-1.09 [[ 9.92075846e-01 1.25199313e-01 1.05189240e-02 9.17986203e+01] [-1.25192373e-01 9.92131610e-01 -1.31828124e-03 -6.94623657e+00] [-1.06012049e-02 -9.05407407e-06 9.99943806e-01 -1.09147513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-6.96, Z:-1.09 [[ 9.92164079e-01 1.24498153e-01 1.05190184e-02 9.18561628e+01] [-1.24491181e-01 9.92219840e-01 -1.31752747e-03 -6.95550513e+00] [-1.06012085e-02 -2.32159289e-06 9.99943806e-01 -1.09451204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:-6.96, Z:-1.10 [[ 9.92282890e-01 1.23547619e-01 1.05190960e-02 9.19135124e+01] [-1.23540600e-01 9.92338645e-01 -1.31690723e-03 -6.96261295e+00] [-1.06012062e-02 7.20907753e-06 9.99943806e-01 -1.09506142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.405769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.97, Y:-6.97, Z:-1.09 [[ 9.92573490e-01 1.21190817e-01 1.05191884e-02 9.19719212e+01] [-1.21183674e-01 9.92629228e-01 -1.31616859e-03 -6.97003417e+00] [-1.06011614e-02 3.16401499e-05 9.99943806e-01 -1.09301146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:-6.98, Z:-1.09 [[ 9.93176771e-01 1.16143214e-01 1.05192505e-02 9.20296848e+01] [-1.16135792e-01 9.93232474e-01 -1.31567214e-03 -6.98041770e+00] [-1.06008676e-02 8.50335132e-05 9.99943806e-01 -1.09132536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:-6.99, Z:-1.09 [[ 9.93779456e-01 1.10868105e-01 1.05193121e-02 9.20873320e+01] [-1.10860393e-01 9.93835119e-01 -1.31517982e-03 -6.99234928e+00] [-1.06002733e-02 1.40823616e-04 9.99943806e-01 -1.09003172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:-7.01, Z:-1.10 [[ 9.94000642e-01 1.08867197e-01 1.05193729e-02 9.21438318e+01] [-1.08859379e-01 9.94056290e-01 -1.31469315e-03 -7.00889666e+00] [-1.05999758e-02 1.61673441e-04 9.99943806e-01 -1.09621061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:-7.02, Z:-1.09 [[ 9.93984285e-01 1.09016427e-01 1.05194537e-02 9.22018868e+01] [-1.09008624e-01 9.94039935e-01 -1.31404610e-03 -7.02269255e+00] [-1.06000097e-02 1.59430001e-04 9.99943806e-01 -1.09384696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:92.26, Y:-7.04, Z:-1.09 [[ 9.93631756e-01 1.12184104e-01 1.05195144e-02 9.22575077e+01] [-1.12176483e-01 9.93687431e-01 -1.31356012e-03 -7.04155161e+00] [-1.06004698e-02 1.25152917e-04 9.99943806e-01 -1.09264166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.765769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:-7.06, Z:-1.10 [[ 9.93176078e-01 1.16149111e-01 1.05195896e-02 9.23146705e+01] [-1.16141719e-01 9.93231784e-01 -1.31295744e-03 -7.05950704e+00] [-1.06008896e-02 8.22347009e-05 9.99943806e-01 -1.09680714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:-7.08, Z:-1.09 [[ 9.92734918e-01 1.19861247e-01 1.05196502e-02 9.23716480e+01] [-1.19854069e-01 9.92790652e-01 -1.31247231e-03 -7.07509124e+00] [-1.06011249e-02 4.21142152e-05 9.99943806e-01 -1.09478334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:-7.09, Z:-1.10 [[ 9.92475756e-01 1.21988566e-01 1.05197112e-02 9.24283365e+01] [-1.21981512e-01 9.92531505e-01 -1.31198317e-03 -7.08680884e+00] [-1.06011917e-02 1.89012078e-05 9.99943806e-01 -1.09599281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:-7.10, Z:-1.09 [[ 9.92170284e-01 1.24448632e-01 1.05197870e-02 9.24850406e+01] [-1.24441722e-01 9.92226052e-01 -1.31137494e-03 -7.09741233e+00] [-1.06012055e-02 -7.99316197e-06 9.99943806e-01 -1.09452431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-7.11, Z:-1.09 [[ 9.92238554e-01 1.23903129e-01 1.05198613e-02 9.25428335e+01] [-1.23896196e-01 9.92294319e-01 -1.31077883e-03 -7.10780793e+00] [-1.06012082e-02 -2.76550128e-06 9.99943806e-01 -1.09356285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-7.12, Z:-1.10 [[ 9.92384734e-01 1.22726812e-01 1.05199199e-02 9.26011147e+01] [-1.22719817e-01 9.92440492e-01 -1.31030822e-03 -7.11931089e+00] [-1.06012044e-02 9.32723121e-06 9.99943806e-01 -1.09569383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-7.13, Z:-1.10 [[ 9.92573965e-01 1.21186856e-01 1.05199840e-02 9.26587553e+01] [-1.21179780e-01 9.92629712e-01 -1.30979302e-03 -7.13363292e+00] [-1.06011784e-02 2.52571043e-05 9.99943806e-01 -1.09843092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.72, Y:-7.15, Z:-1.10 [[ 9.92346338e-01 1.23036886e-01 1.05200316e-02 9.27177690e+01] [-1.23029918e-01 9.92402098e-01 -1.30941041e-03 -7.14504128e+00] [-1.06012073e-02 5.10998673e-06 9.99943806e-01 -1.09827280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:92.78, Y:-7.16, Z:-1.10 [[ 9.91723072e-01 1.27963577e-01 1.05200636e-02 9.27758145e+01] [-1.27956889e-01 9.91778867e-01 -1.30915335e-03 -7.15698533e+00] [-1.06011007e-02 -4.77970333e-05 9.99943806e-01 -1.09716912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-7.17, Z:-1.10 [[ 9.90974312e-01 1.33638471e-01 1.05201111e-02 9.28331635e+01] [-1.33632107e-01 9.91030144e-01 -1.30877193e-03 -7.16554109e+00] [-1.06006495e-02 -1.08865250e-04 9.99943806e-01 -1.10221880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-7.17, Z:-1.11 [[ 9.90054869e-01 1.40287856e-01 1.05201944e-02 9.28918171e+01] [-1.40281874e-01 9.90110744e-01 -1.30810168e-03 -7.16923690e+00] [-1.05996683e-02 -1.80700147e-04 9.99943806e-01 -1.10584151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-7.17, Z:-1.11 [[ 9.89463161e-01 1.44402137e-01 1.05202562e-02 9.29504593e+01] [-1.44396392e-01 9.89519061e-01 -1.30760470e-03 -7.17457747e+00] [-1.05988149e-02 -2.25260355e-04 9.99943806e-01 -1.10624647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-7.18, Z:-1.11 [[ 9.89092184e-01 1.46921660e-01 1.05203186e-02 9.30083668e+01] [-1.46916063e-01 9.89148099e-01 -1.30710232e-03 -7.17627857e+00] [-1.05981948e-02 -2.52759105e-04 9.99943806e-01 -1.10563593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-7.18, Z:-1.10 [[ 9.89404640e-01 1.44802554e-01 1.05203955e-02 9.30673285e+01] [-1.44796843e-01 9.89460544e-01 -1.30648316e-03 -7.18009977e+00] [-1.05986984e-02 -2.30679559e-04 9.99943806e-01 -1.10115306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:-7.18, Z:-1.10 [[ 9.89608322e-01 1.43403938e-01 1.05204557e-02 9.31256893e+01] [-1.43398154e-01 9.89664218e-01 -1.30599842e-03 -7.18357878e+00] [-1.05990039e-02 -2.16187017e-04 9.99943806e-01 -1.10332185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-7.19, Z:-1.10 [[ 9.89610525e-01 1.43388731e-01 1.05205158e-02 9.31842419e+01] [-1.43382952e-01 9.89666421e-01 -1.30551427e-03 -7.18853457e+00] [-1.05989972e-02 -2.16511942e-04 9.99943806e-01 -1.10403883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-7.19, Z:-1.10 [[ 9.89851954e-01 1.41712480e-01 1.05205754e-02 9.32417071e+01] [-1.41706610e-01 9.89907841e-01 -1.30503320e-03 -7.19325286e+00] [-1.05993396e-02 -1.99045422e-04 9.99943806e-01 -1.10035721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:-7.20, Z:-1.10 [[ 9.90239319e-01 1.38979882e-01 1.05206490e-02 9.33011136e+01] [-1.38973865e-01 9.90295190e-01 -1.30443961e-03 -7.19500592e+00] [-1.05998390e-02 -1.70387869e-04 9.99943806e-01 -1.10273029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:-7.20, Z:-1.11 [[ 9.90731430e-01 1.35427283e-01 1.05207075e-02 9.33603665e+01] [-1.35421070e-01 9.90787280e-01 -1.30396776e-03 -7.19560831e+00] [-1.06003760e-02 -1.32843628e-04 9.99943806e-01 -1.10612890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:-7.20, Z:-1.10 [[ 9.91561766e-01 1.29207496e-01 1.05207679e-02 9.34187930e+01] [-1.29200938e-01 9.91617577e-01 -1.30348003e-03 -7.19560359e+00] [-1.06009978e-02 -6.68121187e-05 9.99943806e-01 -1.09990148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.48, Y:-7.20, Z:-1.10 [[ 9.92325238e-01 1.23206871e-01 1.05208427e-02 9.34767740e+01] [-1.23199982e-01 9.92381009e-01 -1.30287655e-03 -7.19974161e+00] [-1.06012078e-02 -3.29034591e-06 9.99943806e-01 -1.10076780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:-7.20, Z:-1.11 [[ 9.93474373e-01 1.13569278e-01 1.05209160e-02 9.35347814e+01] [-1.13561854e-01 9.93530075e-01 -1.30228381e-03 -7.20485215e+00] [-1.06007459e-02 9.90108511e-05 9.99943806e-01 -1.10654193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-7.21, Z:-1.11 [[ 9.93769640e-01 1.10955902e-01 1.05209860e-02 9.35936257e+01] [-1.10948338e-01 9.93825323e-01 -1.30171846e-03 -7.21243935e+00] [-1.06004556e-02 1.26322376e-04 9.99943806e-01 -1.10616628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:-7.22, Z:-1.11 [[ 9.94387771e-01 1.05272357e-01 1.05210415e-02 9.36516422e+01] [-1.05264480e-01 9.94443410e-01 -1.30126989e-03 -7.22012156e+00] [-1.05995681e-02 1.86474911e-04 9.99943806e-01 -1.10513541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20576923099999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-7.23, Z:-1.11 [[ 9.94838973e-01 1.00919392e-01 1.05211030e-02 9.37091970e+01] [-1.00911276e-01 9.94894579e-01 -1.30077215e-03 -7.23154544e+00] [-1.05986615e-02 2.32360897e-04 9.99943806e-01 -1.10869475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.265769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:-7.24, Z:-1.11 [[ 9.95032380e-01 9.89942830e-02 1.05211485e-02 9.37674823e+01] [-9.89860636e-02 9.95087970e-01 -1.30040425e-03 -7.24195636e+00] [-1.05982009e-02 2.52497264e-04 9.99943806e-01 -1.10871790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:-7.26, Z:-1.11 [[ 9.95335537e-01 9.58982390e-02 1.05212023e-02 9.38252893e+01] [-9.58898512e-02 9.95391102e-01 -1.29996855e-03 -7.25714874e+00] [-1.05973759e-02 2.85028374e-04 9.99943806e-01 -1.11156616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:-7.28, Z:-1.11 [[ 9.95691220e-01 9.21319635e-02 1.05212292e-02 9.38835494e+01] [-9.21233679e-02 9.95746753e-01 -1.29975100e-03 -7.27561149e+00] [-1.05962284e-02 3.24899591e-04 9.99943806e-01 -1.10865171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:-7.30, Z:-1.11 [[ 9.95851167e-01 9.03867106e-02 1.05212292e-02 9.39423355e+01] [-9.03780177e-02 9.95906685e-01 -1.29975100e-03 -7.29503281e+00] [-1.05956427e-02 3.43470712e-04 9.99943806e-01 -1.10912265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:-7.31, Z:-1.11 [[ 9.95762655e-01 9.13566555e-02 1.05212142e-02 9.40022828e+01] [-9.13480153e-02 9.95818181e-01 -1.29987239e-03 -7.31087582e+00] [-1.05959684e-02 3.33272346e-04 9.99943806e-01 -1.11250237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:-7.33, Z:-1.11 [[ 9.95601620e-01 9.30952351e-02 1.05210214e-02 9.40618858e+01] [-9.30866755e-02 9.95657158e-01 -1.30143138e-03 -7.33275037e+00] [-1.05964873e-02 3.16340285e-04 9.99943806e-01 -1.11014338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:-7.35, Z:-1.11 [[ 9.95039720e-01 9.89205137e-02 1.05208134e-02 9.41213300e+01] [-9.89122615e-02 9.95095305e-01 -1.30310994e-03 -7.34841536e+00] [-1.05981164e-02 2.56008698e-04 9.99943806e-01 -1.11100885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:94.18, Y:-7.36, Z:-1.12 [[ 9.94341013e-01 1.05713134e-01 1.05206210e-02 9.41818089e+01] [-1.05705245e-01 9.94396651e-01 -1.30466169e-03 -7.36414094e+00] [-1.05995902e-02 1.85193808e-04 9.99943806e-01 -1.11527368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:-7.38, Z:-1.12 [[ 9.93988460e-01 1.08978268e-01 1.05204025e-02 9.42421192e+01] [-1.08970543e-01 9.94044121e-01 -1.30642112e-03 -7.37685396e+00] [-1.06001158e-02 1.52153538e-04 9.99943806e-01 -1.11651411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-7.39, Z:-1.12 [[ 9.93780786e-01 1.10856102e-01 1.05202001e-02 9.43033364e+01] [-1.10848465e-01 9.93836459e-01 -1.30804946e-03 -7.39046343e+00] [-1.06003636e-02 1.33766392e-04 9.99943806e-01 -1.11824260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:-7.40, Z:-1.12 [[ 9.93478065e-01 1.13537067e-01 1.05199724e-02 9.43655439e+01] [-1.13529561e-01 9.93533755e-01 -1.30987820e-03 -7.40348530e+00] [-1.06006674e-02 1.07007416e-04 9.99943806e-01 -1.11924684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92576923099999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:-7.42, Z:-1.12 [[ 9.92771717e-01 1.19556071e-01 1.05197209e-02 9.44267794e+01] [-1.19548882e-01 9.92827449e-01 -1.31189463e-03 -7.41685605e+00] [-1.06011126e-02 4.47910147e-05 9.99943806e-01 -1.12031585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:-7.43, Z:-1.12 [[ 9.92253766e-01 1.23781275e-01 1.05194871e-02 9.44894098e+01] [-1.23774303e-01 9.92309526e-01 -1.31376637e-03 -7.42513518e+00] [-1.06012070e-02 1.54743472e-06 9.99943806e-01 -1.12469661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:-7.44, Z:-1.12 [[ 9.92245989e-01 1.23843624e-01 1.05192359e-02 9.45501683e+01] [-1.23836634e-01 9.92301747e-01 -1.31577468e-03 -7.43605658e+00] [-1.06012065e-02 2.90537272e-06 9.99943806e-01 -1.12366887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:-7.44, Z:-1.12 [[ 9.92417376e-01 1.22462652e-01 1.05190802e-02 9.46130771e+01] [-1.22455571e-01 9.92473122e-01 -1.31701885e-03 -7.44217295e+00] [-1.06011900e-02 1.89124225e-05 9.99943806e-01 -1.12083608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:-7.45, Z:-1.12 [[ 9.92443410e-01 1.22251515e-01 1.05188343e-02 9.46747093e+01] [-1.22244402e-01 9.92499152e-01 -1.31897981e-03 -7.44723429e+00] [-1.06011814e-02 2.31442125e-05 9.99943806e-01 -1.12444618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:-7.45, Z:-1.12 [[ 9.92608418e-01 1.20904452e-01 1.05186060e-02 9.47361566e+01] [-1.20897244e-01 9.92664149e-01 -1.32079788e-03 -7.45381487e+00] [-1.06011334e-02 3.93646260e-05 9.99943806e-01 -1.12330259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:-7.46, Z:-1.13 [[ 9.92925008e-01 1.18276341e-01 1.05183797e-02 9.47981406e+01] [-1.18268967e-01 9.92980716e-01 -1.32259766e-03 -7.46471394e+00] [-1.06009802e-02 6.92424005e-05 9.99943806e-01 -1.12528148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:94.86, Y:-7.47, Z:-1.12 [[ 9.93228325e-01 1.15701616e-01 1.05181385e-02 9.48602447e+01] [-1.15694076e-01 9.93284011e-01 -1.32451322e-03 -7.47459354e+00] [-1.06007471e-02 9.86577307e-05 9.99943806e-01 -1.12470283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.405769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:-7.49, Z:-1.12 [[ 9.93146396e-01 1.16402789e-01 1.05178864e-02 9.49221199e+01] [-1.16395268e-01 9.93202085e-01 -1.32651167e-03 -7.48766061e+00] [-1.06007964e-02 9.31880804e-05 9.99943806e-01 -1.12427841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465769231 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:-7.50, Z:-1.13 [[ 9.92841159e-01 1.18978201e-01 1.05176227e-02 9.49824761e+01] [-1.18970803e-01 9.92896864e-01 -1.32859909e-03 -7.50129738e+00] [-1.06009890e-02 6.77978424e-05 9.99943806e-01 -1.12594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:-7.52, Z:-1.13 [[ 9.92619330e-01 1.20814937e-01 1.05174597e-02 9.50427862e+01] [-1.20807628e-01 9.92675047e-01 -1.32988851e-03 -7.51756462e+00] [-1.06010902e-02 4.94836889e-05 9.99943806e-01 -1.13069613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:95.10, Y:-7.53, Z:-1.13 [[ 9.92471407e-01 1.22024153e-01 1.05172343e-02 9.51040094e+01] [-1.22016892e-01 9.92527130e-01 -1.33166880e-03 -7.53212936e+00] [-1.06011361e-02 3.83629673e-05 9.99943806e-01 -1.12993771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64576923099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:-7.55, Z:-1.13 [[ 9.92127430e-01 1.24790045e-01 1.05169773e-02 9.51647327e+01] [-1.24782919e-01 9.92183171e-01 -1.33369549e-03 -7.54727899e+00] [-1.06011998e-02 1.08567630e-05 9.99943806e-01 -1.13047583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-7.56, Z:-1.13 [[ 9.91651906e-01 1.28514181e-01 1.05167385e-02 9.52262652e+01] [-1.28507243e-01 9.91707671e-01 -1.33557556e-03 -7.56107881e+00] [-1.06011706e-02 -2.70510250e-05 9.99943806e-01 -1.12829338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.765769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-7.58, Z:-1.13 [[ 9.91909177e-01 1.26513195e-01 1.05164880e-02 9.52864664e+01] [-1.26506124e-01 9.91964925e-01 -1.33754484e-03 -7.57534990e+00] [-1.06012043e-02 -3.67714269e-06 9.99943806e-01 -1.13252569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:95.35, Y:-7.59, Z:-1.14 [[ 9.92183796e-01 1.24341157e-01 1.05162548e-02 9.53473467e+01] [-1.24333945e-01 9.92239526e-01 -1.33937617e-03 -7.59040825e+00] [-1.06011832e-02 2.13798944e-05 9.99943806e-01 -1.13693374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:95.41, Y:-7.60, Z:-1.14 [[ 9.91916022e-01 1.26459551e-01 1.05160396e-02 9.54096762e+01] [-1.26452440e-01 9.91971765e-01 -1.34106353e-03 -7.60092114e+00] [-1.06012047e-02 4.43528749e-07 9.99943806e-01 -1.13780180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-7.61, Z:-1.13 [[ 9.91196271e-01 1.31982459e-01 1.05157940e-02 9.54714408e+01] [-1.31975638e-01 9.91252050e-01 -1.34298701e-03 -7.61035030e+00] [-1.06010530e-02 -5.66648997e-05 9.99943806e-01 -1.13038989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-7.62, Z:-1.13 [[ 9.90445815e-01 1.37500949e-01 1.05155813e-02 9.55343089e+01] [-1.37494421e-01 9.90501629e-01 -1.34465002e-03 -7.61775475e+00] [-1.06005911e-02 -1.14030773e-04 9.99943806e-01 -1.13049083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:-7.62, Z:-1.13 [[ 9.89293181e-01 1.45562462e-01 1.05153404e-02 9.55968030e+01] [-1.45556369e-01 9.89349044e-01 -1.34653102e-03 -7.62276852e+00] [-1.05993464e-02 -1.98460822e-04 9.99943806e-01 -1.12922704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:-7.62, Z:-1.13 [[ 9.88522574e-01 1.50706850e-01 1.05150914e-02 9.56586537e+01] [-1.50701027e-01 9.88578465e-01 -1.34847304e-03 -7.62498655e+00] [-1.05982170e-02 -2.51639031e-04 9.99943806e-01 -1.12847148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.72, Y:-7.62, Z:-1.13 [[ 9.87545553e-01 1.56981584e-01 1.05149383e-02 9.57212103e+01] [-1.56976104e-01 9.87601479e-01 -1.34966606e-03 -7.62173929e+00] [-1.05964413e-02 -3.17737328e-04 9.99943806e-01 -1.13212217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:95.78, Y:-7.62, Z:-1.14 [[ 9.87228863e-01 1.58961043e-01 1.05147329e-02 9.57838076e+01] [-1.58955658e-01 9.87284798e-01 -1.35126367e-03 -7.61820482e+00] [-1.05958343e-02 -3.37369789e-04 9.99943806e-01 -1.13773097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:95.85, Y:-7.62, Z:-1.14 [[ 9.87510110e-01 1.57204398e-01 1.05147040e-02 9.58456240e+01] [-1.57198910e-01 9.87566036e-01 -1.35148882e-03 -7.62017890e+00] [-1.05964245e-02 -3.18291144e-04 9.99943806e-01 -1.13725842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.91, Y:-7.61, Z:-1.13 [[ 9.88765283e-01 1.49106193e-01 1.05146754e-02 9.59087929e+01] [-1.49100245e-01 9.88821162e-01 -1.35171163e-03 -7.61441100e+00] [-1.05986821e-02 -2.31215144e-04 9.99943806e-01 -1.13445442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42576923099999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:95.97, Y:-7.62, Z:-1.14 [[ 9.89519614e-01 1.44015207e-01 1.05144558e-02 9.59705598e+01] [-1.44008953e-01 9.89575459e-01 -1.35341739e-03 -7.61796579e+00] [-1.05997601e-02 -1.74942714e-04 9.99943806e-01 -1.13623339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:-7.62, Z:-1.14 [[ 9.90666817e-01 1.35899629e-01 1.05142344e-02 9.60328818e+01] [-1.35892899e-01 9.90722607e-01 -1.35513478e-03 -7.62201540e+00] [-1.06008521e-02 -8.63227442e-05 9.99943806e-01 -1.13531502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:-7.63, Z:-1.14 [[ 9.91797350e-01 1.27387093e-01 1.05140133e-02 9.60946309e+01] [-1.27379867e-01 9.91853078e-01 -1.35684806e-03 -7.62831225e+00] [-1.06012014e-02 6.44468807e-06 9.99943806e-01 -1.14006795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:-7.64, Z:-1.14 [[ 9.92219815e-01 1.24053614e-01 1.05137915e-02 9.61573120e+01] [-1.24046182e-01 9.92275516e-01 -1.35856512e-03 -7.63608548e+00] [-1.06011128e-02 4.37995389e-05 9.99943806e-01 -1.13675480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.22, Y:-7.64, Z:-1.13 [[ 9.92325846e-01 1.23202600e-01 1.05135226e-02 9.62192130e+01] [-1.23195098e-01 9.92381538e-01 -1.36064240e-03 -7.64429990e+00] [-1.06010604e-02 5.49861675e-05 9.99943806e-01 -1.13490028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:-7.65, Z:-1.15 [[ 9.91966558e-01 1.26062757e-01 1.05132720e-02 9.62795118e+01] [-1.26055395e-01 9.92022268e-01 -1.36257612e-03 -7.65346086e+00] [-1.06011701e-02 2.63752837e-05 9.99943806e-01 -1.14637353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78576923099999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:-7.66, Z:-1.14 [[ 9.91844459e-01 1.27019852e-01 1.05131439e-02 9.63409004e+01] [-1.27012534e-01 9.91900175e-01 -1.36356365e-03 -7.66445817e+00] [-1.06011890e-02 1.71420065e-05 9.99943806e-01 -1.14300890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:-7.68, Z:-1.14 [[ 9.91944622e-01 1.26235277e-01 1.05129260e-02 9.64026917e+01] [-1.26227897e-01 9.92000330e-01 -1.36524218e-03 -7.67959223e+00] [-1.06011677e-02 2.72201009e-05 9.99943806e-01 -1.14238923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.905769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:-7.69, Z:-1.14 [[ 9.91712518e-01 1.28045948e-01 1.05126655e-02 9.64632428e+01] [-1.28038648e-01 9.91768237e-01 -1.36724476e-03 -7.69351991e+00] [-1.06011979e-02 9.88626440e-06 9.99943806e-01 -1.14299599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:-7.70, Z:-1.14 [[ 9.91076067e-01 1.32882346e-01 1.05124241e-02 9.65244839e+01] [-1.32875299e-01 9.91131818e-01 -1.36909844e-03 -7.70395477e+00] [-1.06011270e-02 -3.99607959e-05 9.99943806e-01 -1.14102981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:-7.71, Z:-1.14 [[ 9.89620640e-01 1.43319511e-01 1.05121880e-02 9.65856667e+01] [-1.43313033e-01 9.89676460e-01 -1.37090904e-03 -7.71206339e+00] [-1.06001430e-02 -1.49853659e-04 9.99943806e-01 -1.14098274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:-7.72, Z:-1.14 [[ 9.88990565e-01 1.47604735e-01 1.05121558e-02 9.66468624e+01] [-1.47598495e-01 9.89046411e-01 -1.37115549e-03 -7.71963213e+00] [-1.05993990e-02 -1.95518540e-04 9.99943806e-01 -1.13883426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:96.71, Y:-7.73, Z:-1.14 [[ 9.89985183e-01 1.40779385e-01 1.05120333e-02 9.67077465e+01] [-1.40772751e-01 9.90040984e-01 -1.37209441e-03 -7.72996852e+00] [-1.06005064e-02 -1.21454710e-04 9.99943806e-01 -1.14011204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20576923099999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:-7.74, Z:-1.14 [[ 9.90843956e-01 1.34602208e-01 1.05118789e-02 9.67691275e+01] [-1.34595214e-01 9.90899714e-01 -1.37327581e-03 -7.74343078e+00] [-1.06010638e-02 -5.41465473e-05 9.99943806e-01 -1.14132772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:-7.75, Z:-1.14 [[ 9.90316371e-01 1.38430452e-01 1.05116284e-02 9.68301783e+01] [-1.38423653e-01 9.90372153e-01 -1.37519079e-03 -7.75081424e+00] [-1.06007923e-02 -9.31840431e-05 9.99943806e-01 -1.14296443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:-7.75, Z:-1.14 [[ 9.89393082e-01 1.44882154e-01 1.05115060e-02 9.68929099e+01] [-1.44875708e-01 9.89448905e-01 -1.37612568e-03 -7.75374755e+00] [-1.05999742e-02 -1.61332649e-04 9.99943806e-01 -1.14446127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:-7.76, Z:-1.15 [[ 9.89157319e-01 1.46483142e-01 1.05112779e-02 9.69552320e+01] [-1.46476769e-01 9.89213151e-01 -1.37786559e-03 -7.75908456e+00] [-1.05997284e-02 -1.76732193e-04 9.99943806e-01 -1.14546721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.02, Y:-7.76, Z:-1.14 [[ 9.89353641e-01 1.45151270e-01 1.05110359e-02 9.70180298e+01] [-1.45144802e-01 9.89409462e-01 -1.37970967e-03 -7.76235715e+00] [-1.05999850e-02 -1.60601432e-04 9.99943806e-01 -1.14042075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:-7.77, Z:-1.15 [[ 9.89474800e-01 1.44323050e-01 1.05108104e-02 9.70779865e+01] [-1.44316516e-01 9.89530613e-01 -1.38142522e-03 -7.76574233e+00] [-1.06001402e-02 -1.49998091e-04 9.99943806e-01 -1.14552073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.14, Y:-7.77, Z:-1.15 [[ 9.89373428e-01 1.45016355e-01 1.05107944e-02 9.71388728e+01] [-1.45009859e-01 9.89429246e-01 -1.38154696e-03 -7.77088233e+00] [-1.06000343e-02 -1.57302958e-04 9.99943806e-01 -1.14596870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.20, Y:-7.78, Z:-1.15 [[ 9.89492591e-01 1.44201026e-01 1.05107611e-02 9.71995159e+01] [-1.44194482e-01 9.89548403e-01 -1.38179994e-03 -7.77880200e+00] [-1.06001639e-02 -1.48312957e-04 9.99943806e-01 -1.14658251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.26, Y:-7.78, Z:-1.14 [[ 9.89392268e-01 1.44887773e-01 1.05106332e-02 9.72605516e+01] [-1.44881257e-01 9.89448083e-01 -1.38277238e-03 -7.78436829e+00] [-1.06000727e-02 -1.54689445e-04 9.99943806e-01 -1.14488656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:-7.79, Z:-1.15 [[ 9.89354614e-01 1.45144667e-01 1.05106006e-02 9.73208720e+01] [-1.45138163e-01 9.89410431e-01 -1.38302012e-03 -7.78988031e+00] [-1.06000359e-02 -1.57191932e-04 9.99943806e-01 -1.14568712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:-7.80, Z:-1.15 [[ 9.89583566e-01 1.43575391e-01 1.05105845e-02 9.73813825e+01] [-1.43568797e-01 9.89639372e-01 -1.38314239e-03 -7.79623282e+00] [-1.06002735e-02 -1.40257002e-04 9.99943806e-01 -1.14902186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:-7.80, Z:-1.15 [[ 9.89942147e-01 1.41081797e-01 1.05105845e-02 9.74416488e+01] [-1.41075062e-01 9.89997936e-01 -1.38314239e-03 -7.80481797e+00] [-1.06005932e-02 -1.13550425e-04 9.99943806e-01 -1.15009177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.50, Y:-7.81, Z:-1.15 [[ 9.90014506e-01 1.40573132e-01 1.05105518e-02 9.75016950e+01] [-1.40566366e-01 9.90070292e-01 -1.38339080e-03 -7.81355829e+00] [-1.06006527e-02 -1.07853115e-04 9.99943806e-01 -1.15265732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.56, Y:-7.82, Z:-1.16 [[ 9.89832883e-01 1.41846372e-01 1.05105356e-02 9.75626954e+01] [-1.41839676e-01 9.89888677e-01 -1.38351417e-03 -7.82349434e+00] [-1.06005066e-02 -1.21363148e-04 9.99943806e-01 -1.15597413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.62, Y:-7.83, Z:-1.15 [[ 9.89140626e-01 1.46595876e-01 1.05105032e-02 9.76228480e+01] [-1.46589446e-01 9.89196451e-01 -1.38375992e-03 -7.83464183e+00] [-1.05998060e-02 -1.71995690e-04 9.99943806e-01 -1.15113466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:-7.84, Z:-1.15 [[ 9.88429498e-01 1.51316413e-01 1.05104697e-02 9.76819200e+01] [-1.51310246e-01 9.88485353e-01 -1.38401454e-03 -7.84250270e+00] [-1.05988695e-02 -2.22340957e-04 9.99943806e-01 -1.15280220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:-7.85, Z:-1.15 [[ 9.88030673e-01 1.53899053e-01 1.05104862e-02 9.77414252e+01] [-1.53893034e-01 9.88086544e-01 -1.38388926e-03 -7.84864784e+00] [-1.05982492e-02 -2.50165577e-04 9.99943806e-01 -1.14590278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:-7.85, Z:-1.15 [[ 9.88010836e-01 1.54026349e-01 1.05105017e-02 9.78017759e+01] [-1.54020339e-01 9.88066708e-01 -1.38377117e-03 -7.85421072e+00] [-1.05982141e-02 -2.51650130e-04 9.99943806e-01 -1.14830810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.86, Y:-7.86, Z:-1.16 [[ 9.88110379e-01 1.53386467e-01 1.05105017e-02 9.78622975e+01] [-1.53380420e-01 9.88166247e-01 -1.38377117e-03 -7.85889344e+00] [-1.05983748e-02 -2.44786521e-04 9.99943806e-01 -1.15851446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:-7.86, Z:-1.16 [[ 9.88092687e-01 1.53500398e-01 1.05105017e-02 9.79225642e+01] [-1.53494358e-01 9.88148555e-01 -1.38377117e-03 -7.86214552e+00] [-1.05983465e-02 -2.46008540e-04 9.99943806e-01 -1.15772867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-7.86, Z:-1.15 [[ 9.87562801e-01 1.56873338e-01 1.05104850e-02 9.79818082e+01] [-1.56867487e-01 9.87618690e-01 -1.38389819e-03 -7.86342348e+00] [-1.05974482e-02 -2.82066993e-04 9.99943806e-01 -1.15293509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-7.86, Z:-1.16 [[ 9.87023315e-01 1.60232660e-01 1.05105352e-02 9.80411874e+01] [-1.60227003e-01 9.87079223e-01 -1.38351688e-03 -7.86149144e+00] [-1.05964155e-02 -3.18508147e-04 9.99943806e-01 -1.15791011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-7.86, Z:-1.16 [[ 9.87269014e-01 1.58711757e-01 1.05106008e-02 9.81003272e+01] [-1.58706020e-01 9.87324914e-01 -1.38301845e-03 -7.85844275e+00] [-1.05968793e-02 -3.02684355e-04 9.99943806e-01 -1.15784455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-7.86, Z:-1.16 [[ 9.87426323e-01 1.57730094e-01 1.05106822e-02 9.81593232e+01] [-1.57724308e-01 9.87482218e-01 -1.38239948e-03 -7.85788687e+00] [-1.05971578e-02 -2.92772444e-04 9.99943806e-01 -1.16005006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-7.85, Z:-1.16 [[ 9.87775498e-01 1.55528419e-01 1.05107473e-02 9.82184240e+01] [-1.55522513e-01 9.87831381e-01 -1.38190429e-03 -7.85217297e+00] [-1.05977714e-02 -2.69646638e-04 9.99943806e-01 -1.16301350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-7.85, Z:-1.16 [[ 9.88794609e-01 1.48911863e-01 1.05108277e-02 9.82780984e+01] [-1.48905590e-01 9.88850453e-01 -1.38129285e-03 -7.84959579e+00] [-1.05993276e-02 -1.99306069e-04 9.99943806e-01 -1.15667266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-7.85, Z:-1.16 [[ 9.90044673e-01 1.40360485e-01 1.05108909e-02 9.83355554e+01] [-1.40353735e-01 9.90100461e-01 -1.38081151e-03 -7.85228828e+00] [-1.06006493e-02 -1.08177713e-04 9.99943806e-01 -1.16038908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-7.86, Z:-1.16 [[ 9.91121375e-01 1.32544107e-01 1.05109691e-02 9.83940973e+01] [-1.32536923e-01 9.91177108e-01 -1.38021590e-03 -7.85966636e+00] [-1.06011714e-02 -2.51300253e-05 9.99943806e-01 -1.15779298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-7.87, Z:-1.16 [[ 9.92266957e-01 1.23676206e-01 1.05110320e-02 9.84518006e+01] [-1.23668529e-01 9.92322625e-01 -1.37973694e-03 -7.87305078e+00] [-1.06009755e-02 6.91835212e-05 9.99943806e-01 -1.15978747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-7.89, Z:-1.16 [[ 9.92685652e-01 1.20269335e-01 1.05110945e-02 9.85100789e+01] [-1.20261472e-01 9.92741294e-01 -1.37926076e-03 -7.88631727e+00] [-1.06006803e-02 1.05092674e-04 9.99943806e-01 -1.16296401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:-7.90, Z:-1.16 [[ 9.92857811e-01 1.18839734e-01 1.05111274e-02 9.85688207e+01] [-1.18831794e-01 9.92913442e-01 -1.37900970e-03 -7.90357639e+00] [-1.06005208e-02 1.20104435e-04 9.99943806e-01 -1.15781761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.63, Y:-7.92, Z:-1.16 [[ 9.92759940e-01 1.19654577e-01 1.05111274e-02 9.86279764e+01] [-1.19646682e-01 9.92815577e-01 -1.37900970e-03 -7.91983830e+00] [-1.06006158e-02 1.11404073e-04 9.99943806e-01 -1.15924070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.69, Y:-7.93, Z:-1.16 [[ 9.92291423e-01 1.23479745e-01 1.05111274e-02 9.86862193e+01] [-1.23472064e-01 9.92347090e-01 -1.37900970e-03 -7.93415346e+00] [-1.06009665e-02 7.05489023e-05 9.99943806e-01 -1.16344104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:-7.95, Z:-1.16 [[ 9.91858757e-01 1.26908323e-01 1.05111442e-02 9.87452182e+01] [-1.26900837e-01 9.91914450e-01 -1.37888164e-03 -7.94632103e+00] [-1.06011474e-02 3.37828377e-05 9.99943806e-01 -1.16218358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:-7.95, Z:-1.16 [[ 9.91788421e-01 1.27456825e-01 1.05111768e-02 9.88043507e+01] [-1.27449372e-01 9.91844119e-01 -1.37863310e-03 -7.95488170e+00] [-1.06011651e-02 2.76694688e-05 9.99943806e-01 -1.16361291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:-7.96, Z:-1.16 [[ 9.91496775e-01 1.29706054e-01 1.05111929e-02 9.88636640e+01] [-1.29698728e-01 9.91552490e-01 -1.37851011e-03 -7.96437984e+00] [-1.06012006e-02 3.49997696e-06 9.99943806e-01 -1.16304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:-7.97, Z:-1.16 [[ 9.91114465e-01 1.32595748e-01 1.05111929e-02 9.89223518e+01] [-1.32588585e-01 9.91170201e-01 -1.37851011e-03 -7.97088812e+00] [-1.06011658e-02 -2.74028903e-05 9.99943806e-01 -1.16198877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:-7.98, Z:-1.16 [[ 9.91157204e-01 1.32275897e-01 1.05111785e-02 9.89820296e+01] [-1.32268715e-01 9.91212937e-01 -1.37862006e-03 -7.98016727e+00] [-1.06011743e-02 -2.38708647e-05 9.99943806e-01 -1.16330949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:-7.99, Z:-1.16 [[ 9.91294015e-01 1.31246680e-01 1.05111785e-02 9.90412682e+01] [-1.31239440e-01 9.91349741e-01 -1.37862006e-03 -7.98911300e+00] [-1.06011934e-02 -1.28633605e-05 9.99943806e-01 -1.16372642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.10, Y:-8.00, Z:-1.16 [[ 9.91344634e-01 1.30863792e-01 1.05111635e-02 9.91010954e+01] [-1.30856529e-01 9.91400357e-01 -1.37873429e-03 -7.99789159e+00] [-1.06011977e-02 -8.65352842e-06 9.99943806e-01 -1.16361116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:-8.01, Z:-1.17 [[ 9.91432705e-01 1.30194882e-01 1.05111635e-02 9.91602480e+01] [-1.30187581e-01 9.91488423e-01 -1.37873429e-03 -8.00668863e+00] [-1.06012011e-02 -1.50068608e-06 9.99943806e-01 -1.16527098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:-8.02, Z:-1.17 [[ 9.91472536e-01 1.29891208e-01 1.05111798e-02 9.92196946e+01] [-1.29883892e-01 9.91528252e-01 -1.37860994e-03 -8.01792399e+00] [-1.06012011e-02 1.62094744e-06 9.99943806e-01 -1.16581388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:-8.03, Z:-1.17 [[ 9.91796297e-01 1.27395528e-01 1.05111798e-02 9.92803376e+01] [-1.27388072e-01 9.91851994e-01 -1.37860994e-03 -8.02960471e+00] [-1.06011634e-02 2.83012969e-05 9.99943806e-01 -1.16598654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:-8.04, Z:-1.17 [[ 9.92189734e-01 1.24294194e-01 1.05111467e-02 9.93399945e+01] [-1.24286561e-01 9.92245408e-01 -1.37886254e-03 -8.04132757e+00] [-1.06010216e-02 6.16989895e-05 9.99943806e-01 -1.16659072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-8.05, Z:-1.17 [[ 9.92306796e-01 1.23356165e-01 1.05109335e-02 9.94004700e+01] [-1.23348462e-01 9.92362460e-01 -1.38048604e-03 -8.05145020e+00] [-1.06009473e-02 7.33581982e-05 9.99943806e-01 -1.16745235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-8.07, Z:-1.17 [[ 9.92761119e-01 1.19644818e-01 1.05109018e-02 9.94612195e+01] [-1.19636904e-01 9.92816753e-01 -1.38072686e-03 -8.06629267e+00] [-1.06005962e-02 1.13240183e-04 9.99943806e-01 -1.17044999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:-8.08, Z:-1.17 [[ 9.92881914e-01 1.18638237e-01 1.05106722e-02 9.95218980e+01] [-1.18630248e-01 9.92937537e-01 -1.38247298e-03 -8.08054733e+00] [-1.06004551e-02 1.25748767e-04 9.99943806e-01 -1.17093553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:-8.09, Z:-1.17 [[ 9.92590341e-01 1.21053481e-01 1.05104283e-02 9.95825671e+01] [-1.21045608e-01 9.92645981e-01 -1.38432464e-03 -8.09210667e+00] [-1.06007117e-02 1.01826087e-04 9.99943806e-01 -1.16900674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:-8.10, Z:-1.17 [[ 9.92322795e-01 1.23227462e-01 1.05101913e-02 9.96447540e+01] [-1.23219692e-01 9.92378449e-01 -1.38612138e-03 -8.10302963e+00] [-1.06008956e-02 8.04173014e-05 9.99943806e-01 -1.16824801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:-8.11, Z:-1.17 [[ 9.91756247e-01 1.27707036e-01 1.05099302e-02 9.97063362e+01] [-1.27699497e-01 9.91811934e-01 -1.38809859e-03 -8.11002797e+00] [-1.06011441e-02 3.45426516e-05 9.99943806e-01 -1.16934948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:-8.12, Z:-1.17 [[ 9.91691135e-01 1.28211699e-01 1.05096973e-02 9.97680899e+01] [-1.28204169e-01 9.91746822e-01 -1.38985944e-03 -8.11767713e+00] [-1.06011552e-02 3.09242716e-05 9.99943806e-01 -1.17145138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:-8.13, Z:-1.17 [[ 9.91808385e-01 1.27301530e-01 1.05094492e-02 9.98296642e+01] [-1.27293929e-01 9.91864063e-01 -1.39173339e-03 -8.12648182e+00] [-1.06011147e-02 4.25437662e-05 9.99943806e-01 -1.17191108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:-8.13, Z:-1.17 [[ 9.91887164e-01 1.26686268e-01 1.05092175e-02 9.98918989e+01] [-1.26678614e-01 9.91942835e-01 -1.39348031e-03 -8.13425268e+00] [-1.06010778e-02 5.08821277e-05 9.99943806e-01 -1.17279337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:-8.14, Z:-1.17 [[ 9.91710554e-01 1.28061469e-01 1.05089478e-02 9.99531692e+01] [-1.28053871e-01 9.91766232e-01 -1.39551141e-03 -8.14057820e+00] [-1.06011308e-02 3.82319474e-05 9.99943806e-01 -1.17035535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.02, Y:-8.15, Z:-1.17 [[ 9.91762316e-01 1.27659995e-01 1.05087308e-02 1.00015316e+02] [-1.27652357e-01 9.91817989e-01 -1.39714368e-03 -8.14717177e+00] [-1.06011076e-02 4.41701966e-05 9.99943806e-01 -1.17177632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:-8.16, Z:-1.17 [[ 9.92098882e-01 1.25017517e-01 1.05085082e-02 1.00077966e+02] [-1.25009713e-01 9.92154532e-01 -1.39881592e-03 -8.15552234e+00] [-1.06009405e-02 7.40981137e-05 9.99943806e-01 -1.17233690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:-8.17, Z:-1.17 [[ 9.92628824e-01 1.20737715e-01 1.05082292e-02 1.00139319e+02] [-1.20729649e-01 9.92684436e-01 -1.40090867e-03 -8.16625673e+00] [-1.06004981e-02 1.21927503e-04 9.99943806e-01 -1.17380520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:-8.18, Z:-1.17 [[ 9.92602581e-01 1.20953285e-01 1.05080568e-02 1.00200317e+02] [-1.20945217e-01 9.92658193e-01 -1.40220057e-03 -8.17705838e+00] [-1.06005095e-02 1.20928692e-04 9.99943806e-01 -1.17442113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:-8.19, Z:-1.18 [[ 9.92248319e-01 1.23825921e-01 1.05078066e-02 1.00261322e+02] [-1.23817995e-01 9.92303952e-01 -1.40407282e-03 -8.18707138e+00] [-1.06007987e-02 9.21333494e-05 9.99943806e-01 -1.17787425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:-8.20, Z:-1.18 [[ 9.91748405e-01 1.27768120e-01 1.05075843e-02 1.00323098e+02] [-1.27760398e-01 9.91804066e-01 -1.40573456e-03 -8.19746176e+00] [-1.06010729e-02 5.16818599e-05 9.99943806e-01 -1.17822456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:-8.20, Z:-1.18 [[ 9.91186984e-01 1.32052868e-01 1.05073120e-02 1.00384966e+02] [-1.32045364e-01 9.91242675e-01 -1.40776687e-03 -8.19952178e+00] [-1.06011957e-02 7.91835846e-06 9.99943806e-01 -1.17949939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.45, Y:-8.20, Z:-1.18 [[ 9.90777993e-01 1.35087270e-01 1.05070932e-02 1.00446934e+02] [-1.35079919e-01 9.90833704e-01 -1.40939867e-03 -8.20131514e+00] [-1.06011738e-02 -2.28961165e-05 9.99943806e-01 -1.17724151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:-8.20, Z:-1.18 [[ 9.90936062e-01 1.33922825e-01 1.05070595e-02 1.00508269e+02] [-1.33915407e-01 9.90991764e-01 -1.40964949e-03 -8.20473113e+00] [-1.06011937e-02 -1.01846311e-05 9.99943806e-01 -1.17734634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.57, Y:-8.21, Z:-1.18 [[ 9.91637672e-01 1.28624761e-01 1.05070257e-02 1.00569523e+02] [-1.28617042e-01 9.91693334e-01 -1.40990138e-03 -8.20869874e+00] [-1.06010956e-02 4.67287575e-05 9.99943806e-01 -1.18083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:-8.21, Z:-1.18 [[ 9.91878001e-01 1.26758176e-01 1.05069920e-02 1.00630445e+02] [-1.26750350e-01 9.91933647e-01 -1.41015266e-03 -8.21260943e+00] [-1.06009873e-02 6.69344931e-05 9.99943806e-01 -1.17751884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:-8.22, Z:-1.17 [[ 9.91357390e-01 1.30767464e-01 1.05069576e-02 1.00690345e+02] [-1.30759860e-01 9.91413067e-01 -1.41040845e-03 -8.21627295e+00] [-1.06011706e-02 2.43305299e-05 9.99943806e-01 -1.17333071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:-8.22, Z:-1.17 [[ 9.90834225e-01 1.34674207e-01 1.05069746e-02 1.00750836e+02] [-1.34666824e-01 9.90889932e-01 -1.41028240e-03 -8.21621296e+00] [-1.06011840e-02 -1.75848248e-05 9.99943806e-01 -1.17410842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.81, Y:-8.22, Z:-1.18 [[ 9.91132639e-01 1.32460167e-01 1.05069910e-02 1.00811934e+02] [-1.32452661e-01 9.91188329e-01 -1.41015965e-03 -8.21752659e+00] [-1.06011969e-02 5.97633387e-06 9.99943806e-01 -1.17819222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:-8.22, Z:-1.18 [[ 9.91853871e-01 1.26946842e-01 1.05069910e-02 1.00871549e+02] [-1.26939026e-01 9.91909520e-01 -1.41015965e-03 -8.22211797e+00] [-1.06009997e-02 6.49250947e-05 9.99943806e-01 -1.18146721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:-8.23, Z:-1.18 [[ 9.92783582e-01 1.19458623e-01 1.05070084e-02 1.00931854e+02] [-1.19450389e-01 9.92839169e-01 -1.41003056e-03 -8.22748173e+00] [-1.06002098e-02 1.44788949e-04 9.99943806e-01 -1.18050988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.99, Y:-8.24, Z:-1.18 [[ 9.93307752e-01 1.15018749e-01 1.05070084e-02 1.00990448e+02] [-1.15010266e-01 9.93363302e-01 -1.41003056e-03 -8.23739831e+00] [-1.05994565e-02 1.92180455e-04 9.99943806e-01 -1.17986609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.05, Y:-8.25, Z:-1.18 [[ 9.93338351e-01 1.14754185e-01 1.05069939e-02 1.01049607e+02] [-1.14745686e-01 9.93393899e-01 -1.41013861e-03 -8.24989748e+00] [-1.05994029e-02 1.95112540e-04 9.99943806e-01 -1.18447423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.11, Y:-8.26, Z:-1.18 [[ 9.92682820e-01 1.20293065e-01 1.05069774e-02 1.01108546e+02] [-1.20284875e-01 9.92738415e-01 -1.41026117e-03 -8.26175172e+00] [-1.06003247e-02 1.36111573e-04 9.99943806e-01 -1.18371125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.17, Y:-8.27, Z:-1.19 [[ 9.91616129e-01 1.28790746e-01 1.05070100e-02 1.01167216e+02] [-1.28783035e-01 9.91671791e-01 -1.41001862e-03 -8.27150870e+00] [-1.06011027e-02 4.50725715e-05 9.99943806e-01 -1.18610409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.23, Y:-8.28, Z:-1.18 [[ 9.90572026e-01 1.36589400e-01 1.05070432e-02 1.01226383e+02] [-1.36582130e-01 9.90627748e-01 -1.40977083e-03 -8.27847211e+00] [-1.06011283e-02 -3.85947907e-05 9.99943806e-01 -1.18184299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70576923099999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:-8.29, Z:-1.18 [[ 9.90300854e-01 1.38541764e-01 1.05070768e-02 1.01284301e+02] [-1.38534606e-01 9.90356590e-01 -1.40952042e-03 -8.28643113e+00] [-1.06010302e-02 -5.97444736e-05 9.99943806e-01 -1.18193135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.765769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:-8.29, Z:-1.19 [[ 9.89823537e-01 1.41911824e-01 1.05071266e-02 1.01342755e+02] [-1.41904860e-01 9.89879298e-01 -1.40914884e-03 -8.29234816e+00] [-1.06007620e-02 -9.62036517e-05 9.99943806e-01 -1.18502336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:-8.30, Z:-1.18 [[ 9.89796980e-01 1.42096929e-01 1.05071934e-02 1.01401652e+02] [-1.42089981e-01 9.89852743e-01 -1.40865071e-03 -8.29759042e+00] [-1.06007392e-02 -9.86886946e-05 9.99943806e-01 -1.18276009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:-8.30, Z:-1.18 [[ 9.89648829e-01 1.43125093e-01 1.05072429e-02 1.01460817e+02] [-1.43118207e-01 9.89704600e-01 -1.40828178e-03 -8.30260345e+00] [-1.06006271e-02 -1.10073339e-04 9.99943806e-01 -1.18322085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:101.52, Y:-8.30, Z:-1.18 [[ 9.89240368e-01 1.45921520e-01 1.05073097e-02 1.01520296e+02] [-1.45914797e-01 9.89296159e-01 -1.40778317e-03 -8.30110240e+00] [-1.06002670e-02 -1.40536014e-04 9.99943806e-01 -1.18455724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00576923099999 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:-8.30, Z:-1.18 [[ 9.89135482e-01 1.46630805e-01 1.05073761e-02 1.01579747e+02] [-1.46624127e-01 9.89191278e-01 -1.40728728e-03 -8.30286668e+00] [-1.06001564e-02 -1.48637062e-04 9.99943806e-01 -1.18452921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06576923099999 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:-8.31, Z:-1.19 [[ 9.89040829e-01 1.47267891e-01 1.05074425e-02 1.01639228e+02] [-1.47261254e-01 9.89096630e-01 -1.40679091e-03 -8.30503592e+00] [-1.06000511e-02 -1.55965520e-04 9.99943806e-01 -1.18749534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12576923099999 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:-8.31, Z:-1.18 [[ 9.89433535e-01 1.44605922e-01 1.05075091e-02 1.01698260e+02] [-1.44599140e-01 9.89489318e-01 -1.40629353e-03 -8.30976680e+00] [-1.06004264e-02 -1.27942799e-04 9.99943806e-01 -1.18484709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185769231 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:-8.32, Z:-1.19 [[ 9.89630155e-01 1.43254134e-01 1.05075756e-02 1.01756667e+02] [-1.43247281e-01 9.89685930e-01 -1.40579657e-03 -8.31525393e+00] [-1.06005859e-02 -1.13962958e-04 9.99943806e-01 -1.18794478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:-8.32, Z:-1.19 [[ 9.89456659e-01 1.44447603e-01 1.05076428e-02 1.01814536e+02] [-1.44440823e-01 9.89512442e-01 -1.40529419e-03 -8.32059613e+00] [-1.06004346e-02 -1.27254880e-04 9.99943806e-01 -1.19092739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:-8.33, Z:-1.19 [[ 9.89583327e-01 1.43577250e-01 1.05077259e-02 1.01872760e+02] [-1.43570427e-01 9.89639106e-01 -1.40467238e-03 -8.32546232e+00] [-1.06005355e-02 -1.18558331e-04 9.99943806e-01 -1.18914063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36576923099999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:-8.33, Z:-1.19 [[ 9.89969742e-01 1.40888238e-01 1.05077928e-02 1.01930212e+02] [-1.40881269e-01 9.90025503e-01 -1.40417165e-03 -8.33183847e+00] [-1.06008141e-02 -9.02637440e-05 9.99943806e-01 -1.19007954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42576923099999 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:-8.34, Z:-1.19 [[ 9.91186246e-01 1.32058362e-01 1.05078820e-02 1.01988638e+02] [-1.32050904e-01 9.91241943e-01 -1.40350392e-03 -8.33805817e+00] [-1.06011978e-02 3.55846200e-06 9.99943806e-01 -1.18848222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48576923099999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:-8.35, Z:-1.19 [[ 9.91412001e-01 1.30352704e-01 1.05079470e-02 1.02047239e+02] [-1.30345155e-01 9.91467686e-01 -1.40301735e-03 -8.34630845e+00] [-1.06011770e-02 2.13082614e-05 9.99943806e-01 -1.18936378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545769231 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:-8.35, Z:-1.19 [[ 9.91130526e-01 1.32475892e-01 1.05080128e-02 1.02104650e+02] [-1.32468467e-01 9.91186228e-01 -1.40252396e-03 -8.35105649e+00] [-1.06011982e-02 -1.89603881e-06 9.99943806e-01 -1.18608041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605769231 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:102.16, Y:-8.36, Z:-1.19 [[ 9.91070817e-01 1.32921839e-01 1.05080942e-02 1.02163336e+02] [-1.32914446e-01 9.91126523e-01 -1.40191393e-03 -8.35675348e+00] [-1.06011959e-02 -7.28153802e-06 9.99943806e-01 -1.18835850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665769231 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:-8.36, Z:-1.19 [[ 9.91499371e-01 1.29686449e-01 1.05081599e-02 1.02222217e+02] [-1.29678879e-01 9.91555054e-01 -1.40142108e-03 -8.36131151e+00] [-1.06011644e-02 2.68217118e-05 9.99943806e-01 -1.19261655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:-8.36, Z:-1.19 [[ 9.91401893e-01 1.30429535e-01 1.05082259e-02 1.02281578e+02] [-1.30422013e-01 9.91457582e-01 -1.40092662e-03 -8.36213572e+00] [-1.06011824e-02 1.83773387e-05 9.99943806e-01 -1.19170824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78576923099999 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:-8.36, Z:-1.19 [[ 9.91103173e-01 1.32680357e-01 1.05082921e-02 1.02340766e+02] [-1.32672966e-01 9.91158879e-01 -1.40042980e-03 -8.36437713e+00] [-1.06011965e-02 -6.19586530e-06 9.99943806e-01 -1.19462648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84576923099999 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:-8.37, Z:-1.20 [[ 9.90895360e-01 1.34223547e-01 1.05083601e-02 1.02398688e+02] [-1.34216249e-01 9.90951078e-01 -1.39991914e-03 -8.36545028e+00] [-1.06011729e-02 -2.32192994e-05 9.99943806e-01 -1.19643696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.905769231 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:-8.37, Z:-1.20 [[ 9.91305636e-01 1.31159100e-01 1.05084443e-02 1.02457763e+02] [-1.31151636e-01 9.91361332e-01 -1.39928646e-03 -8.36641045e+00] [-1.06011945e-02 8.92088496e-06 9.99943806e-01 -1.19656083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965769231 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:-8.37, Z:-1.20 [[ 9.92160424e-01 1.24528168e-01 1.05085112e-02 1.02515861e+02] [-1.24520337e-01 9.92216070e-01 -1.39878400e-03 -8.37212197e+00] [-1.06009017e-02 7.92947724e-05 9.99943806e-01 -1.19733846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025769231 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:102.57, Y:-8.38, Z:-1.20 [[ 9.92828869e-01 1.19081511e-01 1.05085776e-02 1.02574384e+02] [-1.19073380e-01 9.92884472e-01 -1.39828536e-03 -8.38180516e+00] [-1.06003134e-02 1.36966227e-04 9.99943806e-01 -1.19757025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:102.63, Y:-8.39, Z:-1.19 [[ 9.93042313e-01 1.17288245e-01 1.05086430e-02 1.02631220e+02] [-1.17280019e-01 9.93097902e-01 -1.39779337e-03 -8.39202695e+00] [-1.06000561e-02 1.55614112e-04 9.99943806e-01 -1.19454618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14576923099999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:102.69, Y:-8.40, Z:-1.20 [[ 9.93006633e-01 1.17589939e-01 1.05087235e-02 1.02689534e+02] [-1.17581736e-01 9.93062225e-01 -1.39718813e-03 -8.40072640e+00] [-1.06001116e-02 1.51783133e-04 9.99943806e-01 -1.19591169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20576923099999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:-8.41, Z:-1.20 [[ 9.93124547e-01 1.16589880e-01 1.05087891e-02 1.02746922e+02] [-1.16581626e-01 9.93180132e-01 -1.39669410e-03 -8.41197698e+00] [-1.05999610e-02 1.61959467e-04 9.99943806e-01 -1.19518940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.265769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:102.80, Y:-8.42, Z:-1.19 [[ 9.93487585e-01 1.13454757e-01 1.05088547e-02 1.02804637e+02] [-1.13446333e-01 9.93543145e-01 -1.39620036e-03 -8.42222548e+00] [-1.05994062e-02 1.94916694e-04 9.99943806e-01 -1.19444821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325769231 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:-8.43, Z:-1.20 [[ 9.94028990e-01 1.08609067e-01 1.05089208e-02 1.02861187e+02] [-1.08600377e-01 9.94084509e-01 -1.39570275e-03 -8.43340421e+00] [-1.05983414e-02 2.46096227e-04 9.99943806e-01 -1.19998072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385769231 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:-8.45, Z:-1.20 [[ 9.94508836e-01 1.04123654e-01 1.05090021e-02 1.02919268e+02] [-1.04114720e-01 9.94564316e-01 -1.39509032e-03 -8.44627747e+00] [-1.05971404e-02 2.93287834e-04 9.99943806e-01 -1.19996470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:-8.46, Z:-1.21 [[ 9.94509388e-01 1.04118384e-01 1.05090348e-02 1.02976993e+02] [-1.04109453e-01 9.94564868e-01 -1.39484448e-03 -8.46162065e+00] [-1.05971457e-02 2.93096066e-04 9.99943806e-01 -1.20669696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50576923099999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:-8.47, Z:-1.20 [[ 9.94003720e-01 1.08840082e-01 1.05090675e-02 1.03034595e+02] [-1.08831417e-01 9.94059243e-01 -1.39459804e-03 -8.47310928e+00] [-1.05984238e-02 2.42518933e-04 9.99943806e-01 -1.20335458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56576923099999 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:-8.48, Z:-1.20 [[ 9.93255085e-01 1.15472484e-01 1.05091161e-02 1.03092417e+02] [-1.15464193e-01 9.93310664e-01 -1.39423156e-03 -8.48053556e+00] [-1.05998125e-02 1.71400977e-04 9.99943806e-01 -1.20234034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62576923099999 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:-8.49, Z:-1.20 [[ 9.93062551e-01 1.17116718e-01 1.05091962e-02 1.03150578e+02] [-1.17108527e-01 9.93118145e-01 -1.39362769e-03 -8.48742716e+00] [-1.06000905e-02 1.53242987e-04 9.99943806e-01 -1.20323961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685769231 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:-8.50, Z:-1.20 [[ 9.93108606e-01 1.16725542e-01 1.05092580e-02 1.03208950e+02] [-1.16717333e-01 9.93164198e-01 -1.39316139e-03 -8.49602337e+00] [-1.06000363e-02 1.56947999e-04 9.99943806e-01 -1.20296412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745769231 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:-8.50, Z:-1.20 [[ 9.93672352e-01 1.11824912e-01 1.05093193e-02 1.03267130e+02] [-1.11816434e-01 9.93727903e-01 -1.39269838e-03 -8.50420529e+00] [-1.05991422e-02 2.08771263e-04 9.99943806e-01 -1.20206665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:-8.51, Z:-1.20 [[ 9.93860998e-01 1.10135690e-01 1.05093824e-02 1.03324872e+02] [-1.10127123e-01 9.93916535e-01 -1.39222268e-03 -8.51368916e+00] [-1.05987823e-02 2.26307781e-04 9.99943806e-01 -1.20241092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86576923099999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:-8.52, Z:-1.20 [[ 9.94037298e-01 1.08532954e-01 1.05094291e-02 1.03383687e+02] [-1.08524301e-01 9.94092822e-01 -1.39186947e-03 -8.52207209e+00] [-1.05984118e-02 2.43041714e-04 9.99943806e-01 -1.20462930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92576923099999 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:-8.53, Z:-1.21 [[ 9.94016865e-01 1.08719934e-01 1.05094622e-02 1.03441885e+02] [-1.08711294e-01 9.94072391e-01 -1.39162013e-03 -8.53215905e+00] [-1.05984630e-02 2.40796650e-04 9.99943806e-01 -1.20864599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98576923099999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:-8.54, Z:-1.21 [[ 9.93891920e-01 1.09856275e-01 1.05094992e-02 1.03499408e+02] [-1.09847701e-01 9.93947457e-01 -1.39134039e-03 -8.54459229e+00] [-1.05987375e-02 2.28397646e-04 9.99943806e-01 -1.20838465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045769231 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:103.56, Y:-8.56, Z:-1.20 [[ 9.93854141e-01 1.10197532e-01 1.05095474e-02 1.03557565e+02] [-1.10188981e-01 9.93909681e-01 -1.39097614e-03 -8.55831047e+00] [-1.05988230e-02 2.24391076e-04 9.99943806e-01 -1.20469694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:-8.57, Z:-1.21 [[ 9.93919351e-01 1.09607810e-01 1.05095788e-02 1.03616514e+02] [-1.09599229e-01 9.93974886e-01 -1.39073885e-03 -8.57467958e+00] [-1.05986932e-02 2.30440521e-04 9.99943806e-01 -1.20646895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:103.68, Y:-8.59, Z:-1.21 [[ 9.93959136e-01 1.09246445e-01 1.05095788e-02 1.03675891e+02] [-1.09237843e-01 9.94014668e-01 -1.39073885e-03 -8.58908586e+00] [-1.05986088e-02 2.34293862e-04 9.99943806e-01 -1.20833024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:103.73, Y:-8.61, Z:-1.21 [[ 9.93618538e-01 1.12302048e-01 1.05095626e-02 1.03734245e+02] [-1.12293616e-01 9.93674096e-01 -1.39086162e-03 -8.60812055e+00] [-1.05992767e-02 2.01829100e-04 9.99943806e-01 -1.20747427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28576923099999 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:-8.62, Z:-1.21 [[ 9.92994387e-01 1.17693231e-01 1.05095626e-02 1.03792700e+02] [-1.17685101e-01 9.93049990e-01 -1.39086162e-03 -8.62102377e+00] [-1.06002160e-02 1.44298853e-04 9.99943806e-01 -1.20608729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34576923099999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:-8.64, Z:-1.20 [[ 9.92067210e-01 1.25268510e-01 1.05095932e-02 1.03852206e+02] [-1.25260807e-01 9.92122874e-01 -1.39062971e-03 -8.63506733e+00] [-1.06010100e-02 6.31580076e-05 9.99943806e-01 -1.20366346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.405769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:103.91, Y:-8.65, Z:-1.21 [[ 9.91802056e-01 1.27350817e-01 1.05095932e-02 1.03912815e+02] [-1.27343231e-01 9.91857736e-01 -1.39062971e-03 -8.64722916e+00] [-1.06011192e-02 4.09038460e-05 9.99943806e-01 -1.21030865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:103.97, Y:-8.66, Z:-1.21 [[ 9.91557578e-01 1.29240543e-01 1.05095602e-02 1.03972366e+02] [-1.29233060e-01 9.91613272e-01 -1.39087953e-03 -8.65743590e+00] [-1.06011774e-02 2.09545123e-05 9.99943806e-01 -1.20935730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525769231 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:104.03, Y:-8.67, Z:-1.21 [[ 9.91465609e-01 1.29944206e-01 1.05094747e-02 1.04031803e+02] [-1.29936756e-01 9.91521307e-01 -1.39152501e-03 -8.66749243e+00] [-1.06011887e-02 1.40821451e-05 9.99943806e-01 -1.21082316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:104.09, Y:-8.68, Z:-1.21 [[ 9.91250954e-01 1.31571642e-01 1.05094747e-02 1.04091331e+02] [-1.31564283e-01 9.91306665e-01 -1.39152501e-03 -8.67760142e+00] [-1.06011976e-02 -3.32100774e-06 9.99943806e-01 -1.21333059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64576923099999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:104.15, Y:-8.69, Z:-1.22 [[ 9.91129155e-01 1.32486036e-01 1.05094008e-02 1.04152302e+02] [-1.32478723e-01 9.91184872e-01 -1.39208292e-03 -8.69239389e+00] [-1.06011906e-02 -1.25380287e-05 9.99943806e-01 -1.21572989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70576923099999 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:104.21, Y:-8.71, Z:-1.22 [[ 9.91534687e-01 1.29416081e-01 1.05091656e-02 1.04212427e+02] [-1.29408577e-01 9.91590378e-01 -1.39385611e-03 -8.70776149e+00] [-1.06011749e-02 2.20805147e-05 9.99943806e-01 -1.22348903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.765769231 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:104.27, Y:-8.72, Z:-1.23 [[ 9.90940331e-01 1.33891085e-01 1.05089490e-02 1.04272658e+02] [-1.33883815e-01 9.90996053e-01 -1.39548716e-03 -8.71947575e+00] [-1.06011703e-02 -2.41336738e-05 9.99943806e-01 -1.22785828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825769231 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:104.33, Y:-8.73, Z:-1.23 [[ 9.89939082e-01 1.41103438e-01 1.05087342e-02 1.04333976e+02] [-1.41096557e-01 9.89994853e-01 -1.39710299e-03 -8.72708557e+00] [-1.06007288e-02 -9.96993668e-05 9.99943806e-01 -1.22689334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885769231 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-8.74, Z:-1.23 [[ 9.89965745e-01 1.40916254e-01 1.05087016e-02 1.04395694e+02] [-1.40909359e-01 9.90021515e-01 -1.39734853e-03 -8.73622768e+00] [-1.06007498e-02 -9.74472201e-05 9.99943806e-01 -1.22661324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-8.75, Z:-1.23 [[ 9.91127690e-01 1.32497072e-01 1.05084678e-02 1.04457157e+02] [-1.32489685e-01 9.91183397e-01 -1.39910463e-03 -8.74884612e+00] [-1.06011960e-02 -5.57224704e-06 9.99943806e-01 -1.22522579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00576923099999 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-8.77, Z:-1.22 [[ 9.92177670e-01 1.24390708e-01 1.05082341e-02 1.04518475e+02] [-1.24382847e-01 9.92233312e-01 -1.40085749e-03 -8.76639571e+00] [-1.06008736e-02 8.28554429e-05 9.99943806e-01 -1.22486335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06576923099999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-8.79, Z:-1.23 [[ 9.92169018e-01 1.24459724e-01 1.05079681e-02 1.04578790e+02] [-1.24451846e-01 9.92224657e-01 -1.40284978e-03 -8.78611771e+00] [-1.06008634e-02 8.41280599e-05 9.99943806e-01 -1.22506337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12576923099999 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:104.64, Y:-8.80, Z:-1.23 [[ 9.91602843e-01 1.28892939e-01 1.05077203e-02 1.04640356e+02] [-1.28885291e-01 9.91658514e-01 -1.40470322e-03 -8.80110874e+00] [-1.06011267e-02 3.86171179e-05 9.99943806e-01 -1.22660929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185769231 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:-8.82, Z:-1.23 [[ 9.90565669e-01 1.36635458e-01 1.05074587e-02 1.04701442e+02] [-1.36628224e-01 9.90621396e-01 -1.40665762e-03 -8.81763215e+00] [-1.06011127e-02 -4.22286744e-05 9.99943806e-01 -1.22940822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245769231 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:-8.83, Z:-1.22 [[ 9.89513495e-01 1.44057773e-01 1.05071961e-02 1.04761861e+02] [-1.44050935e-01 9.89569272e-01 -1.40861640e-03 -8.82974423e+00] [-1.06005205e-02 -1.19726490e-04 9.99943806e-01 -1.22470821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305769231 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:-8.84, Z:-1.23 [[ 9.88741211e-01 1.49266272e-01 1.05069861e-02 1.04824503e+02] [-1.49259712e-01 9.88797021e-01 -1.41018106e-03 -8.83807996e+00] [-1.05997690e-02 -1.73965594e-04 9.99943806e-01 -1.22858115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36576923099999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:-8.84, Z:-1.23 [[ 9.87589342e-01 1.56706415e-01 1.05067141e-02 1.04885484e+02] [-1.56700254e-01 9.87645198e-01 -1.41220494e-03 -8.84102407e+00] [-1.05982073e-02 -2.51726217e-04 9.99943806e-01 -1.23374431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42576923099999 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:-8.84, Z:-1.23 [[ 9.86845531e-01 1.61324239e-01 1.05065853e-02 1.04946743e+02] [-1.61318329e-01 9.86901413e-01 -1.41316233e-03 -8.84214542e+00] [-1.05969412e-02 -3.00331850e-04 9.99943806e-01 -1.23132997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48576923099999 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:-8.84, Z:-1.24 [[ 9.87069291e-01 1.59949467e-01 1.05063724e-02 1.05009499e+02] [-1.59943462e-01 9.87125163e-01 -1.41474372e-03 -8.84472002e+00] [-1.05973920e-02 -2.83975484e-04 9.99943806e-01 -1.23530295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545769231 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:-8.85, Z:-1.24 [[ 9.87199498e-01 1.59143873e-01 1.05061111e-02 1.05071551e+02] [-1.59137802e-01 9.87255364e-01 -1.41668129e-03 -8.85117833e+00] [-1.05976707e-02 -2.73372370e-04 9.99943806e-01 -1.23697545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605769231 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:-8.85, Z:-1.24 [[ 9.87555328e-01 1.56920685e-01 1.05058683e-02 1.05133217e+02] [-1.56914470e-01 9.87611177e-01 -1.41847920e-03 -8.85456560e+00] [-1.05983017e-02 -2.47696062e-04 9.99943806e-01 -1.23724379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665769231 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-8.86, Z:-1.24 [[ 9.87962684e-01 1.54335238e-01 1.05056603e-02 1.05195941e+02] [-1.54328860e-01 9.88018515e-01 -1.42001849e-03 -8.85780596e+00] [-1.05989458e-02 -2.18401297e-04 9.99943806e-01 -1.24003826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:-8.86, Z:-1.24 [[ 9.88338290e-01 1.51911357e-01 1.05054358e-02 1.05257286e+02] [-1.51904824e-01 9.88394103e-01 -1.42167727e-03 -8.86203136e+00] [-1.05994797e-02 -1.90728291e-04 9.99943806e-01 -1.24493370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78576923099999 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:-8.87, Z:-1.25 [[ 9.88634981e-01 1.49968368e-01 1.05054039e-02 1.05319706e+02] [-1.49961723e-01 9.88690781e-01 -1.42191321e-03 -8.86665563e+00] [-1.05998380e-02 -1.69655322e-04 9.99943806e-01 -1.24502389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84576923099999 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:-8.87, Z:-1.24 [[ 9.89479627e-01 1.44290363e-01 1.05051696e-02 1.05380929e+02] [-1.44283379e-01 9.89535386e-01 -1.42364196e-03 -8.87430137e+00] [-1.06006549e-02 -1.07056657e-04 9.99943806e-01 -1.24300332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.905769231 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:-8.88, Z:-1.25 [[ 9.90662264e-01 1.35933534e-01 1.05049371e-02 1.05443281e+02] [-1.35926062e-01 9.90717959e-01 -1.42535528e-03 -8.88373229e+00] [-1.06011834e-02 -1.58490469e-05 9.99943806e-01 -1.24689457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965769231 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:-8.90, Z:-1.25 [[ 9.91611557e-01 1.28826131e-01 1.05046723e-02 1.05504311e+02] [-1.28818239e-01 9.91667194e-01 -1.42730460e-03 -8.89844577e+00] [-1.06010130e-02 6.21383485e-05 9.99943806e-01 -1.25062733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025769231 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:105.57, Y:-8.91, Z:-1.25 [[ 9.91875559e-01 1.26777490e-01 1.05044215e-02 1.05565622e+02] [-1.26769463e-01 9.91931177e-01 -1.42914781e-03 -8.91457635e+00] [-1.06008469e-02 8.58969056e-05 9.99943806e-01 -1.25365935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:-8.93, Z:-1.25 [[ 9.91588366e-01 1.29004557e-01 1.05041419e-02 1.05626423e+02] [-1.28996633e-01 9.91643999e-01 -1.43119949e-03 -8.92655140e+00] [-1.06010006e-02 6.41618212e-05 9.99943806e-01 -1.25246585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14576923099999 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:-8.93, Z:-1.25 [[ 9.90553485e-01 1.36724035e-01 1.05038824e-02 1.05688274e+02] [-1.36716525e-01 9.90609175e-01 -1.43310212e-03 -8.93463100e+00] [-1.06011817e-02 -1.64899947e-05 9.99943806e-01 -1.25222550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20576923099999 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:-8.94, Z:-1.26 [[ 9.89691840e-01 1.42827643e-01 1.05036255e-02 1.05751195e+02] [-1.42820457e-01 9.89747573e-01 -1.43498185e-03 -8.94190294e+00] [-1.06008930e-02 -7.99427698e-05 9.99943806e-01 -1.25557502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.265769231 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:105.81, Y:-8.95, Z:-1.26 [[ 9.89537213e-01 1.43895046e-01 1.05033570e-02 1.05814121e+02] [-1.43887899e-01 9.89592951e-01 -1.43694516e-03 -8.94810271e+00] [-1.06008173e-02 -8.93952525e-05 9.99943806e-01 -1.25822319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325769231 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:105.88, Y:-8.96, Z:-1.26 [[ 9.89680655e-01 1.42905168e-01 1.05030808e-02 1.05875876e+02] [-1.42897944e-01 9.89736383e-01 -1.43896092e-03 -8.95705866e+00] [-1.06009161e-02 -7.67568573e-05 9.99943806e-01 -1.25825523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385769231 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:105.94, Y:-8.97, Z:-1.26 [[ 9.90060037e-01 1.40252682e-01 1.05028249e-02 1.05937347e+02] [-1.40245288e-01 9.90115742e-01 -1.44082632e-03 -8.96621188e+00] [-1.06010920e-02 -4.64671463e-05 9.99943806e-01 -1.26451550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:106.00, Y:-8.98, Z:-1.26 [[ 9.90256963e-01 1.38855476e-01 1.05025743e-02 1.05999001e+02] [-1.38847985e-01 9.90312656e-01 -1.44265042e-03 -8.97771686e+00] [-1.06011522e-02 -2.96666587e-05 9.99943806e-01 -1.26479689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50576923099999 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:-8.99, Z:-1.27 [[ 9.90238034e-01 1.38990422e-01 1.05022993e-02 1.06060804e+02] [-1.38982917e-01 9.90293725e-01 -1.44464954e-03 -8.99304359e+00] [-1.06011536e-02 -2.90932774e-05 9.99943806e-01 -1.26715615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56576923099999 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:-9.01, Z:-1.27 [[ 9.89802246e-01 1.42060623e-01 1.05020193e-02 1.06121034e+02] [-1.42053269e-01 9.89857957e-01 -1.44668270e-03 -9.01090021e+00] [-1.06010240e-02 -5.99163814e-05 9.99943806e-01 -1.27067719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62576923099999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:-9.02, Z:-1.27 [[ 9.88557199e-01 1.50480479e-01 1.05018461e-02 1.06182697e+02] [-1.50473587e-01 9.88612969e-01 -1.44793846e-03 -9.02281887e+00] [-1.06001477e-02 -1.48880468e-04 9.99943806e-01 -1.26751034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685769231 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:-9.03, Z:-1.27 [[ 9.86758115e-01 1.61858396e-01 1.05015731e-02 1.06245332e+02] [-1.61852125e-01 9.86813958e-01 -1.44991555e-03 -9.03289417e+00] [-1.05977800e-02 -2.68986001e-04 9.99943806e-01 -1.27101789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745769231 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:106.31, Y:-9.04, Z:-1.27 [[ 9.85526849e-01 1.69193834e-01 1.05013017e-02 1.06306841e+02] [-1.69187958e-01 9.85582735e-01 -1.45187880e-03 -9.03858011e+00] [-1.05955506e-02 -3.45828259e-04 9.99943806e-01 -1.27360947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805769231 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:-9.04, Z:-1.28 [[ 9.84836807e-01 1.73165216e-01 1.05010505e-02 1.06370309e+02] [-1.73159546e-01 9.84892714e-01 -1.45369328e-03 -9.04149337e+00] [-1.05941373e-02 -3.86706496e-04 9.99943806e-01 -1.27511094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86576923099999 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:106.43, Y:-9.04, Z:-1.28 [[ 9.85251039e-01 1.70792635e-01 1.05007745e-02 1.06432860e+02] [-1.70786809e-01 9.85306930e-01 -1.45568454e-03 -9.04152021e+00] [-1.05951061e-02 -3.59179061e-04 9.99943806e-01 -1.27783689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92576923099999 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:-9.05, Z:-1.27 [[ 9.86383818e-01 1.64124048e-01 1.05005185e-02 1.06496201e+02] [-1.64117825e-01 9.86439666e-01 -1.45752843e-03 -9.04701846e+00] [-1.05973435e-02 -2.85639805e-04 9.99943806e-01 -1.27338412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98576923099999 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:-9.05, Z:-1.28 [[ 9.87284562e-01 1.58615691e-01 1.05002443e-02 1.06559406e+02] [-1.58609135e-01 9.87340373e-01 -1.45950172e-03 -9.05238985e+00] [-1.05988150e-02 -2.24491144e-04 9.99943806e-01 -1.27559300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045769231 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:-9.06, Z:-1.28 [[ 9.88314918e-01 1.52063717e-01 1.04999637e-02 1.06620481e+02] [-1.52056769e-01 9.88370681e-01 -1.46151772e-03 -9.05949196e+00] [-1.06001000e-02 -1.52150787e-04 9.99943806e-01 -1.28320483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105769231 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:-9.07, Z:-1.29 [[ 9.89011200e-01 1.47467294e-01 1.04997015e-02 1.06682164e+02] [-1.47460067e-01 9.89066927e-01 -1.46339876e-03 -9.06948384e+00] [-1.06007109e-02 -1.00968920e-04 9.99943806e-01 -1.28676090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.165769231 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:-9.08, Z:-1.29 [[ 9.89754731e-01 1.42391478e-01 1.04994593e-02 1.06743529e+02] [-1.42383948e-01 9.89810419e-01 -1.46513410e-03 -9.08282629e+00] [-1.06010968e-02 -4.48310565e-05 9.99943806e-01 -1.29095690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:106.81, Y:-9.10, Z:-1.29 [[ 9.90072091e-01 1.40167831e-01 1.04991834e-02 1.06805364e+02] [-1.40160154e-01 9.90127759e-01 -1.46710864e-03 -9.09616485e+00] [-1.06011744e-02 -1.90238454e-05 9.99943806e-01 -1.29202407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28576923099999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:-9.11, Z:-1.30 [[ 9.89745706e-01 1.42454241e-01 1.04989078e-02 1.06864873e+02] [-1.42446672e-01 9.89801388e-01 -1.46907848e-03 -9.10973085e+00] [-1.06011100e-02 -4.15203562e-05 9.99943806e-01 -1.29525535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34576923099999 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:106.93, Y:-9.12, Z:-1.29 [[ 9.88813931e-01 1.48784368e-01 1.04986854e-02 1.06926502e+02] [-1.48777138e-01 9.88869658e-01 -1.47066595e-03 -9.11950402e+00] [-1.06006436e-02 -1.07749391e-04 9.99943806e-01 -1.29479105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.405769231 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:106.99, Y:-9.13, Z:-1.29 [[ 9.87983100e-01 1.54204985e-01 1.04984338e-02 1.06988770e+02] [-1.54198042e-01 9.88038864e-01 -1.47246001e-03 -9.12998174e+00] [-1.05999213e-02 -1.64072326e-04 9.99943806e-01 -1.29393990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.465769231 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:107.05, Y:-9.14, Z:-1.30 [[ 9.87233058e-01 1.58936083e-01 1.04981631e-02 1.07050018e+02] [-1.58929387e-01 9.87288851e-01 -1.47438731e-03 -9.13828695e+00] [-1.05990527e-02 -2.12902731e-04 9.99943806e-01 -1.29542484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.525769231 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:-9.14, Z:-1.30 [[ 9.86903432e-01 1.60970208e-01 1.04979957e-02 1.07111893e+02] [-1.60963614e-01 9.86959238e-01 -1.47557841e-03 -9.14431821e+00] [-1.05986180e-02 -2.33541926e-04 9.99943806e-01 -1.29659569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:107.17, Y:-9.15, Z:-1.30 [[ 9.87467210e-01 1.57474777e-01 1.04977667e-02 1.07172979e+02] [-1.57467969e-01 9.87522990e-01 -1.47720584e-03 -9.15225324e+00] [-1.05994086e-02 -1.94369669e-04 9.99943806e-01 -1.29693719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64576923099999 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:107.23, Y:-9.16, Z:-1.30 [[ 9.88134190e-01 1.53233881e-01 1.04976044e-02 1.07234667e+02] [-1.53226821e-01 9.88189939e-01 -1.47835794e-03 -9.15923642e+00] [-1.06001616e-02 -1.47698524e-04 9.99943806e-01 -1.30024149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70576923099999 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:-9.17, Z:-1.30 [[ 9.88871154e-01 1.48403657e-01 1.04973698e-02 1.07295626e+02] [-1.48396307e-01 9.88926866e-01 -1.48002238e-03 -9.16777297e+00] [-1.06007717e-02 -9.42194638e-05 9.99943806e-01 -1.30312147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.765769231 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:107.36, Y:-9.18, Z:-1.31 [[ 9.89468239e-01 1.44369022e-01 1.04971187e-02 1.07357553e+02] [-1.44361425e-01 9.89523917e-01 -1.48180074e-03 -9.17744563e+00] [-1.06010762e-02 -4.91842520e-05 9.99943806e-01 -1.30541987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.825769231 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:-9.19, Z:-1.30 [[ 9.90255799e-01 1.38864211e-01 1.04968633e-02 1.07417946e+02] [-1.38856286e-01 9.90311431e-01 -1.48360826e-03 -9.19206441e+00] [-1.06011838e-02 1.15962368e-05 9.99943806e-01 -1.30082399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.885769231 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:107.48, Y:-9.21, Z:-1.30 [[ 9.91105116e-01 1.32666762e-01 1.04966305e-02 1.07478672e+02] [-1.32658472e-01 9.91160695e-01 -1.48525313e-03 -9.21095208e+00] [-1.06008913e-02 7.95750146e-05 9.99943806e-01 -1.30090768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:107.54, Y:-9.23, Z:-1.30 [[ 9.90854608e-01 1.34524989e-01 1.04963481e-02 1.07539453e+02] [-1.34516782e-01 9.90910199e-01 -1.48724617e-03 -9.22899496e+00] [-1.06010102e-02 6.17097505e-05 9.99943806e-01 -1.30197519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00576923099999 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:107.60, Y:-9.24, Z:-1.30 [[ 9.90056695e-01 1.40276771e-01 1.04960669e-02 1.07600968e+02] [-1.40268866e-01 9.90112331e-01 -1.48922837e-03 -9.24282029e+00] [-1.06011894e-02 2.14912629e-06 9.99943806e-01 -1.30180631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06576923099999 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:-9.26, Z:-1.31 [[ 9.88626629e-01 1.50024086e-01 1.04957649e-02 1.07661966e+02] [-1.50016707e-01 9.88682337e-01 -1.49135375e-03 -9.25704628e+00] [-1.06007163e-02 -1.00148053e-04 9.99943806e-01 -1.30604715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12576923099999 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:-9.27, Z:-1.30 [[ 9.87620528e-01 1.56510503e-01 1.04954851e-02 1.07722942e+02] [-1.56503468e-01 9.87676280e-01 -1.49331983e-03 -9.27005260e+00] [-1.05998620e-02 -1.67746505e-04 9.99943806e-01 -1.30429372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.185769231 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-9.28, Z:-1.31 [[ 9.87064562e-01 1.59979376e-01 1.04952636e-02 1.07784723e+02] [-1.59972521e-01 9.87120336e-01 -1.49487516e-03 -9.27999845e+00] [-1.05992373e-02 -2.03415485e-04 9.99943806e-01 -1.30648678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.245769231 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:107.85, Y:-9.29, Z:-1.31 [[ 9.86758313e-01 1.61857614e-01 1.04949946e-02 1.07846394e+02] [-1.61850845e-01 9.86814098e-01 -1.49676145e-03 -9.29020574e+00] [-1.05988709e-02 -2.21681940e-04 9.99943806e-01 -1.31097352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.305769231 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:-9.30, Z:-1.31 [[ 9.86766122e-01 1.61810015e-01 1.04947471e-02 1.07906813e+02] [-1.61803225e-01 9.86821904e-01 -1.49849445e-03 -9.29878866e+00] [-1.05989178e-02 -2.19420372e-04 9.99943806e-01 -1.31254527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36576923099999 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:107.97, Y:-9.31, Z:-1.31 [[ 9.86777494e-01 1.61740664e-01 1.04945189e-02 1.07968358e+02] [-1.61733853e-01 9.86833274e-01 -1.50009122e-03 -9.30615273e+00] [-1.05989662e-02 -2.17062720e-04 9.99943806e-01 -1.31323543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42576923099999 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:-9.31, Z:-1.31 [[ 9.86833438e-01 1.61398994e-01 1.04942723e-02 1.08029887e+02] [-1.61392146e-01 9.86889214e-01 -1.50181457e-03 -9.31269283e+00] [-1.05990755e-02 -2.11652287e-04 9.99943806e-01 -1.31417082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48576923099999 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:-9.32, Z:-1.32 [[ 9.87239761e-01 1.58894712e-01 1.04940108e-02 1.08091488e+02] [-1.58887702e-01 9.87295517e-01 -1.50363907e-03 -9.32231043e+00] [-1.05996102e-02 -1.82916994e-04 9.99943806e-01 -1.31743909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.545769231 meters Centerline goodness : 0.998642 with order 1 Centerline is valid? [True, True] Translation: X:108.15, Y:-9.33, Z:-1.32 [[ 9.87844670e-01 1.55089613e-01 1.04937675e-02 1.08151539e+02] [-1.55082371e-01 9.87900396e-01 -1.50533523e-03 -9.33468772e+00] [-1.06002590e-02 -1.40360969e-04 9.99943806e-01 -1.31809577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.605769231 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:108.21, Y:-9.35, Z:-1.32 [[ 9.88884306e-01 1.48316265e-01 1.04935435e-02 1.08211753e+02] [-1.48308625e-01 9.88939979e-01 -1.50689536e-03 -9.34993196e+00] [-1.06009818e-02 -6.61378249e-05 9.99943806e-01 -1.31954944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.665769231 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:108.27, Y:-9.36, Z:-1.32 [[ 9.89409955e-01 1.44768202e-01 1.04932958e-02 1.08271427e+02] [-1.44760344e-01 9.89465597e-01 -1.50861829e-03 -9.36239270e+00] [-1.06011551e-02 -2.63711480e-05 9.99943806e-01 -1.32157215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:108.33, Y:-9.38, Z:-1.31 [[ 9.89487109e-01 1.44239930e-01 1.04930673e-02 1.08331326e+02] [-1.44232025e-01 9.89542744e-01 -1.51020589e-03 -9.37933873e+00] [-1.06011706e-02 -1.91070948e-05 9.99943806e-01 -1.31428003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78576923099999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:108.39, Y:-9.39, Z:-1.31 [[ 9.88927430e-01 1.48028505e-01 1.04928385e-02 1.08392042e+02] [-1.48020796e-01 9.88983093e-01 -1.51179366e-03 -9.39342247e+00] [-1.06010285e-02 -5.81040889e-05 9.99943806e-01 -1.31386809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84576923099999 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:-9.40, Z:-1.31 [[ 9.87461350e-01 1.57511868e-01 1.04925779e-02 1.08454840e+02] [-1.57504675e-01 9.87517082e-01 -1.51360060e-03 -9.40102961e+00] [-1.06000099e-02 -1.58007970e-04 9.99943806e-01 -1.31101384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.905769231 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:-9.40, Z:-1.31 [[ 9.86068360e-01 1.66009341e-01 1.04923023e-02 1.08517498e+02] [-1.66002607e-01 9.86124149e-01 -1.51550844e-03 -9.40492108e+00] [-1.05983012e-02 -2.47354622e-04 9.99943806e-01 -1.31458993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.965769231 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:108.58, Y:-9.41, Z:-1.32 [[ 9.84139108e-01 1.77087923e-01 1.04920627e-02 1.08580094e+02] [-1.77081800e-01 9.84194968e-01 -1.51716510e-03 -9.40595445e+00] [-1.05949070e-02 -3.64851842e-04 9.99943806e-01 -1.31918506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.025769231 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:108.64, Y:-9.41, Z:-1.32 [[ 9.83623656e-01 1.79928942e-01 1.04918254e-02 1.08643337e+02] [-1.79922963e-01 9.83679532e-01 -1.51880478e-03 -9.41042142e+00] [-1.05938708e-02 -3.93787994e-04 9.99943806e-01 -1.31891406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:108.70, Y:-9.42, Z:-1.32 [[ 9.83717415e-01 1.79415650e-01 1.04915278e-02 1.08704114e+02] [-1.79409620e-01 9.83773285e-01 -1.52085748e-03 -9.41566629e+00] [-1.05941504e-02 -3.86187026e-04 9.99943806e-01 -1.31694028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14576923099999 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:-9.42, Z:-1.31 [[ 9.83598417e-01 1.80066898e-01 1.04912885e-02 1.08766878e+02] [-1.80060887e-01 9.83654288e-01 -1.52250685e-03 -9.41908487e+00] [-1.05939540e-02 -3.91535381e-04 9.99943806e-01 -1.31147025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20576923099999 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-9.42, Z:-1.32 [[ 9.82964543e-01 1.83495627e-01 1.04910418e-02 1.08830262e+02] [-1.83489793e-01 9.83020434e-01 -1.52420456e-03 -9.41788782e+00] [-1.05925933e-02 -4.26760050e-04 9.99943806e-01 -1.31874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.265769231 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-9.42, Z:-1.32 [[ 9.83005548e-01 1.83275839e-01 1.04909525e-02 1.08891556e+02] [-1.83269985e-01 9.83061436e-01 -1.52481872e-03 -9.41916263e+00] [-1.05927133e-02 -4.23771456e-04 9.99943806e-01 -1.32131353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.325769231 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:-9.43, Z:-1.32 [[ 9.83337520e-01 1.81486268e-01 1.04908108e-02 1.08954192e+02] [-1.81480303e-01 9.83393396e-01 -1.52579366e-03 -9.42538210e+00] [-1.05935046e-02 -4.03505358e-04 9.99943806e-01 -1.32236791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.385769231 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:-9.42, Z:-1.32 [[ 9.84519740e-01 1.74959510e-01 1.04905281e-02 1.09017320e+02] [-1.74953154e-01 9.84575574e-01 -1.52773457e-03 -9.42483579e+00] [-1.05960094e-02 -3.31266137e-04 9.99943806e-01 -1.32311614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:-9.43, Z:-1.33 [[ 9.85481979e-01 1.69455667e-01 1.04902645e-02 1.09079759e+02] [-1.69448980e-01 9.85537774e-01 -1.52954241e-03 -9.42648385e+00] [-1.05977416e-02 -2.70228132e-04 9.99943806e-01 -1.32573153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50576923099999 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:-9.43, Z:-1.33 [[ 9.86104896e-01 1.65792321e-01 1.04900244e-02 1.09140658e+02] [-1.65785409e-01 9.86160663e-01 -1.53118766e-03 -9.43139413e+00] [-1.05987085e-02 -2.29181331e-04 9.99943806e-01 -1.33249756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56576923099999 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:-9.44, Z:-1.33 [[ 9.87144799e-01 1.59483882e-01 1.04898873e-02 1.09202450e+02] [-1.59476603e-01 9.87200519e-01 -1.53212588e-03 -9.43786408e+00] [-1.05999716e-02 -1.60461507e-04 9.99943806e-01 -1.32838841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62576923099999 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:109.26, Y:-9.45, Z:-1.33 [[ 9.88094334e-01 1.53491220e-01 1.04896414e-02 1.09264034e+02] [-1.53483585e-01 9.88150007e-01 -1.53380752e-03 -9.44579945e+00] [-1.06007652e-02 -9.44412537e-05 9.99943806e-01 -1.32682561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.685769231 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:-9.46, Z:-1.32 [[ 9.89336088e-01 1.45272428e-01 1.04893908e-02 1.09324997e+02] [-1.45264313e-01 9.89391693e-01 -1.53551983e-03 -9.45794420e+00] [-1.06011848e-02 -4.58896261e-06 9.99943806e-01 -1.32330091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.745769231 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:109.39, Y:-9.47, Z:-1.32 [[ 9.89951400e-01 1.41018450e-01 1.04891363e-02 1.09387042e+02] [-1.41010077e-01 9.90006967e-01 -1.53725634e-03 -9.47144473e+00] [-1.06010995e-02 4.27351436e-05 9.99943806e-01 -1.32499296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.805769231 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:-9.49, Z:-1.32 [[ 9.90235362e-01 1.39010473e-01 1.04888435e-02 1.09447445e+02] [-1.39001967e-01 9.90290909e-01 -1.53925108e-03 -9.48701648e+00] [-1.06009784e-02 6.62509723e-05 9.99943806e-01 -1.32178546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86576923099999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-9.50, Z:-1.32 [[ 9.88703136e-01 1.49519558e-01 1.04885890e-02 1.09508768e+02] [-1.49511624e-01 9.88758767e-01 -1.54098332e-03 -9.49695056e+00] [-1.06010915e-02 -4.45909366e-05 9.99943806e-01 -1.32189173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92576923099999 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:-9.50, Z:-1.32 [[ 9.86409234e-01 1.63972006e-01 1.04883191e-02 1.09569614e+02] [-1.63964867e-01 9.86464973e-01 -1.54281850e-03 -9.50148821e+00] [-1.05993384e-02 -1.97865433e-04 9.99943806e-01 -1.32210098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98576923099999 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-9.51, Z:-1.32 [[ 9.85264915e-01 1.70713333e-01 1.04883191e-02 1.09630506e+02] [-1.70706575e-01 9.85320702e-01 -1.54281850e-03 -9.50637429e+00] [-1.05977376e-02 -2.70340090e-04 9.99943806e-01 -1.31992946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.045769231 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:-9.51, Z:-1.32 [[ 9.83949352e-01 1.78139462e-01 1.04883191e-02 1.09692004e+02] [-1.78133125e-01 9.84005188e-01 -1.54281850e-03 -9.50612791e+00] [-1.05953972e-02 -3.50261791e-04 9.99943806e-01 -1.31928283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.105769231 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-9.50, Z:-1.32 [[ 9.83316234e-01 1.81601704e-01 1.04883191e-02 1.09752881e+02] [-1.81595564e-01 9.83372092e-01 -1.54281850e-03 -9.50380834e+00] [-1.05940987e-02 -3.87553740e-04 9.99943806e-01 -1.32443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.165769231 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:-9.50, Z:-1.33 [[ 9.83002967e-01 1.83289830e-01 1.04883556e-02 1.09813493e+02] [-1.83283788e-01 9.83058835e-01 -1.54257034e-03 -9.50298818e+00] [-1.05934081e-02 -4.05994324e-04 9.99943806e-01 -1.32774760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:-9.51, Z:-1.33 [[ 9.83491496e-01 1.80650136e-01 1.04883931e-02 1.09871597e+02] [-1.80643947e-01 9.83547348e-01 -1.54231550e-03 -9.50803444e+00] [-1.05944507e-02 -3.77810542e-04 9.99943806e-01 -1.33157908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28576923099999 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:109.93, Y:-9.51, Z:-1.33 [[ 9.84559937e-01 1.74733291e-01 1.04884278e-02 1.09931375e+02] [-1.74726769e-01 9.84615752e-01 -1.54207944e-03 -9.51342509e+00] [-1.05965238e-02 -3.14339456e-04 9.99943806e-01 -1.33112719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34576923099999 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:109.99, Y:-9.52, Z:-1.33 [[ 9.85148184e-01 1.71385668e-01 1.04884635e-02 1.09989072e+02] [-1.71378959e-01 9.85203976e-01 -1.54183634e-03 -9.52105525e+00] [-1.05975246e-02 -2.78564684e-04 9.99943806e-01 -1.32589141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.405769231 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:-9.53, Z:-1.33 [[ 9.85269504e-01 1.70686839e-01 1.04884681e-02 1.10048612e+02] [-1.70680091e-01 9.85325291e-01 -1.54180474e-03 -9.52857713e+00] [-1.05977187e-02 -2.71079506e-04 9.99943806e-01 -1.33239488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.465769231 meters Centerline goodness : 0.998604 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:-9.54, Z:-1.34 [[ 9.85547634e-01 1.69073511e-01 1.04885193e-02 1.10106897e+02] [-1.69066675e-01 9.85603411e-01 -1.54145668e-03 -9.53845069e+00] [-1.05981399e-02 -2.54080092e-04 9.99943806e-01 -1.33552232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.525769231 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:110.17, Y:-9.55, Z:-1.34 [[ 9.86572704e-01 1.62985553e-01 1.04885547e-02 1.10166055e+02] [-1.62978375e-01 9.86628438e-01 -1.54121577e-03 -9.54696423e+00] [-1.05995022e-02 -1.88886189e-04 9.99943806e-01 -1.33514545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:110.23, Y:-9.56, Z:-1.34 [[ 9.87208518e-01 1.59089067e-01 1.04885892e-02 1.10225413e+02] [-1.59081672e-01 9.87264223e-01 -1.54098098e-03 -9.55773205e+00] [-1.06001621e-02 -1.47272763e-04 9.99943806e-01 -1.33560042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64576923099999 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:110.28, Y:-9.56, Z:-1.34 [[ 9.87474355e-01 1.57430581e-01 1.04885892e-02 1.10284464e+02] [-1.57423092e-01 9.87530048e-01 -1.54098098e-03 -9.56498165e+00] [-1.06003945e-02 -1.29466945e-04 9.99943806e-01 -1.33515207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70576923099999 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:110.34, Y:-9.58, Z:-1.33 [[ 9.87780625e-01 1.55497350e-01 1.04886245e-02 1.10344106e+02] [-1.55489754e-01 9.87836303e-01 -1.54074097e-03 -9.57527459e+00] [-1.06006251e-02 -1.08959562e-04 9.99943806e-01 -1.33057809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.765769231 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:110.40, Y:-9.58, Z:-1.33 [[ 9.88149392e-01 1.53136435e-01 1.04886245e-02 1.10402852e+02] [-1.53128706e-01 9.88205052e-01 -1.54074097e-03 -9.58498582e+00] [-1.06008553e-02 -8.36272404e-05 9.99943806e-01 -1.32942579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.825769231 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:110.46, Y:-9.59, Z:-1.32 [[ 9.87877350e-01 1.54881661e-01 1.04886418e-02 1.10462596e+02] [-1.54874033e-01 9.87933024e-01 -1.54062272e-03 -9.59176716e+00] [-1.06006898e-02 -1.02471969e-04 9.99943806e-01 -1.32116977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.885769231 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:-9.60, Z:-1.32 [[ 9.86806186e-01 1.61565898e-01 1.04886595e-02 1.10522097e+02] [-1.61558648e-01 9.86861910e-01 -1.54050229e-03 -9.59694963e+00] [-1.05997512e-02 -1.74356451e-04 9.99943806e-01 -1.32061340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.945769231 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:-9.60, Z:-1.33 [[ 9.85673788e-01 1.68336481e-01 1.04886962e-02 1.10580089e+02] [-1.68329616e-01 9.85729561e-01 -1.54025270e-03 -9.60024452e+00] [-1.05982986e-02 -2.47371475e-04 9.99943806e-01 -1.33102229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00576923099999 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:-9.60, Z:-1.33 [[ 9.85384357e-01 1.70022513e-01 1.04887866e-02 1.10638877e+02] [-1.70015750e-01 9.85440142e-01 -1.53963648e-03 -9.60424310e+00] [-1.05978442e-02 -2.66125226e-04 9.99943806e-01 -1.33064337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06576923099999 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:-9.60, Z:-1.33 [[ 9.84888791e-01 1.72870048e-01 1.04888611e-02 1.10697568e+02] [-1.72863452e-01 9.84944596e-01 -1.53912861e-03 -9.60406971e+00] [-1.05970163e-02 -2.97270229e-04 9.99943806e-01 -1.33321883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12576923099999 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:110.76, Y:-9.60, Z:-1.34 [[ 9.84994985e-01 1.72263929e-01 1.04889531e-02 1.10755985e+02] [-1.72257305e-01 9.85050787e-01 -1.53850132e-03 -9.60335694e+00] [-1.05971798e-02 -2.91382718e-04 9.99943806e-01 -1.33766365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.185769231 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:-9.61, Z:-1.34 [[ 9.85586984e-01 1.68843943e-01 1.04890439e-02 1.10815088e+02] [-1.68837132e-01 9.85642764e-01 -1.53788269e-03 -9.60775822e+00] [-1.05981123e-02 -2.55222920e-04 9.99943806e-01 -1.33637017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.245769231 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:-9.61, Z:-1.34 [[ 9.86498884e-01 1.63431732e-01 1.04891169e-02 1.10873952e+02] [-1.63424620e-01 9.86554626e-01 -1.53738452e-03 -9.61341613e+00] [-1.05993442e-02 -1.97551826e-04 9.99943806e-01 -1.33971433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.305769231 meters Centerline goodness : 0.998276 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:-9.62, Z:-1.34 [[ 9.87456980e-01 1.57539484e-01 1.04891896e-02 1.10932537e+02] [-1.57532045e-01 9.87512680e-01 -1.53688797e-03 -9.61989485e+00] [-1.06003283e-02 -1.34772732e-04 9.99943806e-01 -1.33970934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36576923099999 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:-9.63, Z:-1.34 [[ 9.88875769e-01 1.48373480e-01 1.04892658e-02 1.10990305e+02] [-1.48365530e-01 9.88931398e-01 -1.53636795e-03 -9.62994729e+00] [-1.06011205e-02 -3.69684385e-05 9.99943806e-01 -1.33538876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42576923099999 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:-9.64, Z:-1.34 [[ 9.89795665e-01 1.42107407e-01 1.04893224e-02 1.11047224e+02] [-1.42099109e-01 9.89851243e-01 -1.53598133e-03 -9.64439226e+00] [-1.06011431e-02 2.97842939e-05 9.99943806e-01 -1.33915692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48576923099999 meters Centerline goodness : 0.998581 with order 1 Centerline is valid? [True, True] Translation: X:111.10, Y:-9.66, Z:-1.34 [[ 9.89964613e-01 1.40925646e-01 1.04893535e-02 1.11104859e+02] [-1.40917284e-01 9.90020182e-01 -1.53576909e-03 -9.65914594e+00] [-1.06011009e-02 4.22258507e-05 9.99943806e-01 -1.33848144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.545769231 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:111.16, Y:-9.67, Z:-1.34 [[ 9.89384878e-01 1.44939765e-01 1.04894080e-02 1.11162459e+02] [-1.44931633e-01 9.89440480e-01 -1.53539635e-03 -9.67142741e+00] [-1.06011849e-02 -1.14910152e-06 9.99943806e-01 -1.33578442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.605769231 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:-9.68, Z:-1.34 [[ 9.87616141e-01 1.56538588e-01 1.04894623e-02 1.11219220e+02] [-1.56531112e-01 9.87671835e-01 -1.53502583e-03 -9.68020249e+00] [-1.06004372e-02 -1.25910907e-04 9.99943806e-01 -1.33565558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.665769231 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:-9.69, Z:-1.33 [[ 9.86592699e-01 1.62864407e-01 1.04895509e-02 1.11277960e+02] [-1.62857295e-01 9.86648441e-01 -1.53441956e-03 -9.68658303e+00] [-1.05994014e-02 -1.94452756e-04 9.99943806e-01 -1.33146346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:-9.70, Z:-1.34 [[ 9.86175051e-01 1.65374532e-01 1.04896253e-02 1.11335014e+02] [-1.65367567e-01 9.86230812e-01 -1.53391137e-03 -9.69511002e+00] [-1.05988615e-02 -2.21938684e-04 9.99943806e-01 -1.33753180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78576923099999 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:-9.70, Z:-1.34 [[ 9.86525775e-01 1.63269290e-01 1.04897172e-02 1.11393209e+02] [-1.63262213e-01 9.86581522e-01 -1.53328271e-03 -9.70249255e+00] [-1.05992991e-02 -1.99951522e-04 9.99943806e-01 -1.34331217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84576923099999 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:-9.70, Z:-1.34 [[ 9.86357805e-01 1.64280997e-01 1.04897884e-02 1.11451520e+02] [-1.64273982e-01 9.86413559e-01 -1.53279482e-03 -9.70482535e+00] [-1.05990786e-02 -2.11315176e-04 9.99943806e-01 -1.34336144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.905769231 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:-9.71, Z:-1.35 [[ 9.85984523e-01 1.66506708e-01 1.04898768e-02 1.11509840e+02] [-1.66499825e-01 9.86040294e-01 -1.53218997e-03 -9.70782682e+00] [-1.05985611e-02 -2.35847054e-04 9.99943806e-01 -1.34613999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.965769231 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:-9.71, Z:-1.35 [[ 9.86478903e-01 1.63552236e-01 1.04899688e-02 1.11568966e+02] [-1.63545193e-01 9.86534654e-01 -1.53155973e-03 -9.70680286e+00] [-1.05992078e-02 -2.04732618e-04 9.99943806e-01 -1.34996130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.025769231 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:-9.71, Z:-1.35 [[ 9.87898736e-01 1.54745104e-01 1.04900414e-02 1.11627738e+02] [-1.54737569e-01 9.87954422e-01 -1.53106255e-03 -9.70724827e+00] [-1.06006072e-02 -1.10668740e-04 9.99943806e-01 -1.35198989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:111.69, Y:-9.71, Z:-1.35 [[ 9.88894905e-01 1.48245822e-01 1.04901379e-02 1.11685658e+02] [-1.48237928e-01 9.88950542e-01 -1.53040106e-03 -9.70994450e+00] [-1.06011031e-02 -4.16304914e-05 9.99943806e-01 -1.35357716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14576923099999 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-9.71, Z:-1.36 [[ 9.89826925e-01 1.41889440e-01 1.04902316e-02 1.11743526e+02] [-1.41881196e-01 9.89882511e-01 -1.52975846e-03 -9.71101112e+00] [-1.06011534e-02 2.58295106e-05 9.99943806e-01 -1.35660059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20576923099999 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-9.71, Z:-1.35 [[ 9.90433213e-01 1.37593616e-01 1.04903174e-02 1.11801861e+02] [-1.37585137e-01 9.90488764e-01 -1.52916982e-03 -9.71357752e+00] [-1.06009455e-02 7.12288210e-05 9.99943806e-01 -1.35176528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.265769231 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-9.72, Z:-1.35 [[ 9.90983932e-01 1.33569447e-01 1.04904020e-02 1.11860258e+02] [-1.33560748e-01 9.91039449e-01 -1.52858948e-03 -9.72050053e+00] [-1.06005750e-02 1.13701682e-04 9.99943806e-01 -1.34985512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.325769231 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-9.73, Z:-1.35 [[ 9.91352667e-01 1.30804588e-01 1.04904740e-02 1.11918413e+02] [-1.30795739e-01 9.91408160e-01 -1.52809511e-03 -9.72926157e+00] [-1.06002233e-02 1.42771864e-04 9.99943806e-01 -1.34699848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.385769231 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:111.98, Y:-9.74, Z:-1.35 [[ 9.91610385e-01 1.28836305e-01 1.04905486e-02 1.11976104e+02] [-1.28827352e-01 9.91665861e-01 -1.52758290e-03 -9.73764006e+00] [-1.05999270e-02 1.63297477e-04 9.99943806e-01 -1.34510266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.445769231 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:-9.75, Z:-1.34 [[ 9.92049221e-01 1.25412481e-01 1.04906406e-02 1.12034211e+02] [-1.25403344e-01 9.92104667e-01 -1.52695071e-03 -9.74941649e+00] [-1.05993121e-02 1.99248861e-04 9.99943806e-01 -1.34412534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50576923099999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:-9.76, Z:-1.35 [[ 9.92383406e-01 1.22740051e-01 1.04906948e-02 1.12092452e+02] [-1.22730768e-01 9.92438828e-01 -1.52657803e-03 -9.76107940e+00] [-1.05987451e-02 2.27419679e-04 9.99943806e-01 -1.34707789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56576923099999 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:-9.78, Z:-1.35 [[ 9.92619290e-01 1.20817587e-01 1.04907490e-02 1.12148742e+02] [-1.20808200e-01 9.92674695e-01 -1.52620537e-03 -9.77987655e+00] [-1.05982935e-02 2.47572384e-04 9.99943806e-01 -1.35268541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62576923099999 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:-9.80, Z:-1.35 [[ 9.92122383e-01 1.24832365e-01 1.04908028e-02 1.12205686e+02] [-1.24823206e-01 9.92177826e-01 -1.52583524e-03 -9.79516105e+00] [-1.05992156e-02 2.04319647e-04 9.99943806e-01 -1.35319267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.685769231 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:-9.81, Z:-1.35 [[ 9.90877591e-01 1.34356022e-01 1.04908560e-02 1.12264585e+02] [-1.34347401e-01 9.90933120e-01 -1.52547003e-03 -9.80683651e+00] [-1.06006927e-02 1.02134834e-04 9.99943806e-01 -1.34728207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.745769231 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:-9.81, Z:-1.35 [[ 9.88654901e-01 1.49838007e-01 1.04908913e-02 1.12323299e+02] [-1.49830258e-01 9.88710558e-01 -1.52522714e-03 -9.81374108e+00] [-1.06009920e-02 -6.39296511e-05 9.99943806e-01 -1.35053599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.805769231 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:-9.82, Z:-1.36 [[ 9.87502697e-01 1.57252546e-01 1.04909639e-02 1.12381986e+02] [-1.57245220e-01 9.87558411e-01 -1.52472739e-03 -9.81738657e+00] [-1.06002069e-02 -1.43981519e-04 9.99943806e-01 -1.35740744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86576923099999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:-9.82, Z:-1.36 [[ 9.88024583e-01 1.53939472e-01 1.04910367e-02 1.12440416e+02] [-1.53931964e-01 9.88080274e-01 -1.52422626e-03 -9.82445818e+00] [-1.06006250e-02 -1.08932875e-04 9.99943806e-01 -1.35784509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92576923099999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:-9.83, Z:-1.36 [[ 9.89628479e-01 1.43266917e-01 1.04911097e-02 1.12498908e+02] [-1.43258814e-01 9.89684086e-01 -1.52372389e-03 -9.83256551e+00] [-1.06011835e-02 4.97663291e-06 9.99943806e-01 -1.35922667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98576923099999 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:-9.84, Z:-1.36 [[ 9.90760207e-01 1.35218888e-01 1.04911820e-02 1.12557007e+02] [-1.35210339e-01 9.90815747e-01 -1.52322559e-03 -9.84253492e+00] [-1.06007972e-02 9.06350264e-05 9.99943806e-01 -1.35733484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.045769231 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:-9.85, Z:-1.35 [[ 9.91486736e-01 1.29784384e-01 1.04912548e-02 1.12616125e+02] [-1.29775536e-01 9.91542229e-01 -1.52272382e-03 -9.85374938e+00] [-1.06001480e-02 1.48252250e-04 9.99943806e-01 -1.35369613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.105769231 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:112.67, Y:-9.87, Z:-1.36 [[ 9.92192809e-01 1.24271323e-01 1.04912909e-02 1.12674705e+02] [-1.24262169e-01 9.92248253e-01 -1.52247528e-03 -9.86628705e+00] [-1.05991651e-02 2.06918464e-04 9.99943806e-01 -1.35669471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.165769231 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:112.73, Y:-9.88, Z:-1.36 [[ 9.92609150e-01 1.20900820e-01 1.04913266e-02 1.12733803e+02] [-1.20891480e-01 9.92664562e-01 -1.52222904e-03 -9.87778028e+00] [-1.05984069e-02 2.42666463e-04 9.99943806e-01 -1.35748098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22576923099999 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:-9.90, Z:-1.35 [[ 9.93652161e-01 1.12005867e-01 1.04913266e-02 1.12793311e+02] [-1.11996032e-01 9.93707488e-01 -1.52222904e-03 -9.89672785e+00] [-1.05958084e-02 3.37579223e-04 9.99943806e-01 -1.35298784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28576923099999 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:-9.92, Z:-1.36 [[ 9.94024694e-01 1.08650106e-01 1.04910933e-02 1.12853566e+02] [-1.08640066e-01 9.94079984e-01 -1.52383534e-03 -9.91567593e+00] [-1.05945508e-02 3.74976888e-04 9.99943806e-01 -1.35589569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34576923099999 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:-9.93, Z:-1.36 [[ 9.94043916e-01 1.08474121e-01 1.04908512e-02 1.12913761e+02] [-1.08464054e-01 9.94099201e-01 -1.52550019e-03 -9.93338558e+00] [-1.05944241e-02 3.78533923e-04 9.99943806e-01 -1.35936062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.405769231 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:-9.94, Z:-1.36 [[ 9.93485584e-01 1.13473965e-01 1.04906042e-02 1.12974653e+02] [-1.13464159e-01 9.93540916e-01 -1.52719683e-03 -9.94418319e+00] [-1.05961416e-02 3.26940449e-04 9.99943806e-01 -1.35585950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.465769231 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:-9.96, Z:-1.36 [[ 9.91982604e-01 1.25938339e-01 1.04903557e-02 1.13032974e+02] [-1.25929210e-01 9.92038052e-01 -1.52890196e-03 -9.95533420e+00] [-1.05993794e-02 1.95601930e-04 9.99943806e-01 -1.35747403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.525769231 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:-9.96, Z:-1.36 [[ 9.90783353e-01 1.35049252e-01 1.04903734e-02 1.13092782e+02] [-1.35040634e-01 9.90838882e-01 -1.52878076e-03 -9.96196378e+00] [-1.06007305e-02 9.80638506e-05 9.99943806e-01 -1.36213858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:-9.97, Z:-1.36 [[ 9.90404133e-01 1.37802779e-01 1.04903734e-02 1.13152778e+02] [-1.37794316e-01 9.90459686e-01 -1.52878076e-03 -9.97185421e+00] [-1.06009622e-02 6.85969574e-05 9.99943806e-01 -1.36250200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64576923099999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:-9.98, Z:-1.36 [[ 9.89987808e-01 1.40762540e-01 1.04903734e-02 1.13211882e+02] [-1.40754243e-01 9.90043386e-01 -1.52878076e-03 -9.97922517e+00] [-1.06011199e-02 3.69097491e-05 9.99943806e-01 -1.36004561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70576923099999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:-9.99, Z:-1.36 [[ 9.89360020e-01 1.45109281e-01 1.04903627e-02 1.13270398e+02] [-1.45101227e-01 9.89415634e-01 -1.52885391e-03 -9.98984469e+00] [-1.06011798e-02 -9.57756829e-06 9.99943806e-01 -1.35857297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.765769231 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:-10.00, Z:-1.36 [[ 9.88886484e-01 1.48301965e-01 1.04903975e-02 1.13328737e+02] [-1.48294094e-01 9.88942124e-01 -1.52861555e-03 -1.00004598e+01] [-1.06010926e-02 -4.40367260e-05 9.99943806e-01 -1.35728737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.825769231 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:-10.01, Z:-1.36 [[ 9.88833507e-01 1.48654791e-01 1.04904335e-02 1.13387708e+02] [-1.48646941e-01 9.88889150e-01 -1.52836853e-03 -1.00098990e+01] [-1.06010751e-02 -4.80688358e-05 9.99943806e-01 -1.36103021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.885769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:113.45, Y:-10.02, Z:-1.36 [[ 9.89143376e-01 1.46578755e-01 1.04904512e-02 1.13446303e+02] [-1.46570791e-01 9.89199003e-01 -1.52824658e-03 -1.00200762e+01] [-1.06011524e-02 -2.59387503e-05 9.99943806e-01 -1.36469840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.945769231 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:113.51, Y:-10.03, Z:-1.36 [[ 9.89819149e-01 1.41943656e-01 1.04904679e-02 1.13505495e+02] [-1.41935432e-01 9.89874739e-01 -1.52813177e-03 -1.00324594e+01] [-1.06011578e-02 2.36049862e-05 9.99943806e-01 -1.36007221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00576923099999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:113.57, Y:-10.05, Z:-1.36 [[ 9.90789572e-01 1.35003609e-01 1.04904679e-02 1.13566435e+02] [-1.34994996e-01 9.90845102e-01 -1.52813177e-03 -1.00487819e+01] [-1.06007321e-02 9.78963433e-05 9.99943806e-01 -1.36156782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06576923099999 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:113.63, Y:-10.06, Z:-1.36 [[ 9.91580871e-01 1.29063273e-01 1.04903323e-02 1.13627090e+02] [-1.29054317e-01 9.91636347e-01 -1.52906227e-03 -1.00643388e+01] [-1.05999406e-02 1.62366220e-04 9.99943806e-01 -1.36157575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12576923099999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:113.69, Y:-10.08, Z:-1.37 [[ 9.92250301e-01 1.23811535e-01 1.04901493e-02 1.13686658e+02] [-1.23802273e-01 9.92305727e-01 -1.53031662e-03 -1.00839512e+01] [-1.05989061e-02 2.19752801e-04 9.99943806e-01 -1.36579641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.185769231 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:-10.10, Z:-1.36 [[ 9.91709841e-01 1.28068549e-01 1.04898833e-02 1.13747661e+02] [-1.28059505e-01 9.91765303e-01 -1.53213775e-03 -1.00993565e+01] [-1.05997210e-02 1.76106816e-04 9.99943806e-01 -1.36444555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.245769231 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:-10.11, Z:-1.37 [[ 9.90957832e-01 1.33763012e-01 1.04896372e-02 1.13807478e+02] [-1.33754269e-01 9.91013341e-01 -1.53382136e-03 -1.01123075e+01] [-1.06005389e-02 1.16918537e-04 9.99943806e-01 -1.36797046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.305769231 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:113.87, Y:-10.12, Z:-1.37 [[ 9.89747441e-01 1.42442876e-01 1.04894997e-02 1.13868382e+02] [-1.42434610e-01 9.89803024e-01 -1.53476067e-03 -1.01242680e+01] [-1.06011543e-02 2.49576442e-05 9.99943806e-01 -1.37058936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36576923099999 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:113.93, Y:-10.13, Z:-1.37 [[ 9.88208764e-01 1.52752792e-01 1.04892492e-02 1.13930092e+02] [-1.52745087e-01 9.88264427e-01 -1.53647118e-03 -1.01296917e+01] [-1.06008521e-02 -8.38269933e-05 9.99943806e-01 -1.36800662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42576923099999 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:-10.14, Z:-1.37 [[ 9.87498464e-01 1.57279260e-01 1.04889904e-02 1.13992339e+02] [-1.57271792e-01 9.87554159e-01 -1.53823555e-03 -1.01361877e+01] [-1.06003787e-02 -1.30617077e-04 9.99943806e-01 -1.37199169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48576923099999 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:114.05, Y:-10.14, Z:-1.37 [[ 9.87022211e-01 1.60240883e-01 1.04887258e-02 1.14053797e+02] [-1.60233563e-01 9.87077927e-01 -1.54003765e-03 -1.01361350e+01] [-1.05999667e-02 -1.60594549e-04 9.99943806e-01 -1.37165301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.545769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:114.11, Y:-10.14, Z:-1.36 [[ 9.87278238e-01 1.58655818e-01 1.04887072e-02 1.14114109e+02] [-1.58648408e-01 9.87333941e-01 -1.54016439e-03 -1.01388950e+01] [-1.06002127e-02 -1.43445909e-04 9.99943806e-01 -1.36408713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.605769231 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:114.18, Y:-10.14, Z:-1.37 [[ 9.88433804e-01 1.51289795e-01 1.04887249e-02 1.14175478e+02] [-1.51281970e-01 9.88489451e-01 -1.54004365e-03 -1.01430152e+01] [-1.06009868e-02 -6.45237665e-05 9.99943806e-01 -1.36801364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.665769231 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:-10.15, Z:-1.37 [[ 9.88970938e-01 1.47737848e-01 1.04886885e-02 1.14236593e+02] [-1.47729820e-01 9.89026556e-01 -1.54029162e-03 -1.01504332e+01] [-1.06011509e-02 -2.61884231e-05 9.99943806e-01 -1.36843085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72576923099999 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:-10.16, Z:-1.36 [[ 9.89323745e-01 1.45356515e-01 1.04886521e-02 1.14297415e+02] [-1.45348351e-01 9.89379343e-01 -1.54053981e-03 -1.01581697e+01] [-1.06011832e-02 -4.15666390e-07 9.99943806e-01 -1.36334938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78576923099999 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:114.36, Y:-10.16, Z:-1.36 [[ 9.88330748e-01 1.51961577e-01 1.04886143e-02 1.14356711e+02] [-1.51953782e-01 9.88386399e-01 -1.54079674e-03 -1.01617031e+01] [-1.06009456e-02 -7.09678222e-05 9.99943806e-01 -1.36378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84576923099999 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:-10.16, Z:-1.37 [[ 9.87240525e-01 1.58890319e-01 1.04886330e-02 1.14417254e+02] [-1.58882916e-01 9.87296230e-01 -1.54066943e-03 -1.01627925e+01] [-1.06001853e-02 -1.45453300e-04 9.99943806e-01 -1.36660883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.905769231 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:-10.17, Z:-1.37 [[ 9.87083416e-01 1.59863437e-01 1.04886696e-02 1.14477333e+02] [-1.59856092e-01 9.87139127e-01 -1.54042029e-03 -1.01653127e+01] [-1.06000331e-02 -1.56154410e-04 9.99943806e-01 -1.36531526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.965769231 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:114.54, Y:-10.17, Z:-1.36 [[ 9.87270747e-01 1.58702425e-01 1.04887059e-02 1.14536182e+02] [-1.58695017e-01 9.87326450e-01 -1.54017293e-03 -1.01697709e+01] [-1.06002060e-02 -1.43937684e-04 9.99943806e-01 -1.36474693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.025769231 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:114.60, Y:-10.17, Z:-1.36 [[ 9.87568472e-01 1.56839084e-01 1.04887598e-02 1.14595651e+02] [-1.56831574e-01 9.87624162e-01 -1.53980619e-03 -1.01711504e+01] [-1.06004544e-02 -1.24304658e-04 9.99943806e-01 -1.36419732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:-10.18, Z:-1.36 [[ 9.87541019e-01 1.57011849e-01 1.04888318e-02 1.14654157e+02] [-1.57004354e-01 9.87596711e-01 -1.53931560e-03 -1.01783544e+01] [-1.06004266e-02 -1.26654957e-04 9.99943806e-01 -1.36430859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14576923099999 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:-10.18, Z:-1.37 [[ 9.87410451e-01 1.57830874e-01 1.04889044e-02 1.14713320e+02] [-1.57823431e-01 9.87466150e-01 -1.53882089e-03 -1.01820240e+01] [-1.06003114e-02 -1.35947042e-04 9.99943806e-01 -1.36697674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20576923099999 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:114.77, Y:-10.19, Z:-1.37 [[ 9.87276142e-01 1.58668838e-01 1.04889768e-02 1.14772170e+02] [-1.58661447e-01 9.87331848e-01 -1.53832677e-03 -1.01869246e+01] [-1.06001854e-02 -1.45442925e-04 9.99943806e-01 -1.36563885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.265769231 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:114.83, Y:-10.19, Z:-1.36 [[ 9.87044363e-01 1.60104361e-01 1.04890500e-02 1.14830373e+02] [-1.60097056e-01 9.87100080e-01 -1.53782738e-03 -1.01917304e+01] [-1.05999550e-02 -1.61362187e-04 9.99943806e-01 -1.36450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.325769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:114.89, Y:-10.20, Z:-1.37 [[ 9.87284060e-01 1.58619556e-01 1.04891404e-02 1.14889235e+02] [-1.58612174e-01 9.87339767e-01 -1.53721079e-03 -1.01954777e+01] [-1.06001771e-02 -1.46041653e-04 9.99943806e-01 -1.37043483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.385769231 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:-10.20, Z:-1.37 [[ 9.87532339e-01 1.57066406e-01 1.04892103e-02 1.14948015e+02] [-1.57058942e-01 9.87588035e-01 -1.53673382e-03 -1.01975882e+01] [-1.06003878e-02 -1.29849926e-04 9.99943806e-01 -1.37002856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.445769231 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:-10.20, Z:-1.37 [[ 9.87784774e-01 1.55470949e-01 1.04892837e-02 1.15006602e+02] [-1.55463400e-01 9.87840458e-01 -1.53623260e-03 -1.02046339e+01] [-1.06005783e-02 -1.13232538e-04 9.99943806e-01 -1.37180324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50576923099999 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:-10.21, Z:-1.38 [[ 9.88497134e-01 1.50875411e-01 1.04893571e-02 1.15064483e+02] [-1.50867608e-01 9.88552784e-01 -1.53573123e-03 -1.02094663e+01] [-1.06009872e-02 -6.44382952e-05 9.99943806e-01 -1.37851799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56576923099999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:115.12, Y:-10.22, Z:-1.37 [[ 9.88581314e-01 1.50322840e-01 1.04894478e-02 1.15123081e+02] [-1.50315013e-01 9.88636961e-01 -1.53511163e-03 -1.02169420e+01] [-1.06010181e-02 -5.91388101e-05 9.99943806e-01 -1.37244445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62576923099999 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:-10.22, Z:-1.38 [[ 9.87777228e-01 1.55518865e-01 1.04895196e-02 1.15181521e+02] [-1.55511336e-01 9.87832916e-01 -1.53462043e-03 -1.02210379e+01] [-1.06005552e-02 -1.15376095e-04 9.99943806e-01 -1.38032269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.685769231 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:-10.23, Z:-1.38 [[ 9.86948918e-01 1.60691633e-01 1.04895908e-02 1.15240291e+02] [-1.60684401e-01 9.87004645e-01 -1.53413372e-03 -1.02260081e+01] [-1.05997973e-02 -1.71402008e-04 9.99943806e-01 -1.38063498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.745769231 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:-10.23, Z:-1.37 [[ 9.85471453e-01 1.69516906e-01 1.04896614e-02 1.15298791e+02] [-1.69510178e-01 9.85527243e-01 -1.53365128e-03 -1.02269038e+01] [-1.05978269e-02 -2.66734811e-04 9.99943806e-01 -1.37326450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.805769231 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:-10.23, Z:-1.37 [[ 9.85304575e-01 1.70484193e-01 1.04897484e-02 1.15358193e+02] [-1.70477526e-01 9.85360372e-01 -1.53305587e-03 -1.02287909e+01] [-1.05975442e-02 -2.77739382e-04 9.99943806e-01 -1.37144395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86576923099999 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:-10.23, Z:-1.37 [[ 9.86518507e-01 1.63313195e-01 1.04898171e-02 1.15417202e+02] [-1.63306127e-01 9.86574255e-01 -1.53258529e-03 -1.02341189e+01] [-1.05992749e-02 -2.01127661e-04 9.99943806e-01 -1.36932425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92576923099999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:115.47, Y:-10.24, Z:-1.37 [[ 9.87457280e-01 1.57537558e-01 1.04898928e-02 1.15473122e+02] [-1.57530170e-01 9.87512986e-01 -1.53206716e-03 -1.02421654e+01] [-1.06002635e-02 -1.39623721e-04 9.99943806e-01 -1.37076119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98576923099999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:-10.25, Z:-1.37 [[ 9.87809285e-01 1.55315084e-01 1.04900245e-02 1.15530890e+02] [-1.55307580e-01 9.87864976e-01 -1.53116468e-03 -1.02509841e+01] [-1.06005408e-02 -1.16681642e-04 9.99943806e-01 -1.36932326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.045769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:-10.26, Z:-1.37 [[ 9.88520594e-01 1.50721577e-01 1.04900916e-02 1.15587549e+02] [-1.50713819e-01 9.88576250e-01 -1.53070534e-03 -1.02607633e+01] [-1.06009657e-02 -6.78680090e-05 9.99943806e-01 -1.37255517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.105769231 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:115.64, Y:-10.27, Z:-1.38 [[ 9.89210633e-01 1.46124193e-01 1.04901745e-02 1.15644977e+02] [-1.46116183e-01 9.89266253e-01 -1.53013684e-03 -1.02721834e+01] [-1.06011656e-02 -1.91566175e-05 9.99943806e-01 -1.37609801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.165769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:115.70, Y:-10.28, Z:-1.38 [[ 9.89514212e-01 1.44054085e-01 1.04902400e-02 1.15703037e+02] [-1.44045964e-01 9.89569816e-01 -1.52968753e-03 -1.02819091e+01] [-1.06011826e-02 2.57082038e-06 9.99943806e-01 -1.37747883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22576923099999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:-10.29, Z:-1.37 [[ 9.90097566e-01 1.39988438e-01 1.04903117e-02 1.15759929e+02] [-1.39980093e-01 9.90153137e-01 -1.52919582e-03 -1.02947927e+01] [-1.06010847e-02 4.56182614e-05 9.99943806e-01 -1.37303094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28576923099999 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-10.31, Z:-1.38 [[ 9.90862012e-01 1.34470908e-01 1.04904007e-02 1.15817418e+02] [-1.34462260e-01 9.90917536e-01 -1.52858464e-03 -1.03092200e+01] [-1.06006722e-02 1.04053468e-04 9.99943806e-01 -1.38113461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34576923099999 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:-10.32, Z:-1.38 [[ 9.90860944e-01 1.34478767e-01 1.04904713e-02 1.15874737e+02] [-1.34470124e-01 9.90916470e-01 -1.52810043e-03 -1.03238402e+01] [-1.06006778e-02 1.03480064e-04 9.99943806e-01 -1.38362282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.405769231 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-10.34, Z:-1.38 [[ 9.90128827e-01 1.39767145e-01 1.04905410e-02 1.15931261e+02] [-1.39758804e-01 9.90184399e-01 -1.52762174e-03 -1.03397017e+01] [-1.06010813e-02 4.63968598e-05 9.99943806e-01 -1.38386171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.465769231 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-10.36, Z:-1.39 [[ 9.89324286e-01 1.45352686e-01 1.04906343e-02 1.15987937e+02] [-1.45344666e-01 9.89379905e-01 -1.52698056e-03 -1.03556208e+01] [-1.06011735e-02 -1.40787877e-05 9.99943806e-01 -1.39025796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.525769231 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-10.37, Z:-1.38 [[ 9.88922601e-01 1.48060917e-01 1.04907028e-02 1.16045320e+02] [-1.48053054e-01 9.88978242e-01 -1.52650953e-03 -1.03728783e+01] [-1.06010932e-02 -4.35808191e-05 9.99943806e-01 -1.38085188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:-10.38, Z:-1.38 [[ 9.88362928e-01 1.51751993e-01 1.04907518e-02 1.16102447e+02] [-1.51744341e-01 9.88418598e-01 -1.52617270e-03 -1.03835683e+01] [-1.06008540e-02 -8.34997014e-05 9.99943806e-01 -1.38126874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64576923099999 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:-10.39, Z:-1.38 [[ 9.87563290e-01 1.56871576e-01 1.04908398e-02 1.16160480e+02] [-1.56864220e-01 9.87619000e-01 -1.52556813e-03 -1.03929694e+01] [-1.06002709e-02 -1.39042315e-04 9.99943806e-01 -1.38170024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70576923099999 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:-10.40, Z:-1.38 [[ 9.87177384e-01 1.59281995e-01 1.04909122e-02 1.16216949e+02] [-1.59274780e-01 9.87233113e-01 -1.52506973e-03 -1.04031500e+01] [-1.05998921e-02 -1.65423381e-04 9.99943806e-01 -1.37846907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.765769231 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-10.41, Z:-1.38 [[ 9.87225888e-01 1.58981086e-01 1.04909927e-02 1.16274879e+02] [-1.58973860e-01 9.87281615e-01 -1.52451612e-03 -1.04125474e+01] [-1.05999334e-02 -1.62751819e-04 9.99943806e-01 -1.37854406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.825769231 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:-10.42, Z:-1.38 [[ 9.87831737e-01 1.55172152e-01 1.04910584e-02 1.16332389e+02] [-1.55164716e-01 9.87887437e-01 -1.52406343e-03 -1.04234646e+01] [-1.06004770e-02 -1.22323871e-04 9.99943806e-01 -1.38023252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.885769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:-10.43, Z:-1.38 [[ 9.88271321e-01 1.52347403e-01 1.04911280e-02 1.16390083e+02] [-1.52339813e-01 9.88327001e-01 -1.52358442e-03 -1.04321591e+01] [-1.06007792e-02 -9.25016855e-05 9.99943806e-01 -1.38372521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.945769231 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:116.45, Y:-10.44, Z:-1.38 [[ 9.88269302e-01 1.52360501e-01 1.04911797e-02 1.16449265e+02] [-1.52352915e-01 9.88324982e-01 -1.52322816e-03 -1.04409408e+01] [-1.06007748e-02 -9.30021755e-05 9.99943806e-01 -1.38159532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00576923099999 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:116.51, Y:-10.45, Z:-1.38 [[ 9.87943250e-01 1.54460578e-01 1.04912146e-02 1.16507247e+02] [-1.54453113e-01 9.87998946e-01 -1.52298789e-03 -1.04482928e+01] [-1.06005505e-02 -1.15775149e-04 9.99943806e-01 -1.38367306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06576923099999 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:116.57, Y:-10.45, Z:-1.39 [[ 9.88125864e-01 1.53288000e-01 1.04912842e-02 1.16565772e+02] [-1.53280473e-01 9.88181551e-01 -1.52250819e-03 -1.04519484e+01] [-1.06006757e-02 -1.03679290e-04 9.99943806e-01 -1.38784634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12576923099999 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:116.63, Y:-10.46, Z:-1.39 [[ 9.88433071e-01 1.51294403e-01 1.04913532e-02 1.16625373e+02] [-1.51286769e-01 9.88488744e-01 -1.52203277e-03 -1.04592145e+01] [-1.06008596e-02 -8.27754011e-05 9.99943806e-01 -1.38528214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.185769231 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:-10.46, Z:-1.38 [[ 9.89282928e-01 1.45633855e-01 1.04913888e-02 1.16685085e+02] [-1.45625906e-01 9.89338557e-01 -1.52178727e-03 -1.04645832e+01] [-1.06011592e-02 -2.23398298e-05 9.99943806e-01 -1.38463109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.245769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:-10.47, Z:-1.38 [[ 9.90094991e-01 1.40006566e-01 1.04914267e-02 1.16743032e+02] [-1.39998304e-01 9.90150574e-01 -1.52152605e-03 -1.04705965e+01] [-1.06011158e-02 3.76733881e-05 9.99943806e-01 -1.38427831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.305769231 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:-10.48, Z:-1.38 [[ 9.89561088e-01 1.43731629e-01 1.04914829e-02 1.16801718e+02] [-1.43723580e-01 9.89616703e-01 -1.52113837e-03 -1.04763917e+01] [-1.06011824e-02 -2.61413053e-06 9.99943806e-01 -1.38319573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36576923099999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:-10.48, Z:-1.39 [[ 9.88947405e-01 1.47895089e-01 1.04915554e-02 1.16859764e+02] [-1.47887279e-01 9.89003054e-01 -1.52063813e-03 -1.04831008e+01] [-1.06010752e-02 -4.77364375e-05 9.99943806e-01 -1.38740292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42576923099999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:-10.49, Z:-1.38 [[ 9.88587635e-01 1.50281114e-01 1.04916276e-02 1.16917517e+02] [-1.50273443e-01 9.88643303e-01 -1.52013981e-03 -1.04886697e+01] [-1.06009257e-02 -7.38215800e-05 9.99943806e-01 -1.38349625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:-10.49, Z:-1.39 [[ 9.88310850e-01 1.52090719e-01 1.04917171e-02 1.16975103e+02] [-1.52083158e-01 9.88366533e-01 -1.51952175e-03 -1.04944401e+01] [-1.06007672e-02 -9.38536358e-05 9.99943806e-01 -1.39152151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.545769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:117.03, Y:-10.50, Z:-1.39 [[ 9.88411697e-01 1.51433941e-01 1.04918033e-02 1.17033289e+02] [-1.51426349e-01 9.88467376e-01 -1.51892655e-03 -1.05004047e+01] [-1.06008223e-02 -8.74106959e-05 9.99943806e-01 -1.38805376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.605769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:117.09, Y:-10.51, Z:-1.39 [[ 9.89136770e-01 1.46623230e-01 1.04918722e-02 1.17091184e+02] [-1.46615371e-01 9.89192412e-01 -1.51845041e-03 -1.05084351e+01] [-1.06011204e-02 -3.63146053e-05 9.99943806e-01 -1.39007454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.665769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:-10.52, Z:-1.39 [[ 9.89504526e-01 1.44120479e-01 1.04919438e-02 1.17148127e+02] [-1.44112485e-01 9.89560149e-01 -1.51795569e-03 -1.05160406e+01] [-1.06011779e-02 -9.99605539e-06 9.99943806e-01 -1.39355625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72576923099999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:-10.53, Z:-1.39 [[ 9.90003265e-01 1.40653663e-01 1.04920322e-02 1.17206362e+02] [-1.40645481e-01 9.90058860e-01 -1.51734442e-03 -1.05276716e+01] [-1.06011494e-02 2.65190231e-05 9.99943806e-01 -1.38536659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:-10.54, Z:-1.39 [[ 9.90274393e-01 1.38731911e-01 1.04921038e-02 1.17263914e+02] [-1.38723627e-01 9.90329973e-01 -1.51684864e-03 -1.05378066e+01] [-1.06010802e-02 4.65936663e-05 9.99943806e-01 -1.39007361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84576923099999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:-10.55, Z:-1.39 [[ 9.90189678e-01 1.39335270e-01 1.04921374e-02 1.17321070e+02] [-1.39327021e-01 9.90245263e-01 -1.51661627e-03 -1.05463064e+01] [-1.06011075e-02 3.98995181e-05 9.99943806e-01 -1.38960907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-10.56, Z:-1.39 [[ 9.90555503e-01 1.36710308e-01 1.04922323e-02 1.17379921e+02] [-1.36701920e-01 9.90611067e-01 -1.51595960e-03 -1.05588121e+01] [-1.06009687e-02 6.73338281e-05 9.99943806e-01 -1.38711710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.965769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:-10.57, Z:-1.39 [[ 9.90758150e-01 1.35233873e-01 1.04922671e-02 1.17436644e+02] [-1.35225404e-01 9.90813702e-01 -1.51571894e-03 -1.05739513e+01] [-1.06008585e-02 8.28898485e-05 9.99943806e-01 -1.38924126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.025769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:-10.58, Z:-1.38 [[ 9.90084022e-01 1.40084051e-01 1.04923188e-02 1.17495773e+02] [-1.40075857e-01 9.90139615e-01 -1.51536067e-03 -1.05845985e+01] [-1.06011384e-02 3.06138319e-05 9.99943806e-01 -1.38124373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.085769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:-10.59, Z:-1.38 [[ 9.88768462e-01 1.49086680e-01 1.04923543e-02 1.17554572e+02] [-1.49078996e-01 9.88824129e-01 -1.51511471e-03 -1.05917010e+01] [-1.06009765e-02 -6.60920044e-05 9.99943806e-01 -1.38379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:-10.60, Z:-1.38 [[ 9.87775003e-01 1.55532802e-01 1.04924247e-02 1.17612560e+02] [-1.55525486e-01 9.87830719e-01 -1.51462743e-03 -1.05986887e+01] [-1.06003136e-02 -1.35728328e-04 9.99943806e-01 -1.38134730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20576923099999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:-10.60, Z:-1.38 [[ 9.86807496e-01 1.61557646e-01 1.04924958e-02 1.17671687e+02] [-1.61550675e-01 9.86863256e-01 -1.51413447e-03 -1.06031484e+01] [-1.05992786e-02 -2.00910542e-04 9.99943806e-01 -1.38491624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.265769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:117.73, Y:-10.60, Z:-1.39 [[ 9.87119891e-01 1.59637796e-01 1.04925670e-02 1.17730805e+02] [-1.59630722e-01 9.87175639e-01 -1.51364089e-03 -1.06047057e+01] [-1.05996408e-02 -1.80791019e-04 9.99943806e-01 -1.39038605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.325769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:117.79, Y:-10.61, Z:-1.39 [[ 9.87578098e-01 1.56778203e-01 1.04926384e-02 1.17789589e+02] [-1.56770973e-01 9.87633825e-01 -1.51314552e-03 -1.06111292e+01] [-1.06001129e-02 -1.50591756e-04 9.99943806e-01 -1.39239394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.385769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:-10.61, Z:-1.40 [[ 9.88011645e-01 1.54022378e-01 1.04927101e-02 1.17847112e+02] [-1.54014997e-01 9.88067352e-01 -1.51264840e-03 -1.06142225e+01] [-1.06004860e-02 -1.21520489e-04 9.99943806e-01 -1.39726236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.445769231 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:-10.62, Z:-1.40 [[ 9.88732768e-01 1.49323189e-01 1.04927991e-02 1.17906019e+02] [-1.49315551e-01 9.88788440e-01 -1.51203065e-03 -1.06206274e+01] [-1.06009397e-02 -7.17438306e-05 9.99943806e-01 -1.39513619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50576923099999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:-10.63, Z:-1.39 [[ 9.89054114e-01 1.47179684e-01 1.04928708e-02 1.17963476e+02] [-1.47171931e-01 9.89109770e-01 -1.51153317e-03 -1.06266783e+01] [-1.06010680e-02 -4.92679487e-05 9.99943806e-01 -1.39417781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56576923099999 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:-10.64, Z:-1.40 [[ 9.89440240e-01 1.44561090e-01 1.04929680e-02 1.18021294e+02] [-1.44553196e-01 9.89495877e-01 -1.51085794e-03 -1.06356788e+01] [-1.06011599e-02 -2.18884214e-05 9.99943806e-01 -1.39548952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62576923099999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:118.08, Y:-10.64, Z:-1.40 [[ 9.89302540e-01 1.45500449e-01 1.04930393e-02 1.18079419e+02] [-1.45492613e-01 9.89358185e-01 -1.51036273e-03 -1.06445325e+01] [-1.06011328e-02 -3.24540250e-05 9.99943806e-01 -1.39748969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.685769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:118.14, Y:-10.66, Z:-1.40 [[ 9.88943321e-01 1.47922285e-01 1.04931113e-02 1.18136214e+02] [-1.47914590e-01 9.88998986e-01 -1.50986252e-03 -1.06551316e+01] [-1.06010187e-02 -5.89157985e-05 9.99943806e-01 -1.39823448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.745769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:118.19, Y:-10.66, Z:-1.39 [[ 9.88659602e-01 1.49806822e-01 1.04932007e-02 1.18194755e+02] [-1.49799241e-01 9.88715282e-01 -1.50924105e-03 -1.06631988e+01] [-1.06008825e-02 -7.97478322e-05 9.99943806e-01 -1.39355108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.805769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:118.25, Y:-10.68, Z:-1.39 [[ 9.88651629e-01 1.49859426e-01 1.04932706e-02 1.18251562e+02] [-1.49851852e-01 9.88707311e-01 -1.50875460e-03 -1.06782008e+01] [-1.06008745e-02 -8.08033411e-05 9.99943806e-01 -1.38733442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86576923099999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:118.31, Y:-10.69, Z:-1.39 [[ 9.88657477e-01 1.49820834e-01 1.04933618e-02 1.18310101e+02] [-1.49813265e-01 9.88713159e-01 -1.50811987e-03 -1.06868265e+01] [-1.06008727e-02 -8.10308068e-05 9.99943806e-01 -1.38769145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:118.37, Y:-10.70, Z:-1.39 [[ 9.88391017e-01 1.51568746e-01 1.04934371e-02 1.18367343e+02] [-1.51561281e-01 9.88446713e-01 -1.50759567e-03 -1.06950466e+01] [-1.06007078e-02 -1.00304758e-04 9.99943806e-01 -1.39336114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98576923099999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:-10.70, Z:-1.40 [[ 9.87709506e-01 1.55948127e-01 1.04935303e-02 1.18424499e+02] [-1.55940916e-01 9.87765235e-01 -1.50694696e-03 -1.07005383e+01] [-1.06001500e-02 -1.47944897e-04 9.99943806e-01 -1.39571633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.045769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:118.48, Y:-10.71, Z:-1.39 [[ 9.87873525e-01 1.54905723e-01 1.04936122e-02 1.18483257e+02] [-1.54898459e-01 9.87929248e-01 -1.50637609e-03 -1.07076839e+01] [-1.06002927e-02 -1.37335310e-04 9.99943806e-01 -1.39363975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.105769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:118.54, Y:-10.72, Z:-1.39 [[ 9.89341340e-01 1.45236347e-01 1.04936771e-02 1.18541719e+02] [-1.45228544e-01 9.89396989e-01 -1.50592441e-03 -1.07179073e+01] [-1.06011275e-02 -3.41081632e-05 9.99943806e-01 -1.38983201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.165769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:118.60, Y:-10.73, Z:-1.40 [[ 9.90821301e-01 1.34770292e-01 1.04937458e-02 1.18600397e+02] [-1.34761906e-01 9.90876865e-01 -1.50544544e-03 -1.07275772e+01] [-1.06008992e-02 7.74702294e-05 9.99943806e-01 -1.39543503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22576923099999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:118.66, Y:-10.74, Z:-1.40 [[ 9.91401478e-01 1.30433856e-01 1.04937800e-02 1.18658974e+02] [-1.30425229e-01 9.91457006e-01 -1.50520678e-03 -1.07365793e+01] [-1.06004616e-02 1.23610559e-04 9.99943806e-01 -1.39583812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28576923099999 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:118.72, Y:-10.75, Z:-1.40 [[ 9.91831264e-01 1.27124439e-01 1.04938158e-02 1.18718119e+02] [-1.27115630e-01 9.91886764e-01 -1.50495689e-03 -1.07507367e+01] [-1.05999938e-02 1.58735283e-04 9.99943806e-01 -1.39892666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34576923099999 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:118.78, Y:-10.77, Z:-1.40 [[ 9.91912614e-01 1.26488124e-01 1.04938158e-02 1.18776123e+02] [-1.26479279e-01 9.91968108e-01 -1.50495689e-03 -1.07680339e+01] [-1.05998898e-02 1.65535462e-04 9.99943806e-01 -1.40352160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.405769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:118.84, Y:-10.78, Z:-1.40 [[ 9.91538018e-01 1.29391803e-01 1.04938334e-02 1.18836037e+02] [-1.29383122e-01 9.91593537e-01 -1.50483421e-03 -1.07798793e+01] [-1.06003306e-02 1.34375404e-04 9.99943806e-01 -1.40487450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.465769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:-10.79, Z:-1.40 [[ 9.89897595e-01 1.41395299e-01 1.04938161e-02 1.18895041e+02] [-1.41387290e-01 9.89953216e-01 -1.50495537e-03 -1.07910382e+01] [-1.06011806e-02 6.05948546e-06 9.99943806e-01 -1.40017029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.525769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:118.95, Y:-10.79, Z:-1.40 [[ 9.87446925e-01 1.57602184e-01 1.04938514e-02 1.18952620e+02] [-1.57595090e-01 9.87502670e-01 -1.50470908e-03 -1.07934455e+01] [-1.05998517e-02 -1.67959101e-04 9.99943806e-01 -1.40178110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.585769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:-10.80, Z:-1.40 [[ 9.86423762e-01 1.63884224e-01 1.04939393e-02 1.19011262e+02] [-1.63877492e-01 9.86479551e-01 -1.50409589e-03 -1.07971735e+01] [-1.05985541e-02 -2.36044519e-04 9.99943806e-01 -1.40261286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64576923099999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:-10.80, Z:-1.40 [[ 9.85956382e-01 1.66672997e-01 1.04940070e-02 1.19070260e+02] [-1.66666428e-01 9.86012191e-01 -1.50362318e-03 -1.07976821e+01] [-1.05978322e-02 -2.66491782e-04 9.99943806e-01 -1.39803472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:-10.80, Z:-1.40 [[ 9.86276589e-01 1.64767609e-01 1.04940740e-02 1.19129593e+02] [-1.64760937e-01 9.86332385e-01 -1.50315534e-03 -1.07963554e+01] [-1.05983164e-02 -2.46486553e-04 9.99943806e-01 -1.39884095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.765769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:119.19, Y:-10.80, Z:-1.40 [[ 9.86985627e-01 1.60465713e-01 1.04941406e-02 1.19189311e+02] [-1.60458803e-01 9.87041395e-01 -1.50269025e-03 -1.07976006e+01] [-1.05992814e-02 -2.00743555e-04 9.99943806e-01 -1.39989358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.825769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:119.25, Y:-10.80, Z:-1.40 [[ 9.88353512e-01 1.51813065e-01 1.04942079e-02 1.19247574e+02] [-1.51805672e-01 9.88409218e-01 -1.50222037e-03 -1.08040208e+01] [-1.06006285e-02 -1.08355496e-04 9.99943806e-01 -1.39802290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.885769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:-10.81, Z:-1.40 [[ 9.89172125e-01 1.46384345e-01 1.04942794e-02 1.19305425e+02] [-1.46376650e-01 9.89227790e-01 -1.50172056e-03 -1.08120983e+01] [-1.06010612e-02 -5.06573440e-05 9.99943806e-01 -1.39620818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.945769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:119.36, Y:-10.82, Z:-1.39 [[ 9.89562473e-01 1.43721889e-01 1.04943515e-02 1.19364305e+02] [-1.43714050e-01 9.89618117e-01 -1.50121616e-03 -1.08179540e+01] [-1.06011580e-02 -2.26385907e-05 9.99943806e-01 -1.39401186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:119.42, Y:-10.82, Z:-1.40 [[ 9.89103980e-01 1.46844080e-01 1.04944257e-02 1.19422013e+02] [-1.46836422e-01 9.89159650e-01 -1.50069732e-03 -1.08243048e+01] [-1.06010310e-02 -5.66182345e-05 9.99943806e-01 -1.39710411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06576923099999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:119.48, Y:-10.83, Z:-1.40 [[ 9.88451876e-01 1.51171273e-01 1.04945170e-02 1.19480536e+02] [-1.51163866e-01 9.88507580e-01 -1.50005862e-03 -1.08286281e+01] [-1.06006754e-02 -1.03656011e-04 9.99943806e-01 -1.39894633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12576923099999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:119.54, Y:-10.83, Z:-1.40 [[ 9.87897506e-01 1.54752646e-01 1.04945883e-02 1.19539156e+02] [-1.54745446e-01 9.87953237e-01 -1.49956015e-03 -1.08328851e+01] [-1.06002233e-02 -1.42578007e-04 9.99943806e-01 -1.40210241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.185769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:-10.83, Z:-1.40 [[ 9.87499568e-01 1.57271948e-01 1.04946593e-02 1.19598494e+02] [-1.57264896e-01 9.87555318e-01 -1.49906294e-03 -1.08324210e+01] [-1.05998171e-02 -1.70117498e-04 9.99943806e-01 -1.39816880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.245769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:119.66, Y:-10.84, Z:-1.40 [[ 9.87954034e-01 1.54391342e-01 1.04947311e-02 1.19656656e+02] [-1.54384132e-01 9.88009764e-01 -1.49856026e-03 -1.08355488e+01] [-1.06002615e-02 -1.39711301e-04 9.99943806e-01 -1.40417720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.305769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:-10.84, Z:-1.40 [[ 9.89243592e-01 1.45900565e-01 1.04948198e-02 1.19715118e+02] [-1.45892883e-01 9.89299258e-01 -1.49793848e-03 -1.08371597e+01] [-1.06010675e-02 -4.92934821e-05 9.99943806e-01 -1.40374697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36576923099999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:-10.85, Z:-1.40 [[ 9.90777433e-01 1.35092320e-01 1.04949222e-02 1.19773832e+02] [-1.35084039e-01 9.90833014e-01 -1.49722071e-03 -1.08455701e+01] [-1.06009784e-02 6.57160108e-05 9.99943806e-01 -1.40407892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42576923099999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:-10.86, Z:-1.40 [[ 9.92293047e-01 1.23468070e-01 1.04949932e-02 1.19832165e+02] [-1.23459143e-01 9.92348527e-01 -1.49672286e-03 -1.08558211e+01] [-1.05994885e-02 1.89484811e-04 9.99943806e-01 -1.40244855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48576923099999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:-10.87, Z:-1.40 [[ 9.93077244e-01 1.16993341e-01 1.04950636e-02 1.19889620e+02] [-1.16984058e-01 9.93132666e-01 -1.49622919e-03 -1.08700571e+01] [-1.05980393e-02 2.58116038e-04 9.99943806e-01 -1.40245530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.545769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:-10.88, Z:-1.41 [[ 9.93147864e-01 1.16392322e-01 1.04951327e-02 1.19947279e+02] [-1.16383010e-01 9.93203281e-01 -1.49574391e-03 -1.08802493e+01] [-1.05978934e-02 2.64039729e-04 9.99943806e-01 -1.40634981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.605769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:-10.89, Z:-1.40 [[ 9.92967821e-01 1.17918438e-01 1.04952035e-02 1.20005024e+02] [-1.17909217e-01 9.93023253e-01 -1.49524711e-03 -1.08943474e+01] [-1.05982984e-02 2.47251038e-04 9.99943806e-01 -1.40277036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.665769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:-10.91, Z:-1.40 [[ 9.92610819e-01 1.20886769e-01 1.04952561e-02 1.20062621e+02] [-1.20877718e-01 9.92666280e-01 -1.49487772e-03 -1.09061364e+01] [-1.05989978e-02 2.15189189e-04 9.99943806e-01 -1.40243068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72576923099999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:120.12, Y:-10.92, Z:-1.41 [[ 9.92073738e-01 1.25217995e-01 1.04953261e-02 1.20120310e+02] [-1.25209191e-01 9.92129238e-01 -1.49438669e-03 -1.09184607e+01] [-1.05998440e-02 1.68430506e-04 9.99943806e-01 -1.41255528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78576923099999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:120.18, Y:-10.93, Z:-1.41 [[ 9.91832930e-01 1.27111310e-01 1.04953957e-02 1.20178955e+02] [-1.27102616e-01 9.91888448e-01 -1.49389767e-03 -1.09269881e+01] [-1.06001530e-02 1.47704657e-04 9.99943806e-01 -1.41156584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:120.24, Y:-10.94, Z:-1.41 [[ 9.91162480e-01 1.32237604e-01 1.04954695e-02 1.20236170e+02] [-1.32229203e-01 9.91218042e-01 -1.49337897e-03 -1.09421627e+01] [-1.06007796e-02 9.23736390e-05 9.99943806e-01 -1.40689943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:-10.95, Z:-1.41 [[ 9.90856591e-01 1.34510443e-01 1.04955241e-02 1.20293599e+02] [-1.34502174e-01 9.90912174e-01 -1.49299525e-03 -1.09526921e+01] [-1.06009660e-02 6.76733798e-05 9.99943806e-01 -1.40865009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.965769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:-10.96, Z:-1.41 [[ 9.90431522e-01 1.37605389e-01 1.04955940e-02 1.20351649e+02] [-1.37597299e-01 9.90487131e-01 -1.49250333e-03 -1.09649527e+01] [-1.06011273e-02 3.40569568e-05 9.99943806e-01 -1.40617849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.025769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:-10.97, Z:-1.40 [[ 9.90548222e-01 1.36762790e-01 1.04956660e-02 1.20410076e+02] [-1.36754658e-01 9.90603825e-01 -1.49199658e-03 -1.09749976e+01] [-1.06010965e-02 4.25633354e-05 9.99943806e-01 -1.40332351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.085769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:-10.99, Z:-1.41 [[ 9.91099552e-01 1.32708390e-01 1.04957382e-02 1.20467808e+02] [-1.32700036e-01 9.91155122e-01 -1.49148874e-03 -1.09881946e+01] [-1.06008378e-02 8.54289784e-05 9.99943806e-01 -1.41185226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14576923099999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:120.53, Y:-11.00, Z:-1.40 [[ 9.91528078e-01 1.29467791e-01 1.04957917e-02 1.20525853e+02] [-1.29459260e-01 9.91583621e-01 -1.49111213e-03 -1.10043974e+01] [-1.06005061e-02 1.19702116e-04 9.99943806e-01 -1.40442812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:120.59, Y:-11.02, Z:-1.41 [[ 9.92130318e-01 1.24768866e-01 1.04958273e-02 1.20585012e+02] [-1.24760074e-01 9.92185820e-01 -1.49086130e-03 -1.10211533e+01] [-1.05998241e-02 1.69668503e-04 9.99943806e-01 -1.40685263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.64, Y:-11.04, Z:-1.40 [[ 9.91575180e-01 1.29106542e-01 1.04958273e-02 1.20641792e+02] [-1.29097993e-01 9.91630720e-01 -1.49086130e-03 -1.10368873e+01] [-1.06004648e-02 1.23310820e-04 9.99943806e-01 -1.40478840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:-11.05, Z:-1.41 [[ 9.90531246e-01 1.36885669e-01 1.04958795e-02 1.20700271e+02] [-1.36877560e-01 9.90586852e-01 -1.49049375e-03 -1.10475797e+01] [-1.06011075e-02 3.97302602e-05 9.99943806e-01 -1.40541995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-11.06, Z:-1.41 [[ 9.88984854e-01 1.47644147e-01 1.04959141e-02 1.20757753e+02] [-1.47636646e-01 9.89040545e-01 -1.49024998e-03 -1.10581119e+01] [-1.06009113e-02 -7.57469025e-05 9.99943806e-01 -1.41273691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.445769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-11.07, Z:-1.42 [[ 9.88600122e-01 1.50198643e-01 1.04959852e-02 1.20815038e+02] [-1.50191290e-01 9.88655833e-01 -1.48974918e-03 -1.10695628e+01] [-1.06006753e-02 -1.03639345e-04 9.99943806e-01 -1.41532043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:120.87, Y:-11.08, Z:-1.42 [[ 9.88366240e-01 1.51730055e-01 1.04960383e-02 1.20874378e+02] [-1.51722792e-01 9.88421963e-01 -1.48937485e-03 -1.10780854e+01] [-1.06004977e-02 -1.20440430e-04 9.99943806e-01 -1.41677249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56576923099999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:-11.08, Z:-1.41 [[ 9.87069189e-01 1.59950772e-01 1.04960736e-02 1.20932836e+02] [-1.59943976e-01 9.87124970e-01 -1.48912650e-03 -1.10816921e+01] [-1.05991233e-02 -2.08912852e-04 9.99943806e-01 -1.41273212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:-11.08, Z:-1.41 [[ 9.86111869e-01 1.65750452e-01 1.04961619e-02 1.20990877e+02] [-1.65743991e-01 9.86167691e-01 -1.48850373e-03 -1.10844444e+01] [-1.05976959e-02 -2.71844560e-04 9.99943806e-01 -1.41362538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.05, Y:-11.08, Z:-1.41 [[ 9.85248168e-01 1.70809476e-01 1.04962486e-02 1.21050768e+02] [-1.70803308e-01 9.85304022e-01 -1.48789205e-03 -1.10837233e+01] [-1.05961420e-02 -3.26851068e-04 9.99943806e-01 -1.41407700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.11, Y:-11.08, Z:-1.41 [[ 9.84975335e-01 1.72375800e-01 1.04963154e-02 1.21110388e+02] [-1.72369726e-01 9.85031200e-01 -1.48742086e-03 -1.10804561e+01] [-1.05955935e-02 -3.44174151e-04 9.99943806e-01 -1.41489106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.17, Y:-11.08, Z:-1.41 [[ 9.85396977e-01 1.69948883e-01 1.04963817e-02 1.21169477e+02] [-1.69942676e-01 9.85452828e-01 -1.48695248e-03 -1.10797325e+01] [-1.05963950e-02 -3.18544722e-04 9.99943806e-01 -1.40576290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.23, Y:-11.08, Z:-1.41 [[ 9.85915449e-01 1.66914803e-01 1.04964683e-02 1.21226406e+02] [-1.66908431e-01 9.85971281e-01 -1.48634112e-03 -1.10836392e+01] [-1.05973086e-02 -2.86542388e-04 9.99943806e-01 -1.40802993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:-11.09, Z:-1.41 [[ 9.87582198e-01 1.56752108e-01 1.04965884e-02 1.21284636e+02] [-1.56745171e-01 9.87637962e-01 -1.48549221e-03 -1.10892736e+01] [-1.05996833e-02 -1.78243883e-04 9.99943806e-01 -1.41374745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:-11.10, Z:-1.41 [[ 9.89353246e-01 1.45155002e-01 1.04966579e-02 1.21343261e+02] [-1.45147416e-01 9.89408926e-01 -1.48500095e-03 -1.10965868e+01] [-1.06010424e-02 -5.43722664e-05 9.99943806e-01 -1.41147411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:-11.10, Z:-1.41 [[ 9.90082225e-01 1.40096419e-01 1.04967275e-02 1.21402307e+02] [-1.40088554e-01 9.90137866e-01 -1.48450938e-03 -1.11019957e+01] [-1.06011818e-02 -6.85015230e-07 9.99943806e-01 -1.41355393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:-11.11, Z:-1.42 [[ 9.90190391e-01 1.39329850e-01 1.04967980e-02 1.21461294e+02] [-1.39321947e-01 9.90246026e-01 -1.48401022e-03 -1.11071439e+01] [-1.06011795e-02 7.01832434e-06 9.99943806e-01 -1.41606676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:-11.11, Z:-1.41 [[ 9.90340076e-01 1.38261888e-01 1.04968690e-02 1.21519484e+02] [-1.38253930e-01 9.90395704e-01 -1.48350818e-03 -1.11120155e+01] [-1.06011666e-02 1.79442179e-05 9.99943806e-01 -1.40856188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:-11.12, Z:-1.41 [[ 9.90646656e-01 1.36047850e-01 1.04969684e-02 1.21578146e+02] [-1.36039775e-01 9.90702267e-01 -1.48280428e-03 -1.11173654e+01] [-1.06011027e-02 4.09298756e-05 9.99943806e-01 -1.41038324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:-11.13, Z:-1.42 [[ 9.90984791e-01 1.33562558e-01 1.04970350e-02 1.21636484e+02] [-1.33554349e-01 9.91040382e-01 -1.48233309e-03 -1.11262178e+01] [-1.06009697e-02 6.70448727e-05 9.99943806e-01 -1.42115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:-11.14, Z:-1.42 [[ 9.91687245e-01 1.28242810e-01 1.04971044e-02 1.21693700e+02] [-1.28234307e-01 9.91742793e-01 -1.48184137e-03 -1.11365152e+01] [-1.06004631e-02 1.23434275e-04 9.99943806e-01 -1.41984813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.75, Y:-11.15, Z:-1.42 [[ 9.91882398e-01 1.26724574e-01 1.04971899e-02 1.21751145e+02] [-1.26715993e-01 9.91937933e-01 -1.48123519e-03 -1.11483606e+01] [-1.06002698e-02 1.39049268e-04 9.99943806e-01 -1.41700286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-11.16, Z:-1.42 [[ 9.91724930e-01 1.27951047e-01 1.04972622e-02 1.21808252e+02] [-1.27942540e-01 9.91780477e-01 -1.48072254e-03 -1.11571615e+01] [-1.06004397e-02 1.25423064e-04 9.99943806e-01 -1.42300368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-11.17, Z:-1.42 [[ 9.91238093e-01 1.31669469e-01 1.04973516e-02 1.21865795e+02] [-1.31661178e-01 9.91293672e-01 -1.48008856e-03 -1.11679271e+01] [-1.06008407e-02 8.50264850e-05 9.99943806e-01 -1.42114832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:-11.18, Z:-1.42 [[ 9.90232688e-01 1.39028875e-01 1.04974235e-02 1.21922582e+02] [-1.39021002e-01 9.90288328e-01 -1.47957839e-03 -1.11763571e+01] [-1.06011801e-02 5.76454981e-06 9.99943806e-01 -1.42122545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.98, Y:-11.18, Z:-1.42 [[ 9.89580233e-01 1.43599319e-01 1.04975127e-02 1.21980323e+02] [-1.43591709e-01 9.89635910e-01 -1.47894539e-03 -1.11816951e+01] [-1.06010911e-02 -4.38206701e-05 9.99943806e-01 -1.42417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.04, Y:-11.19, Z:-1.43 [[ 9.88966086e-01 1.47769687e-01 1.04976006e-02 1.22039601e+02] [-1.47762319e-01 9.89021795e-01 -1.47832140e-03 -1.11852810e+01] [-1.06008069e-02 -8.91400757e-05 9.99943806e-01 -1.42615908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.765769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.10, Y:-11.18, Z:-1.43 [[ 9.88326788e-01 1.51986707e-01 1.04976702e-02 1.22099634e+02] [-1.51979582e-01 9.88382528e-01 -1.47782686e-03 -1.11843408e+01] [-1.06003238e-02 -1.34855653e-04 9.99943806e-01 -1.42768057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.825769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.16, Y:-11.19, Z:-1.43 [[ 9.88175258e-01 1.52968811e-01 1.04977225e-02 1.22158144e+02] [-1.52961746e-01 9.88231006e-01 -1.47745499e-03 -1.11856743e+01] [-1.06001794e-02 -1.45765501e-04 9.99943806e-01 -1.42674476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.885769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.22, Y:-11.18, Z:-1.43 [[ 9.88854878e-01 1.48512040e-01 1.04978277e-02 1.22217271e+02] [-1.48504731e-01 9.88910595e-01 -1.47670709e-03 -1.11847840e+01] [-1.06007218e-02 -9.87280689e-05 9.99943806e-01 -1.42592846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:-11.18, Z:-1.42 [[ 9.89921166e-01 1.41229883e-01 1.04978981e-02 1.22275606e+02] [-1.41222169e-01 9.89976828e-01 -1.47620697e-03 -1.11849951e+01] [-1.06011604e-02 -2.12074125e-05 9.99943806e-01 -1.42123581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.33, Y:-11.18, Z:-1.42 [[ 9.90359040e-01 1.38125900e-01 1.04979848e-02 1.22332757e+02] [-1.38118019e-01 9.90414679e-01 -1.47559020e-03 -1.11843740e+01] [-1.06011754e-02 1.14032417e-05 9.99943806e-01 -1.42041802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.39, Y:-11.19, Z:-1.42 [[ 9.90532974e-01 1.36872994e-01 1.04981004e-02 1.22391380e+02] [-1.36865051e-01 9.90588604e-01 -1.47476688e-03 -1.11874474e+01] [-1.06011544e-02 2.39821801e-05 9.99943806e-01 -1.41989036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.45, Y:-11.19, Z:-1.43 [[ 9.91102542e-01 1.32685865e-01 1.04981988e-02 1.22451167e+02] [-1.32677695e-01 9.91158139e-01 -1.47406601e-03 -1.11878989e+01] [-1.06009629e-02 6.80737520e-05 9.99943806e-01 -1.42552507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.51, Y:-11.19, Z:-1.43 [[ 9.91349620e-01 1.30827054e-01 1.04982483e-02 1.22509188e+02] [-1.30818782e-01 9.91405202e-01 -1.47371349e-03 -1.11940591e+01] [-1.06008196e-02 8.75972468e-05 9.99943806e-01 -1.43089830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.57, Y:-11.20, Z:-1.43 [[ 9.92028410e-01 1.25576351e-01 1.04983174e-02 1.22567533e+02] [-1.25567791e-01 9.92083948e-01 -1.47322113e-03 -1.11990575e+01] [-1.06002139e-02 1.43226699e-04 9.99943806e-01 -1.42733297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:-11.21, Z:-1.43 [[ 9.92355260e-01 1.22966750e-01 1.04983867e-02 1.22625184e+02] [-1.22958048e-01 9.92410777e-01 -1.47272728e-03 -1.12065274e+01] [-1.05998086e-02 1.70607527e-04 9.99943806e-01 -1.42773908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.68, Y:-11.21, Z:-1.43 [[ 9.92260556e-01 1.23728618e-01 1.04984921e-02 1.22682421e+02] [-1.23719967e-01 9.92316080e-01 -1.47197572e-03 -1.12119375e+01] [-1.05999480e-02 1.61710354e-04 9.99943806e-01 -1.43030484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42576923099999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:122.74, Y:-11.21, Z:-1.43 [[ 9.91725674e-01 1.27945168e-01 1.04986049e-02 1.22739711e+02] [-1.27936762e-01 9.91781236e-01 -1.47117026e-03 -1.12149054e+01] [-1.06005485e-02 1.15839790e-04 9.99943806e-01 -1.43202177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:-11.22, Z:-1.44 [[ 9.91528169e-01 1.29466857e-01 1.04987242e-02 1.22798298e+02] [-1.29458546e-01 9.91583745e-01 -1.47031869e-03 -1.12199873e+01] [-1.06007218e-02 9.87128342e-05 9.99943806e-01 -1.43846897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.545769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:-11.23, Z:-1.43 [[ 9.92091798e-01 1.25074536e-01 1.04987923e-02 1.22856689e+02] [-1.25065984e-01 9.92147337e-01 -1.46983238e-03 -1.12265780e+01] [-1.06001874e-02 1.45166865e-04 9.99943806e-01 -1.43253643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:-11.23, Z:-1.43 [[ 9.92485079e-01 1.21914483e-01 1.04988607e-02 1.22913408e+02] [-1.21905759e-01 9.92540592e-01 -1.46934320e-03 -1.12331041e+01] [-1.05996797e-02 1.78429620e-04 9.99943806e-01 -1.43402854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:-11.24, Z:-1.43 [[ 9.91827599e-01 1.27152605e-01 1.04989786e-02 1.22971054e+02] [-1.27144183e-01 9.91883159e-01 -1.46850034e-03 -1.12394447e+01] [-1.06004837e-02 1.21615114e-04 9.99943806e-01 -1.43176797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:-11.24, Z:-1.43 [[ 9.91811249e-01 1.27280066e-01 1.04990608e-02 1.23029746e+02] [-1.27271657e-01 9.91866811e-01 -1.46791253e-03 -1.12447176e+01] [-1.06005060e-02 1.19659296e-04 9.99943806e-01 -1.42639712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.09, Y:-11.26, Z:-1.43 [[ 9.92850083e-01 1.18905344e-01 1.04991276e-02 1.23085873e+02] [-1.18896472e-01 9.92905572e-01 -1.46743466e-03 -1.12589512e+01] [-1.05991281e-02 2.08633397e-04 9.99943806e-01 -1.43041433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:-11.27, Z:-1.43 [[ 9.93765734e-01 1.10992939e-01 1.04992266e-02 1.23143329e+02] [-1.10983632e-01 9.93821152e-01 -1.46672565e-03 -1.12709524e+01] [-1.05971497e-02 2.92339385e-04 9.99943806e-01 -1.42762503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:-11.29, Z:-1.43 [[ 9.93833924e-01 1.10380688e-01 1.04992919e-02 1.23199910e+02] [-1.10371352e-01 9.93889337e-01 -1.46625809e-03 -1.12853250e+01] [-1.05969809e-02 2.98395986e-04 9.99943806e-01 -1.43211600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.26, Y:-11.30, Z:-1.44 [[ 9.93814066e-01 1.10559331e-01 1.04993780e-02 1.23257061e+02] [-1.10550011e-01 9.93869482e-01 -1.46564165e-03 -1.13027089e+01] [-1.05970517e-02 2.95868936e-04 9.99943806e-01 -1.43899971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-11.32, Z:-1.44 [[ 9.93609031e-01 1.12387081e-01 1.04994457e-02 1.23312843e+02] [-1.12377869e-01 9.93664464e-01 -1.46515650e-03 -1.13201115e+01] [-1.05975907e-02 2.75887402e-04 9.99943806e-01 -1.43944676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-11.34, Z:-1.44 [[ 9.93391836e-01 1.14290948e-01 1.04995296e-02 1.23369095e+02] [-1.14281848e-01 9.93447288e-01 -1.46455477e-03 -1.13355873e+01] [-1.05981146e-02 2.54971097e-04 9.99943806e-01 -1.43673820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:-11.35, Z:-1.44 [[ 9.92921493e-01 1.18307513e-01 1.04996124e-02 1.23426392e+02] [-1.18298644e-01 9.92976982e-01 -1.46396083e-03 -1.13518879e+01] [-1.05990710e-02 2.11508257e-04 9.99943806e-01 -1.43566166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-11.36, Z:-1.44 [[ 9.92135368e-01 1.24728378e-01 1.04996780e-02 1.23483867e+02] [-1.24719874e-01 9.92190915e-01 -1.46349057e-03 -1.13640654e+01] [-1.06002239e-02 1.42462246e-04 9.99943806e-01 -1.43812642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.265769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.54, Y:-11.37, Z:-1.44 [[ 9.91333021e-01 1.30952649e-01 1.04997438e-02 1.23541534e+02] [-1.30944498e-01 9.91388621e-01 -1.46301829e-03 -1.13749357e+01] [-1.06009126e-02 7.54546637e-05 9.99943806e-01 -1.43956653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.325769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.60, Y:-11.38, Z:-1.44 [[ 9.90580551e-01 1.36528115e-01 1.04998117e-02 1.23598185e+02] [-1.36520282e-01 9.90636196e-01 -1.46253067e-03 -1.13843454e+01] [-1.06011701e-02 1.53171876e-05 9.99943806e-01 -1.43690799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:-11.39, Z:-1.43 [[ 9.90308537e-01 1.38487381e-01 1.04998962e-02 1.23656755e+02] [-1.38479665e-01 9.90364198e-01 -1.46192381e-03 -1.13931846e+01] [-1.06011793e-02 -6.26647946e-06 9.99943806e-01 -1.43491210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:-11.40, Z:-1.44 [[ 9.90110573e-01 1.39895686e-01 1.04999651e-02 1.23715045e+02] [-1.39888054e-01 9.90166247e-01 -1.46142913e-03 -1.14024263e+01] [-1.06011586e-02 -2.18432492e-05 9.99943806e-01 -1.43585292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.77, Y:-11.41, Z:-1.44 [[ 9.89200426e-01 1.46192566e-01 1.05000353e-02 1.23773389e+02] [-1.46185294e-01 9.89256148e-01 -1.46092399e-03 -1.14050654e+01] [-1.06008007e-02 -8.98041147e-05 9.99943806e-01 -1.44075359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.83, Y:-11.41, Z:-1.44 [[ 9.88790769e-01 1.48938117e-01 1.05001444e-02 1.23831218e+02] [-1.48931007e-01 9.88846511e-01 -1.46014001e-03 -1.14102413e+01] [-1.06005016e-02 -1.20024112e-04 9.99943806e-01 -1.44235829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.89, Y:-11.41, Z:-1.44 [[ 9.87709143e-01 1.55949970e-01 1.05002483e-02 1.23890041e+02] [-1.55943265e-01 9.87764936e-01 -1.45939194e-03 -1.14134549e+01] [-1.05993692e-02 -1.95988240e-04 9.99943806e-01 -1.44197954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.685769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:123.95, Y:-11.41, Z:-1.44 [[ 9.87005089e-01 1.60345557e-01 1.05003172e-02 1.23948549e+02] [-1.60339105e-01 9.87060911e-01 -1.45889594e-03 -1.14118941e+01] [-1.05983802e-02 -2.43673753e-04 9.99943806e-01 -1.44036212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.745769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:124.01, Y:-11.42, Z:-1.44 [[ 9.87493085e-01 1.57312264e-01 1.05004411e-02 1.24006797e+02] [-1.57305650e-01 9.87548888e-01 -1.45800386e-03 -1.14164800e+01] [-1.05990608e-02 -2.12009983e-04 9.99943806e-01 -1.44309081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.805769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:-11.42, Z:-1.45 [[ 9.88044877e-01 1.53808521e-01 1.05005085e-02 1.24065361e+02] [-1.53801715e-01 9.88100657e-01 -1.45751820e-03 -1.14184879e+01] [-1.05997381e-02 -1.74902824e-04 9.99943806e-01 -1.44616772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86576923099999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-11.42, Z:-1.44 [[ 9.87821229e-01 1.55238389e-01 1.05005755e-02 1.24123504e+02] [-1.55231668e-01 9.87877020e-01 -1.45703526e-03 -1.14200199e+01] [-1.05994651e-02 -1.90731494e-04 9.99943806e-01 -1.44492381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92576923099999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-11.42, Z:-1.44 [[ 9.87820770e-01 1.55241305e-01 1.05006579e-02 1.24182620e+02] [-1.55234590e-01 9.87876561e-01 -1.45644126e-03 -1.14225843e+01] [-1.05994537e-02 -1.91362407e-04 9.99943806e-01 -1.44329755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-11.43, Z:-1.44 [[ 9.88105527e-01 1.53418387e-01 1.05007252e-02 1.24240355e+02] [-1.53411575e-01 9.88161307e-01 -1.45595602e-03 -1.14270137e+01] [-1.05997808e-02 -1.72294610e-04 9.99943806e-01 -1.44430000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.045769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-11.43, Z:-1.45 [[ 9.88349609e-01 1.51838016e-01 1.05008259e-02 1.24299530e+02] [-1.51831123e-01 9.88405379e-01 -1.45522960e-03 -1.14313104e+01] [-1.06000319e-02 -1.56076575e-04 9.99943806e-01 -1.44624762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.105769231 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:-11.44, Z:-1.45 [[ 9.89166325e-01 1.46423060e-01 1.05008923e-02 1.24357810e+02] [-1.46415866e-01 9.89222057e-01 -1.45474998e-03 -1.14371716e+01] [-1.06007232e-02 -9.85075464e-05 9.99943806e-01 -1.44620112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.165769231 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:-11.45, Z:-1.45 [[ 9.89783001e-01 1.42194729e-01 1.05009585e-02 1.24414524e+02] [-1.42187303e-01 9.89838702e-01 -1.45427203e-03 -1.14460268e+01] [-1.06010450e-02 -5.36892313e-05 9.99943806e-01 -1.44900409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923099999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:124.47, Y:-11.46, Z:-1.45 [[ 9.90457792e-01 1.37415754e-01 1.05010401e-02 1.24472290e+02] [-1.37408065e-01 9.90513458e-01 -1.45368263e-03 -1.14551881e+01] [-1.06011804e-02 -3.11630773e-06 9.99943806e-01 -1.44597690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28576923099999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:-11.47, Z:-1.44 [[ 9.90636066e-01 1.36124617e-01 1.05011051e-02 1.24530385e+02] [-1.36116860e-01 9.90691722e-01 -1.45321299e-03 -1.14654963e+01] [-1.06011759e-02 1.02277544e-05 9.99943806e-01 -1.44448993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34576923099999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:-11.48, Z:-1.45 [[ 9.90866260e-01 1.34438757e-01 1.05011691e-02 1.24587509e+02] [-1.34430911e-01 9.90921904e-01 -1.45275031e-03 -1.14771065e+01] [-1.06011444e-02 2.77995484e-05 9.99943806e-01 -1.44527467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.405769231 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:124.64, Y:-11.49, Z:-1.45 [[ 9.91008419e-01 1.33386796e-01 1.05012757e-02 1.24643524e+02] [-1.33378899e-01 9.91064055e-01 -1.45197959e-03 -1.14867102e+01] [-1.06011117e-02 3.82754069e-05 9.99943806e-01 -1.44505033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.465769231 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:124.70, Y:-11.50, Z:-1.45 [[ 9.91860012e-01 1.26899320e-01 1.05013979e-02 1.24700406e+02] [-1.26891068e-01 9.91915597e-01 -1.45109487e-03 -1.15009794e+01] [-1.06006433e-02 1.06749384e-04 9.99943806e-01 -1.44564925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.525769231 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:124.76, Y:-11.51, Z:-1.45 [[ 9.92688820e-01 1.20244024e-01 1.05014930e-02 1.24758327e+02] [-1.20235406e-01 9.92744349e-01 -1.45040661e-03 -1.15131824e+01] [-1.05997005e-02 1.77151147e-04 9.99943806e-01 -1.45082770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.585769231 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:124.81, Y:-11.53, Z:-1.46 [[ 9.93308166e-01 1.15015672e-01 1.05015617e-02 1.24814407e+02] [-1.15006768e-01 9.93363650e-01 -1.44990917e-03 -1.15263214e+01] [-1.05986319e-02 2.32455952e-04 9.99943806e-01 -1.45622610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64576923099999 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-11.54, Z:-1.45 [[ 9.93933038e-01 1.09484388e-01 1.05016462e-02 1.24872152e+02] [-1.09475182e-01 9.93988473e-01 -1.44929641e-03 -1.15399866e+01] [-1.05971906e-02 2.90833955e-04 9.99943806e-01 -1.45464634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70576923099999 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:-11.55, Z:-1.45 [[ 9.94547995e-01 1.03749698e-01 1.05017095e-02 1.24928265e+02] [-1.03740177e-01 9.94603376e-01 -1.44883798e-03 -1.15528299e+01] [-1.05953522e-02 3.51489709e-04 9.99943806e-01 -1.45261615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.765769231 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:-11.57, Z:-1.46 [[ 9.95418724e-01 9.50330290e-02 1.05017623e-02 1.24985753e+02] [-9.50230269e-02 9.95474021e-01 -1.44845461e-03 -1.15706515e+01] [-1.05918826e-02 4.43909594e-04 9.99943806e-01 -1.45767545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.825769231 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:-11.60, Z:-1.45 [[ 9.96362122e-01 8.45708802e-02 1.05017934e-02 1.25043607e+02] [-8.45603001e-02 9.96417311e-01 -1.44822947e-03 -1.15975965e+01] [-1.05866468e-02 5.54926186e-04 9.99943806e-01 -1.45389601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.885769231 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:-11.63, Z:-1.45 [[ 9.96463568e-01 8.33670842e-02 1.05017934e-02 1.25102101e+02] [-8.33564374e-02 9.96518744e-01 -1.44822947e-03 -1.16258198e+01] [-1.05859686e-02 5.67715820e-04 9.99943806e-01 -1.45417016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.945769231 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:125.16, Y:-11.65, Z:-1.46 [[ 9.95496925e-01 9.42103204e-02 1.05017613e-02 1.25159666e+02] [-9.42002725e-02 9.95552214e-01 -1.44846206e-03 -1.16509482e+01] [-1.05915118e-02 4.52670750e-04 9.99943806e-01 -1.45814830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.005769231 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:125.22, Y:-11.67, Z:-1.45 [[ 9.94604466e-01 1.03206923e-01 1.05017454e-02 1.25218325e+02] [-1.03197374e-01 9.94659843e-01 -1.44857746e-03 -1.16747910e+01] [-1.05951676e-02 3.57009070e-04 9.99943806e-01 -1.45175399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.065769231 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:-11.70, Z:-1.45 [[ 9.93787749e-01 1.10795419e-01 1.05017140e-02 1.25277401e+02] [-1.10786291e-01 9.93843196e-01 -1.44880530e-03 -1.16955874e+01] [-1.05975780e-02 2.76359017e-04 9.99943806e-01 -1.44821418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.125769231 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:-11.71, Z:-1.46 [[ 9.92949039e-01 1.18075925e-01 1.05015103e-02 1.25338136e+02] [-1.18067187e-01 9.93004550e-01 -1.45028028e-03 -1.17095833e+01] [-1.05992907e-02 2.00170627e-04 9.99943806e-01 -1.45595338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:-11.72, Z:-1.46 [[ 9.91366909e-01 1.30695737e-01 1.05012746e-02 1.25398413e+02] [-1.30687689e-01 9.91422523e-01 -1.45198491e-03 -1.17230184e+01] [-1.06009684e-02 6.70624905e-05 9.99943806e-01 -1.45873317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:125.46, Y:-11.73, Z:-1.46 [[ 9.89606901e-01 1.43415152e-01 1.05012404e-02 1.25458128e+02] [-1.43407816e-01 9.89662614e-01 -1.45223204e-03 -1.17309997e+01] [-1.06009571e-02 -6.88210937e-05 9.99943806e-01 -1.45866227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:-11.74, Z:-1.45 [[ 9.88398962e-01 1.51516388e-01 1.05012404e-02 1.25518398e+02] [-1.51509508e-01 9.88454733e-01 -1.45223204e-03 -1.17398089e+01] [-1.06000377e-02 -1.55653120e-04 9.99943806e-01 -1.45499610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:125.58, Y:-11.75, Z:-1.46 [[ 9.88408215e-01 1.51456016e-01 1.05012404e-02 1.25578974e+02] [-1.51449133e-01 9.88463986e-01 -1.45223204e-03 -1.17460078e+01] [-1.06000472e-02 -1.55005668e-04 9.99943806e-01 -1.45758306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:125.64, Y:-11.75, Z:-1.46 [[ 9.89029625e-01 1.47343560e-01 1.05012404e-02 1.25639172e+02] [-1.47336445e-01 9.89085367e-01 -1.45223204e-03 -1.17514581e+01] [-1.06006002e-02 -1.10914916e-04 9.99943806e-01 -1.46179401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:125.70, Y:-11.76, Z:-1.46 [[ 9.89155856e-01 1.46493740e-01 1.05012404e-02 1.25699643e+02] [-1.46486577e-01 9.89211592e-01 -1.45223204e-03 -1.17556231e+01] [-1.06006916e-02 -1.01806926e-04 9.99943806e-01 -1.46074251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54576923099998 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:125.76, Y:-11.76, Z:-1.46 [[ 9.89088928e-01 1.46944945e-01 1.05012404e-02 1.25759932e+02] [-1.46937807e-01 9.89144667e-01 -1.45223204e-03 -1.17626802e+01] [-1.06006441e-02 -1.06642598e-04 9.99943806e-01 -1.46242945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60576923099998 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:-11.77, Z:-1.47 [[ 9.89020403e-01 1.47405446e-01 1.05012404e-02 1.25817997e+02] [-1.47398335e-01 9.89076146e-01 -1.45223204e-03 -1.17688162e+01] [-1.06005933e-02 -1.11578224e-04 9.99943806e-01 -1.46551889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66576923099998 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:125.88, Y:-11.78, Z:-1.46 [[ 9.89232861e-01 1.45972842e-01 1.05012904e-02 1.25876485e+02] [-1.45965653e-01 9.89288593e-01 -1.45187012e-03 -1.17785557e+01] [-1.06007404e-02 -9.65900864e-05 9.99943806e-01 -1.46102210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.725769231 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:125.94, Y:-11.79, Z:-1.46 [[ 9.89073641e-01 1.47047802e-01 1.05012787e-02 1.25935473e+02] [-1.47040673e-01 9.89129381e-01 -1.45195466e-03 -1.17912846e+01] [-1.06006301e-02 -1.08025014e-04 9.99943806e-01 -1.45753422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.785769231 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:-11.80, Z:-1.46 [[ 9.88512869e-01 1.50771453e-01 1.05012787e-02 1.25995198e+02] [-1.50764534e-01 9.88568636e-01 -1.45195466e-03 -1.17995220e+01] [-1.06001481e-02 -1.47944527e-04 9.99943806e-01 -1.46050325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.845769231 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:-11.81, Z:-1.46 [[ 9.86725626e-01 1.62056357e-01 1.05012787e-02 1.26052471e+02] [-1.62050076e-01 9.86781468e-01 -1.45195466e-03 -1.18070126e+01] [-1.05977657e-02 -2.69052144e-04 9.99943806e-01 -1.45705259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.905769231 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:-11.80, Z:-1.46 [[ 9.84809055e-01 1.73322955e-01 1.05013638e-02 1.26111748e+02] [-1.73317319e-01 9.84864966e-01 -1.45133884e-03 -1.18049290e+01] [-1.05939757e-02 -3.90776600e-04 9.99943806e-01 -1.45895912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:-11.80, Z:-1.46 [[ 9.83697218e-01 1.79525774e-01 1.05014323e-02 1.26171098e+02] [-1.79520496e-01 9.83753164e-01 -1.45084351e-03 -1.18026631e+01] [-1.05912810e-02 -4.58031606e-04 9.99943806e-01 -1.45894822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:126.23, Y:-11.80, Z:-1.46 [[ 9.83918137e-01 1.78311013e-01 1.05014996e-02 1.26229354e+02] [-1.78305670e-01 9.83974077e-01 -1.45035594e-03 -1.18028499e+01] [-1.05918178e-02 -4.45445412e-04 9.99943806e-01 -1.46256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:-11.80, Z:-1.47 [[ 9.84883567e-01 1.72899035e-01 1.05015827e-02 1.26289526e+02] [-1.72893392e-01 9.84939477e-01 -1.44975376e-03 -1.17999360e+01] [-1.05940844e-02 -3.87815604e-04 9.99943806e-01 -1.46748725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:-11.80, Z:-1.47 [[ 9.86193455e-01 1.65263985e-01 1.05016488e-02 1.26348425e+02] [-1.65257914e-01 9.86249320e-01 -1.44927523e-03 -1.17968469e+01] [-1.05967570e-02 -3.06214824e-04 9.99943806e-01 -1.46668715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:-11.80, Z:-1.47 [[ 9.86881224e-01 1.61106060e-01 1.05017389e-02 1.26406881e+02] [-1.61099760e-01 9.86937064e-01 -1.44862205e-03 -1.17995993e+01] [-1.05979371e-02 -2.62209720e-04 9.99943806e-01 -1.46858995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:126.47, Y:-11.80, Z:-1.47 [[ 9.87806647e-01 1.55331065e-01 1.05018209e-02 1.26465722e+02] [-1.55324446e-01 9.87862450e-01 -1.44802752e-03 -1.18035470e+01] [-1.05992781e-02 -2.00818293e-04 9.99943806e-01 -1.47010147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32576923099998 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:126.52, Y:-11.81, Z:-1.47 [[ 9.88088754e-01 1.53526296e-01 1.05018910e-02 1.26523024e+02] [-1.53519580e-01 9.88144546e-01 -1.44751873e-03 -1.18091152e+01] [-1.05996185e-02 -1.81968914e-04 9.99943806e-01 -1.46518146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38576923099998 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:126.58, Y:-11.81, Z:-1.47 [[ 9.88048802e-01 1.53783205e-01 1.05019772e-02 1.26581474e+02] [-1.53776510e-01 9.88104595e-01 -1.44689296e-03 -1.18128779e+01] [-1.05995598e-02 -1.85356550e-04 9.99943806e-01 -1.46591603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44576923099999 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:126.64, Y:-11.82, Z:-1.47 [[ 9.87692290e-01 1.56056552e-01 1.05020791e-02 1.26638571e+02] [-1.56049993e-01 9.87748100e-01 -1.44615327e-03 -1.18164444e+01] [-1.05990903e-02 -2.10494930e-04 9.99943806e-01 -1.46687499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.505769231 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:126.70, Y:-11.82, Z:-1.47 [[ 9.87174580e-01 1.59298626e-01 1.05021964e-02 1.26697620e+02] [-1.59292260e-01 9.87230412e-01 -1.44530091e-03 -1.18183633e+01] [-1.05983221e-02 -2.46154275e-04 9.99943806e-01 -1.46570195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.565769231 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:-11.82, Z:-1.47 [[ 9.87060135e-01 1.60006229e-01 1.05022648e-02 1.26756927e+02] [-1.59999908e-01 9.87115972e-01 -1.44480374e-03 -1.18206284e+01] [-1.05981309e-02 -2.54253215e-04 9.99943806e-01 -1.47359269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.625769231 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:126.82, Y:-11.82, Z:-1.47 [[ 9.87683254e-01 1.56113713e-01 1.05023334e-02 1.26816239e+02] [-1.56107177e-01 9.87739066e-01 -1.44430491e-03 -1.18234170e+01] [-1.05990408e-02 -2.12973842e-04 9.99943806e-01 -1.47418446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:126.87, Y:-11.83, Z:-1.48 [[ 9.88698200e-01 1.49551226e-01 1.05024018e-02 1.26873487e+02] [-1.49544325e-01 9.88753969e-01 -1.44380729e-03 -1.18323782e+01] [-1.06002146e-02 -1.43084911e-04 9.99943806e-01 -1.47660773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:126.93, Y:-11.85, Z:-1.48 [[ 9.90319246e-01 1.38410579e-01 1.05024867e-02 1.26930480e+02] [-1.38403057e-01 9.90374935e-01 -1.44318915e-03 -1.18466085e+01] [-1.06011522e-02 -2.43582748e-05 9.99943806e-01 -1.47976465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:-11.86, Z:-1.47 [[ 9.90482266e-01 1.37239121e-01 1.05025523e-02 1.26988580e+02] [-1.37231538e-01 9.90537947e-01 -1.44271144e-03 -1.18593185e+01] [-1.06011731e-02 -1.23013114e-05 9.99943806e-01 -1.47372902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:-11.87, Z:-1.48 [[ 9.89531341e-01 1.43935473e-01 1.05026225e-02 1.27045325e+02] [-1.43928272e-01 9.89587072e-01 -1.44220055e-03 -1.18705351e+01] [-1.06008433e-02 -8.45216648e-05 9.99943806e-01 -1.48009817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:-11.88, Z:-1.48 [[ 9.89022402e-01 1.47391933e-01 1.05027117e-02 1.27102800e+02] [-1.47384934e-01 9.89078158e-01 -1.44155083e-03 -1.18845863e+01] [-1.06004757e-02 -1.22215398e-04 9.99943806e-01 -1.47913120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:-11.90, Z:-1.47 [[ 9.89171664e-01 1.46386850e-01 1.05027808e-02 1.27159851e+02] [-1.46379800e-01 9.89227415e-01 -1.44104713e-03 -1.18961978e+01] [-1.06005890e-02 -1.11951962e-04 9.99943806e-01 -1.46913938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04576923099998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-11.91, Z:-1.47 [[ 9.89286947e-01 1.45605720e-01 1.05028809e-02 1.27216507e+02] [-1.45598633e-01 9.89342693e-01 -1.44031723e-03 -1.19062851e+01] [-1.06006669e-02 -1.04318071e-04 9.99943806e-01 -1.47116225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10576923099998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:-11.92, Z:-1.47 [[ 9.89519561e-01 1.44016411e-01 1.05029653e-02 1.27274306e+02] [-1.44009241e-01 9.89575296e-01 -1.43970127e-03 -1.19169961e+01] [-1.06008156e-02 -8.79114987e-05 9.99943806e-01 -1.47465650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16576923099998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:-11.93, Z:-1.47 [[ 9.89639913e-01 1.43187042e-01 1.05030325e-02 1.27331096e+02] [-1.43179831e-01 9.89695642e-01 -1.43921059e-03 -1.19255767e+01] [-1.06008818e-02 -7.95221880e-05 9.99943806e-01 -1.47452228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.225769231 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:127.39, Y:-11.93, Z:-1.48 [[ 9.89276244e-01 1.45678406e-01 1.05031155e-02 1.27389673e+02] [-1.45671341e-01 9.89331992e-01 -1.43860514e-03 -1.19327362e+01] [-1.06006419e-02 -1.06825032e-04 9.99943806e-01 -1.47791612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.285769231 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:127.45, Y:-11.94, Z:-1.48 [[ 9.88823347e-01 1.48721460e-01 1.05031808e-02 1.27448010e+02] [-1.48714572e-01 9.88879117e-01 -1.43812794e-03 -1.19390941e+01] [-1.06002567e-02 -1.39921551e-04 9.99943806e-01 -1.48049808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.345769231 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:127.51, Y:-11.95, Z:-1.48 [[ 9.88273133e-01 1.52334815e-01 1.05032458e-02 1.27506336e+02] [-1.52328136e-01 9.88328929e-01 -1.43765281e-03 -1.19458093e+01] [-1.05996663e-02 -1.79146216e-04 9.99943806e-01 -1.48441796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.405769231 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:127.56, Y:-11.95, Z:-1.49 [[ 9.88508021e-01 1.50803094e-01 1.05033101e-02 1.27564842e+02] [-1.50796334e-01 9.88563807e-01 -1.43718332e-03 -1.19499780e+01] [-1.05999239e-02 -1.63193420e-04 9.99943806e-01 -1.48579310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:127.62, Y:-11.96, Z:-1.48 [[ 9.88872730e-01 1.48392734e-01 1.05033741e-02 1.27623381e+02] [-1.48385843e-01 9.88928500e-01 -1.43671518e-03 -1.19581725e+01] [-1.06002841e-02 -1.37823560e-04 9.99943806e-01 -1.48321327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:-11.96, Z:-1.48 [[ 9.89175480e-01 1.46361018e-01 1.05034390e-02 1.27680980e+02] [-1.46354017e-01 9.89231236e-01 -1.43624041e-03 -1.19628594e+01] [-1.06005396e-02 -1.16526695e-04 9.99943806e-01 -1.47809390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:-11.97, Z:-1.48 [[ 9.89005082e-01 1.47508048e-01 1.05035192e-02 1.27739697e+02] [-1.47501119e-01 9.89060847e-01 -1.43565386e-03 -1.19678868e+01] [-1.06003901e-02 -1.29411874e-04 9.99943806e-01 -1.47772239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:-11.97, Z:-1.47 [[ 9.88944230e-01 1.47915464e-01 1.05035902e-02 1.27797171e+02] [-1.47908563e-01 9.88999999e-01 -1.43513407e-03 -1.19720971e+01] [-1.06003292e-02 -1.34303374e-04 9.99943806e-01 -1.47345939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:-11.98, Z:-1.48 [[ 9.89304244e-01 1.45488091e-01 1.05036778e-02 1.27855422e+02] [-1.45481060e-01 9.89359997e-01 -1.43449302e-03 -1.19808130e+01] [-1.06006203e-02 -1.08936140e-04 9.99943806e-01 -1.47696057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:-11.99, Z:-1.48 [[ 9.90055368e-01 1.40285568e-01 1.05037465e-02 1.27913755e+02] [-1.40278249e-01 9.90111083e-01 -1.43398991e-03 -1.19905120e+01] [-1.06010439e-02 -5.37177514e-05 9.99943806e-01 -1.47989529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82576923099998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:-12.00, Z:-1.48 [[ 9.90501919e-01 1.37097110e-01 1.05038149e-02 1.27970893e+02] [-1.37089617e-01 9.90557612e-01 -1.43348831e-03 -1.20007295e+01] [-1.06011609e-02 -2.00910397e-05 9.99943806e-01 -1.48449516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:-12.01, Z:-1.48 [[ 9.90277043e-01 1.38712096e-01 1.05039051e-02 1.28029266e+02] [-1.38704701e-01 9.90332749e-01 -1.43282742e-03 -1.20081096e+01] [-1.06011117e-02 -3.80449127e-05 9.99943806e-01 -1.47572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:-12.02, Z:-1.48 [[ 9.89643610e-01 1.43161419e-01 1.05039650e-02 1.28087741e+02] [-1.43154279e-01 9.89699349e-01 -1.43238792e-03 -1.20165431e+01] [-1.06008300e-02 -8.61339885e-05 9.99943806e-01 -1.48201156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:-12.02, Z:-1.48 [[ 9.89937031e-01 1.41118179e-01 1.05040285e-02 1.28146366e+02] [-1.41110929e-01 9.89992755e-01 -1.43192185e-03 -1.20236671e+01] [-1.06009824e-02 -6.47207542e-05 9.99943806e-01 -1.47882080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.20, Y:-12.03, Z:-1.48 [[ 9.90129944e-01 1.39758214e-01 1.05040964e-02 1.28204499e+02] [-1.39750892e-01 9.90185659e-01 -1.43142416e-03 -1.20319194e+01] [-1.06010589e-02 -5.06609191e-05 9.99943806e-01 -1.47774654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.26, Y:-12.04, Z:-1.48 [[ 9.90465550e-01 1.37359592e-01 1.05041646e-02 1.28262520e+02] [-1.37352141e-01 9.90521248e-01 -1.43092314e-03 -1.20424209e+01] [-1.06011493e-02 -2.54894230e-05 9.99943806e-01 -1.48311490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.32, Y:-12.05, Z:-1.48 [[ 9.90597705e-01 1.36403254e-01 1.05042324e-02 1.28320000e+02] [-1.36395754e-01 9.90653397e-01 -1.43042543e-03 -1.20548283e+01] [-1.06011682e-02 -1.57565445e-05 9.99943806e-01 -1.48210842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.38, Y:-12.07, Z:-1.48 [[ 9.90694289e-01 1.35699985e-01 1.05042996e-02 1.28376944e+02] [-1.35692451e-01 9.90749976e-01 -1.42993147e-03 -1.20657883e+01] [-1.06011763e-02 -8.72922104e-06 9.99943806e-01 -1.48047446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:-12.08, Z:-1.49 [[ 9.90499293e-01 1.37116039e-01 1.05043828e-02 1.28433012e+02] [-1.37108591e-01 9.90554992e-01 -1.42932040e-03 -1.20807143e+01] [-1.06011515e-02 -2.45002755e-05 9.99943806e-01 -1.48701834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:-12.09, Z:-1.49 [[ 9.89839301e-01 1.41802026e-01 1.05044648e-02 1.28490930e+02] [-1.41794848e-01 9.89895035e-01 -1.42871753e-03 -1.20920453e+01] [-1.06009126e-02 -7.52782316e-05 9.99943806e-01 -1.48686485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:128.55, Y:-12.11, Z:-1.48 [[ 9.89337829e-01 1.45259475e-01 1.05045297e-02 1.28548825e+02] [-1.45252498e-01 9.89393588e-01 -1.42824011e-03 -1.21055338e+01] [-1.06005797e-02 -1.12797200e-04 9.99943806e-01 -1.48363865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:128.61, Y:-12.11, Z:-1.48 [[ 9.89354220e-01 1.45147789e-01 1.05045998e-02 1.28606479e+02] [-1.45140811e-01 9.89409979e-01 -1.42772433e-03 -1.21147769e+01] [-1.06005869e-02 -1.12121037e-04 9.99943806e-01 -1.48195597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:-12.13, Z:-1.49 [[ 9.89524200e-01 1.43984410e-01 1.05046389e-02 1.28665249e+02] [-1.43977368e-01 9.89579951e-01 -1.42743686e-03 -1.21270692e+01] [-1.06007087e-02 -9.99469384e-05 9.99943806e-01 -1.48508096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:-12.14, Z:-1.48 [[ 9.89851019e-01 1.41720188e-01 1.05046730e-02 1.28723353e+02] [-1.41713022e-01 9.89906754e-01 -1.42718575e-03 -1.21411503e+01] [-1.06009078e-02 -7.59476853e-05 9.99943806e-01 -1.48352660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:-12.15, Z:-1.48 [[ 9.89254996e-01 1.45822505e-01 1.05047068e-02 1.28780663e+02] [-1.45815573e-01 9.89310761e-01 -1.42693674e-03 -1.21525852e+01] [-1.06004990e-02 -1.20145542e-04 9.99943806e-01 -1.47560501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:-12.16, Z:-1.48 [[ 9.88797414e-01 1.48893670e-01 1.05047448e-02 1.28838986e+02] [-1.48886913e-01 9.88853200e-01 -1.42665674e-03 -1.21610188e+01] [-1.06000707e-02 -1.53344539e-04 9.99943806e-01 -1.48264158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:-12.17, Z:-1.49 [[ 9.89088358e-01 1.46948526e-01 1.05048129e-02 1.28896112e+02] [-1.46941666e-01 9.89144132e-01 -1.42615492e-03 -1.21730449e+01] [-1.06003454e-02 -1.33001488e-04 9.99943806e-01 -1.48870890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:-12.18, Z:-1.48 [[ 9.89953790e-01 1.41000504e-01 1.05048634e-02 1.28956090e+02] [-1.40993312e-01 9.90009522e-01 -1.42578285e-03 -1.21845226e+01] [-1.06009509e-02 -6.96563527e-05 9.99943806e-01 -1.48158146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:-12.20, Z:-1.49 [[ 9.90413978e-01 1.37730894e-01 1.05048634e-02 1.29015509e+02] [-1.37723518e-01 9.90469686e-01 -1.42578285e-03 -1.21978055e+01] [-1.06011232e-02 -3.46514853e-05 9.99943806e-01 -1.48574694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:-12.21, Z:-1.49 [[ 9.90093495e-01 1.40016138e-01 1.05048634e-02 1.29073967e+02] [-1.40008891e-01 9.90149220e-01 -1.42578285e-03 -1.22065621e+01] [-1.06010150e-02 -5.91159588e-05 9.99943806e-01 -1.49066280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:-12.22, Z:-1.50 [[ 9.89950598e-01 1.41022912e-01 1.05048801e-02 1.29133415e+02] [-1.41015723e-01 9.90006330e-01 -1.42566026e-03 -1.22207844e+01] [-1.06009485e-02 -7.00200259e-05 9.99943806e-01 -1.49505265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:-12.23, Z:-1.50 [[ 9.90012869e-01 1.40585086e-01 1.05048801e-02 1.29193121e+02] [-1.40577873e-01 9.90068598e-01 -1.42566026e-03 -1.22338072e+01] [-1.06009785e-02 -6.53316868e-05 9.99943806e-01 -1.49576535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:-12.25, Z:-1.49 [[ 9.90150498e-01 1.39612459e-01 1.05048463e-02 1.29253428e+02] [-1.39605188e-01 9.90206220e-01 -1.42590907e-03 -1.22470161e+01] [-1.06010388e-02 -5.46664756e-05 9.99943806e-01 -1.49212948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:-12.26, Z:-1.49 [[ 9.89996706e-01 1.40698870e-01 1.05048126e-02 1.29313064e+02] [-1.40691657e-01 9.90052435e-01 -1.42615749e-03 -1.22584660e+01] [-1.06009740e-02 -6.60482794e-05 9.99943806e-01 -1.49192071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:-12.27, Z:-1.49 [[ 9.89631727e-01 1.43243475e-01 1.05047959e-02 1.29372909e+02] [-1.43236405e-01 9.89687475e-01 -1.42628009e-03 -1.22701406e+01] [-1.06007703e-02 -9.31771745e-05 9.99943806e-01 -1.49473285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.43, Y:-12.28, Z:-1.49 [[ 9.89505946e-01 1.44109795e-01 1.05047626e-02 1.29434097e+02] [-1.44102771e-01 9.89561699e-01 -1.42652554e-03 -1.22775311e+01] [-1.06006870e-02 -1.02209893e-04 9.99943806e-01 -1.49241873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.49, Y:-12.28, Z:-1.49 [[ 9.89207951e-01 1.46141305e-01 1.05047293e-02 1.29494016e+02] [-1.46134392e-01 9.89263718e-01 -1.42677094e-03 -1.22833350e+01] [-1.06004577e-02 -1.23729069e-04 9.99943806e-01 -1.49077939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:-12.29, Z:-1.49 [[ 9.89613439e-01 1.43369773e-01 1.05047293e-02 1.29555753e+02] [-1.43362704e-01 9.89669187e-01 -1.42677094e-03 -1.22874821e+01] [-1.06007627e-02 -9.40346928e-05 9.99943806e-01 -1.49212190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:-12.29, Z:-1.49 [[ 9.89789686e-01 1.42147910e-01 1.05046958e-02 1.29616625e+02] [-1.42140770e-01 9.89845425e-01 -1.42701773e-03 -1.22908098e+01] [-1.06008726e-02 -8.06981074e-05 9.99943806e-01 -1.48523296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:-12.29, Z:-1.48 [[ 9.89712900e-01 1.42681560e-01 1.05046791e-02 1.29677142e+02] [-1.42674448e-01 9.89768642e-01 -1.42714016e-03 -1.22922538e+01] [-1.06008286e-02 -8.62902763e-05 9.99943806e-01 -1.48489050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.74, Y:-12.29, Z:-1.49 [[ 9.90232673e-01 1.39028431e-01 1.05046791e-02 1.29736682e+02] [-1.39021114e-01 9.90288389e-01 -1.42714016e-03 -1.22926277e+01] [-1.06010748e-02 -4.71713775e-05 9.99943806e-01 -1.49399115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.80, Y:-12.30, Z:-1.49 [[ 9.91494979e-01 1.29720307e-01 1.05046967e-02 1.29797354e+02] [-1.29712469e-01 9.91550624e-01 -1.42701097e-03 -1.23016497e+01] [-1.06010508e-02 5.22840765e-05 9.99943806e-01 -1.49466969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.86, Y:-12.31, Z:-1.49 [[ 9.92427929e-01 1.22378336e-01 1.05046631e-02 1.29858312e+02] [-1.22370083e-01 9.92483514e-01 -1.42725797e-03 -1.23120168e+01] [-1.06003704e-02 1.30994176e-04 9.99943806e-01 -1.49215724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.92, Y:-12.33, Z:-1.49 [[ 9.93117874e-01 1.16647099e-01 1.05044223e-02 1.29918931e+02] [-1.16638507e-01 9.93173407e-01 -1.42902791e-03 -1.23273816e+01] [-1.05994049e-02 1.93973027e-04 9.99943806e-01 -1.49066851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:-12.34, Z:-1.49 [[ 9.93450106e-01 1.13782906e-01 1.05041670e-02 1.29979267e+02] [-1.13774133e-01 9.93505611e-01 -1.43090202e-03 -1.23418986e+01] [-1.05987611e-02 2.26427262e-04 9.99943806e-01 -1.49223175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.04, Y:-12.36, Z:-1.50 [[ 9.93574088e-01 1.12695164e-01 1.05039178e-02 1.30039771e+02] [-1.12686311e-01 9.93629580e-01 -1.43272958e-03 -1.23608908e+01] [-1.05984651e-02 2.39875246e-04 9.99943806e-01 -1.49575094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.10, Y:-12.38, Z:-1.50 [[ 9.93178045e-01 1.16133738e-01 1.05036522e-02 1.30100398e+02] [-1.16125057e-01 9.93233564e-01 -1.43467355e-03 -1.23802582e+01] [-1.05991939e-02 2.05149057e-04 9.99943806e-01 -1.49713519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:-12.39, Z:-1.50 [[ 9.92548239e-01 1.21398817e-01 1.05033884e-02 1.30161106e+02] [-1.21390411e-01 9.92603800e-01 -1.43660243e-03 -1.23941921e+01] [-1.06001051e-02 1.50886580e-04 9.99943806e-01 -1.49857163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:-12.41, Z:-1.50 [[ 9.91401649e-01 1.30431791e-01 1.05032249e-02 1.30221623e+02] [-1.30423878e-01 9.91457283e-01 -1.43779723e-03 -1.24109955e+01] [-1.06010332e-02 5.55632288e-05 9.99943806e-01 -1.49814347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:-12.43, Z:-1.50 [[ 9.90659363e-01 1.35954825e-01 1.05029819e-02 1.30283202e+02] [-1.35947203e-01 9.90715038e-01 -1.43956993e-03 -1.24273101e+01] [-1.06011786e-02 -1.72758053e-06 9.99943806e-01 -1.49889281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.34, Y:-12.44, Z:-1.50 [[ 9.90472738e-01 1.37307861e-01 1.05027078e-02 1.30344407e+02] [-1.37300295e-01 9.90528420e-01 -1.44156698e-03 -1.24412486e+01] [-1.06011690e-02 -1.41920767e-05 9.99943806e-01 -1.50099164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-12.46, Z:-1.50 [[ 9.90120876e-01 1.39822565e-01 1.05024305e-02 1.30405626e+02] [-1.39815118e-01 9.90176575e-01 -1.44358413e-03 -1.24562047e+01] [-1.06011063e-02 -3.90757853e-05 9.99943806e-01 -1.49914013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:-12.46, Z:-1.50 [[ 9.88968250e-01 1.47754885e-01 1.05021543e-02 1.30466850e+02] [-1.47747864e-01 9.89024003e-01 -1.44559052e-03 -1.24648839e+01] [-1.06004758e-02 -1.22027747e-04 9.99943806e-01 -1.49829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.53, Y:-12.47, Z:-1.50 [[ 9.87699522e-01 1.56010781e-01 1.05018988e-02 1.30528899e+02] [-1.56004205e-01 9.87755330e-01 -1.44744489e-03 -1.24724833e+01] [-1.05991235e-02 -2.08699748e-04 9.99943806e-01 -1.50015672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.59, Y:-12.48, Z:-1.50 [[ 9.87600817e-01 1.56634423e-01 1.05016291e-02 1.30591573e+02] [-1.56627863e-01 9.87656627e-01 -1.44939883e-03 -1.24773481e+01] [-1.05990293e-02 -2.13420246e-04 9.99943806e-01 -1.50106558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.65, Y:-12.48, Z:-1.50 [[ 9.87468077e-01 1.57469105e-01 1.05013547e-02 1.30653954e+02] [-1.57462570e-01 9.87523890e-01 -1.45138415e-03 -1.24802613e+01] [-1.05988868e-02 -2.20374781e-04 9.99943806e-01 -1.50190828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:-12.49, Z:-1.50 [[ 9.87424817e-01 1.57740159e-01 1.05011006e-02 1.30716540e+02] [-1.57733621e-01 9.87480629e-01 -1.45321993e-03 -1.24863640e+01] [-1.05988646e-02 -2.21431200e-04 9.99943806e-01 -1.50063374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-12.49, Z:-1.50 [[ 9.87732605e-01 1.55801263e-01 1.05008283e-02 1.30779413e+02] [-1.55794594e-01 9.87788402e-01 -1.45518484e-03 -1.24909964e+01] [-1.05993161e-02 -1.98638772e-04 9.99943806e-01 -1.50225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:-12.50, Z:-1.51 [[ 9.88402506e-01 1.51493318e-01 1.05005587e-02 1.30842430e+02] [-1.51486385e-01 9.88458270e-01 -1.45712792e-03 -1.24979144e+01] [-1.06001092e-02 -1.50462791e-04 9.99943806e-01 -1.50651078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:-12.51, Z:-1.51 [[ 9.88675175e-01 1.49703513e-01 1.05002896e-02 1.30904761e+02] [-1.49696458e-01 9.88730925e-01 -1.45906473e-03 -1.25054057e+01] [-1.06003881e-02 -1.29315086e-04 9.99943806e-01 -1.50866542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.97, Y:-12.51, Z:-1.51 [[ 9.88701756e-01 1.49527879e-01 1.05000209e-02 1.30967358e+02] [-1.49520794e-01 9.88757502e-01 -1.46099545e-03 -1.25142302e+01] [-1.06004340e-02 -1.25482703e-04 9.99943806e-01 -1.50744490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:-12.52, Z:-1.51 [[ 9.89082884e-01 1.46985724e-01 1.04997511e-02 1.31028009e+02] [-1.46978475e-01 9.89138609e-01 -1.46293184e-03 -1.25249416e+01] [-1.06007393e-02 -9.62765681e-05 9.99943806e-01 -1.50560675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:-12.54, Z:-1.51 [[ 9.89286399e-01 1.45609689e-01 1.04995011e-02 1.31089987e+02] [-1.45602344e-01 9.89342111e-01 -1.46472453e-03 -1.25352267e+01] [-1.06008766e-02 -7.97199105e-05 9.99943806e-01 -1.50737466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.15, Y:-12.54, Z:-1.51 [[ 9.89007160e-01 1.47494418e-01 1.04992152e-02 1.31150913e+02] [-1.47487157e-01 9.89062883e-01 -1.46677073e-03 -1.25447619e+01] [-1.06007245e-02 -9.78526400e-05 9.99943806e-01 -1.50649120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.21, Y:-12.55, Z:-1.51 [[ 9.88963537e-01 1.47786647e-01 1.04990382e-02 1.31212287e+02] [-1.47779389e-01 9.89019260e-01 -1.46803656e-03 -1.25544889e+01] [-1.06007072e-02 -9.97068223e-05 9.99943806e-01 -1.50687087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:-12.57, Z:-1.51 [[ 9.88952177e-01 1.47862664e-01 1.04987936e-02 1.31274758e+02] [-1.47855392e-01 9.89007898e-01 -1.46978355e-03 -1.25651187e+01] [-1.06007159e-02 -9.87576072e-05 9.99943806e-01 -1.50908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:-12.58, Z:-1.51 [[ 9.88725369e-01 1.49371767e-01 1.04985358e-02 1.31336462e+02] [-1.49364560e-01 9.88781099e-01 -1.47162284e-03 -1.25754551e+01] [-1.06005727e-02 -1.13078353e-04 9.99943806e-01 -1.50641806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:-12.58, Z:-1.50 [[ 9.88274909e-01 1.52323636e-01 1.04982946e-02 1.31397687e+02] [-1.52316578e-01 9.88330658e-01 -1.47334156e-03 -1.25837248e+01] [-1.06002111e-02 -1.42997814e-04 9.99943806e-01 -1.50373768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.46, Y:-12.59, Z:-1.51 [[ 9.87474051e-01 1.57431856e-01 1.04980714e-02 1.31459362e+02] [-1.57425069e-01 9.87529834e-01 -1.47493006e-03 -1.25882989e+01] [-1.05993597e-02 -1.96204464e-04 9.99943806e-01 -1.50910662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.52, Y:-12.59, Z:-1.51 [[ 9.86754717e-01 1.61879350e-01 1.04978355e-02 1.31520118e+02] [-1.61872797e-01 9.86810528e-01 -1.47660739e-03 -1.25933023e+01] [-1.05984068e-02 -2.42264681e-04 9.99943806e-01 -1.51360701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.58, Y:-12.60, Z:-1.52 [[ 9.86885873e-01 1.61077837e-01 1.04978014e-02 1.31581546e+02] [-1.61071236e-01 9.86941678e-01 -1.47684944e-03 -1.25955980e+01] [-1.05986055e-02 -2.33412006e-04 9.99943806e-01 -1.51652874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.64, Y:-12.60, Z:-1.52 [[ 9.87026033e-01 1.60216763e-01 1.04975824e-02 1.31641156e+02] [-1.60210096e-01 9.87081830e-01 -1.47840495e-03 -1.25970998e+01] [-1.05988381e-02 -2.22594504e-04 9.99943806e-01 -1.51645157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:-12.60, Z:-1.51 [[ 9.87339826e-01 1.58271501e-01 1.04975990e-02 1.31701326e+02] [-1.58264725e-01 9.87395610e-01 -1.47828690e-03 -1.26038007e+01] [-1.05992539e-02 -2.01828086e-04 9.99943806e-01 -1.50968460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.76, Y:-12.61, Z:-1.51 [[ 9.88452040e-01 1.51169988e-01 1.04975990e-02 1.31762534e+02] [-1.51162812e-01 9.88507774e-01 -1.47828690e-03 -1.26107350e+01] [-1.06004308e-02 -1.25630874e-04 9.99943806e-01 -1.50978621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:-12.62, Z:-1.52 [[ 9.89634187e-01 1.43227014e-01 1.04975654e-02 1.31823080e+02] [-1.43219388e-01 9.89689861e-01 -1.47852519e-03 -1.26234226e+01] [-1.06010988e-02 -4.02558259e-05 9.99943806e-01 -1.51602254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:-12.64, Z:-1.52 [[ 9.89946160e-01 1.41054617e-01 1.04973983e-02 1.31884390e+02] [-1.41046856e-01 9.90001816e-01 -1.47971108e-03 -1.26361323e+01] [-1.06011634e-02 -1.57907245e-05 9.99943806e-01 -1.51580845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:-12.65, Z:-1.52 [[ 9.89583671e-01 1.43575647e-01 1.04971728e-02 1.31945207e+02] [-1.43568012e-01 9.89639344e-01 -1.48130868e-03 -1.26518216e+01] [-1.06010951e-02 -4.11793531e-05 9.99943806e-01 -1.51683448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.01, Y:-12.66, Z:-1.52 [[ 9.89230114e-01 1.45991768e-01 1.04969481e-02 1.32006921e+02] [-1.45984252e-01 9.89285803e-01 -1.48289919e-03 -1.26628058e+01] [-1.06009728e-02 -6.54605836e-05 9.99943806e-01 -1.51919041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:-12.67, Z:-1.52 [[ 9.88370785e-01 1.51700389e-01 1.04968646e-02 1.32068412e+02] [-1.51693188e-01 9.88426515e-01 -1.48349027e-03 -1.26747282e+01] [-1.06004253e-02 -1.26064412e-04 9.99943806e-01 -1.52450262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:-12.69, Z:-1.52 [[ 9.87396428e-01 1.57918062e-01 1.04966327e-02 1.32128779e+02] [-1.57911194e-01 9.87452201e-01 -1.48512930e-03 -1.26860313e+01] [-1.05994518e-02 -1.91124437e-04 9.99943806e-01 -1.52273406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:-12.69, Z:-1.52 [[ 9.86578755e-01 1.62948401e-01 1.04965999e-02 1.32190572e+02] [-1.62941815e-01 9.86634562e-01 -1.48536107e-03 -1.26929079e+01] [-1.05983455e-02 -2.44909364e-04 9.99943806e-01 -1.52273816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:-12.70, Z:-1.52 [[ 9.87109635e-01 1.59700956e-01 1.04963566e-02 1.32253341e+02] [-1.59694168e-01 9.87165417e-01 -1.48707834e-03 -1.27007711e+01] [-1.05991281e-02 -2.08297577e-04 9.99943806e-01 -1.52141365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-12.71, Z:-1.52 [[ 9.88397311e-01 1.51527513e-01 1.04960767e-02 1.32315331e+02] [-1.51520243e-01 9.88453033e-01 -1.48905165e-03 -1.27122826e+01] [-1.06005111e-02 -1.18593438e-04 9.99943806e-01 -1.52028445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:-12.72, Z:-1.52 [[ 9.89837209e-01 1.41817270e-01 1.04957960e-02 1.32376777e+02] [-1.41809432e-01 9.89892854e-01 -1.49102701e-03 -1.27244270e+01] [-1.06011669e-02 -1.25288685e-05 9.99943806e-01 -1.52493365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.44, Y:-12.74, Z:-1.52 [[ 9.89857479e-01 1.41675743e-01 1.04955126e-02 1.32437930e+02] [-1.41667876e-01 9.89913119e-01 -1.49301941e-03 -1.27356959e+01] [-1.06011703e-02 -9.00055265e-06 9.99943806e-01 -1.52155305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.50, Y:-12.75, Z:-1.52 [[ 9.89763278e-01 1.42332363e-01 1.04953362e-02 1.32499112e+02] [-1.42324520e-01 9.89818922e-01 -1.49425853e-03 -1.27514589e+01] [-1.06011637e-02 -1.47814578e-05 9.99943806e-01 -1.51897088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-12.77, Z:-1.52 [[ 9.89850287e-01 1.41726016e-01 1.04950457e-02 1.32559699e+02] [-1.41718117e-01 9.89905923e-01 -1.49629634e-03 -1.27650378e+01] [-1.06011720e-02 -6.22874638e-06 9.99943806e-01 -1.52079804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:132.62, Y:-12.79, Z:-1.52 [[ 9.90038715e-01 1.40403716e-01 1.04947760e-02 1.32620297e+02] [-1.40395723e-01 9.90094337e-01 -1.49818512e-03 -1.27850920e+01] [-1.06011691e-02 9.83961017e-06 9.99943806e-01 -1.52350081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:-12.80, Z:-1.52 [[ 9.90040836e-01 1.40388774e-01 1.04944944e-02 1.32681965e+02] [-1.40380759e-01 9.90096456e-01 -1.50015525e-03 -1.27995489e+01] [-1.06011667e-02 1.19898641e-05 9.99943806e-01 -1.51944267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:-12.82, Z:-1.53 [[ 9.89292181e-01 1.45570782e-01 1.04942047e-02 1.32741889e+02] [-1.45563037e-01 9.89347839e-01 -1.50217941e-03 -1.28179719e+01] [-1.06010921e-02 -4.14739513e-05 9.99943806e-01 -1.52501360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.625769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:-12.83, Z:-1.53 [[ 9.87748540e-01 1.55700663e-01 1.04940259e-02 1.32802391e+02] [-1.55693476e-01 9.87804273e-01 -1.50342739e-03 -1.28303146e+01] [-1.06001282e-02 -1.48843152e-04 9.99943806e-01 -1.53448138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.86, Y:-12.84, Z:-1.53 [[ 9.86900038e-01 1.60991289e-01 1.04937788e-02 1.32862871e+02] [-1.60984382e-01 9.86955806e-01 -1.50514988e-03 -1.28423012e+01] [-1.05992119e-02 -2.03902024e-04 9.99943806e-01 -1.53395909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.92, Y:-12.85, Z:-1.53 [[ 9.85996291e-01 1.66436774e-01 1.04935170e-02 1.32924302e+02] [-1.66430155e-01 9.86052094e-01 -1.50697268e-03 -1.28513142e+01] [-1.05979701e-02 -2.60568193e-04 9.99943806e-01 -1.52993017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:-12.86, Z:-1.53 [[ 9.85394272e-01 1.69964763e-01 1.04932752e-02 1.32986590e+02] [-1.69958327e-01 9.85450096e-01 -1.50865491e-03 -1.28609208e+01] [-1.05970172e-02 -2.96799583e-04 9.99943806e-01 -1.52980082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:-12.87, Z:-1.53 [[ 9.85295653e-01 1.70535548e-01 1.04930018e-02 1.33048426e+02] [-1.70529123e-01 9.85351479e-01 -1.51055359e-03 -1.28673214e+01] [-1.05968980e-02 -3.01020520e-04 9.99943806e-01 -1.53403424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.11, Y:-12.87, Z:-1.53 [[ 9.84491013e-01 1.75120948e-01 1.04927643e-02 1.33110501e+02] [-1.75114766e-01 9.84546866e-01 -1.51220208e-03 -1.28709190e+01] [-1.05954364e-02 -3.48688604e-04 9.99943806e-01 -1.53205669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:-12.88, Z:-1.53 [[ 9.83982148e-01 1.77957973e-01 1.04925108e-02 1.33173519e+02] [-1.77951933e-01 9.84038016e-01 -1.51395844e-03 -1.28754547e+01] [-1.05944505e-02 -3.77454504e-04 9.99943806e-01 -1.53455709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.24, Y:-12.88, Z:-1.53 [[ 9.84356316e-01 1.75876536e-01 1.04922428e-02 1.33236899e+02] [-1.75870358e-01 9.84412169e-01 -1.51581399e-03 -1.28785427e+01] [-1.05952876e-02 -3.53173421e-04 9.99943806e-01 -1.53438500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.30, Y:-12.88, Z:-1.53 [[ 9.85077328e-01 1.71792248e-01 1.04919774e-02 1.33298525e+02] [-1.71785819e-01 9.85133153e-01 -1.51764850e-03 -1.28830754e+01] [-1.05967150e-02 -3.07371808e-04 9.99943806e-01 -1.53114901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.36, Y:-12.88, Z:-1.54 [[ 9.85751935e-01 1.67878060e-01 1.04918502e-02 1.33360708e+02] [-1.67871400e-01 9.85807733e-01 -1.51852722e-03 -1.28845367e+01] [-1.05978745e-02 -2.64390448e-04 9.99943806e-01 -1.53535458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:-12.89, Z:-1.54 [[ 9.85866305e-01 1.67205129e-01 1.04916128e-02 1.33423351e+02] [-1.67198414e-01 9.85922096e-01 -1.52016616e-03 -1.28899074e+01] [-1.05980924e-02 -2.55500414e-04 9.99943806e-01 -1.53628703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:-12.89, Z:-1.53 [[ 9.86270516e-01 1.64804133e-01 1.04913204e-02 1.33485932e+02] [-1.64797260e-01 9.86326288e-01 -1.52218151e-03 -1.28935854e+01] [-1.05987269e-02 -2.27658099e-04 9.99943806e-01 -1.52974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:-12.90, Z:-1.54 [[ 9.87180808e-01 1.59260759e-01 1.04910659e-02 1.33546482e+02] [-1.59253554e-01 9.87236539e-01 -1.52393311e-03 -1.29009362e+01] [-1.05998663e-02 -1.66342023e-04 9.99943806e-01 -1.53731015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:-12.91, Z:-1.53 [[ 9.88099627e-01 1.53457063e-01 1.04908309e-02 1.33607204e+02] [-1.53449514e-01 9.88155311e-01 -1.52554932e-03 -1.29070701e+01] [-1.06006766e-02 -1.02418181e-04 9.99943806e-01 -1.53128558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:-12.91, Z:-1.53 [[ 9.88025911e-01 1.53930981e-01 1.04905989e-02 1.33670061e+02] [-1.53923442e-01 9.88081597e-01 -1.52714287e-03 -1.29140542e+01] [-1.06006423e-02 -1.05892366e-04 9.99943806e-01 -1.53029939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:-12.92, Z:-1.53 [[ 9.87486608e-01 1.57353592e-01 1.04903163e-02 1.33732866e+02] [-1.57346225e-01 9.87542317e-01 -1.52908157e-03 -1.29210240e+01] [-1.06002378e-02 -1.40664105e-04 9.99943806e-01 -1.53068548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:-12.92, Z:-1.54 [[ 9.86735666e-01 1.61995940e-01 1.04900315e-02 1.33793111e+02] [-1.61988814e-01 9.86791406e-01 -1.53103304e-03 -1.29225528e+01] [-1.05994941e-02 -1.88542862e-04 9.99943806e-01 -1.53667389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.85, Y:-12.93, Z:-1.54 [[ 9.87010367e-01 1.60313742e-01 1.04900139e-02 1.33854375e+02] [-1.60306520e-01 9.87066095e-01 -1.53115364e-03 -1.29292552e+01] [-1.05998020e-02 -1.70353104e-04 9.99943806e-01 -1.53554662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:133.92, Y:-12.94, Z:-1.54 [[ 9.87661587e-01 1.56251575e-01 1.04897886e-02 1.33915543e+02] [-1.56244108e-01 9.87717282e-01 -1.53269550e-03 -1.29396230e+01] [-1.06004316e-02 -1.25183193e-04 9.99943806e-01 -1.54230844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:133.98, Y:-12.95, Z:-1.54 [[ 9.86610253e-01 1.62758038e-01 1.04895398e-02 1.33976405e+02] [-1.62750920e-01 9.86665994e-01 -1.53439672e-03 -1.29463037e+01] [-1.05994076e-02 -1.93330701e-04 9.99943806e-01 -1.54351026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:-12.96, Z:-1.54 [[ 9.85679419e-01 1.68303454e-01 1.04895025e-02 1.34036378e+02] [-1.68296647e-01 9.85735199e-01 -1.53465169e-03 -1.29556106e+01] [-1.05981590e-02 -2.52673505e-04 9.99943806e-01 -1.54004233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88576923099998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:-12.96, Z:-1.54 [[ 9.84814611e-01 1.73292103e-01 1.04894840e-02 1.34096831e+02] [-1.73285577e-01 9.84870425e-01 -1.53477752e-03 -1.29621519e+01] [-1.05967474e-02 -3.06204973e-04 9.99943806e-01 -1.53900433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:-12.96, Z:-1.54 [[ 9.83369512e-01 1.81312918e-01 1.04894840e-02 1.34156241e+02] [-1.81306847e-01 9.83425377e-01 -1.53477752e-03 -1.29612074e+01] [-1.05938998e-02 -3.92561862e-04 9.99943806e-01 -1.54095977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.005769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:-12.96, Z:-1.54 [[ 9.82521932e-01 1.85851078e-01 1.04895374e-02 1.34214454e+02] [-1.85845269e-01 9.82577825e-01 -1.53441248e-03 -1.29621682e+01] [-1.05919591e-02 -4.41836997e-04 9.99943806e-01 -1.53894949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.27, Y:-12.96, Z:-1.54 [[ 9.82860519e-01 1.84052077e-01 1.04896248e-02 1.34272687e+02] [-1.84046172e-01 9.82916402e-01 -1.53381517e-03 -1.29627827e+01] [-1.05927261e-02 -4.23048918e-04 9.99943806e-01 -1.53727018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.125769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:-12.97, Z:-1.54 [[ 9.83945079e-01 1.78162979e-01 1.04897110e-02 1.34332086e+02] [-1.78156746e-01 9.84000926e-01 -1.53322555e-03 -1.29665858e+01] [-1.05950493e-02 -3.60203033e-04 9.99943806e-01 -1.54173782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:-12.97, Z:-1.54 [[ 9.84808773e-01 1.73325259e-01 1.04897468e-02 1.34390081e+02] [-1.73318754e-01 9.84864589e-01 -1.53298053e-03 -1.29746204e+01] [-1.05966844e-02 -3.08377165e-04 9.99943806e-01 -1.54075714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:-12.98, Z:-1.54 [[ 9.85433040e-01 1.69740060e-01 1.04898002e-02 1.34449049e+02] [-1.69733355e-01 9.85488833e-01 -1.53261483e-03 -1.29825476e+01] [-1.05977271e-02 -2.70179698e-04 9.99943806e-01 -1.54121442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:-12.98, Z:-1.54 [[ 9.84262149e-01 1.76402905e-01 1.04898356e-02 1.34506929e+02] [-1.76396581e-01 9.84317986e-01 -1.53237268e-03 -1.29836170e+01] [-1.05956488e-02 -3.42114705e-04 9.99943806e-01 -1.53966300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:-12.99, Z:-1.54 [[ 9.82988175e-01 1.83369052e-01 1.04899235e-02 1.34565537e+02] [-1.83363130e-01 9.83044056e-01 -1.53177064e-03 -1.29851286e+01] [-1.05929363e-02 -4.17752781e-04 9.99943806e-01 -1.54314532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:-12.98, Z:-1.54 [[ 9.81930962e-01 1.88948525e-01 1.04900172e-02 1.34625172e+02] [-1.88942927e-01 9.81986877e-01 -1.53112831e-03 -1.29824992e+01] [-1.05903637e-02 -4.78552273e-04 9.99943806e-01 -1.54124294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.68, Y:-12.98, Z:-1.54 [[ 9.81856421e-01 1.89335488e-01 1.04900860e-02 1.34684258e+02] [-1.89329917e-01 9.81912338e-01 -1.53065730e-03 -1.29820201e+01] [-1.05901526e-02 -4.83201407e-04 9.99943806e-01 -1.53893344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:-12.98, Z:-1.54 [[ 9.81867588e-01 1.89277562e-01 1.04901875e-02 1.34743825e+02] [-1.89271995e-01 9.81923506e-01 -1.52996151e-03 -1.29780586e+01] [-1.05901490e-02 -4.83279088e-04 9.99943806e-01 -1.54470864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:-12.98, Z:-1.55 [[ 9.81860042e-01 1.89316697e-01 1.04902613e-02 1.34802783e+02] [-1.89311138e-01 9.81915961e-01 -1.52945469e-03 -1.29804203e+01] [-1.05901064e-02 -4.84212857e-04 9.99943806e-01 -1.54671716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:-12.97, Z:-1.55 [[ 9.81956693e-01 1.88814737e-01 1.04903348e-02 1.34861069e+02] [-1.88809155e-01 9.82012609e-01 -1.52895099e-03 -1.29743643e+01] [-1.05903295e-02 -4.79307591e-04 9.99943806e-01 -1.54698962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:-12.97, Z:-1.55 [[ 9.82747428e-01 1.84654929e-01 1.04904617e-02 1.34920807e+02] [-1.84649119e-01 9.82803321e-01 -1.52807925e-03 -1.29701084e+01] [-1.05922280e-02 -4.35338562e-04 9.99943806e-01 -1.54561520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:-12.97, Z:-1.55 [[ 9.84450693e-01 1.75347602e-01 1.04905318e-02 1.34980192e+02] [-1.75341269e-01 9.84506529e-01 -1.52759833e-03 -1.29681424e+01] [-1.05958577e-02 -3.35577913e-04 9.99943806e-01 -1.55036344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.845769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:135.04, Y:-12.97, Z:-1.55 [[ 9.86186853e-01 1.65304077e-01 1.04906035e-02 1.35038853e+02] [-1.65297181e-01 9.86242622e-01 -1.52710559e-03 -1.29694436e+01] [-1.05987171e-02 -2.28055721e-04 9.99943806e-01 -1.55395550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.10, Y:-12.97, Z:-1.55 [[ 9.87435627e-01 1.57673167e-01 1.04906926e-02 1.35097585e+02] [-1.57665846e-01 9.87491342e-01 -1.52649331e-03 -1.29723890e+01] [-1.06001551e-02 -1.46710044e-04 9.99943806e-01 -1.54698607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-12.98, Z:-1.55 [[ 9.87874579e-01 1.54899192e-01 1.04907648e-02 1.35154828e+02] [-1.54891720e-01 9.87930274e-01 -1.52599700e-03 -1.29755936e+01] [-1.06005198e-02 -1.17438953e-04 9.99943806e-01 -1.55059593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.21, Y:-12.98, Z:-1.55 [[ 9.88087241e-01 1.53536789e-01 1.04908895e-02 1.35213020e+02] [-1.53529249e-01 9.88142927e-01 -1.52513900e-03 -1.29823245e+01] [-1.06006632e-02 -1.03688000e-04 9.99943806e-01 -1.55302029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.27, Y:-12.98, Z:-1.54 [[ 9.88138945e-01 1.53203673e-01 1.04909582e-02 1.35272419e+02] [-1.53196119e-01 9.88194629e-01 -1.52466674e-03 -1.29824898e+01] [-1.06006930e-02 -1.00591490e-04 9.99943806e-01 -1.54398389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.33, Y:-12.99, Z:-1.55 [[ 9.88231100e-01 1.52608100e-01 1.04910313e-02 1.35329840e+02] [-1.52600518e-01 9.88286780e-01 -1.52416332e-03 -1.29885921e+01] [-1.06007472e-02 -9.47112097e-05 9.99943806e-01 -1.54846005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.39, Y:-12.99, Z:-1.55 [[ 9.88694157e-01 1.49578741e-01 1.04911402e-02 1.35387190e+02] [-1.49570996e-01 9.88749815e-01 -1.52341318e-03 -1.29934118e+01] [-1.06009832e-02 -6.29805853e-05 9.99943806e-01 -1.55102480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-13.00, Z:-1.55 [[ 9.88941979e-01 1.47931388e-01 1.04912660e-02 1.35444752e+02] [-1.47923560e-01 9.88997625e-01 -1.52254664e-03 -1.30010257e+01] [-1.06010696e-02 -4.61951186e-05 9.99943806e-01 -1.55304693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:-13.01, Z:-1.55 [[ 9.89675784e-01 1.42939753e-01 1.04913736e-02 1.35502598e+02] [-1.42931652e-01 9.89731391e-01 -1.52180438e-03 -1.30097426e+01] [-1.06011682e-02 6.54357841e-06 9.99943806e-01 -1.55151215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:-13.02, Z:-1.55 [[ 9.90628334e-01 1.36181617e-01 1.04914871e-02 1.35557957e+02] [-1.36173145e-01 9.90683886e-01 -1.52102189e-03 -1.30233633e+01] [-1.06008824e-02 7.81085839e-05 9.99943806e-01 -1.55088027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44576923099999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:-13.04, Z:-1.56 [[ 9.91247330e-01 1.31600366e-01 1.04916565e-02 1.35615463e+02] [-1.31591650e-01 9.91302844e-01 -1.51985228e-03 -1.30389723e+01] [-1.06004221e-02 1.25935128e-04 9.99943806e-01 -1.55546315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:-13.05, Z:-1.57 [[ 9.91318563e-01 1.31062697e-01 1.04917278e-02 1.35672601e+02] [-1.31053956e-01 9.91374073e-01 -1.51935977e-03 -1.30543097e+01] [-1.06003584e-02 1.31187102e-04 9.99943806e-01 -1.56509426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:-13.07, Z:-1.56 [[ 9.91313142e-01 1.31103684e-01 1.04917990e-02 1.35729458e+02] [-1.31094950e-01 9.91368653e-01 -1.51886802e-03 -1.30740714e+01] [-1.06003699e-02 1.30251960e-04 9.99943806e-01 -1.55987616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:-13.09, Z:-1.56 [[ 9.91357073e-01 1.30771080e-01 1.04918711e-02 1.35785535e+02] [-1.30762333e-01 9.91412582e-01 -1.51836969e-03 -1.30893743e+01] [-1.06003319e-02 1.33304980e-04 9.99943806e-01 -1.55912478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:-13.10, Z:-1.56 [[ 9.91066134e-01 1.32958027e-01 1.04919604e-02 1.35841620e+02] [-1.32949409e-01 9.91121663e-01 -1.51775276e-03 -1.31035461e+01] [-1.06006066e-02 1.09293428e-04 9.99943806e-01 -1.55711195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:-13.12, Z:-1.56 [[ 9.90596056e-01 1.36416170e-01 1.04920484e-02 1.35898580e+02] [-1.36407753e-01 9.90651616e-01 -1.51714436e-03 -1.31190675e+01] [-1.06009277e-02 7.16804827e-05 9.99943806e-01 -1.56148170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-13.14, Z:-1.56 [[ 9.90201771e-01 1.39249301e-01 1.04921169e-02 1.35955477e+02] [-1.39241047e-01 9.90257356e-01 -1.51667011e-03 -1.31368742e+01] [-1.06010912e-02 4.08760790e-05 9.99943806e-01 -1.56299074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:-13.16, Z:-1.56 [[ 9.90055501e-01 1.40285494e-01 1.04921880e-02 1.36012367e+02] [-1.40277304e-01 9.90111094e-01 -1.51617804e-03 -1.31576695e+01] [-1.06011296e-02 2.92845633e-05 9.99943806e-01 -1.56133754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:-13.17, Z:-1.56 [[ 9.89959991e-01 1.40957899e-01 1.04922598e-02 1.36068419e+02] [-1.40949752e-01 9.90015591e-01 -1.51568108e-03 -1.31721507e+01] [-1.06011480e-02 2.15822066e-05 9.99943806e-01 -1.55889284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:-13.19, Z:-1.56 [[ 9.88363219e-01 1.51749984e-01 1.04923483e-02 1.36125766e+02] [-1.51742450e-01 9.88418906e-01 -1.51506815e-03 -1.31902172e+01] [-1.06007470e-02 -9.46970082e-05 9.99943806e-01 -1.55746544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.18, Y:-13.20, Z:-1.56 [[ 9.87639479e-01 1.56391077e-01 1.04924198e-02 1.36183526e+02] [-1.56383810e-01 9.87695201e-01 -1.51457324e-03 -1.31988050e+01] [-1.06001784e-02 -1.44992254e-04 9.99943806e-01 -1.56377646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:-13.20, Z:-1.56 [[ 9.86879060e-01 1.61119922e-01 1.04924904e-02 1.36241675e+02] [-1.61112927e-01 9.86934817e-01 -1.51408366e-03 -1.32044538e+01] [-1.05993531e-02 -1.96258383e-04 9.99943806e-01 -1.55907939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:-13.21, Z:-1.57 [[ 9.86760234e-01 1.61846060e-01 1.04925855e-02 1.36301206e+02] [-1.61839113e-01 9.86815996e-01 -1.51342437e-03 -1.32065849e+01] [-1.05991930e-02 -2.04723751e-04 9.99943806e-01 -1.56548539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:-13.21, Z:-1.56 [[ 9.87636641e-01 1.56408980e-01 1.04926566e-02 1.36359692e+02] [-1.56401732e-01 9.87692366e-01 -1.51293137e-03 -1.32073212e+01] [-1.06001529e-02 -1.46843208e-04 9.99943806e-01 -1.56056447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:-13.21, Z:-1.56 [[ 9.88903703e-01 1.48186936e-01 1.04927524e-02 1.36418671e+02] [-1.48179231e-01 9.88959366e-01 -1.51226680e-03 -1.32132551e+01] [-1.06010039e-02 -5.93217360e-05 9.99943806e-01 -1.56026045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:-13.22, Z:-1.56 [[ 9.89602472e-01 1.43446327e-01 1.04928239e-02 1.36477121e+02] [-1.43438361e-01 9.89658098e-01 -1.51177009e-03 -1.32198937e+01] [-1.06011660e-02 -9.02205272e-06 9.99943806e-01 -1.56371996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.53, Y:-13.23, Z:-1.57 [[ 9.89893164e-01 1.41426387e-01 1.04928987e-02 1.36534290e+02] [-1.41418313e-01 9.89948775e-01 -1.51125087e-03 -1.32265201e+01] [-1.06011630e-02 1.20888727e-05 9.99943806e-01 -1.56565774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:-13.24, Z:-1.57 [[ 9.89990197e-01 1.40745541e-01 1.04929908e-02 1.36591547e+02] [-1.40737435e-01 9.90045803e-01 -1.51061107e-03 -1.32365184e+01] [-1.06011533e-02 1.87335358e-05 9.99943806e-01 -1.56673523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:-13.25, Z:-1.57 [[ 9.90239182e-01 1.38982939e-01 1.04930789e-02 1.36649857e+02] [-1.38974741e-01 9.90294775e-01 -1.50999936e-03 -1.32467866e+01] [-1.06011053e-02 3.69876132e-05 9.99943806e-01 -1.56643200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-13.26, Z:-1.56 [[ 9.90274987e-01 1.38727586e-01 1.04931496e-02 1.36706840e+02] [-1.38719379e-01 9.90330579e-01 -1.50950738e-03 -1.32557215e+01] [-1.06010973e-02 3.92242047e-05 9.99943806e-01 -1.56415686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-13.26, Z:-1.57 [[ 9.89761752e-01 1.42343131e-01 1.04932371e-02 1.36765017e+02] [-1.42335133e-01 9.89817374e-01 -1.50889912e-03 -1.32625384e+01] [-1.06011698e-02 -1.05662791e-07 9.99943806e-01 -1.56986086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:-13.27, Z:-1.57 [[ 9.89347785e-01 1.45192463e-01 1.04933076e-02 1.36823543e+02] [-1.45184631e-01 9.89403430e-01 -1.50840863e-03 -1.32708745e+01] [-1.06011241e-02 -3.11262601e-05 9.99943806e-01 -1.56796759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.88, Y:-13.28, Z:-1.57 [[ 9.89523097e-01 1.43992809e-01 1.04933791e-02 1.36880395e+02] [-1.43984915e-01 9.89578734e-01 -1.50791112e-03 -1.32787986e+01] [-1.06011532e-02 -1.87754063e-05 9.99943806e-01 -1.56934341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:-13.29, Z:-1.57 [[ 9.89865649e-01 1.41618795e-01 1.04934679e-02 1.36938583e+02] [-1.41610774e-01 9.89921268e-01 -1.50729317e-03 -1.32910662e+01] [-1.06011680e-02 6.02962774e-06 9.99943806e-01 -1.56644861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.00, Y:-13.31, Z:-1.57 [[ 9.90051395e-01 1.40314368e-01 1.04935401e-02 1.36995048e+02] [-1.40306279e-01 9.90107003e-01 -1.50678991e-03 -1.33061509e+01] [-1.06011518e-02 1.94898858e-05 9.99943806e-01 -1.57332260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.05, Y:-13.32, Z:-1.58 [[ 9.90035859e-01 1.40423936e-01 1.04936296e-02 1.37052541e+02] [-1.40415860e-01 9.90091469e-01 -1.50616668e-03 -1.33184857e+01] [-1.06011550e-02 1.76870067e-05 9.99943806e-01 -1.57619444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.11, Y:-13.33, Z:-1.58 [[ 9.89915338e-01 1.41271034e-01 1.04937035e-02 1.37109248e+02] [-1.41263010e-01 9.89970957e-01 -1.50565114e-03 -1.33324810e+01] [-1.06011666e-02 8.09500318e-06 9.99943806e-01 -1.57553385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.17, Y:-13.35, Z:-1.58 [[ 9.89509653e-01 1.44085137e-01 1.04938028e-02 1.37166839e+02] [-1.44077279e-01 9.89565295e-01 -1.50495910e-03 -1.33467532e+01] [-1.06011453e-02 -2.27469920e-05 9.99943806e-01 -1.57569576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.22, Y:-13.36, Z:-1.58 [[ 9.89428428e-01 1.44641848e-01 1.04938755e-02 1.37224484e+02] [-1.44634026e-01 9.89484075e-01 -1.50445193e-03 -1.33553576e+01] [-1.06011294e-02 -2.92239538e-05 9.99943806e-01 -1.57678641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:-13.36, Z:-1.58 [[ 9.89830435e-01 1.41864681e-01 1.04939295e-02 1.37282974e+02] [-1.41856707e-01 9.89886060e-01 -1.50407526e-03 -1.33642864e+01] [-1.06011697e-02 1.45184515e-07 9.99943806e-01 -1.57906360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:-13.37, Z:-1.58 [[ 9.90134111e-01 1.39729447e-01 1.04939667e-02 1.37341546e+02] [-1.39721356e-01 9.90189720e-01 -1.50381537e-03 -1.33698642e+01] [-1.06011453e-02 2.27476340e-05 9.99943806e-01 -1.57559027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:-13.38, Z:-1.57 [[ 9.90000566e-01 1.40672511e-01 1.04940084e-02 1.37399120e+02] [-1.40664476e-01 9.90056183e-01 -1.50352447e-03 -1.33789117e+01] [-1.06011625e-02 1.23558758e-05 9.99943806e-01 -1.57091055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:-13.38, Z:-1.58 [[ 9.89751018e-01 1.42417685e-01 1.04940615e-02 1.37457897e+02] [-1.42409752e-01 9.89806649e-01 -1.50315391e-03 -1.33844488e+01] [-1.06011675e-02 -6.70858125e-06 9.99943806e-01 -1.57886131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:-13.39, Z:-1.58 [[ 9.89469959e-01 1.44357451e-01 1.04941328e-02 1.37516941e+02] [-1.44349632e-01 9.89525606e-01 -1.50265623e-03 -1.33899166e+01] [-1.06011327e-02 -2.79910038e-05 9.99943806e-01 -1.57969883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-13.39, Z:-1.58 [[ 9.89192606e-01 1.46245887e-01 1.04942037e-02 1.37575828e+02] [-1.46238180e-01 9.89248269e-01 -1.50216038e-03 -1.33898392e+01] [-1.06010577e-02 -4.87273090e-05 9.99943806e-01 -1.58486061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:-13.39, Z:-1.59 [[ 9.90099945e-01 1.39971315e-01 1.04942738e-02 1.37633948e+02] [-1.39963261e-01 9.90155559e-01 -1.50167085e-03 -1.33934043e+01] [-1.06011544e-02 1.79914496e-05 9.99943806e-01 -1.58585589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:-13.40, Z:-1.58 [[ 9.91482267e-01 1.29818266e-01 1.04943588e-02 1.37694000e+02] [-1.29809649e-01 9.91537796e-01 -1.50107669e-03 -1.33985637e+01] [-1.06004205e-02 1.26021898e-04 9.99943806e-01 -1.58159447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-13.40, Z:-1.59 [[ 9.92127923e-01 1.24788032e-01 1.04943956e-02 1.37753082e+02] [-1.24779136e-01 9.92183408e-01 -1.50081891e-03 -1.34027929e+01] [-1.05996495e-02 1.79522734e-04 9.99943806e-01 -1.58531522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-13.41, Z:-1.59 [[ 9.92297787e-01 1.23430018e-01 1.04944500e-02 1.37812077e+02] [-1.23421050e-01 9.92353260e-01 -1.50043874e-03 -1.34110326e+01] [-1.05994008e-02 1.93646013e-04 9.99943806e-01 -1.58747499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:-13.42, Z:-1.58 [[ 9.92618467e-01 1.20824021e-01 1.04944836e-02 1.37870693e+02] [-1.20814909e-01 9.92673918e-01 -1.50020348e-03 -1.34233274e+01] [-1.05988608e-02 2.21239589e-04 9.99943806e-01 -1.58382672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-13.44, Z:-1.58 [[ 9.93572901e-01 1.12706502e-01 1.04945170e-02 1.37929843e+02] [-1.12696940e-01 9.93628275e-01 -1.49997014e-03 -1.34360517e+01] [-1.05967052e-02 3.07629736e-04 9.99943806e-01 -1.57949647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:-13.45, Z:-1.58 [[ 9.94519069e-01 1.04027333e-01 1.04945170e-02 1.37989525e+02] [-1.04017288e-01 9.94574358e-01 -1.49997014e-03 -1.34533702e+01] [-1.05936154e-02 4.00137716e-04 9.99943806e-01 -1.58067539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:-13.47, Z:-1.58 [[ 9.94665461e-01 1.02618162e-01 1.04944823e-02 1.38049055e+02] [-1.02608036e-01 9.94720735e-01 -1.50021263e-03 -1.34716246e+01] [-1.05930282e-02 4.15391465e-04 9.99943806e-01 -1.58381253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:-13.49, Z:-1.58 [[ 9.94326037e-01 1.05856523e-01 1.04942600e-02 1.38108826e+02] [-1.05846561e-01 9.94381340e-01 -1.50176608e-03 -1.34888245e+01] [-1.05942681e-02 3.82463786e-04 9.99943806e-01 -1.58050426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:-13.50, Z:-1.59 [[ 9.94018507e-01 1.08706392e-01 1.04942260e-02 1.38169710e+02] [-1.08696586e-01 9.94073838e-01 -1.50200380e-03 -1.35030759e+01] [-1.05953129e-02 3.52333041e-04 9.99943806e-01 -1.58506875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:-13.52, Z:-1.60 [[ 9.94123211e-01 1.07744685e-01 1.04939816e-02 1.38228155e+02] [-1.07734807e-01 9.94178530e-01 -1.50370901e-03 -1.35246532e+01] [-1.05949079e-02 3.64304942e-04 9.99943806e-01 -1.59513921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:-13.54, Z:-1.59 [[ 9.93826691e-01 1.10446316e-01 1.04937563e-02 1.38288792e+02] [-1.10436572e-01 9.93882034e-01 -1.50528016e-03 -1.35430728e+01] [-1.05958085e-02 3.37093134e-04 9.99943806e-01 -1.58838893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:-13.56, Z:-1.59 [[ 9.93445619e-01 1.13823054e-01 1.04935162e-02 1.38350521e+02] [-1.13813480e-01 9.93500992e-01 -1.50695146e-03 -1.35595668e+01] [-1.05968446e-02 3.02770720e-04 9.99943806e-01 -1.59066260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.41, Y:-13.57, Z:-1.60 [[ 9.92330386e-01 1.23167757e-01 1.04932427e-02 1.38410580e+02] [-1.23158685e-01 9.92385843e-01 -1.50885377e-03 -1.35748240e+01] [-1.05991876e-02 2.04947469e-04 9.99943806e-01 -1.59604313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.47, Y:-13.59, Z:-1.60 [[ 9.91979877e-01 1.25959602e-01 1.04930052e-02 1.38471243e+02] [-1.25950669e-01 9.92035356e-01 -1.51050371e-03 -1.35870020e+01] [-1.05996946e-02 1.76788265e-04 9.99943806e-01 -1.59930203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.53, Y:-13.60, Z:-1.59 [[ 9.92249483e-01 1.23817875e-01 1.04927670e-02 1.38532327e+02] [-1.23808804e-01 9.92304940e-01 -1.51215622e-03 -1.35983158e+01] [-1.05992565e-02 2.01339287e-04 9.99943806e-01 -1.59196110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.59, Y:-13.61, Z:-1.59 [[ 9.92606719e-01 1.20920672e-01 1.04925084e-02 1.38592940e+02] [-1.20911421e-01 9.92662146e-01 -1.51394888e-03 -1.36138227e+01] [-1.05985836e-02 2.34091734e-04 9.99943806e-01 -1.59389573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:-13.63, Z:-1.60 [[ 9.93184124e-01 1.16082768e-01 1.04922330e-02 1.38653786e+02] [-1.16073227e-01 9.93239502e-01 -1.51585467e-03 -1.36305356e+01] [-1.05972649e-02 2.87655448e-04 9.99943806e-01 -1.60053287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:-13.65, Z:-1.60 [[ 9.93547118e-01 1.12933779e-01 1.04921466e-02 1.38713449e+02] [-1.12924056e-01 9.93602465e-01 -1.51645305e-03 -1.36512972e+01] [-1.05962815e-02 3.21851815e-04 9.99943806e-01 -1.59548836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.77, Y:-13.67, Z:-1.60 [[ 9.93696507e-01 1.11611698e-01 1.04918977e-02 1.38774055e+02] [-1.11601883e-01 9.93751838e-01 -1.51817318e-03 -1.36660945e+01] [-1.05957885e-02 3.37687848e-04 9.99943806e-01 -1.59772449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:-13.69, Z:-1.60 [[ 9.93899719e-01 1.09787402e-01 1.04916332e-02 1.38833708e+02] [-1.09777467e-01 9.93955028e-01 -1.51999889e-03 -1.36871072e+01] [-1.05950883e-02 3.58981560e-04 9.99943806e-01 -1.60046860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-13.70, Z:-1.60 [[ 9.93737833e-01 1.11243206e-01 1.04913837e-02 1.38894178e+02] [-1.11233333e-01 9.93793153e-01 -1.52171893e-03 -1.37002410e+01] [-1.05955461e-02 3.45198101e-04 9.99943806e-01 -1.60112416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.96, Y:-13.72, Z:-1.60 [[ 9.93505121e-01 1.13302740e-01 1.04911185e-02 1.38955815e+02] [-1.13292962e-01 9.93560458e-01 -1.52354484e-03 -1.37158031e+01] [-1.05961823e-02 3.25079702e-04 9.99943806e-01 -1.60031921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:-13.73, Z:-1.60 [[ 9.93232646e-01 1.15666995e-01 1.04908378e-02 1.39016717e+02] [-1.15657329e-01 9.93288002e-01 -1.52547556e-03 -1.37312987e+01] [-1.05968705e-02 3.01809860e-04 9.99943806e-01 -1.59927366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:-13.75, Z:-1.59 [[ 9.92654953e-01 1.20524235e-01 1.04905765e-02 1.39078457e+02] [-1.20514821e-01 9.92710353e-01 -1.52726984e-03 -1.37462716e+01] [-1.05981770e-02 2.51782017e-04 9.99943806e-01 -1.59279988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:-13.76, Z:-1.60 [[ 9.92574808e-01 1.21182521e-01 1.04902985e-02 1.39139245e+02] [-1.21173124e-01 9.92630211e-01 -1.52917701e-03 -1.37639664e+01] [-1.05982968e-02 2.46680333e-04 9.99943806e-01 -1.59750176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:-13.78, Z:-1.60 [[ 9.92543612e-01 1.21437794e-01 1.04900142e-02 1.39200036e+02] [-1.21428390e-01 9.92599014e-01 -1.53112502e-03 -1.37833417e+01] [-1.05983142e-02 2.45922815e-04 9.99943806e-01 -1.59810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:-13.80, Z:-1.60 [[ 9.92293737e-01 1.23462968e-01 1.04897284e-02 1.39259917e+02] [-1.23453656e-01 9.92349154e-01 -1.53308022e-03 -1.37996643e+01] [-1.05987518e-02 2.26270575e-04 9.99943806e-01 -1.60086954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:-13.82, Z:-1.61 [[ 9.91621200e-01 1.28753124e-01 1.04894635e-02 1.39319666e+02] [-1.28744089e-01 9.91676663e-01 -1.53489111e-03 -1.38207767e+01] [-1.05997781e-02 1.71574147e-04 9.99943806e-01 -1.60937063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:-13.84, Z:-1.61 [[ 9.90530276e-01 1.36893201e-01 1.04892275e-02 1.39380444e+02] [-1.36884605e-01 9.90585809e-01 -1.53650177e-03 -1.38394750e+01] [-1.06008166e-02 8.61377510e-05 9.99943806e-01 -1.61061462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.345769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:-13.86, Z:-1.60 [[ 9.89945894e-01 1.41057111e-01 1.04889470e-02 1.39440885e+02] [-1.41048729e-01 9.90001459e-01 -1.53841428e-03 -1.38608880e+01] [-1.06010771e-02 4.34942565e-05 9.99943806e-01 -1.60381863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:-13.87, Z:-1.61 [[ 9.89143685e-01 1.46576797e-01 1.04886587e-02 1.39500748e+02] [-1.46568704e-01 9.89199294e-01 -1.54037738e-03 -1.38724143e+01] [-1.06011574e-02 -1.36545541e-05 9.99943806e-01 -1.61077956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:-13.88, Z:-1.61 [[ 9.88320563e-01 1.52027820e-01 1.04884272e-02 1.39562695e+02] [-1.52020017e-01 9.88376212e-01 -1.54195232e-03 -1.38811098e+01] [-1.06009316e-02 -7.05076914e-05 9.99943806e-01 -1.60740883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:-13.89, Z:-1.61 [[ 9.87568223e-01 1.56840691e-01 1.04881785e-02 1.39625111e+02] [-1.56833141e-01 9.87623908e-01 -1.54364210e-03 -1.38890354e+01] [-1.06004817e-02 -1.20442079e-04 9.99943806e-01 -1.60779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-13.89, Z:-1.61 [[ 9.87759676e-01 1.55630418e-01 1.04878868e-02 1.39686709e+02] [-1.55622778e-01 9.87815348e-01 -1.54562098e-03 -1.38939617e+01] [-1.06006412e-02 -1.05452014e-04 9.99943806e-01 -1.60750197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.75, Y:-13.90, Z:-1.60 [[ 9.88152074e-01 1.53119195e-01 1.04876166e-02 1.39748434e+02] [-1.53111395e-01 9.88207724e-01 -1.54745248e-03 -1.39030276e+01] [-1.06008884e-02 -7.66552282e-05 9.99943806e-01 -1.60445782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.81, Y:-13.91, Z:-1.61 [[ 9.88592450e-01 1.50249734e-01 1.04873596e-02 1.39810141e+02] [-1.50241754e-01 9.88648075e-01 -1.54919263e-03 -1.39129190e+01] [-1.06010736e-02 -4.41191570e-05 9.99943806e-01 -1.60833509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.87, Y:-13.92, Z:-1.62 [[ 9.88220499e-01 1.52676986e-01 1.04872672e-02 1.39870036e+02] [-1.52669136e-01 9.88276142e-01 -1.54981775e-03 -1.39232383e+01] [-1.06009374e-02 -6.95203393e-05 9.99943806e-01 -1.61631305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.93, Y:-13.93, Z:-1.61 [[ 9.86336736e-01 1.64407618e-01 1.04870270e-02 1.39932188e+02] [-1.64400412e-01 9.86392466e-01 -1.55144119e-03 -1.39280454e+01] [-1.05993932e-02 -1.93828121e-04 9.99943806e-01 -1.61193305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.99, Y:-13.93, Z:-1.61 [[ 9.84784489e-01 1.73463362e-01 1.04867858e-02 1.39994927e+02] [-1.73456651e-01 9.84840280e-01 -1.55306967e-03 -1.39338004e+01] [-1.05972098e-02 -2.89563836e-04 9.99943806e-01 -1.61431602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.06, Y:-13.93, Z:-1.62 [[ 9.82555170e-01 1.85675446e-01 1.04865110e-02 1.40057449e+02] [-1.85669408e-01 9.82611039e-01 -1.55492334e-03 -1.39331933e+01] [-1.05928725e-02 -4.19226318e-04 9.99943806e-01 -1.61649645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.12, Y:-13.93, Z:-1.61 [[ 9.81168378e-01 1.92869522e-01 1.04862596e-02 1.40119181e+02] [-1.92863876e-01 9.81224287e-01 -1.55661703e-03 -1.39312083e+01] [-1.05895965e-02 -4.95117249e-04 9.99943806e-01 -1.60906117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.18, Y:-13.93, Z:-1.61 [[ 9.80828813e-01 1.94589002e-01 1.04862239e-02 1.40183675e+02] [-1.94583451e-01 9.80884732e-01 -1.55685694e-03 -1.39274397e+01] [-1.05887242e-02 -5.13435498e-04 9.99943806e-01 -1.61105557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:-13.92, Z:-1.61 [[ 9.80442420e-01 1.96526603e-01 1.04859368e-02 1.40246775e+02] [-1.96521142e-01 9.80498348e-01 -1.55878877e-03 -1.39235407e+01] [-1.05877871e-02 -5.32405627e-04 9.99943806e-01 -1.61194034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:-13.92, Z:-1.61 [[ 9.81101800e-01 1.93207941e-01 1.04856687e-02 1.40311249e+02] [-1.93202272e-01 9.81157707e-01 -1.56059006e-03 -1.39203702e+01] [-1.05896130e-02 -4.94757289e-04 9.99943806e-01 -1.61122274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:-13.92, Z:-1.62 [[ 9.82770501e-01 1.84532379e-01 1.04853800e-02 1.40372722e+02] [-1.84526195e-01 9.82826354e-01 -1.56252690e-03 -1.39217927e+01] [-1.05936446e-02 -3.99221939e-04 9.99943806e-01 -1.62379908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.44, Y:-13.93, Z:-1.62 [[ 9.83718708e-01 1.79408927e-01 1.04852367e-02 1.40435224e+02] [-1.79402442e-01 9.83774527e-01 -1.56348853e-03 -1.39255446e+01] [-1.05956125e-02 -3.43044147e-04 9.99943806e-01 -1.62119153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:-13.93, Z:-1.61 [[ 9.84959054e-01 1.72469498e-01 1.04849926e-02 1.40496790e+02] [-1.72462602e-01 9.85014823e-01 -1.56512318e-03 -1.39339120e+01] [-1.05978092e-02 -2.66686867e-04 9.99943806e-01 -1.61276048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:-13.94, Z:-1.62 [[ 9.85677111e-01 1.68317269e-01 1.04847276e-02 1.40556919e+02] [-1.68310120e-01 9.85732848e-01 -1.56689660e-03 -1.39417937e+01] [-1.05988762e-02 -2.20231640e-04 9.99943806e-01 -1.62135955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:-13.95, Z:-1.62 [[ 9.85409813e-01 1.69875173e-01 1.04845782e-02 1.40618677e+02] [-1.69868102e-01 9.85465560e-01 -1.56789549e-03 -1.39486985e+01] [-1.05985373e-02 -2.35975802e-04 9.99943806e-01 -1.62204066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:-13.95, Z:-1.62 [[ 9.84574668e-01 1.74650515e-01 1.04843176e-02 1.40680965e+02] [-1.74643695e-01 9.84630446e-01 -1.56963670e-03 -1.39480598e+01] [-1.05973161e-02 -2.85595429e-04 9.99943806e-01 -1.62437112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-13.95, Z:-1.62 [[ 9.84057006e-01 1.77544059e-01 1.04840772e-02 1.40743735e+02] [-1.77537386e-01 9.84112802e-01 -1.57124048e-03 -1.39493734e+01] [-1.05964790e-02 -3.15125449e-04 9.99943806e-01 -1.61799205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:-13.95, Z:-1.62 [[ 9.84604087e-01 1.74484615e-01 1.04838218e-02 1.40805623e+02] [-1.74477750e-01 9.84659860e-01 -1.57294279e-03 -1.39473221e+01] [-1.05974528e-02 -2.80467743e-04 9.99943806e-01 -1.61672481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.87, Y:-13.95, Z:-1.62 [[ 9.84850891e-01 1.73086142e-01 1.04837857e-02 1.40866978e+02] [-1.73079195e-01 9.84906654e-01 -1.57318305e-03 -1.39535025e+01] [-1.05978465e-02 -2.65174472e-04 9.99943806e-01 -1.61791357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.93, Y:-13.95, Z:-1.62 [[ 9.85255761e-01 1.70766439e-01 1.04837489e-02 1.40927438e+02] [-1.70759359e-01 9.85311507e-01 -1.57342831e-03 -1.39523639e+01] [-1.05984472e-02 -2.39968941e-04 9.99943806e-01 -1.62269649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:-13.95, Z:-1.62 [[ 9.85417310e-01 1.69831726e-01 1.04837672e-02 1.40986889e+02] [-1.69824594e-01 9.85473050e-01 -1.57330680e-03 -1.39544135e+01] [-1.05986674e-02 -2.30037743e-04 9.99943806e-01 -1.61907846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:-13.96, Z:-1.62 [[ 9.85112299e-01 1.71592101e-01 1.04837523e-02 1.41047043e+02] [-1.71585068e-01 9.85168051e-01 -1.57340575e-03 -1.39580266e+01] [-1.05982418e-02 -2.48873999e-04 9.99943806e-01 -1.61748580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.11, Y:-13.96, Z:-1.62 [[ 9.84935374e-01 1.72604751e-01 1.04837710e-02 1.41105630e+02] [-1.72597776e-01 9.84991133e-01 -1.57328119e-03 -1.39643920e+01] [-1.05979773e-02 -2.59895264e-04 9.99943806e-01 -1.62428435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.16, Y:-13.97, Z:-1.62 [[ 9.84434257e-01 1.75440257e-01 1.04838265e-02 1.41163245e+02] [-1.75433447e-01 9.84490036e-01 -1.57291133e-03 -1.39672728e+01] [-1.05971747e-02 -2.90786026e-04 9.99943806e-01 -1.62244384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:-13.97, Z:-1.63 [[ 9.84452902e-01 1.75335594e-01 1.04839127e-02 1.41222171e+02] [-1.75328785e-01 9.84508682e-01 -1.57233621e-03 -1.39744134e+01] [-1.05971896e-02 -2.90240739e-04 9.99943806e-01 -1.62756316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.28, Y:-13.98, Z:-1.62 [[ 9.84736774e-01 1.73734199e-01 1.04839495e-02 1.41281252e+02] [-1.73727301e-01 9.84792543e-01 -1.57209080e-03 -1.39791481e+01] [-1.05976413e-02 -2.73252639e-04 9.99943806e-01 -1.62440833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:-13.98, Z:-1.62 [[ 9.85231307e-01 1.70907452e-01 1.04840226e-02 1.41339541e+02] [-1.70900399e-01 9.85287056e-01 -1.57160334e-03 -1.39835469e+01] [-1.05983705e-02 -2.43330837e-04 9.99943806e-01 -1.62229979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.40, Y:-13.99, Z:-1.63 [[ 9.86030997e-01 1.66231632e-01 1.04841126e-02 1.41397492e+02] [-1.66224321e-01 9.86086714e-01 -1.57100302e-03 -1.39898066e+01] [-1.05993945e-02 -1.93656820e-04 9.99943806e-01 -1.63094035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.46, Y:-14.00, Z:-1.62 [[ 9.86612476e-01 1.62744904e-01 1.04841831e-02 1.41457038e+02] [-1.62737402e-01 9.86668167e-01 -1.57053200e-03 -1.39970075e+01] [-1.06000058e-02 -1.56662257e-04 9.99943806e-01 -1.62282870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38576923099998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-14.01, Z:-1.62 [[ 9.86887677e-01 1.61067669e-01 1.04842203e-02 1.41515495e+02] [-1.61060074e-01 9.86943355e-01 -1.57028371e-03 -1.40056913e+01] [-1.06002535e-02 -1.38895654e-04 9.99943806e-01 -1.62417069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:-14.01, Z:-1.62 [[ 9.86931696e-01 1.60797725e-01 1.04842575e-02 1.41575075e+02] [-1.60790118e-01 9.86987372e-01 -1.57003521e-03 -1.40119412e+01] [-1.06002879e-02 -1.36247490e-04 9.99943806e-01 -1.62454075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-14.02, Z:-1.62 [[ 9.86931729e-01 1.60797519e-01 1.04842945e-02 1.41633589e+02] [-1.60789914e-01 9.86987406e-01 -1.56978855e-03 -1.40172980e+01] [-1.06002847e-02 -1.36494672e-04 9.99943806e-01 -1.62363234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:-14.02, Z:-1.62 [[ 9.86592647e-01 1.62865057e-01 1.04843493e-02 1.41692139e+02] [-1.62857573e-01 9.86648341e-01 -1.56942239e-03 -1.40214683e+01] [-1.05999699e-02 -1.59075080e-04 9.99943806e-01 -1.62443268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-14.02, Z:-1.63 [[ 9.85957801e-01 1.66665209e-01 1.04844212e-02 1.41751519e+02] [-1.66657944e-01 9.86013523e-01 -1.56894172e-03 -1.40222049e+01] [-1.05992691e-02 -2.00401756e-04 9.99943806e-01 -1.62836635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:-14.02, Z:-1.63 [[ 9.85728677e-01 1.68015034e-01 1.04844925e-02 1.41810568e+02] [-1.68007850e-01 9.85784410e-01 -1.56846534e-03 -1.40232834e+01] [-1.05989750e-02 -2.15395775e-04 9.99943806e-01 -1.62553864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.87, Y:-14.02, Z:-1.63 [[ 9.85756202e-01 1.67853460e-01 1.04845666e-02 1.41870400e+02] [-1.67846273e-01 9.85811934e-01 -1.56796961e-03 -1.40223701e+01] [-1.05990000e-02 -2.14159669e-04 9.99943806e-01 -1.62785951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:-14.03, Z:-1.63 [[ 9.86685098e-01 1.62304005e-01 1.04846408e-02 1.41929080e+02] [-1.62296510e-01 9.86740790e-01 -1.56747342e-03 -1.40253266e+01] [-1.06000299e-02 -1.55017948e-04 9.99943806e-01 -1.62677436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-14.03, Z:-1.63 [[ 9.87455488e-01 1.57549132e-01 1.04847149e-02 1.41986478e+02] [-1.57541374e-01 9.87511144e-01 -1.56697784e-03 -1.40322278e+01] [-1.06006488e-02 -1.04455514e-04 9.99943806e-01 -1.62711615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.04, Y:-14.05, Z:-1.63 [[ 9.88515807e-01 1.50753335e-01 1.04848145e-02 1.42044130e+02] [-1.50745201e-01 9.88571409e-01 -1.56631075e-03 -1.40455315e+01] [-1.06011144e-02 -3.22125409e-05 9.99943806e-01 -1.62985485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:-14.06, Z:-1.63 [[ 9.88340322e-01 1.51899554e-01 1.04848884e-02 1.42102152e+02] [-1.51891490e-01 9.88395935e-01 -1.56581578e-03 -1.40553243e+01] [-1.06010678e-02 -4.50064483e-05 9.99943806e-01 -1.63208555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:-14.07, Z:-1.63 [[ 9.88157622e-01 1.53083572e-01 1.04849618e-02 1.42158088e+02] [-1.53075580e-01 9.88213244e-01 -1.56532419e-03 -1.40695418e+01] [-1.06010036e-02 -5.82045837e-05 9.99943806e-01 -1.62624371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:-14.09, Z:-1.63 [[ 9.88518332e-01 1.50736761e-01 1.04850705e-02 1.42214793e+02] [-1.50728645e-01 9.88573936e-01 -1.56459587e-03 -1.40858931e+01] [-1.06011095e-02 -3.37687688e-05 9.99943806e-01 -1.62876721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:-14.11, Z:-1.63 [[ 9.88988007e-01 1.47623793e-01 1.04851435e-02 1.42272057e+02] [-1.47615507e-01 9.89043586e-01 -1.56410676e-03 -1.41050579e+01] [-1.06011633e-02 -8.86938283e-07 9.99943806e-01 -1.63225790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.33, Y:-14.12, Z:-1.63 [[ 9.88915217e-01 1.48110616e-01 1.04851806e-02 1.42330824e+02] [-1.48102360e-01 9.88970801e-01 -1.56385778e-03 -1.41188150e+01] [-1.06011614e-02 -6.35723781e-06 9.99943806e-01 -1.63088362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.39, Y:-14.13, Z:-1.64 [[ 9.88315413e-01 1.52061514e-01 1.04852174e-02 1.42387853e+02] [-1.52053483e-01 9.88371030e-01 -1.56361072e-03 -1.41324869e+01] [-1.06010502e-02 -4.89732530e-05 9.99943806e-01 -1.63741879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.45, Y:-14.14, Z:-1.64 [[ 9.87967935e-01 1.54303006e-01 1.04852720e-02 1.42445612e+02] [-1.54295105e-01 9.88023571e-01 -1.56324453e-03 -1.41425720e+01] [-1.06009093e-02 -7.33906793e-05 9.99943806e-01 -1.63833468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:-14.15, Z:-1.63 [[ 9.88287602e-01 1.52242154e-01 1.04853429e-02 1.42504456e+02] [-1.52234142e-01 9.88343222e-01 -1.56276884e-03 -1.41542793e+01] [-1.06010369e-02 -5.17621127e-05 9.99943806e-01 -1.63388280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:-14.17, Z:-1.63 [[ 9.89078566e-01 1.47015805e-01 1.04853787e-02 1.42562949e+02] [-1.47007501e-01 9.89134143e-01 -1.56252920e-03 -1.41681436e+01] [-1.06011625e-02 4.03482732e-06 9.99943806e-01 -1.63453359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:-14.19, Z:-1.64 [[ 9.90161480e-01 1.39536020e-01 1.04853607e-02 1.42622914e+02] [-1.39527296e-01 9.90216992e-01 -1.56264961e-03 -1.41863126e+01] [-1.06008282e-02 8.42814221e-05 9.99943806e-01 -1.63771210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:-14.21, Z:-1.64 [[ 9.90558110e-01 1.36691963e-01 1.04851032e-02 1.42683130e+02] [-1.36683060e-01 9.90613595e-01 -1.56437531e-03 -1.42082207e+01] [-1.06005233e-02 1.16468651e-04 9.99943806e-01 -1.63603859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:-14.22, Z:-1.64 [[ 9.90555732e-01 1.36709221e-01 1.04848057e-02 1.42743444e+02] [-1.36700298e-01 9.90611213e-01 -1.56636715e-03 -1.42213225e+01] [-1.06005029e-02 1.18297891e-04 9.99943806e-01 -1.63776159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:-14.24, Z:-1.64 [[ 9.90251084e-01 1.38898761e-01 1.04845297e-02 1.42803998e+02] [-1.38889941e-01 9.90306581e-01 -1.56821181e-03 -1.42405425e+01] [-1.06007215e-02 9.67277249e-05 9.99943806e-01 -1.64002112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:-14.26, Z:-1.64 [[ 9.88947451e-01 1.47895302e-01 1.04842338e-02 1.42865205e+02] [-1.47886967e-01 9.89003023e-01 -1.57018774e-03 -1.42565796e+01] [-1.06011623e-02 2.35162689e-06 9.99943806e-01 -1.64007605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.92, Y:-14.27, Z:-1.64 [[ 9.87919809e-01 1.54610926e-01 1.04839357e-02 1.42924814e+02] [-1.54602947e-01 9.87975433e-01 -1.57217581e-03 -1.42708066e+01] [-1.06009465e-02 -6.76637261e-05 9.99943806e-01 -1.63640740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:-14.28, Z:-1.64 [[ 9.87454810e-01 1.57553454e-01 1.04836959e-02 1.42986787e+02] [-1.57545624e-01 9.87510455e-01 -1.57377335e-03 -1.42841243e+01] [-1.06007127e-02 -9.76303451e-05 9.99943806e-01 -1.63656553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:-14.29, Z:-1.64 [[ 9.86577509e-01 1.62956793e-01 1.04834048e-02 1.43048790e+02] [-1.62949247e-01 9.86633194e-01 -1.57570983e-03 -1.42922713e+01] [-1.06000478e-02 -1.53703045e-04 9.99943806e-01 -1.63529710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:-14.30, Z:-1.64 [[ 9.86181133e-01 1.65338676e-01 1.04831067e-02 1.43111808e+02] [-1.65331243e-01 9.86236833e-01 -1.57769057e-03 -1.42990217e+01] [-1.05996792e-02 -1.77296393e-04 9.99943806e-01 -1.63950166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:-14.30, Z:-1.64 [[ 9.86482751e-01 1.63529485e-01 1.04828093e-02 1.43174512e+02] [-1.63521930e-01 9.86538435e-01 -1.57966413e-03 -1.43005633e+01] [-1.06000160e-02 -1.55857791e-04 9.99943806e-01 -1.63980336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.24, Y:-14.31, Z:-1.64 [[ 9.86999882e-01 1.60378768e-01 1.04825470e-02 1.43235285e+02] [-1.60371017e-01 9.87055539e-01 -1.58140268e-03 -1.43055320e+01] [-1.06004795e-02 -1.20252462e-04 9.99943806e-01 -1.63666654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:-14.31, Z:-1.64 [[ 9.87255926e-01 1.58795016e-01 1.04823060e-02 1.43297362e+02] [-1.58787158e-01 9.87311568e-01 -1.58299903e-03 -1.43081573e+01] [-1.06006743e-02 -1.01630401e-04 9.99943806e-01 -1.64030569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-14.30, Z:-1.64 [[ 9.87234371e-01 1.58928972e-01 1.04822685e-02 1.43358366e+02] [-1.58921119e-01 9.87290014e-01 -1.58324714e-03 -1.43048090e+01] [-1.06006628e-02 -1.02817844e-04 9.99943806e-01 -1.64085826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-14.30, Z:-1.64 [[ 9.87922414e-01 1.54594392e-01 1.04822871e-02 1.43418298e+02] [-1.54586296e-01 9.87978021e-01 -1.58312419e-03 -1.43040970e+01] [-1.06010113e-02 -5.64140611e-05 9.99943806e-01 -1.64445389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-14.31, Z:-1.64 [[ 9.89173413e-01 1.46376504e-01 1.04823050e-02 1.43478887e+02] [-1.46367947e-01 9.89228951e-01 -1.58300509e-03 -1.43062131e+01] [-1.06011144e-02 3.15930817e-05 9.99943806e-01 -1.64185251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:-14.32, Z:-1.64 [[ 9.90987439e-01 1.33544068e-01 1.04823050e-02 1.43539319e+02] [-1.33534792e-01 9.91042862e-01 -1.58300509e-03 -1.43157607e+01] [-1.05998145e-02 1.68985742e-04 9.99943806e-01 -1.64452713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:-14.32, Z:-1.65 [[ 9.91436393e-01 1.30169124e-01 1.04822697e-02 1.43599883e+02] [-1.30159657e-01 9.91491784e-01 -1.58323903e-03 -1.43247332e+01] [-1.05991731e-02 2.05312167e-04 9.99943806e-01 -1.64621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:-14.34, Z:-1.64 [[ 9.91128061e-01 1.32496377e-01 1.04822321e-02 1.43660404e+02] [-1.32487038e-01 9.91183473e-01 -1.58348813e-03 -1.43360195e+01] [-1.05996216e-02 1.80679642e-04 9.99943806e-01 -1.64325375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.72, Y:-14.34, Z:-1.65 [[ 9.90326143e-01 1.38362766e-01 1.04821949e-02 1.43720404e+02] [-1.38353752e-01 9.90381609e-01 -1.58373446e-03 -1.43441837e+01] [-1.06005029e-02 1.18162650e-04 9.99943806e-01 -1.64788429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.78, Y:-14.35, Z:-1.64 [[ 9.90124865e-01 1.39795836e-01 1.04821949e-02 1.43780244e+02] [-1.39786903e-01 9.90180344e-01 -1.58373446e-03 -1.43533384e+01] [-1.06006628e-02 1.02821313e-04 9.99943806e-01 -1.64408878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:-14.37, Z:-1.64 [[ 9.90698713e-01 1.35669394e-01 1.04821949e-02 1.43839721e+02] [-1.35660230e-01 9.90754154e-01 -1.58373446e-03 -1.43662673e+01] [-1.06001424e-02 1.46986726e-04 9.99943806e-01 -1.64372959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.90, Y:-14.38, Z:-1.65 [[ 9.90953730e-01 1.33793977e-01 1.04821763e-02 1.43900062e+02] [-1.33784706e-01 9.91009154e-01 -1.58385705e-03 -1.43787387e+01] [-1.05998432e-02 1.67174173e-04 9.99943806e-01 -1.64979289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-14.39, Z:-1.64 [[ 9.90161438e-01 1.39536562e-01 1.04821393e-02 1.43959645e+02] [-1.39527610e-01 9.90216914e-01 -1.58410241e-03 -1.43923491e+01] [-1.06006318e-02 1.05969280e-04 9.99943806e-01 -1.64316634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.02, Y:-14.41, Z:-1.65 [[ 9.89477459e-01 1.44306910e-01 1.04821023e-02 1.44018844e+02] [-1.44298223e-01 9.89532977e-01 -1.58434685e-03 -1.44094232e+01] [-1.06010181e-02 5.51267539e-05 9.99943806e-01 -1.64574208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.08, Y:-14.42, Z:-1.65 [[ 9.89244771e-01 1.45893489e-01 1.04820652e-02 1.44079698e+02] [-1.45884888e-01 9.89300302e-01 -1.58459201e-03 -1.44242598e+01] [-1.06010920e-02 3.83744348e-05 9.99943806e-01 -1.64809587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.14, Y:-14.43, Z:-1.65 [[ 9.88415142e-01 1.51412147e-01 1.04818049e-02 1.44139997e+02] [-1.51403839e-01 9.88470718e-01 -1.58631202e-03 -1.44341030e+01] [-1.06011442e-02 -1.90506866e-05 9.99943806e-01 -1.65021569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:-14.44, Z:-1.65 [[ 9.87736559e-01 1.55777475e-01 1.04817677e-02 1.44200188e+02] [-1.55769409e-01 9.87792171e-01 -1.58655818e-03 -1.44418987e+01] [-1.06009581e-02 -6.56372381e-05 9.99943806e-01 -1.65220889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.26, Y:-14.45, Z:-1.65 [[ 9.88178574e-01 1.52948486e-01 1.04817677e-02 1.44261107e+02] [-1.52940261e-01 9.88234162e-01 -1.58655818e-03 -1.44533731e+01] [-1.06011026e-02 -3.52814811e-05 9.99943806e-01 -1.65337183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:-14.46, Z:-1.65 [[ 9.88553599e-01 1.50505545e-01 1.04815130e-02 1.44322124e+02] [-1.50497164e-01 9.88609165e-01 -1.58823877e-03 -1.44647930e+01] [-1.06011586e-02 -7.37884008e-06 9.99943806e-01 -1.65302328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:-14.47, Z:-1.66 [[ 9.88587862e-01 1.50280347e-01 1.04812544e-02 1.44382497e+02] [-1.50271936e-01 9.88643423e-01 -1.58994392e-03 -1.44740178e+01] [-1.06011605e-02 -3.23911652e-06 9.99943806e-01 -1.65664295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:-14.48, Z:-1.65 [[ 9.87663384e-01 1.56240798e-01 1.04811102e-02 1.44443598e+02] [-1.56232712e-01 9.87718993e-01 -1.59089373e-03 -1.44825672e+01] [-1.06009541e-02 -6.62247843e-05 9.99943806e-01 -1.65452249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:-14.49, Z:-1.65 [[ 9.86848972e-01 1.61304859e-01 1.04808612e-02 1.44503707e+02] [-1.61297041e-01 9.86904620e-01 -1.59253262e-03 -1.44941784e+01] [-1.06004936e-02 -1.18942724e-04 9.99943806e-01 -1.64870155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:-14.51, Z:-1.65 [[ 9.87385536e-01 1.57987203e-01 1.04808223e-02 1.44564650e+02] [-1.57979196e-01 9.87441156e-01 -1.59278840e-03 -1.45061402e+01] [-1.06008355e-02 -8.30556535e-05 9.99943806e-01 -1.64880423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.63, Y:-14.52, Z:-1.66 [[ 9.88427754e-01 1.51329882e-01 1.04805338e-02 1.44625558e+02] [-1.51321480e-01 9.88483316e-01 -1.59468474e-03 -1.45192436e+01] [-1.06011562e-02 -9.69922179e-06 9.99943806e-01 -1.65628737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:-14.53, Z:-1.66 [[ 9.88713453e-01 1.49451906e-01 1.04802645e-02 1.44686208e+02] [-1.49443380e-01 9.88768996e-01 -1.59645251e-03 -1.45299712e+01] [-1.06011535e-02 1.22279268e-05 9.99943806e-01 -1.66045182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.75, Y:-14.55, Z:-1.66 [[ 9.89181185e-01 1.46324132e-01 1.04800156e-02 1.44746611e+02] [-1.46315413e-01 9.89236699e-01 -1.59808480e-03 -1.45453194e+01] [-1.06010544e-02 4.74076092e-05 9.99943806e-01 -1.66339668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.81, Y:-14.56, Z:-1.66 [[ 9.89566594e-01 1.43694574e-01 1.04797406e-02 1.44808069e+02] [-1.43685688e-01 9.89622081e-01 -1.59988609e-03 -1.45618981e+01] [-1.06008776e-02 7.74050862e-05 9.99943806e-01 -1.66199424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:-14.58, Z:-1.66 [[ 9.89708208e-01 1.42715959e-01 1.04794319e-02 1.44868482e+02] [-1.42706997e-01 9.89763682e-01 -1.60190520e-03 -1.45767699e+01] [-1.06007786e-02 8.99304706e-05 9.99943806e-01 -1.65656110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:-14.59, Z:-1.66 [[ 9.89632756e-01 1.43238249e-01 1.04791635e-02 1.44930232e+02] [-1.43229297e-01 9.89688232e-01 -1.60365907e-03 -1.45905140e+01] [-1.06008101e-02 8.61103171e-05 9.99943806e-01 -1.65736018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-14.60, Z:-1.65 [[ 9.89750680e-01 1.42421155e-01 1.04788559e-02 1.44990861e+02] [-1.42412137e-01 9.89806145e-01 -1.60566650e-03 -1.46034393e+01] [-1.06007169e-02 9.68932469e-05 9.99943806e-01 -1.65353140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:-14.62, Z:-1.65 [[ 9.89868753e-01 1.41598196e-01 1.04786655e-02 1.45051027e+02] [-1.41589118e-01 9.89924209e-01 -1.60690814e-03 -1.46188661e+01] [-1.06006200e-02 1.06963151e-04 9.99943806e-01 -1.65148549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:-14.63, Z:-1.66 [[ 9.90269236e-01 1.38769747e-01 1.04784818e-02 1.45111019e+02] [-1.38760498e-01 9.90324663e-01 -1.60810533e-03 -1.46349305e+01] [-1.06002553e-02 1.38457879e-04 9.99943806e-01 -1.65990564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.17, Y:-14.65, Z:-1.66 [[ 9.90445404e-01 1.37506759e-01 1.04782234e-02 1.45171751e+02] [-1.37497422e-01 9.90500817e-01 -1.60978734e-03 -1.46527898e+01] [-1.06000455e-02 1.53677778e-04 9.99943806e-01 -1.65815967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.23, Y:-14.67, Z:-1.66 [[ 9.90106755e-01 1.39924359e-01 1.04779134e-02 1.45233274e+02] [-1.39915136e-01 9.90162187e-01 -1.61180280e-03 -1.46676882e+01] [-1.06003641e-02 1.29838174e-04 9.99943806e-01 -1.66111447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.29, Y:-14.68, Z:-1.66 [[ 9.89305955e-01 1.45478337e-01 1.04776051e-02 1.45293682e+02] [-1.45469404e-01 9.89361435e-01 -1.61380383e-03 -1.46786922e+01] [-1.06009120e-02 7.23747624e-05 9.99943806e-01 -1.66465090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:-14.69, Z:-1.66 [[ 9.87901770e-01 1.54726591e-01 1.04773580e-02 1.45355428e+02] [-1.54718160e-01 9.87957328e-01 -1.61540681e-03 -1.46869860e+01] [-1.06011290e-02 -2.51742995e-05 9.99943806e-01 -1.65714731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:-14.70, Z:-1.66 [[ 9.87235100e-01 1.58924786e-01 1.04770955e-02 1.45417896e+02] [-1.58916573e-01 9.87290691e-01 -1.61710727e-03 -1.46957592e+01] [-1.06009373e-02 -6.85190550e-05 9.99943806e-01 -1.65608780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:-14.71, Z:-1.66 [[ 9.86382109e-01 1.64135836e-01 1.04767891e-02 1.45478254e+02] [-1.64127896e-01 9.86437739e-01 -1.61909040e-03 -1.47077632e+01] [-1.06004509e-02 -1.22491548e-04 9.99943806e-01 -1.65920166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:-14.72, Z:-1.66 [[ 9.86341656e-01 1.64378769e-01 1.04765052e-02 1.45540551e+02] [-1.64370823e-01 9.86397286e-01 -1.62092514e-03 -1.47167873e+01] [-1.06004420e-02 -1.23245790e-04 9.99943806e-01 -1.66406399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:-14.73, Z:-1.67 [[ 9.86678578e-01 1.62344181e-01 1.04762119e-02 1.45601827e+02] [-1.62336101e-01 9.86734188e-01 -1.62281824e-03 -1.47268592e+01] [-1.06006916e-02 -9.94673987e-05 9.99943806e-01 -1.66803697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.66, Y:-14.74, Z:-1.66 [[ 9.86151511e-01 1.65515716e-01 1.04759507e-02 1.45663319e+02] [-1.65507796e-01 9.86207144e-01 -1.62450285e-03 -1.47378905e+01] [-1.06003382e-02 -1.31845579e-04 9.99943806e-01 -1.66163150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:-14.74, Z:-1.66 [[ 9.85531668e-01 1.69167346e-01 1.04756909e-02 1.45725564e+02] [-1.69159614e-01 9.85587328e-01 -1.62617664e-03 -1.47431510e+01] [-1.05998042e-02 -1.69415246e-04 9.99943806e-01 -1.66174399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.79, Y:-14.75, Z:-1.66 [[ 9.85824651e-01 1.67451556e-01 1.04754146e-02 1.45786770e+02] [-1.67443709e-01 9.85880294e-01 -1.62795439e-03 -1.47521040e+01] [-1.06001083e-02 -1.49164704e-04 9.99943806e-01 -1.66159284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:-14.76, Z:-1.67 [[ 9.86587447e-01 1.62897140e-01 1.04752332e-02 1.45847704e+02] [-1.62889024e-01 9.86643052e-01 -1.62912067e-03 -1.47628846e+01] [-1.06006952e-02 -9.90305113e-05 9.99943806e-01 -1.67010556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.91, Y:-14.78, Z:-1.67 [[ 9.88018496e-01 1.53979627e-01 1.04749816e-02 1.45907853e+02] [-1.53970992e-01 9.88074023e-01 -1.63073704e-03 -1.47783754e+01] [-1.06011575e-02 -1.64494844e-06 9.99943806e-01 -1.67399456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:-14.79, Z:-1.67 [[ 9.88768718e-01 1.49086223e-01 1.04747275e-02 1.45967450e+02] [-1.49077296e-01 9.88824198e-01 -1.63236732e-03 -1.47941342e+01] [-1.06010275e-02 5.24896918e-05 9.99943806e-01 -1.66563396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:-14.81, Z:-1.67 [[ 9.88576219e-01 1.50357388e-01 1.04744928e-02 1.46027821e+02] [-1.50348516e-01 9.88631708e-01 -1.63387204e-03 -1.48102171e+01] [-1.06010805e-02 4.03825941e-05 9.99943806e-01 -1.67312506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:146.09, Y:-14.82, Z:-1.67 [[ 9.88040378e-01 1.53839207e-01 1.04742426e-02 1.46088394e+02] [-1.53830514e-01 9.88095895e-01 -1.63547435e-03 -1.48227442e+01] [-1.06011562e-02 4.65657607e-06 9.99943806e-01 -1.67130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:-14.83, Z:-1.67 [[ 9.87658777e-01 1.56270393e-01 1.04739766e-02 1.46150716e+02] [-1.56261818e-01 9.87714313e-01 -1.63717632e-03 -1.48339281e+01] [-1.06011388e-02 -1.97110578e-05 9.99943806e-01 -1.67014345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:-14.84, Z:-1.67 [[ 9.87391508e-01 1.57950348e-01 1.04736583e-02 1.46210963e+02] [-1.57941845e-01 9.87447055e-01 -1.63920998e-03 -1.48440301e+01] [-1.06010968e-02 -3.56869105e-05 9.99943806e-01 -1.67436827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:-14.86, Z:-1.67 [[ 9.87464417e-01 1.57493914e-01 1.04734030e-02 1.46271040e+02] [-1.57485369e-01 9.87519957e-01 -1.64083951e-03 -1.48560794e+01] [-1.06011167e-02 -2.91371036e-05 9.99943806e-01 -1.67102792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:-14.87, Z:-1.66 [[ 9.87790794e-01 1.55433778e-01 1.04731593e-02 1.46333001e+02] [-1.55425101e-01 9.87846314e-01 -1.64239390e-03 -1.48695812e+01] [-1.06011553e-02 -5.45025501e-06 9.99943806e-01 -1.66477943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:-14.88, Z:-1.67 [[ 9.87332622e-01 1.58318073e-01 1.04728467e-02 1.46395190e+02] [-1.58309537e-01 9.87388164e-01 -1.64438462e-03 -1.48795695e+01] [-1.06011007e-02 -3.43969306e-05 9.99943806e-01 -1.67095842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-14.89, Z:-1.67 [[ 9.86719416e-01 1.62096022e-01 1.04725218e-02 1.46456399e+02] [-1.62087676e-01 9.86774987e-01 -1.64645133e-03 -1.48877904e+01] [-1.06009057e-02 -7.28812240e-05 9.99943806e-01 -1.67243892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.52, Y:-14.90, Z:-1.67 [[ 9.86157094e-01 1.65482686e-01 1.04722202e-02 1.46518718e+02] [-1.65474511e-01 9.86212690e-01 -1.64836735e-03 -1.48965757e+01] [-1.06006127e-02 -1.07336359e-04 9.99943806e-01 -1.67198795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.58, Y:-14.90, Z:-1.67 [[ 9.85147945e-01 1.71388057e-01 1.04719137e-02 1.46581681e+02] [-1.71380194e-01 9.85203586e-01 -1.65031200e-03 -1.49039819e+01] [-1.05998107e-02 -1.68877131e-04 9.99943806e-01 -1.67010966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:-14.90, Z:-1.67 [[ 9.83389278e-01 1.81206712e-01 1.04716095e-02 1.46645338e+02] [-1.81199384e-01 9.83444992e-01 -1.65223981e-03 -1.49029803e+01] [-1.05976489e-02 -2.72654284e-04 9.99943806e-01 -1.66850586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:-14.90, Z:-1.67 [[ 9.81958385e-01 1.88806996e-01 1.04712946e-02 1.46708399e+02] [-1.88800078e-01 9.82014152e-01 -1.65423352e-03 -1.49019245e+01] [-1.05952903e-02 -3.52592765e-04 9.99943806e-01 -1.66988449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:-14.90, Z:-1.68 [[ 9.81653128e-01 1.90387750e-01 1.04710042e-02 1.46770373e+02] [-1.90380903e-01 9.81708903e-01 -1.65606922e-03 -1.49003928e+01] [-1.05947734e-02 -3.67793708e-04 9.99943806e-01 -1.67596883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:-14.90, Z:-1.67 [[ 9.82115159e-01 1.87989831e-01 1.04708519e-02 1.46832752e+02] [-1.87982837e-01 9.82170915e-01 -1.65703219e-03 -1.48995779e+01] [-1.05956714e-02 -3.40944001e-04 9.99943806e-01 -1.67466894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:-14.91, Z:-1.67 [[ 9.82629069e-01 1.85284858e-01 1.04706074e-02 1.46895059e+02] [-1.85277694e-01 9.82684805e-01 -1.65857544e-03 -1.49060963e+01] [-1.05966157e-02 -3.10205553e-04 9.99943806e-01 -1.67393489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.96, Y:-14.91, Z:-1.68 [[ 9.83753350e-01 1.79219751e-01 1.04702871e-02 1.46955707e+02] [-1.79212222e-01 9.83809037e-01 -1.66059499e-03 -1.49130489e+01] [-1.05983745e-02 -2.42787523e-04 9.99943806e-01 -1.68003179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.845769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:-14.92, Z:-1.67 [[ 9.84586720e-01 1.74583419e-01 1.04700297e-02 1.47017552e+02] [-1.74575611e-01 9.84642368e-01 -1.66221659e-03 -1.49227503e+01] [-1.05994302e-02 -1.91215441e-04 9.99943806e-01 -1.67099419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.905769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:-14.93, Z:-1.67 [[ 9.85056379e-01 1.71913685e-01 1.04697554e-02 1.47079293e+02] [-1.71905707e-01 9.85112003e-01 -1.66394235e-03 -1.49319567e+01] [-1.05999362e-02 -1.60733677e-04 9.99943806e-01 -1.67322036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:-14.94, Z:-1.68 [[ 9.85197928e-01 1.71100650e-01 1.04694628e-02 1.47140702e+02] [-1.71092607e-01 9.85253544e-01 -1.66578107e-03 -1.49438840e+01] [-1.06000916e-02 -1.50123631e-04 9.99943806e-01 -1.67807817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:-14.95, Z:-1.68 [[ 9.85168398e-01 1.71270617e-01 1.04691929e-02 1.47201878e+02] [-1.71262565e-01 9.85224012e-01 -1.66747599e-03 -1.49520982e+01] [-1.06000898e-02 -1.50236175e-04 9.99943806e-01 -1.68178369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:-14.96, Z:-1.68 [[ 9.85261149e-01 1.70736257e-01 1.04689170e-02 1.47263611e+02] [-1.70728157e-01 9.85316756e-01 -1.66920602e-03 -1.49629424e+01] [-1.06001934e-02 -1.42735060e-04 9.99943806e-01 -1.67867687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:-14.97, Z:-1.68 [[ 9.85534499e-01 1.69151291e-01 1.04686410e-02 1.47325731e+02] [-1.69143083e-01 9.85590090e-01 -1.67093522e-03 -1.49744765e+01] [-1.06004297e-02 -1.23933904e-04 9.99943806e-01 -1.68033730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.39, Y:-14.99, Z:-1.68 [[ 9.85543253e-01 1.69100295e-01 1.04683266e-02 1.47386727e+02] [-1.69092063e-01 9.85598841e-01 -1.67290252e-03 -1.49855317e+01] [-1.06004589e-02 -1.21393154e-04 9.99943806e-01 -1.67918122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:-15.00, Z:-1.68 [[ 9.84835875e-01 1.73172513e-01 1.04680346e-02 1.47448291e+02] [-1.73164492e-01 9.84891494e-01 -1.67472764e-03 -1.49969293e+01] [-1.05998951e-02 -1.63360035e-04 9.99943806e-01 -1.67711144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32576923099998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:-15.01, Z:-1.68 [[ 9.84526211e-01 1.74924457e-01 1.04677242e-02 1.47510252e+02] [-1.74916514e-01 9.84581841e-01 -1.67666559e-03 -1.50098080e+01] [-1.05996210e-02 -1.80256618e-04 9.99943806e-01 -1.67882388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.57, Y:-15.02, Z:-1.68 [[ 9.83949381e-01 1.78140531e-01 1.04674168e-02 1.47571796e+02] [-1.78132750e-01 9.84005033e-01 -1.67858282e-03 -1.50204496e+01] [-1.05990144e-02 -2.12949209e-04 9.99943806e-01 -1.67869549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.63, Y:-15.02, Z:-1.68 [[ 9.82402188e-01 1.86484258e-01 1.04672269e-02 1.47631890e+02] [-1.86476937e-01 9.82457903e-01 -1.67976632e-03 -1.50249518e+01] [-1.05968597e-02 -3.01690291e-04 9.99943806e-01 -1.68119425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.505769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:-15.03, Z:-1.68 [[ 9.80726364e-01 1.95105705e-01 1.04672081e-02 1.47694019e+02] [-1.95098872e-01 9.80782141e-01 -1.67988298e-03 -1.50272107e+01] [-1.05938056e-02 -3.94634977e-04 9.99943806e-01 -1.67756490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:-15.03, Z:-1.68 [[ 9.79500309e-01 2.01170544e-01 1.04669411e-02 1.47753530e+02] [-2.01164038e-01 9.79556125e-01 -1.68154542e-03 -1.50301070e+01] [-1.05912336e-02 -4.58497877e-04 9.99943806e-01 -1.68037034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.81, Y:-15.02, Z:-1.68 [[ 9.77614479e-01 2.10143698e-01 1.04669204e-02 1.47813893e+02] [-2.10137703e-01 9.77670352e-01 -1.68167393e-03 -1.50214663e+01] [-1.05865909e-02 -5.55465831e-04 9.99943806e-01 -1.68303939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.87, Y:-15.02, Z:-1.68 [[ 9.77263196e-01 2.11771308e-01 1.04670113e-02 1.47873847e+02] [-2.11765413e-01 9.77319080e-01 -1.68110795e-03 -1.50197578e+01] [-1.05856203e-02 -5.73666043e-04 9.99943806e-01 -1.68181943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.93, Y:-15.01, Z:-1.68 [[ 9.77374074e-01 2.11258988e-01 1.04670829e-02 1.47934486e+02] [-2.11253068e-01 9.77429955e-01 -1.68066218e-03 -1.50120036e+01] [-1.05858953e-02 -5.68567732e-04 9.99943806e-01 -1.68267069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.00, Y:-15.01, Z:-1.68 [[ 9.78732551e-01 2.04873208e-01 1.04671613e-02 1.47995419e+02] [-2.04866928e-01 9.78788393e-01 -1.68017391e-03 -1.50053944e+01] [-1.05893586e-02 -4.99934282e-04 9.99943806e-01 -1.67999436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.06, Y:-15.00, Z:-1.69 [[ 9.80307157e-01 1.97201205e-01 1.04672389e-02 1.48055969e+02] [-1.97194493e-01 9.80362948e-01 -1.67968992e-03 -1.49978650e+01] [-1.05929301e-02 -4.17469829e-04 9.99943806e-01 -1.68541883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:148.12, Y:-15.00, Z:-1.68 [[ 9.82182478e-01 1.87637989e-01 1.04673160e-02 1.48115459e+02] [-1.87630739e-01 9.82238202e-01 -1.67920961e-03 -1.49950489e+01] [-1.05964811e-02 -3.14699982e-04 9.99943806e-01 -1.68002429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:148.17, Y:-15.00, Z:-1.68 [[ 9.84742609e-01 1.73702123e-01 1.04674118e-02 1.48173671e+02] [-1.73694091e-01 9.84798226e-01 -1.67861184e-03 -1.49960377e+01] [-1.05998670e-02 -1.65126977e-04 9.99943806e-01 -1.68217466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:-15.00, Z:-1.69 [[ 9.86020009e-01 1.66297844e-01 1.04675274e-02 1.48232371e+02] [-1.66289401e-01 9.86075565e-01 -1.67789115e-03 -1.50016830e+01] [-1.06008026e-02 -8.62046108e-05 9.99943806e-01 -1.68965309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:-15.01, Z:-1.69 [[ 9.88280504e-01 1.52289443e-01 1.04676072e-02 1.48290107e+02] [-1.52280218e-01 9.88335936e-01 -1.67739296e-03 -1.50061525e+01] [-1.06009616e-02 6.37252513e-05 9.99943806e-01 -1.68632836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.35, Y:-15.02, Z:-1.69 [[ 9.89068787e-01 1.47082843e-01 1.04677063e-02 1.48347363e+02] [-1.47073333e-01 9.89124170e-01 -1.67677408e-03 -1.50152965e+01] [-1.06004860e-02 1.18924448e-04 9.99943806e-01 -1.68808021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:-15.03, Z:-1.69 [[ 9.89740948e-01 1.42489581e-01 1.04678091e-02 1.48405209e+02] [-1.42479821e-01 9.89796288e-01 -1.67613236e-03 -1.50258462e+01] [-1.05998300e-02 1.67485267e-04 9.99943806e-01 -1.68940000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:-15.04, Z:-1.69 [[ 9.90118717e-01 1.39840441e-01 1.04678899e-02 1.48461903e+02] [-1.39830538e-01 9.90174032e-01 -1.67562742e-03 -1.50372016e+01] [-1.05993532e-02 1.95339387e-04 9.99943806e-01 -1.68616481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.345769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:-15.05, Z:-1.69 [[ 9.90090584e-01 1.40039485e-01 1.04679898e-02 1.48519541e+02] [-1.40029600e-01 9.90145901e-01 -1.67500349e-03 -1.50475799e+01] [-1.05994038e-02 1.92576762e-04 9.99943806e-01 -1.68624815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.405769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:-15.06, Z:-1.69 [[ 9.89461643e-01 1.44416332e-01 1.04680688e-02 1.48576108e+02] [-1.44406697e-01 9.89517004e-01 -1.67450929e-03 -1.50589211e+01] [-1.06001586e-02 1.45203469e-04 9.99943806e-01 -1.68679702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:-15.07, Z:-1.69 [[ 9.88618609e-01 1.50078859e-01 1.04681666e-02 1.48634864e+02] [-1.50069547e-01 9.88674026e-01 -1.67389794e-03 -1.50666382e+01] [-1.06008211e-02 8.38936388e-05 9.99943806e-01 -1.68681600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:148.69, Y:-15.08, Z:-1.69 [[ 9.87834483e-01 1.55156210e-01 1.04682446e-02 1.48692212e+02] [-1.55147189e-01 9.87889948e-01 -1.67340989e-03 -1.50759210e+01] [-1.06011135e-02 2.89332758e-05 9.99943806e-01 -1.69176090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-15.08, Z:-1.69 [[ 9.87387733e-01 1.57974296e-01 1.04683413e-02 1.48750873e+02] [-1.57965439e-01 9.87443225e-01 -1.67280431e-03 -1.50818950e+01] [-1.06011528e-02 -1.92968379e-06 9.99943806e-01 -1.69089844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-15.09, Z:-1.70 [[ 9.87666959e-01 1.56219048e-01 1.04684186e-02 1.48808352e+02] [-1.56210097e-01 9.87722435e-01 -1.67232072e-03 -1.50887589e+01] [-1.06011403e-02 1.64232349e-05 9.99943806e-01 -1.69526465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:-15.10, Z:-1.69 [[ 9.88896203e-01 1.48238694e-01 1.04685144e-02 1.48865112e+02] [-1.48229302e-01 9.88951606e-01 -1.67172060e-03 -1.51020571e+01] [-1.06006678e-02 1.01417565e-04 9.99943806e-01 -1.69227944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:148.92, Y:-15.12, Z:-1.69 [[ 9.90089193e-01 1.40049272e-01 1.04686088e-02 1.48921808e+02] [-1.40039428e-01 9.90144518e-01 -1.67112928e-03 -1.51186321e+01] [-1.05994761e-02 1.88549050e-04 9.99943806e-01 -1.69158713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.98, Y:-15.14, Z:-1.70 [[ 9.90321859e-01 1.38394445e-01 1.04686840e-02 1.48979556e+02] [-1.38384514e-01 9.90377168e-01 -1.67065843e-03 -1.51369332e+01] [-1.05991554e-02 2.05785821e-04 9.99943806e-01 -1.69516953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88576923099998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:149.04, Y:-15.15, Z:-1.69 [[ 9.90023351e-01 1.40513952e-01 1.04687232e-02 1.49036514e+02] [-1.40504142e-01 9.90078682e-01 -1.67041236e-03 -1.51530036e+01] [-1.05995759e-02 1.82848263e-04 9.99943806e-01 -1.69427092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:149.09, Y:-15.17, Z:-1.70 [[ 9.89519031e-01 1.44022540e-01 1.04688017e-02 1.49092622e+02] [-1.44012931e-01 9.89574397e-01 -1.66992020e-03 -1.51726999e+01] [-1.06001643e-02 1.44774995e-04 9.99943806e-01 -1.69583285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.005769231 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:-15.19, Z:-1.70 [[ 9.89090384e-01 1.46937455e-01 1.04688602e-02 1.49149986e+02] [-1.46928013e-01 9.89145779e-01 -1.66955371e-03 -1.51924479e+01] [-1.06005488e-02 1.13170693e-04 9.99943806e-01 -1.69659562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.065769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:149.21, Y:-15.20, Z:-1.69 [[ 9.88055412e-01 1.53742986e-01 1.04688994e-02 1.49207924e+02] [-1.53733928e-01 9.88110871e-01 -1.66930808e-03 -1.52044548e+01] [-1.06010777e-02 3.99438567e-05 9.99943806e-01 -1.69411554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.125769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:-15.21, Z:-1.70 [[ 9.86751080e-01 1.61903390e-01 1.04689577e-02 1.49265965e+02] [-1.61894795e-01 9.86806612e-01 -1.66894233e-03 -1.52119595e+01] [-1.06010441e-02 -4.80391126e-05 9.99943806e-01 -1.69613846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.185769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:-15.22, Z:-1.70 [[ 9.86438861e-01 1.63794913e-01 1.04690335e-02 1.49324722e+02] [-1.63786430e-01 9.86494410e-01 -1.66846627e-03 -1.52166131e+01] [-1.06009293e-02 -6.88456575e-05 9.99943806e-01 -1.69920503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.38, Y:-15.22, Z:-1.70 [[ 9.87217403e-01 1.59035205e-01 1.04691124e-02 1.49383816e+02] [-1.59026459e-01 9.87272912e-01 -1.66797113e-03 -1.52194617e+01] [-1.06011372e-02 -1.82157516e-05 9.99943806e-01 -1.69977578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:-15.22, Z:-1.70 [[ 9.87942588e-01 1.54466304e-01 1.04691904e-02 1.49442485e+02] [-1.54457307e-01 9.87998057e-01 -1.66748142e-03 -1.52221167e+01] [-1.06011095e-02 3.03329570e-05 9.99943806e-01 -1.70375874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:-15.22, Z:-1.70 [[ 9.87880688e-01 1.54861685e-01 1.04692681e-02 1.49501328e+02] [-1.54852715e-01 9.87936161e-01 -1.66699349e-03 -1.52226803e+01] [-1.06011220e-02 2.55960861e-05 9.99943806e-01 -1.69746722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:-15.23, Z:-1.70 [[ 9.87701121e-01 1.56002845e-01 1.04693641e-02 1.49560083e+02] [-1.55993945e-01 9.87756606e-01 -1.66639035e-03 -1.52258892e+01] [-1.06011452e-02 1.27382087e-05 9.99943806e-01 -1.69682126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-15.23, Z:-1.70 [[ 9.88301520e-01 1.52152874e-01 1.04694398e-02 1.49618754e+02] [-1.52143764e-01 9.88356970e-01 -1.66591456e-03 -1.52333465e+01] [-1.06010175e-02 5.35659187e-05 9.99943806e-01 -1.70106582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54576923099998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:-15.24, Z:-1.70 [[ 9.88865061e-01 1.48446223e-01 1.04695151e-02 1.49677331e+02] [-1.48436909e-01 9.88920477e-01 -1.66544149e-03 -1.52427114e+01] [-1.06007463e-02 9.28344410e-05 9.99943806e-01 -1.70060259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60576923099998 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:-15.25, Z:-1.70 [[ 9.89679499e-01 1.42915629e-01 1.04695902e-02 1.49734698e+02] [-1.42906011e-01 9.89734863e-01 -1.66496882e-03 -1.52524301e+01] [-1.06000685e-02 1.51618127e-04 9.99943806e-01 -1.70083388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:-15.27, Z:-1.70 [[ 9.90584608e-01 1.36500986e-01 1.04696902e-02 1.49792225e+02] [-1.36491016e-01 9.90639911e-01 -1.66434019e-03 -1.52699494e+01] [-1.05988770e-02 2.19651125e-04 9.99943806e-01 -1.69699855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:-15.29, Z:-1.71 [[ 9.90822574e-01 1.34762796e-01 1.04697295e-02 1.49849174e+02] [-1.34752731e-01 9.90877859e-01 -1.66409261e-03 -1.52885277e+01] [-1.05984810e-02 2.37995873e-04 9.99943806e-01 -1.70590456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.785769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-15.30, Z:-1.70 [[ 9.90031301e-01 1.40457850e-01 1.04697689e-02 1.49907761e+02] [-1.40448106e-01 9.90086643e-01 -1.66384504e-03 -1.53014667e+01] [-1.05996784e-02 1.76799461e-04 9.99943806e-01 -1.70394091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-15.31, Z:-1.71 [[ 9.89045189e-01 1.47241287e-01 1.04698080e-02 1.49965562e+02] [-1.47231926e-01 9.89100598e-01 -1.66359857e-03 -1.53123332e+01] [-1.06006438e-02 1.03884169e-04 9.99943806e-01 -1.70791299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.905769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:150.02, Y:-15.32, Z:-1.70 [[ 9.88699476e-01 1.49545071e-01 1.04698867e-02 1.50024095e+02] [-1.49535844e-01 9.88754907e-01 -1.66310339e-03 -1.53230889e+01] [-1.06008607e-02 7.86861098e-05 9.99943806e-01 -1.70454241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.965769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:150.08, Y:-15.33, Z:-1.70 [[ 9.88564976e-01 1.50431610e-01 1.04699258e-02 1.50082988e+02] [-1.50422435e-01 9.88620416e-01 -1.66285694e-03 -1.53323328e+01] [-1.06009287e-02 6.89303908e-05 9.99943806e-01 -1.70126821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:-15.35, Z:-1.70 [[ 9.88193868e-01 1.52850450e-01 1.04699646e-02 1.50141528e+02] [-1.52841413e-01 9.88249330e-01 -1.66261273e-03 -1.53467939e+01] [-1.06010666e-02 4.27395179e-05 9.99943806e-01 -1.69806103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:150.20, Y:-15.36, Z:-1.70 [[ 9.88051287e-01 1.53769413e-01 1.04700039e-02 1.50198343e+02] [-1.53760430e-01 9.88106759e-01 -1.66236530e-03 -1.53613422e+01] [-1.06011025e-02 3.26298672e-05 9.99943806e-01 -1.70405047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:-15.37, Z:-1.71 [[ 9.87526720e-01 1.57103008e-01 1.04700421e-02 1.50256216e+02] [-1.57094216e-01 9.87582222e-01 -1.66212458e-03 -1.53736801e+01] [-1.06011522e-02 -3.39061819e-06 9.99943806e-01 -1.70801893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:150.31, Y:-15.38, Z:-1.70 [[ 9.86258007e-01 1.64880324e-01 1.04700993e-02 1.50314274e+02] [-1.64871973e-01 9.86313576e-01 -1.66176414e-03 -1.53804085e+01] [-1.06007933e-02 -8.72977420e-05 9.99943806e-01 -1.70487322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:150.37, Y:-15.39, Z:-1.71 [[ 9.85852564e-01 1.67287469e-01 1.04701787e-02 1.50371293e+02] [-1.67279259e-01 9.85908155e-01 -1.66126366e-03 -1.53885980e+01] [-1.06005432e-02 -1.13682696e-04 9.99943806e-01 -1.70750067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32576923099998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:-15.40, Z:-1.71 [[ 9.86656205e-01 1.62480481e-01 1.04702763e-02 1.50429340e+02] [-1.62472006e-01 9.86711756e-01 -1.66064835e-03 -1.54005697e+01] [-1.06009677e-02 -6.26377973e-05 9.99943806e-01 -1.70537496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:-15.41, Z:-1.71 [[ 9.87597583e-01 1.56656908e-01 1.04703351e-02 1.50487996e+02] [-1.56648110e-01 9.87653083e-01 -1.66027740e-03 -1.54124136e+01] [-1.06011527e-02 -4.72265793e-07 9.99943806e-01 -1.70796081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:-15.43, Z:-1.71 [[ 9.88008094e-01 1.54046673e-01 1.04703545e-02 1.50545630e+02] [-1.54037729e-01 9.88063572e-01 -1.66015504e-03 -1.54262059e+01] [-1.06011173e-02 2.74169826e-05 9.99943806e-01 -1.71197603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:-15.44, Z:-1.71 [[ 9.87589342e-01 1.56708846e-01 1.04703737e-02 1.50604464e+02] [-1.56700053e-01 9.87644844e-01 -1.66003426e-03 -1.54370350e+01] [-1.06011526e-02 -1.27597611e-06 9.99943806e-01 -1.70831943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:150.66, Y:-15.45, Z:-1.71 [[ 9.86490529e-01 1.63483354e-01 1.04704116e-02 1.50663624e+02] [-1.63474945e-01 9.86546090e-01 -1.65979494e-03 -1.54473472e+01] [-1.06008925e-02 -7.42779765e-05 9.99943806e-01 -1.70962544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.625769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:150.72, Y:-15.45, Z:-1.71 [[ 9.85526566e-01 1.69197390e-01 1.04704512e-02 1.50722470e+02] [-1.69189305e-01 9.85582176e-01 -1.65954524e-03 -1.54515270e+01] [-1.06002808e-02 -1.35962439e-04 9.99943806e-01 -1.71228375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:-15.46, Z:-1.71 [[ 9.85262944e-01 1.70725801e-01 1.04705294e-02 1.50780203e+02] [-1.70717808e-01 9.85318567e-01 -1.65905168e-03 -1.54562178e+01] [-1.06000500e-02 -1.52903689e-04 9.99943806e-01 -1.71240122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-15.46, Z:-1.71 [[ 9.85708481e-01 1.68134340e-01 1.04706259e-02 1.50838747e+02] [-1.68126208e-01 9.85764083e-01 -1.65844253e-03 -1.54606060e+01] [-1.06004081e-02 -1.25645755e-04 9.99943806e-01 -1.71042252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:-15.47, Z:-1.71 [[ 9.86908034e-01 1.60943767e-01 1.04707037e-02 1.50896835e+02] [-1.60935235e-01 9.86963577e-01 -1.65795100e-03 -1.54720527e+01] [-1.06010401e-02 -4.88600018e-05 9.99943806e-01 -1.71228653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:-15.49, Z:-1.71 [[ 9.87666169e-01 1.56223883e-01 1.04707428e-02 1.50954566e+02] [-1.56215087e-01 9.87721671e-01 -1.65770444e-03 -1.54857924e+01] [-1.06011526e-02 1.57059927e-06 9.99943806e-01 -1.71237038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.01, Y:-15.50, Z:-1.71 [[ 9.86876832e-01 1.61134982e-01 1.04707622e-02 1.51012409e+02] [-1.61126464e-01 9.86932376e-01 -1.65758174e-03 -1.54961636e+01] [-1.06010286e-02 -5.12878733e-05 9.99943806e-01 -1.71329307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.07, Y:-15.50, Z:-1.71 [[ 9.85713320e-01 1.68105954e-01 1.04708412e-02 1.51070372e+02] [-1.68097834e-01 9.85768924e-01 -1.65708249e-03 -1.55045288e+01] [-1.06003953e-02 -1.26717446e-04 9.99943806e-01 -1.71440101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:-15.51, Z:-1.71 [[ 9.85878487e-01 1.67134581e-01 1.04709198e-02 1.51128365e+02] [-1.67126412e-01 9.85934084e-01 -1.65658546e-03 -1.55130915e+01] [-1.06005095e-02 -1.16775292e-04 9.99943806e-01 -1.71474188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.19, Y:-15.52, Z:-1.71 [[ 9.86557892e-01 1.63076313e-01 1.04709780e-02 1.51188056e+02] [-1.63067919e-01 9.86613456e-01 -1.65621748e-03 -1.55207266e+01] [-1.06008977e-02 -7.35261805e-05 9.99943806e-01 -1.71457048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:-15.53, Z:-1.71 [[ 9.86214648e-01 1.65139416e-01 1.04710165e-02 1.51246513e+02] [-1.65131141e-01 9.86270229e-01 -1.65597433e-03 -1.55254082e+01] [-1.06007185e-02 -9.59447588e-05 9.99943806e-01 -1.71466024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.31, Y:-15.53, Z:-1.72 [[ 9.85165596e-01 1.71286618e-01 1.04710946e-02 1.51305666e+02] [-1.71278695e-01 9.85221228e-01 -1.65548001e-03 -1.55271059e+01] [-1.05999063e-02 -1.62553470e-04 9.99943806e-01 -1.71934792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:-15.53, Z:-1.72 [[ 9.84470309e-01 1.75238598e-01 1.04711722e-02 1.51363718e+02] [-1.75230903e-01 9.84525973e-01 -1.65498907e-03 -1.55278483e+01] [-1.05991590e-02 -2.05585369e-04 9.99943806e-01 -1.71699313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:-15.52, Z:-1.72 [[ 9.84254496e-01 1.76446707e-01 1.04712679e-02 1.51422755e+02] [-1.76439087e-01 9.84310170e-01 -1.65438369e-03 -1.55243529e+01] [-1.05988860e-02 -2.19206364e-04 9.99943806e-01 -1.71668392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.48, Y:-15.52, Z:-1.73 [[ 9.83974645e-01 1.78000696e-01 1.04713843e-02 1.51482502e+02] [-1.77993172e-01 9.84030333e-01 -1.65364637e-03 -1.55172483e+01] [-1.05985100e-02 -2.36688809e-04 9.99943806e-01 -1.72538163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.54, Y:-15.51, Z:-1.73 [[ 9.84657023e-01 1.74186383e-01 1.04714800e-02 1.51542713e+02] [-1.74178650e-01 9.84712682e-01 -1.65304008e-03 -1.55120518e+01] [-1.05993362e-02 -1.96230730e-04 9.99943806e-01 -1.72558786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:151.60, Y:-15.51, Z:-1.72 [[ 9.87010619e-01 1.60313393e-01 1.04715591e-02 1.51602456e+02] [-1.60304883e-01 9.87066165e-01 -1.65253879e-03 -1.55136167e+01] [-1.06010458e-02 -4.75687252e-05 9.99943806e-01 -1.72351825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-15.52, Z:-1.72 [[ 9.89611363e-01 1.43386521e-01 1.04716377e-02 1.51660846e+02] [-1.43377066e-01 9.89666756e-01 -1.65204069e-03 -1.55207527e+01] [-1.06003121e-02 1.33485542e-04 9.99943806e-01 -1.72173338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.72, Y:-15.54, Z:-1.72 [[ 9.90438634e-01 1.37556008e-01 1.04717163e-02 1.51716899e+02] [-1.37546232e-01 9.90493971e-01 -1.65154272e-03 -1.55350314e+01] [-1.05993514e-02 1.95406605e-04 9.99943806e-01 -1.72305933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:-15.55, Z:-1.72 [[ 9.90787581e-01 1.35019668e-01 1.04718191e-02 1.51774265e+02] [-1.35009757e-01 9.90842894e-01 -1.65089055e-03 -1.55508154e+01] [-1.05988302e-02 2.21884107e-04 9.99943806e-01 -1.72064442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:-15.57, Z:-1.72 [[ 9.90982858e-01 1.33578872e-01 1.04718975e-02 1.51830350e+02] [-1.33568886e-01 9.91038157e-01 -1.65039317e-03 -1.55655161e+01] [-1.05985076e-02 2.36791665e-04 9.99943806e-01 -1.71904694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:-15.58, Z:-1.73 [[ 9.91259725e-01 1.31508538e-01 1.04719944e-02 1.51887700e+02] [-1.31498443e-01 9.91315004e-01 -1.64977797e-03 -1.55794874e+01] [-1.05980050e-02 2.58307498e-04 9.99943806e-01 -1.72522790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:-15.59, Z:-1.73 [[ 9.91799926e-01 1.27370490e-01 1.04720709e-02 1.51945596e+02] [-1.27360169e-01 9.91855164e-01 -1.64929190e-03 -1.55941478e+01] [-1.05968487e-02 3.02042861e-04 9.99943806e-01 -1.72859224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94576923099999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:152.00, Y:-15.61, Z:-1.72 [[ 9.92317176e-01 1.23275939e-01 1.04721094e-02 1.52003657e+02] [-1.23265393e-01 9.92372371e-01 -1.64904744e-03 -1.56101793e+01] [-1.05955199e-02 3.45529416e-04 9.99943806e-01 -1.72246584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:-15.63, Z:-1.72 [[ 9.92612635e-01 1.20873861e-01 1.04721481e-02 1.52061895e+02] [-1.20863185e-01 9.92667806e-01 -1.64880182e-03 -1.56250768e+01] [-1.05946613e-02 3.70924349e-04 9.99943806e-01 -1.72204300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:-15.64, Z:-1.73 [[ 9.92612895e-01 1.20871727e-01 1.04721672e-02 1.52118972e+02] [-1.20861052e-01 9.92668065e-01 -1.64868062e-03 -1.56441018e+01] [-1.05946648e-02 3.70824502e-04 9.99943806e-01 -1.72656097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.125769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:-15.66, Z:-1.73 [[ 9.92127641e-01 1.24792137e-01 1.04721859e-02 1.52177118e+02] [-1.24781681e-01 9.92182853e-01 -1.64856152e-03 -1.56602697e+01] [-1.05960508e-02 3.28846493e-04 9.99943806e-01 -1.72511781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.23, Y:-15.67, Z:-1.73 [[ 9.91820356e-01 1.27211298e-01 1.04722232e-02 1.52234836e+02] [-1.27200979e-01 9.91875594e-01 -1.64832438e-03 -1.56744766e+01] [-1.05968281e-02 3.02764629e-04 9.99943806e-01 -1.72653647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:-15.69, Z:-1.73 [[ 9.91375360e-01 1.30633946e-01 1.04722417e-02 1.52292958e+02] [-1.30623819e-01 9.91430634e-01 -1.64820689e-03 -1.56918897e+01] [-1.05978130e-02 2.66067490e-04 9.99943806e-01 -1.72834332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:-15.71, Z:-1.73 [[ 9.90320700e-01 1.38402467e-01 1.04722417e-02 1.52351729e+02] [-1.38392774e-01 9.90376052e-01 -1.64820689e-03 -1.57056103e+01] [-1.05995733e-02 1.82970820e-04 9.99943806e-01 -1.72868161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:152.41, Y:-15.72, Z:-1.73 [[ 9.89169136e-01 1.46406125e-01 1.04722417e-02 1.52410051e+02] [-1.46396880e-01 9.89224564e-01 -1.64820689e-03 -1.57162604e+01] [-1.06007063e-02 9.72518718e-05 9.99943806e-01 -1.73070780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:-15.73, Z:-1.73 [[ 9.88539383e-01 1.50599536e-01 1.04722612e-02 1.52469301e+02] [-1.50590527e-01 9.88594850e-01 -1.64808336e-03 -1.57320560e+01] [-1.06010241e-02 5.21719801e-05 9.99943806e-01 -1.72851991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:152.53, Y:-15.74, Z:-1.73 [[ 9.88462063e-01 1.51106195e-01 1.04722612e-02 1.52527982e+02] [-1.51097214e-01 9.88517534e-01 -1.64808336e-03 -1.57429780e+01] [-1.06010494e-02 4.67383881e-05 9.99943806e-01 -1.73133165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:-15.76, Z:-1.73 [[ 9.88569858e-01 1.50399361e-01 1.04722803e-02 1.52586358e+02] [-1.50390342e-01 9.88625323e-01 -1.64796185e-03 -1.57599522e+01] [-1.06010139e-02 5.41955898e-05 9.99943806e-01 -1.73380700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:-15.78, Z:-1.74 [[ 9.88487458e-01 1.50939974e-01 1.04722803e-02 1.52645487e+02] [-1.50930986e-01 9.88542929e-01 -1.64796185e-03 -1.57755300e+01] [-1.06010420e-02 4.83980307e-05 9.99943806e-01 -1.73636213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:-15.79, Z:-1.74 [[ 9.87299769e-01 1.58522865e-01 1.04722422e-02 1.52703399e+02] [-1.58514300e-01 9.87355306e-01 -1.64820368e-03 -1.57874787e+01] [-1.06011019e-02 -3.27290294e-05 9.99943806e-01 -1.73958703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.76, Y:-15.80, Z:-1.74 [[ 9.86514822e-01 1.63336581e-01 1.04722222e-02 1.52761831e+02] [-1.63328286e-01 9.86570400e-01 -1.64833101e-03 -1.57967785e+01] [-1.06008172e-02 -8.43071222e-05 9.99943806e-01 -1.74328256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:-15.81, Z:-1.74 [[ 9.86375277e-01 1.64177177e-01 1.04722568e-02 1.52822056e+02] [-1.64168931e-01 9.86430862e-01 -1.64811117e-03 -1.58053083e+01] [-1.06007395e-02 -9.35630849e-05 9.99943806e-01 -1.73738168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:-15.81, Z:-1.73 [[ 9.86211162e-01 1.65160151e-01 1.04722568e-02 1.52881525e+02] [-1.65151961e-01 9.86266756e-01 -1.64811117e-03 -1.58123899e+01] [-1.06006410e-02 -1.04128106e-04 9.99943806e-01 -1.73349465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.94, Y:-15.82, Z:-1.73 [[ 9.86186886e-01 1.65305042e-01 1.04722761e-02 1.52940575e+02] [-1.65296861e-01 9.86242481e-01 -1.64798850e-03 -1.58183334e+01] [-1.06006244e-02 -1.05809725e-04 9.99943806e-01 -1.72892163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.00, Y:-15.83, Z:-1.73 [[ 9.86041022e-01 1.66172902e-01 1.04722952e-02 1.52999993e+02] [-1.66164771e-01 9.86096625e-01 -1.64786741e-03 -1.58252130e+01] [-1.06005258e-02 -1.15261661e-04 9.99943806e-01 -1.73122828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:-15.83, Z:-1.74 [[ 9.86258320e-01 1.64878309e-01 1.04723329e-02 1.53058799e+02] [-1.64870108e-01 9.86313912e-01 -1.64762758e-03 -1.58318525e+01] [-1.06006657e-02 -1.01588237e-04 9.99943806e-01 -1.73663033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:-15.84, Z:-1.74 [[ 9.86708063e-01 1.62165128e-01 1.04723703e-02 1.53118151e+02] [-1.62156776e-01 9.86763632e-01 -1.64738955e-03 -1.58408050e+01] [-1.06009033e-02 -7.26732590e-05 9.99943806e-01 -1.73785092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.18, Y:-15.85, Z:-1.75 [[ 9.86743475e-01 1.61949512e-01 1.04723703e-02 1.53178131e+02] [-1.61941149e-01 9.86799043e-01 -1.64738955e-03 -1.58494723e+01] [-1.06009190e-02 -7.03567895e-05 9.99943806e-01 -1.74726259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.24, Y:-15.86, Z:-1.74 [[ 9.86794634e-01 1.61637495e-01 1.04723703e-02 1.53237559e+02] [-1.61629113e-01 9.86850199e-01 -1.64738955e-03 -1.58593209e+01] [-1.06009407e-02 -6.70047631e-05 9.99943806e-01 -1.74412914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:-15.87, Z:-1.75 [[ 9.87135401e-01 1.59543188e-01 1.04723703e-02 1.53296340e+02] [-1.59534689e-01 9.87190949e-01 -1.64738955e-03 -1.58686551e+01] [-1.06010590e-02 -4.45097951e-05 9.99943806e-01 -1.74760221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.36, Y:-15.88, Z:-1.75 [[ 9.87469846e-01 1.57459938e-01 1.04723895e-02 1.53356418e+02] [-1.57451323e-01 9.87525376e-01 -1.64726742e-03 -1.58786064e+01] [-1.06011290e-02 -2.22646815e-05 9.99943806e-01 -1.75041070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:-15.89, Z:-1.74 [[ 9.87718521e-01 1.55892440e-01 1.04723895e-02 1.53415689e+02] [-1.55883737e-01 9.87774037e-01 -1.64726742e-03 -1.58891610e+01] [-1.06011510e-02 -5.43867348e-06 9.99943806e-01 -1.74230282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:-15.90, Z:-1.75 [[ 9.88380995e-01 1.51635545e-01 1.04723895e-02 1.53475811e+02] [-1.51626602e-01 9.88436472e-01 -1.64726742e-03 -1.59034991e+01] [-1.06010761e-02 4.02349643e-05 9.99943806e-01 -1.74549976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:-15.93, Z:-1.74 [[ 9.89304080e-01 1.45491468e-01 1.04723497e-02 1.53535473e+02] [-1.45482179e-01 9.89359501e-01 -1.64752047e-03 -1.59252426e+01] [-1.06006189e-02 1.06358466e-04 9.99943806e-01 -1.74422665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:-15.94, Z:-1.74 [[ 9.89478176e-01 1.44302716e-01 1.04721526e-02 1.53595791e+02] [-1.44293346e-01 9.89533583e-01 -1.64877267e-03 -1.59414469e+01] [-1.06004690e-02 1.20362638e-04 9.99943806e-01 -1.74229829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:-15.96, Z:-1.75 [[ 9.88562255e-01 1.50449356e-01 1.04718610e-02 1.53655845e+02] [-1.50440311e-01 9.88617716e-01 -1.65062253e-03 -1.59618577e+01] [-1.06010024e-02 5.63530996e-05 9.99943806e-01 -1.74853659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:-15.98, Z:-1.75 [[ 9.87416884e-01 1.57791771e-01 1.04715924e-02 1.53716703e+02] [-1.57783121e-01 9.87472408e-01 -1.65232460e-03 -1.59775108e+01] [-1.06011318e-02 -2.07073237e-05 9.99943806e-01 -1.74993023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.78, Y:-15.99, Z:-1.75 [[ 9.86833164e-01 1.61402166e-01 1.04712873e-02 1.53777208e+02] [-1.61393699e-01 9.86888716e-01 -1.65425606e-03 -1.59900613e+01] [-1.06009958e-02 -5.75250491e-05 9.99943806e-01 -1.74744514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:-16.00, Z:-1.75 [[ 9.86056532e-01 1.66080927e-01 1.04710045e-02 1.53838352e+02] [-1.66072704e-01 9.86112121e-01 -1.65604388e-03 -1.59985326e+01] [-1.06006218e-02 -1.05995160e-04 9.99943806e-01 -1.75291120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.90, Y:-16.00, Z:-1.75 [[ 9.84469656e-01 1.75242287e-01 1.04707446e-02 1.53899784e+02] [-1.75234564e-01 9.84525317e-01 -1.65768586e-03 -1.60025195e+01] [-1.05992098e-02 -2.02894937e-04 9.99943806e-01 -1.75104134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:-16.00, Z:-1.75 [[ 9.81991615e-01 1.88634122e-01 1.04707069e-02 1.53959138e+02] [-1.88627156e-01 9.82047375e-01 -1.65792368e-03 -1.60015339e+01] [-1.05954712e-02 -3.46992518e-04 9.99943806e-01 -1.75450906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.02, Y:-16.00, Z:-1.75 [[ 9.80939560e-01 1.94030776e-01 1.04707627e-02 1.54020467e+02] [-1.94024119e-01 9.80995359e-01 -1.65757125e-03 -1.59974862e+01] [-1.05933895e-02 -4.05603303e-04 9.99943806e-01 -1.75004183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.08, Y:-16.00, Z:-1.75 [[ 9.80877999e-01 1.94341746e-01 1.04708018e-02 1.54078520e+02] [-1.94335110e-01 9.80933799e-01 -1.65732425e-03 -1.59981252e+01] [-1.05932507e-02 -4.09211536e-04 9.99943806e-01 -1.74650311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:-15.99, Z:-1.74 [[ 9.80844647e-01 1.94509996e-01 1.04708982e-02 1.54137517e+02] [-1.94503376e-01 9.80900450e-01 -1.65671508e-03 -1.59897719e+01] [-1.05931564e-02 -4.11644933e-04 9.99943806e-01 -1.74255632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:-15.98, Z:-1.75 [[ 9.81328520e-01 1.92053880e-01 1.04710513e-02 1.54197148e+02] [-1.92047130e-01 9.81384307e-01 -1.65574680e-03 -1.59809343e+01] [-1.05941180e-02 -3.86103800e-04 9.99943806e-01 -1.74765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:-15.97, Z:-1.75 [[ 9.82574821e-01 1.85572296e-01 1.04711566e-02 1.54256066e+02] [-1.85565185e-01 9.82630563e-01 -1.65508095e-03 -1.59741786e+01] [-1.05964156e-02 -3.16841239e-04 9.99943806e-01 -1.74572006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:-15.97, Z:-1.75 [[ 9.85755126e-01 1.67860607e-01 1.04712788e-02 1.54315938e+02] [-1.67852503e-01 9.85810733e-01 -1.65430717e-03 -1.59726932e+01] [-1.06003920e-02 -1.26888583e-04 9.99943806e-01 -1.75073829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:-15.98, Z:-1.75 [[ 9.87273969e-01 1.58683527e-01 1.04713564e-02 1.54373754e+02] [-1.58674911e-01 9.87329498e-01 -1.65381594e-03 -1.59811599e+01] [-1.06011124e-02 -2.87721107e-05 9.99943806e-01 -1.75460929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:-15.99, Z:-1.75 [[ 9.87262048e-01 1.58757670e-01 1.04714344e-02 1.54430768e+02] [-1.58749064e-01 9.87317579e-01 -1.65332172e-03 -1.59925519e+01] [-1.06011088e-02 -3.00686235e-05 9.99943806e-01 -1.75439687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:-16.01, Z:-1.76 [[ 9.86965025e-01 1.60593853e-01 1.04715312e-02 1.54486536e+02] [-1.60585357e-01 9.87020573e-01 -1.65270854e-03 -1.60073359e+01] [-1.06010316e-02 -5.04090511e-05 9.99943806e-01 -1.75619309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.54, Y:-16.02, Z:-1.75 [[ 9.86425599e-01 1.63874594e-01 1.04716266e-02 1.54544377e+02] [-1.63866288e-01 9.86481176e-01 -1.65210363e-03 -1.60176195e+01] [-1.06008004e-02 -8.62692750e-05 9.99943806e-01 -1.74819198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:-16.02, Z:-1.75 [[ 9.85591714e-01 1.68817408e-01 1.04716959e-02 1.54602137e+02] [-1.68809386e-01 9.85647332e-01 -1.65166421e-03 -1.60209743e+01] [-1.06002288e-02 -1.39854002e-04 9.99943806e-01 -1.75409001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.66, Y:-16.02, Z:-1.76 [[ 9.86073366e-01 1.65980898e-01 1.04717998e-02 1.54661345e+02] [-1.65972723e-01 9.86128962e-01 -1.65100558e-03 -1.60237358e+01] [-1.06005804e-02 -1.10020495e-04 9.99943806e-01 -1.75682437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.72, Y:-16.03, Z:-1.75 [[ 9.87660942e-01 1.56256851e-01 1.04718772e-02 1.54719481e+02] [-1.56248134e-01 9.87716456e-01 -1.65051433e-03 -1.60257981e+01] [-1.06011496e-02 -6.06273371e-06 9.99943806e-01 -1.75244260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:-16.03, Z:-1.76 [[ 9.89386980e-01 1.44926677e-01 1.04719815e-02 1.54777836e+02] [-1.44917331e-01 9.89442391e-01 -1.64985226e-03 -1.60340355e+01] [-1.06005300e-02 1.14770737e-04 9.99943806e-01 -1.75596067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:-16.05, Z:-1.76 [[ 9.90467327e-01 1.37349226e-01 1.04720506e-02 1.54835468e+02] [-1.37339461e-01 9.90522666e-01 -1.64941364e-03 -1.60485103e+01] [-1.05993492e-02 1.95464529e-04 9.99943806e-01 -1.75571502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.89, Y:-16.07, Z:-1.76 [[ 9.90555910e-01 1.36708903e-01 1.04721320e-02 1.54892076e+02] [-1.36699107e-01 9.90611243e-01 -1.64889703e-03 -1.60664330e+01] [-1.05992306e-02 2.01793604e-04 9.99943806e-01 -1.76289242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:-16.08, Z:-1.76 [[ 9.90167863e-01 1.39491708e-01 1.04721920e-02 1.54949226e+02] [-1.39482072e-01 9.90223224e-01 -1.64851556e-03 -1.60830195e+01] [-1.05997620e-02 1.71624081e-04 9.99943806e-01 -1.75739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.01, Y:-16.10, Z:-1.76 [[ 9.89543400e-01 1.43854757e-01 1.04722508e-02 1.55007695e+02] [-1.43845369e-01 9.89598804e-01 -1.64814184e-03 -1.60975687e+01] [-1.06004199e-02 1.24523096e-04 9.99943806e-01 -1.76473069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:-16.11, Z:-1.76 [[ 9.88793126e-01 1.48924430e-01 1.04722897e-02 1.55065120e+02] [-1.48915329e-01 9.88848577e-01 -1.64789465e-03 -1.61102294e+01] [-1.06009206e-02 6.99424286e-05 9.99943806e-01 -1.76045106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:-16.12, Z:-1.76 [[ 9.88566892e-01 1.50418846e-01 1.04723475e-02 1.55122508e+02] [-1.50409833e-01 9.88622359e-01 -1.64752727e-03 -1.61218024e+01] [-1.06010160e-02 5.35468741e-05 9.99943806e-01 -1.75988269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.18, Y:-16.14, Z:-1.76 [[ 9.89277345e-01 1.45673136e-01 1.04724261e-02 1.55180715e+02] [-1.45663862e-01 9.89332768e-01 -1.64702731e-03 -1.61358595e+01] [-1.06006420e-02 1.03912771e-04 9.99943806e-01 -1.75773675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:-16.15, Z:-1.76 [[ 9.89414216e-01 1.44740581e-01 1.04724665e-02 1.55238653e+02] [-1.44731257e-01 9.89469631e-01 -1.64677096e-03 -1.61489920e+01] [-1.06005421e-02 1.13645360e-04 9.99943806e-01 -1.76197150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.30, Y:-16.16, Z:-1.76 [[ 9.88656321e-01 1.49829923e-01 1.04724442e-02 1.55296823e+02] [-1.49820884e-01 9.88711783e-01 -1.64691230e-03 -1.61588497e+01] [-1.06009857e-02 5.92394150e-05 9.99943806e-01 -1.76218606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.35, Y:-16.17, Z:-1.77 [[ 9.88172642e-01 1.52987435e-01 1.04725220e-02 1.55354463e+02] [-1.52978577e-01 9.88228134e-01 -1.64641775e-03 -1.61671384e+01] [-1.06011221e-02 2.48734699e-05 9.99943806e-01 -1.76785416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.41, Y:-16.18, Z:-1.77 [[ 9.88687081e-01 1.49626804e-01 1.04725800e-02 1.55413239e+02] [-1.49617762e-01 9.88742543e-01 -1.64604862e-03 -1.61836097e+01] [-1.06009784e-02 6.05430220e-05 9.99943806e-01 -1.76862674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:-16.21, Z:-1.77 [[ 9.89560443e-01 1.43737452e-01 1.04725800e-02 1.55472097e+02] [-1.43728080e-01 9.89615850e-01 -1.64604862e-03 -1.62053254e+01] [-1.06004300e-02 1.23660790e-04 9.99943806e-01 -1.76603556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.53, Y:-16.23, Z:-1.76 [[ 9.89555040e-01 1.43774661e-01 1.04723212e-02 1.55531250e+02] [-1.43765273e-01 9.89610444e-01 -1.64769326e-03 -1.62278418e+01] [-1.06004150e-02 1.24927041e-04 9.99943806e-01 -1.76494618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:-16.25, Z:-1.77 [[ 9.88028080e-01 1.53918321e-01 1.04720464e-02 1.55590138e+02] [-1.53909483e-01 9.88083575e-01 -1.64943823e-03 -1.62529690e+01] [-1.06011358e-02 1.79440364e-05 9.99943806e-01 -1.77070619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.65, Y:-16.27, Z:-1.77 [[ 9.87026193e-01 1.60217466e-01 1.04717699e-02 1.55649545e+02] [-1.60208964e-01 9.87081740e-01 -1.65119139e-03 -1.62661315e+01] [-1.06010426e-02 -4.79022636e-05 9.99943806e-01 -1.77139516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:-16.28, Z:-1.76 [[ 9.85647574e-01 1.68490974e-01 1.04715139e-02 1.55708286e+02] [-1.68482921e-01 9.85703187e-01 -1.65281344e-03 -1.62803001e+01] [-1.06002888e-02 -1.35179693e-04 9.99943806e-01 -1.76111066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.77, Y:-16.29, Z:-1.76 [[ 9.84716088e-01 1.73852163e-01 1.04714946e-02 1.55768081e+02] [-1.73844412e-01 9.84771744e-01 -1.65293614e-03 -1.62894957e+01] [-1.05993985e-02 -1.92738003e-04 9.99943806e-01 -1.76248857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:-16.29, Z:-1.77 [[ 9.83811852e-01 1.78898262e-01 1.04714757e-02 1.55828616e+02] [-1.78890795e-01 9.83867547e-01 -1.65305551e-03 -1.62913723e+01] [-1.05982739e-02 -2.46955005e-04 9.99943806e-01 -1.77120019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.89, Y:-16.29, Z:-1.77 [[ 9.83469263e-01 1.80772114e-01 1.04714757e-02 1.55889005e+02] [-1.80764754e-01 9.83524972e-01 -1.65305551e-03 -1.62910495e+01] [-1.05977842e-02 -2.67144440e-04 9.99943806e-01 -1.76861313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.95, Y:-16.30, Z:-1.77 [[ 9.83539629e-01 1.80388873e-01 1.04715126e-02 1.55948518e+02] [-1.80381493e-01 9.83595336e-01 -1.65282168e-03 -1.62970564e+01] [-1.05978816e-02 -2.63251457e-04 9.99943806e-01 -1.76829155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.01, Y:-16.30, Z:-1.77 [[ 9.84155566e-01 1.76997652e-01 1.04715506e-02 1.56009396e+02] [-1.76990083e-01 9.84211247e-01 -1.65258095e-03 -1.62968419e+01] [-1.05987208e-02 -2.26963869e-04 9.99943806e-01 -1.76991727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:-16.30, Z:-1.77 [[ 9.85033869e-01 1.72042504e-01 1.04715886e-02 1.56068781e+02] [-1.72034657e-01 9.85089512e-01 -1.65234009e-03 -1.62961145e+01] [-1.05997248e-02 -1.73865203e-04 9.99943806e-01 -1.77195560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.13, Y:-16.29, Z:-1.77 [[ 9.85924171e-01 1.66864837e-01 1.04716451e-02 1.56128279e+02] [-1.66856702e-01 9.85979773e-01 -1.65198221e-03 -1.62930459e+01] [-1.06004880e-02 -1.18534969e-04 9.99943806e-01 -1.77034314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:-16.30, Z:-1.77 [[ 9.86793759e-01 1.61642876e-01 1.04717456e-02 1.56186718e+02] [-1.61634453e-01 9.86849318e-01 -1.65134464e-03 -1.62980613e+01] [-1.06009631e-02 -6.30582925e-05 9.99943806e-01 -1.77401682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.25, Y:-16.30, Z:-1.77 [[ 9.88243844e-01 1.52526868e-01 1.04718224e-02 1.56245127e+02] [-1.52517938e-01 9.88299324e-01 -1.65085759e-03 -1.63048962e+01] [-1.06010951e-02 3.43090858e-05 9.99943806e-01 -1.77210749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:156.30, Y:-16.32, Z:-1.77 [[ 9.89308023e-01 1.45464690e-01 1.04718796e-02 1.56304431e+02] [-1.45455368e-01 9.89363438e-01 -1.65049454e-03 -1.63164165e+01] [-1.06005835e-02 1.09656394e-04 9.99943806e-01 -1.77021412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:-16.33, Z:-1.77 [[ 9.89983187e-01 1.40796413e-01 1.04718796e-02 1.56362357e+02] [-1.40786829e-01 9.90038557e-01 -1.65049454e-03 -1.63325672e+01] [-1.05999483e-02 1.59659118e-04 9.99943806e-01 -1.77001811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.42, Y:-16.35, Z:-1.77 [[ 9.90461147e-01 1.37393802e-01 1.04718608e-02 1.56421817e+02] [-1.37384027e-01 9.90516484e-01 -1.65061407e-03 -1.63495515e+01] [-1.05993349e-02 1.96202707e-04 9.99943806e-01 -1.77378511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.48, Y:-16.37, Z:-1.77 [[ 9.90748446e-01 1.35306536e-01 1.04718209e-02 1.56480341e+02] [-1.35296641e-01 9.90803761e-01 -1.65086720e-03 -1.63687209e+01] [-1.05988926e-02 2.18791918e-04 9.99943806e-01 -1.77254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.54, Y:-16.38, Z:-1.77 [[ 9.90600939e-01 1.36382281e-01 1.04715646e-02 1.56541819e+02] [-1.36372430e-01 9.90656262e-01 -1.65249097e-03 -1.63845399e+01] [-1.05990916e-02 2.08926394e-04 9.99943806e-01 -1.77165025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.60, Y:-16.40, Z:-1.78 [[ 9.90111510e-01 1.39891207e-01 1.04712407e-02 1.56601439e+02] [-1.39881530e-01 9.90166865e-01 -1.65454091e-03 -1.64018167e+01] [-1.05997313e-02 1.73446826e-04 9.99943806e-01 -1.77728393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.66, Y:-16.42, Z:-1.78 [[ 9.89565703e-01 1.43701341e-01 1.04710816e-02 1.56661450e+02] [-1.43691866e-01 9.89621093e-01 -1.65554713e-03 -1.64161740e+01] [-1.06003076e-02 1.33663402e-04 9.99943806e-01 -1.78115227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:-16.43, Z:-1.78 [[ 9.88767928e-01 1.49091736e-01 1.04708275e-02 1.56722523e+02] [-1.49082546e-01 9.88823366e-01 -1.65715277e-03 -1.64284838e+01] [-1.06008667e-02 7.75218895e-05 9.99943806e-01 -1.77607340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.78, Y:-16.44, Z:-1.77 [[ 9.87628508e-01 1.56461807e-01 1.04705561e-02 1.56783574e+02] [-1.56453013e-01 9.87684010e-01 -1.65886608e-03 -1.64374542e+01] [-1.06011500e-02 1.93383532e-07 9.99943806e-01 -1.77387098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-16.45, Z:-1.77 [[ 9.86744298e-01 1.61944622e-01 1.04704009e-02 1.56843827e+02] [-1.61936126e-01 9.86799846e-01 -1.65984492e-03 -1.64453520e+01] [-1.06009930e-02 -5.76936445e-05 9.99943806e-01 -1.76968966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:-16.45, Z:-1.77 [[ 9.85599749e-01 1.68770569e-01 1.04703811e-02 1.56904276e+02] [-1.68762456e-01 9.85655355e-01 -1.65996972e-03 -1.64493012e+01] [-1.06003412e-02 -1.30941493e-04 9.99943806e-01 -1.77231465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-16.45, Z:-1.78 [[ 9.84771057e-01 1.73540590e-01 1.04703811e-02 1.56964129e+02] [-1.73532746e-01 9.84826701e-01 -1.65996972e-03 -1.64538038e+01] [-1.05995830e-02 -1.82263851e-04 9.99943806e-01 -1.77766788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:-16.46, Z:-1.78 [[ 9.84001918e-01 1.77849927e-01 1.04704197e-02 1.57023461e+02] [-1.77842330e-01 9.84057595e-01 -1.65972609e-03 -1.64565441e+01] [-1.05986782e-02 -2.28910189e-04 9.99943806e-01 -1.77919756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.08, Y:-16.46, Z:-1.78 [[ 9.83320617e-01 1.81578999e-01 1.04704771e-02 1.57082266e+02] [-1.81571617e-01 9.83376324e-01 -1.65936385e-03 -1.64588475e+01] [-1.05977249e-02 -2.69454772e-04 9.99943806e-01 -1.77836871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.14, Y:-16.46, Z:-1.78 [[ 9.82989034e-01 1.83365553e-01 1.04705524e-02 1.57141042e+02] [-1.83358277e-01 9.83044755e-01 -1.65888855e-03 -1.64618834e+01] [-1.05972047e-02 -2.89193201e-04 9.99943806e-01 -1.78124854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:-16.47, Z:-1.78 [[ 9.83789522e-01 1.79021068e-01 1.04706302e-02 1.57199098e+02] [-1.79013552e-01 9.83845210e-01 -1.65839747e-03 -1.64658197e+01] [-1.05983675e-02 -2.42870653e-04 9.99943806e-01 -1.78142819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.26, Y:-16.47, Z:-1.78 [[ 9.84523252e-01 1.74940935e-01 1.04707267e-02 1.57257084e+02] [-1.74933194e-01 9.84578910e-01 -1.65778831e-03 -1.64704844e+01] [-1.05992717e-02 -1.99546517e-04 9.99943806e-01 -1.78385426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.32, Y:-16.47, Z:-1.79 [[ 9.85155364e-01 1.71345475e-01 1.04708216e-02 1.57316337e+02] [-1.71337537e-01 9.85210994e-01 -1.65718826e-03 -1.64736750e+01] [-1.05999203e-02 -1.61456882e-04 9.99943806e-01 -1.78608620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:-16.48, Z:-1.78 [[ 9.85372560e-01 1.70091968e-01 1.04709011e-02 1.57374119e+02] [-1.70083965e-01 9.85428181e-01 -1.65668580e-03 -1.64795090e+01] [-1.06001100e-02 -1.48479651e-04 9.99943806e-01 -1.78291759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.43, Y:-16.48, Z:-1.78 [[ 9.85610623e-01 1.68707018e-01 1.04709998e-02 1.57432417e+02] [-1.68698943e-01 9.85666234e-01 -1.65606187e-03 -1.64846348e+01] [-1.06003002e-02 -1.34214433e-04 9.99943806e-01 -1.77870554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:-16.49, Z:-1.78 [[ 9.85886481e-01 1.67087408e-01 1.04710974e-02 1.57489543e+02] [-1.67079248e-01 9.85942080e-01 -1.65544468e-03 -1.64926196e+01] [-1.06004995e-02 -1.17422548e-04 9.99943806e-01 -1.78247602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.55, Y:-16.50, Z:-1.78 [[ 9.86016474e-01 1.66318569e-01 1.04711940e-02 1.57547737e+02] [-1.66310372e-01 9.86072067e-01 -1.65483332e-03 -1.65014014e+01] [-1.06005814e-02 -1.09775253e-04 9.99943806e-01 -1.78178663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:-16.51, Z:-1.78 [[ 9.86317680e-01 1.64522903e-01 1.04712730e-02 1.57606069e+02] [-1.64514611e-01 9.86373259e-01 -1.65433325e-03 -1.65119036e+01] [-1.06007594e-02 -9.09792754e-05 9.99943806e-01 -1.78313009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:-16.53, Z:-1.78 [[ 9.86950802e-01 1.60681253e-01 1.04713515e-02 1.57663674e+02] [-1.60672750e-01 9.87006349e-01 -1.65383623e-03 -1.65252607e+01] [-1.06010309e-02 -5.02058436e-05 9.99943806e-01 -1.78389064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:-16.54, Z:-1.79 [[ 9.88187622e-01 1.52890723e-01 1.04714295e-02 1.57721287e+02] [-1.52881787e-01 9.88243101e-01 -1.65334218e-03 -1.65381951e+01] [-1.06010987e-02 3.29214235e-05 9.99943806e-01 -1.78555334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:-16.55, Z:-1.79 [[ 9.88888631e-01 1.48288987e-01 1.04714874e-02 1.57778226e+02] [-1.48279797e-01 9.88944068e-01 -1.65297571e-03 -1.65504376e+01] [-1.06008334e-02 8.18988724e-05 9.99943806e-01 -1.79151078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.84, Y:-16.56, Z:-1.79 [[ 9.89091390e-01 1.46930490e-01 1.04715425e-02 1.57837170e+02] [-1.46921227e-01 9.89146815e-01 -1.65262637e-03 -1.65621267e+01] [-1.06007141e-02 9.61066454e-05 9.99943806e-01 -1.79163591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.89, Y:-16.58, Z:-1.79 [[ 9.89756455e-01 1.42381550e-01 1.04715803e-02 1.57894707e+02] [-1.42372035e-01 9.89811837e-01 -1.65238669e-03 -1.65772590e+01] [-1.06001635e-02 1.44600193e-04 9.99943806e-01 -1.78760569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.95, Y:-16.59, Z:-1.78 [[ 9.90095225e-01 1.40006398e-01 1.04715642e-02 1.57954492e+02] [-1.39996749e-01 9.90150584e-01 -1.65248876e-03 -1.65943130e+01] [-1.05997844e-02 1.70136283e-04 9.99943806e-01 -1.78489358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.01, Y:-16.61, Z:-1.79 [[ 9.90022705e-01 1.40518295e-01 1.04715248e-02 1.58013452e+02] [-1.40508672e-01 9.90078068e-01 -1.65273828e-03 -1.66100223e+01] [-1.05998670e-02 1.64908381e-04 9.99943806e-01 -1.78771120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:-16.63, Z:-1.79 [[ 9.89657243e-01 1.43069541e-01 1.04712708e-02 1.58073447e+02] [-1.43060043e-01 9.89712629e-01 -1.65434589e-03 -1.66304441e+01] [-1.06002355e-02 1.39214933e-04 9.99943806e-01 -1.78717085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.185769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:-16.65, Z:-1.79 [[ 9.88643658e-01 1.49913558e-01 1.04709950e-02 1.58133062e+02] [-1.49904426e-01 9.88699105e-01 -1.65609016e-03 -1.66471744e+01] [-1.06009337e-02 6.76345450e-05 9.99943806e-01 -1.78574791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.19, Y:-16.66, Z:-1.79 [[ 9.87245226e-01 1.58862288e-01 1.04707403e-02 1.58192453e+02] [-1.58853641e-01 9.87300751e-01 -1.65769869e-03 -1.66633910e+01] [-1.06011156e-02 -2.67601094e-05 9.99943806e-01 -1.79266053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.25, Y:-16.68, Z:-1.80 [[ 9.86273485e-01 1.64787671e-01 1.04707011e-02 1.58251502e+02] [-1.64779355e-01 9.86329060e-01 -1.65794661e-03 -1.66790945e+01] [-1.06007659e-02 -9.01665842e-05 9.99943806e-01 -1.79877699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:-16.70, Z:-1.80 [[ 9.85718091e-01 1.68077989e-01 1.04706624e-02 1.58312951e+02] [-1.68069856e-01 9.85773693e-01 -1.65819048e-03 -1.66960138e+01] [-1.06004089e-02 -1.25294374e-04 9.99943806e-01 -1.79716406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:-16.71, Z:-1.80 [[ 9.84833703e-01 1.73184725e-01 1.04703348e-02 1.58373884e+02] [-1.73176858e-01 9.84889344e-01 -1.66025676e-03 -1.67090014e+01] [-1.05996523e-02 -1.78142864e-04 9.99943806e-01 -1.79879927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:-16.72, Z:-1.80 [[ 9.83391413e-01 1.81195219e-01 1.04700302e-02 1.58433068e+02] [-1.81187786e-01 9.83447113e-01 -1.66217565e-03 -1.67173721e+01] [-1.05978992e-02 -2.62472318e-04 9.99943806e-01 -1.79716382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.49, Y:-16.72, Z:-1.80 [[ 9.82552897e-01 1.85688403e-01 1.04700487e-02 1.58493678e+02] [-1.85681225e-01 9.82608630e-01 -1.66205858e-03 -1.67220940e+01] [-1.05965853e-02 -3.11030997e-04 9.99943806e-01 -1.80166030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.55, Y:-16.73, Z:-1.80 [[ 9.83150007e-01 1.82500526e-01 1.04700487e-02 1.58554845e+02] [-1.82493167e-01 9.83205717e-01 -1.66205858e-03 -1.67268517e+01] [-1.05975383e-02 -2.76659446e-04 9.99943806e-01 -1.79519516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:158.61, Y:-16.73, Z:-1.79 [[ 9.83485509e-01 1.80683791e-01 1.04700096e-02 1.58614469e+02] [-1.80676327e-01 9.83541205e-01 -1.66230521e-03 -1.67291947e+01] [-1.05980374e-02 -2.56829791e-04 9.99943806e-01 -1.79133244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.68, Y:-16.73, Z:-1.79 [[ 9.83785025e-01 1.79045810e-01 1.04700290e-02 1.58675357e+02] [-1.79038255e-01 9.83840709e-01 -1.66218292e-03 -1.67284465e+01] [-1.05984476e-02 -2.39305055e-04 9.99943806e-01 -1.79341488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:-16.73, Z:-1.79 [[ 9.84510739e-01 1.75011379e-01 1.04700290e-02 1.58734641e+02] [-1.75003595e-01 9.84566391e-01 -1.66218292e-03 -1.67283443e+01] [-1.05993396e-02 -1.95855780e-04 9.99943806e-01 -1.79257189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.80, Y:-16.73, Z:-1.80 [[ 9.85136250e-01 1.71455377e-01 1.04700679e-02 1.58795165e+02] [-1.71447395e-01 9.85191874e-01 -1.66193761e-03 -1.67292521e+01] [-1.05999740e-02 -1.57830888e-04 9.99943806e-01 -1.79632571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.905769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:-16.73, Z:-1.80 [[ 9.86625617e-01 1.62666124e-01 1.04701062e-02 1.58853860e+02] [-1.62657649e-01 9.86681168e-01 -1.66169655e-03 -1.67339443e+01] [-1.06009584e-02 -6.35704739e-05 9.99943806e-01 -1.79802147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:-16.74, Z:-1.80 [[ 9.87212888e-01 1.59063163e-01 1.04701631e-02 1.58913352e+02] [-1.59054489e-01 9.87268408e-01 -1.66133780e-03 -1.67404859e+01] [-1.06011189e-02 -2.52323562e-05 9.99943806e-01 -1.80293631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:-16.75, Z:-1.80 [[ 9.87170596e-01 1.59325419e-01 1.04702023e-02 1.58971021e+02] [-1.59316762e-01 9.87226119e-01 -1.66109066e-03 -1.67497713e+01] [-1.06011112e-02 -2.82988819e-05 9.99943806e-01 -1.80463879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-16.76, Z:-1.80 [[ 9.86556494e-01 1.63084817e-01 1.04702608e-02 1.59029336e+02] [-1.63076376e-01 9.86612050e-01 -1.66072224e-03 -1.67579457e+01] [-1.06009240e-02 -6.90558677e-05 9.99943806e-01 -1.80097634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:-16.76, Z:-1.80 [[ 9.85732939e-01 1.67990906e-01 1.04703369e-02 1.59088246e+02] [-1.67982746e-01 9.85788537e-01 -1.66024225e-03 -1.67625869e+01] [-1.06004437e-02 -1.22280474e-04 9.99943806e-01 -1.79572468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.15, Y:-16.77, Z:-1.80 [[ 9.85610542e-01 1.68707530e-01 1.04704133e-02 1.59147076e+02] [-1.68699416e-01 9.85666146e-01 -1.65975998e-03 -1.67689167e+01] [-1.06003460e-02 -1.30475681e-04 9.99943806e-01 -1.80034018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:-16.78, Z:-1.81 [[ 9.86962279e-01 1.60610801e-01 1.04704937e-02 1.59205103e+02] [-1.60602236e-01 9.87017816e-01 -1.65925257e-03 -1.67786195e+01] [-1.06010577e-02 -4.39650153e-05 9.99943806e-01 -1.80593659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.26, Y:-16.79, Z:-1.80 [[ 9.87809598e-01 1.55314406e-01 1.04705534e-02 1.59263775e+02] [-1.55305547e-01 9.87865090e-01 -1.65887594e-03 -1.67878780e+01] [-1.06011415e-02 1.25185439e-05 9.99943806e-01 -1.79762097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:159.32, Y:-16.80, Z:-1.80 [[ 9.88355013e-01 1.51804922e-01 1.04705909e-02 1.59323245e+02] [-1.51795869e-01 9.88410473e-01 -1.65863952e-03 -1.67950436e+01] [-1.06010313e-02 4.99322495e-05 9.99943806e-01 -1.79804370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:-16.81, Z:-1.80 [[ 9.89390849e-01 1.44900360e-01 1.04706281e-02 1.59381061e+02] [-1.44890923e-01 9.89446244e-01 -1.65840412e-03 -1.68076916e+01] [-1.06004270e-02 1.23710890e-04 9.99943806e-01 -1.79688233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.505769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:-16.82, Z:-1.80 [[ 9.90250661e-01 1.38902817e-01 1.04706833e-02 1.59439996e+02] [-1.38893047e-01 9.90305999e-01 -1.65805567e-03 -1.68235569e+01] [-1.05994891e-02 1.87585616e-04 9.99943806e-01 -1.80350926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:-16.84, Z:-1.81 [[ 9.90003654e-01 1.40652517e-01 1.04706833e-02 1.59498960e+02] [-1.40642845e-01 9.90059009e-01 -1.65805567e-03 -1.68382646e+01] [-1.05998041e-02 1.68854480e-04 9.99943806e-01 -1.80816531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:-16.85, Z:-1.81 [[ 9.89374029e-01 1.45015159e-01 1.04706833e-02 1.59557664e+02] [-1.45005731e-01 9.89429426e-01 -1.65805567e-03 -1.68536937e+01] [-1.06004454e-02 1.22128135e-04 9.99943806e-01 -1.80682938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:-16.87, Z:-1.81 [[ 9.88715803e-01 1.49437030e-01 1.04706833e-02 1.59616462e+02] [-1.49427850e-01 9.88771242e-01 -1.65805567e-03 -1.68721524e+01] [-1.06008855e-02 7.47341511e-05 9.99943806e-01 -1.80945212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-16.89, Z:-1.81 [[ 9.88124584e-01 1.53297655e-01 1.04706833e-02 1.59674430e+02] [-1.53288691e-01 9.88180058e-01 -1.65805567e-03 -1.68902654e+01] [-1.06010965e-02 3.33282320e-05 9.99943806e-01 -1.80884415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:-16.90, Z:-1.81 [[ 9.87781537e-01 1.55492765e-01 1.04706648e-02 1.59733374e+02] [-1.55483924e-01 9.87837031e-01 -1.65817247e-03 -1.69017657e+01] [-1.06011443e-02 9.89209805e-06 9.99943806e-01 -1.80894799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.79, Y:-16.92, Z:-1.81 [[ 9.85866373e-01 1.67206040e-01 1.04706648e-02 1.59790893e+02] [-1.67197858e-01 9.85921968e-01 -1.65817247e-03 -1.69176423e+01] [-1.06005149e-02 -1.15936252e-04 9.99943806e-01 -1.80870915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:-16.93, Z:-1.81 [[ 9.85036491e-01 1.72027544e-01 1.04706831e-02 1.59849272e+02] [-1.72019635e-01 9.85092126e-01 -1.65805720e-03 -1.69302695e+01] [-1.05998190e-02 -1.67916231e-04 9.99943806e-01 -1.80706956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:-16.94, Z:-1.80 [[ 9.84099484e-01 1.77309252e-01 1.04707010e-02 1.59907108e+02] [-1.77301643e-01 9.84155160e-01 -1.65794415e-03 -1.69390655e+01] [-1.05987632e-02 -2.24890497e-04 9.99943806e-01 -1.80314896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:-16.95, Z:-1.80 [[ 9.83836491e-01 1.78762757e-01 1.04707540e-02 1.59967944e+02] [-1.78755234e-01 9.83892178e-01 -1.65760934e-03 -1.69476492e+01] [-1.05984118e-02 -2.40885514e-04 9.99943806e-01 -1.80477582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.03, Y:-16.95, Z:-1.81 [[ 9.83794348e-01 1.78994540e-01 1.04707144e-02 1.60028520e+02] [-1.78987028e-01 9.83850037e-01 -1.65785922e-03 -1.69477781e+01] [-1.05983605e-02 -2.43129523e-04 9.99943806e-01 -1.80582290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:-16.95, Z:-1.81 [[ 9.84230326e-01 1.76581510e-01 1.04707340e-02 1.60088649e+02] [-1.76573863e-01 9.84285997e-01 -1.65773542e-03 -1.69510491e+01] [-1.05989223e-02 -2.17264481e-04 9.99943806e-01 -1.80812780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:-16.95, Z:-1.81 [[ 9.85207328e-01 1.71046438e-01 1.04707531e-02 1.60147655e+02] [-1.71038478e-01 9.85262955e-01 -1.65761484e-03 -1.69531658e+01] [-1.05999743e-02 -1.57807389e-04 9.99943806e-01 -1.81366485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:-16.96, Z:-1.81 [[ 9.86040979e-01 1.66173253e-01 1.04708220e-02 1.60208107e+02] [-1.66165024e-01 9.86096567e-01 -1.65717975e-03 -1.69568699e+01] [-1.06006205e-02 -1.05837240e-04 9.99943806e-01 -1.81080786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.27, Y:-16.97, Z:-1.81 [[ 9.86685581e-01 1.62301961e-01 1.04708220e-02 1.60268043e+02] [-1.62293514e-01 9.86741136e-01 -1.65717975e-03 -1.69654719e+01] [-1.06009543e-02 -6.42311277e-05 9.99943806e-01 -1.81306925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:-16.97, Z:-1.81 [[ 9.87154660e-01 1.59424083e-01 1.04708220e-02 1.60327158e+02] [-1.59415474e-01 9.87210191e-01 -1.65717975e-03 -1.69728978e+01] [-1.06010965e-02 -3.33183335e-05 9.99943806e-01 -1.81138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:-16.98, Z:-1.82 [[ 9.87130938e-01 1.59570901e-01 1.04708414e-02 1.60384732e+02] [-1.59562301e-01 9.87186470e-01 -1.65705720e-03 -1.69816190e+01] [-1.06010910e-02 -3.50191166e-05 9.99943806e-01 -1.81659079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:-16.99, Z:-1.81 [[ 9.86932445e-01 1.60793994e-01 1.04708973e-02 1.60444410e+02] [-1.60785467e-01 9.86987988e-01 -1.65670367e-03 -1.69890393e+01] [-1.06010379e-02 -4.85135050e-05 9.99943806e-01 -1.81273209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:-16.99, Z:-1.81 [[ 9.86365867e-01 1.64233787e-01 1.04709355e-02 1.60503495e+02] [-1.64225456e-01 9.86421439e-01 -1.65646189e-03 -1.69945578e+01] [-1.06008023e-02 -8.57166950e-05 9.99943806e-01 -1.81402478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:-17.00, Z:-1.82 [[ 9.86249321e-01 1.64932216e-01 1.04709733e-02 1.60561197e+02] [-1.64923926e-01 9.86304900e-01 -1.65622291e-03 -1.69978972e+01] [-1.06007368e-02 -9.34653083e-05 9.99943806e-01 -1.82002407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:-17.00, Z:-1.82 [[ 9.86668132e-01 1.62407985e-01 1.04710668e-02 1.60619695e+02] [-1.62399560e-01 9.86723691e-01 -1.65563165e-03 -1.70046924e+01] [-1.06009375e-02 -6.69376586e-05 9.99943806e-01 -1.81916946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:-17.01, Z:-1.82 [[ 9.87326319e-01 1.58357489e-01 1.04711424e-02 1.60678583e+02] [-1.58348841e-01 9.87381844e-01 -1.65515384e-03 -1.70135053e+01] [-1.06011218e-02 -2.39163064e-05 9.99943806e-01 -1.81802270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:160.74, Y:-17.02, Z:-1.82 [[ 9.87565512e-01 1.56858900e-01 1.04711800e-02 1.60737028e+02] [-1.56850170e-01 9.87621023e-01 -1.65491550e-03 -1.70219766e+01] [-1.06011458e-02 -8.06890312e-06 9.99943806e-01 -1.82036985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.80, Y:-17.03, Z:-1.81 [[ 9.86790585e-01 1.61662286e-01 1.04712164e-02 1.60795283e+02] [-1.61653829e-01 9.86846139e-01 -1.65468510e-03 -1.70267954e+01] [-1.06009797e-02 -5.98845487e-05 9.99943806e-01 -1.81319441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:-17.03, Z:-1.81 [[ 9.86512625e-01 1.63349907e-01 1.04713084e-02 1.60854218e+02] [-1.63341551e-01 9.86568194e-01 -1.65410283e-03 -1.70299035e+01] [-1.06008574e-02 -7.86064308e-05 9.99943806e-01 -1.81473968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.91, Y:-17.04, Z:-1.82 [[ 9.86809213e-01 1.61548530e-01 1.04713794e-02 1.60913004e+02] [-1.61540077e-01 9.86864767e-01 -1.65365333e-03 -1.70352195e+01] [-1.06009807e-02 -5.97070948e-05 9.99943806e-01 -1.81867336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:-17.04, Z:-1.82 [[ 9.87319305e-01 1.58401193e-01 1.04714497e-02 1.60972171e+02] [-1.58392568e-01 9.87374833e-01 -1.65320771e-03 -1.70372582e+01] [-1.06011160e-02 -2.63559309e-05 9.99943806e-01 -1.82087792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:-17.04, Z:-1.82 [[ 9.87372781e-01 1.58067515e-01 1.04715286e-02 1.61030564e+02] [-1.58058877e-01 9.87428306e-01 -1.65270843e-03 -1.70408441e+01] [-1.06011232e-02 -2.32787260e-05 9.99943806e-01 -1.82213144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.185769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:161.09, Y:-17.05, Z:-1.82 [[ 9.88096954e-01 1.53475582e-01 1.04716260e-02 1.61089633e+02] [-1.53466692e-01 9.88152440e-01 -1.65209099e-03 -1.70465936e+01] [-1.06011184e-02 2.53802731e-05 9.99943806e-01 -1.81857251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.15, Y:-17.05, Z:-1.82 [[ 9.89136917e-01 1.46623681e-01 1.04717039e-02 1.61146751e+02] [-1.46614411e-01 9.89192341e-01 -1.65159692e-03 -1.70547137e+01] [-1.06006925e-02 9.83527836e-05 9.99943806e-01 -1.82093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:161.21, Y:-17.06, Z:-1.82 [[ 9.89493508e-01 1.44197567e-01 1.04717999e-02 1.61205793e+02] [-1.44188168e-01 9.89548911e-01 -1.65098791e-03 -1.70603191e+01] [-1.06004266e-02 1.23732175e-04 9.99943806e-01 -1.82116909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:-17.06, Z:-1.82 [[ 9.89326430e-01 1.45339450e-01 1.04718689e-02 1.61264845e+02] [-1.45330120e-01 9.89381843e-01 -1.65055037e-03 -1.70649355e+01] [-1.06005670e-02 1.11055147e-04 9.99943806e-01 -1.81698740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.32, Y:-17.07, Z:-1.82 [[ 9.89668172e-01 1.42993870e-01 1.04719432e-02 1.61323525e+02] [-1.42984413e-01 9.89723565e-01 -1.65007856e-03 -1.70686404e+01] [-1.06002801e-02 1.35705578e-04 9.99943806e-01 -1.82243828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.38, Y:-17.08, Z:-1.83 [[ 9.90104451e-01 1.39941104e-01 1.04720244e-02 1.61380949e+02] [-1.39931482e-01 9.90159815e-01 -1.64956296e-03 -1.70751348e+01] [-1.05998194e-02 1.67873735e-04 9.99943806e-01 -1.82648533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:-17.08, Z:-1.82 [[ 9.90204834e-01 1.39229025e-01 1.04721248e-02 1.61439598e+02] [-1.39219370e-01 9.90260192e-01 -1.64892562e-03 -1.70801803e+01] [-1.05997066e-02 1.74851507e-04 9.99943806e-01 -1.82045859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:-17.09, Z:-1.82 [[ 9.90125113e-01 1.39794827e-01 1.04721982e-02 1.61498151e+02] [-1.39785208e-01 9.90180478e-01 -1.64845911e-03 -1.70868798e+01] [-1.05998123e-02 1.68322357e-04 9.99943806e-01 -1.82306881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:-17.09, Z:-1.83 [[ 9.90103902e-01 1.39944973e-01 1.04722713e-02 1.61556795e+02] [-1.39935368e-01 9.90159269e-01 -1.64799500e-03 -1.70945358e+01] [-1.05998451e-02 1.66245155e-04 9.99943806e-01 -1.83094496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.725769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:-17.10, Z:-1.83 [[ 9.89986431e-01 1.40773568e-01 1.04723438e-02 1.61615217e+02] [-1.40764014e-01 9.90041806e-01 -1.64753401e-03 -1.70996587e+01] [-1.05999874e-02 1.56907169e-04 9.99943806e-01 -1.82925445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.785769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-17.10, Z:-1.83 [[ 9.89943456e-01 1.41075448e-01 1.04724224e-02 1.61674238e+02] [-1.41065917e-01 9.89998836e-01 -1.64703405e-03 -1.70992989e+01] [-1.06000421e-02 1.53168714e-04 9.99943806e-01 -1.82924332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-17.10, Z:-1.83 [[ 9.90502295e-01 1.37096793e-01 1.04725193e-02 1.61731947e+02] [-1.37087045e-01 9.90557637e-01 -1.64641805e-03 -1.70996911e+01] [-1.05993526e-02 1.95134143e-04 9.99943806e-01 -1.83161512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:-17.10, Z:-1.83 [[ 9.91291114e-01 1.31271669e-01 1.04726425e-02 1.61791353e+02] [-1.31261605e-01 9.91346399e-01 -1.64563346e-03 -1.70980371e+01] [-1.05980415e-02 2.56645964e-04 9.99943806e-01 -1.82779591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:-17.10, Z:-1.83 [[ 9.91861885e-01 1.26887049e-01 1.04727183e-02 1.61850071e+02] [-1.26876745e-01 9.91917126e-01 -1.64515092e-03 -1.70998111e+01] [-1.05968170e-02 3.03018080e-04 9.99943806e-01 -1.82824159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:-17.10, Z:-1.83 [[ 9.92173092e-01 1.24430207e-01 1.04728231e-02 1.61908989e+02] [-1.24419774e-01 9.92228308e-01 -1.64448360e-03 -1.71019831e+01] [-1.05960550e-02 3.28586092e-04 9.99943806e-01 -1.82743574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-17.11, Z:-1.83 [[ 9.92689126e-01 1.20243989e-01 1.04728966e-02 1.61967554e+02] [-1.20233327e-01 9.92744300e-01 -1.64401534e-03 -1.71105098e+01] [-1.05945914e-02 3.72804947e-04 9.99943806e-01 -1.82860193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:-17.13, Z:-1.84 [[ 9.93964332e-01 1.09202671e-01 1.04729727e-02 1.62024320e+02] [-1.09191402e-01 9.94019384e-01 -1.64353053e-03 -1.71263872e+01] [-1.05898158e-02 4.90052148e-04 9.99943806e-01 -1.83542333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.08, Y:-17.14, Z:-1.84 [[ 9.94163669e-01 1.07372779e-01 1.04730481e-02 1.62081503e+02] [-1.07361414e-01 9.94218702e-01 -1.64305012e-03 -1.71402976e+01] [-1.05889191e-02 5.09059479e-04 9.99943806e-01 -1.83509297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:-17.16, Z:-1.83 [[ 9.93691988e-01 1.11653688e-01 1.04731254e-02 1.62136966e+02] [-1.11642565e-01 9.93747070e-01 -1.64255731e-03 -1.71578644e+01] [-1.05910352e-02 4.62949459e-04 9.99943806e-01 -1.83297544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.19, Y:-17.17, Z:-1.84 [[ 9.92959175e-01 1.17993173e-01 1.04732350e-02 1.62194305e+02] [-1.17982409e-01 9.93014328e-01 -1.64185790e-03 -1.71743716e+01] [-1.05938005e-02 3.94640367e-04 9.99943806e-01 -1.83761443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.25, Y:-17.19, Z:-1.84 [[ 9.92592075e-01 1.21042478e-01 1.04733122e-02 1.62249840e+02] [-1.21031889e-01 9.92647263e-01 -1.64136540e-03 -1.71935115e+01] [-1.05949796e-02 3.61601528e-04 9.99943806e-01 -1.83923808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:-17.21, Z:-1.83 [[ 9.92596821e-01 1.21003551e-01 1.04734080e-02 1.62305653e+02] [-1.20992967e-01 9.92652009e-01 -1.64075358e-03 -1.72133730e+01] [-1.05949865e-02 3.61398076e-04 9.99943806e-01 -1.83294485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:-17.23, Z:-1.84 [[ 9.92190882e-01 1.24288210e-01 1.04735021e-02 1.62362472e+02] [-1.24277814e-01 9.92246106e-01 -1.64015281e-03 -1.72334480e+01] [-1.05961434e-02 3.25720712e-04 9.99943806e-01 -1.83596766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:-17.25, Z:-1.84 [[ 9.91078041e-01 1.32870691e-01 1.04735752e-02 1.62418973e+02] [-1.32860778e-01 9.91133354e-01 -1.63968600e-03 -1.72502365e+01] [-1.05985759e-02 2.33529429e-04 9.99943806e-01 -1.84129957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:-17.26, Z:-1.84 [[ 9.89728301e-01 1.42576974e-01 1.04736497e-02 1.62477440e+02] [-1.42567609e-01 9.89783709e-01 -1.63921014e-03 -1.72602927e+01] [-1.06003615e-02 1.29169474e-04 9.99943806e-01 -1.84118886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:-17.27, Z:-1.84 [[ 9.89314570e-01 1.45420020e-01 1.04737259e-02 1.62534629e+02] [-1.45410819e-01 9.89370006e-01 -1.63872287e-03 -1.72704191e+01] [-1.06006934e-02 9.82193423e-05 9.99943806e-01 -1.84215352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:-17.28, Z:-1.84 [[ 9.89652039e-01 1.43105350e-01 1.04738206e-02 1.62592643e+02] [-1.43096027e-01 9.89707454e-01 -1.63811767e-03 -1.72808346e+01] [-1.06004417e-02 1.22404386e-04 9.99943806e-01 -1.83770123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:-17.29, Z:-1.83 [[ 9.90109125e-01 1.39907892e-01 1.04738972e-02 1.62650756e+02] [-1.39898394e-01 9.90164510e-01 -1.63762792e-03 -1.72940715e+01] [-1.05999983e-02 1.56148952e-04 9.99943806e-01 -1.83382154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:-17.31, Z:-1.83 [[ 9.90250722e-01 1.38902138e-01 1.04739351e-02 1.62708567e+02] [-1.38892587e-01 9.90306098e-01 -1.63738486e-03 -1.73055698e+01] [-1.05998381e-02 1.66669592e-04 9.99943806e-01 -1.83221449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:-17.32, Z:-1.84 [[ 9.90194438e-01 1.39302802e-01 1.04739915e-02 1.62765414e+02] [-1.39293277e-01 9.90249819e-01 -1.63702410e-03 -1.73221707e+01] [-1.05999103e-02 1.62015555e-04 9.99943806e-01 -1.83854509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:-17.34, Z:-1.84 [[ 9.89943532e-01 1.41074794e-01 1.04740471e-02 1.62823322e+02] [-1.41065372e-01 9.89998930e-01 -1.63666861e-03 -1.73410121e+01] [-1.06001881e-02 1.42684156e-04 9.99943806e-01 -1.84407135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:-17.36, Z:-1.84 [[ 9.89690236e-01 1.42840927e-01 1.04741057e-02 1.62880365e+02] [-1.42831607e-01 9.89745651e-01 -1.63629328e-03 -1.73600877e+01] [-1.06004302e-02 1.23390127e-04 9.99943806e-01 -1.83974604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:-17.38, Z:-1.84 [[ 9.89436030e-01 1.44591271e-01 1.04741423e-02 1.62937893e+02] [-1.44582052e-01 9.89491462e-01 -1.63605879e-03 -1.73810081e+01] [-1.06006342e-02 1.04402523e-04 9.99943806e-01 -1.84295807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:-17.40, Z:-1.85 [[ 9.88557311e-01 1.50481678e-01 1.04741423e-02 1.62995869e+02] [-1.50472789e-01 9.88612797e-01 -1.63605879e-03 -1.73963569e+01] [-1.06010680e-02 4.12644692e-05 9.99943806e-01 -1.84604939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-17.41, Z:-1.84 [[ 9.87739569e-01 1.55758902e-01 1.04741603e-02 1.63053937e+02] [-1.55750311e-01 9.87795102e-01 -1.63594384e-03 -1.74112387e+01] [-1.06011371e-02 -1.54672598e-05 9.99943806e-01 -1.84467673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-17.43, Z:-1.84 [[ 9.87184728e-01 1.59237572e-01 1.04741781e-02 1.63113230e+02] [-1.59229178e-01 9.87240291e-01 -1.63582988e-03 -1.74254703e+01] [-1.06010162e-02 -5.29285002e-05 9.99943806e-01 -1.84355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:-17.44, Z:-1.85 [[ 9.86437536e-01 1.63802564e-01 1.04741781e-02 1.63171489e+02] [-1.63794427e-01 9.86493137e-01 -1.63582988e-03 -1.74353214e+01] [-1.06006579e-02 -1.01968011e-04 9.99943806e-01 -1.84524390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.405769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:-17.44, Z:-1.84 [[ 9.84971460e-01 1.72399285e-01 1.04742130e-02 1.63230360e+02] [-1.72391636e-01 9.85027131e-01 -1.63560609e-03 -1.74420813e+01] [-1.05993613e-02 -1.94641409e-04 9.99943806e-01 -1.84455090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-17.45, Z:-1.84 [[ 9.83892916e-01 1.78451727e-01 1.04742824e-02 1.63288271e+02] [-1.78444425e-01 9.83948634e-01 -1.63516168e-03 -1.74464038e+01] [-1.05979533e-02 -2.60253307e-04 9.99943806e-01 -1.83732105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-17.45, Z:-1.84 [[ 9.83208756e-01 1.82183507e-01 1.04743760e-02 1.63347981e+02] [-1.82176423e-01 9.83264501e-01 -1.63456203e-03 -1.74468342e+01] [-1.05968723e-02 -3.01068658e-04 9.99943806e-01 -1.84087466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-17.45, Z:-1.84 [[ 9.82947590e-01 1.83587369e-01 1.04744438e-02 1.63406344e+02] [-1.83580370e-01 9.83003346e-01 -1.63412713e-03 -1.74512577e+01] [-1.05964184e-02 -3.16640953e-04 9.99943806e-01 -1.84368868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:-17.45, Z:-1.84 [[ 9.82098350e-01 1.88077420e-01 1.04745116e-02 1.63465229e+02] [-1.88070680e-01 9.82154138e-01 -1.63369302e-03 -1.74484193e+01] [-1.05948456e-02 -3.65501290e-04 9.99943806e-01 -1.84411394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:-17.45, Z:-1.85 [[ 9.82437857e-01 1.86295838e-01 1.04746133e-02 1.63524380e+02] [-1.86289004e-01 9.82493634e-01 -1.63304048e-03 -1.74490252e+01] [-1.05954695e-02 -3.46944484e-04 9.99943806e-01 -1.84786294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:-17.45, Z:-1.85 [[ 9.83742664e-01 1.79278141e-01 1.04746808e-02 1.63584185e+02] [-1.79270913e-01 9.83798391e-01 -1.63260705e-03 -1.74504712e+01] [-1.05976649e-02 -2.71740382e-04 9.99943806e-01 -1.85081859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.64, Y:-17.46, Z:-1.85 [[ 9.84766998e-01 1.73563362e-01 1.04747315e-02 1.63643186e+02] [-1.73555814e-01 9.84822682e-01 -1.63228175e-03 -1.74556923e+01] [-1.05990575e-02 -2.10533356e-04 9.99943806e-01 -1.85144699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:-17.46, Z:-1.85 [[ 9.84990417e-01 1.72290907e-01 1.04748092e-02 1.63701001e+02] [-1.72283292e-01 9.85046093e-01 -1.63178336e-03 -1.74591208e+01] [-1.05993113e-02 -1.97343642e-04 9.99943806e-01 -1.84936799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:-17.46, Z:-1.85 [[ 9.84251661e-01 1.76462303e-01 1.04749055e-02 1.63759889e+02] [-1.76454931e-01 9.84307369e-01 -1.63116500e-03 -1.74608152e+01] [-1.05983658e-02 -2.42871868e-04 9.99943806e-01 -1.85054513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:-17.47, Z:-1.85 [[ 9.83841020e-01 1.78737580e-01 1.04750076e-02 1.63818687e+02] [-1.78730344e-01 9.83896745e-01 -1.63050895e-03 -1.74651443e+01] [-1.05977591e-02 -2.68040116e-04 9.99943806e-01 -1.85353955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-17.46, Z:-1.85 [[ 9.83883616e-01 1.78502948e-01 1.04750757e-02 1.63878559e+02] [-1.78495704e-01 9.83939341e-01 -1.63007114e-03 -1.74626567e+01] [-1.05978116e-02 -2.65955719e-04 9.99943806e-01 -1.84975795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:-17.46, Z:-1.84 [[ 9.84156580e-01 1.76991801e-01 1.04751485e-02 1.63939197e+02] [-1.76984475e-01 9.84212294e-01 -1.62960334e-03 -1.74589301e+01] [-1.05981964e-02 -2.50153808e-04 9.99943806e-01 -1.84420181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.185769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:164.00, Y:-17.45, Z:-1.84 [[ 9.83711148e-01 1.79450962e-01 1.04752255e-02 1.63997536e+02] [-1.79443781e-01 9.83766881e-01 -1.62910794e-03 -1.74515838e+01] [-1.05975249e-02 -2.77142441e-04 9.99943806e-01 -1.84264422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-17.44, Z:-1.85 [[ 9.83440900e-01 1.80926128e-01 1.04753591e-02 1.64057742e+02] [-1.80919040e-01 9.83496644e-01 -1.62824891e-03 -1.74446672e+01] [-1.05970733e-02 -2.93905334e-04 9.99943806e-01 -1.84704687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:-17.44, Z:-1.84 [[ 9.83422774e-01 1.81024610e-01 1.04756326e-02 1.64117364e+02] [-1.81017546e-01 9.83478522e-01 -1.62648718e-03 -1.74367540e+01] [-1.05969939e-02 -2.96748774e-04 9.99943806e-01 -1.83988651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:-17.43, Z:-1.84 [[ 9.83475510e-01 1.80737867e-01 1.04759231e-02 1.64177429e+02] [-1.80730807e-01 9.83531258e-01 -1.62461402e-03 -1.74270356e+01] [-1.05970271e-02 -2.95553926e-04 9.99943806e-01 -1.84171378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-17.42, Z:-1.85 [[ 9.83784765e-01 1.79046879e-01 1.04762377e-02 1.64236009e+02] [-1.79039745e-01 9.83840504e-01 -1.62258302e-03 -1.74187174e+01] [-1.05974654e-02 -2.79390467e-04 9.99943806e-01 -1.85236372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-17.41, Z:-1.85 [[ 9.84690820e-01 1.73994926e-01 1.04763739e-02 1.64296151e+02] [-1.73987515e-01 9.84746523e-01 -1.62170313e-03 -1.74111621e+01] [-1.05987408e-02 -2.25882073e-04 9.99943806e-01 -1.85323485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:-17.41, Z:-1.85 [[ 9.85840895e-01 1.67355812e-01 1.04766852e-02 1.64354201e+02] [-1.67348047e-01 9.85896550e-01 -1.61968916e-03 -1.74100610e+01] [-1.05999922e-02 -1.56497006e-04 9.99943806e-01 -1.85344718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.41, Y:-17.41, Z:-1.85 [[ 9.86340837e-01 1.64383658e-01 1.04768955e-02 1.64413138e+02] [-1.64375740e-01 9.86396471e-01 -1.61832806e-03 -1.74109272e+01] [-1.06003994e-02 -1.25924388e-04 9.99943806e-01 -1.85045257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:-17.41, Z:-1.85 [[ 9.86890577e-01 1.61050354e-01 1.04771967e-02 1.64472263e+02] [-1.61042269e-01 9.86946186e-01 -1.61637572e-03 -1.74077738e+01] [-1.06007472e-02 -9.20855529e-05 9.99943806e-01 -1.85254561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.725769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:-17.41, Z:-1.85 [[ 9.87748863e-01 1.55699732e-01 1.04774957e-02 1.64531274e+02] [-1.55691366e-01 9.87804430e-01 -1.61443510e-03 -1.74069768e+01] [-1.06010838e-02 -3.65991798e-05 9.99943806e-01 -1.85189698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.59, Y:-17.41, Z:-1.85 [[ 9.88813862e-01 1.48786295e-01 1.04777907e-02 1.64590255e+02] [-1.48777561e-01 9.88869373e-01 -1.61251816e-03 -1.74073425e+01] [-1.06010869e-02 3.56201631e-05 9.99943806e-01 -1.85486652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-17.41, Z:-1.85 [[ 9.90015762e-01 1.40566711e-01 1.04780973e-02 1.64647162e+02] [-1.40557537e-01 9.90071202e-01 -1.61052305e-03 -1.74096488e+01] [-1.06004484e-02 1.21667643e-04 9.99943806e-01 -1.85174839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.905769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:-17.42, Z:-1.85 [[ 9.91177369e-01 1.32127327e-01 1.04782292e-02 1.64703283e+02] [-1.32117691e-01 9.91232730e-01 -1.60966455e-03 -1.74181901e+01] [-1.05990444e-02 2.11103626e-04 9.99943806e-01 -1.85164245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.76, Y:-17.43, Z:-1.86 [[ 9.91953773e-01 1.26166217e-01 1.04784307e-02 1.64760126e+02] [-1.26156261e-01 9.92009078e-01 -1.60835172e-03 -1.74302704e+01] [-1.05976181e-02 2.73490906e-04 9.99943806e-01 -1.85716286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:-17.44, Z:-1.86 [[ 9.92642812e-01 1.20625240e-01 1.04785421e-02 1.64816356e+02] [-1.20614984e-01 9.92698061e-01 -1.60762601e-03 -1.74437478e+01] [-1.05959487e-02 3.31929220e-04 9.99943806e-01 -1.85764562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:-17.46, Z:-1.86 [[ 9.92515427e-01 1.21668918e-01 1.04786533e-02 1.64873227e+02] [-1.21658727e-01 9.92570689e-01 -1.60690049e-03 -1.74563234e+01] [-1.05963140e-02 3.20053899e-04 9.99943806e-01 -1.85653855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.93, Y:-17.47, Z:-1.85 [[ 9.92505596e-01 1.21749077e-01 1.04787639e-02 1.64929096e+02] [-1.21738899e-01 9.92560860e-01 -1.60617903e-03 -1.74741828e+01] [-1.05963617e-02 3.18468492e-04 9.99943806e-01 -1.85377050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:-17.50, Z:-1.85 [[ 9.92808439e-01 1.19254334e-01 1.04788744e-02 1.64984344e+02] [-1.19244024e-01 9.92863679e-01 -1.60545775e-03 -1.74967973e+01] [-1.05955516e-02 3.44368845e-04 9.99943806e-01 -1.85382672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:-17.52, Z:-1.86 [[ 9.92626276e-01 1.20761196e-01 1.04789864e-02 1.65040344e+02] [-1.20750978e-01 9.92681533e-01 -1.60472645e-03 -1.75166669e+01] [-1.05960850e-02 3.27545783e-04 9.99943806e-01 -1.85858495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:-17.54, Z:-1.86 [[ 9.92101065e-01 1.25002658e-01 1.04790984e-02 1.65095533e+02] [-1.24992683e-01 9.92156367e-01 -1.60399510e-03 -1.75399274e+01] [-1.05974078e-02 2.81514623e-04 9.99943806e-01 -1.85963264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.15, Y:-17.56, Z:-1.86 [[ 9.91586590e-01 1.29020232e-01 1.04792094e-02 1.65150429e+02] [-1.29010489e-01 9.91641933e-01 -1.60326935e-03 -1.75563368e+01] [-1.05984776e-02 2.37852455e-04 9.99943806e-01 -1.85885130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.21, Y:-17.57, Z:-1.86 [[ 9.90907912e-01 1.34133117e-01 1.04793379e-02 1.65206223e+02] [-1.34123669e-01 9.90963306e-01 -1.60242880e-03 -1.75748572e+01] [-1.05995781e-02 1.82332125e-04 9.99943806e-01 -1.86099975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.26, Y:-17.59, Z:-1.86 [[ 9.90658725e-01 1.35961288e-01 1.04794527e-02 1.65262057e+02] [-1.35951950e-01 9.90714137e-01 -1.60167765e-03 -1.75887752e+01] [-1.05999081e-02 1.62013907e-04 9.99943806e-01 -1.86071174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.32, Y:-17.61, Z:-1.87 [[ 9.90426304e-01 1.37644151e-01 1.04796503e-02 1.65318284e+02] [-1.37634921e-01 9.90481735e-01 -1.60038407e-03 -1.76072089e+01] [-1.06001857e-02 1.42696642e-04 9.99943806e-01 -1.86683590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:-17.62, Z:-1.86 [[ 9.90249018e-01 1.38913852e-01 1.04797244e-02 1.65375649e+02] [-1.38904698e-01 9.90304461e-01 -1.59989854e-03 -1.76195711e+01] [-1.06003659e-02 1.28615011e-04 9.99943806e-01 -1.86335440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.43, Y:-17.63, Z:-1.86 [[ 9.90296516e-01 1.38574830e-01 1.04797982e-02 1.65432142e+02] [-1.38565663e-01 9.90351957e-01 -1.59941499e-03 -1.76316194e+01] [-1.06003273e-02 1.31754910e-04 9.99943806e-01 -1.86495619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.745769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:-17.64, Z:-1.87 [[ 9.90376436e-01 1.38002486e-01 1.04799097e-02 1.65490501e+02] [-1.37993294e-01 9.90431873e-01 -1.59868408e-03 -1.76406406e+01] [-1.06002590e-02 1.37141782e-04 9.99943806e-01 -1.86937452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:-17.65, Z:-1.86 [[ 9.90512134e-01 1.37025116e-01 1.04799835e-02 1.65549175e+02] [-1.37015874e-01 9.90567563e-01 -1.59819996e-03 -1.76491543e+01] [-1.06001253e-02 1.47112346e-04 9.99943806e-01 -1.86266920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.61, Y:-17.66, Z:-1.87 [[ 9.90741753e-01 1.35354897e-01 1.04800568e-02 1.65607493e+02] [-1.35345567e-01 9.90797166e-01 -1.59771964e-03 -1.76591544e+01] [-1.05998697e-02 1.64498335e-04 9.99943806e-01 -1.86982950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:-17.67, Z:-1.88 [[ 9.91204637e-01 1.31922453e-01 1.04801295e-02 1.65664334e+02] [-1.31912937e-01 9.91260019e-01 -1.59724254e-03 -1.76733988e+01] [-1.05992455e-02 2.00729559e-04 9.99943806e-01 -1.87650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:-17.68, Z:-1.86 [[ 9.90642908e-01 1.36076426e-01 1.04802015e-02 1.65722303e+02] [-1.36067147e-01 9.90698330e-01 -1.59676967e-03 -1.76812194e+01] [-1.06000009e-02 1.55817437e-04 9.99943806e-01 -1.86317913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:-17.68, Z:-1.87 [[ 9.89179847e-01 1.46333160e-01 1.04803282e-02 1.65779119e+02] [-1.46324464e-01 9.89235363e-01 -1.59593808e-03 -1.76838829e+01] [-1.06010499e-02 4.51413912e-05 9.99943806e-01 -1.86719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.84, Y:-17.69, Z:-1.87 [[ 9.88299420e-01 1.52165751e-01 1.04804528e-02 1.65838532e+02] [-1.52157391e-01 9.88354989e-01 -1.59511917e-03 -1.76854998e+01] [-1.06011303e-02 -1.82230042e-05 9.99943806e-01 -1.87081121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:-17.69, Z:-1.87 [[ 9.88107281e-01 1.53408472e-01 1.04805236e-02 1.65897164e+02] [-1.53400187e-01 9.88162861e-01 -1.59465403e-03 -1.76878355e+01] [-1.06010976e-02 -3.20250183e-05 9.99943806e-01 -1.87448251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.96, Y:-17.69, Z:-1.88 [[ 9.89340794e-01 1.45241011e-01 1.04805942e-02 1.65955654e+02] [-1.45232272e-01 9.89396304e-01 -1.59418955e-03 -1.76890330e+01] [-1.06010029e-02 5.50762464e-05 9.99943806e-01 -1.87551010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:-17.69, Z:-1.87 [[ 9.90362589e-01 1.38101763e-01 1.04806817e-02 1.66014264e+02] [-1.38092630e-01 9.90418036e-01 -1.59361409e-03 -1.76945060e+01] [-1.06003371e-02 1.30950871e-04 9.99943806e-01 -1.87319294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.345769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:-17.70, Z:-1.88 [[ 9.91403736e-01 1.30417733e-01 1.04807573e-02 1.66072115e+02] [-1.30408176e-01 9.91459111e-01 -1.59311660e-03 -1.77013796e+01] [-1.05990130e-02 2.12645300e-04 9.99943806e-01 -1.87817011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.405769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:-17.71, Z:-1.87 [[ 9.92210674e-01 1.24129491e-01 1.04808506e-02 1.66129263e+02] [-1.24119589e-01 9.92265988e-01 -1.59250308e-03 -1.77088681e+01] [-1.05974681e-02 2.79219688e-04 9.99943806e-01 -1.87495819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.19, Y:-17.72, Z:-1.88 [[ 9.93378647e-01 1.14407224e-01 1.04809406e-02 1.66185936e+02] [-1.14396787e-01 9.93433863e-01 -1.59191039e-03 -1.77213766e+01] [-1.05942473e-02 3.82383858e-04 9.99943806e-01 -1.87802617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:-17.74, Z:-1.87 [[ 9.94489294e-01 1.04312949e-01 1.04810466e-02 1.66241565e+02] [-1.04301959e-01 9.94544403e-01 -1.59121180e-03 -1.77396659e+01] [-1.05898503e-02 4.89249404e-04 9.99943806e-01 -1.87389402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:-17.76, Z:-1.87 [[ 9.94893571e-01 1.00383900e-01 1.04811338e-02 1.66297813e+02] [-1.00372699e-01 9.94948637e-01 -1.59063776e-03 -1.77594567e+01] [-1.05878642e-02 5.30495601e-04 9.99943806e-01 -1.87382155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.35, Y:-17.78, Z:-1.88 [[ 9.94655126e-01 1.02719641e-01 1.04812033e-02 1.66353732e+02] [-1.02708574e-01 9.94710219e-01 -1.59017908e-03 -1.77845402e+01] [-1.05891027e-02 5.05170326e-04 9.99943806e-01 -1.88020834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:166.41, Y:-17.81, Z:-1.88 [[ 9.94036509e-01 1.08542897e-01 1.04812796e-02 1.66408388e+02] [-1.08532159e-01 9.94091668e-01 -1.58967641e-03 -1.78090952e+01] [-1.05919008e-02 4.42640490e-04 9.99943806e-01 -1.87739322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.46, Y:-17.83, Z:-1.88 [[ 9.93508767e-01 1.13271670e-01 1.04813833e-02 1.66463753e+02] [-1.13261201e-01 9.93563977e-01 -1.58899203e-03 -1.78284083e+01] [-1.05939127e-02 3.91543452e-04 9.99943806e-01 -1.87863214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:166.52, Y:-17.85, Z:-1.89 [[ 9.92565657e-01 1.21258218e-01 1.04814847e-02 1.66520087e+02] [-1.21248200e-01 9.92620950e-01 -1.58832339e-03 -1.78491398e+01] [-1.05967385e-02 3.05654099e-04 9.99943806e-01 -1.88719425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.58, Y:-17.87, Z:-1.89 [[ 9.91682589e-01 1.28280086e-01 1.04815554e-02 1.66575729e+02] [-1.28270465e-01 9.91737953e-01 -1.58785646e-03 -1.78721277e+01] [-1.05986466e-02 2.30175627e-04 9.99943806e-01 -1.88682625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:-17.89, Z:-1.88 [[ 9.91051401e-01 1.33068612e-01 1.04816301e-02 1.66633046e+02] [-1.33059264e-01 9.91106812e-01 -1.58736343e-03 -1.78903288e+01] [-1.05996432e-02 1.78480773e-04 9.99943806e-01 -1.88290856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.005769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:166.69, Y:-17.91, Z:-1.88 [[ 9.90181134e-01 1.39396758e-01 1.04816676e-02 1.66689261e+02] [-1.39387766e-01 9.90236604e-01 -1.58711543e-03 -1.79057351e+01] [-1.06005697e-02 1.10515520e-04 9.99943806e-01 -1.87565055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.065769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:-17.91, Z:-1.88 [[ 9.89160172e-01 1.46465991e-01 1.04817705e-02 1.66746741e+02] [-1.46457403e-01 9.89215706e-01 -1.58643595e-03 -1.79139391e+01] [-1.06010909e-02 3.41063773e-05 9.99943806e-01 -1.88290645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.81, Y:-17.92, Z:-1.88 [[ 9.88764458e-01 1.49113972e-01 1.04818625e-02 1.66805201e+02] [-1.49105539e-01 9.88820016e-01 -1.58582760e-03 -1.79233735e+01] [-1.06011445e-02 5.10621059e-06 9.99943806e-01 -1.88213418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.185769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:-17.93, Z:-1.88 [[ 9.89355964e-01 1.45137543e-01 1.04819370e-02 1.66863033e+02] [-1.45128892e-01 9.89411487e-01 -1.58533469e-03 -1.79333239e+01] [-1.06010405e-02 4.72284195e-05 9.99943806e-01 -1.88370069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:-17.94, Z:-1.88 [[ 9.89677268e-01 1.42930169e-01 1.04820110e-02 1.66920808e+02] [-1.42921400e-01 9.89732773e-01 -1.58484560e-03 -1.79413797e+01] [-1.06009121e-02 7.03819767e-05 9.99943806e-01 -1.88478538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:-17.95, Z:-1.89 [[ 9.89458126e-01 1.44439409e-01 1.04820841e-02 1.66978642e+02] [-1.44430729e-01 9.89513645e-01 -1.58436180e-03 -1.79508262e+01] [-1.06010095e-02 5.37246122e-05 9.99943806e-01 -1.89242141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:-17.96, Z:-1.89 [[ 9.88530355e-01 1.50658094e-01 1.04821565e-02 1.67036794e+02] [-1.50649768e-01 9.88585929e-01 -1.58388294e-03 -1.79589687e+01] [-1.06011372e-02 -1.34180741e-05 9.99943806e-01 -1.88639134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:167.10, Y:-17.97, Z:-1.89 [[ 9.88108146e-01 1.53402788e-01 1.04822309e-02 1.67095182e+02] [-1.53394623e-01 9.88163743e-01 -1.58338999e-03 -1.79674135e+01] [-1.06010570e-02 -4.33573156e-05 9.99943806e-01 -1.88503673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:-17.97, Z:-1.88 [[ 9.87191783e-01 1.59193293e-01 1.04823050e-02 1.67153252e+02] [-1.59185459e-01 9.87247428e-01 -1.58289967e-03 -1.79714268e+01] [-1.06006156e-02 -1.06004977e-04 9.99943806e-01 -1.88443887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:-17.97, Z:-1.88 [[ 9.86428219e-01 1.63858132e-01 1.04823966e-02 1.67212366e+02] [-1.63850567e-01 9.86483902e-01 -1.58229257e-03 -1.79744670e+01] [-1.05999870e-02 -1.56728578e-04 9.99943806e-01 -1.88090454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:-17.98, Z:-1.89 [[ 9.86592447e-01 1.62866390e-01 1.04824693e-02 1.67272129e+02] [-1.62858774e-01 9.86648122e-01 -1.58181118e-03 -1.79755064e+01] [-1.06001325e-02 -1.46559131e-04 9.99943806e-01 -1.88618477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:-17.98, Z:-1.89 [[ 9.87483420e-01 1.57374115e-01 1.04825412e-02 1.67329036e+02] [-1.57366195e-01 9.87539052e-01 -1.58133406e-03 -1.79787823e+01] [-1.06007799e-02 -8.80564553e-05 9.99943806e-01 -1.88777986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:-17.99, Z:-1.89 [[ 9.89133943e-01 1.46642957e-01 1.04826661e-02 1.67387291e+02] [-1.46634442e-01 9.89189488e-01 -1.58050558e-03 -1.79862741e+01] [-1.06011132e-02 2.62118094e-05 9.99943806e-01 -1.89018911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:-18.00, Z:-1.89 [[ 9.90852100e-01 1.34544521e-01 1.04827365e-02 1.67443909e+02] [-1.34535333e-01 9.90907537e-01 -1.58003875e-03 -1.79988535e+01] [-1.06000082e-02 1.55286271e-04 9.99943806e-01 -1.89265848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:-18.02, Z:-1.89 [[ 9.92339211e-01 1.23097525e-01 1.04828233e-02 1.67501281e+02] [-1.23087703e-01 9.92394540e-01 -1.57946269e-03 -1.80181044e+01] [-1.05975246e-02 2.77056115e-04 9.99943806e-01 -1.89347795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.56, Y:-18.04, Z:-1.89 [[ 9.93278703e-01 1.15271537e-01 1.04828575e-02 1.67560197e+02] [-1.15261282e-01 9.93333953e-01 -1.57923547e-03 -1.80355914e+01] [-1.05950192e-02 3.60353355e-04 9.99943806e-01 -1.89227912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.62, Y:-18.06, Z:-1.89 [[ 9.94012486e-01 1.08762526e-01 1.04828575e-02 1.67619704e+02] [-1.08751910e-01 9.94067668e-01 -1.57923547e-03 -1.80581089e+01] [-1.05924314e-02 4.29748999e-04 9.99943806e-01 -1.89225880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:-18.08, Z:-1.89 [[ 9.93692103e-01 1.11651776e-01 1.04825983e-02 1.67679106e+02] [-1.11641301e-01 9.93747312e-01 -1.58095407e-03 -1.80809208e+01] [-1.05935703e-02 4.00690656e-04 9.99943806e-01 -1.89392529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:167.74, Y:-18.11, Z:-1.89 [[ 9.93274132e-01 1.15310970e-01 1.04823410e-02 1.67739481e+02] [-1.15300681e-01 9.93329375e-01 -1.58265840e-03 -1.81050053e+01] [-1.05949151e-02 3.63392587e-04 9.99943806e-01 -1.89215020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:167.80, Y:-18.13, Z:-1.89 [[ 9.92965575e-01 1.17938514e-01 1.04820478e-02 1.67799786e+02] [-1.17928351e-01 9.93020842e-01 -1.58459773e-03 -1.81272920e+01] [-1.05957771e-02 3.37320385e-04 9.99943806e-01 -1.89098144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters Centerline goodness : 0.998667 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:-18.15, Z:-1.89 [[ 9.92293515e-01 1.23465436e-01 1.04817505e-02 1.67860732e+02] [-1.23455560e-01 9.92348834e-01 -1.58656227e-03 -1.81471006e+01] [-1.05974385e-02 2.80305072e-04 9.99943806e-01 -1.89117005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26576923099998 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:167.92, Y:-18.16, Z:-1.89 [[ 9.91162118e-01 1.32241428e-01 1.04814490e-02 1.67921988e+02] [-1.32232021e-01 9.91217519e-01 -1.58855133e-03 -1.81634016e+01] [-1.05994682e-02 1.88528716e-04 9.99943806e-01 -1.89355589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32576923099998 meters Centerline goodness : 0.996411 with order 1 Centerline is valid? [True, True] Translation: X:167.98, Y:-18.17, Z:-1.89 [[ 9.89773553e-01 1.42261940e-01 1.04811486e-02 1.67983663e+02] [-1.42253073e-01 9.89829043e-01 -1.59053105e-03 -1.81727993e+01] [-1.06008173e-02 8.32899713e-05 9.99943806e-01 -1.89202622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38576923099998 meters Centerline goodness : 0.995774 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:-18.18, Z:-1.89 [[ 9.88673277e-01 1.49717407e-01 1.04808686e-02 1.68044573e+02] [-1.49708939e-01 9.88728829e-01 -1.59237420e-03 -1.81783144e+01] [-1.06011430e-02 5.25811017e-06 9.99943806e-01 -1.89255894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44576923099999 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:-18.17, Z:-1.89 [[ 9.87406421e-01 1.57856621e-01 1.04808323e-02 1.68106253e+02] [-1.57848608e-01 9.87462040e-01 -1.59261292e-03 -1.81722762e+01] [-1.06008285e-02 -8.18285658e-05 9.99943806e-01 -1.89394004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.505769231 meters Centerline goodness : 0.994963 with order 1 Centerline is valid? [True, True] Translation: X:168.17, Y:-18.17, Z:-1.89 [[ 9.87525830e-01 1.57107883e-01 1.04808323e-02 1.68166247e+02] [-1.57099828e-01 9.87581444e-01 -1.59261292e-03 -1.81743365e+01] [-1.06008875e-02 -7.37905591e-05 9.99943806e-01 -1.89484422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.565769231 meters Centerline goodness : 0.994654 with order 1 Centerline is valid? [True, True] Translation: X:168.23, Y:-18.18, Z:-1.89 [[ 9.88149696e-01 1.53135007e-01 1.04808516e-02 1.68227780e+02] [-1.53126729e-01 9.88205277e-01 -1.59248612e-03 -1.81763848e+01] [-1.06010982e-02 -3.12838402e-05 9.99943806e-01 -1.89293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.625769231 meters Centerline goodness : 0.994647 with order 1 Centerline is valid? [True, True] Translation: X:168.29, Y:-18.18, Z:-1.90 [[ 9.88654681e-01 1.49840161e-01 1.04808116e-02 1.68287418e+02] [-1.49831695e-01 9.88710234e-01 -1.59274926e-03 -1.81813195e+01] [-1.06011435e-02 4.32124761e-06 9.99943806e-01 -1.89655911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.685769231 meters Centerline goodness : 0.994459 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-18.19, Z:-1.90 [[ 9.88643452e-01 1.49914234e-01 1.04808315e-02 1.68346788e+02] [-1.49905774e-01 9.88699005e-01 -1.59261840e-03 -1.81872687e+01] [-1.06011438e-02 3.39460080e-06 9.99943806e-01 -1.89691529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.745769231 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:-18.19, Z:-1.90 [[ 9.88245862e-01 1.52513171e-01 1.04808691e-02 1.68405917e+02] [-1.52504860e-01 9.88301438e-01 -1.59237078e-03 -1.81915826e+01] [-1.06011155e-02 -2.47296343e-05 9.99943806e-01 -1.90145855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters Centerline goodness : 0.994831 with order 1 Centerline is valid? [True, True] Translation: X:168.47, Y:-18.20, Z:-1.90 [[ 9.88495188e-01 1.50888749e-01 1.04809063e-02 1.68466012e+02] [-1.50880349e-01 9.88550750e-01 -1.59212582e-03 -1.81955593e+01] [-1.06011416e-02 -7.55409291e-06 9.99943806e-01 -1.89775662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:-18.20, Z:-1.90 [[ 9.89248255e-01 1.45869940e-01 1.04809440e-02 1.68525457e+02] [-1.45861260e-01 9.89303775e-01 -1.59187759e-03 -1.82014517e+01] [-1.06010445e-02 4.59984297e-05 9.99943806e-01 -1.89778464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters Centerline goodness : 0.994686 with order 1 Centerline is valid? [True, True] Translation: X:168.58, Y:-18.21, Z:-1.90 [[ 9.90154022e-01 1.39589258e-01 1.04809829e-02 1.68584580e+02] [-1.39580229e-01 9.90209486e-01 -1.59162119e-03 -1.82072109e+01] [-1.06005419e-02 1.13012128e-04 9.99943806e-01 -1.90322700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98576923099998 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:-18.22, Z:-1.90 [[ 9.90273782e-01 1.38737107e-01 1.04810021e-02 1.68642759e+02] [-1.38728032e-01 9.90329238e-01 -1.59149503e-03 -1.82177846e+01] [-1.06004422e-02 1.22007005e-04 9.99943806e-01 -1.90400806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04576923099998 meters Centerline goodness : 0.994545 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:-18.23, Z:-1.90 [[ 9.89993952e-01 1.40720015e-01 1.04810573e-02 1.68702035e+02] [-1.40711055e-01 9.90049427e-01 -1.59113147e-03 -1.82281791e+01] [-1.06006688e-02 1.00409901e-04 9.99943806e-01 -1.90360504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10576923099998 meters Centerline goodness : 0.994754 with order 1 Centerline is valid? [True, True] Translation: X:168.76, Y:-18.24, Z:-1.90 [[ 9.90140929e-01 1.39682092e-01 1.04811176e-02 1.68761179e+02] [-1.39673078e-01 9.90196395e-01 -1.59073398e-03 -1.82414938e+01] [-1.06005619e-02 1.11120858e-04 9.99943806e-01 -1.90308783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16576923099998 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:168.82, Y:-18.26, Z:-1.90 [[ 9.90605969e-01 1.36345003e-01 1.04811176e-02 1.68819629e+02] [-1.36335802e-01 9.90661405e-01 -1.59073398e-03 -1.82572122e+01] [-1.06001273e-02 1.46839000e-04 9.99943806e-01 -1.89598418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.225769231 meters Centerline goodness : 0.994794 with order 1 Centerline is valid? [True, True] Translation: X:168.88, Y:-18.28, Z:-1.90 [[ 9.91334692e-01 1.30941493e-01 1.04811176e-02 1.68878323e+02] [-1.30931990e-01 9.91390076e-01 -1.59073398e-03 -1.82757431e+01] [-1.05991691e-02 2.04636187e-04 9.99943806e-01 -1.90241060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.285769231 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:-18.29, Z:-1.90 [[ 9.91756168e-01 1.27710027e-01 1.04810811e-02 1.68938501e+02] [-1.27700341e-01 9.91811520e-01 -1.59097438e-03 -1.82912183e+01] [-1.05984404e-02 2.39421027e-04 9.99943806e-01 -1.90200420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.345769231 meters Centerline goodness : 0.994898 with order 1 Centerline is valid? [True, True] Translation: X:169.00, Y:-18.31, Z:-1.90 [[ 9.91933269e-01 1.26327121e-01 1.04808268e-02 1.68999485e+02] [-1.26317341e-01 9.91988605e-01 -1.59264778e-03 -1.83098614e+01] [-1.05980554e-02 2.55890149e-04 9.99943806e-01 -1.89895533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.405769231 meters Centerline goodness : 0.994982 with order 1 Centerline is valid? [True, True] Translation: X:169.06, Y:-18.33, Z:-1.91 [[ 9.91673423e-01 1.28351004e-01 1.04805395e-02 1.69058990e+02] [-1.28341317e-01 9.91728775e-01 -1.59453634e-03 -1.83333583e+01] [-1.05985129e-02 2.36173077e-04 9.99943806e-01 -1.90796874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.465769231 meters Centerline goodness : 0.995115 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:-18.35, Z:-1.91 [[ 9.91428617e-01 1.30228495e-01 1.04802906e-02 1.69119809e+02] [-1.30218895e-01 9.91483985e-01 -1.59617027e-03 -1.83511356e+01] [-1.05989072e-02 2.17757014e-04 9.99943806e-01 -1.91007635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters Centerline goodness : 0.994944 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:-18.37, Z:-1.91 [[ 9.91143950e-01 1.32377643e-01 1.04800072e-02 1.69180078e+02] [-1.32368143e-01 9.91199335e-01 -1.59802936e-03 -1.83729302e+01] [-1.05993195e-02 1.96658043e-04 9.99943806e-01 -1.90796788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters Centerline goodness : 0.995377 with order 1 Centerline is valid? [True, True] Translation: X:169.24, Y:-18.39, Z:-1.91 [[ 9.90147779e-01 1.39633635e-01 1.04796960e-02 1.69239849e+02] [-1.39624520e-01 9.90203228e-01 -1.60006727e-03 -1.83919949e+01] [-1.06004520e-02 1.21080535e-04 9.99943806e-01 -1.90653336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters Centerline goodness : 0.995183 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:-18.40, Z:-1.91 [[ 9.88699411e-01 1.49544829e-01 1.04794057e-02 1.69301112e+02] [-1.49536250e-01 9.88754946e-01 -1.60196660e-03 -1.84043271e+01] [-1.06011300e-02 1.68124185e-05 9.99943806e-01 -1.90847059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters Centerline goodness : 0.995345 with order 1 Centerline is valid? [True, True] Translation: X:169.36, Y:-18.42, Z:-1.91 [[ 9.87159168e-01 1.59395624e-01 1.04791197e-02 1.69362100e+02] [-1.59387579e-01 9.87214783e-01 -1.60383514e-03 -1.84150724e+01] [-1.06007862e-02 -8.70009546e-05 9.99943806e-01 -1.91283905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76576923099998 meters Centerline goodness : 0.995591 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:-18.42, Z:-1.91 [[ 9.86896547e-01 1.61013663e-01 1.04788529e-02 1.69422502e+02] [-1.61005690e-01 9.86952172e-01 -1.60557597e-03 -1.84214345e+01] [-1.06006463e-02 -1.02617569e-04 9.99943806e-01 -1.91087788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82576923099998 meters Centerline goodness : 0.995340 with order 1 Centerline is valid? [True, True] Translation: X:169.48, Y:-18.43, Z:-1.91 [[ 9.87055009e-01 1.60039392e-01 1.04786459e-02 1.69484783e+02] [-1.60031350e-01 9.87110624e-01 -1.60692638e-03 -1.84283721e+01] [-1.06007542e-02 -9.07871025e-05 9.99943806e-01 -1.91163501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88576923099998 meters Centerline goodness : 0.995626 with order 1 Centerline is valid? [True, True] Translation: X:169.55, Y:-18.43, Z:-1.91 [[ 9.86075410e-01 1.65968339e-01 1.04783369e-02 1.69546918e+02] [-1.65960610e-01 9.86131070e-01 -1.60893823e-03 -1.84301215e+01] [-1.06000464e-02 -1.52456773e-04 9.99943806e-01 -1.90982574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94576923099999 meters Centerline goodness : 0.995545 with order 1 Centerline is valid? [True, True] Translation: X:169.61, Y:-18.42, Z:-1.91 [[ 9.84933941e-01 1.72613275e-01 1.04780503e-02 1.69608118e+02] [-1.72605902e-01 9.84989649e-01 -1.61080289e-03 -1.84247619e+01] [-1.05988170e-02 -2.22038880e-04 9.99943806e-01 -1.90848206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.005769231 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:169.67, Y:-18.42, Z:-1.91 [[ 9.85086222e-01 1.71742090e-01 1.04780686e-02 1.69669115e+02] [-1.71734669e-01 9.85141923e-01 -1.61068363e-03 -1.84245961e+01] [-1.05990068e-02 -2.12785390e-04 9.99943806e-01 -1.90911864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.065769231 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:-18.42, Z:-1.91 [[ 9.87384031e-01 1.57996792e-01 1.04780686e-02 1.69731188e+02] [-1.57988595e-01 9.87439623e-01 -1.61068363e-03 -1.84190253e+01] [-1.06009430e-02 -6.50520401e-05 9.99943806e-01 -1.91392425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.125769231 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:-18.42, Z:-1.91 [[ 9.88752552e-01 1.49193171e-01 1.04780501e-02 1.69792277e+02] [-1.49184478e-01 9.88808069e-01 -1.61080407e-03 -1.84234789e+01] [-1.06011015e-02 2.95241962e-05 9.99943806e-01 -1.91339056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.185769231 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:169.85, Y:-18.43, Z:-1.91 [[ 9.90611351e-01 1.36306136e-01 1.04780142e-02 1.69853184e+02] [-1.36296719e-01 9.90666750e-01 -1.61103759e-03 -1.84324354e+01] [-1.05998146e-02 1.67793169e-04 9.99943806e-01 -1.91411533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.245769231 meters Centerline goodness : 0.996142 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:-18.45, Z:-1.91 [[ 9.91323742e-01 1.31024628e-01 1.04778713e-02 1.69913706e+02] [-1.31014905e-01 9.91379088e-01 -1.61196634e-03 -1.84454066e+01] [-1.05987498e-02 2.25223181e-04 9.99943806e-01 -1.91354619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:-18.47, Z:-1.92 [[ 9.92689736e-01 1.20238526e-01 1.04778369e-02 1.69972966e+02] [-1.20228200e-01 9.92744973e-01 -1.61218976e-03 -1.84679912e+01] [-1.05956673e-02 3.40672757e-04 9.99943806e-01 -1.91895271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters Centerline goodness : 0.996282 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:-18.49, Z:-1.92 [[ 9.92881225e-01 1.18646926e-01 1.04775948e-02 1.70033216e+02] [-1.18636495e-01 9.92936442e-01 -1.61376218e-03 -1.84926106e+01] [-1.05950536e-02 3.59249053e-04 9.99943806e-01 -1.91847800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters Centerline goodness : 0.996467 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:-18.52, Z:-1.92 [[ 9.91941346e-01 1.26263977e-01 1.04772928e-02 1.70091742e+02] [-1.26253949e-01 9.91996638e-01 -1.61572030e-03 -1.85172964e+01] [-1.05974465e-02 2.79900176e-04 9.99943806e-01 -1.91565082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48576923099998 meters Centerline goodness : 0.996653 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:-18.54, Z:-1.92 [[ 9.91253373e-01 1.31556005e-01 1.04770499e-02 1.70151282e+02] [-1.31546256e-01 9.91308714e-01 -1.61729353e-03 -1.85417528e+01] [-1.05987556e-02 2.24930978e-04 9.99943806e-01 -1.91502226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54576923099998 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:-18.57, Z:-1.92 [[ 9.91062595e-01 1.32985603e-01 1.04767384e-02 1.70210109e+02] [-1.32975912e-01 9.91117947e-01 -1.61930944e-03 -1.85653551e+01] [-1.05990282e-02 2.11683177e-04 9.99943806e-01 -1.91664085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60576923099998 meters Centerline goodness : 0.997251 with order 1 Centerline is valid? [True, True] Translation: X:170.27, Y:-18.58, Z:-1.92 [[ 9.89869303e-01 1.41594516e-01 1.04764461e-02 1.70269642e+02] [-1.41585286e-01 9.89924734e-01 -1.62119778e-03 -1.85835042e+01] [-1.06004459e-02 1.21463285e-04 9.99943806e-01 -1.91530069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66576923099998 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:170.33, Y:-18.60, Z:-1.92 [[ 9.87600574e-01 1.56637662e-01 1.04761575e-02 1.70330812e+02] [-1.56629257e-01 9.87656135e-01 -1.62306071e-03 -1.85973617e+01] [-1.06010737e-02 -3.79370863e-05 9.99943806e-01 -1.91547956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.725769231 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:-18.61, Z:-1.92 [[ 9.86174071e-01 1.65381251e-01 1.04758528e-02 1.70392978e+02] [-1.65373318e-01 9.86229702e-01 -1.62502525e-03 -1.86059277e+01] [-1.06003459e-02 -1.29868768e-04 9.99943806e-01 -1.91700241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.785769231 meters Centerline goodness : 0.997189 with order 1 Centerline is valid? [True, True] Translation: X:170.45, Y:-18.61, Z:-1.92 [[ 9.84296221e-01 1.76213539e-01 1.04755521e-02 1.70454234e+02] [-1.76206197e-01 9.84351934e-01 -1.62696090e-03 -1.86080140e+01] [-1.05983226e-02 -2.44445741e-04 9.99943806e-01 -1.92482993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.845769231 meters Centerline goodness : 0.997175 with order 1 Centerline is valid? [True, True] Translation: X:170.52, Y:-18.61, Z:-1.93 [[ 9.84026861e-01 1.77711570e-01 1.04754041e-02 1.70516764e+02] [-1.77704303e-01 9.84082583e-01 -1.62791362e-03 -1.86128445e+01] [-1.05979618e-02 -2.59613654e-04 9.99943806e-01 -1.92581305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.905769231 meters Centerline goodness : 0.997281 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:-18.61, Z:-1.93 [[ 9.84000435e-01 1.77857852e-01 1.04751007e-02 1.70580909e+02] [-1.77850573e-01 9.84056156e-01 -1.62986327e-03 -1.86119425e+01] [-1.05979713e-02 -2.59216498e-04 9.99943806e-01 -1.92707361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.965769231 meters Centerline goodness : 0.997578 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:-18.62, Z:-1.92 [[ 9.84979789e-01 1.72351657e-01 1.04747994e-02 1.70643617e+02] [-1.72344046e-01 9.85035465e-01 -1.63179739e-03 -1.86159768e+01] [-1.05992919e-02 -1.97981865e-04 9.99943806e-01 -1.92088061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters Centerline goodness : 0.997551 with order 1 Centerline is valid? [True, True] Translation: X:170.71, Y:-18.62, Z:-1.92 [[ 9.85305776e-01 1.70478187e-01 1.04745375e-02 1.70706661e+02] [-1.70470452e-01 9.85361435e-01 -1.63347686e-03 -1.86204124e+01] [-1.05996775e-02 -1.76124963e-04 9.99943806e-01 -1.92225141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:170.77, Y:-18.62, Z:-1.92 [[ 9.85008820e-01 1.72185697e-01 1.04742402e-02 1.70769051e+02] [-1.72178038e-01 9.85064490e-01 -1.63538141e-03 -1.86169801e+01] [-1.05993913e-02 -1.92569008e-04 9.99943806e-01 -1.91843641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters Centerline goodness : 0.997820 with order 1 Centerline is valid? [True, True] Translation: X:170.83, Y:-18.62, Z:-1.92 [[ 9.84618875e-01 1.74401740e-01 1.04740003e-02 1.70830436e+02] [-1.74394190e-01 9.84674559e-01 -1.63691626e-03 -1.86181323e+01] [-1.05989627e-02 -2.14866152e-04 9.99943806e-01 -1.92092415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:170.89, Y:-18.62, Z:-1.92 [[ 9.84513438e-01 1.74995957e-01 1.04740003e-02 1.70890474e+02] [-1.74988441e-01 9.84569127e-01 -1.63691626e-03 -1.86178787e+01] [-1.05988311e-02 -2.21262922e-04 9.99943806e-01 -1.92254740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26576923099998 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:170.95, Y:-18.62, Z:-1.92 [[ 9.84657368e-01 1.74184277e-01 1.04740366e-02 1.70949603e+02] [-1.74176717e-01 9.84713051e-01 -1.63668358e-03 -1.86210582e+01] [-1.05990051e-02 -2.12760774e-04 9.99943806e-01 -1.92071055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32576923099998 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:-18.62, Z:-1.92 [[ 9.84633286e-01 1.74320354e-01 1.04740907e-02 1.71010252e+02] [-1.74312806e-01 9.84688970e-01 -1.63633739e-03 -1.86213100e+01] [-1.05989685e-02 -2.14575881e-04 9.99943806e-01 -1.92381541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38576923099998 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:171.07, Y:-18.62, Z:-1.93 [[ 9.84546436e-01 1.74810206e-01 1.04741285e-02 1.71069389e+02] [-1.74802688e-01 9.84602124e-01 -1.63609575e-03 -1.86242907e+01] [-1.05988554e-02 -2.20093575e-04 9.99943806e-01 -1.92693197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44576923099999 meters Centerline goodness : 0.997942 with order 1 Centerline is valid? [True, True] Translation: X:171.13, Y:-18.63, Z:-1.93 [[ 9.84865416e-01 1.73004055e-01 1.04741846e-02 1.71128108e+02] [-1.72996439e-01 9.84921092e-01 -1.63573665e-03 -1.86258395e+01] [-1.05992344e-02 -2.01016171e-04 9.99943806e-01 -1.92910825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.505769231 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:-18.63, Z:-1.93 [[ 9.85234379e-01 1.70890339e-01 1.04742819e-02 1.71187200e+02] [-1.70882610e-01 9.85290039e-01 -1.63511306e-03 -1.86305692e+01] [-1.05996306e-02 -1.78903031e-04 9.99943806e-01 -1.93119740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.565769231 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:171.25, Y:-18.63, Z:-1.93 [[ 9.85737943e-01 1.67961292e-01 1.04743514e-02 1.71245997e+02] [-1.67953402e-01 9.85793580e-01 -1.63466795e-03 -1.86333750e+01] [-1.06001093e-02 -1.47848717e-04 9.99943806e-01 -1.93260078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.625769231 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:171.30, Y:-18.64, Z:-1.93 [[ 9.87078087e-01 1.59897267e-01 1.04744246e-02 1.71302964e+02] [-1.59888927e-01 9.87133659e-01 -1.63419831e-03 -1.86413595e+01] [-1.06009610e-02 -6.16631848e-05 9.99943806e-01 -1.93459492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.685769231 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:171.36, Y:-18.65, Z:-1.93 [[ 9.88948438e-01 1.47889388e-01 1.04745155e-02 1.71362458e+02] [-1.47880381e-01 9.89003905e-01 -1.63361604e-03 -1.86527461e+01] [-1.06009312e-02 6.65867024e-05 9.99943806e-01 -1.93187782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.745769231 meters Centerline goodness : 0.998484 with order 1 Centerline is valid? [True, True] Translation: X:171.42, Y:-18.67, Z:-1.93 [[ 9.90582632e-01 1.36514955e-01 1.04745155e-02 1.71421906e+02] [-1.36505311e-01 9.90637992e-01 -1.63361604e-03 -1.86714995e+01] [-1.05994660e-02 1.88404694e-04 9.99943806e-01 -1.92502972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:-18.68, Z:-1.92 [[ 9.90552178e-01 1.36735778e-01 1.04742678e-02 1.71482519e+02] [-1.36726128e-01 9.90607537e-01 -1.63520242e-03 -1.86838613e+01] [-1.05994793e-02 1.87647236e-04 9.99943806e-01 -1.92448464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:171.54, Y:-18.70, Z:-1.92 [[ 9.90085576e-01 1.40074422e-01 1.04742303e-02 1.71542274e+02] [-1.40064957e-01 9.90140966e-01 -1.63544274e-03 -1.86978218e+01] [-1.06000482e-02 1.52155652e-04 9.99943806e-01 -1.92384762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:-18.71, Z:-1.92 [[ 9.89284623e-01 1.45623576e-01 1.04741912e-02 1.71602031e+02] [-1.45614419e-01 9.89340066e-01 -1.63569292e-03 -1.87067445e+01] [-1.06007325e-02 9.29725828e-05 9.99943806e-01 -1.92414999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98576923099998 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:-18.71, Z:-1.93 [[ 9.88454177e-01 1.51157635e-01 1.04741912e-02 1.71662218e+02] [-1.51148788e-01 9.88509670e-01 -1.63569292e-03 -1.87136392e+01] [-1.06010868e-02 3.36461895e-05 9.99943806e-01 -1.93258943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04576923099998 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:171.72, Y:-18.72, Z:-1.92 [[ 9.88065951e-01 1.53674880e-01 1.04741912e-02 1.71721554e+02] [-1.53666175e-01 9.88121466e-01 -1.63569292e-03 -1.87210075e+01] [-1.06011381e-02 6.64358411e-06 9.99943806e-01 -1.92445446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10576923099998 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:-18.73, Z:-1.93 [[ 9.87888555e-01 1.54811155e-01 1.04742300e-02 1.71780770e+02] [-1.54802517e-01 9.87944080e-01 -1.63544441e-03 -1.87303507e+01] [-1.06011386e-02 -5.80035643e-06 9.99943806e-01 -1.93129031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16576923099998 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:-18.74, Z:-1.94 [[ 9.88013847e-01 1.54009507e-01 1.04742300e-02 1.71839128e+02] [-1.54000824e-01 9.88069366e-01 -1.63544441e-03 -1.87415405e+01] [-1.06011398e-02 2.80167054e-06 9.99943806e-01 -1.93665638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.225769231 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-18.75, Z:-1.93 [[ 9.87745626e-01 1.55720484e-01 1.04742498e-02 1.71898853e+02] [-1.55711898e-01 9.87801159e-01 -1.63531739e-03 -1.87535749e+01] [-1.06011285e-02 -1.56877283e-05 9.99943806e-01 -1.93193061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.285769231 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:171.96, Y:-18.77, Z:-1.93 [[ 9.87794476e-01 1.55410308e-01 1.04742498e-02 1.71957272e+02] [-1.55401705e-01 9.87850007e-01 -1.63531739e-03 -1.87653354e+01] [-1.06011330e-02 -1.23588007e-05 9.99943806e-01 -1.93237995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.345769231 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:172.02, Y:-18.78, Z:-1.94 [[ 9.88193006e-01 1.52855728e-01 1.04742691e-02 1.72015847e+02] [-1.52846982e-01 9.88248514e-01 -1.63519421e-03 -1.87789952e+01] [-1.06011296e-02 1.49270652e-05 9.99943806e-01 -1.93519064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.405769231 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:172.08, Y:-18.79, Z:-1.94 [[ 9.88351562e-01 1.51827140e-01 1.04742691e-02 1.72076618e+02] [-1.51818337e-01 9.88407061e-01 -1.63519421e-03 -1.87902507e+01] [-1.06011084e-02 2.59606439e-05 9.99943806e-01 -1.93714940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.465769231 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:172.14, Y:-18.80, Z:-1.94 [[ 9.88666856e-01 1.49760270e-01 1.04742295e-02 1.72136175e+02] [-1.49751347e-01 9.88722337e-01 -1.63544747e-03 -1.88025863e+01] [-1.06010297e-02 4.83827236e-05 9.99943806e-01 -1.94108923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:172.20, Y:-18.82, Z:-1.94 [[ 9.88975704e-01 1.47706983e-01 1.04739743e-02 1.72197187e+02] [-1.47697928e-01 9.89031163e-01 -1.63708008e-03 -1.88170778e+01] [-1.06008952e-02 7.20481077e-05 9.99943806e-01 -1.94036545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:-18.83, Z:-1.94 [[ 9.89456414e-01 1.44451746e-01 1.04736982e-02 1.72257953e+02] [-1.44442490e-01 9.89511840e-01 -1.63884485e-03 -1.88315674e+01] [-1.06005824e-02 1.08718498e-04 9.99943806e-01 -1.94010563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:-18.85, Z:-1.93 [[ 9.90164837e-01 1.39513085e-01 1.04735026e-02 1.72317615e+02] [-1.39503539e-01 9.90220214e-01 -1.64009379e-03 -1.88497766e+01] [-1.05998886e-02 1.62872514e-04 9.99943806e-01 -1.93409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:-18.86, Z:-1.94 [[ 9.89959061e-01 1.40965842e-01 1.04732568e-02 1.72379000e+02] [-1.40956361e-01 9.90014449e-01 -1.64166208e-03 -1.88644840e+01] [-1.06000938e-02 1.48906090e-04 9.99943806e-01 -1.93588839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76576923099998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:-18.88, Z:-1.94 [[ 9.89084109e-01 1.46979399e-01 1.04729343e-02 1.72440545e+02] [-1.46970233e-01 9.89139550e-01 -1.64371690e-03 -1.88759975e+01] [-1.06007860e-02 8.65646754e-05 9.99943806e-01 -1.93889095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82576923099998 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:-18.88, Z:-1.94 [[ 9.87891553e-01 1.54792128e-01 1.04726555e-02 1.72501902e+02] [-1.54783381e-01 9.87947062e-01 -1.64549156e-03 -1.88834845e+01] [-1.06011383e-02 4.57418544e-06 9.99943806e-01 -1.93958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88576923099998 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:-18.89, Z:-1.94 [[ 9.87702529e-01 1.55993727e-01 1.04723583e-02 1.72564058e+02] [-1.55985029e-01 9.87758046e-01 -1.64738089e-03 -1.88918475e+01] [-1.06011372e-02 -6.40882811e-06 9.99943806e-01 -1.94157065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94576923099999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:172.63, Y:-18.90, Z:-1.94 [[ 9.88566922e-01 1.50418673e-01 1.04720446e-02 1.72625679e+02] [-1.50409640e-01 9.88622385e-01 -1.64937212e-03 -1.89038095e+01] [-1.06009941e-02 5.54182490e-05 9.99943806e-01 -1.94197058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.005769231 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:-18.92, Z:-1.95 [[ 9.89484123e-01 1.44261962e-01 1.04717322e-02 1.72684994e+02] [-1.44252563e-01 9.89539525e-01 -1.65135330e-03 -1.89198221e+01] [-1.06004204e-02 1.23413657e-04 9.99943806e-01 -1.94653977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.065769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:-18.94, Z:-1.94 [[ 9.90010496e-01 1.40604287e-01 1.04714813e-02 1.72743570e+02] [-1.40594667e-01 9.90065860e-01 -1.65294252e-03 -1.89387410e+01] [-1.05998670e-02 1.64196013e-04 9.99943806e-01 -1.94117318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.125769231 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:-18.95, Z:-1.94 [[ 9.90155312e-01 1.39580843e-01 1.04712334e-02 1.72804894e+02] [-1.39571149e-01 9.90210663e-01 -1.65451168e-03 -1.89534354e+01] [-1.05996651e-02 1.76741455e-04 9.99943806e-01 -1.94000608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.185769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:172.86, Y:-18.98, Z:-1.94 [[ 9.90595667e-01 1.36420615e-01 1.04709093e-02 1.72863410e+02] [-1.36410722e-01 9.90650983e-01 -1.65656035e-03 -1.89778250e+01] [-1.05990056e-02 2.12637200e-04 9.99943806e-01 -1.94174570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.245769231 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:-19.00, Z:-1.94 [[ 9.90577634e-01 1.36551514e-01 1.04706488e-02 1.72922213e+02] [-1.36541611e-01 9.90632949e-01 -1.65820495e-03 -1.90017221e+01] [-1.05990001e-02 2.12901474e-04 9.99943806e-01 -1.93748471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:-19.03, Z:-1.93 [[ 9.89896232e-01 1.41406583e-01 1.04703592e-02 1.72979976e+02] [-1.41396933e-01 9.89951591e-01 -1.66003163e-03 -1.90257707e+01] [-1.05998882e-02 1.62782369e-04 9.99943806e-01 -1.93211125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:-19.05, Z:-1.93 [[ 9.88828373e-01 1.48690363e-01 1.04702155e-02 1.73039891e+02] [-1.48681111e-01 9.88883799e-01 -1.66093798e-03 -1.90488779e+01] [-1.06007919e-02 8.56593271e-05 9.99943806e-01 -1.92869270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-19.06, Z:-1.93 [[ 9.87109606e-01 1.59702870e-01 1.04699222e-02 1.73100970e+02] [-1.59694217e-01 9.87165129e-01 -1.66278461e-03 -1.90630396e+01] [-1.06010936e-02 -3.06353607e-05 9.99943806e-01 -1.92754180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48576923099998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:-19.07, Z:-1.94 [[ 9.84792292e-01 1.73420091e-01 1.04696213e-02 1.73162935e+02] [-1.73412191e-01 9.84847928e-01 -1.66467682e-03 -1.90659890e+01] [-1.05996733e-02 -1.76199065e-04 9.99943806e-01 -1.93544470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54576923099998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:-19.06, Z:-1.93 [[ 9.83575551e-01 1.80193031e-01 1.04693550e-02 1.73224912e+02] [-1.80185496e-01 9.83631237e-01 -1.66635009e-03 -1.90647332e+01] [-1.05982493e-02 -2.47444715e-04 9.99943806e-01 -1.93016080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:-19.07, Z:-1.93 [[ 9.83974612e-01 1.78001013e-01 1.04691106e-02 1.73288497e+02] [-1.77993338e-01 9.84030279e-01 -1.66788422e-03 -1.90685942e+01] [-1.05988069e-02 -2.22276205e-04 9.99943806e-01 -1.92911482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:-19.07, Z:-1.94 [[ 9.85567454e-01 1.68959160e-01 1.04687929e-02 1.73349625e+02] [-1.68950952e-01 9.85623045e-01 -1.66987564e-03 -1.90734785e+01] [-1.06004244e-02 -1.22937451e-04 9.99943806e-01 -1.93700657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:-19.08, Z:-1.94 [[ 9.86727844e-01 1.62044970e-01 1.04685377e-02 1.73411124e+02] [-1.62036356e-01 9.86783373e-01 -1.67147395e-03 -1.90816726e+01] [-1.06010329e-02 -4.69938198e-05 9.99943806e-01 -1.93954516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:-19.09, Z:-1.94 [[ 9.86398686e-01 1.64036728e-01 1.04682630e-02 1.73473698e+02] [-1.64028208e-01 9.86454230e-01 -1.67319277e-03 -1.90905902e+01] [-1.06009274e-02 -6.66552727e-05 9.99943806e-01 -1.93957480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.845769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:-19.10, Z:-1.95 [[ 9.85181064e-01 1.71197817e-01 1.04679508e-02 1.73534792e+02] [-1.71189680e-01 9.85236666e-01 -1.67514392e-03 -1.90985090e+01] [-1.06001899e-02 -1.41685073e-04 9.99943806e-01 -1.94819796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:-19.10, Z:-1.94 [[ 9.84306748e-01 1.76155195e-01 1.04676798e-02 1.73595964e+02] [-1.76147320e-01 9.84362388e-01 -1.67683561e-03 -1.91035929e+01] [-1.05993736e-02 -1.93333132e-04 9.99943806e-01 -1.94218765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.965769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:-19.10, Z:-1.94 [[ 9.83227336e-01 1.82083604e-01 1.04674431e-02 1.73658341e+02] [-1.82076049e-01 9.83283019e-01 -1.67831209e-03 -1.91044685e+01] [-1.05980521e-02 -2.55708351e-04 9.99943806e-01 -1.93835729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.72, Y:-19.10, Z:-1.95 [[ 9.82571469e-01 1.85590260e-01 1.04672982e-02 1.73721137e+02] [-1.85582893e-01 9.82627177e-01 -1.67921492e-03 -1.91008772e+01] [-1.05970976e-02 -2.92602819e-04 9.99943806e-01 -1.94555036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:-19.10, Z:-1.94 [[ 9.83375374e-01 1.81282403e-01 1.04672609e-02 1.73782259e+02] [-1.81274791e-01 9.83431050e-01 -1.67944722e-03 -1.90998577e+01] [-1.05982836e-02 -2.45923501e-04 9.99943806e-01 -1.94424572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-19.10, Z:-1.95 [[ 9.84564544e-01 1.74708599e-01 1.04672425e-02 1.73843740e+02] [-1.74700614e-01 9.84620168e-01 -1.67956217e-03 -1.90970615e+01] [-1.05996920e-02 -1.74996320e-04 9.99943806e-01 -1.94658012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:-19.10, Z:-1.95 [[ 9.84780483e-01 1.73487290e-01 1.04671579e-02 1.73903976e+02] [-1.73479230e-01 9.84836095e-01 -1.68008893e-03 -1.91000351e+01] [-1.05999090e-02 -1.61315715e-04 9.99943806e-01 -1.94736364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.96, Y:-19.10, Z:-1.95 [[ 9.85572004e-01 1.68932714e-01 1.04671945e-02 1.73964042e+02] [-1.68924399e-01 9.85627579e-01 -1.67986141e-03 -1.90985719e+01] [-1.06005391e-02 -1.12540162e-04 9.99943806e-01 -1.95417300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-19.10, Z:-1.96 [[ 9.86337064e-01 1.64406912e-01 1.04672306e-02 1.74023394e+02] [-1.64398345e-01 9.86392601e-01 -1.67963601e-03 -1.91045798e+01] [-1.06009426e-02 -6.41081365e-05 9.99943806e-01 -1.95673554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:-19.11, Z:-1.95 [[ 9.87301953e-01 1.58509591e-01 1.04672664e-02 1.74082373e+02] [-1.58500694e-01 9.87357438e-01 -1.67941319e-03 -1.91119730e+01] [-1.06011364e-02 -9.81066876e-07 9.99943806e-01 -1.95347766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.14, Y:-19.13, Z:-1.96 [[ 9.88211367e-01 1.52737454e-01 1.04673020e-02 1.74143198e+02] [-1.52728235e-01 9.88266799e-01 -1.67919120e-03 -1.91261969e+01] [-1.06009624e-02 6.07432746e-05 9.99943806e-01 -1.95600415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.20, Y:-19.14, Z:-1.96 [[ 9.89050642e-01 1.47204851e-01 1.04670229e-02 1.74204008e+02] [-1.47195304e-01 9.89106019e-01 -1.68092928e-03 -1.91411241e+01] [-1.06004363e-02 1.21827572e-04 9.99943806e-01 -1.95720377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.26, Y:-19.16, Z:-1.95 [[ 9.89047012e-01 1.47229263e-01 1.04667263e-02 1.74262730e+02] [-1.47219698e-01 9.89102385e-01 -1.68277383e-03 -1.91591334e+01] [-1.06004175e-02 1.23434141e-04 9.99943806e-01 -1.95355010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:-19.18, Z:-1.95 [[ 9.88449682e-01 1.51187553e-01 1.04665759e-02 1.74323151e+02] [-1.51178200e-01 9.88505092e-01 -1.68370895e-03 -1.91768464e+01] [-1.06008194e-02 8.19434824e-05 9.99943806e-01 -1.95155283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.38, Y:-19.19, Z:-1.96 [[ 9.87215897e-01 1.59044740e-01 1.04663065e-02 1.74383172e+02] [-1.59035810e-01 9.87271376e-01 -1.68538197e-03 -1.91917048e+01] [-1.06011359e-02 -6.81648372e-07 9.99943806e-01 -1.95917081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.44, Y:-19.20, Z:-1.95 [[ 9.86125493e-01 1.65671271e-01 1.04662682e-02 1.74442474e+02] [-1.65662711e-01 9.86181030e-01 -1.68561975e-03 -1.92007992e+01] [-1.06008939e-02 -7.16377525e-05 9.99943806e-01 -1.95431018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.50, Y:-19.21, Z:-1.95 [[ 9.86062627e-01 1.66045037e-01 1.04662493e-02 1.74503955e+02] [-1.66036497e-01 9.86118167e-01 -1.68573702e-03 -1.92120240e+01] [-1.06008668e-02 -7.55370889e-05 9.99943806e-01 -1.94759415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-19.22, Z:-1.95 [[ 9.86412008e-01 1.63956744e-01 1.04659787e-02 1.74565082e+02] [-1.63948068e-01 9.86467528e-01 -1.68741561e-03 -1.92240829e+01] [-1.06010113e-02 -5.13899657e-05 9.99943806e-01 -1.94890514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:-19.23, Z:-1.95 [[ 9.86496860e-01 1.63445450e-01 1.04656915e-02 1.74625584e+02] [-1.63436727e-01 9.86552372e-01 -1.68919451e-03 -1.92339031e+01] [-1.06010440e-02 -4.40932911e-05 9.99943806e-01 -1.94988921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:-19.24, Z:-1.95 [[ 9.86015878e-01 1.66322452e-01 1.04656563e-02 1.74685813e+02] [-1.66313888e-01 9.86071415e-01 -1.68941293e-03 -1.92446399e+01] [-1.06008718e-02 -7.47960175e-05 9.99943806e-01 -1.95130067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:-19.26, Z:-1.95 [[ 9.86081011e-01 1.65935864e-01 1.04656210e-02 1.74746873e+02] [-1.65927276e-01 9.86136544e-01 -1.68963148e-03 -1.92568629e+01] [-1.06009018e-02 -7.04184686e-05 9.99943806e-01 -1.95220158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:-19.27, Z:-1.95 [[ 9.86109487e-01 1.65766570e-01 1.04653614e-02 1.74809126e+02] [-1.65757956e-01 9.86165017e-01 -1.69123802e-03 -1.92683592e+01] [-1.06009240e-02 -6.69710533e-05 9.99943806e-01 -1.95459426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-19.28, Z:-1.96 [[ 9.85942654e-01 1.66756009e-01 1.04650389e-02 1.74870395e+02] [-1.66747430e-01 9.85998188e-01 -1.69323087e-03 -1.92751628e+01] [-1.06008659e-02 -7.55898117e-05 9.99943806e-01 -1.95961768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:-19.28, Z:-1.96 [[ 9.85904197e-01 1.66983242e-01 1.04647793e-02 1.74930222e+02] [-1.66974658e-01 9.85959731e-01 -1.69483414e-03 -1.92811197e+01] [-1.06008599e-02 -7.64088547e-05 9.99943806e-01 -1.95816958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.285769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:174.99, Y:-19.29, Z:-1.95 [[ 9.86674850e-01 1.62367581e-01 1.04646964e-02 1.74991935e+02] [-1.62358732e-01 9.86730342e-01 -1.69534590e-03 -1.92898778e+01] [-1.06011026e-02 -2.62796702e-05 9.99943806e-01 -1.95456112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.05, Y:-19.30, Z:-1.96 [[ 9.87334187e-01 1.58308875e-01 1.04644155e-02 1.75053375e+02] [-1.58299779e-01 9.87389639e-01 -1.69707806e-03 -1.93032582e+01] [-1.06011179e-02 1.90685283e-05 9.99943806e-01 -1.95647315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:-19.31, Z:-1.96 [[ 9.86938225e-01 1.60758956e-01 1.04640826e-02 1.75114410e+02] [-1.60749977e-01 9.86993697e-01 -1.69912765e-03 -1.93135671e+01] [-1.06011336e-02 -5.16701234e-06 9.99943806e-01 -1.95798558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.17, Y:-19.32, Z:-1.96 [[ 9.85752018e-01 1.67879328e-01 1.04637729e-02 1.75174539e+02] [-1.67870729e-01 9.85807550e-01 -1.70103325e-03 -1.93219536e+01] [-1.06008346e-02 -7.97642158e-05 9.99943806e-01 -1.96182215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.23, Y:-19.33, Z:-1.97 [[ 9.84874152e-01 1.72954965e-01 1.04635134e-02 1.75233819e+02] [-1.72946635e-01 9.84929725e-01 -1.70262772e-03 -1.93276416e+01] [-1.06003033e-02 -1.32755409e-04 9.99943806e-01 -1.96537948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:-19.33, Z:-1.96 [[ 9.84981336e-01 1.72343499e-01 1.04635329e-02 1.75294097e+02] [-1.72335136e-01 9.85036904e-01 -1.70250786e-03 -1.93312491e+01] [-1.06003822e-02 -1.26295902e-04 9.99943806e-01 -1.96176040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:-19.34, Z:-1.96 [[ 9.86726167e-01 1.62055506e-01 1.04635168e-02 1.75356513e+02] [-1.62046562e-01 9.86781644e-01 -1.70260664e-03 -1.93401714e+01] [-1.06011231e-02 -1.55704125e-05 9.99943806e-01 -1.96465782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.42, Y:-19.35, Z:-1.97 [[ 9.88508201e-01 1.50804704e-01 1.04631996e-02 1.75417384e+02] [-1.50795108e-01 9.88563569e-01 -1.70455407e-03 -1.93527023e+01] [-1.06005927e-02 1.07166359e-04 9.99943806e-01 -1.97083840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:175.48, Y:-19.37, Z:-1.97 [[ 9.89488225e-01 1.44234462e-01 1.04629206e-02 1.75477796e+02] [-1.44224481e-01 9.89543525e-01 -1.70626460e-03 -1.93681012e+01] [-1.05996175e-02 1.79319428e-04 9.99943806e-01 -1.97215500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.54, Y:-19.38, Z:-1.97 [[ 9.89727307e-01 1.42584685e-01 1.04626241e-02 1.75539358e+02] [-1.42574592e-01 9.89782586e-01 -1.70808100e-03 -1.93830792e+01] [-1.05992693e-02 1.98830042e-04 9.99943806e-01 -1.96978620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:-19.40, Z:-1.97 [[ 9.89215409e-01 1.46093854e-01 1.04623106e-02 1.75598293e+02] [-1.46083937e-01 9.89270721e-01 -1.70999928e-03 -1.94040779e+01] [-1.05998779e-02 1.63182121e-04 9.99943806e-01 -1.97034509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:175.66, Y:-19.42, Z:-1.97 [[ 9.87727609e-01 1.55835540e-01 1.04620209e-02 1.75658814e+02] [-1.55826150e-01 9.87783013e-01 -1.71176963e-03 -1.94222883e+01] [-1.06009611e-02 6.05056836e-05 9.99943806e-01 -1.96596623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.72, Y:-19.44, Z:-1.96 [[ 9.85308313e-01 1.70464308e-01 1.04617141e-02 1.75719463e+02] [-1.70455721e-01 9.85363847e-01 -1.71364293e-03 -1.94358127e+01] [-1.06007098e-02 -9.47923864e-05 9.99943806e-01 -1.96400248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.065769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.78, Y:-19.45, Z:-1.97 [[ 9.83740693e-01 1.79289730e-01 1.04614474e-02 1.75780066e+02] [-1.79281623e-01 9.83796299e-01 -1.71526931e-03 -1.94453292e+01] [-1.05994634e-02 -1.88165055e-04 9.99943806e-01 -1.96850815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:-19.45, Z:-1.97 [[ 9.82814729e-01 1.84298040e-01 1.04614099e-02 1.75839925e+02] [-1.84290214e-01 9.82870375e-01 -1.71549783e-03 -1.94516568e+01] [-1.05983728e-02 -2.41918937e-04 9.99943806e-01 -1.96885145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.185769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:175.90, Y:-19.46, Z:-1.97 [[ 9.82527707e-01 1.85822129e-01 1.04613914e-02 1.75901035e+02] [-1.85814389e-01 9.82583365e-01 -1.71561053e-03 -1.94580908e+01] [-1.05979876e-02 -2.58242181e-04 9.99943806e-01 -1.96980966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.96, Y:-19.46, Z:-1.97 [[ 9.82269301e-01 1.87183282e-01 1.04613550e-02 1.75960679e+02] [-1.87175617e-01 9.82324969e-01 -1.71583271e-03 -1.94621022e+01] [-1.05976254e-02 -2.72700779e-04 9.99943806e-01 -1.97179588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:-19.47, Z:-1.97 [[ 9.82415825e-01 1.86412732e-01 1.04613731e-02 1.76022428e+02] [-1.86405024e-01 9.82471487e-01 -1.71572263e-03 -1.94669538e+01] [-1.05978333e-02 -2.64499432e-04 9.99943806e-01 -1.97089334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.08, Y:-19.47, Z:-1.97 [[ 9.82570321e-01 1.85596688e-01 1.04610930e-02 1.76083306e+02] [-1.85588915e-01 9.82625974e-01 -1.71742855e-03 -1.94729993e+01] [-1.05980907e-02 -2.53968578e-04 9.99943806e-01 -1.97019299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:-19.48, Z:-1.97 [[ 9.83383602e-01 1.81238123e-01 1.04610531e-02 1.76144296e+02] [-1.81230101e-01 9.83439220e-01 -1.71767161e-03 -1.94790272e+01] [-1.05991175e-02 -2.06727611e-04 9.99943806e-01 -1.96951855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.21, Y:-19.49, Z:-1.97 [[ 9.84396510e-01 1.75653290e-01 1.04610131e-02 1.76205591e+02] [-1.75644950e-01 9.84452081e-01 -1.71791526e-03 -1.94881050e+01] [-1.06001236e-02 -1.46314332e-04 9.99943806e-01 -1.96807845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.27, Y:-19.50, Z:-1.97 [[ 9.84049996e-01 1.77584285e-01 1.04607230e-02 1.76266564e+02] [-1.77576036e-01 9.84105581e-01 -1.71967973e-03 -1.94957072e+01] [-1.05998440e-02 -1.65322888e-04 9.99943806e-01 -1.97187810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:-19.50, Z:-1.97 [[ 9.83782607e-01 1.79059660e-01 1.04604553e-02 1.76326799e+02] [-1.79051476e-01 9.83838201e-01 -1.72130645e-03 -1.95016643e+01] [-1.05996121e-02 -1.79568615e-04 9.99943806e-01 -1.96915181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:-19.51, Z:-1.97 [[ 9.83726778e-01 1.79366122e-01 1.04604553e-02 1.76386124e+02] [-1.79357956e-01 9.83782375e-01 -1.72130645e-03 -1.95084797e+01] [-1.05995556e-02 -1.82870629e-04 9.99943806e-01 -1.97011224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:-19.52, Z:-1.97 [[ 9.84177001e-01 1.76879077e-01 1.04604941e-02 1.76444511e+02] [-1.76870773e-01 9.84232578e-01 -1.72107067e-03 -1.95171504e+01] [-1.05999805e-02 -1.56317505e-04 9.99943806e-01 -1.97156343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-19.53, Z:-1.97 [[ 9.84523040e-01 1.74942740e-01 1.04605133e-02 1.76504774e+02] [-1.74934327e-01 9.84578600e-01 -1.72095414e-03 -1.95258607e+01] [-1.06002660e-02 -1.35583851e-04 9.99943806e-01 -1.96805842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.845769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:-19.53, Z:-1.97 [[ 9.84310879e-01 1.76132536e-01 1.04605133e-02 1.76563675e+02] [-1.76124191e-01 9.84366450e-01 -1.72095414e-03 -1.95339519e+01] [-1.06000943e-02 -1.48395552e-04 9.99943806e-01 -1.97446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.905769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:176.62, Y:-19.54, Z:-1.98 [[ 9.84136238e-01 1.77105738e-01 1.04605520e-02 1.76621643e+02] [-1.77097451e-01 9.84191817e-01 -1.72071849e-03 -1.95426975e+01] [-1.05999388e-02 -1.59115681e-04 9.99943806e-01 -1.97520468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.965769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:-19.55, Z:-1.98 [[ 9.83993356e-01 1.77897865e-01 1.04606096e-02 1.76681196e+02] [-1.77889626e-01 9.84048943e-01 -1.72036830e-03 -1.95526507e+01] [-1.05998017e-02 -1.68002959e-04 9.99943806e-01 -1.97632199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.74, Y:-19.57, Z:-1.99 [[ 9.84914249e-01 1.72726658e-01 1.04606096e-02 1.76740548e+02] [-1.72718127e-01 9.84969791e-01 -1.72036830e-03 -1.95697932e+01] [-1.06005380e-02 -1.12321651e-04 9.99943806e-01 -1.98521953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.80, Y:-19.59, Z:-1.99 [[ 9.85804480e-01 1.67571192e-01 1.04605694e-02 1.76801918e+02] [-1.67562368e-01 9.85859976e-01 -1.72061265e-03 -1.95864059e+01] [-1.06009819e-02 -5.66101285e-05 9.99943806e-01 -1.98694662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:-19.61, Z:-1.99 [[ 9.86513061e-01 1.63347986e-01 1.04602300e-02 1.76860844e+02] [-1.63338902e-01 9.86568515e-01 -1.72267357e-03 -1.96072257e+01] [-1.06011289e-02 -9.12251464e-06 9.99943806e-01 -1.98786969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:-19.62, Z:-1.99 [[ 9.85471198e-01 1.69520230e-01 1.04599133e-02 1.76922400e+02] [-1.69511473e-01 9.85526705e-01 -1.72459450e-03 -1.96232132e+01] [-1.06008776e-02 -7.35371031e-05 9.99943806e-01 -1.98905391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.98, Y:-19.64, Z:-1.99 [[ 9.83957334e-01 1.78097059e-01 1.04595863e-02 1.76983391e+02] [-1.78088765e-01 9.84012912e-01 -1.72657550e-03 -1.96367095e+01] [-1.05998660e-02 -1.63858183e-04 9.99943806e-01 -1.98620125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32576923099998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:-19.65, Z:-1.98 [[ 9.83815808e-01 1.78877220e-01 1.04592833e-02 1.77044896e+02] [-1.78868951e-01 9.83871390e-01 -1.72840887e-03 -1.96483359e+01] [-1.05997626e-02 -1.70405070e-04 9.99943806e-01 -1.98483974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:-19.66, Z:-1.99 [[ 9.84392076e-01 1.75678261e-01 1.04589586e-02 1.77105722e+02] [-1.75669790e-01 9.84447627e-01 -1.73037167e-03 -1.96621960e+01] [-1.06002857e-02 -1.33958900e-04 9.99943806e-01 -1.98558754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:-19.68, Z:-1.99 [[ 9.84628006e-01 1.74351103e-01 1.04586572e-02 1.77167628e+02] [-1.74342538e-01 9.84683543e-01 -1.73219165e-03 -1.96757443e+01] [-1.06004771e-02 -1.17824428e-04 9.99943806e-01 -1.98711373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:-19.69, Z:-1.98 [[ 9.84072707e-01 1.77458530e-01 1.04583382e-02 1.77228091e+02] [-1.77450119e-01 9.84128268e-01 -1.73411563e-03 -1.96909966e+01] [-1.06000798e-02 -1.49337491e-04 9.99943806e-01 -1.98351355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:-19.70, Z:-1.98 [[ 9.82802239e-01 1.84364825e-01 1.04580414e-02 1.77289241e+02] [-1.84356787e-01 9.82857854e-01 -1.73590380e-03 -1.97017522e+01] [-1.05988077e-02 -2.21960754e-04 9.99943806e-01 -1.98171610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.35, Y:-19.71, Z:-1.98 [[ 9.81837127e-01 1.89437303e-01 1.04577481e-02 1.77350619e+02] [-1.89429532e-01 9.81892781e-01 -1.73766860e-03 -1.97132526e+01] [-1.05975666e-02 -2.74898787e-04 9.99943806e-01 -1.98454959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:-19.72, Z:-1.98 [[ 9.81432612e-01 1.91521981e-01 1.04574588e-02 1.77411906e+02] [-1.91514310e-01 9.81488280e-01 -1.73940819e-03 -1.97218198e+01] [-1.05970081e-02 -2.95641071e-04 9.99943806e-01 -1.98052059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.47, Y:-19.73, Z:-1.99 [[ 9.81486079e-01 1.91247795e-01 1.04574206e-02 1.77473929e+02] [-1.91240107e-01 9.81541744e-01 -1.73963740e-03 -1.97276454e+01] [-1.05970967e-02 -2.92448347e-04 9.99943806e-01 -1.98774026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:-19.73, Z:-1.99 [[ 9.81979887e-01 1.88695921e-01 1.04571383e-02 1.77536943e+02] [-1.88688069e-01 9.82035529e-01 -1.74133262e-03 -1.97348979e+01] [-1.05978637e-02 -2.63183640e-04 9.99943806e-01 -1.98962866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-19.74, Z:-1.99 [[ 9.82276609e-01 1.87145177e-01 1.04568157e-02 1.77599345e+02] [-1.87137218e-01 9.82332236e-01 -1.74326791e-03 -1.97433986e+01] [-1.05983113e-02 -2.44488106e-04 9.99943806e-01 -1.98841587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:-19.74, Z:-1.99 [[ 9.81868085e-01 1.89276851e-01 1.04564948e-02 1.77660821e+02] [-1.89268991e-01 9.81923726e-01 -1.74519094e-03 -1.97414513e+01] [-1.05978045e-02 -2.65542930e-04 9.99943806e-01 -1.99026017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:177.72, Y:-19.74, Z:-1.99 [[ 9.81513821e-01 1.91105420e-01 1.04564749e-02 1.77722264e+02] [-1.91097663e-01 9.81569476e-01 -1.74531011e-03 -1.97437632e+01] [-1.05972948e-02 -2.85161919e-04 9.99943806e-01 -1.99174965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:-19.74, Z:-2.00 [[ 9.82636091e-01 1.85248415e-01 1.04564749e-02 1.77783887e+02] [-1.85240326e-01 9.82691699e-01 -1.74531011e-03 -1.97447620e+01] [-1.05988070e-02 -2.21956114e-04 9.99943806e-01 -1.99733335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.84, Y:-19.75, Z:-1.99 [[ 9.84129439e-01 1.77143754e-01 1.04564344e-02 1.77843666e+02] [-1.77135204e-01 9.84184979e-01 -1.74555278e-03 -1.97516236e+01] [-1.06002794e-02 -1.34352756e-04 9.99943806e-01 -1.99231963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.90, Y:-19.76, Z:-1.99 [[ 9.84727134e-01 1.73790490e-01 1.04564142e-02 1.77904384e+02] [-1.73781750e-01 9.84782644e-01 -1.74567339e-03 -1.97575016e+01] [-1.06006767e-02 -9.81220074e-05 9.99943806e-01 -1.98974143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.96, Y:-19.76, Z:-1.99 [[ 9.84740552e-01 1.73714447e-01 1.04563939e-02 1.77963815e+02] [-1.73705702e-01 9.84796061e-01 -1.74579529e-03 -1.97637012e+01] [-1.06006854e-02 -9.71798162e-05 9.99943806e-01 -1.99086511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.02, Y:-19.77, Z:-1.99 [[ 9.85083844e-01 1.71757049e-01 1.04564141e-02 1.78022719e+02] [-1.71748195e-01 9.85139335e-01 -1.74567438e-03 -1.97696092e+01] [-1.06008567e-02 -7.62346121e-05 9.99943806e-01 -1.99461088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:178.08, Y:-19.78, Z:-2.00 [[ 9.85639830e-01 1.68537200e-01 1.04564868e-02 1.78081130e+02] [-1.68528169e-01 9.85695293e-01 -1.74523860e-03 -1.97809306e+01] [-1.06010474e-02 -4.20358945e-05 9.99943806e-01 -1.99548841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.405769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:178.14, Y:-19.79, Z:-2.00 [[ 9.86443447e-01 1.63768091e-01 1.04565233e-02 1.78141145e+02] [-1.63758794e-01 9.86498866e-01 -1.74501986e-03 -1.97923246e+01] [-1.06011269e-02 9.01577006e-06 9.99943806e-01 -1.99622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.20, Y:-19.81, Z:-2.00 [[ 9.86262479e-01 1.64854433e-01 1.04564840e-02 1.78200044e+02] [-1.64845195e-01 9.86317908e-01 -1.74525531e-03 -1.98050179e+01] [-1.06011305e-02 -2.42130659e-06 9.99943806e-01 -1.99847656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.525769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:178.26, Y:-19.82, Z:-2.00 [[ 9.85588209e-01 1.68838809e-01 1.04564840e-02 1.78259816e+02] [-1.68829794e-01 9.85643675e-01 -1.74525531e-03 -1.98168651e+01] [-1.06010341e-02 -4.52629816e-05 9.99943806e-01 -1.99676370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:-19.83, Z:-2.00 [[ 9.85657085e-01 1.68436262e-01 1.04564407e-02 1.78318547e+02] [-1.68427222e-01 9.85712546e-01 -1.74551444e-03 -1.98292392e+01] [-1.06010527e-02 -4.06705924e-05 9.99943806e-01 -1.99740921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:-19.84, Z:-1.99 [[ 9.85955009e-01 1.66683481e-01 1.04564194e-02 1.78379253e+02] [-1.66674342e-01 9.86010455e-01 -1.74564209e-03 -1.98404406e+01] [-1.06011086e-02 -2.16922603e-05 9.99943806e-01 -1.99383619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:-19.85, Z:-1.99 [[ 9.86789637e-01 1.61669050e-01 1.04561485e-02 1.78440201e+02] [-1.61659612e-01 9.86845032e-01 -1.74726347e-03 -1.98522133e+01] [-1.06010766e-02 3.38445771e-05 9.99943806e-01 -1.99359442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:-19.86, Z:-1.99 [[ 9.86613996e-01 1.62737510e-01 1.04558556e-02 1.78501122e+02] [-1.62728113e-01 9.86669399e-01 -1.74901423e-03 -1.98623480e+01] [-1.06011030e-02 2.41402672e-05 9.99943806e-01 -1.99285937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.56, Y:-19.87, Z:-1.99 [[ 9.86242185e-01 1.64975843e-01 1.04558139e-02 1.78560408e+02] [-1.64966569e-01 9.86297608e-01 -1.74926367e-03 -1.98727035e+01] [-1.06011305e-02 3.37888441e-07 9.99943806e-01 -1.99208912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:-19.89, Z:-1.99 [[ 9.86633423e-01 1.62619698e-01 1.04557183e-02 1.78621471e+02] [-1.62610286e-01 9.86688823e-01 -1.74983488e-03 -1.98860525e+01] [-1.06010980e-02 2.62382348e-05 9.99943806e-01 -1.99449179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-19.90, Z:-2.00 [[ 9.87515617e-01 1.57173758e-01 1.04554312e-02 1.78682159e+02] [-1.57164022e-01 9.87570961e-01 -1.75154852e-03 -1.99005372e+01] [-1.06007777e-02 8.64638928e-05 9.99943806e-01 -1.99905862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:-19.92, Z:-2.00 [[ 9.88667790e-01 1.49755434e-01 1.04551446e-02 1.78742996e+02] [-1.49745265e-01 9.88723056e-01 -1.75325778e-03 -1.99193396e+01] [-1.05998024e-02 1.67781098e-04 9.99943806e-01 -1.99810066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-19.94, Z:-2.00 [[ 9.89084286e-01 1.46979498e-01 1.04548068e-02 1.78804072e+02] [-1.46969153e-01 9.89139519e-01 -1.75526980e-03 -1.99383754e+01] [-1.05992512e-02 1.99575685e-04 9.99943806e-01 -2.00117067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-19.95, Z:-2.01 [[ 9.88433739e-01 1.51292592e-01 1.04544687e-02 1.78863328e+02] [-1.51282466e-01 9.88489012e-01 -1.75728109e-03 -1.99519095e+01] [-1.05999911e-02 1.55378111e-04 9.99943806e-01 -2.00523532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:-19.96, Z:-2.01 [[ 9.87702219e-01 1.55996904e-01 1.04543039e-02 1.78925300e+02] [-1.55987030e-01 9.87757539e-01 -1.75826131e-03 -1.99641974e+01] [-1.06006008e-02 1.05902780e-04 9.99943806e-01 -2.00787270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.245769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:178.99, Y:-19.97, Z:-2.00 [[ 9.87365158e-01 1.58116282e-01 1.04539730e-02 1.78985514e+02] [-1.58106507e-01 9.87420495e-01 -1.76022623e-03 -1.99735821e+01] [-1.06007876e-02 8.51448925e-05 9.99943806e-01 -2.00413643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:-19.98, Z:-2.00 [[ 9.88359408e-01 1.51777462e-01 1.04538090e-02 1.79046620e+02] [-1.51767322e-01 9.88414679e-01 -1.76119982e-03 -1.99830244e+01] [-1.06000087e-02 1.54151815e-04 9.99943806e-01 -2.00397450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-20.00, Z:-2.01 [[ 9.89122737e-01 1.46720602e-01 1.04535049e-02 1.79108185e+02] [-1.46710160e-01 9.89177952e-01 -1.76300263e-03 -1.99967762e+01] [-1.05990454e-02 2.10190615e-04 9.99943806e-01 -2.00897311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:-20.02, Z:-2.01 [[ 9.89860376e-01 1.41658627e-01 1.04531811e-02 1.79166960e+02] [-1.41647883e-01 9.89915533e-01 -1.76492031e-03 -2.00184784e+01] [-1.05977826e-02 2.66353707e-04 9.99943806e-01 -2.00711535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:-20.03, Z:-2.01 [[ 9.89569693e-01 1.43675191e-01 1.04528809e-02 1.79228702e+02] [-1.43664540e-01 9.89624868e-01 -1.76669650e-03 -2.00331911e+01] [-1.05982614e-02 2.46560979e-04 9.99943806e-01 -2.00628998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:-20.05, Z:-2.01 [[ 9.88549332e-01 1.50535583e-01 1.04525432e-02 1.79287847e+02] [-1.50525294e-01 9.88604576e-01 -1.76869241e-03 -2.00483007e+01] [-1.05996832e-02 1.75067562e-04 9.99943806e-01 -2.01180341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:-20.07, Z:-2.01 [[ 9.87956258e-01 1.54379996e-01 1.04522700e-02 1.79348360e+02] [-1.54369905e-01 9.88011538e-01 -1.77030561e-03 -2.00670734e+01] [-1.06002631e-02 1.35468584e-04 9.99943806e-01 -2.00594970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:-20.08, Z:-2.00 [[ 9.87530966e-01 1.57077524e-01 1.04519387e-02 1.79408489e+02] [-1.57067563e-01 9.87586269e-01 -1.77225963e-03 -2.00811436e+01] [-1.06005733e-02 1.08500725e-04 9.99943806e-01 -2.00149783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:-20.10, Z:-2.00 [[ 9.87621835e-01 1.56505182e-01 1.04517335e-02 1.79469978e+02] [-1.56495176e-01 9.87677131e-01 -1.77346853e-03 -2.00973899e+01] [-1.06004952e-02 1.15870363e-04 9.99943806e-01 -2.00101793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:-20.12, Z:-2.01 [[ 9.87994373e-01 1.54135938e-01 1.04513922e-02 1.79528372e+02] [-1.54125779e-01 9.88049640e-01 -1.77547771e-03 -2.01161234e+01] [-1.06001592e-02 1.43333026e-04 9.99943806e-01 -2.01149498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.59, Y:-20.14, Z:-2.01 [[ 9.87931544e-01 1.54538147e-01 1.04511187e-02 1.79587808e+02] [-1.54527993e-01 9.87986812e-01 -1.77708613e-03 -2.01370604e+01] [-1.06001951e-02 1.40649049e-04 9.99943806e-01 -2.01345098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:-20.15, Z:-2.01 [[ 9.86787705e-01 1.61681185e-01 1.04508407e-02 1.79648991e+02] [-1.61671414e-01 9.86843042e-01 -1.77871940e-03 -2.01533152e+01] [-1.06009249e-02 6.56162373e-05 9.99943806e-01 -2.01193293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:-20.17, Z:-2.02 [[ 9.85687268e-01 1.68259910e-01 1.04505111e-02 1.79708425e+02] [-1.68250487e-01 9.85742666e-01 -1.78065385e-03 -2.01661955e+01] [-1.06011274e-02 -3.13576616e-06 9.99943806e-01 -2.01659144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.77, Y:-20.18, Z:-2.01 [[ 9.84451411e-01 1.75345980e-01 1.04502467e-02 1.79769214e+02] [-1.75336939e-01 9.84506872e-01 -1.78220463e-03 -2.01752838e+01] [-1.06008421e-02 -7.78204059e-05 9.99943806e-01 -2.01497845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:-20.18, Z:-2.01 [[ 9.83055452e-01 1.83010314e-01 1.04499955e-02 1.79831184e+02] [-1.83001691e-01 9.83110980e-01 -1.78367583e-03 -2.01794198e+01] [-1.05999364e-02 -1.58914606e-04 9.99943806e-01 -2.01052470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.89, Y:-20.18, Z:-2.02 [[ 9.81089772e-01 1.93270956e-01 1.04497194e-02 1.79894633e+02] [-1.93262896e-01 9.81145385e-01 -1.78529193e-03 -2.01791241e+01] [-1.05977391e-02 -2.68011394e-04 9.99943806e-01 -2.01598933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.96, Y:-20.18, Z:-2.02 [[ 9.80538944e-01 1.96046398e-01 1.04494070e-02 1.79958799e+02] [-1.96038476e-01 9.80594576e-01 -1.78711899e-03 -2.01790063e+01] [-1.05969900e-02 -2.96146043e-04 9.99943806e-01 -2.01792255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.02, Y:-20.18, Z:-2.02 [[ 9.81041210e-01 1.93517340e-01 1.04490797e-02 1.80020743e+02] [-1.93509255e-01 9.81096819e-01 -1.78903028e-03 -2.01779800e+01] [-1.05977673e-02 -2.66881199e-04 9.99943806e-01 -2.02393958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-20.18, Z:-2.02 [[ 9.81238836e-01 1.92512778e-01 1.04488167e-02 1.80084552e+02] [-1.92504619e-01 9.81294434e-01 -1.79056520e-03 -2.01793337e+01] [-1.05980723e-02 -2.54473358e-04 9.99943806e-01 -2.02183159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.15, Y:-20.17, Z:-2.02 [[ 9.82076591e-01 1.88192452e-01 1.04484925e-02 1.80147038e+02] [-1.88184028e-01 9.82132149e-01 -1.79245492e-03 -2.01742023e+01] [-1.05991269e-02 -2.05911384e-04 9.99943806e-01 -2.02427944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:-20.18, Z:-2.03 [[ 9.83042391e-01 1.83080554e-01 1.04483316e-02 1.80209150e+02] [-1.83071831e-01 9.83097904e-01 -1.79339216e-03 -2.01816972e+01] [-1.06000682e-02 -1.49814688e-04 9.99943806e-01 -2.02589978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:-20.18, Z:-2.02 [[ 9.84286696e-01 1.76268368e-01 1.04480521e-02 1.80270290e+02] [-1.76259244e-01 9.84342144e-01 -1.79501922e-03 -2.01844224e+01] [-1.06008631e-02 -7.47522256e-05 9.99943806e-01 -2.02201485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.33, Y:-20.19, Z:-2.02 [[ 9.85076670e-01 1.71798709e-01 1.04478331e-02 1.80330220e+02] [-1.71789320e-01 9.85132074e-01 -1.79629310e-03 -2.01907925e+01] [-1.06010963e-02 -2.53397123e-05 9.99943806e-01 -2.01760745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.39, Y:-20.20, Z:-2.02 [[ 9.85341887e-01 1.70270986e-01 1.04478134e-02 1.80391064e+02] [-1.70261509e-01 9.85397276e-01 -1.79640727e-03 -2.01953038e+01] [-1.06011229e-02 -8.78515724e-06 9.99943806e-01 -2.02013190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:-20.20, Z:-2.02 [[ 9.85077533e-01 1.71793765e-01 1.04478134e-02 1.80449672e+02] [-1.71784374e-01 9.85132936e-01 -1.79640727e-03 -2.02012607e+01] [-1.06010967e-02 -2.51706498e-05 9.99943806e-01 -2.01803102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:-20.21, Z:-2.02 [[ 9.84869778e-01 1.72980812e-01 1.04478714e-02 1.80508841e+02] [-1.72971492e-01 9.84925194e-01 -1.79607034e-03 -2.02098985e+01] [-1.06010574e-02 -3.82884967e-05 9.99943806e-01 -2.01736678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-20.21, Z:-2.02 [[ 9.84133137e-01 1.77123715e-01 1.04479096e-02 1.80567685e+02] [-1.77114631e-01 9.84188591e-01 -1.79584780e-03 -2.02129255e+01] [-1.06008007e-02 -8.31243222e-05 9.99943806e-01 -2.01733760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:-20.22, Z:-2.02 [[ 9.83388861e-01 1.81210341e-01 1.04479856e-02 1.80625268e+02] [-1.81201492e-01 9.83444353e-01 -1.79540548e-03 -2.02196079e+01] [-1.06003585e-02 -1.27608835e-04 9.99943806e-01 -2.02076587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.68, Y:-20.22, Z:-2.02 [[ 9.82843979e-01 1.84142746e-01 1.04480795e-02 1.80684921e+02] [-1.84134068e-01 9.82899498e-01 -1.79485930e-03 -2.02248249e+01] [-1.05999224e-02 -1.59780721e-04 9.99943806e-01 -2.01839872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.74, Y:-20.23, Z:-2.01 [[ 9.82346248e-01 1.86779777e-01 1.04481216e-02 1.80742607e+02] [-1.86771250e-01 9.82401791e-01 -1.79461371e-03 -2.02286864e+01] [-1.05994510e-02 -1.88476694e-04 9.99943806e-01 -2.01088406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.80, Y:-20.23, Z:-2.01 [[ 9.81773877e-01 1.89765353e-01 1.04482258e-02 1.80800897e+02] [-1.89757002e-01 9.81829446e-01 -1.79400695e-03 -2.02279907e+01] [-1.05988161e-02 -2.21314851e-04 9.99943806e-01 -2.01477606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.86, Y:-20.23, Z:-2.02 [[ 9.82468103e-01 1.86137741e-01 1.04483245e-02 1.80860610e+02] [-1.86129191e-01 9.82523642e-01 -1.79343182e-03 -2.02284977e+01] [-1.05995512e-02 -1.82748635e-04 9.99943806e-01 -2.01749026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:-20.23, Z:-2.02 [[ 9.83188002e-01 1.82296967e-01 1.04484024e-02 1.80919059e+02] [-1.82288204e-01 9.83243508e-01 -1.79297787e-03 -2.02324367e+01] [-1.06001783e-02 -1.41786194e-04 9.99943806e-01 -2.01872189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:-20.23, Z:-2.02 [[ 9.84099981e-01 1.77307801e-01 1.04485188e-02 1.80978492e+02] [-1.77298764e-01 9.84155443e-01 -1.79229934e-03 -2.02325438e+01] [-1.06007553e-02 -8.87077273e-05 9.99943806e-01 -2.02382998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.04, Y:-20.24, Z:-2.02 [[ 9.84742592e-01 1.73703352e-01 1.04486049e-02 1.81036079e+02] [-1.73694118e-01 9.84798021e-01 -1.79179749e-03 -2.02377969e+01] [-1.06010067e-02 -5.04019040e-05 9.99943806e-01 -2.02257032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.09, Y:-20.25, Z:-2.02 [[ 9.85159234e-01 1.71324568e-01 1.04487117e-02 1.81094071e+02] [-1.71315206e-01 9.85214642e-01 -1.79117472e-03 -2.02454065e+01] [-1.06010960e-02 -2.54308843e-05 9.99943806e-01 -2.02332424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:-20.25, Z:-2.02 [[ 9.85601816e-01 1.68759840e-01 1.04487959e-02 1.81152820e+02] [-1.68750340e-01 9.85657200e-01 -1.79068289e-03 -2.02535203e+01] [-1.06011263e-02 1.66244229e-06 9.99943806e-01 -2.02431318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.21, Y:-20.26, Z:-2.03 [[ 9.85608825e-01 1.68718894e-01 1.04488842e-02 1.81210590e+02] [-1.68709397e-01 9.85664210e-01 -1.79016761e-03 -2.02632079e+01] [-1.06011263e-02 1.58004170e-06 9.99943806e-01 -2.02624573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:-20.27, Z:-2.02 [[ 9.85030629e-01 1.72062428e-01 1.04489718e-02 1.81268373e+02] [-1.72053124e-01 9.85086047e-01 -1.78965637e-03 -2.02677201e+01] [-1.06010689e-02 -3.49118996e-05 9.99943806e-01 -2.02178465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:-20.27, Z:-2.02 [[ 9.84566213e-01 1.74700282e-01 1.04490797e-02 1.81325830e+02] [-1.74691133e-01 9.84621657e-01 -1.78902588e-03 -2.02746964e+01] [-1.06009335e-02 -6.39471434e-05 9.99943806e-01 -2.02380482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.38, Y:-20.28, Z:-2.02 [[ 9.84727634e-01 1.73788095e-01 1.04492068e-02 1.81384620e+02] [-1.73778902e-01 9.84783070e-01 -1.78828347e-03 -2.02757768e+01] [-1.06009843e-02 -5.48795357e-05 9.99943806e-01 -2.01971977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:-20.28, Z:-2.02 [[ 9.84844750e-01 1.73123166e-01 1.04493335e-02 1.81441052e+02] [-1.73113944e-01 9.84900181e-01 -1.78754260e-03 -2.02815159e+01] [-1.06010155e-02 -4.84733956e-05 9.99943806e-01 -2.01973126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.50, Y:-20.28, Z:-2.02 [[ 9.84681848e-01 1.74047310e-01 1.04494790e-02 1.81499917e+02] [-1.74038149e-01 9.84737290e-01 -1.78669155e-03 -2.02821835e+01] [-1.06009605e-02 -5.92852546e-05 9.99943806e-01 -2.02499244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:-20.29, Z:-2.03 [[ 9.84855118e-01 1.73064160e-01 1.04495819e-02 1.81557808e+02] [-1.73054951e-01 9.84910551e-01 -1.78608971e-03 -2.02883362e+01] [-1.06010116e-02 -4.93122862e-05 9.99943806e-01 -2.02599626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:-20.30, Z:-2.03 [[ 9.85611896e-01 1.68700901e-01 1.04497042e-02 1.81614191e+02] [-1.68691453e-01 9.85667290e-01 -1.78537401e-03 -2.02954470e+01] [-1.06011258e-02 -3.08991889e-06 9.99943806e-01 -2.02805578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:-20.31, Z:-2.03 [[ 9.85524148e-01 1.69212751e-01 1.04498456e-02 1.81671995e+02] [-1.69203341e-01 9.85579548e-01 -1.78454620e-03 -2.03050564e+01] [-1.06011220e-02 -9.43540860e-06 9.99943806e-01 -2.02582987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.73, Y:-20.31, Z:-2.03 [[ 9.84558401e-01 1.74744251e-01 1.04499303e-02 1.81731261e+02] [-1.74735157e-01 9.84613854e-01 -1.78404989e-03 -2.03097753e+01] [-1.06008986e-02 -6.94689051e-05 9.99943806e-01 -2.02920163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.79, Y:-20.32, Z:-2.03 [[ 9.84165480e-01 1.76943788e-01 1.04500162e-02 1.81788818e+02] [-1.76934824e-01 9.84220954e-01 -1.78354670e-03 -2.03175402e+01] [-1.06007124e-02 -9.36666824e-05 9.99943806e-01 -2.03462545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.85, Y:-20.32, Z:-2.04 [[ 9.84429228e-01 1.75470484e-01 1.04501232e-02 1.81847704e+02] [-1.75461443e-01 9.84484689e-01 -1.78291944e-03 -2.03215461e+01] [-1.06008360e-02 -7.84356864e-05 9.99943806e-01 -2.03859544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.91, Y:-20.33, Z:-2.04 [[ 9.84285850e-01 1.76272965e-01 1.04502076e-02 1.81906833e+02] [-1.76263974e-01 9.84341320e-01 -1.78242443e-03 -2.03267410e+01] [-1.06007644e-02 -8.75799796e-05 9.99943806e-01 -2.03683299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.96, Y:-20.33, Z:-2.03 [[ 9.84175269e-01 1.76889320e-01 1.04502960e-02 1.81964958e+02] [-1.76880370e-01 9.84230745e-01 -1.78190616e-03 -2.03279767e+01] [-1.06007028e-02 -9.47442532e-05 9.99943806e-01 -2.03230462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.02, Y:-20.33, Z:-2.04 [[ 9.85189426e-01 1.71150765e-01 1.04504054e-02 1.82023068e+02] [-1.71141498e-01 9.85244850e-01 -1.78126435e-03 -2.03342502e+01] [-1.06010729e-02 -3.36152351e-05 9.99943806e-01 -2.04156643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:-20.34, Z:-2.04 [[ 9.86648010e-01 1.62531507e-01 1.04504898e-02 1.82079879e+02] [-1.62521762e-01 9.86703352e-01 -1.78076878e-03 -2.03419875e+01] [-1.06009644e-02 5.85599462e-05 9.99943806e-01 -2.04203088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.14, Y:-20.35, Z:-2.04 [[ 9.87381511e-01 1.58014352e-01 1.04506353e-02 1.82138107e+02] [-1.58004362e-01 9.87436810e-01 -1.77991460e-03 -2.03499327e+01] [-1.06005941e-02 1.06208794e-04 9.99943806e-01 -2.04034752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.20, Y:-20.36, Z:-2.04 [[ 9.86887188e-01 1.61072841e-01 1.04507199e-02 1.82195224e+02] [-1.61063028e-01 9.86942518e-01 -1.77941794e-03 -2.03591219e+01] [-1.06008757e-02 7.28601727e-05 9.99943806e-01 -2.04237326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:-20.37, Z:-2.03 [[ 9.86720751e-01 1.62089297e-01 1.04508241e-02 1.82253406e+02] [-1.62079548e-01 9.86776092e-01 -1.77880542e-03 -2.03707753e+01] [-1.06009487e-02 6.13193688e-05 9.99943806e-01 -2.03485317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:-20.38, Z:-2.04 [[ 9.86837528e-01 1.61376802e-01 1.04509071e-02 1.82311254e+02] [-1.61367018e-01 9.86892863e-01 -1.77831788e-03 -2.03823545e+01] [-1.06009049e-02 6.84790996e-05 9.99943806e-01 -2.03981843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:-20.39, Z:-2.04 [[ 9.86933625e-01 1.60788047e-01 1.04509908e-02 1.82368299e+02] [-1.60778235e-01 9.86988956e-01 -1.77782584e-03 -2.03927516e+01] [-1.06008656e-02 7.43042508e-05 9.99943806e-01 -2.03952156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:-20.41, Z:-2.04 [[ 9.86756486e-01 1.61871594e-01 1.04510939e-02 1.82424529e+02] [-1.61861849e-01 9.86811828e-01 -1.77721966e-03 -2.04057778e+01] [-1.06009444e-02 6.20496390e-05 9.99943806e-01 -2.03791776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-20.42, Z:-2.04 [[ 9.86045265e-01 1.66149053e-01 1.04512202e-02 1.82480450e+02] [-1.66139556e-01 9.86100650e-01 -1.77647643e-03 -2.04167525e+01] [-1.06011149e-02 1.53250841e-05 9.99943806e-01 -2.03882572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:-20.42, Z:-2.03 [[ 9.85902841e-01 1.66992083e-01 1.04514324e-02 1.82538516e+02] [-1.66982647e-01 9.85958237e-01 -1.77522735e-03 -2.04247188e+01] [-1.06011247e-02 4.99384184e-06 9.99943806e-01 -2.03486897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:-20.43, Z:-2.04 [[ 9.86132875e-01 1.65628252e-01 1.04515169e-02 1.82595866e+02] [-1.65618745e-01 9.86188259e-01 -1.77472975e-03 -2.04346747e+01] [-1.06011086e-02 1.91522460e-05 9.99943806e-01 -2.03977912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.66, Y:-20.44, Z:-2.04 [[ 9.86361444e-01 1.64261574e-01 1.04516214e-02 1.82655033e+02] [-1.64251997e-01 9.86416816e-01 -1.77411370e-03 -2.04407160e+01] [-1.06010739e-02 3.32176644e-05 9.99943806e-01 -2.03734288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.71, Y:-20.44, Z:-2.03 [[ 9.86061009e-01 1.66055560e-01 1.04517045e-02 1.82713674e+02] [-1.66046088e-01 9.86116398e-01 -1.77362411e-03 -2.04447656e+01] [-1.06011174e-02 1.34369258e-05 9.99943806e-01 -2.03395826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:-20.45, Z:-2.04 [[ 9.86337159e-01 1.64407329e-01 1.04517892e-02 1.82770395e+02] [-1.64397770e-01 9.86392533e-01 -1.77312514e-03 -2.04492789e+01] [-1.06010816e-02 3.06483755e-05 9.99943806e-01 -2.03912807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:-20.46, Z:-2.04 [[ 9.87239970e-01 1.58896181e-01 1.04520169e-02 1.82828595e+02] [-1.58886327e-01 9.87295293e-01 -1.77178172e-03 -2.04552503e+01] [-1.06007564e-02 8.84911530e-05 9.99943806e-01 -2.04118336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:-20.46, Z:-2.04 [[ 9.88180681e-01 1.52936900e-01 1.04521417e-02 1.82885577e+02] [-1.52926720e-01 9.88235944e-01 -1.77104530e-03 -2.04620888e+01] [-1.06000403e-02 1.51701005e-04 9.99943806e-01 -2.04106518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.94, Y:-20.47, Z:-2.04 [[ 9.88743931e-01 1.49252101e-01 1.04522854e-02 1.82943087e+02] [-1.49241724e-01 9.88799158e-01 -1.77019698e-03 -2.04716690e+01] [-1.05994166e-02 1.90354434e-04 9.99943806e-01 -2.03927958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:-20.48, Z:-2.04 [[ 9.89511473e-01 1.44075651e-01 1.04523863e-02 1.82999614e+02] [-1.44064992e-01 9.89566646e-01 -1.76960076e-03 -2.04821295e+01] [-1.05982892e-02 2.45217301e-04 9.99943806e-01 -2.04155255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:183.06, Y:-20.49, Z:-2.04 [[ 9.89932588e-01 1.41153167e-01 1.04525069e-02 1.83057848e+02] [-1.41142352e-01 9.89987731e-01 -1.76888821e-03 -2.04919290e+01] [-1.05975377e-02 2.75788675e-04 9.99943806e-01 -2.04375456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.11, Y:-20.50, Z:-2.04 [[ 9.90062662e-01 1.40237903e-01 1.04525863e-02 1.83114112e+02] [-1.40227042e-01 9.90117796e-01 -1.76841898e-03 -2.05007836e+01] [-1.05972910e-02 2.85110351e-04 9.99943806e-01 -2.04279742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:-20.51, Z:-2.04 [[ 9.89705549e-01 1.42736356e-01 1.04527233e-02 1.83171611e+02] [-1.42725643e-01 9.89760712e-01 -1.76760846e-03 -2.05093173e+01] [-1.05979969e-02 2.57540243e-04 9.99943806e-01 -2.04060979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.23, Y:-20.52, Z:-2.04 [[ 9.89398796e-01 1.44847367e-01 1.04528406e-02 1.83229515e+02] [-1.44836780e-01 9.89453983e-01 -1.76691452e-03 -2.05193166e+01] [-1.05985377e-02 2.34227321e-04 9.99943806e-01 -2.03903170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.29, Y:-20.53, Z:-2.04 [[ 9.88986732e-01 1.47634619e-01 1.04529222e-02 1.83287077e+02] [-1.47624192e-01 9.89041949e-01 -1.76643204e-03 -2.05307425e+01] [-1.05991650e-02 2.03873664e-04 9.99943806e-01 -2.04333837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.34, Y:-20.54, Z:-2.04 [[ 9.88805034e-01 1.48846697e-01 1.04530046e-02 1.83344774e+02] [-1.48836342e-01 9.88860265e-01 -1.76594396e-03 -2.05430206e+01] [-1.05994159e-02 1.90387306e-04 9.99943806e-01 -2.04101457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:-20.55, Z:-2.05 [[ 9.88468318e-01 1.51066599e-01 1.04530871e-02 1.83401868e+02] [-1.51056374e-01 9.88523573e-01 -1.76545562e-03 -2.05530165e+01] [-1.05998244e-02 1.66091508e-04 9.99943806e-01 -2.04760221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:-20.56, Z:-2.04 [[ 9.87918133e-01 1.54623718e-01 1.04531892e-02 1.83460666e+02] [-1.54613699e-01 9.87973426e-01 -1.76485075e-03 -2.05590163e+01] [-1.06003610e-02 1.27321807e-04 9.99943806e-01 -2.04153184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:-20.57, Z:-2.05 [[ 9.88252210e-01 1.52473928e-01 1.04532701e-02 1.83517842e+02] [-1.52463793e-01 9.88307482e-01 -1.76437137e-03 -2.05676724e+01] [-1.06000657e-02 1.49898700e-04 9.99943806e-01 -2.04648346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:-20.58, Z:-2.05 [[ 9.89841501e-01 1.41790444e-01 1.04533703e-02 1.83575135e+02] [-1.41779719e-01 9.89896661e-01 -1.76377768e-03 -2.05832077e+01] [-1.05978432e-02 2.63784440e-04 9.99943806e-01 -2.05219825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:-20.60, Z:-2.05 [[ 9.91509991e-01 1.29609659e-01 1.04534499e-02 1.83631166e+02] [-1.29598262e-01 9.91565016e-01 -1.76330602e-03 -2.06012612e+01] [-1.05938167e-02 3.93586602e-04 9.99943806e-01 -2.05165054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:-20.62, Z:-2.05 [[ 9.91805990e-01 1.27324790e-01 1.04535474e-02 1.83686836e+02] [-1.27313272e-01 9.91860990e-01 -1.76272738e-03 -2.06247448e+01] [-1.05929048e-02 4.17408248e-04 9.99943806e-01 -2.05255967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-20.65, Z:-2.05 [[ 9.90855080e-01 1.34524842e-01 1.04536244e-02 1.83742510e+02] [-1.34513728e-01 9.90910163e-01 -1.76227105e-03 -2.06482009e+01] [-1.05956719e-02 3.39999237e-04 9.99943806e-01 -2.05431046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.80, Y:-20.67, Z:-2.05 [[ 9.89996195e-01 1.40706266e-01 1.04537013e-02 1.83798333e+02] [-1.40695501e-01 9.90051348e-01 -1.76181445e-03 -2.06703598e+01] [-1.05975994e-02 2.73400859e-04 9.99943806e-01 -2.05440260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.85, Y:-20.69, Z:-2.05 [[ 9.89120341e-01 1.46736732e-01 1.04537806e-02 1.83854505e+02] [-1.46726308e-01 9.89175560e-01 -1.76134384e-03 -2.06888554e+01] [-1.05990781e-02 2.08336377e-04 9.99943806e-01 -2.04975192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.91, Y:-20.70, Z:-2.05 [[ 9.88040289e-01 1.53841168e-01 1.04538596e-02 1.83912004e+02] [-1.53831146e-01 9.88095581e-01 -1.76087496e-03 -2.07028910e+01] [-1.06003075e-02 1.31686196e-04 9.99943806e-01 -2.04832672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.97, Y:-20.71, Z:-2.05 [[ 9.86878392e-01 1.61126515e-01 1.04539393e-02 1.83970583e+02] [-1.61116907e-01 9.86933758e-01 -1.76040164e-03 -2.07123078e+01] [-1.06009930e-02 5.29959743e-05 9.99943806e-01 -2.04905394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:-20.72, Z:-2.05 [[ 9.86673786e-01 1.62374734e-01 1.04540047e-02 1.84028374e+02] [-1.62365199e-01 9.86729165e-01 -1.76001309e-03 -2.07192739e+01] [-1.06010530e-02 3.91922139e-05 9.99943806e-01 -2.04844633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-20.73, Z:-2.05 [[ 9.87233817e-01 1.58934266e-01 1.04541222e-02 1.84087452e+02] [-1.58924547e-01 9.87289164e-01 -1.75931518e-03 -2.07257723e+01] [-1.06008570e-02 7.54388185e-05 9.99943806e-01 -2.04800159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:-20.74, Z:-2.05 [[ 9.87548478e-01 1.56967236e-01 1.04541848e-02 1.84145292e+02] [-1.56957410e-01 9.87603806e-01 -1.75894294e-03 -2.07351804e+01] [-1.06006891e-02 9.61796489e-05 9.99943806e-01 -2.05104662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.20, Y:-20.74, Z:-2.05 [[ 9.88531876e-01 1.50650050e-01 1.04542670e-02 1.84202248e+02] [-1.50639875e-01 9.88587141e-01 -1.75845454e-03 -2.07446278e+01] [-1.05998651e-02 1.63458892e-04 9.99943806e-01 -2.04785059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:-20.75, Z:-2.05 [[ 9.88887577e-01 1.48297224e-01 1.04543784e-02 1.84260655e+02] [-1.48286925e-01 9.88942818e-01 -1.75779192e-03 -2.07549419e+01] [-1.05994581e-02 1.88010968e-04 9.99943806e-01 -2.04768353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.32, Y:-20.77, Z:-2.05 [[ 9.89352157e-01 1.45165471e-01 1.04544604e-02 1.84318498e+02] [-1.45155002e-01 9.89407367e-01 -1.75730364e-03 -2.07677170e+01] [-1.05988200e-02 2.21074924e-04 9.99943806e-01 -2.05317649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.38, Y:-20.78, Z:-2.05 [[ 9.90272226e-01 1.38750212e-01 1.04545417e-02 1.84375196e+02] [-1.38739391e-01 9.90327368e-01 -1.75681997e-03 -2.07840582e+01] [-1.05971779e-02 2.89273280e-04 9.99943806e-01 -2.05498366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:-20.81, Z:-2.07 [[ 9.91473022e-01 1.29892065e-01 1.04545825e-02 1.84432694e+02] [-1.29880754e-01 9.91528065e-01 -1.75657722e-03 -2.08071421e+01] [-1.05941774e-02 3.83749865e-04 9.99943806e-01 -2.06594651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:-20.83, Z:-2.07 [[ 9.92005914e-01 1.25757574e-01 1.04545825e-02 1.84491321e+02] [-1.25746033e-01 9.92060910e-01 -1.75657722e-03 -2.08255299e+01] [-1.05924855e-02 4.27912710e-04 9.99943806e-01 -2.06724509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:-20.85, Z:-2.06 [[ 9.91498161e-01 1.29700034e-01 1.04545825e-02 1.84548561e+02] [-1.29688713e-01 9.91553202e-01 -1.75657722e-03 -2.08514789e+01] [-1.05941029e-02 3.85801736e-04 9.99943806e-01 -2.06383400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.61, Y:-20.87, Z:-2.07 [[ 9.91072392e-01 1.32914317e-01 1.04545624e-02 1.84608188e+02] [-1.32903173e-01 9.91127469e-01 -1.75669707e-03 -2.08692329e+01] [-1.05952941e-02 3.51569456e-04 9.99943806e-01 -2.06503974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:-20.89, Z:-2.06 [[ 9.90750310e-01 1.35294220e-01 1.04545215e-02 1.84666597e+02] [-1.35283206e-01 9.90805413e-01 -1.75694013e-03 -2.08908934e+01] [-1.05961004e-02 3.26367789e-04 9.99943806e-01 -2.06321829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:-20.91, Z:-2.06 [[ 9.90408437e-01 1.37774588e-01 1.04542573e-02 1.84727050e+02] [-1.37763695e-01 9.90463564e-01 -1.75851068e-03 -2.09092360e+01] [-1.05968391e-02 3.01426695e-04 9.99943806e-01 -2.05505010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:-20.93, Z:-2.06 [[ 9.89386363e-01 1.44932186e-01 1.04539751e-02 1.84787202e+02] [-1.44921674e-01 9.89441565e-01 -1.76018685e-03 -2.09268915e+01] [-1.05987052e-02 2.26497293e-04 9.99943806e-01 -2.05533806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.245769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:184.85, Y:-20.94, Z:-2.05 [[ 9.88325138e-01 1.52000466e-01 1.04536857e-02 1.84847900e+02] [-1.51990331e-01 9.88380410e-01 -1.76190404e-03 -2.09376624e+01] [-1.06000284e-02 1.52474906e-04 9.99943806e-01 -2.05470754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:184.91, Y:-20.95, Z:-2.05 [[ 9.87142145e-01 1.59502699e-01 1.04534183e-02 1.84908292e+02] [-1.59492967e-01 9.87197490e-01 -1.76348911e-03 -2.09466877e+01] [-1.06008696e-02 7.35677182e-05 9.99943806e-01 -2.05367257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:184.97, Y:-20.96, Z:-2.06 [[ 9.87162053e-01 1.59379448e-01 1.04533772e-02 1.84968871e+02] [-1.59369706e-01 9.87217395e-01 -1.76373249e-03 -2.09551174e+01] [-1.06008585e-02 7.51381242e-05 9.99943806e-01 -2.05701802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:-20.97, Z:-2.06 [[ 9.88178361e-01 1.52951806e-01 1.04533363e-02 1.85030575e+02] [-1.52941702e-01 9.88233639e-01 -1.76397522e-03 -2.09655445e+01] [-1.06001417e-02 1.44371109e-04 9.99943806e-01 -2.06233610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:-20.97, Z:-2.07 [[ 9.89042010e-01 1.47263833e-01 1.04530491e-02 1.85090752e+02] [-1.47253394e-01 9.89097225e-01 -1.76567529e-03 -2.09749141e+01] [-1.05991020e-02 2.07080086e-04 9.99943806e-01 -2.06683546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:-20.98, Z:-2.06 [[ 9.88792408e-01 1.48930562e-01 1.04527845e-02 1.85151619e+02] [-1.48920199e-01 9.88847638e-01 -1.76724031e-03 -2.09843914e+01] [-1.05994074e-02 1.90803052e-04 9.99943806e-01 -2.06332277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:-20.99, Z:-2.06 [[ 9.88645816e-01 1.49900603e-01 1.04527443e-02 1.85212720e+02] [-1.49890291e-01 9.88701055e-01 -1.76747792e-03 -2.09932394e+01] [-1.05995853e-02 1.80644760e-04 9.99943806e-01 -2.06409677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66576923099998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:-21.01, Z:-2.07 [[ 9.89467488e-01 1.44377394e-01 1.04527044e-02 1.85274199e+02] [-1.44366772e-01 9.89522668e-01 -1.76771389e-03 -2.10058172e+01] [-1.05984059e-02 2.40072233e-04 9.99943806e-01 -2.06932292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:-21.02, Z:-2.07 [[ 9.90596143e-01 1.36418581e-01 1.04523770e-02 1.85335385e+02] [-1.36407495e-01 9.90651232e-01 -1.76964774e-03 -2.10182223e+01] [-1.05960730e-02 3.27223663e-04 9.99943807e-01 -2.07072283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.785769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:185.40, Y:-21.03, Z:-2.07 [[ 9.91225944e-01 1.31764495e-01 1.04520746e-02 1.85397193e+02] [-1.31753132e-01 9.91280976e-01 -1.77143205e-03 -2.10328973e+01] [-1.05943546e-02 3.78795845e-04 9.99943807e-01 -2.07010313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.845769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:-21.05, Z:-2.07 [[ 9.91269224e-01 1.31438526e-01 1.04517558e-02 1.85458564e+02] [-1.31427125e-01 9.91324249e-01 -1.77331101e-03 -2.10480180e+01] [-1.05941604e-02 3.84184411e-04 9.99943807e-01 -2.06729610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.905769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:185.52, Y:-21.07, Z:-2.08 [[ 9.91255518e-01 1.31541880e-01 1.04514213e-02 1.85517775e+02] [-1.31530463e-01 9.91310539e-01 -1.77528010e-03 -2.10697485e+01] [-1.05941278e-02 3.85075909e-04 9.99943807e-01 -2.07551548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.965769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.58, Y:-21.09, Z:-2.08 [[ 9.91278498e-01 1.31368615e-01 1.04511308e-02 1.85576468e+02] [-1.31357171e-01 9.91333514e-01 -1.77698896e-03 -2.10920773e+01] [-1.05939968e-02 3.88659980e-04 9.99943807e-01 -2.08115078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.025769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:185.64, Y:-21.11, Z:-2.08 [[ 9.91016186e-01 1.33333034e-01 1.04508417e-02 1.85636633e+02] [-1.33321681e-01 9.91071221e-01 -1.77868766e-03 -2.11107292e+01] [-1.05946862e-02 3.69384481e-04 9.99943807e-01 -2.07662698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.70, Y:-21.13, Z:-2.07 [[ 9.90263257e-01 1.38814512e-01 1.04505534e-02 1.85695169e+02] [-1.38803446e-01 9.90318350e-01 -1.78037982e-03 -2.11325794e+01] [-1.05965173e-02 3.12471895e-04 9.99943807e-01 -2.06835266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:-21.15, Z:-2.07 [[ 9.89407677e-01 1.44786882e-01 1.04502866e-02 1.85755833e+02] [-1.44776132e-01 9.89462832e-01 -1.78194425e-03 -2.11529240e+01] [-1.05981724e-02 2.50117244e-04 9.99943807e-01 -2.06791236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:185.82, Y:-21.17, Z:-2.07 [[ 9.88790164e-01 1.48945665e-01 1.04499431e-02 1.85815095e+02] [-1.48935126e-01 9.88845360e-01 -1.78395651e-03 -2.11682371e+01] [-1.05990903e-02 2.07595054e-04 9.99943807e-01 -2.07310037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:185.88, Y:-21.18, Z:-2.08 [[ 9.88605417e-01 1.50167020e-01 1.04496660e-02 1.85875503e+02] [-1.50156532e-01 9.88660623e-01 -1.78557813e-03 -2.11815950e+01] [-1.05993083e-02 1.96146602e-04 9.99943807e-01 -2.07624049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.94, Y:-21.20, Z:-2.07 [[ 9.88578500e-01 1.50344138e-01 1.04493527e-02 1.85936409e+02] [-1.50333640e-01 9.88633705e-01 -1.78740975e-03 -2.11951813e+01] [-1.05993089e-02 1.96105625e-04 9.99943807e-01 -2.07067820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:-21.21, Z:-2.07 [[ 9.88009569e-01 1.54038661e-01 1.04490488e-02 1.85997119e+02] [-1.54028351e-01 9.88064809e-01 -1.78918479e-03 -2.12065567e+01] [-1.05999410e-02 1.58281938e-04 9.99943807e-01 -2.07211748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.06, Y:-21.22, Z:-2.07 [[ 9.87714335e-01 1.55920546e-01 1.04487262e-02 1.86058876e+02] [-1.55910322e-01 9.87769590e-01 -1.79106640e-03 -2.12177044e+01] [-1.06001981e-02 1.39997690e-04 9.99943807e-01 -2.07322962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.505769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:-21.23, Z:-2.08 [[ 9.87023443e-01 1.60235933e-01 1.04483692e-02 1.86119814e+02] [-1.60225928e-01 9.87078739e-01 -1.79314651e-03 -2.12271369e+01] [-1.06006896e-02 9.57779882e-05 9.99943807e-01 -2.07731547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.565769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:-21.24, Z:-2.08 [[ 9.86789044e-01 1.61673191e-01 1.04480387e-02 1.86181064e+02] [-1.61663246e-01 9.86844351e-01 -1.79507035e-03 -2.12366996e+01] [-1.06008027e-02 8.22918950e-05 9.99943807e-01 -2.07548823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:186.24, Y:-21.25, Z:-2.08 [[ 9.86818040e-01 1.61496134e-01 1.04477412e-02 1.86242679e+02] [-1.61486161e-01 9.86873341e-01 -1.79680026e-03 -2.12525941e+01] [-1.06007736e-02 8.59492912e-05 9.99943807e-01 -2.07701163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.685769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:-21.27, Z:-2.08 [[ 9.86881838e-01 1.61105833e-01 1.04473970e-02 1.86303190e+02] [-1.61095817e-01 9.86937132e-01 -1.79879916e-03 -2.12688452e+01] [-1.06007211e-02 9.21702654e-05 9.99943807e-01 -2.08289868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.745769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:-21.28, Z:-2.08 [[ 9.86584573e-01 1.62916357e-01 1.04470921e-02 1.86363173e+02] [-1.62906424e-01 9.86639881e-01 -1.80056867e-03 -2.12838981e+01] [-1.06008598e-02 7.45148698e-05 9.99943807e-01 -2.08458923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:-21.30, Z:-2.08 [[ 9.85401649e-01 1.69924847e-01 1.04468758e-02 1.86423904e+02] [-1.69915294e-01 9.85457024e-01 -1.80182243e-03 -2.12992098e+01] [-1.06011216e-02 4.34818650e-07 9.99943807e-01 -2.07766371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:-21.31, Z:-2.08 [[ 9.84576719e-01 1.74641216e-01 1.04465565e-02 1.86485106e+02] [-1.74631908e-01 9.84632136e-01 -1.80367173e-03 -2.13120931e+01] [-1.06010107e-02 -4.84489064e-05 9.99943807e-01 -2.08308466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:-21.32, Z:-2.09 [[ 9.84043408e-01 1.77621640e-01 1.04462193e-02 1.86545961e+02] [-1.77612479e-01 9.84098850e-01 -1.80562293e-03 -2.13235791e+01] [-1.06008301e-02 -7.85675540e-05 9.99943807e-01 -2.08599172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:-21.33, Z:-2.08 [[ 9.83198578e-01 1.82240058e-01 1.04459205e-02 1.86607812e+02] [-1.82231140e-01 9.83254059e-01 -1.80734942e-03 -2.13298348e+01] [-1.06003652e-02 -1.26588623e-04 9.99943807e-01 -2.07654475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.67, Y:-21.34, Z:-2.07 [[ 9.82035493e-01 1.88406953e-01 1.04456226e-02 1.86670443e+02] [-1.88398365e-01 9.82091026e-01 -1.80906991e-03 -2.13350722e+01] [-1.05993935e-02 -1.91367344e-04 9.99943807e-01 -2.07201988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:-21.34, Z:-2.07 [[ 9.81453631e-01 1.91414907e-01 1.04452845e-02 1.86732816e+02] [-1.91406468e-01 9.81509187e-01 -1.81101967e-03 -2.13432066e+01] [-1.05987989e-02 -2.21863184e-04 9.99943807e-01 -2.07491511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:-21.35, Z:-2.08 [[ 9.82213485e-01 1.87476859e-01 1.04449342e-02 1.86793770e+02] [-1.87468176e-01 9.82269004e-01 -1.81303771e-03 -2.13540327e+01] [-1.05996377e-02 -1.77302680e-04 9.99943807e-01 -2.07937397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.225769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-21.37, Z:-2.08 [[ 9.83050071e-01 1.83039528e-01 1.04446097e-02 1.86854432e+02] [-1.83030575e-01 9.83105546e-01 -1.81490518e-03 -2.13686134e+01] [-1.06003531e-02 -1.27540256e-04 9.99943807e-01 -2.08299621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.285769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.92, Y:-21.38, Z:-2.08 [[ 9.82577521e-01 1.85559511e-01 1.04442935e-02 1.86916173e+02] [-1.85550680e-01 9.82633016e-01 -1.81672294e-03 -2.13829888e+01] [-1.06000179e-02 -1.52874649e-04 9.99943807e-01 -2.08234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:186.98, Y:-21.40, Z:-2.09 [[ 9.81760971e-01 1.89832346e-01 1.04439651e-02 1.86976567e+02] [-1.89823737e-01 9.81816501e-01 -1.81860918e-03 -2.13958342e+01] [-1.05992881e-02 -1.97072964e-04 9.99943807e-01 -2.09208218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.405769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:-21.41, Z:-2.09 [[ 9.81868866e-01 1.89273508e-01 1.04436689e-02 1.87037661e+02] [-1.89264849e-01 9.81924388e-01 -1.82030822e-03 -2.14117444e+01] [-1.05994294e-02 -1.89315453e-04 9.99943807e-01 -2.09372424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.10, Y:-21.43, Z:-2.09 [[ 9.81717661e-01 1.90056232e-01 1.04433279e-02 1.87098505e+02] [-1.90047596e-01 9.81773187e-01 -1.82226284e-03 -2.14274262e+01] [-1.05993117e-02 -1.95781747e-04 9.99943807e-01 -2.08991938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.525769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:-21.43, Z:-2.09 [[ 9.80600291e-01 1.95739657e-01 1.04430300e-02 1.87159855e+02] [-1.95731325e-01 9.80655863e-01 -1.82396835e-03 -2.14341429e+01] [-1.05980415e-02 -2.55444209e-04 9.99943807e-01 -2.09406557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:-21.44, Z:-2.09 [[ 9.79742477e-01 1.99989070e-01 1.04427146e-02 1.87221439e+02] [-1.99980960e-01 9.79798082e-01 -1.82577247e-03 -2.14437593e+01] [-1.05968863e-02 -2.99557236e-04 9.99943807e-01 -2.09150976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:-21.45, Z:-2.09 [[ 9.79208297e-01 2.02588417e-01 1.04424208e-02 1.87282612e+02] [-2.02580437e-01 9.79263921e-01 -1.82745120e-03 -2.14513497e+01] [-1.05961064e-02 -3.25974786e-04 9.99943807e-01 -2.09060822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.35, Y:-21.45, Z:-2.09 [[ 9.78474636e-01 2.06102757e-01 1.04422133e-02 1.87346633e+02] [-2.06094964e-01 9.78530287e-01 -1.82863597e-03 -2.14525925e+01] [-1.05949089e-02 -3.62813662e-04 9.99943807e-01 -2.09024038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.41, Y:-21.45, Z:-2.09 [[ 9.77583358e-01 2.10289670e-01 1.04418751e-02 1.87410666e+02] [-2.10282094e-01 9.77639039e-01 -1.83056540e-03 -2.14530805e+01] [-1.05933337e-02 -4.06209090e-04 9.99943807e-01 -2.09346656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:-21.46, Z:-2.10 [[ 9.77552255e-01 2.10434227e-01 1.04415312e-02 1.87473636e+02] [-2.10426639e-01 9.77607933e-01 -1.83252493e-03 -2.14609484e+01] [-1.05933497e-02 -4.05787427e-04 9.99943807e-01 -2.09546550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.54, Y:-21.47, Z:-2.10 [[ 9.78082213e-01 2.07957125e-01 1.04411867e-02 1.87536385e+02] [-2.07949375e-01 9.78137870e-01 -1.83448569e-03 -2.14678333e+01] [-1.05944144e-02 -3.76960415e-04 9.99943807e-01 -2.09547548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.60, Y:-21.47, Z:-2.09 [[ 9.78334318e-01 2.06767866e-01 1.04408357e-02 1.87597366e+02] [-2.06760027e-01 9.78389962e-01 -1.83648085e-03 -2.14724966e+01] [-1.05949341e-02 -3.62055231e-04 9.99943807e-01 -2.08763279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.66, Y:-21.48, Z:-2.09 [[ 9.77408193e-01 2.11102386e-01 1.04406682e-02 1.87659369e+02] [-2.11094784e-01 9.77463869e-01 -1.83743258e-03 -2.14765397e+01] [-1.05932624e-02 -4.08048952e-04 9.99943807e-01 -2.09007677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.065769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:-21.48, Z:-2.09 [[ 9.77535323e-01 2.10512924e-01 1.04403719e-02 1.87721577e+02] [-2.10505271e-01 9.77590993e-01 -1.83911466e-03 -2.14809342e+01] [-1.05935710e-02 -3.99953777e-04 9.99943807e-01 -2.09124380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.78, Y:-21.49, Z:-2.10 [[ 9.77934411e-01 2.08651126e-01 1.04400785e-02 1.87781877e+02] [-2.08643348e-01 9.77990064e-01 -1.84077865e-03 -2.14868537e+01] [-1.05943736e-02 -3.78092154e-04 9.99943807e-01 -2.09574909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:-21.49, Z:-2.10 [[ 9.77907808e-01 2.08775776e-01 1.04400578e-02 1.87842693e+02] [-2.08768005e-01 9.77963461e-01 -1.84089617e-03 -2.14884612e+01] [-1.05943296e-02 -3.79323300e-04 9.99943807e-01 -2.09856543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:-21.48, Z:-2.09 [[ 9.76867010e-01 2.13592721e-01 1.04400578e-02 1.87902049e+02] [-2.13585223e-01 9.76922701e-01 -1.84089617e-03 -2.14843557e+01] [-1.05923315e-02 -4.31531342e-04 9.99943807e-01 -2.09454581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-21.48, Z:-2.10 [[ 9.77229236e-01 2.11929286e-01 1.04401725e-02 1.87962251e+02] [-2.11921701e-01 9.77284916e-01 -1.84024559e-03 -2.14794316e+01] [-1.05930250e-02 -4.14157321e-04 9.99943807e-01 -2.09593259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:-21.48, Z:-2.10 [[ 9.77743501e-01 2.09543901e-01 1.04402566e-02 1.88019859e+02] [-2.09536185e-01 9.77799163e-01 -1.83976807e-03 -2.14840031e+01] [-1.05939864e-02 -3.88790276e-04 9.99943807e-01 -2.09735232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.08, Y:-21.48, Z:-2.09 [[ 9.79869441e-01 1.99366191e-01 1.04403662e-02 1.88080137e+02] [-1.99357904e-01 9.79925019e-01 -1.83914586e-03 -2.14792651e+01] [-1.05974396e-02 -2.79246700e-04 9.99943807e-01 -2.09449783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.14, Y:-21.48, Z:-2.09 [[ 9.81933717e-01 1.88936954e-01 1.04404498e-02 1.88140616e+02] [-1.88928081e-01 9.81989205e-01 -1.83867136e-03 -2.14775834e+01] [-1.05998020e-02 -1.67040743e-04 9.99943807e-01 -2.09344056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.20, Y:-21.48, Z:-2.10 [[ 9.83147621e-01 1.82515067e-01 1.04405358e-02 1.88199341e+02] [-1.82505836e-01 9.83203052e-01 -1.83818273e-03 -2.14840072e+01] [-1.06006627e-02 -9.82537482e-05 9.99943807e-01 -2.09742738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:-21.50, Z:-2.09 [[ 9.85283653e-01 1.70608076e-01 1.04406242e-02 1.88256836e+02] [-1.70598181e-01 9.85338969e-01 -1.83768091e-03 -2.14952366e+01] [-1.06010770e-02 2.94854697e-05 9.99943807e-01 -2.09291085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:-21.51, Z:-2.09 [[ 9.87369905e-01 1.58087517e-01 1.04406901e-02 1.88314168e+02] [-1.58076925e-01 9.87425091e-01 -1.83730615e-03 -2.15148512e+01] [-1.05998545e-02 1.63668609e-04 9.99943807e-01 -2.09403433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:-21.54, Z:-2.10 [[ 9.88638977e-01 1.49946539e-01 1.04406663e-02 1.88372682e+02] [-1.49935491e-01 9.88694074e-01 -1.83744154e-03 -2.15362864e+01] [-1.05981429e-02 2.51139900e-04 9.99943807e-01 -2.10373311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:-21.56, Z:-2.10 [[ 9.88665755e-01 1.49769885e-01 1.04406261e-02 1.88431496e+02] [-1.49758825e-01 9.88720849e-01 -1.83766977e-03 -2.15556733e+01] [-1.05980923e-02 2.53265267e-04 9.99943807e-01 -2.09959245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.49, Y:-21.58, Z:-2.10 [[ 9.87965349e-01 1.54322595e-01 1.04405846e-02 1.88490206e+02] [-1.54311786e-01 9.88020493e-01 -1.83790531e-03 -2.15750610e+01] [-1.05991419e-02 2.04681497e-04 9.99943807e-01 -2.10276287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:-21.59, Z:-2.10 [[ 9.86958551e-01 1.60635655e-01 1.04405427e-02 1.88549187e+02] [-1.60625196e-01 9.87013763e-01 -1.83814339e-03 -2.15911050e+01] [-1.06002307e-02 1.37157113e-04 9.99943807e-01 -2.10434814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.61, Y:-21.60, Z:-2.10 [[ 9.86299254e-01 1.64635289e-01 1.04405004e-02 1.88609082e+02] [-1.64625052e-01 9.86354507e-01 -1.83838370e-03 -2.16023608e+01] [-1.06006975e-02 9.44285462e-05 9.99943807e-01 -2.10318790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:-21.61, Z:-2.10 [[ 9.85333050e-01 1.70322567e-01 1.04404575e-02 1.88668304e+02] [-1.70312646e-01 9.85388361e-01 -1.83862729e-03 -2.16105803e+01] [-1.06010650e-02 3.35182959e-05 9.99943807e-01 -2.09991233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:-21.61, Z:-2.10 [[ 9.84114577e-01 1.77227242e-01 1.04404787e-02 1.88728347e+02] [-1.77217710e-01 9.84169956e-01 -1.83850675e-03 -2.16132689e+01] [-1.06010390e-02 -4.09364445e-05 9.99943807e-01 -2.10145711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:-21.62, Z:-2.11 [[ 9.83896917e-01 1.78431644e-01 1.04405205e-02 1.88786797e+02] [-1.78422182e-01 9.83952309e-01 -1.83826985e-03 -2.16199612e+01] [-1.06009797e-02 -5.41524033e-05 9.99943807e-01 -2.10588730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:-21.63, Z:-2.10 [[ 9.84924931e-01 1.72666947e-01 1.04405824e-02 1.88846109e+02] [-1.72657166e-01 9.84980266e-01 -1.83791795e-03 -2.16283839e+01] [-1.06011153e-02 7.56984952e-06 9.99943807e-01 -2.10471630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:-21.64, Z:-2.11 [[ 9.85738784e-01 1.67958455e-01 1.04406241e-02 1.88905742e+02] [-1.67948412e-01 9.85794073e-01 -1.83768099e-03 -2.16363249e+01] [-1.06009594e-02 5.79871862e-05 9.99943807e-01 -2.11028652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:-21.65, Z:-2.11 [[ 9.85927333e-01 1.66848096e-01 1.04406241e-02 1.88964917e+02] [-1.66837990e-01 9.85982610e-01 -1.83768099e-03 -2.16460691e+01] [-1.06008874e-02 6.99271736e-05 9.99943807e-01 -2.11397181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:-21.66, Z:-2.11 [[ 9.86335276e-01 1.64419328e-01 1.04406660e-02 1.89024395e+02] [-1.64409089e-01 9.86390529e-01 -1.83744277e-03 -2.16593826e+01] [-1.06006852e-02 9.57942311e-05 9.99943807e-01 -2.10860992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:-21.67, Z:-2.11 [[ 9.87002538e-01 1.60365155e-01 1.04406660e-02 1.89083399e+02] [-1.60354689e-01 9.87057748e-01 -1.83744277e-03 -2.16732491e+01] [-1.06002021e-02 1.39350925e-04 9.99943807e-01 -2.11078809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:-21.69, Z:-2.11 [[ 9.87452266e-01 1.57572255e-01 1.04406449e-02 1.89143541e+02] [-1.57561631e-01 9.87507446e-01 -1.83756263e-03 -2.16889308e+01] [-1.05997635e-02 1.69460335e-04 9.99943807e-01 -2.11059644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:-21.71, Z:-2.11 [[ 9.87475414e-01 1.57427145e-01 1.04403404e-02 1.89204211e+02] [-1.57416494e-01 9.87530589e-01 -1.83929157e-03 -2.17097533e+01] [-1.05997099e-02 1.72773431e-04 9.99943807e-01 -2.11228323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.26, Y:-21.72, Z:-2.11 [[ 9.86935192e-01 1.60779142e-01 1.04399884e-02 1.89264215e+02] [-1.60768658e-01 9.86990399e-01 -1.84128724e-03 -2.17240788e+01] [-1.06002089e-02 1.38808254e-04 9.99943807e-01 -2.11032744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-21.74, Z:-2.11 [[ 9.85808732e-01 1.67547471e-01 1.04397691e-02 1.89324680e+02] [-1.67537353e-01 9.85864007e-01 -1.84252989e-03 -2.17375212e+01] [-1.06009038e-02 6.73307871e-05 9.99943807e-01 -2.10833877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:-21.75, Z:-2.11 [[ 9.85769564e-01 1.67777785e-01 1.04394603e-02 1.89384874e+02] [-1.67767661e-01 9.85824838e-01 -1.84427738e-03 -2.17531482e+01] [-1.06009081e-02 6.66286643e-05 9.99943807e-01 -2.11227409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:-21.77, Z:-2.12 [[ 9.86515664e-01 1.63333613e-01 1.04391333e-02 1.89446820e+02] [-1.63323221e-01 9.86570888e-01 -1.84612644e-03 -2.17671693e+01] [-1.06004796e-02 1.16279774e-04 9.99943807e-01 -2.11609448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:-21.78, Z:-2.11 [[ 9.86662784e-01 1.62442549e-01 1.04387845e-02 1.89507905e+02] [-1.62432086e-01 9.86717995e-01 -1.84809670e-03 -2.17822541e+01] [-1.06003461e-02 1.27854691e-04 9.99943807e-01 -2.11406480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:-21.80, Z:-2.12 [[ 9.85788286e-01 1.67667812e-01 1.04384378e-02 1.89569134e+02] [-1.67657621e-01 9.85843547e-01 -1.85005280e-03 -2.17963945e+01] [-1.06008609e-02 7.36767226e-05 9.99943807e-01 -2.11719261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.63, Y:-21.81, Z:-2.12 [[ 9.84609939e-01 1.74454335e-01 1.04380936e-02 1.89629499e+02] [-1.74444504e-01 9.84665266e-01 -1.85199320e-03 -2.18090734e+01] [-1.06011164e-02 2.62285618e-06 9.99943807e-01 -2.12158302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:-21.82, Z:-2.12 [[ 9.84219900e-01 1.76641562e-01 1.04377968e-02 1.89690818e+02] [-1.76631837e-01 9.84275245e-01 -1.85366409e-03 -2.18241606e+01] [-1.06010991e-02 -1.92341324e-05 9.99943807e-01 -2.11919486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:-21.84, Z:-2.11 [[ 9.84553783e-01 1.74771014e-01 1.04374601e-02 1.89751796e+02] [-1.74761163e-01 9.84609107e-01 -1.85555837e-03 -2.18406366e+01] [-1.06011160e-02 2.83434635e-06 9.99943807e-01 -2.11323241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:-21.86, Z:-2.11 [[ 9.85017762e-01 1.72136793e-01 1.04371017e-02 1.89811681e+02] [-1.72126773e-01 9.85073055e-01 -1.85757172e-03 -2.18557640e+01] [-1.06010641e-02 3.32364992e-05 9.99943807e-01 -2.11255898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:-21.87, Z:-2.11 [[ 9.85110947e-01 1.71602726e-01 1.04367680e-02 1.89872434e+02] [-1.71592656e-01 9.85166231e-01 -1.85944461e-03 -2.18730187e+01] [-1.06010372e-02 4.08864930e-05 9.99943807e-01 -2.11452282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.93, Y:-21.88, Z:-2.12 [[ 9.84754640e-01 1.73635770e-01 1.04364140e-02 1.89933029e+02] [-1.73625794e-01 9.84809940e-01 -1.86142987e-03 -2.18845845e+01] [-1.06010950e-02 2.10210447e-05 9.99943807e-01 -2.11671120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:-21.89, Z:-2.12 [[ 9.83137502e-01 1.82569821e-01 1.04360851e-02 1.89994783e+02] [-1.82560327e-01 9.83192888e-01 -1.86327175e-03 -2.18935738e+01] [-1.06008618e-02 -7.33627785e-05 9.99943807e-01 -2.11824971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-21.90, Z:-2.12 [[ 9.82171926e-01 1.87694971e-01 1.04358010e-02 1.90056936e+02] [-1.87685749e-01 9.82227357e-01 -1.86486155e-03 -2.19045661e+01] [-1.06003544e-02 -1.27036479e-04 9.99943807e-01 -2.11543116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:-21.91, Z:-2.12 [[ 9.82883918e-01 1.83930163e-01 1.04354574e-02 1.90118395e+02] [-1.83920709e-01 9.82939310e-01 -1.86678239e-03 -2.19149463e+01] [-1.06007789e-02 -8.44663345e-05 9.99943807e-01 -2.11774646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-21.92, Z:-2.12 [[ 9.83634181e-01 1.79874694e-01 1.04351385e-02 1.90180601e+02] [-1.79864992e-01 9.83689531e-01 -1.86856354e-03 -2.19227450e+01] [-1.06010437e-02 -3.89331285e-05 9.99943807e-01 -2.11949826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.24, Y:-21.93, Z:-2.12 [[ 9.83841419e-01 1.78737733e-01 1.04348239e-02 1.90242315e+02] [-1.78727949e-01 9.83896754e-01 -1.87031854e-03 -2.19304357e+01] [-1.06010859e-02 -2.48978314e-05 9.99943807e-01 -2.12472159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:-21.94, Z:-2.13 [[ 9.83877648e-01 1.78538216e-01 1.04345082e-02 1.90303156e+02] [-1.78528402e-01 9.83932978e-01 -1.87207832e-03 -2.19390241e+01] [-1.06010942e-02 -2.09600569e-05 9.99943807e-01 -2.13030438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.36, Y:-21.95, Z:-2.13 [[ 9.84653031e-01 1.74211175e-01 1.04343304e-02 1.90363637e+02] [-1.74201108e-01 9.84708315e-01 -1.87306853e-03 -2.19489512e+01] [-1.06010814e-02 2.66506905e-05 9.99943807e-01 -2.12535547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.42, Y:-21.96, Z:-2.13 [[ 9.84845312e-01 1.73120886e-01 1.04340462e-02 1.90424766e+02] [-1.73110740e-01 9.84900582e-01 -1.87465023e-03 -2.19574971e+01] [-1.06010393e-02 3.99950200e-05 9.99943807e-01 -2.13090954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.49, Y:-21.97, Z:-2.13 [[ 9.84601807e-01 1.74500485e-01 1.04337332e-02 1.90486233e+02] [-1.74490398e-01 9.84657088e-01 -1.87639092e-03 -2.19666852e+01] [-1.06010805e-02 2.69116324e-05 9.99943807e-01 -2.12849126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:-21.98, Z:-2.13 [[ 9.84362753e-01 1.75844006e-01 1.04334186e-02 1.90547110e+02] [-1.75833977e-01 9.84418044e-01 -1.87813846e-03 -2.19799874e+01] [-1.06011049e-02 1.42200657e-05 9.99943807e-01 -2.12674456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:-21.99, Z:-2.12 [[ 9.83848436e-01 1.78699206e-01 1.04330844e-02 1.90609957e+02] [-1.78689317e-01 9.83903752e-01 -1.87999344e-03 -2.19893706e+01] [-1.06011042e-02 -1.46521133e-05 9.99943807e-01 -2.12384222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.005769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:-22.00, Z:-2.12 [[ 9.83191745e-01 1.82277675e-01 1.04327121e-02 1.90672730e+02] [-1.82267965e-01 9.83247093e-01 -1.88205706e-03 -2.19978368e+01] [-1.06009908e-02 -5.11262332e-05 9.99943807e-01 -2.11869920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-22.01, Z:-2.12 [[ 9.83259583e-01 1.81911406e-01 1.04323442e-02 1.90734177e+02] [-1.81901654e-01 9.83314923e-01 -1.88409403e-03 -2.20066875e+01] [-1.06010179e-02 -4.51071600e-05 9.99943807e-01 -2.12170084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.79, Y:-22.02, Z:-2.13 [[ 9.84739636e-01 1.73721107e-01 1.04320027e-02 1.90794592e+02] [-1.73710875e-01 9.84794890e-01 -1.88598272e-03 -2.20204235e+01] [-1.06010180e-02 4.50496113e-05 9.99943807e-01 -2.12846540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:-22.04, Z:-2.13 [[ 9.85693350e-01 1.68225441e-01 1.04316890e-02 1.90855363e+02] [-1.68214883e-01 9.85748543e-01 -1.88771650e-03 -2.20358217e+01] [-1.06005842e-02 1.05944260e-04 9.99943807e-01 -2.12750600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:-22.05, Z:-2.13 [[ 9.85788499e-01 1.67667003e-01 1.04313210e-02 1.90916364e+02] [-1.67656392e-01 9.85843681e-01 -1.88974758e-03 -2.20486142e+01] [-1.06005003e-02 1.14013789e-04 9.99943807e-01 -2.12534904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.98, Y:-22.06, Z:-2.13 [[ 9.85142314e-01 1.71422915e-01 1.04309789e-02 1.90976910e+02] [-1.71412494e-01 9.85197533e-01 -1.89163435e-03 -2.20638601e+01] [-1.06008441e-02 7.55289360e-05 9.99943807e-01 -2.13204745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:-22.08, Z:-2.14 [[ 9.85208447e-01 1.71042443e-01 1.04306602e-02 1.91038430e+02] [-1.71031983e-01 9.85263658e-01 -1.89338999e-03 -2.20798768e+01] [-1.06008005e-02 8.14073126e-05 9.99943807e-01 -2.13618772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:-22.10, Z:-2.13 [[ 9.85680059e-01 1.68303389e-01 1.04302989e-02 1.91096698e+02] [-1.68292754e-01 9.85735236e-01 -1.89537836e-03 -2.20997579e+01] [-1.06005117e-02 1.12892923e-04 9.99943807e-01 -2.13306892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:-22.12, Z:-2.14 [[ 9.86030900e-01 1.66235613e-01 1.04300084e-02 1.91156823e+02] [-1.66224846e-01 9.86086052e-01 -1.89697553e-03 -2.21183150e+01] [-1.06002307e-02 1.36749954e-04 9.99943807e-01 -2.13581080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:-22.14, Z:-2.14 [[ 9.85748645e-01 1.67901254e-01 1.04296544e-02 1.91217234e+02] [-1.67890559e-01 9.85803811e-01 -1.89891954e-03 -2.21370855e+01] [-1.06004241e-02 1.20816848e-04 9.99943807e-01 -2.13732924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-22.15, Z:-2.13 [[ 9.85795112e-01 1.67628238e-01 1.04293038e-02 1.91277886e+02] [-1.67617507e-01 9.85850272e-01 -1.90084326e-03 -2.21536956e+01] [-1.06003670e-02 1.25708079e-04 9.99943807e-01 -2.13181108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:-22.17, Z:-2.13 [[ 9.85860295e-01 1.67244478e-01 1.04289828e-02 1.91337210e+02] [-1.67233708e-01 9.85915446e-01 -1.90260292e-03 -2.21745498e+01] [-1.06002951e-02 1.31623216e-04 9.99943807e-01 -2.12729483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:-22.19, Z:-2.13 [[ 9.84980697e-01 1.72349263e-01 1.04287556e-02 1.91398119e+02] [-1.72338765e-01 9.85035901e-01 -1.90384766e-03 -2.21888457e+01] [-1.06008254e-02 7.79743427e-05 9.99943807e-01 -2.13173594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:-22.21, Z:-2.13 [[ 9.83737188e-01 1.79310887e-01 1.04283921e-02 1.91458970e+02] [-1.79300758e-01 9.83792461e-01 -1.90583633e-03 -2.22080027e+01] [-1.06011108e-02 5.02345705e-06 9.99943807e-01 -2.12942595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-22.22, Z:-2.13 [[ 9.82453990e-01 1.86213355e-01 1.04280288e-02 1.91519993e+02] [-1.86203593e-01 9.82509329e-01 -1.90782213e-03 -2.22219950e+01] [-1.06008976e-02 -6.73889782e-05 9.99943807e-01 -2.12896223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:-22.23, Z:-2.13 [[ 9.81636934e-01 1.90473604e-01 1.04276687e-02 1.91580817e+02] [-1.90464062e-01 9.81692311e-01 -1.90978852e-03 -2.22349095e+01] [-1.06005265e-02 -1.11377186e-04 9.99943807e-01 -2.13335855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.64, Y:-22.24, Z:-2.14 [[ 9.80117534e-01 1.98143611e-01 1.04273567e-02 1.91642948e+02] [-1.98134485e-01 9.80172981e-01 -1.91149045e-03 -2.22421966e+01] [-1.05993629e-02 -1.92533641e-04 9.99943807e-01 -2.13626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.70, Y:-22.25, Z:-2.13 [[ 9.78949690e-01 2.03835181e-01 1.04270484e-02 1.91703630e+02] [-2.03826359e-01 9.79005187e-01 -1.91317088e-03 -2.22477315e+01] [-1.05981060e-02 -2.52409260e-04 9.99943807e-01 -2.13357169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:-22.26, Z:-2.14 [[ 9.79495357e-01 2.01196734e-01 1.04268961e-02 1.91766067e+02] [-2.01187753e-01 9.79550828e-01 -1.91400031e-03 -2.22571655e+01] [-1.05987653e-02 -2.23009381e-04 9.99943807e-01 -2.13560555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:-22.27, Z:-2.14 [[ 9.80692192e-01 1.95279571e-01 1.04265374e-02 1.91826871e+02] [-1.95270235e-01 9.80747605e-01 -1.91595243e-03 -2.22692865e+01] [-1.05999480e-02 -1.57032823e-04 9.99943807e-01 -2.13961274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:-22.28, Z:-2.14 [[ 9.81934670e-01 1.88932788e-01 1.04262037e-02 1.91888705e+02] [-1.88923074e-01 9.81990017e-01 -1.91776675e-03 -2.22825133e+01] [-1.06007570e-02 -8.66287886e-05 9.99943807e-01 -2.14000333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:-22.30, Z:-2.14 [[ 9.82668641e-01 1.85077400e-01 1.04258471e-02 1.91949567e+02] [-1.85067449e-01 9.82723946e-01 -1.91970348e-03 -2.22971534e+01] [-1.06010233e-02 -4.30525127e-05 9.99943807e-01 -2.14083405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.01, Y:-22.31, Z:-2.14 [[ 9.82138924e-01 1.87868153e-01 1.04254815e-02 1.92010269e+02] [-1.87858338e-01 9.82194254e-01 -1.92168666e-03 -2.23089669e+01] [-1.06008718e-02 -7.11503643e-05 9.99943807e-01 -2.13909719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:-22.32, Z:-2.13 [[ 9.80901583e-01 1.94225128e-01 1.04251411e-02 1.92071823e+02] [-1.94215652e-01 9.80956972e-01 -1.92353187e-03 -2.23224080e+01] [-1.06002130e-02 -1.37930117e-04 9.99943807e-01 -2.13399812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:-22.33, Z:-2.13 [[ 9.79400851e-01 2.01656383e-01 1.04247765e-02 1.92133195e+02] [-2.01647306e-01 9.79456307e-01 -1.92550547e-03 -2.23320003e+01] [-1.05989036e-02 -2.16286405e-04 9.99943807e-01 -2.13424900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:-22.34, Z:-2.14 [[ 9.78247777e-01 2.07177738e-01 1.04245511e-02 1.92195497e+02] [-2.07168961e-01 9.78303281e-01 -1.92672524e-03 -2.23401272e+01] [-1.05975471e-02 -2.74828736e-04 9.99943807e-01 -2.13655783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:-22.35, Z:-2.14 [[ 9.77589595e-01 2.10261550e-01 1.04241856e-02 1.92257146e+02] [-2.10252927e-01 9.77645123e-01 -1.92870052e-03 -2.23458202e+01] [-1.05966858e-02 -3.06237977e-04 9.99943807e-01 -2.13916491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:-22.35, Z:-2.14 [[ 9.78212843e-01 2.07342654e-01 1.04238460e-02 1.92319851e+02] [-2.07333846e-01 9.78268342e-01 -1.93053422e-03 -2.23548447e+01] [-1.05976006e-02 -2.72742717e-04 9.99943807e-01 -2.14055997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:-22.36, Z:-2.14 [[ 9.79068234e-01 2.03265206e-01 1.04234899e-02 1.92383132e+02] [-2.03256146e-01 9.79123692e-01 -1.93245486e-03 -2.23601511e+01] [-1.05986868e-02 -2.26633221e-04 9.99943807e-01 -2.14171157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.45, Y:-22.36, Z:-2.14 [[ 9.78821999e-01 2.04447679e-01 1.04231326e-02 1.92446884e+02] [-2.04438665e-01 9.78877464e-01 -1.93438021e-03 -2.23635221e+01] [-1.05984492e-02 -2.37477421e-04 9.99943807e-01 -2.14197530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-22.37, Z:-2.14 [[ 9.78603143e-01 2.05492713e-01 1.04227692e-02 1.92508829e+02] [-2.05483738e-01 9.78658615e-01 -1.93633622e-03 -2.23694177e+01] [-1.05982359e-02 -2.46804870e-04 9.99943807e-01 -2.14395298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:-22.38, Z:-2.14 [[ 9.79145764e-01 2.02891464e-01 1.04224329e-02 1.92570754e+02] [-2.02882322e-01 9.79201209e-01 -1.93814508e-03 -2.23809685e+01] [-1.05988919e-02 -2.16800839e-04 9.99943807e-01 -2.14182933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.63, Y:-22.39, Z:-2.14 [[ 9.79288622e-01 2.02200828e-01 1.04220695e-02 1.92631318e+02] [-2.02191626e-01 9.79344057e-01 -1.94009700e-03 -2.23946454e+01] [-1.05990810e-02 -2.07340263e-04 9.99943807e-01 -2.13953641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:-22.41, Z:-2.14 [[ 9.78720954e-01 2.04930913e-01 1.04218438e-02 1.92692952e+02] [-2.04921854e-01 9.78776412e-01 -1.94130887e-03 -2.24072417e+01] [-1.05984890e-02 -2.35663876e-04 9.99943807e-01 -2.13755136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:-22.42, Z:-2.14 [[ 9.77590399e-01 2.10257946e-01 1.04214819e-02 1.92753832e+02] [-2.10249168e-01 9.77645903e-01 -1.94324931e-03 -2.24214212e+01] [-1.05971027e-02 -2.91406035e-04 9.99943807e-01 -2.14302083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.81, Y:-22.43, Z:-2.14 [[ 9.77203883e-01 2.12047098e-01 1.04211206e-02 1.92814948e+02] [-2.12038401e-01 9.77259399e-01 -1.94518515e-03 -2.24323353e+01] [-1.05966089e-02 -3.08835262e-04 9.99943807e-01 -2.14300337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:-22.44, Z:-2.14 [[ 9.76801000e-01 2.13895334e-01 1.04207860e-02 1.92877269e+02] [-2.13886723e-01 9.76856529e-01 -1.94697604e-03 -2.24408735e+01] [-1.05960619e-02 -3.27059625e-04 9.99943807e-01 -2.14453360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:-22.46, Z:-2.15 [[ 9.77599166e-01 2.10217233e-01 1.04204327e-02 1.92938643e+02] [-2.10208392e-01 9.77654660e-01 -1.94886485e-03 -2.24552031e+01] [-1.05972696e-02 -2.85253768e-04 9.99943807e-01 -2.14671313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:-22.47, Z:-2.15 [[ 9.78172415e-01 2.07533484e-01 1.04201794e-02 1.92998802e+02] [-2.07524477e-01 9.78227881e-01 -1.95021829e-03 -2.24707475e+01] [-1.05980457e-02 -2.54792556e-04 9.99943807e-01 -2.14723196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:-22.48, Z:-2.15 [[ 9.76612664e-01 2.14753648e-01 1.04199511e-02 1.93060478e+02] [-2.14745038e-01 9.76668194e-01 -1.95143752e-03 -2.24833872e+01] [-1.05959131e-02 -3.31834196e-04 9.99943807e-01 -2.14562409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.12, Y:-22.49, Z:-2.15 [[ 9.74158180e-01 2.25626402e-01 1.04195887e-02 1.93122163e+02] [-2.25618391e-01 9.74213799e-01 -1.95337042e-03 -2.24878615e+01] [-1.05916391e-02 -4.47959069e-04 9.99943807e-01 -2.14864392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:-22.49, Z:-2.15 [[ 9.72932070e-01 2.30856275e-01 1.04195440e-02 1.93184987e+02] [-2.30848560e-01 9.72987732e-01 -1.95360892e-03 -2.24871021e+01] [-1.05890914e-02 -5.04607962e-04 9.99943807e-01 -2.14677407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.25, Y:-22.48, Z:-2.15 [[ 9.74302401e-01 2.25002812e-01 1.04194990e-02 1.93248579e+02] [-2.24994760e-01 9.74358014e-01 -1.95384882e-03 -2.24817796e+01] [-1.05919439e-02 -4.40693088e-04 9.99943807e-01 -2.14677361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:193.31, Y:-22.48, Z:-2.15 [[ 9.75913610e-01 2.17908375e-01 1.04194531e-02 1.93308932e+02] [-2.17899916e-01 9.75969163e-01 -1.95409383e-03 -2.24845665e+01] [-1.05948783e-02 -3.63371193e-04 9.99943807e-01 -2.14715170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:-22.49, Z:-2.15 [[ 9.78999914e-01 2.03594209e-01 1.04194759e-02 1.93371174e+02] [-2.03584939e-01 9.79055338e-01 -1.95397206e-03 -2.24878311e+01] [-1.05990609e-02 -2.08309889e-04 9.99943807e-01 -2.15202282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.43, Y:-22.50, Z:-2.15 [[ 9.81503699e-01 1.91159423e-01 1.04194308e-02 1.93432052e+02] [-1.91149448e-01 9.81559000e-01 -1.95421247e-03 -2.24979836e+01] [-1.06008522e-02 -7.36016849e-05 9.99943807e-01 -2.15215085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.49, Y:-22.51, Z:-2.16 [[ 9.82478794e-01 1.86082940e-01 1.04191078e-02 1.93491209e+02] [-1.86072661e-01 9.82534040e-01 -1.95593349e-03 -2.25123192e+01] [-1.06010939e-02 -1.70479312e-05 9.99943807e-01 -2.15685563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:-22.53, Z:-2.16 [[ 9.82222956e-01 1.87428672e-01 1.04190617e-02 1.93550640e+02] [-1.87418466e-01 9.82278215e-01 -1.95617886e-03 -2.25280282e+01] [-1.06010613e-02 -3.13207801e-05 9.99943807e-01 -2.15621369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.61, Y:-22.54, Z:-2.15 [[ 9.82079510e-01 1.88178853e-01 1.04190154e-02 1.93610845e+02] [-1.88168686e-01 9.82134776e-01 -1.95642518e-03 -2.25436409e+01] [-1.06010352e-02 -3.91673645e-05 9.99943807e-01 -2.15496914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:-22.56, Z:-2.16 [[ 9.81917497e-01 1.89022431e-01 1.04186894e-02 1.93670838e+02] [-1.89012294e-01 9.81972769e-01 -1.95815968e-03 -2.25605030e+01] [-1.06010054e-02 -4.65091340e-05 9.99943807e-01 -2.15672776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:-22.58, Z:-2.15 [[ 9.81939830e-01 1.88906401e-01 1.04183438e-02 1.93731872e+02] [-1.88896238e-01 9.81995097e-01 -1.95999707e-03 -2.25777741e+01] [-1.06010185e-02 -4.33867545e-05 9.99943807e-01 -2.15102920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:-22.59, Z:-2.15 [[ 9.81997202e-01 1.88607957e-01 1.04179619e-02 1.93793325e+02] [-1.88597756e-01 9.82052461e-01 -1.96202486e-03 -2.25907261e+01] [-1.06010386e-02 -3.81013083e-05 9.99943807e-01 -2.15061453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.85, Y:-22.61, Z:-2.15 [[ 9.81947341e-01 1.88867398e-01 1.04175817e-02 1.93854016e+02] [-1.88857190e-01 9.82002599e-01 -1.96404133e-03 -2.26058547e+01] [-1.06010357e-02 -3.88500438e-05 9.99943807e-01 -2.15120751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.92, Y:-22.62, Z:-2.16 [[ 9.81393985e-01 1.91722004e-01 1.04172280e-02 1.93915836e+02] [-1.91711936e-01 9.81449270e-01 -1.96591556e-03 -2.26170988e+01] [-1.06008901e-02 -6.77692467e-05 9.99943807e-01 -2.15659727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:-22.63, Z:-2.16 [[ 9.80907199e-01 1.94197207e-01 1.04168543e-02 1.93978099e+02] [-1.94187258e-01 9.80962505e-01 -1.96789350e-03 -2.26277541e+01] [-1.06007030e-02 -9.24994818e-05 9.99943807e-01 -2.15785301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:-22.64, Z:-2.16 [[ 9.80361546e-01 1.96933328e-01 1.04164856e-02 1.94040024e+02] [-1.96923512e-01 9.80416876e-01 -1.96984341e-03 -2.26374180e+01] [-1.06004261e-02 -1.20092192e-04 9.99943807e-01 -2.15836759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:-22.64, Z:-2.16 [[ 9.79689168e-01 2.00251438e-01 1.04161650e-02 1.94100778e+02] [-2.00241792e-01 9.79744527e-01 -1.97153699e-03 -2.26435715e+01] [-1.05999838e-02 -1.54258127e-04 9.99943807e-01 -2.16428306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.16, Y:-22.65, Z:-2.17 [[ 9.79005426e-01 2.03567876e-01 1.04161191e-02 1.94159805e+02] [-2.03558415e-01 9.79060817e-01 -1.97177988e-03 -2.26495462e+01] [-1.05994051e-02 -1.89905487e-04 9.99943807e-01 -2.16816255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:-22.65, Z:-2.17 [[ 9.79077913e-01 2.03218957e-01 1.04161418e-02 1.94218431e+02] [-2.03209477e-01 9.79133301e-01 -1.97165976e-03 -2.26539073e+01] [-1.05994699e-02 -1.86250202e-04 9.99943807e-01 -2.16657063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:-22.66, Z:-2.17 [[ 9.79930574e-01 1.99066756e-01 1.04162083e-02 1.94279549e+02] [-1.99057046e-01 9.79985922e-01 -1.97130857e-03 -2.26631247e+01] [-1.06001595e-02 -1.41674106e-04 9.99943807e-01 -2.16624162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:-22.67, Z:-2.16 [[ 9.81547292e-01 1.90935636e-01 1.04161608e-02 1.94340463e+02] [-1.90925464e-01 9.81602557e-01 -1.97155920e-03 -2.26714292e+01] [-1.06009710e-02 -5.35317452e-05 9.99943807e-01 -2.15789670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:-22.68, Z:-2.15 [[ 9.83134663e-01 1.82586258e-01 1.04159721e-02 1.94400453e+02] [-1.82575606e-01 9.83189838e-01 -1.97255586e-03 -2.26835238e+01] [-1.06010395e-02 3.75856188e-05 9.99943807e-01 -2.15264208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:-22.70, Z:-2.16 [[ 9.83568876e-01 1.80232570e-01 1.04156696e-02 1.94460423e+02] [-1.80221770e-01 9.83624022e-01 -1.97415160e-03 -2.26957381e+01] [-1.06009093e-02 6.45836624e-05 9.99943807e-01 -2.16250493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.52, Y:-22.71, Z:-2.17 [[ 9.82543578e-01 1.85740768e-01 1.04156236e-02 1.94518786e+02] [-1.85730274e-01 9.82598782e-01 -1.97439434e-03 -2.27100128e+01] [-1.06011046e-02 5.43185126e-06 9.99943807e-01 -2.16504339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.58, Y:-22.72, Z:-2.16 [[ 9.81310833e-01 1.92147245e-01 1.04156236e-02 1.94578906e+02] [-1.92137111e-01 9.81366105e-01 -1.97439434e-03 -2.27224627e+01] [-1.06009144e-02 -6.37332828e-05 9.99943807e-01 -2.16112721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:-22.73, Z:-2.16 [[ 9.80086797e-01 1.98296208e-01 1.04155754e-02 1.94637165e+02] [-1.98286418e-01 9.80142131e-01 -1.97464869e-03 -2.27322549e+01] [-1.06003096e-02 -1.29940029e-04 9.99943807e-01 -2.15719922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:-22.74, Z:-2.16 [[ 9.79492963e-01 2.01208973e-01 1.04155992e-02 1.94695420e+02] [-2.01199349e-01 9.79548326e-01 -1.97452315e-03 -2.27416942e+01] [-1.05998745e-02 -1.61580246e-04 9.99943807e-01 -2.15868631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:-22.75, Z:-2.17 [[ 9.79351309e-01 2.01897322e-01 1.04156222e-02 1.94755067e+02] [-2.01887738e-01 9.79406679e-01 -1.97440161e-03 -2.27453425e+01] [-1.05997564e-02 -1.69153618e-04 9.99943807e-01 -2.17128586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:-22.75, Z:-2.17 [[ 9.79832891e-01 1.99547037e-01 1.04156685e-02 1.94814602e+02] [-1.99537323e-01 9.79888238e-01 -1.97415773e-03 -2.27454115e+01] [-1.06001283e-02 -1.43969929e-04 9.99943807e-01 -2.16708065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:-22.75, Z:-2.17 [[ 9.81191523e-01 1.92755564e-01 1.04157374e-02 1.94875018e+02] [-1.92745471e-01 9.81246803e-01 -1.97379419e-03 -2.27467702e+01] [-1.06008688e-02 -7.09160805e-05 9.99943807e-01 -2.16792200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:-22.75, Z:-2.17 [[ 9.83620779e-01 1.79949088e-01 1.04157856e-02 1.94935421e+02] [-1.79938278e-01 9.83675923e-01 -1.97353938e-03 -2.27521228e+01] [-1.06008942e-02 6.70158188e-05 9.99943807e-01 -2.16909221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.99, Y:-22.76, Z:-2.17 [[ 9.85796221e-01 1.67622556e-01 1.04157856e-02 1.94994689e+02] [-1.67611057e-01 9.85851226e-01 -1.97353938e-03 -2.27622002e+01] [-1.05992247e-02 1.99706832e-04 9.99943807e-01 -2.17166300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:-22.77, Z:-2.17 [[ 9.86769998e-01 1.61791482e-01 1.04157615e-02 1.95052625e+02] [-1.61779657e-01 9.86824932e-01 -1.97366674e-03 -2.27748348e+01] [-1.05978556e-02 2.62496807e-04 9.99943807e-01 -2.16908010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:-22.79, Z:-2.17 [[ 9.86754595e-01 1.61885394e-01 1.04157846e-02 1.95110712e+02] [-1.61873575e-01 9.86809531e-01 -1.97354483e-03 -2.27866157e+01] [-1.05978836e-02 2.61364143e-04 9.99943807e-01 -2.16804279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:-22.80, Z:-2.17 [[ 9.86222637e-01 1.65095189e-01 1.04158284e-02 1.95169415e+02] [-1.65083551e-01 9.86277612e-01 -1.97331337e-03 -2.27996728e+01] [-1.05986829e-02 2.26644371e-04 9.99943807e-01 -2.16842167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.23, Y:-22.81, Z:-2.17 [[ 9.86035065e-01 1.66211797e-01 1.04158284e-02 1.95228570e+02] [-1.66200221e-01 9.86090053e-01 -1.97331337e-03 -2.28132668e+01] [-1.05989328e-02 2.14643192e-04 9.99943807e-01 -2.17129918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.29, Y:-22.83, Z:-2.18 [[ 9.85665186e-01 1.68391367e-01 1.04158284e-02 1.95286016e+02] [-1.68379913e-01 9.85720199e-01 -1.97331337e-03 -2.28270868e+01] [-1.05993814e-02 1.91210005e-04 9.99943807e-01 -2.18028079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:-22.84, Z:-2.18 [[ 9.84584736e-01 1.74597846e-01 1.04158520e-02 1.95344317e+02] [-1.74586740e-01 9.84639821e-01 -1.97318886e-03 -2.28402926e+01] [-1.06003772e-02 1.24301982e-04 9.99943807e-01 -2.17531522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:-22.85, Z:-2.18 [[ 9.84204745e-01 1.76727274e-01 1.04158989e-02 1.95403682e+02] [-1.76716289e-01 9.84259854e-01 -1.97294145e-03 -2.28515049e+01] [-1.06006237e-02 1.01119337e-04 9.99943807e-01 -2.17768681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:-22.87, Z:-2.18 [[ 9.84809179e-01 1.73327409e-01 1.04158989e-02 1.95461893e+02] [-1.73316234e-01 9.84864250e-01 -1.97294145e-03 -2.28682776e+01] [-1.06002113e-02 1.37726481e-04 9.99943807e-01 -2.17835944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:-22.88, Z:-2.18 [[ 9.85608808e-01 1.68721033e-01 1.04158749e-02 1.95522576e+02] [-1.68709600e-01 9.85663826e-01 -1.97306838e-03 -2.28831273e+01] [-1.05994492e-02 1.87415503e-04 9.99943807e-01 -2.17789014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:-22.90, Z:-2.18 [[ 9.85590447e-01 1.68828279e-01 1.04155470e-02 1.95583125e+02] [-1.68816834e-01 9.85645462e-01 -1.97479765e-03 -2.28990239e+01] [-1.05994383e-02 1.88022035e-04 9.99943807e-01 -2.17897810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:-22.92, Z:-2.18 [[ 9.84924079e-01 1.72673340e-01 1.04152203e-02 1.95642465e+02] [-1.72662091e-01 9.84979135e-01 -1.97651907e-03 -2.29157227e+01] [-1.06000668e-02 1.48407506e-04 9.99943807e-01 -2.17773825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:-22.93, Z:-2.18 [[ 9.84491733e-01 1.75121534e-01 1.04151734e-02 1.95702438e+02] [-1.75110419e-01 9.84546816e-01 -1.97676619e-03 -2.29295675e+01] [-1.06004001e-02 1.22304592e-04 9.99943807e-01 -2.17727811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.76, Y:-22.95, Z:-2.18 [[ 9.83322272e-01 1.81573236e-01 1.04148718e-02 1.95761341e+02] [-1.81562466e-01 9.83377424e-01 -1.97835368e-03 -2.29459847e+01] [-1.06009659e-02 5.44094235e-05 9.99943807e-01 -2.17606582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:-22.96, Z:-2.17 [[ 9.82027718e-01 1.88449177e-01 1.04148255e-02 1.95820244e+02] [-1.88438790e-01 9.82082943e-01 -1.97859740e-03 -2.29611223e+01] [-1.06010876e-02 -1.95196368e-05 9.99943807e-01 -2.17139716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.88, Y:-22.97, Z:-2.18 [[ 9.80527123e-01 1.96107350e-01 1.04148255e-02 1.95879383e+02] [-1.96097395e-01 9.80582427e-01 -1.97859740e-03 -2.29706096e+01] [-1.06006124e-02 -1.02251745e-04 9.99943807e-01 -2.18011195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:-22.98, Z:-2.19 [[ 9.80790242e-01 1.94787149e-01 1.04148003e-02 1.95939525e+02] [-1.94777118e-01 9.80845533e-01 -1.97873017e-03 -2.29827335e+01] [-1.06007416e-02 -8.78455531e-05 9.99943807e-01 -2.18645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:-23.00, Z:-2.18 [[ 9.82330897e-01 1.86862362e-01 1.04147544e-02 1.96000398e+02] [-1.86851882e-01 9.82386104e-01 -1.97897202e-03 -2.29975367e+01] [-1.06011054e-02 -2.01109637e-06 9.99943807e-01 -2.18313803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.06, Y:-23.01, Z:-2.19 [[ 9.83708450e-01 1.79469290e-01 1.04144284e-02 1.96060240e+02] [-1.79458377e-01 9.83763573e-01 -1.98068584e-03 -2.30142226e+01] [-1.06008076e-02 7.94609686e-05 9.99943807e-01 -2.18988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:-23.03, Z:-2.18 [[ 9.83809467e-01 1.78914724e-01 1.04141004e-02 1.96119424e+02] [-1.78903762e-01 9.83864581e-01 -1.98240914e-03 -2.30297078e+01] [-1.06007467e-02 8.71911400e-05 9.99943807e-01 -2.18357459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:-23.05, Z:-2.18 [[ 9.83930567e-01 1.78247556e-01 1.04137967e-02 1.96180449e+02] [-1.78236540e-01 9.83985670e-01 -1.98400316e-03 -2.30476595e+01] [-1.06006704e-02 9.60022653e-05 9.99943807e-01 -2.17987876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:-23.07, Z:-2.18 [[ 9.83953487e-01 1.78121016e-01 1.04134187e-02 1.96240188e+02] [-1.78109972e-01 9.84008584e-01 -1.98598537e-03 -2.30657518e+01] [-1.06006391e-02 9.93835242e-05 9.99943807e-01 -2.18333542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:-23.08, Z:-2.18 [[ 9.83559790e-01 1.80282302e-01 1.04130674e-02 1.96301246e+02] [-1.80271360e-01 9.83614907e-01 -1.98782541e-03 -2.30806779e+01] [-1.06008181e-02 7.79673298e-05 9.99943807e-01 -2.18093764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:-23.10, Z:-2.18 [[ 9.82625373e-01 1.85307724e-01 1.04127115e-02 1.96362327e+02] [-1.85297043e-01 9.82680542e-01 -1.98968805e-03 -2.30967709e+01] [-1.06010735e-02 2.56733139e-05 9.99943807e-01 -2.18195650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:-23.11, Z:-2.18 [[ 9.81992534e-01 1.88632567e-01 1.04123567e-02 1.96423844e+02] [-1.88622054e-01 9.82047735e-01 -1.99154270e-03 -2.31102655e+01] [-1.06011012e-02 -8.32005141e-06 9.99943807e-01 -2.18318251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:-23.12, Z:-2.18 [[ 9.82000410e-01 1.88591585e-01 1.04119827e-02 1.96485247e+02] [-1.88581049e-01 9.82055606e-01 -1.99349623e-03 -2.31233408e+01] [-1.06011026e-02 -5.88850929e-06 9.99943807e-01 -2.18113837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:-23.14, Z:-2.19 [[ 9.82313537e-01 1.86953773e-01 1.04116099e-02 1.96545223e+02] [-1.86943124e-01 9.82368712e-01 -1.99544143e-03 -2.31373587e+01] [-1.06010951e-02 1.37702494e-05 9.99943807e-01 -2.19069876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.61, Y:-23.15, Z:-2.19 [[ 9.82551475e-01 1.85699232e-01 1.04112873e-02 1.96605646e+02] [-1.85688495e-01 9.82606633e-01 -1.99712302e-03 -2.31545775e+01] [-1.06010642e-02 2.90198905e-05 9.99943807e-01 -2.19065796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:-23.17, Z:-2.19 [[ 9.82179639e-01 1.87655989e-01 1.04109218e-02 1.96666957e+02] [-1.87645341e-01 9.82234814e-01 -1.99902658e-03 -2.31688019e+01] [-1.06010992e-02 9.84222107e-06 9.99943807e-01 -2.18952785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:-23.18, Z:-2.20 [[ 9.80830647e-01 1.94583818e-01 1.04105583e-02 1.96727803e+02] [-1.94573540e-01 9.80885892e-01 -2.00091821e-03 -2.31815866e+01] [-1.06009160e-02 -6.30572763e-05 9.99943807e-01 -2.19526655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:-23.19, Z:-2.19 [[ 9.79747878e-01 1.99964303e-01 1.04102215e-02 1.96789600e+02] [-1.99954310e-01 9.79803176e-01 -2.00266879e-03 -2.31946227e+01] [-1.06004304e-02 -1.19458151e-04 9.99943807e-01 -2.19216938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.85, Y:-23.21, Z:-2.19 [[ 9.78895617e-01 2.04095583e-01 1.04098410e-02 1.96850848e+02] [-2.04085803e-01 9.78950952e-01 -2.00464460e-03 -2.32053023e+01] [-1.05998629e-02 -1.62162945e-04 9.99943807e-01 -2.18672891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:-23.22, Z:-2.19 [[ 9.78457929e-01 2.06183712e-01 1.04094884e-02 1.96911865e+02] [-2.06174030e-01 9.78513282e-01 -2.00647385e-03 -2.32157552e+01] [-1.05995249e-02 -1.82915924e-04 9.99943807e-01 -2.18964597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:-23.23, Z:-2.19 [[ 9.77777849e-01 2.09385117e-01 1.04091456e-02 1.96973706e+02] [-2.09375597e-01 9.77833230e-01 -2.00825056e-03 -2.32269782e+01] [-1.05989063e-02 -2.15798167e-04 9.99943807e-01 -2.19097663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.04, Y:-23.23, Z:-2.19 [[ 9.76434811e-01 2.15561399e-01 1.04087756e-02 1.97035249e+02] [-2.15552209e-01 9.76490248e-01 -2.01016681e-03 -2.32331739e+01] [-1.05973822e-02 -2.80837723e-04 9.99943807e-01 -2.18743250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:-23.24, Z:-2.19 [[ 9.75113816e-01 2.21460402e-01 1.04084788e-02 1.97095441e+02] [-2.21451531e-01 9.75169305e-01 -2.01170222e-03 -2.32356858e+01] [-1.05955414e-02 -3.43334932e-04 9.99943807e-01 -2.18610462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.15, Y:-23.24, Z:-2.19 [[ 9.74700074e-01 2.23274335e-01 1.04085013e-02 1.97154573e+02] [-2.23265569e-01 9.74755579e-01 -2.01158578e-03 -2.32361499e+01] [-1.05948802e-02 -3.63167156e-04 9.99943807e-01 -2.19268789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:-23.24, Z:-2.19 [[ 9.75416851e-01 2.20121851e-01 1.04085680e-02 1.97214423e+02] [-2.20112908e-01 9.75472328e-01 -2.01124086e-03 -2.32432172e+01] [-1.05959881e-02 -3.29261939e-04 9.99943807e-01 -2.19409754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-23.25, Z:-2.20 [[ 9.76082172e-01 2.17152606e-01 1.04085680e-02 1.97274233e+02] [-2.17143495e-01 9.76137622e-01 -2.01124086e-03 -2.32500460e+01] [-1.05969410e-02 -2.97016481e-04 9.99943807e-01 -2.19551346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:-23.26, Z:-2.20 [[ 9.76881248e-01 2.13529130e-01 1.04085680e-02 1.97334247e+02] [-2.13519813e-01 9.76936663e-01 -2.01124086e-03 -2.32556435e+01] [-1.05979702e-02 -2.57692004e-04 9.99943807e-01 -2.19828158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:-23.26, Z:-2.20 [[ 9.77262946e-01 2.11775342e-01 1.04086140e-02 1.97392148e+02] [-2.11765928e-01 9.77318345e-01 -2.01100262e-03 -2.32639546e+01] [-1.05984102e-02 -2.38911458e-04 9.99943807e-01 -2.19819510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:-23.27, Z:-2.20 [[ 9.77405521e-01 2.11116336e-01 1.04086823e-02 1.97451521e+02] [-2.11106889e-01 9.77460914e-01 -2.01064904e-03 -2.32734488e+01] [-1.05985610e-02 -2.32125056e-04 9.99943807e-01 -2.19654277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:-23.28, Z:-2.20 [[ 9.78016585e-01 2.08267180e-01 1.04087280e-02 1.97510219e+02] [-2.08257574e-01 9.78071951e-01 -2.01041211e-03 -2.32804187e+01] [-1.05991878e-02 -2.01480070e-04 9.99943807e-01 -2.20047385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:-23.29, Z:-2.20 [[ 9.78496099e-01 2.06002529e-01 1.04087961e-02 1.97569006e+02] [-2.05992799e-01 9.78551443e-01 -2.01005977e-03 -2.32917157e+01] [-1.05996198e-02 -1.77301395e-04 9.99943807e-01 -2.20424422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.63, Y:-23.30, Z:-2.20 [[ 9.78441560e-01 2.06261410e-01 1.04088410e-02 1.97628070e+02] [-2.06251696e-01 9.78496908e-01 -2.00982710e-03 -2.33026295e+01] [-1.05995685e-02 -1.80342755e-04 9.99943807e-01 -2.20268501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:-23.31, Z:-2.20 [[ 9.77620216e-01 2.10119889e-01 1.04088877e-02 1.97686904e+02] [-2.10110397e-01 9.77675602e-01 -2.00958504e-03 -2.33104596e+01] [-1.05987694e-02 -2.22404570e-04 9.99943807e-01 -2.19759770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:-23.31, Z:-2.19 [[ 9.76194653e-01 2.16646378e-01 1.04089814e-02 1.97745492e+02] [-2.16637261e-01 9.76250101e-01 -2.00909976e-03 -2.33119928e+01] [-1.05970333e-02 -2.93700787e-04 9.99943807e-01 -2.19371229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:-23.31, Z:-2.20 [[ 9.74563374e-01 2.23870231e-01 1.04090970e-02 1.97805395e+02] [-2.23861531e-01 9.74618890e-01 -2.00850094e-03 -2.33094615e+01] [-1.05945461e-02 -3.72784929e-04 9.99943807e-01 -2.20449691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:-23.30, Z:-2.20 [[ 9.74347784e-01 2.24806683e-01 1.04091830e-02 1.97865671e+02] [-2.24798041e-01 9.74403309e-01 -2.00805499e-03 -2.33035510e+01] [-1.05941665e-02 -3.83420021e-04 9.99943807e-01 -2.19901183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:-23.30, Z:-2.20 [[ 9.74914631e-01 2.22335577e-01 1.04092895e-02 1.97926232e+02] [-2.22326801e-01 9.74970135e-01 -2.00750293e-03 -2.33005121e+01] [-1.05950857e-02 -3.57120045e-04 9.99943807e-01 -2.19632994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:-23.30, Z:-2.20 [[ 9.75495391e-01 2.19773491e-01 1.04093739e-02 1.97985201e+02] [-2.19764573e-01 9.75550872e-01 -2.00706507e-03 -2.33017578e+01] [-1.05959735e-02 -3.29728883e-04 9.99943807e-01 -2.19971010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:-23.30, Z:-2.20 [[ 9.76532436e-01 2.15118673e-01 1.04094995e-02 1.98044162e+02] [-2.15109498e-01 9.76587875e-01 -2.00641317e-03 -2.33003853e+01] [-1.05974080e-02 -2.79854679e-04 9.99943807e-01 -2.19982354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:-23.31, Z:-2.21 [[ 9.78003029e-01 2.08330781e-01 1.04096480e-02 1.98102249e+02] [-2.08321229e-01 9.78058405e-01 -2.00564263e-03 -2.33054118e+01] [-1.05990808e-02 -2.07026098e-04 9.99943807e-01 -2.20618811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:-23.31, Z:-2.20 [[ 9.79101066e-01 2.03107701e-01 1.04097703e-02 1.98160110e+02] [-2.03097861e-01 9.79156391e-01 -2.00500768e-03 -2.33149443e+01] [-1.06000256e-02 -1.51096926e-04 9.99943807e-01 -2.20302990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:-23.33, Z:-2.20 [[ 9.79685760e-01 2.00268434e-01 1.04098541e-02 1.98217618e+02] [-2.00258438e-01 9.79741057e-01 -2.00457273e-03 -2.33255895e+01] [-1.06004141e-02 -1.20809761e-04 9.99943807e-01 -2.20018944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:-23.34, Z:-2.20 [[ 9.80102645e-01 1.98218154e-01 1.04099902e-02 1.98274327e+02] [-1.98208050e-01 9.80157923e-01 -2.00386567e-03 -2.33393864e+01] [-1.06006369e-02 -9.93498011e-05 9.99943807e-01 -2.20092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.33, Y:-23.35, Z:-2.20 [[ 9.80639694e-01 1.95543905e-01 1.04101357e-02 1.98329828e+02] [-1.95533658e-01 9.80694946e-01 -2.00310941e-03 -2.33535096e+01] [-1.06008633e-02 -7.12033098e-05 9.99943807e-01 -2.20376583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:-23.37, Z:-2.20 [[ 9.81031842e-01 1.93566914e-01 1.04103032e-02 1.98386448e+02] [-1.93556565e-01 9.81087074e-01 -2.00223826e-03 -2.33675786e+01] [-1.06009810e-02 -5.07230424e-05 9.99943807e-01 -2.20352712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.44, Y:-23.38, Z:-2.20 [[ 9.81492372e-01 1.91218058e-01 1.04104478e-02 1.98442680e+02] [-1.91207585e-01 9.81547581e-01 -2.00148610e-03 -2.33816741e+01] [-1.06010702e-02 -2.61132514e-05 9.99943807e-01 -2.20261249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.50, Y:-23.39, Z:-2.21 [[ 9.81081124e-01 1.93316963e-01 1.04105941e-02 1.98498751e+02] [-1.93306616e-01 9.81136356e-01 -2.00072509e-03 -2.33948551e+01] [-1.06009864e-02 -4.95631008e-05 9.99943807e-01 -2.20758166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.56, Y:-23.41, Z:-2.21 [[ 9.80147941e-01 1.97994018e-01 1.04107362e-02 1.98556779e+02] [-1.97983942e-01 9.80203223e-01 -1.99998512e-03 -2.34061631e+01] [-1.06006223e-02 -1.00877305e-04 9.99943807e-01 -2.21247539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:-23.42, Z:-2.21 [[ 9.79238349e-01 2.02444736e-01 1.04108310e-02 1.98614657e+02] [-2.02434917e-01 9.79293677e-01 -1.99949187e-03 -2.34157580e+01] [-1.06000476e-02 -1.49536582e-04 9.99943807e-01 -2.21102047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:-23.42, Z:-2.21 [[ 9.78562076e-01 2.05688785e-01 1.04109258e-02 1.98672681e+02] [-2.05679154e-01 9.78617438e-01 -1.99899818e-03 -2.34229210e+01] [-1.05994850e-02 -1.85166600e-04 9.99943807e-01 -2.20735514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.73, Y:-23.43, Z:-2.20 [[ 9.77874397e-01 2.08933659e-01 1.04110430e-02 1.98731874e+02] [-2.08924219e-01 9.77929792e-01 -1.99838744e-03 -2.34257714e+01] [-1.05987995e-02 -2.20947112e-04 9.99943807e-01 -2.20426243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:-23.43, Z:-2.21 [[ 9.78245939e-01 2.07187090e-01 1.04111392e-02 1.98789594e+02] [-2.07177556e-01 9.78301318e-01 -1.99788598e-03 -2.34252450e+01] [-1.05991674e-02 -2.02530532e-04 9.99943807e-01 -2.20799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:-23.43, Z:-2.21 [[ 9.79419349e-01 2.01567219e-01 1.04113050e-02 1.98848204e+02] [-2.01557377e-01 9.79474673e-01 -1.99702185e-03 -2.34270712e+01] [-1.06001437e-02 -1.42553480e-04 9.99943807e-01 -2.20949035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:-23.43, Z:-2.21 [[ 9.81013252e-01 1.93661048e-01 1.04114460e-02 1.98906503e+02] [-1.93650767e-01 9.81068497e-01 -1.99628657e-03 -2.34314660e+01] [-1.06009446e-02 -5.78009124e-05 9.99943807e-01 -2.20876649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.96, Y:-23.44, Z:-2.21 [[ 9.82263934e-01 1.87214219e-01 1.04115864e-02 1.98962778e+02] [-1.87203583e-01 9.82319111e-01 -1.99555387e-03 -2.34398758e+01] [-1.06010964e-02 1.10743161e-05 9.99943807e-01 -2.20977586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:-23.45, Z:-2.21 [[ 9.84092555e-01 1.77351172e-01 1.04117481e-02 1.99019628e+02] [-1.77339993e-01 9.84147625e-01 -1.99470959e-03 -2.34527038e+01] [-1.06004613e-02 1.16559519e-04 9.99943807e-01 -2.21201974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:199.08, Y:-23.47, Z:-2.21 [[ 9.85433250e-01 1.69743639e-01 1.04118853e-02 1.99075387e+02] [-1.69732042e-01 9.85488233e-01 -1.99399355e-03 -2.34706338e+01] [-1.05992581e-02 1.97717003e-04 9.99943807e-01 -2.20780350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:-23.49, Z:-2.21 [[ 9.85886901e-01 1.67088625e-01 1.04119976e-02 1.99129820e+02] [-1.67076886e-01 9.85941855e-01 -1.99340660e-03 -2.34900186e+01] [-1.05986998e-02 2.25669313e-04 9.99943807e-01 -2.20824759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.19, Y:-23.51, Z:-2.22 [[ 9.85707901e-01 1.68141372e-01 1.04121522e-02 1.99185867e+02] [-1.68129700e-01 9.85762869e-01 -1.99259880e-03 -2.35102727e+01] [-1.05989514e-02 2.13528344e-04 9.99943807e-01 -2.21598894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:-23.53, Z:-2.22 [[ 9.85204961e-01 1.71063641e-01 1.04122400e-02 1.99242753e+02] [-1.71052137e-01 9.85259965e-01 -1.99214030e-03 -2.35256841e+01] [-1.05995459e-02 1.81630617e-04 9.99943807e-01 -2.21815626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:-23.54, Z:-2.21 [[ 9.83716926e-01 1.79422944e-01 1.04123272e-02 1.99300286e+02] [-1.79411912e-01 9.83772026e-01 -1.99168414e-03 -2.35385762e+01] [-1.06007101e-02 9.11578602e-05 9.99943807e-01 -2.21368331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.36, Y:-23.55, Z:-2.21 [[ 9.82871821e-01 1.83996101e-01 1.04124139e-02 1.99357848e+02] [-1.83985331e-01 9.82926972e-01 -1.99123059e-03 -2.35508745e+01] [-1.06010212e-02 4.13930101e-05 9.99943807e-01 -2.21327469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:-23.56, Z:-2.21 [[ 9.82867584e-01 1.84018728e-01 1.04124999e-02 1.99414969e+02] [-1.84007963e-01 9.82922737e-01 -1.99078090e-03 -2.35623616e+01] [-1.06010239e-02 4.06911117e-05 9.99943807e-01 -2.21314163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:-23.58, Z:-2.21 [[ 9.83555882e-01 1.80303645e-01 1.04126290e-02 1.99471689e+02] [-1.80292680e-01 9.83610995e-01 -1.99010565e-03 -2.35779962e+01] [-1.06007997e-02 8.00593353e-05 9.99943807e-01 -2.21458519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:-23.59, Z:-2.21 [[ 9.83949514e-01 1.78143004e-01 1.04127279e-02 1.99527157e+02] [-1.78131923e-01 9.84004603e-01 -1.98958777e-03 -2.35939467e+01] [-1.06006034e-02 1.02814663e-04 9.99943807e-01 -2.21121484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.58, Y:-23.61, Z:-2.22 [[ 9.84020308e-01 1.77751527e-01 1.04128502e-02 1.99582224e+02] [-1.77740431e-01 9.84075395e-01 -1.98894785e-03 -2.36128768e+01] [-1.06005682e-02 1.06380603e-04 9.99943807e-01 -2.21522609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:-23.63, Z:-2.22 [[ 9.83360702e-01 1.81365103e-01 1.04129762e-02 1.99638016e+02] [-1.81354216e-01 9.83415830e-01 -1.98828802e-03 -2.36328902e+01] [-1.06008917e-02 6.67671744e-05 9.99943807e-01 -2.21818970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:-23.65, Z:-2.22 [[ 9.82324741e-01 1.86894815e-01 1.04130699e-02 1.99694426e+02] [-1.86884244e-01 9.82379931e-01 -1.98779672e-03 -2.36516069e+01] [-1.06010998e-02 6.62319819e-06 9.99943807e-01 -2.21694245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.75, Y:-23.66, Z:-2.22 [[ 9.80967039e-01 1.93894905e-01 1.04131652e-02 1.99751260e+02] [-1.93884733e-01 9.81022304e-01 -1.98729746e-03 -2.36646457e+01] [-1.06008742e-02 -6.94804544e-05 9.99943807e-01 -2.21992754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.81, Y:-23.68, Z:-2.22 [[ 9.80253887e-01 1.97468681e-01 1.04132829e-02 1.99808249e+02] [-1.97458717e-01 9.80309190e-01 -1.98668090e-03 -2.36776905e+01] [-1.06005441e-02 -1.08741798e-04 9.99943807e-01 -2.22221023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.86, Y:-23.69, Z:-2.23 [[ 9.80114839e-01 1.98157674e-01 1.04133776e-02 1.99864515e+02] [-1.98147755e-01 9.80170150e-01 -1.98618438e-03 -2.36908338e+01] [-1.06004595e-02 -1.16698593e-04 9.99943807e-01 -2.22520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.92, Y:-23.71, Z:-2.23 [[ 9.80259212e-01 1.97442234e-01 1.04134947e-02 1.99921565e+02] [-1.97432280e-01 9.80314517e-01 -1.98556986e-03 -2.37057163e+01] [-1.06005354e-02 -1.09586864e-04 9.99943807e-01 -2.22754650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.98, Y:-23.71, Z:-2.22 [[ 9.79515628e-01 2.01098709e-01 1.04135875e-02 1.99979386e+02] [-2.01088967e-01 9.79570971e-01 -1.98508322e-03 -2.37145939e+01] [-1.06000457e-02 -1.49637512e-04 9.99943807e-01 -2.22176138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.04, Y:-23.72, Z:-2.22 [[ 9.78484879e-01 2.06055566e-01 1.04136814e-02 2.00036818e+02] [-2.06046109e-01 9.78540271e-01 -1.98459026e-03 -2.37214693e+01] [-1.05991425e-02 -2.03806989e-04 9.99943807e-01 -2.21754791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:-23.73, Z:-2.21 [[ 9.78381260e-01 2.06547001e-01 1.04137976e-02 2.00095422e+02] [-2.06537579e-01 9.78436657e-01 -1.98398066e-03 -2.37283437e+01] [-1.05990265e-02 -2.09751044e-04 9.99943807e-01 -2.21462626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:-23.74, Z:-2.22 [[ 9.79179867e-01 2.02727253e-01 1.04138926e-02 2.00152443e+02] [-2.02717620e-01 9.79235228e-01 -1.98348199e-03 -2.37360276e+01] [-1.05997563e-02 -1.68893875e-04 9.99943807e-01 -2.22193345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:-23.75, Z:-2.22 [[ 9.81253891e-01 1.92437911e-01 1.04140100e-02 2.00210164e+02] [-1.92427704e-01 9.81309149e-01 -1.98286539e-03 -2.37489741e+01] [-1.06009417e-02 -5.82496534e-05 9.99943807e-01 -2.22124241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.27, Y:-23.77, Z:-2.22 [[ 9.82956705e-01 1.83541990e-01 1.04141000e-02 2.00267982e+02] [-1.83531288e-01 9.83011870e-01 -1.98239237e-03 -2.37655175e+01] [-1.06010362e-02 3.72926821e-05 9.99943807e-01 -2.22257132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:-23.78, Z:-2.23 [[ 9.82784408e-01 1.84462334e-01 1.04141468e-02 2.00325679e+02] [-1.84451686e-01 9.82839583e-01 -1.98214670e-03 -2.37778686e+01] [-1.06010671e-02 2.71159374e-05 9.99943807e-01 -2.22862660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.38, Y:-23.79, Z:-2.23 [[ 9.81519768e-01 1.91077181e-01 1.04142404e-02 2.00384215e+02] [-1.91066910e-01 9.81575014e-01 -1.98165476e-03 -2.37871302e+01] [-1.06010071e-02 -4.47834023e-05 9.99943807e-01 -2.22883233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:-23.79, Z:-2.23 [[ 9.80596353e-01 1.95760909e-01 1.04143333e-02 2.00442584e+02] [-1.95750907e-01 9.80651649e-01 -1.98116618e-03 -2.37939460e+01] [-1.06006680e-02 -9.58908583e-05 9.99943807e-01 -2.22936875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.50, Y:-23.80, Z:-2.23 [[ 9.79521083e-01 2.01072094e-01 1.04144293e-02 2.00501174e+02] [-2.01062398e-01 9.79576434e-01 -1.98066149e-03 -2.37971350e+01] [-1.05999853e-02 -1.53850441e-04 9.99943807e-01 -2.23126570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:-23.80, Z:-2.23 [[ 9.79169287e-01 2.02778314e-01 1.04145476e-02 2.00560844e+02] [-2.02768721e-01 9.79224655e-01 -1.98003939e-03 -2.37998596e+01] [-1.05996908e-02 -1.72950728e-04 9.99943807e-01 -2.22504635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.62, Y:-23.81, Z:-2.23 [[ 9.79448172e-01 2.01426946e-01 1.04146415e-02 2.00619559e+02] [-2.01417281e-01 9.79503527e-01 -1.97954507e-03 -2.38059362e+01] [-1.05999118e-02 -1.58826979e-04 9.99943807e-01 -2.22837966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:-23.81, Z:-2.23 [[ 9.80034392e-01 1.98555089e-01 1.04147353e-02 2.00677819e+02] [-1.98545267e-01 9.80089721e-01 -1.97905164e-03 -2.38115702e+01] [-1.06003258e-02 -1.28257730e-04 9.99943807e-01 -2.23056704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:-23.82, Z:-2.22 [[ 9.80587827e-01 1.95803583e-01 1.04148697e-02 2.00736402e+02] [-1.95793614e-01 9.80643129e-01 -1.97834409e-03 -2.38213027e+01] [-1.06006373e-02 -9.92248485e-05 9.99943807e-01 -2.22486290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:-23.83, Z:-2.23 [[ 9.80999483e-01 1.93730592e-01 1.04149617e-02 2.00793398e+02] [-1.93720511e-01 9.81054765e-01 -1.97785955e-03 -2.38345670e+01] [-1.06008197e-02 -7.73125125e-05 9.99943807e-01 -2.22934228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.85, Y:-23.85, Z:-2.23 [[ 9.81237400e-01 1.92521925e-01 1.04150529e-02 2.00849383e+02] [-1.92511781e-01 9.81292670e-01 -1.97737914e-03 -2.38481792e+01] [-1.06009039e-02 -6.47420202e-05 9.99943807e-01 -2.22940716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:-23.86, Z:-2.23 [[ 9.81579538e-01 1.90769848e-01 1.04151929e-02 2.00905572e+02] [-1.90759613e-01 9.81634791e-01 -1.97664182e-03 -2.38616903e+01] [-1.06009993e-02 -4.65669938e-05 9.99943807e-01 -2.22860965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:-23.88, Z:-2.23 [[ 9.81607941e-01 1.90623638e-01 1.04153082e-02 2.00962642e+02] [-1.90613401e-01 9.81663194e-01 -1.97603376e-03 -2.38762433e+01] [-1.06010035e-02 -4.56068877e-05 9.99943807e-01 -2.22909220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:-23.89, Z:-2.23 [[ 9.80858068e-01 1.94445289e-01 1.04154026e-02 2.01020731e+02] [-1.94435273e-01 9.80913361e-01 -1.97553622e-03 -2.38870055e+01] [-1.06007413e-02 -8.74010067e-05 9.99943807e-01 -2.23290017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.08, Y:-23.89, Z:-2.24 [[ 9.79495199e-01 2.01198095e-01 1.04154966e-02 2.01079339e+02] [-2.01188465e-01 9.79550561e-01 -1.97504019e-03 -2.38933222e+01] [-1.05998799e-02 -1.60935398e-04 9.99943807e-01 -2.23516705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-23.90, Z:-2.24 [[ 9.78953408e-01 2.03817909e-01 1.04155941e-02 2.01138556e+02] [-2.03808433e-01 9.79008797e-01 -1.97452607e-03 -2.38965375e+01] [-1.05994020e-02 -1.89816888e-04 9.99943807e-01 -2.23831225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:-23.90, Z:-2.24 [[ 9.79738015e-01 2.00012340e-01 1.04156908e-02 2.01195525e+02] [-2.00002654e-01 9.79793367e-01 -1.97401609e-03 -2.39046695e+01] [-1.06000523e-02 -1.49147189e-04 9.99943807e-01 -2.23757788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.25, Y:-23.91, Z:-2.24 [[ 9.81076256e-01 1.93341382e-01 1.04158303e-02 2.01253851e+02] [-1.93331327e-01 9.81131543e-01 -1.97327960e-03 -2.39144711e+01] [-1.06008162e-02 -7.77685334e-05 9.99943807e-01 -2.23686977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.31, Y:-23.93, Z:-2.24 [[ 9.82798981e-01 1.84384574e-01 1.04159248e-02 2.01311854e+02] [-1.84374021e-01 9.82854175e-01 -1.97278080e-03 -2.39259739e+01] [-1.06010855e-02 1.84210313e-05 9.99943807e-01 -2.23576884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:-23.94, Z:-2.24 [[ 9.83257345e-01 1.81924433e-01 1.04160203e-02 2.01367758e+02] [-1.81913747e-01 9.83312513e-01 -1.97227618e-03 -2.39417192e+01] [-1.06010083e-02 4.44377526e-05 9.99943807e-01 -2.23550257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:-23.96, Z:-2.24 [[ 9.83627342e-01 1.79913189e-01 1.04161381e-02 2.01424551e+02] [-1.79902397e-01 9.83682490e-01 -1.97165399e-03 -2.39596860e+01] [-1.06008992e-02 6.54845675e-05 9.99943807e-01 -2.23835248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.48, Y:-23.98, Z:-2.24 [[ 9.83164795e-01 1.82423923e-01 1.04162315e-02 2.01480040e+02] [-1.82413277e-01 9.83219971e-01 -1.97116015e-03 -2.39769729e+01] [-1.06010336e-02 3.79163261e-05 9.99943807e-01 -2.23833467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:-23.99, Z:-2.23 [[ 9.82146581e-01 1.87828628e-01 1.04163471e-02 2.01537714e+02] [-1.87818292e-01 9.82201815e-01 -1.97054927e-03 -2.39882668e+01] [-1.06010806e-02 -2.10123020e-05 9.99943807e-01 -2.23378216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:-24.00, Z:-2.24 [[ 9.81621068e-01 1.90555966e-01 1.04164414e-02 2.01595260e+02] [-1.90545789e-01 9.81676332e-01 -1.97005079e-03 -2.39977347e+01] [-1.06009789e-02 -5.09656803e-05 9.99943807e-01 -2.23914088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:-24.01, Z:-2.24 [[ 9.81668134e-01 1.90313350e-01 1.04165345e-02 2.01652034e+02] [-1.90303165e-01 9.81723396e-01 -1.96955817e-03 -2.40071292e+01] [-1.06009889e-02 -4.88469967e-05 9.99943807e-01 -2.23822517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:-24.02, Z:-2.24 [[ 9.81917998e-01 1.89019944e-01 1.04166601e-02 2.01710572e+02] [-1.89009693e-01 9.81973248e-01 -1.96889361e-03 -2.40160961e+01] [-1.06010418e-02 -3.55576642e-05 9.99943807e-01 -2.23773515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.77, Y:-24.03, Z:-2.24 [[ 9.82525224e-01 1.85837764e-01 1.04167535e-02 2.01768398e+02] [-1.85827339e-01 9.82580442e-01 -1.96839974e-03 -2.40286784e+01] [-1.06011012e-02 -1.71518679e-06 9.99943807e-01 -2.24225093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.82, Y:-24.04, Z:-2.25 [[ 9.82978031e-01 1.83427589e-01 1.04168472e-02 2.01824939e+02] [-1.83417034e-01 9.83033224e-01 -1.96790348e-03 -2.40428651e+01] [-1.06010747e-02 2.37786721e-05 9.99943807e-01 -2.24674783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.88, Y:-24.05, Z:-2.24 [[ 9.82587193e-01 1.85509822e-01 1.04169631e-02 2.01882380e+02] [-1.85499390e-01 9.82642410e-01 -1.96729003e-03 -2.40542984e+01] [-1.06011013e-02 6.93688312e-07 9.99943807e-01 -2.24282343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.94, Y:-24.06, Z:-2.24 [[ 9.82106740e-01 1.88036796e-01 1.04170555e-02 2.01940328e+02] [-1.88026512e-01 9.82161984e-01 -1.96680031e-03 -2.40631324e+01] [-1.06010668e-02 -2.70747783e-05 9.99943807e-01 -2.24314192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.00, Y:-24.07, Z:-2.24 [[ 9.81877894e-01 1.89228126e-01 1.04171473e-02 2.01997741e+02] [-1.89217914e-01 9.81933152e-01 -1.96631424e-03 -2.40741197e+01] [-1.06010242e-02 -4.04303953e-05 9.99943807e-01 -2.24384786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.06, Y:-24.09, Z:-2.24 [[ 9.82470061e-01 1.86129149e-01 1.04172414e-02 2.02055547e+02] [-1.86118768e-01 9.82525287e-01 -1.96581572e-03 -2.40869035e+01] [-1.06010987e-02 -7.48903370e-06 9.99943807e-01 -2.24229048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.11, Y:-24.10, Z:-2.24 [[ 9.82566737e-01 1.85618121e-01 1.04173379e-02 2.02112274e+02] [-1.85607717e-01 9.82621958e-01 -1.96530408e-03 -2.40979407e+01] [-1.06011010e-02 -2.49588591e-06 9.99943807e-01 -2.23774132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:-24.11, Z:-2.25 [[ 9.81985891e-01 1.88666866e-01 1.04174569e-02 2.02169496e+02] [-1.88656640e-01 9.82041146e-01 -1.96467281e-03 -2.41096233e+01] [-1.06010400e-02 -3.60414357e-05 9.99943807e-01 -2.24563843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.23, Y:-24.12, Z:-2.25 [[ 9.81730537e-01 1.89991122e-01 1.04175512e-02 2.02226260e+02] [-1.89980976e-01 9.81785807e-01 -1.96417292e-03 -2.41226677e+01] [-1.06009793e-02 -5.08480079e-05 9.99943807e-01 -2.24748285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.28, Y:-24.14, Z:-2.24 [[ 9.81677878e-01 1.90263020e-01 1.04176679e-02 2.02283772e+02] [-1.90252895e-01 9.81733151e-01 -1.96355364e-03 -2.41360328e+01] [-1.06009616e-02 -5.44143140e-05 9.99943807e-01 -2.24418593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.34, Y:-24.15, Z:-2.25 [[ 9.81119802e-01 1.93120182e-01 1.04177607e-02 2.02341917e+02] [-1.93110223e-01 9.81175106e-01 -1.96306123e-03 -2.41457228e+01] [-1.06007542e-02 -8.57778503e-05 9.99943807e-01 -2.24523199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:-24.15, Z:-2.25 [[ 9.80667437e-01 1.95404316e-01 1.04178572e-02 2.02399188e+02] [-1.95394492e-01 9.80722765e-01 -1.96254908e-03 -2.41516436e+01] [-1.06005203e-02 -1.10983936e-04 9.99943807e-01 -2.24539716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:-24.16, Z:-2.25 [[ 9.80666656e-01 1.95408228e-01 1.04179764e-02 2.02456775e+02] [-1.95398411e-01 9.80721985e-01 -1.96191621e-03 -2.41568622e+01] [-1.06005130e-02 -1.11670223e-04 9.99943807e-01 -2.24712745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:-24.16, Z:-2.25 [[ 9.80648118e-01 1.95501233e-01 1.04180934e-02 2.02514306e+02] [-1.95491428e-01 9.80703449e-01 -1.96129447e-03 -2.41604352e+01] [-1.06004956e-02 -1.13308224e-04 9.99943807e-01 -2.24765851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.57, Y:-24.16, Z:-2.24 [[ 9.80442768e-01 1.96528465e-01 1.04182531e-02 2.02574236e+02] [-1.96518727e-01 9.80498111e-01 -1.96044567e-03 -2.41615987e+01] [-1.06003609e-02 -1.25277057e-04 9.99943807e-01 -2.24444678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.63, Y:-24.16, Z:-2.25 [[ 9.81008242e-01 1.93686051e-01 1.04183463e-02 2.02631731e+02] [-1.93676157e-01 9.81063558e-01 -1.95995025e-03 -2.41616502e+01] [-1.06006749e-02 -9.50579366e-05 9.99943807e-01 -2.24581320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:-24.17, Z:-2.25 [[ 9.82134581e-01 1.87891245e-01 1.04185072e-02 2.02691286e+02] [-1.87881035e-01 9.82189838e-01 -1.95909488e-03 -2.41652895e+01] [-1.06010487e-02 -3.33450827e-05 9.99943807e-01 -2.24984392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.245769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:202.75, Y:-24.17, Z:-2.25 [[ 9.83109390e-01 1.82722140e-01 1.04186003e-02 2.02749752e+02] [-1.82711644e-01 9.83164594e-01 -1.95859957e-03 -2.41696879e+01] [-1.06010784e-02 2.19180435e-05 9.99943807e-01 -2.24533220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:-24.18, Z:-2.25 [[ 9.83853525e-01 1.78672021e-01 1.04187160e-02 2.02807757e+02] [-1.78661304e-01 9.83908687e-01 -1.95798397e-03 -2.41766402e+01] [-1.06009021e-02 6.49480493e-05 9.99943807e-01 -2.24681403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:-24.19, Z:-2.25 [[ 9.84917532e-01 1.72710460e-01 1.04188578e-02 2.02864568e+02] [-1.72699417e-01 9.84972629e-01 -1.95722917e-03 -2.41860229e+01] [-1.06003237e-02 1.28378660e-04 9.99943807e-01 -2.24901067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:-24.20, Z:-2.25 [[ 9.85961736e-01 1.66646033e-01 1.04189997e-02 2.02920306e+02] [-1.66634660e-01 9.86016766e-01 -1.95647339e-03 -2.41976113e+01] [-1.05993469e-02 1.92841432e-04 9.99943807e-01 -2.24598450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:-24.21, Z:-2.25 [[ 9.87068030e-01 1.59962949e-01 1.04191629e-02 2.02976114e+02] [-1.59951212e-01 9.87122984e-01 -1.95560394e-03 -2.42129460e+01] [-1.05978193e-02 2.63756403e-04 9.99943807e-01 -2.24704478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.03, Y:-24.23, Z:-2.25 [[ 9.87614433e-01 1.56554049e-01 1.04192731e-02 2.03032748e+02] [-1.56542129e-01 9.87669347e-01 -1.95501677e-03 -2.42290420e+01] [-1.05968624e-02 2.99747598e-04 9.99943807e-01 -2.24881878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.09, Y:-24.25, Z:-2.25 [[ 9.87882802e-01 1.54851563e-01 1.04193668e-02 2.03088486e+02] [-1.54839553e-01 9.87937697e-01 -1.95451693e-03 -2.42463196e+01] [-1.05963453e-02 3.17503562e-04 9.99943807e-01 -2.24772659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:-24.26, Z:-2.25 [[ 9.87645286e-01 1.56359273e-01 1.04194917e-02 2.03144940e+02] [-1.56347355e-01 9.87700201e-01 -1.95385078e-03 -2.42646845e+01] [-1.05968368e-02 3.00651544e-04 9.99943807e-01 -2.25069793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:-24.28, Z:-2.25 [[ 9.86717130e-01 1.62113351e-01 1.04195774e-02 2.03200796e+02] [-1.62101757e-01 9.86772114e-01 -1.95339400e-03 -2.42817152e+01] [-1.05984196e-02 2.38415523e-04 9.99943807e-01 -2.25043700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.26, Y:-24.30, Z:-2.25 [[ 9.86055960e-01 1.66087548e-01 1.04196835e-02 2.03257484e+02] [-1.66076181e-01 9.86110992e-01 -1.95282763e-03 -2.42965936e+01] [-1.05993048e-02 1.95136072e-04 9.99943807e-01 -2.24984471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.31, Y:-24.31, Z:-2.25 [[ 9.85156099e-01 1.71344356e-01 1.04197775e-02 2.03314161e+02] [-1.71333289e-01 9.85211192e-01 -1.95232621e-03 -2.43082774e+01] [-1.06002014e-02 1.38091326e-04 9.99943807e-01 -2.25009832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.37, Y:-24.32, Z:-2.25 [[ 9.83109673e-01 1.82720543e-01 1.04198940e-02 2.03372185e+02] [-1.82710120e-01 9.83164891e-01 -1.95170380e-03 -2.43165117e+01] [-1.06010904e-02 1.49187916e-05 9.99943807e-01 -2.25028496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:-24.32, Z:-2.25 [[ 9.81432606e-01 1.91524055e-01 1.04199863e-02 2.03428727e+02] [-1.91514133e-01 9.81487916e-01 -1.95121128e-03 -2.43217868e+01] [-1.06007945e-02 -8.05922612e-05 9.99943807e-01 -2.25297948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:-24.33, Z:-2.25 [[ 9.80414775e-01 1.96667966e-01 1.04201471e-02 2.03485568e+02] [-1.96658343e-01 9.80470138e-01 -1.95035193e-03 -2.43284295e+01] [-1.06002148e-02 -1.37055021e-04 9.99943807e-01 -2.25467395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:-24.34, Z:-2.25 [[ 9.80597169e-01 1.95756504e-01 1.04203048e-02 2.03542787e+02] [-1.95746838e-01 9.80652525e-01 -1.94950925e-03 -2.43383145e+01] [-1.06003273e-02 -1.28058461e-04 9.99943807e-01 -2.25401079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.60, Y:-24.35, Z:-2.25 [[ 9.82075487e-01 1.88199769e-01 1.04204375e-02 2.03599056e+02] [-1.88189685e-01 9.82130768e-01 -1.94879950e-03 -2.43521443e+01] [-1.06009959e-02 -4.71506341e-05 9.99943807e-01 -2.25398821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:-24.37, Z:-2.26 [[ 9.83351723e-01 1.81413341e-01 1.04205698e-02 2.03655583e+02] [-1.81402883e-01 9.83406935e-01 -1.94809173e-03 -2.43704609e+01] [-1.06010705e-02 2.53379534e-05 9.99943807e-01 -2.25752061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:-24.39, Z:-2.25 [[ 9.83567786e-01 1.80238233e-01 1.04206655e-02 2.03711011e+02] [-1.80227714e-01 9.83622986e-01 -1.94757992e-03 -2.43901679e+01] [-1.06010345e-02 3.74841541e-05 9.99943807e-01 -2.25444313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:-24.41, Z:-2.25 [[ 9.82965656e-01 1.83493669e-01 1.04207836e-02 2.03766749e+02] [-1.83483339e-01 9.83020892e-01 -1.94694783e-03 -2.44100633e+01] [-1.06011006e-02 1.74267927e-06 9.99943807e-01 -2.25008079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:-24.42, Z:-2.25 [[ 9.82312953e-01 1.86956324e-01 1.04208788e-02 2.03823443e+02] [-1.86946195e-01 9.82368226e-01 -1.94643810e-03 -2.44239515e+01] [-1.06010391e-02 -3.61322740e-05 9.99943807e-01 -2.24997832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.88, Y:-24.43, Z:-2.26 [[ 9.81029431e-01 1.93578556e-01 1.04209968e-02 2.03880887e+02] [-1.93568807e-01 9.81084772e-01 -1.94580582e-03 -2.44348197e+01] [-1.06005476e-02 -1.08287152e-04 9.99943807e-01 -2.25720447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-24.44, Z:-2.26 [[ 9.80354604e-01 1.96967640e-01 1.04210890e-02 2.03938557e+02] [-1.96958087e-01 9.80409979e-01 -1.94531191e-03 -2.44444410e+01] [-1.06001032e-02 -1.45422269e-04 9.99943807e-01 -2.25889815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:-24.45, Z:-2.26 [[ 9.80441696e-01 1.96533661e-01 1.04211805e-02 2.03997089e+02] [-1.96524089e-01 9.80497068e-01 -1.94482200e-03 -2.44518566e+01] [-1.06001599e-02 -1.41228420e-04 9.99943807e-01 -2.25981552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:-24.46, Z:-2.26 [[ 9.80848866e-01 1.94491385e-01 1.04212752e-02 2.04054457e+02] [-1.94481703e-01 9.80904219e-01 -1.94431412e-03 -2.44601084e+01] [-1.06004252e-02 -1.19669056e-04 9.99943807e-01 -2.26084450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:-24.47, Z:-2.26 [[ 9.81024628e-01 1.93602876e-01 1.04213922e-02 2.04111827e+02] [-1.93593150e-01 9.81079973e-01 -1.94368686e-03 -2.44667240e+01] [-1.06005226e-02 -1.10705473e-04 9.99943807e-01 -2.26202653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.745769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:-24.47, Z:-2.27 [[ 9.80746929e-01 1.95004751e-01 1.04215142e-02 2.04168871e+02] [-1.94995111e-01 9.80802290e-01 -1.94303237e-03 -2.44745935e+01] [-1.06003456e-02 -1.26521295e-04 9.99943807e-01 -2.26554827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:-24.48, Z:-2.26 [[ 9.80702827e-01 1.95226421e-01 1.04216453e-02 2.04226416e+02] [-1.95216801e-01 9.80758190e-01 -1.94232940e-03 -2.44827762e+01] [-1.06003080e-02 -1.29632320e-04 9.99943807e-01 -2.26259278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:-24.49, Z:-2.26 [[ 9.81086804e-01 1.93287528e-01 1.04217814e-02 2.04283715e+02] [-1.93277807e-01 9.81142150e-01 -1.94159840e-03 -2.44946820e+01] [-1.06005358e-02 -1.09422501e-04 9.99943807e-01 -2.26242575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:-24.51, Z:-2.27 [[ 9.82070553e-01 1.88225433e-01 1.04218748e-02 2.04340950e+02] [-1.88215432e-01 9.82125849e-01 -1.94109737e-03 -2.45053144e+01] [-1.06009565e-02 -5.52630937e-05 9.99943807e-01 -2.26528977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:-24.52, Z:-2.26 [[ 9.82673797e-01 1.85050237e-01 1.04219995e-02 2.04398460e+02] [-1.85040065e-01 9.82729062e-01 -1.94042733e-03 -2.45198359e+01] [-1.06010783e-02 -2.16803652e-05 9.99943807e-01 -2.26134892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:-24.54, Z:-2.26 [[ 9.83092335e-01 1.82813676e-01 1.04220915e-02 2.04454909e+02] [-1.82803383e-01 9.83147578e-01 -1.93993338e-03 -2.45371044e+01] [-1.06011003e-02 1.94006231e-06 9.99943807e-01 -2.26259764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:-24.55, Z:-2.27 [[ 9.82794202e-01 1.84409693e-01 1.04221845e-02 2.04510462e+02] [-1.84399495e-01 9.82849462e-01 -1.93943355e-03 -2.45534008e+01] [-1.06010887e-02 -1.57815112e-05 9.99943807e-01 -2.26698869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.57, Y:-24.57, Z:-2.27 [[ 9.82516992e-01 1.85880975e-01 1.04222989e-02 2.04567492e+02] [-1.85870866e-01 9.82572268e-01 -1.93881846e-03 -2.45729529e+01] [-1.06010513e-02 -3.22796420e-05 9.99943807e-01 -2.26526875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.62, Y:-24.59, Z:-2.27 [[ 9.82345744e-01 1.86783869e-01 1.04223471e-02 2.04624026e+02] [-1.86773814e-01 9.82401030e-01 -1.93855946e-03 -2.45910847e+01] [-1.06010161e-02 -4.22858797e-05 9.99943807e-01 -2.26824197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.68, Y:-24.61, Z:-2.27 [[ 9.82183482e-01 1.87635235e-01 1.04224183e-02 2.04681806e+02] [-1.87625232e-01 9.82238777e-01 -1.93817624e-03 -2.46063148e+01] [-1.06009736e-02 -5.18639645e-05 9.99943807e-01 -2.27046923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.74, Y:-24.62, Z:-2.27 [[ 9.81609148e-01 1.90617033e-01 1.04224646e-02 2.04739481e+02] [-1.90607200e-01 9.81664474e-01 -1.93792733e-03 -2.46228959e+01] [-1.06007652e-02 -8.43096077e-05 9.99943807e-01 -2.27001591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.405769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:-24.64, Z:-2.27 [[ 9.81138604e-01 1.93024382e-01 1.04225111e-02 2.04796532e+02] [-1.93014687e-01 9.81193954e-01 -1.93767725e-03 -2.46386540e+01] [-1.06005238e-02 -1.10567774e-04 9.99943807e-01 -2.27132627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:-24.65, Z:-2.27 [[ 9.80319783e-01 1.97140795e-01 1.04225800e-02 2.04854955e+02] [-1.97131338e-01 9.80375174e-01 -1.93730665e-03 -2.46507774e+01] [-1.05999608e-02 -1.55437097e-04 9.99943807e-01 -2.27168437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:-24.66, Z:-2.27 [[ 9.79765055e-01 1.99879478e-01 1.04226256e-02 2.04914104e+02] [-1.99870178e-01 9.79820473e-01 -1.93706136e-03 -2.46603455e+01] [-1.05994807e-02 -1.85306994e-04 9.99943807e-01 -2.27170889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.97, Y:-24.66, Z:-2.27 [[ 9.78087032e-01 2.07935390e-01 1.04226708e-02 2.04971937e+02] [-2.07926548e-01 9.78142525e-01 -1.93681806e-03 -2.46649851e+01] [-1.05975905e-02 -2.72773338e-04 9.99943807e-01 -2.27047083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.03, Y:-24.67, Z:-2.27 [[ 9.77886463e-01 2.08876594e-01 1.04227824e-02 2.05030878e+02] [-2.08867812e-01 9.77941966e-01 -1.93621707e-03 -2.46671276e+01] [-1.05973068e-02 -2.83583300e-04 9.99943807e-01 -2.27308789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:205.09, Y:-24.67, Z:-2.27 [[ 9.79581165e-01 2.00778745e-01 1.04228702e-02 2.05089487e+02] [-2.00769509e-01 9.79636594e-01 -1.93574432e-03 -2.46735503e+01] [-1.05992814e-02 -1.96375866e-04 9.99943807e-01 -2.27343446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:-24.68, Z:-2.27 [[ 9.81261733e-01 1.92397436e-01 1.04229603e-02 2.05146698e+02] [-1.92387732e-01 9.81317082e-01 -1.93525938e-03 -2.46815375e+01] [-1.06005679e-02 -1.06253719e-04 9.99943807e-01 -2.27315109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:-24.69, Z:-2.28 [[ 9.83023456e-01 1.83183635e-01 1.04230721e-02 2.05204928e+02] [-1.83173418e-01 9.83078713e-01 -1.93465711e-03 -2.46927171e+01] [-1.06010978e-02 -7.41641956e-06 9.99943807e-01 -2.27801092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:-24.70, Z:-2.28 [[ 9.83219670e-01 1.82127533e-01 1.04231172e-02 2.05264000e+02] [-1.82117260e-01 9.83274917e-01 -1.93441371e-03 -2.47031543e+01] [-1.06010997e-02 3.72406328e-06 9.99943807e-01 -2.28055627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.32, Y:-24.71, Z:-2.28 [[ 9.82798814e-01 1.84385055e-01 1.04231629e-02 2.05321021e+02] [-1.84374911e-01 9.82854084e-01 -1.93416768e-03 -2.47133508e+01] [-1.06010798e-02 -2.08720331e-05 9.99943807e-01 -2.28087983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:-24.73, Z:-2.28 [[ 9.83074115e-01 1.82911564e-01 1.04232758e-02 2.05377671e+02] [-1.82901344e-01 9.83129371e-01 -1.93355916e-03 -2.47261435e+01] [-1.06010989e-02 -5.59918944e-06 9.99943807e-01 -2.28226834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:-24.74, Z:-2.28 [[ 9.83580705e-01 1.80167561e-01 1.04233850e-02 2.05435954e+02] [-1.80157193e-01 9.83635933e-01 -1.93297013e-03 -2.47405414e+01] [-1.06010745e-02 2.33843378e-05 9.99943807e-01 -2.27867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:-24.75, Z:-2.28 [[ 9.83502054e-01 1.80596409e-01 1.04234311e-02 2.05493601e+02] [-1.80586067e-01 9.83557287e-01 -1.93272171e-03 -2.47540654e+01] [-1.06010842e-02 1.85093437e-05 9.99943807e-01 -2.27836524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:-24.77, Z:-2.27 [[ 9.82732232e-01 1.84739575e-01 1.04234994e-02 2.05551687e+02] [-1.84729471e-01 9.82787509e-01 -1.93235329e-03 -2.47658491e+01] [-1.06010671e-02 -2.65416600e-05 9.99943807e-01 -2.27365824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.61, Y:-24.78, Z:-2.27 [[ 9.81954364e-01 1.88830550e-01 1.04235450e-02 2.05609231e+02] [-1.88820679e-01 9.82009683e-01 -1.93210695e-03 -2.47804365e+01] [-1.06008630e-02 -7.09399913e-05 9.99943807e-01 -2.27051040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:-24.79, Z:-2.28 [[ 9.81902670e-01 1.89099170e-01 1.04235907e-02 2.05666326e+02] [-1.89089316e-01 9.81957992e-01 -1.93186070e-03 -2.47918983e+01] [-1.06008414e-02 -7.40904476e-05 9.99943807e-01 -2.27554071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.72, Y:-24.80, Z:-2.28 [[ 9.81816925e-01 1.89543855e-01 1.04236583e-02 2.05724175e+02] [-1.89534031e-01 9.81872253e-01 -1.93149569e-03 -2.48045236e+01] [-1.06008040e-02 -7.92628151e-05 9.99943807e-01 -2.27649975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.78, Y:-24.82, Z:-2.28 [[ 9.81743996e-01 1.89921226e-01 1.04237039e-02 2.05781574e+02] [-1.89911425e-01 9.81799328e-01 -1.93124964e-03 -2.48167842e+01] [-1.06007708e-02 -8.35877189e-05 9.99943807e-01 -2.27784941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.84, Y:-24.83, Z:-2.28 [[ 9.81630563e-01 1.90506648e-01 1.04237493e-02 2.05840105e+02] [-1.90496882e-01 9.81685901e-01 -1.93100475e-03 -2.48295968e+01] [-1.06007169e-02 -9.01584581e-05 9.99943807e-01 -2.28203995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:-24.84, Z:-2.29 [[ 9.81477324e-01 1.91294555e-01 1.04237944e-02 2.05897937e+02] [-1.91284837e-01 9.81532671e-01 -1.93076098e-03 -2.48402205e+01] [-1.06006388e-02 -9.89156883e-05 9.99943807e-01 -2.28660909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.96, Y:-24.85, Z:-2.29 [[ 9.81471691e-01 1.91323450e-01 1.04238611e-02 2.05956295e+02] [-1.91313737e-01 9.81527039e-01 -1.93040100e-03 -2.48507334e+01] [-1.06006325e-02 -9.95938873e-05 9.99943807e-01 -2.28594041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:-24.86, Z:-2.28 [[ 9.81336306e-01 1.92016658e-01 1.04239063e-02 2.06014325e+02] [-1.92006987e-01 9.81391661e-01 -1.93015672e-03 -2.48608398e+01] [-1.06005570e-02 -1.07329972e-04 9.99943807e-01 -2.28161155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:-24.87, Z:-2.28 [[ 9.81355515e-01 1.91918455e-01 1.04239734e-02 2.06073156e+02] [-1.91908782e-01 9.81410870e-01 -1.92979418e-03 -2.48697929e+01] [-1.06005639e-02 -1.06637880e-04 9.99943807e-01 -2.27904378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:-24.88, Z:-2.28 [[ 9.82226359e-01 1.87410562e-01 1.04240179e-02 2.06132766e+02] [-1.87400637e-01 9.82281669e-01 -1.92955376e-03 -2.48766682e+01] [-1.06009405e-02 -5.82090355e-05 9.99943807e-01 -2.28345448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-24.89, Z:-2.28 [[ 9.82789515e-01 1.84434563e-01 1.04240634e-02 2.06190745e+02] [-1.84424474e-01 9.82844795e-01 -1.92930817e-03 -2.48856018e+01] [-1.06010675e-02 -2.63485671e-05 9.99943807e-01 -2.28303015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-24.90, Z:-2.28 [[ 9.83851360e-01 1.78683631e-01 1.04241173e-02 2.06249182e+02] [-1.78673221e-01 9.83906580e-01 -1.92901651e-03 -2.49001908e+01] [-1.06010413e-02 3.53548880e-05 9.99943807e-01 -2.28387521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.31, Y:-24.91, Z:-2.28 [[ 9.84958413e-01 1.72476843e-01 1.04241173e-02 2.06308834e+02] [-1.72466086e-01 9.85013567e-01 -1.92901651e-03 -2.49143854e+01] [-1.06006077e-02 1.02194319e-04 9.99943807e-01 -2.28270824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.37, Y:-24.93, Z:-2.29 [[ 9.85425138e-01 1.69789974e-01 1.04240711e-02 2.06368125e+02] [-1.69779063e-01 9.85480262e-01 -1.92926641e-03 -2.49312115e+01] [-1.06002864e-02 1.31358587e-04 9.99943807e-01 -2.28539577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.43, Y:-24.95, Z:-2.29 [[ 9.85566050e-01 1.68970133e-01 1.04237733e-02 2.06428517e+02] [-1.68959160e-01 9.85621162e-01 -1.93087420e-03 -2.49452626e+01] [-1.06001516e-02 1.41812085e-04 9.99943807e-01 -2.28576434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:-24.96, Z:-2.28 [[ 9.85123078e-01 1.71533883e-01 1.04234570e-02 2.06488913e+02] [-1.71523035e-01 9.85178214e-01 -1.93257980e-03 -2.49596847e+01] [-1.06004657e-02 1.15965973e-04 9.99943807e-01 -2.28454383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.55, Y:-24.97, Z:-2.29 [[ 9.84139138e-01 1.77091825e-01 1.04231406e-02 2.06548358e+02] [-1.77081270e-01 9.84194332e-01 -1.93428510e-03 -2.49705142e+01] [-1.06009420e-02 5.78626963e-05 9.99943807e-01 -2.28640512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:-24.98, Z:-2.29 [[ 9.83453176e-01 1.80862404e-01 1.04231406e-02 2.06607706e+02] [-1.80852061e-01 9.83508409e-01 -1.93428510e-03 -2.49807300e+01] [-1.06010859e-02 1.72323672e-05 9.99943807e-01 -2.29082919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.67, Y:-24.99, Z:-2.29 [[ 9.83580783e-01 1.80167151e-01 1.04231406e-02 2.06667038e+02] [-1.80156769e-01 9.83636008e-01 -1.93428510e-03 -2.49894467e+01] [-1.06010710e-02 2.47263211e-05 9.99943807e-01 -2.29356346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:-25.00, Z:-2.29 [[ 9.83649554e-01 1.79791308e-01 1.04231182e-02 2.06726879e+02] [-1.79780903e-01 9.83704775e-01 -1.93440549e-03 -2.50005483e+01] [-1.06010605e-02 2.88994863e-05 9.99943807e-01 -2.29282306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:-25.01, Z:-2.29 [[ 9.83516805e-01 1.80516072e-01 1.04231182e-02 2.06787538e+02] [-1.80505709e-01 9.83572035e-01 -1.93440549e-03 -2.50104042e+01] [-1.06010789e-02 2.10879679e-05 9.99943807e-01 -2.28740383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:-25.02, Z:-2.29 [[ 9.83208278e-01 1.82189025e-01 1.04230709e-02 2.06846306e+02] [-1.82178753e-01 9.83263525e-01 -1.93466034e-03 -2.50187250e+01] [-1.06010993e-02 3.31199689e-06 9.99943807e-01 -2.28909316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.91, Y:-25.03, Z:-2.29 [[ 9.83371161e-01 1.81307799e-01 1.04230944e-02 2.06905308e+02] [-1.81297479e-01 9.83426399e-01 -1.93453394e-03 -2.50295910e+01] [-1.06010923e-02 1.26841533e-05 9.99943807e-01 -2.29246572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.96, Y:-25.04, Z:-2.29 [[ 9.83260142e-01 1.81908911e-01 1.04230944e-02 2.06962899e+02] [-1.81898624e-01 9.83315386e-01 -1.93453394e-03 -2.50402052e+01] [-1.06010981e-02 6.20358907e-06 9.99943807e-01 -2.29294679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.02, Y:-25.05, Z:-2.29 [[ 9.83004545e-01 1.83285083e-01 1.04231466e-02 2.07022135e+02] [-1.83274876e-01 9.83059804e-01 -1.93425255e-03 -2.50533063e+01] [-1.06010961e-02 -8.92185834e-06 9.99943807e-01 -2.29389850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:-25.06, Z:-2.29 [[ 9.82513459e-01 1.85899601e-01 1.04231466e-02 2.07080400e+02] [-1.85889541e-01 9.82568744e-01 -1.93425255e-03 -2.50647081e+01] [-1.06010349e-02 -3.71247813e-05 9.99943807e-01 -2.29291821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.14, Y:-25.08, Z:-2.30 [[ 9.82042263e-01 1.88372905e-01 1.04231231e-02 2.07138885e+02] [-1.88362984e-01 9.82097574e-01 -1.93437912e-03 -2.50786677e+01] [-1.06009085e-02 -6.36885195e-05 9.99943807e-01 -2.29876230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:-25.09, Z:-2.30 [[ 9.81413754e-01 1.91620460e-01 1.04231659e-02 2.07197230e+02] [-1.91610724e-01 9.81469098e-01 -1.93414867e-03 -2.50918622e+01] [-1.06006377e-02 -9.89902520e-05 9.99943807e-01 -2.29820882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:-25.10, Z:-2.29 [[ 9.80645790e-01 1.95512636e-01 1.04232097e-02 2.07255946e+02] [-1.95503123e-01 9.80701172e-01 -1.93391231e-03 -2.51018558e+01] [-1.06001583e-02 -1.41287090e-04 9.99943807e-01 -2.29360183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.31, Y:-25.11, Z:-2.30 [[ 9.78527533e-01 2.05852432e-01 1.04232534e-02 2.07312333e+02] [-2.05843505e-01 9.78583012e-01 -1.93367690e-03 -2.51120152e+01] [-1.05980708e-02 -2.53402935e-04 9.99943807e-01 -2.29818766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.37, Y:-25.12, Z:-2.30 [[ 9.77641726e-01 2.10019068e-01 1.04233697e-02 2.07370309e+02] [-2.10010385e-01 9.77697244e-01 -1.93304960e-03 -2.51217386e+01] [-1.05968772e-02 -2.99185952e-04 9.99943807e-01 -2.29983489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.43, Y:-25.13, Z:-2.30 [[ 9.76591529e-01 2.14849570e-01 1.04234555e-02 2.07428486e+02] [-2.14841166e-01 9.76647090e-01 -1.93258684e-03 -2.51301570e+01] [-1.05952530e-02 -3.52039412e-04 9.99943807e-01 -2.29777265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.49, Y:-25.14, Z:-2.30 [[ 9.75629780e-01 2.19175458e-01 1.04235422e-02 2.07486921e+02] [-2.19167306e-01 9.75685379e-01 -1.93211932e-03 -2.51358182e+01] [-1.05935709e-02 -3.99466517e-04 9.99943807e-01 -2.29810425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.54, Y:-25.14, Z:-2.30 [[ 9.75134101e-01 2.21370354e-01 1.04236344e-02 2.07544614e+02] [-2.21362332e-01 9.75189718e-01 -1.93162197e-03 -2.51420979e+01] [-1.05926249e-02 -4.23809563e-04 9.99943807e-01 -2.29946821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:-25.15, Z:-2.30 [[ 9.75587840e-01 2.19362056e-01 1.04237482e-02 2.07602469e+02] [-2.19353926e-01 9.75643442e-01 -1.93100774e-03 -2.51518706e+01] [-1.05934514e-02 -4.02622414e-04 9.99943807e-01 -2.30320774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:-25.16, Z:-2.31 [[ 9.76498186e-01 2.15273398e-01 1.04238383e-02 2.07659795e+02] [-2.15265040e-01 9.76553755e-01 -1.93052119e-03 -2.51623526e+01] [-1.05950283e-02 -3.58737526e-04 9.99943807e-01 -2.30974675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.72, Y:-25.17, Z:-2.30 [[ 9.77178742e-01 2.12162786e-01 1.04239279e-02 2.07718416e+02] [-2.12154257e-01 9.77234284e-01 -1.93003736e-03 -2.51687476e+01] [-1.05961018e-02 -3.25489187e-04 9.99943807e-01 -2.30439821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.78, Y:-25.18, Z:-2.31 [[ 9.76649845e-01 2.14584295e-01 1.04240168e-02 2.07775346e+02] [-2.14575908e-01 9.76705409e-01 -1.92955696e-03 -2.51763103e+01] [-1.05952462e-02 -3.52241359e-04 9.99943807e-01 -2.30796130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.83, Y:-25.18, Z:-2.30 [[ 9.76496701e-01 2.15280121e-01 1.04241269e-02 2.07833274e+02] [-2.15271780e-01 9.76552272e-01 -1.92896199e-03 -2.51834484e+01] [-1.05949720e-02 -3.60395326e-04 9.99943807e-01 -2.30494732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:-25.19, Z:-2.30 [[ 9.76533137e-01 2.15114780e-01 1.04242356e-02 2.07891357e+02] [-2.15106436e-01 9.76588707e-01 -1.92837439e-03 -2.51932466e+01] [-1.05950126e-02 -3.59198675e-04 9.99943807e-01 -2.30382316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.95, Y:-25.20, Z:-2.31 [[ 9.76617945e-01 2.14729416e-01 1.04243218e-02 2.07949882e+02] [-2.14721056e-01 9.76673513e-01 -1.92790803e-03 -2.51964445e+01] [-1.05951376e-02 -3.55491810e-04 9.99943807e-01 -2.30862442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.01, Y:-25.20, Z:-2.31 [[ 9.76951409e-01 2.13207118e-01 1.04244460e-02 2.08007253e+02] [-2.13198678e-01 9.77006965e-01 -1.92723650e-03 -2.52039385e+01] [-1.05956569e-02 -3.39661684e-04 9.99943807e-01 -2.30531927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:-25.21, Z:-2.30 [[ 9.77459291e-01 2.10866458e-01 1.04245850e-02 2.08065332e+02] [-2.10857893e-01 9.77514827e-01 -1.92648431e-03 -2.52133370e+01] [-1.05964173e-02 -3.15046036e-04 9.99943807e-01 -2.30372416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:-25.22, Z:-2.31 [[ 9.77853308e-01 2.09031659e-01 1.04246755e-02 2.08122041e+02] [-2.09022995e-01 9.77908829e-01 -1.92599439e-03 -2.52246624e+01] [-1.05969760e-02 -2.95656909e-04 9.99943807e-01 -2.30758656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:-25.24, Z:-2.31 [[ 9.77850861e-01 2.09043100e-01 1.04247877e-02 2.08177873e+02] [-2.09034443e-01 9.77906383e-01 -1.92538687e-03 -2.52385905e+01] [-1.05969553e-02 -2.96398476e-04 9.99943807e-01 -2.31101750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:-25.25, Z:-2.31 [[ 9.77264043e-01 2.11769479e-01 1.04248985e-02 2.08235264e+02] [-2.11760984e-01 9.77319590e-01 -1.92478679e-03 -2.52529060e+01] [-1.05960686e-02 -3.26561846e-04 9.99943807e-01 -2.31259965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.29, Y:-25.26, Z:-2.31 [[ 9.76432613e-01 2.15570574e-01 1.04249879e-02 2.08292236e+02] [-2.15562300e-01 9.76488193e-01 -1.92430221e-03 -2.52635416e+01] [-1.05947006e-02 -3.68282942e-04 9.99943807e-01 -2.31197005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.35, Y:-25.27, Z:-2.31 [[ 9.75317003e-01 2.20563055e-01 1.04250985e-02 2.08349960e+02] [-2.20555072e-01 9.75372626e-01 -1.92370301e-03 -2.52722353e+01] [-1.05926535e-02 -4.23088104e-04 9.99943807e-01 -2.31007473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:-25.28, Z:-2.31 [[ 9.74611753e-01 2.23658773e-01 1.04252072e-02 2.08407538e+02] [-2.23650972e-01 9.74667402e-01 -1.92311398e-03 -2.52794553e+01] [-1.05912309e-02 -4.57318234e-04 9.99943807e-01 -2.31119785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:-25.28, Z:-2.31 [[ 9.74099317e-01 2.25880129e-01 1.04253361e-02 2.08466103e+02] [-2.25872463e-01 9.74154985e-01 -1.92241477e-03 -2.52843323e+01] [-1.05901284e-02 -4.82173428e-04 9.99943807e-01 -2.31150228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.52, Y:-25.29, Z:-2.31 [[ 9.74144450e-01 2.25685401e-01 1.04254647e-02 2.08524486e+02] [-2.25677732e-01 9.74200117e-01 -1.92171697e-03 -2.52913584e+01] [-1.05901924e-02 -4.80765309e-04 9.99943807e-01 -2.31024945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.58, Y:-25.30, Z:-2.31 [[ 9.74259508e-01 2.25188184e-01 1.04255574e-02 2.08581053e+02] [-2.25180491e-01 9.74315173e-01 -1.92121406e-03 -2.53009574e+01] [-1.05904135e-02 -4.75871064e-04 9.99943807e-01 -2.30808567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:-25.31, Z:-2.31 [[ 9.74558460e-01 2.23890853e-01 1.04256717e-02 2.08638622e+02] [-2.23883093e-01 9.74614114e-01 -1.92059357e-03 -2.53061862e+01] [-1.05910101e-02 -4.62400911e-04 9.99943807e-01 -2.30937152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:-25.31, Z:-2.31 [[ 9.74475556e-01 2.24251409e-01 1.04258004e-02 2.08696907e+02] [-2.24243676e-01 9.74531214e-01 -1.91989493e-03 -2.53108104e+01] [-1.05908070e-02 -4.67029125e-04 9.99943807e-01 -2.31170928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:-25.31, Z:-2.31 [[ 9.74465276e-01 2.24296067e-01 1.04259284e-02 2.08755107e+02] [-2.24288345e-01 9.74520936e-01 -1.91919924e-03 -2.53108166e+01] [-1.05907544e-02 -4.68221208e-04 9.99943807e-01 -2.31050656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:-25.32, Z:-2.32 [[ 9.75605541e-01 2.19283209e-01 1.04260765e-02 2.08813323e+02] [-2.19275209e-01 9.75661162e-01 -1.91839445e-03 -2.53171214e+01] [-1.05929896e-02 -4.14583847e-04 9.99943807e-01 -2.31645217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.87, Y:-25.32, Z:-2.32 [[ 9.78383366e-01 2.06536399e-01 1.04261676e-02 2.08870477e+02] [-2.06527680e-01 9.78438879e-01 -1.91789941e-03 -2.53214361e+01] [-1.05974837e-02 -2.76851314e-04 9.99943807e-01 -2.31614671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:-25.33, Z:-2.31 [[ 9.80876638e-01 1.94351006e-01 1.04263260e-02 2.08928842e+02] [-1.94341606e-01 9.80932039e-01 -1.91703800e-03 -2.53287348e+01] [-1.06000954e-02 -1.45891142e-04 9.99943807e-01 -2.31298662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:-25.34, Z:-2.32 [[ 9.82101908e-01 1.88061511e-01 1.04264164e-02 2.08985278e+02] [-1.88051761e-01 9.82157249e-01 -1.91654579e-03 -2.53390782e+01] [-1.06008090e-02 -7.84626939e-05 9.99943807e-01 -2.31762032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:-25.35, Z:-2.31 [[ 9.82950100e-01 1.83576657e-01 1.04265288e-02 2.09042501e+02] [-1.83566661e-01 9.83005397e-01 -1.91593415e-03 -2.53510297e+01] [-1.06010549e-02 -3.06954185e-05 9.99943807e-01 -2.31264415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:-25.36, Z:-2.31 [[ 9.83368234e-01 1.81323475e-01 1.04266192e-02 2.09098232e+02] [-1.81313357e-01 9.83423509e-01 -1.91544235e-03 -2.53638890e+01] [-1.06010971e-02 -6.90017041e-06 9.99943807e-01 -2.31280705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-25.37, Z:-2.31 [[ 9.83319483e-01 1.81587656e-01 1.04267757e-02 2.09155306e+02] [-1.81577562e-01 9.83374762e-01 -1.91459012e-03 -2.53748376e+01] [-1.06010940e-02 -1.06147425e-05 9.99943807e-01 -2.31165576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.21, Y:-25.38, Z:-2.32 [[ 9.82642346e-01 1.85216896e-01 1.04269110e-02 2.09212289e+02] [-1.85207015e-01 9.82697664e-01 -1.91385258e-03 -2.53841011e+01] [-1.06009789e-02 -5.05044834e-05 9.99943807e-01 -2.31618361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:-25.39, Z:-2.32 [[ 9.82071718e-01 1.88219065e-01 1.04270454e-02 2.09270868e+02] [-1.88209361e-01 9.82127067e-01 -1.91312035e-03 -2.53922347e+01] [-1.06007692e-02 -8.36461548e-05 9.99943807e-01 -2.31920399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.33, Y:-25.40, Z:-2.32 [[ 9.82278193e-01 1.87138521e-01 1.04271357e-02 2.09329392e+02] [-1.87128760e-01 9.82333532e-01 -1.91262794e-03 -2.53993901e+01] [-1.06008514e-02 -7.24842591e-05 9.99943807e-01 -2.31927402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:-25.41, Z:-2.32 [[ 9.82683268e-01 1.84999640e-01 1.04272257e-02 2.09387072e+02] [-1.84989765e-01 9.82738587e-01 -1.91213730e-03 -2.54098554e+01] [-1.06009817e-02 -4.99046920e-05 9.99943807e-01 -2.32160810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:-25.42, Z:-2.32 [[ 9.82941986e-01 1.83620051e-01 1.04273178e-02 2.09444407e+02] [-1.83610104e-01 9.82997292e-01 -1.91163492e-03 -2.54211675e+01] [-1.06010396e-02 -3.55346763e-05 9.99943807e-01 -2.32170759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:-25.43, Z:-2.32 [[ 9.83118576e-01 1.82672203e-01 1.04274548e-02 2.09502676e+02] [-1.82662210e-01 9.83173874e-01 -1.91088729e-03 -2.54303393e+01] [-1.06010671e-02 -2.60731440e-05 9.99943807e-01 -2.31859085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:-25.44, Z:-2.32 [[ 9.83315411e-01 1.81609663e-01 1.04275456e-02 2.09559243e+02] [-1.81599615e-01 9.83370698e-01 -1.91039142e-03 -2.54425850e+01] [-1.06010884e-02 -1.51209491e-05 9.99943807e-01 -2.31761310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:-25.45, Z:-2.31 [[ 9.83580363e-01 1.80169179e-01 1.04276814e-02 2.09616763e+02] [-1.80159059e-01 9.83635637e-01 -1.90964982e-03 -2.54523933e+01] [-1.06010991e-02 -3.47209919e-07 9.99943807e-01 -2.31494902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.67, Y:-25.46, Z:-2.32 [[ 9.83568271e-01 1.80235170e-01 1.04278182e-02 2.09673443e+02] [-1.80225061e-01 9.83623548e-01 -1.90890279e-03 -2.54603356e+01] [-1.06010989e-02 -1.81794485e-06 9.99943807e-01 -2.31999793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.73, Y:-25.47, Z:-2.32 [[ 9.83638328e-01 1.79852429e-01 1.04279765e-02 2.09729141e+02] [-1.79842307e-01 9.83693603e-01 -1.90803758e-03 -2.54717513e+01] [-1.06010990e-02 1.42754581e-06 9.99943807e-01 -2.32375072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.79, Y:-25.48, Z:-2.33 [[ 9.83892583e-01 1.78456265e-01 1.04281321e-02 2.09786069e+02] [-1.78446074e-01 9.83947845e-01 -1.90718699e-03 -2.54848756e+01] [-1.06010875e-02 1.56079100e-05 9.99943807e-01 -2.32550354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.84, Y:-25.49, Z:-2.33 [[ 9.83534942e-01 1.80416929e-01 1.04282676e-02 2.09843409e+02] [-1.80406856e-01 9.83590225e-01 -1.90644540e-03 -2.54932141e+01] [-1.06010971e-02 -6.27531549e-06 9.99943807e-01 -2.32605027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.90, Y:-25.51, Z:-2.32 [[ 9.82600640e-01 1.85437945e-01 1.04284019e-02 2.09901309e+02] [-1.85428163e-01 9.82655975e-01 -1.90571065e-03 -2.55057131e+01] [-1.06009225e-02 -6.11668988e-05 9.99943807e-01 -2.32371876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.96, Y:-25.51, Z:-2.32 [[ 9.82317302e-01 1.86933047e-01 1.04284919e-02 2.09958683e+02] [-1.86923354e-01 9.82372653e-01 -1.90521818e-03 -2.55144615e+01] [-1.06008135e-02 -7.77998919e-05 9.99943807e-01 -2.32429456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.02, Y:-25.52, Z:-2.33 [[ 9.82353610e-01 1.86742144e-01 1.04286269e-02 2.10016819e+02] [-1.86732448e-01 9.82408961e-01 -1.90447898e-03 -2.55199745e+01] [-1.06008230e-02 -7.64912202e-05 9.99943807e-01 -2.32524150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.07, Y:-25.53, Z:-2.33 [[ 9.82469557e-01 1.86131166e-01 1.04287629e-02 2.10073008e+02] [-1.86121443e-01 9.82524903e-01 -1.90373398e-03 -2.55282792e+01] [-1.06008634e-02 -7.06557138e-05 9.99943807e-01 -2.32701042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:-25.54, Z:-2.32 [[ 9.82705894e-01 1.84879320e-01 1.04289205e-02 2.10130405e+02] [-1.84869536e-01 9.82761229e-01 -1.90287026e-03 -2.55357328e+01] [-1.06009401e-02 -5.80278682e-05 9.99943807e-01 -2.32460211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.19, Y:-25.54, Z:-2.32 [[ 9.83224903e-01 1.82098944e-01 1.04290580e-02 2.10187933e+02] [-1.82089012e-01 9.83280211e-01 -1.90211610e-03 -2.55436112e+01] [-1.06010597e-02 -2.88089500e-05 9.99943807e-01 -2.32314390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:-25.55, Z:-2.32 [[ 9.83556837e-01 1.80297479e-01 1.04291981e-02 2.10243894e+02] [-1.80287453e-01 9.83612128e-01 -1.90134779e-03 -2.55537436e+01] [-1.06010939e-02 -1.01699418e-05 9.99943807e-01 -2.32397043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:-25.57, Z:-2.33 [[ 9.83752163e-01 1.79228651e-01 1.04294008e-02 2.10300575e+02] [-1.79218577e-01 9.83807446e-01 -1.90023512e-03 -2.55654386e+01] [-1.06010988e-02 2.18033168e-07 9.99943807e-01 -2.32925794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:-25.58, Z:-2.33 [[ 9.83730925e-01 1.79345174e-01 1.04295369e-02 2.10356535e+02] [-1.79335115e-01 9.83786211e-01 -1.89948776e-03 -2.55764633e+01] [-1.06010986e-02 -1.79735043e-06 9.99943807e-01 -2.32800055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:-25.59, Z:-2.33 [[ 9.83768194e-01 1.79140621e-01 1.04296940e-02 2.10412983e+02] [-1.79130560e-01 9.83823479e-01 -1.89862475e-03 -2.55897881e+01] [-1.06010987e-02 -4.70281112e-07 9.99943807e-01 -2.32771897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:-25.60, Z:-2.33 [[ 9.83612818e-01 1.79991786e-01 1.04298270e-02 2.10469629e+02] [-1.79981780e-01 9.83668113e-01 -1.89789425e-03 -2.56024145e+01] [-1.06010936e-02 -1.03857123e-05 9.99943807e-01 -2.32802494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:-25.61, Z:-2.33 [[ 9.82932223e-01 1.83672159e-01 1.04299586e-02 2.10527304e+02] [-1.83662367e-01 9.82987556e-01 -1.89717067e-03 -2.56120095e+01] [-1.06009769e-02 -5.08006965e-05 9.99943807e-01 -2.32785134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:-25.62, Z:-2.33 [[ 9.81726934e-01 1.90009053e-01 1.04300898e-02 2.10585611e+02] [-1.89999627e-01 9.81782331e-01 -1.89644896e-03 -2.56175124e+01] [-1.06004203e-02 -1.19918146e-04 9.99943807e-01 -2.32795324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:-25.62, Z:-2.33 [[ 9.80610444e-01 1.95689468e-01 1.04302247e-02 2.10644502e+02] [-1.95680370e-01 9.80665896e-01 -1.89570697e-03 -2.56172502e+01] [-1.05995355e-02 -1.82040170e-04 9.99943807e-01 -2.33440565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:-25.61, Z:-2.33 [[ 9.80457909e-01 1.96452272e-01 1.04303903e-02 2.10703837e+02] [-1.96443227e-01 9.80513370e-01 -1.89479539e-03 -2.56137729e+01] [-1.05993740e-02 -1.91212389e-04 9.99943807e-01 -2.33322111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:-25.61, Z:-2.33 [[ 9.81946781e-01 1.88869597e-01 1.04304997e-02 2.10763476e+02] [-1.88860131e-01 9.82002171e-01 -1.89419253e-03 -2.56122688e+01] [-1.06005288e-02 -1.09909281e-04 9.99943807e-01 -2.32704836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:-25.62, Z:-2.33 [[ 9.83954354e-01 1.78115220e-01 1.04305901e-02 2.10821795e+02] [-1.78105153e-01 9.84009638e-01 -1.89369503e-03 -2.56175634e+01] [-1.06010971e-02 5.56763459e-06 9.99943807e-01 -2.33184581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:-25.63, Z:-2.34 [[ 9.84847733e-01 1.73107314e-01 1.04307254e-02 2.10878517e+02] [-1.73096974e-01 9.84902967e-01 -1.89294900e-03 -2.56250391e+01] [-1.06009358e-02 5.87395187e-05 9.99943807e-01 -2.33602109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:-25.63, Z:-2.34 [[ 9.85595574e-01 1.68797394e-01 1.04308807e-02 2.10936143e+02] [-1.68786822e-01 9.85650764e-01 -1.89209285e-03 -2.56318586e+01] [-1.06005859e-02 1.04243129e-04 9.99943807e-01 -2.33527715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:-25.64, Z:-2.34 [[ 9.86230664e-01 1.65046270e-01 1.04310132e-02 2.10992231e+02] [-1.65035495e-01 9.86285815e-01 -1.89136225e-03 -2.56436088e+01] [-1.06001226e-02 1.43832019e-04 9.99943807e-01 -2.33555026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:-25.66, Z:-2.34 [[ 9.86904352e-01 1.60968910e-01 1.04311655e-02 2.11048843e+02] [-1.60957916e-01 9.86959460e-01 -1.89052212e-03 -2.56560118e+01] [-1.05994527e-02 1.86785846e-04 9.99943807e-01 -2.33614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:-25.67, Z:-2.34 [[ 9.87677447e-01 1.56155206e-01 1.04312943e-02 2.11105188e+02] [-1.56143951e-01 9.87732502e-01 -1.88981102e-03 -2.56679052e+01] [-1.05984323e-02 2.37740210e-04 9.99943807e-01 -2.34054654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:-25.68, Z:-2.34 [[ 9.88053310e-01 1.53759039e-01 1.04314366e-02 2.11162224e+02] [-1.53747659e-01 9.88108339e-01 -1.88902519e-03 -2.56829749e+01] [-1.05978442e-02 2.62648634e-04 9.99943807e-01 -2.33529628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:-25.70, Z:-2.34 [[ 9.88496146e-01 1.50885894e-01 1.04315254e-02 2.11216788e+02] [-1.50874360e-01 9.88551142e-01 -1.88853451e-03 -2.57043754e+01] [-1.05970496e-02 2.92959364e-04 9.99943807e-01 -2.33879883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:-25.72, Z:-2.34 [[ 9.88532092e-01 1.50650205e-01 1.04316462e-02 2.11273908e+02] [-1.50638664e-01 9.88587087e-01 -1.88786734e-03 -2.57217652e+01] [-1.05969983e-02 2.94808209e-04 9.99943807e-01 -2.33746257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.33, Y:-25.74, Z:-2.34 [[ 9.88059630e-01 1.53718399e-01 1.04317333e-02 2.11328791e+02] [-1.53707034e-01 9.88114662e-01 -1.88738601e-03 -2.57404315e+01] [-1.05978746e-02 2.61419136e-04 9.99943807e-01 -2.33908610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:-25.76, Z:-2.34 [[ 9.87133169e-01 1.59559656e-01 1.04318409e-02 2.11383693e+02] [-1.59548623e-01 9.87188268e-01 -1.88679076e-03 -2.57594584e+01] [-1.05992467e-02 1.98127879e-04 9.99943807e-01 -2.34409171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.44, Y:-25.78, Z:-2.34 [[ 9.86144065e-01 1.65562851e-01 1.04319548e-02 2.11440524e+02] [-1.65552161e-01 9.86199232e-01 -1.88616093e-03 -2.57766420e+01] [-1.06002640e-02 1.32993745e-04 9.99943807e-01 -2.33897206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:-25.79, Z:-2.35 [[ 9.85326151e-01 1.70362993e-01 1.04320396e-02 2.11498078e+02] [-1.70352576e-01 9.85381370e-01 -1.88569210e-03 -2.57903770e+01] [-1.06007896e-02 8.08969228e-05 9.99943807e-01 -2.34553381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:211.56, Y:-25.80, Z:-2.35 [[ 9.85177542e-01 1.71220272e-01 1.04321233e-02 2.11555142e+02] [-1.71209907e-01 9.85232771e-01 -1.88522895e-03 -2.58029422e+01] [-1.06008591e-02 7.12023705e-05 9.99943807e-01 -2.34700646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:-25.82, Z:-2.34 [[ 9.85442227e-01 1.69690264e-01 1.04322098e-02 2.11611308e+02] [-1.69679819e-01 9.85497441e-01 -1.88474970e-03 -2.58163104e+01] [-1.06007398e-02 8.71764655e-05 9.99943807e-01 -2.34003698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:-25.83, Z:-2.34 [[ 9.85688041e-01 1.68256507e-01 1.04323176e-02 2.11668774e+02] [-1.68245988e-01 9.85743241e-01 -1.88415287e-03 -2.58297788e+01] [-1.06006076e-02 1.01991364e-04 9.99943807e-01 -2.34201654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:-25.85, Z:-2.35 [[ 9.86415949e-01 1.63935174e-01 1.04324061e-02 2.11725291e+02] [-1.63924418e-01 9.86471103e-01 -1.88366316e-03 -2.58491099e+01] [-1.06000658e-02 1.47949297e-04 9.99943807e-01 -2.34601651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:-25.87, Z:-2.35 [[ 9.87055936e-01 1.60036690e-01 1.04324939e-02 2.11782240e+02] [-1.60025722e-01 9.87111048e-01 -1.88317638e-03 -2.58710649e+01] [-1.05994073e-02 1.89333052e-04 9.99943807e-01 -2.34734127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:-25.89, Z:-2.35 [[ 9.86738155e-01 1.61984489e-01 1.04325380e-02 2.11838208e+02] [-1.61973632e-01 9.86793290e-01 -1.88293204e-03 -2.58895000e+01] [-1.05997643e-02 1.68164808e-04 9.99943807e-01 -2.34602748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:-25.91, Z:-2.34 [[ 9.85938293e-01 1.66783823e-01 1.04326034e-02 2.11895220e+02] [-1.66773239e-01 9.85993480e-01 -1.88256952e-03 -2.59073661e+01] [-1.06004611e-02 1.16218315e-04 9.99943807e-01 -2.34492910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:-25.92, Z:-2.35 [[ 9.85740490e-01 1.67948938e-01 1.04326469e-02 2.11953484e+02] [-1.67938422e-01 9.85795691e-01 -1.88232871e-03 -2.59202372e+01] [-1.06005934e-02 1.03445370e-04 9.99943807e-01 -2.35015065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:-25.94, Z:-2.35 [[ 9.86131532e-01 1.65637436e-01 1.04326911e-02 2.12012392e+02] [-1.65626792e-01 9.86186708e-01 -1.88208370e-03 -2.59361658e+01] [-1.06003248e-02 1.28048929e-04 9.99943807e-01 -2.35427236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.07, Y:-25.95, Z:-2.35 [[ 9.86191650e-01 1.65279123e-01 1.04326911e-02 2.12071769e+02] [-1.65268459e-01 9.86246822e-01 -1.88208370e-03 -2.59491907e+01] [-1.06002776e-02 1.31900453e-04 9.99943807e-01 -2.34943588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:-25.96, Z:-2.35 [[ 9.85493250e-01 1.69393662e-01 1.04326684e-02 2.12130570e+02] [-1.69383227e-01 9.85548466e-01 -1.88220935e-03 -2.59594020e+01] [-1.06007347e-02 8.77855684e-05 9.99943807e-01 -2.34935173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:-25.97, Z:-2.35 [[ 9.84277138e-01 1.76322649e-01 1.04326463e-02 2.12189422e+02] [-1.76312602e-01 9.84332425e-01 -1.88233174e-03 -2.59668509e+01] [-1.06010898e-02 1.33290819e-05 9.99943807e-01 -2.34999515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.25, Y:-25.98, Z:-2.35 [[ 9.84130653e-01 1.77138411e-01 1.04327317e-02 2.12248223e+02] [-1.77128414e-01 9.84185950e-01 -1.88185841e-03 -2.59775088e+01] [-1.06010974e-02 4.06132160e-06 9.99943807e-01 -2.35013694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:-25.99, Z:-2.35 [[ 9.84103967e-01 1.77286603e-01 1.04327746e-02 2.12307278e+02] [-1.77276618e-01 9.84159266e-01 -1.88162037e-03 -2.59882687e+01] [-1.06010979e-02 2.22306948e-06 9.99943807e-01 -2.35105367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:-26.00, Z:-2.35 [[ 9.84452099e-01 1.75343153e-01 1.04328185e-02 2.12364809e+02] [-1.75333061e-01 9.84507378e-01 -1.88137740e-03 -2.60000133e+01] [-1.06010734e-02 2.29079357e-05 9.99943807e-01 -2.35003823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:-26.01, Z:-2.35 [[ 9.84160104e-01 1.76974702e-01 1.04328621e-02 2.12422992e+02] [-1.76964704e-01 9.84215401e-01 -1.88113534e-03 -2.60118967e+01] [-1.06010969e-02 5.08999613e-06 9.99943807e-01 -2.34606662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:-26.03, Z:-2.35 [[ 9.84136925e-01 1.77103548e-01 1.04329071e-02 2.12481457e+02] [-1.77093560e-01 9.84192224e-01 -1.88088586e-03 -2.60267469e+01] [-1.06010976e-02 3.44856462e-06 9.99943807e-01 -2.35073215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:-26.05, Z:-2.35 [[ 9.84541869e-01 1.74838390e-01 1.04329071e-02 2.12539386e+02] [-1.74828274e-01 9.84597144e-01 -1.88088586e-03 -2.60454435e+01] [-1.06010616e-02 2.78437374e-05 9.99943807e-01 -2.35196939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.60, Y:-26.07, Z:-2.36 [[ 9.84814241e-01 1.73297620e-01 1.04329071e-02 2.12597514e+02] [-1.73287418e-01 9.84869500e-01 -1.88088586e-03 -2.60668761e+01] [-1.06010050e-02 4.44316460e-05 9.99943807e-01 -2.35520062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.66, Y:-26.08, Z:-2.36 [[ 9.84675460e-01 1.74084459e-01 1.04326218e-02 2.12656408e+02] [-1.74074285e-01 9.84730724e-01 -1.88246712e-03 -2.60849720e+01] [-1.06010315e-02 3.75680075e-05 9.99943807e-01 -2.35581642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:-26.11, Z:-2.36 [[ 9.83524933e-01 1.80471239e-01 1.04325784e-02 2.12714581e+02] [-1.80461421e-01 9.83580261e-01 -1.88270745e-03 -2.61059995e+01] [-1.06010527e-02 -3.09882047e-05 9.99943807e-01 -2.35523262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.77, Y:-26.12, Z:-2.35 [[ 9.81989834e-01 1.88645509e-01 1.04325354e-02 2.12772426e+02] [-1.88636149e-01 9.82045242e-01 -1.88294583e-03 -2.61235772e+01] [-1.06004310e-02 -1.18919625e-04 9.99943807e-01 -2.35370563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:-26.13, Z:-2.36 [[ 9.80468818e-01 1.96397708e-01 1.04325142e-02 2.12832975e+02] [-1.96388785e-01 9.80524298e-01 -1.88306317e-03 -2.61346641e+01] [-1.05991629e-02 -2.02544070e-04 9.99943807e-01 -2.35529714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:-26.14, Z:-2.36 [[ 9.79851766e-01 1.99453455e-01 1.04324714e-02 2.12894254e+02] [-1.99444703e-01 9.79907273e-01 -1.88330004e-03 -2.61411936e+01] [-1.05984853e-02 -2.35346295e-04 9.99943807e-01 -2.35574113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:-26.15, Z:-2.36 [[ 9.79984949e-01 1.98798048e-01 1.04324285e-02 2.12954719e+02] [-1.98789256e-01 9.80040450e-01 -1.88353766e-03 -2.61486482e+01] [-1.05986456e-02 -2.28016141e-04 9.99943807e-01 -2.35739536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.02, Y:-26.15, Z:-2.36 [[ 9.81038986e-01 1.93529513e-01 1.04323846e-02 2.13016127e+02] [-1.93520420e-01 9.81094439e-01 -1.88378099e-03 -2.61521878e+01] [-1.05997217e-02 -1.70816854e-04 9.99943807e-01 -2.36042959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.08, Y:-26.16, Z:-2.36 [[ 9.81435617e-01 1.91507965e-01 1.04321026e-02 2.13077308e+02] [-1.91498742e-01 9.81491048e-01 -1.88534132e-03 -2.61604303e+01] [-1.06000732e-02 -1.47393394e-04 9.99943807e-01 -2.36222103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.14, Y:-26.17, Z:-2.36 [[ 9.81486362e-01 1.91247730e-01 1.04320579e-02 2.13138455e+02] [-1.91238489e-01 9.81541790e-01 -1.88558847e-03 -2.61682960e+01] [-1.06001153e-02 -1.44331626e-04 9.99943807e-01 -2.36245759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:-26.18, Z:-2.36 [[ 9.80927573e-01 1.94093458e-01 1.04320133e-02 2.13197184e+02] [-1.94084375e-01 9.80983027e-01 -1.88583539e-03 -2.61760582e+01] [-1.05996563e-02 -1.74822841e-04 9.99943807e-01 -2.36380923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:-26.18, Z:-2.36 [[ 9.80430579e-01 1.96588536e-01 1.04320353e-02 2.13256661e+02] [-1.96579596e-01 9.80486056e-01 -1.88571358e-03 -2.61836136e+01] [-1.05991748e-02 -2.01914024e-04 9.99943807e-01 -2.36434087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:-26.19, Z:-2.36 [[ 9.79729010e-01 2.00055588e-01 1.04320786e-02 2.13317100e+02] [-2.00046847e-01 9.79784519e-01 -1.88547390e-03 -2.61867365e+01] [-1.05983887e-02 -2.39650955e-04 9.99943807e-01 -2.36294784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.37, Y:-26.20, Z:-2.36 [[ 9.80066940e-01 1.98393456e-01 1.04321233e-02 2.13374864e+02] [-1.98384622e-01 9.80122435e-01 -1.88522661e-03 -2.61965503e+01] [-1.05987747e-02 -2.21924570e-04 9.99943807e-01 -2.36021251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:-26.21, Z:-2.36 [[ 9.81180930e-01 1.92808591e-01 1.04321895e-02 2.13433955e+02] [-1.92799446e-01 9.81236374e-01 -1.88486032e-03 -2.62079639e+01] [-1.05998611e-02 -1.61931358e-04 9.99943807e-01 -2.35810412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:-26.22, Z:-2.36 [[ 9.81552443e-01 1.90908278e-01 1.04321895e-02 2.13493208e+02] [-1.90899025e-01 9.81607870e-01 -1.88486032e-03 -2.62184527e+01] [-1.06001547e-02 -1.41405555e-04 9.99943807e-01 -2.35908778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:-26.23, Z:-2.37 [[ 9.81598617e-01 1.90670723e-01 1.04321895e-02 2.13551221e+02] [-1.90661457e-01 9.81654041e-01 -1.88486032e-03 -2.62272697e+01] [-1.06001887e-02 -1.38840168e-04 9.99943807e-01 -2.36545609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:-26.24, Z:-2.36 [[ 9.81839980e-01 1.89423920e-01 1.04322564e-02 2.13609530e+02] [-1.89414588e-01 9.81895393e-01 -1.88448971e-03 -2.62382201e+01] [-1.06003520e-02 -1.25754208e-04 9.99943807e-01 -2.36374880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:-26.25, Z:-2.37 [[ 9.82645222e-01 1.85201333e-01 1.04323006e-02 2.13668516e+02] [-1.85191765e-01 9.82700595e-01 -1.88424494e-03 -2.62500032e+01] [-1.06007927e-02 -8.04318867e-05 9.99943807e-01 -2.36768876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:-26.26, Z:-2.37 [[ 9.83754388e-01 1.79216272e-01 1.04323006e-02 2.13727517e+02] [-1.79206367e-01 9.83809701e-01 -1.88424494e-03 -2.62615416e+01] [-1.06010859e-02 -1.59004731e-05 9.99943807e-01 -2.37305650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:-26.27, Z:-2.37 [[ 9.83760165e-01 1.79184557e-01 1.04322789e-02 2.13786299e+02] [-1.79174649e-01 9.83815478e-01 -1.88436538e-03 -2.62703062e+01] [-1.06010866e-02 -1.54363185e-05 9.99943807e-01 -2.36788915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:-26.28, Z:-2.37 [[ 9.83083626e-01 1.82859922e-01 1.04323219e-02 2.13845325e+02] [-1.82850224e-01 9.83138976e-01 -1.88412736e-03 -2.62770219e+01] [-1.06009536e-02 -5.52976327e-05 9.99943807e-01 -2.36868525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:-26.28, Z:-2.37 [[ 9.82711312e-01 1.84850328e-01 1.04323661e-02 2.13905007e+02] [-1.84840745e-01 9.82766681e-01 -1.88388223e-03 -2.62840088e+01] [-1.06008181e-02 -7.70139476e-05 9.99943807e-01 -2.36817036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:-26.29, Z:-2.37 [[ 9.83224872e-01 1.82098916e-01 1.04324105e-02 2.13964273e+02] [-1.82089180e-01 9.83280216e-01 -1.88363671e-03 -2.62896565e+01] [-1.06009910e-02 -4.75906040e-05 9.99943807e-01 -2.36903230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:-26.30, Z:-2.37 [[ 9.83434854e-01 1.80961463e-01 1.04324553e-02 2.14023039e+02] [-1.80951666e-01 9.83490187e-01 -1.88338830e-03 -2.62980243e+01] [-1.06010381e-02 -3.55804681e-05 9.99943807e-01 -2.37035984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:-26.31, Z:-2.37 [[ 9.83421298e-01 1.81035117e-01 1.04325002e-02 2.14083014e+02] [-1.81025326e-01 9.83476632e-01 -1.88313981e-03 -2.63072693e+01] [-1.06010346e-02 -3.66269484e-05 9.99943807e-01 -2.36811173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:-26.32, Z:-2.37 [[ 9.83217213e-01 1.82140261e-01 1.04325002e-02 2.14141020e+02] [-1.82130532e-01 9.83272558e-01 -1.88313981e-03 -2.63160759e+01] [-1.06009867e-02 -4.85413357e-05 9.99943807e-01 -2.36774466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:-26.33, Z:-2.37 [[ 9.82964844e-01 1.83497349e-01 1.04325474e-02 2.14198632e+02] [-1.83487699e-01 9.83020203e-01 -1.88287833e-03 -2.63256053e+01] [-1.06009080e-02 -6.34409116e-05 9.99943807e-01 -2.37122403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:-26.33, Z:-2.37 [[ 9.83103769e-01 1.82751582e-01 1.04325922e-02 2.14256594e+02] [-1.82741893e-01 9.83159121e-01 -1.88263011e-03 -2.63322057e+01] [-1.06009518e-02 -5.56508867e-05 9.99943807e-01 -2.37321686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:-26.34, Z:-2.37 [[ 9.84042633e-01 1.77626733e-01 1.04326992e-02 2.14314551e+02] [-1.77616762e-01 9.84097934e-01 -1.88203691e-03 -2.63416798e+01] [-1.06010978e-02 -1.01768853e-06 9.99943807e-01 -2.36967227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:-26.35, Z:-2.38 [[ 9.84685075e-01 1.74030057e-01 1.04327840e-02 2.14373953e+02] [-1.74019889e-01 9.84740340e-01 -1.88156684e-03 -2.63505557e+01] [-1.06010324e-02 3.72388745e-05 9.99943807e-01 -2.37519870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.43, Y:-26.36, Z:-2.38 [[ 9.84656579e-01 1.74191210e-01 1.04328303e-02 2.14431800e+02] [-1.74181054e-01 9.84711847e-01 -1.88130992e-03 -2.63594988e+01] [-1.06010392e-02 3.52428210e-05 9.99943807e-01 -2.37957410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:-26.37, Z:-2.38 [[ 9.84058028e-01 1.77541413e-01 1.04328731e-02 2.14489925e+02] [-1.77531448e-01 9.84113330e-01 -1.88107257e-03 -2.63685156e+01] [-1.06010977e-02 -1.07850211e-06 9.99943807e-01 -2.37501390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:-26.38, Z:-2.38 [[ 9.83610207e-01 1.80005870e-01 1.04329621e-02 2.14548090e+02] [-1.79996049e-01 9.83665536e-01 -1.88057872e-03 -2.63789409e+01] [-1.06010605e-02 -2.81355296e-05 9.99943807e-01 -2.37682248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:-26.39, Z:-2.38 [[ 9.83124805e-01 1.82638359e-01 1.04330511e-02 2.14605763e+02] [-1.82628691e-01 9.83180160e-01 -1.88008500e-03 -2.63879049e+01] [-1.06009445e-02 -5.70162521e-05 9.99943807e-01 -2.37661218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:-26.39, Z:-2.37 [[ 9.82675187e-01 1.85042229e-01 1.04331393e-02 2.14664741e+02] [-1.85032702e-01 9.82730567e-01 -1.87959540e-03 -2.63945905e+01] [-1.06007694e-02 -8.34401807e-05 9.99943807e-01 -2.37061648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:-26.40, Z:-2.37 [[ 9.82606421e-01 1.85407036e-01 1.04332268e-02 2.14722667e+02] [-1.85397534e-01 9.82661805e-01 -1.87910929e-03 -2.64004748e+01] [-1.06007336e-02 -8.78696723e-05 9.99943807e-01 -2.36994400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:-26.40, Z:-2.37 [[ 9.82845182e-01 1.84137158e-01 1.04333350e-02 2.14782096e+02] [-1.84127591e-01 9.82900555e-01 -1.87850822e-03 -2.64034372e+01] [-1.06008340e-02 -7.47820871e-05 9.99943807e-01 -2.37137797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:-26.41, Z:-2.38 [[ 9.82808934e-01 1.84330529e-01 1.04334269e-02 2.14839685e+02] [-1.84320978e-01 9.82864309e-01 -1.87799789e-03 -2.64088716e+01] [-1.06008153e-02 -7.73863498e-05 9.99943807e-01 -2.37684069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:-26.41, Z:-2.38 [[ 9.83193446e-01 1.82268454e-01 1.04335400e-02 2.14899016e+02] [-1.82258794e-01 9.83248802e-01 -1.87736914e-03 -2.64113196e+01] [-1.06009509e-02 -5.57873872e-05 9.99943807e-01 -2.37729839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:-26.42, Z:-2.38 [[ 9.84006080e-01 1.77829058e-01 1.04336324e-02 2.14955915e+02] [-1.77819153e-01 9.84061393e-01 -1.87685543e-03 -2.64204454e+01] [-1.06010943e-02 -8.46252779e-06 9.99943807e-01 -2.37890264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.01, Y:-26.43, Z:-2.38 [[ 9.85291924e-01 1.70560727e-01 1.04337469e-02 2.15013100e+02] [-1.70550421e-01 9.85347164e-01 -1.87621883e-03 -2.64325625e+01] [-1.06008722e-02 6.91433305e-05 9.99943807e-01 -2.38041401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.07, Y:-26.44, Z:-2.38 [[ 9.85403929e-01 1.69912426e-01 1.04338358e-02 2.15070937e+02] [-1.69902089e-01 9.85459163e-01 -1.87572463e-03 -2.64439696e+01] [-1.06008280e-02 7.56159273e-05 9.99943807e-01 -2.37676814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:-26.45, Z:-2.38 [[ 9.84984176e-01 1.72329062e-01 1.04339264e-02 2.15127630e+02] [-1.72318866e-01 9.85039437e-01 -1.87522040e-03 -2.64525272e+01] [-1.06009839e-02 4.91000512e-05 9.99943807e-01 -2.38225692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:-26.46, Z:-2.38 [[ 9.85091674e-01 1.71713498e-01 1.04340386e-02 2.15185959e+02] [-1.71703274e-01 9.85146929e-01 -1.87459582e-03 -2.64632428e+01] [-1.06009545e-02 5.50901525e-05 9.99943807e-01 -2.38187502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:-26.47, Z:-2.38 [[ 9.85443535e-01 1.69682550e-01 1.04341276e-02 2.15242964e+02] [-1.69672218e-01 9.85498770e-01 -1.87410054e-03 -2.64718536e+01] [-1.06008220e-02 7.64387009e-05 9.99943807e-01 -2.38212334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:-26.48, Z:-2.38 [[ 9.85577588e-01 1.68902176e-01 1.04342375e-02 2.15300657e+02] [-1.68891807e-01 9.85632816e-01 -1.87348845e-03 -2.64808745e+01] [-1.06007631e-02 8.42110093e-05 9.99943807e-01 -2.37987741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:-26.49, Z:-2.38 [[ 9.86086921e-01 1.65902709e-01 1.04343249e-02 2.15356781e+02] [-1.65892176e-01 9.86142118e-01 -1.87300111e-03 -2.64947430e+01] [-1.06004633e-02 1.15969027e-04 9.99943807e-01 -2.38395980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:-26.51, Z:-2.39 [[ 9.86870421e-01 1.61176592e-01 1.04344329e-02 2.15413725e+02] [-1.61165801e-01 9.86925569e-01 -1.87239925e-03 -2.65101842e+01] [-1.05997956e-02 1.66141692e-04 9.99943807e-01 -2.38867311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-26.53, Z:-2.39 [[ 9.87024229e-01 1.60231995e-01 1.04345182e-02 2.15469771e+02] [-1.60221157e-01 9.87079367e-01 -1.87192391e-03 -2.65274433e+01] [-1.05996397e-02 1.75803675e-04 9.99943807e-01 -2.38773522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-26.54, Z:-2.38 [[ 9.86183320e-01 1.65328695e-01 1.04346322e-02 2.15527053e+02] [-1.65318148e-01 9.86238515e-01 -1.87128843e-03 -2.65421512e+01] [-1.06004138e-02 1.20399372e-04 9.99943807e-01 -2.38380745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:-26.56, Z:-2.39 [[ 9.84907139e-01 1.72768762e-01 1.04347156e-02 2.15583568e+02] [-1.72758637e-01 9.84962412e-01 -1.87082320e-03 -2.65588608e+01] [-1.06010224e-02 3.98998760e-05 9.99943807e-01 -2.38870272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:-26.57, Z:-2.39 [[ 9.84226007e-01 1.76607704e-01 1.04348051e-02 2.15641163e+02] [-1.76597800e-01 9.84281321e-01 -1.87032353e-03 -2.65723906e+01] [-1.06010973e-02 -1.94257784e-06 9.99943807e-01 -2.38976669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:-26.59, Z:-2.39 [[ 9.83773355e-01 1.79111976e-01 1.04348719e-02 2.15698822e+02] [-1.79102217e-01 9.83828694e-01 -1.86995115e-03 -2.65887197e+01] [-1.06010570e-02 -2.93005710e-05 9.99943807e-01 -2.38935054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.76, Y:-26.60, Z:-2.39 [[ 9.83663053e-01 1.79716752e-01 1.04349184e-02 2.15755539e+02] [-1.79707029e-01 9.83718399e-01 -1.86969176e-03 -2.66024711e+01] [-1.06010361e-02 -3.60814762e-05 9.99943807e-01 -2.39141487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:-26.61, Z:-2.39 [[ 9.83360654e-01 1.81364098e-01 1.04349874e-02 2.15813543e+02] [-1.81354472e-01 9.83416016e-01 -1.86930641e-03 -2.66131497e+01] [-1.06009588e-02 -5.42292526e-05 9.99943807e-01 -2.38869627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:-26.62, Z:-2.39 [[ 9.83283162e-01 1.81783754e-01 1.04350748e-02 2.15871461e+02] [-1.81774157e-01 9.83338529e-01 -1.86881831e-03 -2.66216515e+01] [-1.06009319e-02 -5.92493524e-05 9.99943807e-01 -2.38827952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:-26.63, Z:-2.39 [[ 9.83354502e-01 1.81397439e-01 1.04351623e-02 2.15930008e+02] [-1.81387826e-01 9.83409867e-01 -1.86832979e-03 -2.66316856e+01] [-1.06009518e-02 -5.55808826e-05 9.99943807e-01 -2.38905458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:-26.64, Z:-2.39 [[ 9.83859752e-01 1.78636770e-01 1.04352068e-02 2.15989365e+02] [-1.78627004e-01 9.83915090e-01 -1.86808079e-03 -2.66387960e+01] [-1.06010654e-02 -2.60802327e-05 9.99943807e-01 -2.39113724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:-26.65, Z:-2.39 [[ 9.85082348e-01 1.71766913e-01 1.04352519e-02 2.16048397e+02] [-1.71756763e-01 9.85137618e-01 -1.86782903e-03 -2.66480484e+01] [-1.06009904e-02 4.76403109e-05 9.99943807e-01 -2.39133468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:-26.66, Z:-2.39 [[ 9.86038828e-01 1.66188248e-01 1.04352977e-02 2.16107169e+02] [-1.66177789e-01 9.86094039e-01 -1.86757327e-03 -2.66593268e+01] [-1.06005536e-02 1.07385058e-04 9.99943807e-01 -2.39137140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:-26.67, Z:-2.40 [[ 9.86816011e-01 1.61509334e-01 1.04353203e-02 2.16166054e+02] [-1.61498614e-01 9.86871172e-01 -1.86744687e-03 -2.66725481e+01] [-1.05999269e-02 1.57536705e-04 9.99943807e-01 -2.39654580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.225769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:-26.69, Z:-2.39 [[ 9.87369479e-01 1.58090528e-01 1.04353203e-02 2.16224690e+02] [-1.58079617e-01 9.87424603e-01 -1.86744687e-03 -2.66861399e+01] [-1.05993177e-02 1.94248605e-04 9.99943807e-01 -2.39492115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:-26.70, Z:-2.39 [[ 9.87872626e-01 1.54915391e-01 1.04353203e-02 2.16282637e+02] [-1.54904304e-01 9.87927715e-01 -1.86744687e-03 -2.67037899e+01] [-1.05986384e-02 2.28323623e-04 9.99943807e-01 -2.39456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:-26.72, Z:-2.39 [[ 9.87865383e-01 1.54961577e-01 1.04352983e-02 2.16341184e+02] [-1.54950490e-01 9.87920471e-01 -1.86756998e-03 -2.67204117e+01] [-1.05986464e-02 2.27953153e-04 9.99943807e-01 -2.39441259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.40, Y:-26.74, Z:-2.39 [[ 9.87428567e-01 1.57721050e-01 1.04352766e-02 2.16400975e+02] [-1.57710116e-01 9.87483686e-01 -1.86769095e-03 -2.67398669e+01] [-1.05992396e-02 1.98462709e-04 9.99943807e-01 -2.39029006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.465769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:216.46, Y:-26.76, Z:-2.39 [[ 9.86952644e-01 1.60672306e-01 1.04349659e-02 2.16460965e+02] [-1.60661519e-01 9.87007792e-01 -1.86942553e-03 -2.67580592e+01] [-1.05997575e-02 1.68537005e-04 9.99943807e-01 -2.39408750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:-26.77, Z:-2.39 [[ 9.86244245e-01 1.64964871e-01 1.04346338e-02 2.16521266e+02] [-1.64954304e-01 9.86299435e-01 -1.87127743e-03 -2.67738200e+01] [-1.06003684e-02 1.24298851e-04 9.99943807e-01 -2.39233024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.585769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:-26.79, Z:-2.40 [[ 9.85512136e-01 1.69283650e-01 1.04343241e-02 2.16583087e+02] [-1.69273306e-01 9.85567369e-01 -1.87300226e-03 -2.67864455e+01] [-1.06007981e-02 7.96139146e-05 9.99943807e-01 -2.39813233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:216.64, Y:-26.80, Z:-2.40 [[ 9.84942620e-01 1.72566417e-01 1.04339578e-02 2.16643493e+02] [-1.72556236e-01 9.84997883e-01 -1.87504075e-03 -2.67957103e+01] [-1.06009954e-02 4.63630560e-05 9.99943807e-01 -2.40363947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70576923099998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:216.71, Y:-26.80, Z:-2.40 [[ 9.84385062e-01 1.75719062e-01 1.04336625e-02 2.16705347e+02] [-1.75709041e-01 9.84440354e-01 -1.87668258e-03 -2.68042372e+01] [-1.06010873e-02 1.40894595e-05 9.99943807e-01 -2.40081520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:216.77, Y:-26.82, Z:-2.40 [[ 9.85459321e-01 1.69590899e-01 1.04333327e-02 2.16765743e+02] [-1.69580515e-01 9.85514546e-01 -1.87851437e-03 -2.68160139e+01] [-1.06007801e-02 8.19095667e-05 9.99943807e-01 -2.40258804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82576923099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:216.83, Y:-26.84, Z:-2.40 [[ 9.87518498e-01 1.57157150e-01 1.04329832e-02 2.16825109e+02] [-1.57146050e-01 9.87573584e-01 -1.88045330e-03 -2.68376396e+01] [-1.05988653e-02 2.17480317e-04 9.99943807e-01 -2.40246719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.88, Y:-26.87, Z:-2.41 [[ 9.88608782e-01 1.50146052e-01 1.04326512e-02 2.16884538e+02] [-1.50134542e-01 9.88663783e-01 -1.88229350e-03 -2.68654593e+01] [-1.05970033e-02 2.94550572e-04 9.99943807e-01 -2.40583705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-26.89, Z:-2.40 [[ 9.88400922e-01 1.51508362e-01 1.04323004e-02 2.16945031e+02] [-1.51496907e-01 9.88455936e-01 -1.88423564e-03 -2.68863624e+01] [-1.05973467e-02 2.81918992e-04 9.99943807e-01 -2.40346623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.005769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:217.00, Y:-26.91, Z:-2.40 [[ 9.86651204e-01 1.62513313e-01 1.04319327e-02 2.17003559e+02] [-1.62502451e-01 9.86706337e-01 -1.88626943e-03 -2.69103381e+01] [-1.05997980e-02 1.65875374e-04 9.99943807e-01 -2.40121257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.065769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:-26.93, Z:-2.40 [[ 9.83742819e-01 1.79279806e-01 1.04315888e-02 2.17062914e+02] [-1.79269863e-01 9.83798125e-01 -1.88816917e-03 -2.69299489e+01] [-1.06010881e-02 -1.25966383e-05 9.99943807e-01 -2.40344863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.13, Y:-26.94, Z:-2.40 [[ 9.80956655e-01 1.93946461e-01 1.04312531e-02 2.17125500e+02] [-1.93937325e-01 9.81012101e-01 -1.89002185e-03 -2.69389664e+01] [-1.05997486e-02 -1.68979819e-04 9.99943807e-01 -2.40172317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:-26.94, Z:-2.40 [[ 9.79843021e-01 1.99496492e-01 1.04309059e-02 2.17188636e+02] [-1.99487650e-01 9.79898514e-01 -1.89193650e-03 -2.69431588e+01] [-1.05986638e-02 -2.27036119e-04 9.99943807e-01 -2.40377333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:-26.95, Z:-2.41 [[ 9.79605407e-01 2.00660034e-01 1.04305628e-02 2.17251633e+02] [-2.00651237e-01 9.79660908e-01 -1.89382581e-03 -2.69470913e+01] [-1.05984298e-02 -2.37703333e-04 9.99943807e-01 -2.40715781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:-26.94, Z:-2.41 [[ 9.78753118e-01 2.04776819e-01 1.04302035e-02 2.17314816e+02] [-2.04768235e-01 9.78808651e-01 -1.89580270e-03 -2.69430986e+01] [-1.05973899e-02 -2.80251559e-04 9.99943807e-01 -2.40735878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.38, Y:-26.94, Z:-2.41 [[ 9.77934039e-01 2.08653380e-01 1.04299144e-02 2.17376869e+02] [-2.08644999e-01 9.77989603e-01 -1.89739205e-03 -2.69373563e+01] [-1.05962451e-02 -3.20625210e-04 9.99943807e-01 -2.40557432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:-26.94, Z:-2.41 [[ 9.78328828e-01 2.06794390e-01 1.04299570e-02 2.17437719e+02] [-2.06785906e-01 9.78384377e-01 -1.89715769e-03 -2.69389233e+01] [-1.05968286e-02 -3.00724054e-04 9.99943807e-01 -2.40533737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:-26.94, Z:-2.40 [[ 9.80063907e-01 1.98408549e-01 1.04300013e-02 2.17498183e+02] [-1.98399593e-01 9.80119382e-01 -1.89691421e-03 -2.69365892e+01] [-1.05990104e-02 -2.10210854e-04 9.99943807e-01 -2.40241225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:-26.94, Z:-2.40 [[ 9.80866971e-01 1.94399587e-01 1.04300671e-02 2.17557765e+02] [-1.94390407e-01 9.80922409e-01 -1.89655208e-03 -2.69362627e+01] [-1.05997755e-02 -1.67239710e-04 9.99943807e-01 -2.40046773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60576923099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:217.62, Y:-26.94, Z:-2.40 [[ 9.81050008e-01 1.93473756e-01 1.04301561e-02 2.17616268e+02] [-1.93464529e-01 9.81105438e-01 -1.89606261e-03 -2.69404681e+01] [-1.05999212e-02 -1.57732997e-04 9.99943807e-01 -2.40439705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:-26.95, Z:-2.41 [[ 9.81540323e-01 1.90970690e-01 1.04302686e-02 2.17674675e+02] [-1.90961328e-01 9.81595731e-01 -1.89544371e-03 -2.69453925e+01] [-1.06002813e-02 -1.31323511e-04 9.99943807e-01 -2.40705079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.73, Y:-26.95, Z:-2.40 [[ 9.82659621e-01 1.85125033e-01 1.04303582e-02 2.17733156e+02] [-1.85115347e-01 9.82714973e-01 -1.89495054e-03 -2.69516068e+01] [-1.06008719e-02 -6.87279975e-05 9.99943807e-01 -2.40305994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.785769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:-26.96, Z:-2.41 [[ 9.83803387e-01 1.78947205e-01 1.04304483e-02 2.17791252e+02] [-1.78937176e-01 9.83858678e-01 -1.89445439e-03 -2.69628796e+01] [-1.06010944e-02 -2.62431603e-06 9.99943807e-01 -2.40826820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.845769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:217.85, Y:-26.97, Z:-2.41 [[ 9.84138471e-01 1.77095098e-01 1.04305382e-02 2.17848952e+02] [-1.77084971e-01 9.84193744e-01 -1.89395942e-03 -2.69748847e+01] [-1.06010813e-02 1.68267804e-05 9.99943807e-01 -2.41159868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.905769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:-26.99, Z:-2.42 [[ 9.84918401e-01 1.72704794e-01 1.04306048e-02 2.17906427e+02] [-1.72694424e-01 9.84973629e-01 -1.89359210e-03 -2.69897449e+01] [-1.06009031e-02 6.37264028e-05 9.99943807e-01 -2.41677840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.965769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:217.96, Y:-27.01, Z:-2.41 [[ 9.85328136e-01 1.70351595e-01 1.04306494e-02 2.17964185e+02] [-1.70341096e-01 9.85383340e-01 -1.89334664e-03 -2.70089997e+01] [-1.06007228e-02 8.87994583e-05 9.99943807e-01 -2.41415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.025769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:-27.03, Z:-2.41 [[ 9.85635739e-01 1.68562723e-01 1.04306494e-02 2.18022125e+02] [-1.68552124e-01 9.85690924e-01 -1.89334664e-03 -2.70306379e+01] [-1.06005441e-02 1.08041998e-04 9.99943807e-01 -2.41457956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:218.08, Y:-27.05, Z:-2.42 [[ 9.85695063e-01 1.68215488e-01 1.04303516e-02 2.18079713e+02] [-1.68204852e-01 9.85750241e-01 -1.89498596e-03 -2.70500350e+01] [-1.06004876e-02 1.13442559e-04 9.99943807e-01 -2.41572833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:-27.07, Z:-2.41 [[ 9.85008087e-01 1.72192556e-01 1.04303299e-02 2.18138066e+02] [-1.72182142e-01 9.85063307e-01 -1.89510518e-03 -2.70714057e+01] [-1.06008583e-02 7.07773854e-05 9.99943807e-01 -2.41330485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:-27.09, Z:-2.41 [[ 9.83837496e-01 1.78759589e-01 1.04302869e-02 2.18194902e+02] [-1.78749541e-01 9.83892783e-01 -1.89534180e-03 -2.70891769e+01] [-1.06010945e-02 2.99327033e-07 9.99943807e-01 -2.41417599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26576923099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:218.25, Y:-27.11, Z:-2.42 [[ 9.82607804e-01 1.85399876e-01 1.04302650e-02 2.18252925e+02] [-1.85390200e-01 9.82663157e-01 -1.89546212e-03 -2.71071985e+01] [-1.06008556e-02 -7.11730509e-05 9.99943807e-01 -2.41801260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32576923099998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:-27.12, Z:-2.42 [[ 9.81637257e-01 1.90471798e-01 1.04302441e-02 2.18313672e+02] [-1.90462407e-01 9.81692660e-01 -1.89557751e-03 -2.71222663e+01] [-1.06003481e-02 -1.25799876e-04 9.99943807e-01 -2.41849229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:218.37, Y:-27.13, Z:-2.42 [[ 9.80137188e-01 1.98046231e-01 1.04299282e-02 2.18373255e+02] [-1.98037250e-01 9.80192659e-01 -1.89731389e-03 -2.71343299e+01] [-1.05990949e-02 -2.05886401e-04 9.99943807e-01 -2.41913333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44576923099999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:-27.14, Z:-2.42 [[ 9.78176503e-01 2.07513739e-01 1.04296383e-02 2.18434499e+02] [-2.07505277e-01 9.78232055e-01 -1.89890604e-03 -2.71423736e+01] [-1.05966556e-02 -3.06739719e-04 9.99943807e-01 -2.42108441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.49, Y:-27.15, Z:-2.42 [[ 9.76922713e-01 2.13338313e-01 1.04295928e-02 2.18494668e+02] [-2.13330180e-01 9.76978315e-01 -1.89915616e-03 -2.71507331e+01] [-1.05946488e-02 -3.69618116e-04 9.99943807e-01 -2.42299756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:-27.16, Z:-2.42 [[ 9.76310913e-01 2.16120857e-01 1.04295703e-02 2.18555449e+02] [-2.16112881e-01 9.76366537e-01 -1.89927957e-03 -2.71559136e+01] [-1.05935574e-02 -3.99677113e-04 9.99943807e-01 -2.42356593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.625769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:218.61, Y:-27.16, Z:-2.42 [[ 9.76284519e-01 2.16240058e-01 1.04295703e-02 2.18614738e+02] [-2.16232088e-01 9.76340144e-01 -1.89927957e-03 -2.71590636e+01] [-1.05935085e-02 -4.00970529e-04 9.99943807e-01 -2.42098746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.685769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:-27.16, Z:-2.43 [[ 9.76713376e-01 2.14294668e-01 1.04296371e-02 2.18673985e+02] [-2.14286591e-01 9.76768985e-01 -1.89891248e-03 -2.71631792e+01] [-1.05942729e-02 -3.80238173e-04 9.99943807e-01 -2.42806256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.745769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:218.73, Y:-27.17, Z:-2.43 [[ 9.77397637e-01 2.11151792e-01 1.04297216e-02 2.18732875e+02] [-2.11143542e-01 9.77453222e-01 -1.89844826e-03 -2.71716369e+01] [-1.05954258e-02 -3.46629523e-04 9.99943807e-01 -2.43077215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.805769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:218.79, Y:-27.18, Z:-2.42 [[ 9.78226745e-01 2.07276759e-01 1.04297659e-02 2.18792001e+02] [-2.07268291e-01 9.78282297e-01 -1.89820514e-03 -2.71759136e+01] [-1.05967091e-02 -3.04884716e-04 9.99943807e-01 -2.42340699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:-27.18, Z:-2.43 [[ 9.78735932e-01 2.04858962e-01 1.04298316e-02 2.18850637e+02] [-2.04850361e-01 9.78791463e-01 -1.89784388e-03 -2.71803226e+01] [-1.05974205e-02 -2.79066778e-04 9.99943807e-01 -2.42533772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:-27.19, Z:-2.43 [[ 9.79270403e-01 2.02288643e-01 1.04299186e-02 2.18907999e+02] [-2.02279901e-01 9.79325912e-01 -1.89736570e-03 -2.71870672e+01] [-1.05981051e-02 -2.51728834e-04 9.99943807e-01 -2.42547910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:218.97, Y:-27.20, Z:-2.43 [[ 9.79669076e-01 2.00348986e-01 1.04300266e-02 2.18966383e+02] [-2.00340140e-01 9.79724569e-01 -1.89677215e-03 -2.71973067e+01] [-1.05985696e-02 -2.31343970e-04 9.99943807e-01 -2.42741525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:-27.21, Z:-2.43 [[ 9.80037866e-01 1.98537135e-01 1.04301155e-02 2.19022993e+02] [-1.98528192e-01 9.80093343e-01 -1.89628282e-03 -2.72069199e+01] [-1.05989694e-02 -2.12243008e-04 9.99943807e-01 -2.43239190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10576923099998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:219.08, Y:-27.22, Z:-2.43 [[ 9.79424848e-01 2.01539519e-01 1.04302255e-02 2.19080889e+02] [-2.01530753e-01 9.79480353e-01 -1.89567747e-03 -2.72156274e+01] [-1.05982549e-02 -2.45337585e-04 9.99943807e-01 -2.42998528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16576923099998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:219.14, Y:-27.22, Z:-2.43 [[ 9.79039989e-01 2.03400856e-01 1.04303154e-02 2.19139505e+02] [-2.03392201e-01 9.79095512e-01 -1.89518313e-03 -2.72247263e+01] [-1.05977568e-02 -2.65984720e-04 9.99943807e-01 -2.42853138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.225769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:219.20, Y:-27.23, Z:-2.43 [[ 9.78622279e-01 2.05401173e-01 1.04304051e-02 2.19197049e+02] [-2.05392636e-01 9.78677820e-01 -1.89468937e-03 -2.72303564e+01] [-1.05971775e-02 -2.88143160e-04 9.99943807e-01 -2.43139288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.285769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:219.25, Y:-27.23, Z:-2.43 [[ 9.78405046e-01 2.06433455e-01 1.04305154e-02 2.19254932e+02] [-2.06424983e-01 9.78460596e-01 -1.89408148e-03 -2.72333603e+01] [-1.05968501e-02 -2.99940098e-04 9.99943807e-01 -2.43065375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:219.31, Y:-27.24, Z:-2.43 [[ 9.79113608e-01 2.03046164e-01 1.04306243e-02 2.19313139e+02] [-2.03037506e-01 9.79169130e-01 -1.89348195e-03 -2.72355981e+01] [-1.05978096e-02 -2.63873994e-04 9.99943807e-01 -2.43266671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.37, Y:-27.24, Z:-2.43 [[ 9.80284982e-01 1.97313342e-01 1.04307299e-02 2.19370267e+02] [-1.97304366e-01 9.80340453e-01 -1.89290015e-03 -2.72434839e+01] [-1.05991609e-02 -2.02446954e-04 9.99943807e-01 -2.43084314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.465769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:219.43, Y:-27.26, Z:-2.43 [[ 9.82371331e-01 1.86648777e-01 1.04308513e-02 2.19427498e+02] [-1.86639206e-01 9.82426703e-01 -1.89223062e-03 -2.72563780e+01] [-1.06007294e-02 -8.79326922e-05 9.99943807e-01 -2.42865468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:-27.27, Z:-2.43 [[ 9.83858608e-01 1.78643318e-01 1.04309359e-02 2.19485363e+02] [-1.78633301e-01 9.83913901e-01 -1.89176424e-03 -2.72730039e+01] [-1.06010939e-02 -2.08398482e-06 9.99943807e-01 -2.43165470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.585769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:219.54, Y:-27.29, Z:-2.44 [[ 9.83864567e-01 1.78610496e-01 1.04309805e-02 2.19542657e+02] [-1.78600480e-01 9.83919860e-01 -1.89151855e-03 -2.72898455e+01] [-1.06010939e-02 -1.98004174e-06 9.99943807e-01 -2.43628943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:-27.30, Z:-2.43 [[ 9.83263632e-01 1.81889594e-01 1.04310249e-02 2.19600549e+02] [-1.81879765e-01 9.83318958e-01 -1.89127321e-03 -2.73043980e+01] [-1.06010275e-02 -3.75721975e-05 9.99943807e-01 -2.43418903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:-27.32, Z:-2.43 [[ 9.82735963e-01 1.84719303e-01 1.04310690e-02 2.19657184e+02] [-1.84709636e-01 9.82791318e-01 -1.89103000e-03 -2.73203016e+01] [-1.06008738e-02 -6.83357757e-05 9.99943807e-01 -2.42770205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76576923099998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:-27.34, Z:-2.43 [[ 9.82997750e-01 1.83321071e-01 1.04311563e-02 2.19715414e+02] [-1.83311330e-01 9.83053092e-01 -1.89054855e-03 -2.73354680e+01] [-1.06009578e-02 -5.37441574e-05 9.99943807e-01 -2.42866408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82576923099998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:-27.35, Z:-2.43 [[ 9.83433431e-01 1.80969270e-01 1.04311995e-02 2.19771974e+02] [-1.80959399e-01 9.83488751e-01 -1.89031028e-03 -2.73501152e+01] [-1.06010554e-02 -2.86292654e-05 9.99943807e-01 -2.43472398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:-27.37, Z:-2.44 [[ 9.83569972e-01 1.80225690e-01 1.04312638e-02 2.19831451e+02] [-1.80215782e-01 9.83625284e-01 -1.88995504e-03 -2.73681079e+01] [-1.06010733e-02 -2.09753422e-05 9.99943807e-01 -2.43767731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94576923099999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:-27.38, Z:-2.44 [[ 9.83021083e-01 1.83195907e-01 1.04312206e-02 2.19889310e+02] [-1.83186163e-01 9.83076425e-01 -1.89019345e-03 -2.73841132e+01] [-1.06009628e-02 -5.27552648e-05 9.99943807e-01 -2.44372820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.005769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.95, Y:-27.40, Z:-2.44 [[ 9.82725239e-01 1.84776339e-01 1.04311933e-02 2.19948752e+02] [-1.84766682e-01 9.82780596e-01 -1.89034410e-03 -2.73995276e+01] [-1.06008653e-02 -6.96481231e-05 9.99943807e-01 -2.44254729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.01, Y:-27.42, Z:-2.44 [[ 9.82801121e-01 1.84372305e-01 1.04311490e-02 2.20008987e+02] [-1.84362623e-01 9.82856474e-01 -1.89058887e-03 -2.74169950e+01] [-1.06008945e-02 -6.50411219e-05 9.99943807e-01 -2.44329143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.07, Y:-27.43, Z:-2.45 [[ 9.82745750e-01 1.84667236e-01 1.04308407e-02 2.20069787e+02] [-1.84657552e-01 9.82801103e-01 -1.89228810e-03 -2.74325113e+01] [-1.06008854e-02 -6.64954281e-05 9.99943807e-01 -2.44659584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.185769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:-27.45, Z:-2.44 [[ 9.82261813e-01 1.87224281e-01 1.04307276e-02 2.20130414e+02] [-1.87214735e-01 9.82317189e-01 -1.89291156e-03 -2.74455215e+01] [-1.06006820e-02 -9.34511552e-05 9.99943807e-01 -2.44065695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.245769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:-27.46, Z:-2.44 [[ 9.82090909e-01 1.88118723e-01 1.04303989e-02 2.20190529e+02] [-1.88109208e-01 9.82146290e-01 -1.89472059e-03 -2.74573207e+01] [-1.06006100e-02 -1.01266215e-04 9.99943807e-01 -2.43552176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.305769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:220.25, Y:-27.47, Z:-2.44 [[ 9.81643356e-01 1.90440369e-01 1.04300970e-02 2.20250440e+02] [-1.90430968e-01 9.81698757e-01 -1.89638135e-03 -2.74674245e+01] [-1.06003608e-02 -1.24643313e-04 9.99943807e-01 -2.43807912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:220.31, Y:-27.47, Z:-2.44 [[ 9.80570394e-01 1.95890076e-01 1.04298056e-02 2.20311197e+02] [-1.95880966e-01 9.80625843e-01 -1.89798259e-03 -2.74746007e+01] [-1.05995329e-02 -1.81894854e-04 9.99943807e-01 -2.44075729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:220.37, Y:-27.48, Z:-2.45 [[ 9.80088401e-01 1.98287536e-01 1.04297604e-02 2.20371802e+02] [-1.98278558e-01 9.80143872e-01 -1.89823088e-03 -2.74796060e+01] [-1.05990613e-02 -2.07563790e-04 9.99943807e-01 -2.44652868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48576923099998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:220.43, Y:-27.49, Z:-2.45 [[ 9.80664996e-01 1.95415929e-01 1.04297604e-02 2.20431615e+02] [-1.95406789e-01 9.80720441e-01 -1.89823088e-03 -2.74903469e+01] [-1.05996238e-02 -1.76517417e-04 9.99943807e-01 -2.44655452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54576923099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:220.49, Y:-27.50, Z:-2.45 [[ 9.80948168e-01 1.93989464e-01 1.04297382e-02 2.20491787e+02] [-1.93980242e-01 9.81003599e-01 -1.89835297e-03 -2.74997878e+01] [-1.05998712e-02 -1.60977272e-04 9.99943807e-01 -2.44632922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:220.55, Y:-27.51, Z:-2.45 [[ 9.80945901e-01 1.94000929e-01 1.04296938e-02 2.20551754e+02] [-1.93991706e-01 9.81001332e-01 -1.89859653e-03 -2.75102931e+01] [-1.05998730e-02 -1.60853614e-04 9.99943807e-01 -2.44981090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:220.61, Y:-27.52, Z:-2.45 [[ 9.80276641e-01 1.97354833e-01 1.04296495e-02 2.20610602e+02] [-1.97345796e-01 9.80332103e-01 -1.89884023e-03 -2.75192539e+01] [-1.05992655e-02 -1.96858759e-04 9.99943807e-01 -2.45168547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.725769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:-27.53, Z:-2.45 [[ 9.79795670e-01 1.99728982e-01 1.04296714e-02 2.20669899e+02] [-1.99720081e-01 9.79851154e-01 -1.89871977e-03 -2.75276291e+01] [-1.05987549e-02 -2.22657402e-04 9.99943807e-01 -2.44831746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.785769231 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:220.73, Y:-27.53, Z:-2.44 [[ 9.79185506e-01 2.02699199e-01 1.04297152e-02 2.20728074e+02] [-2.02690469e-01 9.79241017e-01 -1.89847922e-03 -2.75301813e+01] [-1.05980251e-02 -2.55040524e-04 9.99943807e-01 -2.44495130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.845769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:220.79, Y:-27.53, Z:-2.45 [[ 9.78423425e-01 2.06346361e-01 1.04298234e-02 2.20788030e+02] [-2.06337844e-01 9.78478969e-01 -1.89788481e-03 -2.75314871e+01] [-1.05969844e-02 -2.95132315e-04 9.99943807e-01 -2.44731328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.905769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:-27.53, Z:-2.45 [[ 9.78332703e-01 2.06776060e-01 1.04299081e-02 2.20847674e+02] [-2.06767572e-01 9.78388252e-01 -1.89741927e-03 -2.75321195e+01] [-1.05968404e-02 -3.00259446e-04 9.99943807e-01 -2.44640421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.965769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:-27.54, Z:-2.45 [[ 9.78848553e-01 2.04320153e-01 1.04299971e-02 2.20905120e+02] [-2.04311531e-01 9.78904081e-01 -1.89692955e-03 -2.75367755e+01] [-1.05975477e-02 -2.74161936e-04 9.99943807e-01 -2.44734601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.025769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:-27.54, Z:-2.44 [[ 9.80084933e-01 1.98304655e-01 1.04301073e-02 2.20962612e+02] [-1.98295699e-01 9.80140408e-01 -1.89632333e-03 -2.75425038e+01] [-1.05990194e-02 -2.09687499e-04 9.99943807e-01 -2.44400353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.085769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:-27.55, Z:-2.44 [[ 9.81456950e-01 1.91398711e-01 1.04302162e-02 2.21020527e+02] [-1.91389370e-01 9.81512361e-01 -1.89572420e-03 -2.75518179e+01] [-1.06002253e-02 -1.35660830e-04 9.99943807e-01 -2.44443825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:221.08, Y:-27.56, Z:-2.45 [[ 9.82061173e-01 1.88273900e-01 1.04303062e-02 2.21076956e+02] [-1.88264389e-01 9.82116555e-01 -1.89522882e-03 -2.75639253e+01] [-1.06005986e-02 -1.02424590e-04 9.99943807e-01 -2.44598475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20576923099998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:221.13, Y:-27.58, Z:-2.45 [[ 9.81812374e-01 1.89567055e-01 1.04304181e-02 2.21134855e+02] [-1.89557623e-01 9.81867770e-01 -1.89461274e-03 -2.75755009e+01] [-1.06004476e-02 -1.17011032e-04 9.99943807e-01 -2.45075178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:-27.59, Z:-2.45 [[ 9.81165554e-01 1.92886912e-01 1.04305038e-02 2.21192272e+02] [-1.92877673e-01 9.81220982e-01 -1.89414087e-03 -2.75880302e+01] [-1.05999842e-02 -1.53345536e-04 9.99943807e-01 -2.45234711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:-27.60, Z:-2.45 [[ 9.81184705e-01 1.92789463e-01 1.04305896e-02 2.21248886e+02] [-1.92780223e-01 9.81240134e-01 -1.89366845e-03 -2.76036457e+01] [-1.05999925e-02 -1.52772863e-04 9.99943807e-01 -2.45246378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:-27.62, Z:-2.45 [[ 9.81256751e-01 1.92422426e-01 1.04306791e-02 2.21306971e+02] [-1.92413171e-01 9.81312176e-01 -1.89317560e-03 -2.76200826e+01] [-1.06000418e-02 -1.49308691e-04 9.99943807e-01 -2.45284106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44576923099999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:-27.63, Z:-2.45 [[ 9.81064566e-01 1.93399889e-01 1.04307236e-02 2.21365038e+02] [-1.93390691e-01 9.81120002e-01 -1.89293006e-03 -2.76325505e+01] [-1.05998840e-02 -1.60118244e-04 9.99943807e-01 -2.45490269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.505769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:221.42, Y:-27.65, Z:-2.45 [[ 9.80025729e-01 1.98597005e-01 1.04307693e-02 2.21421783e+02] [-1.98588104e-01 9.80081212e-01 -1.89267824e-03 -2.76459926e+01] [-1.05988813e-02 -2.16553335e-04 9.99943807e-01 -2.45333067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.565769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:221.48, Y:-27.66, Z:-2.46 [[ 9.79349004e-01 2.01907717e-01 1.04308368e-02 2.21479032e+02] [-2.01899007e-01 9.79404518e-01 -1.89230610e-03 -2.76556493e+01] [-1.05980799e-02 -2.52747500e-04 9.99943807e-01 -2.45804015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.625769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:221.54, Y:-27.67, Z:-2.46 [[ 9.79377773e-01 2.01768119e-01 1.04309461e-02 2.21537612e+02] [-2.01759408e-01 9.79433287e-01 -1.89170359e-03 -2.76666295e+01] [-1.05981013e-02 -2.51849061e-04 9.99943807e-01 -2.45842660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.685769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:221.60, Y:-27.68, Z:-2.45 [[ 9.79684111e-01 2.00275402e-01 1.04309912e-02 2.21596095e+02] [-2.00266609e-01 9.79739612e-01 -1.89145506e-03 -2.76783385e+01] [-1.05984672e-02 -2.35950764e-04 9.99943807e-01 -2.45298493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.745769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:-27.69, Z:-2.46 [[ 9.80016337e-01 1.98643332e-01 1.04310360e-02 2.21653395e+02] [-1.98634449e-01 9.80071823e-01 -1.89120779e-03 -2.76924206e+01] [-1.05988403e-02 -2.18548555e-04 9.99943807e-01 -2.45637129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.805769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:221.71, Y:-27.71, Z:-2.46 [[ 9.80612197e-01 1.95680635e-01 1.04310877e-02 2.21710932e+02] [-1.95671587e-01 9.80667657e-01 -1.89092243e-03 -2.77080604e+01] [-1.05994473e-02 -1.86805893e-04 9.99943807e-01 -2.45987339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.865769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:-27.73, Z:-2.46 [[ 9.81068251e-01 1.93381173e-01 1.04311318e-02 2.21768593e+02] [-1.93371998e-01 9.81123690e-01 -1.89067921e-03 -2.77275130e+01] [-1.05998523e-02 -1.62203451e-04 9.99943807e-01 -2.45792796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:-27.74, Z:-2.45 [[ 9.80813940e-01 1.94666914e-01 1.04311100e-02 2.21827108e+02] [-1.94657810e-01 9.80869391e-01 -1.89079956e-03 -2.77415627e+01] [-1.05996326e-02 -1.75974462e-04 9.99943807e-01 -2.45490152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:221.89, Y:-27.75, Z:-2.46 [[ 9.80000300e-01 1.98722430e-01 1.04311100e-02 2.21885863e+02] [-1.98713556e-01 9.80055788e-01 -1.89079956e-03 -2.77522245e+01] [-1.05988140e-02 -2.19818825e-04 9.99943807e-01 -2.45513780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:221.95, Y:-27.76, Z:-2.46 [[ 9.79005836e-01 2.03565133e-01 1.04311528e-02 2.21945013e+02] [-2.03556536e-01 9.79061368e-01 -1.89056322e-03 -2.77588262e+01] [-1.05975915e-02 -2.72456904e-04 9.99943807e-01 -2.45691022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:222.00, Y:-27.76, Z:-2.46 [[ 9.78348837e-01 2.06699644e-01 1.04311965e-02 2.22003502e+02] [-2.06691227e-01 9.78404397e-01 -1.89032215e-03 -2.77625618e+01] [-1.05966574e-02 -3.06642336e-04 9.99943807e-01 -2.46217118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16576923099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:222.06, Y:-27.76, Z:-2.46 [[ 9.77443246e-01 2.10940486e-01 1.04313077e-02 2.22063626e+02] [-2.10932318e-01 9.77498842e-01 -1.88970843e-03 -2.77627697e+01] [-1.05952072e-02 -3.53217168e-04 9.99943807e-01 -2.45592092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.225769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:222.12, Y:-27.76, Z:-2.46 [[ 9.76788505e-01 2.13951872e-01 1.04313935e-02 2.22121976e+02] [-2.13943879e-01 9.76844126e-01 -1.88923449e-03 -2.77635584e+01] [-1.05940507e-02 -3.86350262e-04 9.99943807e-01 -2.46063128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.285769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.18, Y:-27.77, Z:-2.47 [[ 9.77402954e-01 2.11127095e-01 1.04314989e-02 2.22181647e+02] [-2.11118948e-01 9.77458553e-01 -1.88865230e-03 -2.77651746e+01] [-1.05951035e-02 -3.56312743e-04 9.99943807e-01 -2.46692895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.24, Y:-27.77, Z:-2.46 [[ 9.78417576e-01 2.06374004e-01 1.04315872e-02 2.22240633e+02] [-2.06365592e-01 9.78473136e-01 -1.88816466e-03 -2.77723148e+01] [-1.05966959e-02 -3.05307185e-04 9.99943807e-01 -2.46458035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.405769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:-27.78, Z:-2.46 [[ 9.79745619e-01 1.99974255e-01 1.04316767e-02 2.22299603e+02] [-1.99965485e-01 9.79801123e-01 -1.88766998e-03 -2.77783290e+01] [-1.05984540e-02 -2.36538906e-04 9.99943807e-01 -2.46255402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.465769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:222.36, Y:-27.79, Z:-2.47 [[ 9.79915839e-01 1.99138460e-01 1.04317662e-02 2.22357499e+02] [-1.99129648e-01 9.79971337e-01 -1.88717539e-03 -2.77864654e+01] [-1.05986411e-02 -2.28000871e-04 9.99943807e-01 -2.46560953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.525769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:222.41, Y:-27.80, Z:-2.46 [[ 9.80097528e-01 1.98242306e-01 1.04318555e-02 2.22414194e+02] [-1.98233449e-01 9.80153019e-01 -1.88668160e-03 -2.77980171e+01] [-1.05988348e-02 -2.18810720e-04 9.99943807e-01 -2.46320044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.585769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:-27.81, Z:-2.46 [[ 9.80020689e-01 1.98621812e-01 1.04319655e-02 2.22472319e+02] [-1.98612982e-01 9.80076184e-01 -1.88607308e-03 -2.78065474e+01] [-1.05987362e-02 -2.23533147e-04 9.99943807e-01 -2.46210182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:222.53, Y:-27.81, Z:-2.46 [[ 9.79330802e-01 2.01995922e-01 1.04320524e-02 2.22529354e+02] [-2.01987289e-01 9.79386328e-01 -1.88559215e-03 -2.78145442e+01] [-1.05978915e-02 -2.60523522e-04 9.99943807e-01 -2.46127276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.59, Y:-27.82, Z:-2.46 [[ 9.78216597e-01 2.07324528e-01 1.04321597e-02 2.22588191e+02] [-2.07316204e-01 9.78272170e-01 -1.88499827e-03 -2.78190155e+01] [-1.05962979e-02 -3.18819161e-04 9.99943807e-01 -2.46149352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:-27.82, Z:-2.47 [[ 9.77570096e-01 2.10351790e-01 1.04322445e-02 2.22647758e+02] [-2.10343643e-01 9.77625695e-01 -1.88452919e-03 -2.78225068e+01] [-1.05952444e-02 -3.52096930e-04 9.99943807e-01 -2.46663100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.71, Y:-27.82, Z:-2.47 [[ 9.77629433e-01 2.10075839e-01 1.04323284e-02 2.22707312e+02] [-2.10067681e-01 9.77685031e-01 -1.88406446e-03 -2.78229434e+01] [-1.05953277e-02 -3.49578168e-04 9.99943807e-01 -2.46779344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.77, Y:-27.83, Z:-2.47 [[ 9.77761488e-01 2.09460346e-01 1.04324120e-02 2.22765598e+02] [-2.09452158e-01 9.77817082e-01 -1.88360172e-03 -2.78272368e+01] [-1.05955305e-02 -3.43377981e-04 9.99943807e-01 -2.46814312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94576923099999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.82, Y:-27.83, Z:-2.47 [[ 9.78527800e-01 2.05850689e-01 1.04325368e-02 2.22824385e+02] [-2.05842303e-01 9.78583364e-01 -1.88290993e-03 -2.78268815e+01] [-1.05967053e-02 -3.04977691e-04 9.99943807e-01 -2.47363978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.005769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:222.88, Y:-27.83, Z:-2.47 [[ 9.79319952e-01 2.02048489e-01 1.04326399e-02 2.22884007e+02] [-2.02039894e-01 9.79375484e-01 -1.88233855e-03 -2.78295893e+01] [-1.05977954e-02 -2.64397762e-04 9.99943807e-01 -2.47054126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.065769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:222.94, Y:-27.84, Z:-2.47 [[ 9.80650779e-01 1.95487103e-01 1.04327206e-02 2.22942868e+02] [-1.95478141e-01 9.80706253e-01 -1.88189133e-03 -2.78371758e+01] [-1.05993198e-02 -1.93890625e-04 9.99943807e-01 -2.46885421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:223.00, Y:-27.85, Z:-2.47 [[ 9.81887430e-01 1.89177778e-01 1.04328013e-02 2.22999408e+02] [-1.89168465e-01 9.81942846e-01 -1.88144363e-03 -2.78478383e+01] [-1.06003419e-02 -1.26191154e-04 9.99943807e-01 -2.46775806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:223.06, Y:-27.86, Z:-2.46 [[ 9.83473009e-01 1.80753965e-01 1.04329017e-02 2.23055317e+02] [-1.80744183e-01 9.83528344e-01 -1.88088671e-03 -2.78622874e+01] [-1.06010323e-02 -3.58849780e-05 9.99943807e-01 -2.46422370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.11, Y:-27.88, Z:-2.47 [[ 9.84209979e-01 1.76697112e-01 1.04330435e-02 2.23111596e+02] [-1.76687109e-01 9.84265275e-01 -1.88009973e-03 -2.78764442e+01] [-1.06010907e-02 7.02860848e-06 9.99943807e-01 -2.46689943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.17, Y:-27.89, Z:-2.47 [[ 9.84101049e-01 1.77302776e-01 1.04331616e-02 2.23167711e+02] [-1.77292815e-01 9.84156352e-01 -1.87944438e-03 -2.78904203e+01] [-1.06010930e-02 -1.61401127e-07 9.99943807e-01 -2.46630978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.22, Y:-27.91, Z:-2.47 [[ 9.83632732e-01 1.79882726e-01 1.04332838e-02 2.23223602e+02] [-1.79872916e-01 9.83688062e-01 -1.87876555e-03 -2.79063761e+01] [-1.06010542e-02 -2.86499023e-05 9.99943807e-01 -2.46767776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.28, Y:-27.92, Z:-2.47 [[ 9.83285587e-01 1.81770729e-01 1.04334053e-02 2.23278830e+02] [-1.81761033e-01 9.83340938e-01 -1.87809075e-03 -2.79200936e+01] [-1.06009765e-02 -4.96869551e-05 9.99943807e-01 -2.47087167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.34, Y:-27.93, Z:-2.47 [[ 9.83240784e-01 1.82012915e-01 1.04335455e-02 2.23336382e+02] [-1.82003241e-01 9.83296138e-01 -1.87731164e-03 -2.79305071e+01] [-1.06009600e-02 -5.30897321e-05 9.99943807e-01 -2.46873334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:-27.94, Z:-2.47 [[ 9.83374376e-01 1.81289754e-01 1.04336347e-02 2.23393457e+02] [-1.81280045e-01 9.83429724e-01 -1.87681593e-03 -2.79427315e+01] [-1.06009940e-02 -4.57970613e-05 9.99943807e-01 -2.46806770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:-27.96, Z:-2.47 [[ 9.84071764e-01 1.77465209e-01 1.04337453e-02 2.23450207e+02] [-1.77455291e-01 9.84127075e-01 -1.87620073e-03 -2.79571464e+01] [-1.06010916e-02 -5.20714845e-06 9.99943807e-01 -2.47028351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.51, Y:-27.97, Z:-2.47 [[ 9.84689893e-01 1.74002730e-01 1.04338341e-02 2.23506963e+02] [-1.73992623e-01 9.84745169e-01 -1.87570684e-03 -2.79711678e+01] [-1.06010458e-02 3.15794033e-05 9.99943807e-01 -2.47408954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.56, Y:-27.99, Z:-2.47 [[ 9.85228778e-01 1.70925097e-01 1.04339238e-02 2.23563301e+02] [-1.70914822e-01 9.85284024e-01 -1.87520767e-03 -2.79875512e+01] [-1.06008985e-02 6.41963278e-05 9.99943807e-01 -2.47304432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:-28.00, Z:-2.47 [[ 9.85173718e-01 1.71242155e-01 1.04340347e-02 2.23619310e+02] [-1.71231904e-01 9.85228969e-01 -1.87459043e-03 -2.80026679e+01] [-1.06009221e-02 6.01576000e-05 9.99943807e-01 -2.47241070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.68, Y:-28.02, Z:-2.48 [[ 9.85431610e-01 1.69751792e-01 1.04341443e-02 2.23675704e+02] [-1.69741465e-01 9.85486846e-01 -1.87397999e-03 -2.80193687e+01] [-1.06008234e-02 7.55721731e-05 9.99943807e-01 -2.47928321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:-28.04, Z:-2.48 [[ 9.85929965e-01 1.66832943e-01 1.04342092e-02 2.23734618e+02] [-1.66822456e-01 9.85985171e-01 -1.87361847e-03 -2.80351694e+01] [-1.06005569e-02 1.06596185e-04 9.99943807e-01 -2.48056534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:-28.05, Z:-2.47 [[ 9.86042498e-01 1.66166539e-01 1.04342092e-02 2.23792045e+02] [-1.66156014e-01 9.86097697e-01 -1.87361847e-03 -2.80509822e+01] [-1.06004824e-02 1.13760820e-04 9.99943807e-01 -2.47402786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-28.06, Z:-2.48 [[ 9.85115286e-01 1.71577970e-01 1.04342320e-02 2.23849653e+02] [-1.71567750e-01 9.85170542e-01 -1.87349150e-03 -2.80623963e+01] [-1.06009479e-02 5.54274015e-05 9.99943807e-01 -2.47799541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:-28.07, Z:-2.48 [[ 9.84274476e-01 1.76337407e-01 1.04342757e-02 2.23908958e+02] [-1.76327457e-01 9.84329782e-01 -1.87324834e-03 -2.80698846e+01] [-1.06010921e-02 3.94123271e-06 9.99943807e-01 -2.48111551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-28.08, Z:-2.48 [[ 9.84063936e-01 1.77508580e-01 1.04343201e-02 2.23966708e+02] [-1.77498698e-01 9.84119253e-01 -1.87300093e-03 -2.80796066e+01] [-1.06010890e-02 -8.92556565e-06 9.99943807e-01 -2.48293011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:-28.09, Z:-2.48 [[ 9.84084592e-01 1.77394024e-01 1.04344088e-02 2.24023817e+02] [-1.77384141e-01 9.84139909e-01 -1.87250656e-03 -2.80868303e+01] [-1.06010896e-02 -8.19378859e-06 9.99943807e-01 -2.48194517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:-28.10, Z:-2.48 [[ 9.83973569e-01 1.78008808e-01 1.04345183e-02 2.24081797e+02] [-1.77998966e-01 9.84028894e-01 -1.87189647e-03 -2.80951399e+01] [-1.06010815e-02 -1.54368089e-05 9.99943807e-01 -2.48217999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.14, Y:-28.10, Z:-2.48 [[ 9.84024430e-01 1.77727434e-01 1.04346056e-02 2.24139480e+02] [-1.77717582e-01 9.84079752e-01 -1.87140969e-03 -2.81047473e+01] [-1.06010849e-02 -1.29000134e-05 9.99943807e-01 -2.48311019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:-28.12, Z:-2.48 [[ 9.84357393e-01 1.75873932e-01 1.04346943e-02 2.24198242e+02] [-1.75863980e-01 9.84412698e-01 -1.87091455e-03 -2.81161993e+01] [-1.06010907e-02 6.56169426e-06 9.99943807e-01 -2.48062845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:-28.13, Z:-2.48 [[ 9.84866378e-01 1.73000963e-01 1.04347402e-02 2.24256004e+02] [-1.72990853e-01 9.84921655e-01 -1.87065879e-03 -2.81274354e+01] [-1.06010273e-02 3.72343464e-05 9.99943807e-01 -2.48125550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:-28.14, Z:-2.48 [[ 9.85203629e-01 1.71069938e-01 1.04348083e-02 2.24315132e+02] [-1.71059723e-01 9.85258886e-01 -1.87027871e-03 -2.81362485e+01] [-1.06009361e-02 5.76299478e-05 9.99943807e-01 -2.48205895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:-28.14, Z:-2.48 [[ 9.85057717e-01 1.71908137e-01 1.04348529e-02 2.24373915e+02] [-1.71897972e-01 9.85112983e-01 -1.87003017e-03 -2.81442415e+01] [-1.06009824e-02 4.83576068e-05 9.99943807e-01 -2.48214233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.43, Y:-28.15, Z:-2.48 [[ 9.85219613e-01 1.70977852e-01 1.04349417e-02 2.24432020e+02] [-1.70967640e-01 9.85274871e-01 -1.86953440e-03 -2.81522267e+01] [-1.06009348e-02 5.78646055e-05 9.99943807e-01 -2.48337652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.49, Y:-28.16, Z:-2.49 [[ 9.86494413e-01 1.63462177e-01 1.04350297e-02 2.24491238e+02] [-1.63451549e-01 9.86549592e-01 -1.86904309e-03 -2.81608604e+01] [-1.06001921e-02 1.38178800e-04 9.99943807e-01 -2.48716085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:-28.17, Z:-2.49 [[ 9.87231081e-01 1.58952515e-01 1.04350732e-02 2.24549585e+02] [-1.58941638e-01 9.87286211e-01 -1.86879999e-03 -2.81718711e+01] [-1.05994544e-02 1.86369809e-04 9.99943807e-01 -2.48919825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.61, Y:-28.19, Z:-2.49 [[ 9.87521893e-01 1.57135672e-01 1.04351171e-02 2.24607693e+02] [-1.57124696e-01 9.87577004e-01 -1.86855500e-03 -2.81853848e+01] [-1.05990983e-02 2.05624375e-04 9.99943807e-01 -2.48656554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.67, Y:-28.20, Z:-2.49 [[ 9.87294776e-01 1.58556402e-01 1.04351388e-02 2.24665521e+02] [-1.58545507e-01 9.87349903e-01 -1.86843377e-03 -2.81993512e+01] [-1.05993854e-02 1.90250531e-04 9.99943807e-01 -2.48878093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:-28.21, Z:-2.49 [[ 9.87015825e-01 1.60283712e-01 1.04351808e-02 2.24722372e+02] [-1.60272916e-01 9.87070971e-01 -1.86819937e-03 -2.82134107e+01] [-1.05997059e-02 1.71465492e-04 9.99943807e-01 -2.49015294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.78, Y:-28.23, Z:-2.49 [[ 9.86804614e-01 1.61578956e-01 1.04352432e-02 2.24778935e+02] [-1.61568236e-01 9.86859775e-01 -1.86785033e-03 -2.82305344e+01] [-1.05999271e-02 1.57199480e-04 9.99943807e-01 -2.49215817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.84, Y:-28.25, Z:-2.50 [[ 9.86868816e-01 1.61186364e-01 1.04353050e-02 2.24835678e+02] [-1.61175626e-01 9.86923974e-01 -1.86750539e-03 -2.82464228e+01] [-1.05998690e-02 1.61066031e-04 9.99943807e-01 -2.49724565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:-28.26, Z:-2.49 [[ 9.86627162e-01 1.62658990e-01 1.04353422e-02 2.24893013e+02] [-1.62648336e-01 9.86682336e-01 -1.86729712e-03 -2.82620945e+01] [-1.06001005e-02 1.45035010e-04 9.99943807e-01 -2.49372033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:-28.27, Z:-2.49 [[ 9.86085912e-01 1.65908641e-01 1.04354030e-02 2.24952750e+02] [-1.65898173e-01 9.86141121e-01 -1.86695763e-03 -2.82742742e+01] [-1.06005244e-02 1.09766338e-04 9.99943807e-01 -2.49202098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.01, Y:-28.29, Z:-2.49 [[ 9.85329382e-01 1.70344098e-01 1.04354030e-02 2.25012101e+02] [-1.70333879e-01 9.85384638e-01 -1.86695763e-03 -2.82866455e+01] [-1.06009110e-02 6.20655500e-05 9.99943807e-01 -2.49126672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.07, Y:-28.30, Z:-2.50 [[ 9.85221453e-01 1.70967222e-01 1.04354030e-02 2.25070988e+02] [-1.70957037e-01 9.85276715e-01 -1.86695763e-03 -2.82961483e+01] [-1.06009481e-02 5.53611415e-05 9.99943807e-01 -2.49608325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:-28.31, Z:-2.50 [[ 9.85109462e-01 1.71611331e-01 1.04354242e-02 2.25129597e+02] [-1.71601183e-01 9.85164732e-01 -1.86683917e-03 -2.83076750e+01] [-1.06009826e-02 4.83097934e-05 9.99943807e-01 -2.49740151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:-28.32, Z:-2.49 [[ 9.84826629e-01 1.73227055e-01 1.04354666e-02 2.25189692e+02] [-1.73217001e-01 9.84881915e-01 -1.86660197e-03 -2.83160475e+01] [-1.06010483e-02 3.06790981e-05 9.99943807e-01 -2.49491418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.25, Y:-28.32, Z:-2.50 [[ 9.84666092e-01 1.74137268e-01 1.04354666e-02 2.25249877e+02] [-1.74127264e-01 9.84721388e-01 -1.86660197e-03 -2.83244574e+01] [-1.06010721e-02 2.08804185e-05 9.99943807e-01 -2.49631544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.31, Y:-28.33, Z:-2.50 [[ 9.84367410e-01 1.75817815e-01 1.04354666e-02 2.25308560e+02] [-1.75807906e-01 9.84422722e-01 -1.86660197e-03 -2.83300629e+01] [-1.06010923e-02 2.78461740e-06 9.99943807e-01 -2.49560866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.37, Y:-28.34, Z:-2.50 [[ 9.84022553e-01 1.77737770e-01 1.04355109e-02 2.25368322e+02] [-1.77727972e-01 9.84077886e-01 -1.86635419e-03 -2.83356123e+01] [-1.06010771e-02 -1.81475657e-05 9.99943807e-01 -2.49648505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.43, Y:-28.34, Z:-2.50 [[ 9.83865944e-01 1.78602643e-01 1.04355547e-02 2.25428129e+02] [-1.78592896e-01 9.83921285e-01 -1.86610904e-03 -2.83402027e+01] [-1.06010564e-02 -2.77148046e-05 9.99943807e-01 -2.49608380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.49, Y:-28.35, Z:-2.50 [[ 9.84328983e-01 1.76032812e-01 1.04356008e-02 2.25486173e+02] [-1.76022923e-01 9.84384300e-01 -1.86585133e-03 -2.83474271e+01] [-1.06010927e-02 -2.93420964e-07 9.99943807e-01 -2.49853918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:-28.36, Z:-2.50 [[ 9.85516640e-01 1.69257343e-01 1.04356693e-02 2.25543044e+02] [-1.69247078e-01 9.85571888e-01 -1.86546823e-03 -2.83607970e+01] [-1.06008465e-02 7.22434461e-05 9.99943807e-01 -2.50282020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:-28.38, Z:-2.50 [[ 9.86774533e-01 1.61762532e-01 1.04357339e-02 2.25600251e+02] [-1.61751851e-01 9.86829702e-01 -1.86510686e-03 -2.83768183e+01] [-1.05999966e-02 1.52440680e-04 9.99943807e-01 -2.49715886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:-28.40, Z:-2.50 [[ 9.87043018e-01 1.60116129e-01 1.04357551e-02 2.25658445e+02] [-1.60105358e-01 9.87098169e-01 -1.86498809e-03 -2.83966703e+01] [-1.05997294e-02 1.70003164e-04 9.99943807e-01 -2.49594267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94576923099999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:-28.41, Z:-2.50 [[ 9.86395138e-01 1.64060132e-01 1.04357551e-02 2.25716295e+02] [-1.64049581e-01 9.86450332e-01 -1.86498809e-03 -2.84090363e+01] [-1.06003243e-02 1.27633923e-04 9.99943807e-01 -2.49822466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.78, Y:-28.42, Z:-2.50 [[ 9.84826608e-01 1.73227152e-01 1.04357768e-02 2.25775431e+02] [-1.73217116e-01 9.84881898e-01 -1.86486656e-03 -2.84182011e+01] [-1.06010532e-02 2.89150508e-05 9.99943807e-01 -2.50158569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.065769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:225.83, Y:-28.43, Z:-2.50 [[ 9.84440998e-01 1.75405290e-01 1.04358210e-02 2.25834905e+02] [-1.75395379e-01 9.84496310e-01 -1.86461927e-03 -2.84267067e+01] [-1.06010914e-02 5.21287606e-06 9.99943807e-01 -2.49957049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.125769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:225.90, Y:-28.43, Z:-2.50 [[ 9.85088178e-01 1.71733441e-01 1.04358210e-02 2.25895453e+02] [-1.71723324e-01 9.85143453e-01 -1.86461927e-03 -2.84314150e+01] [-1.06009982e-02 4.47405296e-05 9.99943807e-01 -2.50079207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.185769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:225.95, Y:-28.44, Z:-2.50 [[ 9.85926433e-01 1.66853718e-01 1.04358210e-02 2.25954747e+02] [-1.66843327e-01 9.85981657e-01 -1.86461927e-03 -2.84397297e+01] [-1.06006467e-02 9.72303296e-05 9.99943807e-01 -2.50148477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:226.01, Y:-28.45, Z:-2.50 [[ 9.86838393e-01 1.61372486e-01 1.04358433e-02 2.26013555e+02] [-1.61361789e-01 9.86893559e-01 -1.86449429e-03 -2.84508060e+01] [-1.05999447e-02 1.56008196e-04 9.99943807e-01 -2.50370246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:226.07, Y:-28.46, Z:-2.51 [[ 9.86972946e-01 1.60547489e-01 1.04358654e-02 2.26073287e+02] [-1.60536748e-01 9.87028103e-01 -1.86437086e-03 -2.84610234e+01] [-1.05998125e-02 1.64743705e-04 9.99943807e-01 -2.50796488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.365769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:226.13, Y:-28.47, Z:-2.51 [[ 9.86260514e-01 1.64867498e-01 1.04358654e-02 2.26132629e+02] [-1.64856999e-01 9.86315717e-01 -1.86437086e-03 -2.84669228e+01] [-1.06004322e-02 1.18329915e-04 9.99943807e-01 -2.50626444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:-28.47, Z:-2.51 [[ 9.85850446e-01 1.67302093e-01 1.04359111e-02 2.26191499e+02] [-1.67291733e-01 9.85905676e-01 -1.86411490e-03 -2.84710060e+01] [-1.06006943e-02 9.18968580e-05 9.99943807e-01 -2.51072157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48576923099998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:226.25, Y:-28.48, Z:-2.51 [[ 9.86017458e-01 1.66314955e-01 1.04359558e-02 2.26250867e+02] [-1.66304542e-01 9.86072678e-01 -1.86386488e-03 -2.84765993e+01] [-1.06005994e-02 1.02256471e-04 9.99943807e-01 -2.51051865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54576923099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:-28.48, Z:-2.51 [[ 9.86768115e-01 1.61801663e-01 1.04360002e-02 2.26309219e+02] [-1.61791000e-01 9.86823287e-01 -1.86361592e-03 -2.84830297e+01] [-1.06000242e-02 1.50505860e-04 9.99943807e-01 -2.50842533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60576923099998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:-28.49, Z:-2.50 [[ 9.86763846e-01 1.61827689e-01 1.04360662e-02 2.26368068e+02] [-1.61817031e-01 9.86819019e-01 -1.86324619e-03 -2.84909131e+01] [-1.06000335e-02 1.49850719e-04 9.99943807e-01 -2.50360816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:-28.50, Z:-2.51 [[ 9.86668290e-01 1.62409274e-01 1.04361096e-02 2.26426431e+02] [-1.62398652e-01 9.86723470e-01 -1.86300337e-03 -2.84996102e+01] [-1.06001233e-02 1.43356218e-04 9.99943807e-01 -2.50875523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:-28.51, Z:-2.51 [[ 9.87040265e-01 1.60133073e-01 1.04361957e-02 2.26485187e+02] [-1.60122329e-01 9.87095421e-01 -1.86252097e-03 -2.85126824e+01] [-1.05997722e-02 1.67315238e-04 9.99943807e-01 -2.50753490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.785769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:-28.53, Z:-2.51 [[ 9.87493637e-01 1.57313069e-01 1.04362395e-02 2.26542537e+02] [-1.57302170e-01 9.87548763e-01 -1.86227558e-03 -2.85261048e+01] [-1.05992557e-02 1.97342174e-04 9.99943807e-01 -2.50917197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.845769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:-28.54, Z:-2.51 [[ 9.87367788e-01 1.58101029e-01 1.04363044e-02 2.26601319e+02] [-1.58090177e-01 9.87422923e-01 -1.86191175e-03 -2.85367069e+01] [-1.05994163e-02 1.88514472e-04 9.99943807e-01 -2.51184731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:226.66, Y:-28.55, Z:-2.51 [[ 9.87051113e-01 1.60066185e-01 1.04363462e-02 2.26659616e+02] [-1.60055445e-01 9.87106270e-01 -1.86167744e-03 -2.85484639e+01] [-1.05997743e-02 1.67176759e-04 9.99943807e-01 -2.51159594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.965769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.72, Y:-28.56, Z:-2.51 [[ 9.87189368e-01 1.59211286e-01 1.04363897e-02 2.26718074e+02] [-1.59200502e-01 9.87244516e-01 -1.86143316e-03 -2.85629458e+01] [-1.05996297e-02 1.76108545e-04 9.99943807e-01 -2.51343256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.025769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:226.78, Y:-28.58, Z:-2.51 [[ 9.87489826e-01 1.57336977e-01 1.04364337e-02 2.26775975e+02] [-1.57326091e-01 9.87544954e-01 -1.86118659e-03 -2.85766424e+01] [-1.05992809e-02 1.95979505e-04 9.99943807e-01 -2.51287076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.085769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:226.83, Y:-28.59, Z:-2.51 [[ 9.87260309e-01 1.58770784e-01 1.04364556e-02 2.26834858e+02] [-1.58759979e-01 9.87315454e-01 -1.86106371e-03 -2.85874895e+01] [-1.05995565e-02 1.80462857e-04 9.99943807e-01 -2.51199591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:-28.60, Z:-2.51 [[ 9.86554653e-01 1.63098118e-01 1.04364959e-02 2.26894340e+02] [-1.63087557e-01 9.86609845e-01 -1.86083798e-03 -2.85958597e+01] [-1.06002487e-02 1.33755748e-04 9.99943807e-01 -2.50735055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:-28.60, Z:-2.51 [[ 9.85961018e-01 1.66649179e-01 1.04365398e-02 2.26953448e+02] [-1.66638819e-01 9.86016248e-01 -1.86059156e-03 -2.86043156e+01] [-1.06006639e-02 9.53380807e-05 9.99943807e-01 -2.51034920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26576923099998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:227.01, Y:-28.61, Z:-2.52 [[ 9.85892599e-01 1.67053467e-01 1.04365854e-02 2.27011472e+02] [-1.67043133e-01 9.85947834e-01 -1.86033599e-03 -2.86136170e+01] [-1.06007043e-02 9.07315734e-05 9.99943807e-01 -2.51539363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.07, Y:-28.62, Z:-2.51 [[ 9.85992844e-01 1.66460767e-01 1.04366535e-02 2.27071252e+02] [-1.66450404e-01 9.86048074e-01 -1.85995382e-03 -2.86204076e+01] [-1.06006514e-02 9.67159748e-05 9.99943807e-01 -2.51303268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38576923099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:227.13, Y:-28.63, Z:-2.51 [[ 9.86183382e-01 1.65328196e-01 1.04366972e-02 2.27129739e+02] [-1.65317772e-01 9.86238600e-01 -1.85970829e-03 -2.86307619e+01] [-1.06005359e-02 1.08641878e-04 9.99943807e-01 -2.51297669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44576923099999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:227.19, Y:-28.64, Z:-2.52 [[ 9.86774728e-01 1.61761277e-01 1.04367409e-02 2.27187640e+02] [-1.61750656e-01 9.86829908e-01 -1.85946319e-03 -2.86432497e+01] [-1.06000772e-02 1.46721596e-04 9.99943807e-01 -2.51546619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.505769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:-28.66, Z:-2.52 [[ 9.86542376e-01 1.63172343e-01 1.04367849e-02 2.27246271e+02] [-1.63161804e-01 9.86597572e-01 -1.85921618e-03 -2.86568606e+01] [-1.06002793e-02 1.31310899e-04 9.99943807e-01 -2.51807963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.565769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:-28.67, Z:-2.52 [[ 9.85277675e-01 1.70642832e-01 1.04368298e-02 2.27303419e+02] [-1.70632714e-01 9.85332949e-01 -1.85896430e-03 -2.86661696e+01] [-1.06009712e-02 5.07314413e-05 9.99943807e-01 -2.51653162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.625769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.36, Y:-28.68, Z:-2.52 [[ 9.84355131e-01 1.75886459e-01 1.04369407e-02 2.27362010e+02] [-1.75876642e-01 9.84410460e-01 -1.85834144e-03 -2.86755670e+01] [-1.06010906e-02 -6.34613840e-06 9.99943807e-01 -2.51541481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:-28.69, Z:-2.51 [[ 9.83883582e-01 1.78505364e-01 1.04370286e-02 2.27419936e+02] [-1.78495699e-01 9.83938938e-01 -1.85784737e-03 -2.86856865e+01] [-1.06010346e-02 -3.50591922e-05 9.99943807e-01 -2.51283052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.745769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:227.48, Y:-28.69, Z:-2.51 [[ 9.84013689e-01 1.77786744e-01 1.04371162e-02 2.27478781e+02] [-1.77777044e-01 9.84069039e-01 -1.85735521e-03 -2.86921826e+01] [-1.06010560e-02 -2.78167101e-05 9.99943807e-01 -2.51473601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.54, Y:-28.70, Z:-2.52 [[ 9.84019638e-01 1.77753809e-01 1.04372086e-02 2.27536189e+02] [-1.77744113e-01 9.84074988e-01 -1.85683561e-03 -2.86967793e+01] [-1.06010556e-02 -2.79896826e-05 9.99943807e-01 -2.51815573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.865769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:-28.70, Z:-2.52 [[ 9.84406084e-01 1.75601037e-01 1.04373226e-02 2.27594450e+02] [-1.75591226e-01 9.84461414e-01 -1.85619461e-03 -2.87011016e+01] [-1.06010911e-02 -5.45301153e-06 9.99943807e-01 -2.51820209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92576923099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:-28.71, Z:-2.52 [[ 9.84854600e-01 1.73067837e-01 1.04374282e-02 2.27652784e+02] [-1.73057890e-01 9.84909906e-01 -1.85560079e-03 -2.87086669e+01] [-1.06010712e-02 2.12176735e-05 9.99943807e-01 -2.52044270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:-28.72, Z:-2.52 [[ 9.85649731e-01 1.68480462e-01 1.04375170e-02 2.27711241e+02] [-1.68470263e-01 9.85704991e-01 -1.85510113e-03 -2.87176561e+01] [-1.06008609e-02 7.00686964e-05 9.99943807e-01 -2.51798753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04576923099998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:-28.73, Z:-2.52 [[ 9.86155102e-01 1.65496743e-01 1.04376069e-02 2.27768304e+02] [-1.65486382e-01 9.86210331e-01 -1.85459517e-03 -2.87297972e+01] [-1.06006052e-02 1.01636687e-04 9.99943807e-01 -2.51684089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:-28.75, Z:-2.52 [[ 9.86167264e-01 1.65424245e-01 1.04377171e-02 2.27824777e+02] [-1.65413887e-01 9.86222495e-01 -1.85397453e-03 -2.87452098e+01] [-1.06006038e-02 1.01785626e-04 9.99943807e-01 -2.52229729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:-28.76, Z:-2.52 [[ 9.85917493e-01 1.66906411e-01 1.04378049e-02 2.27881777e+02] [-1.66896141e-01 9.85972739e-01 -1.85348011e-03 -2.87596509e+01] [-1.06007488e-02 8.53490972e-05 9.99943807e-01 -2.52031411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.225769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:-28.78, Z:-2.52 [[ 9.86053404e-01 1.66101579e-01 1.04378934e-02 2.27939072e+02] [-1.66091269e-01 9.86108643e-01 -1.85298194e-03 -2.87754365e+01] [-1.06006801e-02 9.34961888e-05 9.99943807e-01 -2.52276466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:-28.79, Z:-2.53 [[ 9.86453020e-01 1.63711602e-01 1.04379654e-02 2.27997528e+02] [-1.63701163e-01 9.86508235e-01 -1.85257617e-03 -2.87901631e+01] [-1.06004270e-02 1.18772286e-04 9.99943807e-01 -2.52548896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.06, Y:-28.81, Z:-2.52 [[ 9.87169520e-01 1.59334198e-01 1.04380102e-02 2.28055633e+02] [-1.59323516e-01 9.87224689e-01 -1.85232365e-03 -2.88100534e+01] [-1.05997999e-02 1.65536964e-04 9.99943807e-01 -2.52178379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:-28.83, Z:-2.52 [[ 9.87631241e-01 1.56446733e-01 1.04380102e-02 2.28114853e+02] [-1.56435890e-01 9.87686378e-01 -1.85232365e-03 -2.88270438e+01] [-1.05992705e-02 1.96533290e-04 9.99943807e-01 -2.52199977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.17, Y:-28.85, Z:-2.53 [[ 9.87596561e-01 1.56665506e-01 1.04379660e-02 2.28173212e+02] [-1.56654673e-01 9.87651700e-01 -1.85257281e-03 -2.88477836e+01] [-1.05993091e-02 1.94438393e-04 9.99943807e-01 -2.52516143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.23, Y:-28.86, Z:-2.52 [[ 9.86368629e-01 1.64219294e-01 1.04379217e-02 2.28231421e+02] [-1.64208881e-01 9.86423849e-01 -1.85282227e-03 -2.88630518e+01] [-1.06004841e-02 1.13566320e-04 9.99943807e-01 -2.52280444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.585769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:-28.88, Z:-2.52 [[ 9.85573422e-01 1.68926254e-01 1.04378997e-02 2.28291261e+02] [-1.68916103e-01 9.85628691e-01 -1.85294642e-03 -2.88763424e+01] [-1.06009047e-02 6.30854024e-05 9.99943807e-01 -2.52323017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.35, Y:-28.89, Z:-2.52 [[ 9.85468730e-01 1.69535933e-01 1.04378558e-02 2.28351634e+02] [-1.69525813e-01 9.85524005e-01 -1.85319334e-03 -2.88934984e+01] [-1.06009403e-02 5.67780913e-05 9.99943807e-01 -2.52354779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.41, Y:-28.91, Z:-2.52 [[ 9.85924066e-01 1.66867591e-01 1.04375441e-02 2.28412531e+02] [-1.66857304e-01 9.85979310e-01 -1.85494718e-03 -2.89107287e+01] [-1.06007331e-02 8.72565948e-05 9.99943807e-01 -2.52497161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.47, Y:-28.93, Z:-2.52 [[ 9.85774585e-01 1.67748421e-01 1.04371894e-02 2.28472322e+02] [-1.67738162e-01 9.85829834e-01 -1.85694082e-03 -2.89269384e+01] [-1.06007916e-02 7.98100978e-05 9.99943807e-01 -2.52472126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:-28.94, Z:-2.52 [[ 9.84887253e-01 1.72881956e-01 1.04368601e-02 2.28532893e+02] [-1.72871965e-01 9.84942551e-01 -1.85879007e-03 -2.89436719e+01] [-1.06010589e-02 2.64581374e-05 9.99943807e-01 -2.52432303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.59, Y:-28.96, Z:-2.53 [[ 9.84191298e-01 1.76800928e-01 1.04365520e-02 2.28594446e+02] [-1.76791139e-01 9.84246632e-01 -1.86051813e-03 -2.89578955e+01] [-1.06010825e-02 -1.39841639e-05 9.99943807e-01 -2.52526178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.66, Y:-28.97, Z:-2.53 [[ 9.83582335e-01 1.80157917e-01 1.04362001e-02 2.28656333e+02] [-1.80148296e-01 9.83637699e-01 -1.86249033e-03 -2.89706148e+01] [-1.06009822e-02 -4.81510680e-05 9.99943807e-01 -2.52758779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:-28.98, Z:-2.52 [[ 9.83279085e-01 1.81805760e-01 1.04358475e-02 2.28717931e+02] [-1.81796211e-01 9.83334461e-01 -1.86446392e-03 -2.89788320e+01] [-1.06008987e-02 -6.39091493e-05 9.99943807e-01 -2.52363807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.78, Y:-28.98, Z:-2.53 [[ 9.82875204e-01 1.83976717e-01 1.04355430e-02 2.28780672e+02] [-1.83967272e-01 9.82930598e-01 -1.86616668e-03 -2.89835670e+01] [-1.06007457e-02 -8.55894070e-05 9.99943807e-01 -2.52537840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.84, Y:-28.99, Z:-2.53 [[ 9.82701837e-01 1.84900530e-01 1.04352309e-02 2.28841258e+02] [-1.84891118e-01 9.82757236e-01 -1.86790975e-03 -2.89880617e+01] [-1.06006762e-02 -9.37831737e-05 9.99943807e-01 -2.52511906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.90, Y:-28.99, Z:-2.52 [[ 9.82487221e-01 1.86037541e-01 1.04352089e-02 2.28901982e+02] [-1.86028192e-01 9.82542631e-01 -1.86803312e-03 -2.89905618e+01] [-1.06005619e-02 -1.05924374e-04 9.99943807e-01 -2.52358223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:-28.99, Z:-2.52 [[ 9.82554477e-01 1.85682002e-01 1.04352089e-02 2.28962820e+02] [-1.85672633e-01 9.82609884e-01 -1.86803312e-03 -2.89945236e+01] [-1.06005995e-02 -1.02088404e-04 9.99943807e-01 -2.52458204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.02, Y:-29.00, Z:-2.53 [[ 9.82772523e-01 1.84524454e-01 1.04352089e-02 2.29021562e+02] [-1.84515020e-01 9.82827919e-01 -1.86803312e-03 -2.89968345e+01] [-1.06007124e-02 -8.96011509e-05 9.99943807e-01 -2.52688845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:-29.00, Z:-2.53 [[ 9.82852088e-01 1.84100187e-01 1.04352532e-02 2.29081894e+02] [-1.84090732e-01 9.82907480e-01 -1.86778528e-03 -2.89963646e+01] [-1.06007481e-02 -8.52767378e-05 9.99943807e-01 -2.52555405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:-28.99, Z:-2.53 [[ 9.82296513e-01 1.87041876e-01 1.04353418e-02 2.29142147e+02] [-1.87032592e-01 9.82351934e-01 -1.86729025e-03 -2.89932409e+01] [-1.06004397e-02 -1.17516314e-04 9.99943807e-01 -2.52529744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.20, Y:-28.99, Z:-2.52 [[ 9.82483149e-01 1.86059034e-01 1.04354342e-02 2.29200722e+02] [-1.86049700e-01 9.82538561e-01 -1.86677354e-03 -2.89938251e+01] [-1.06005466e-02 -1.07435862e-04 9.99943807e-01 -2.52380766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.26, Y:-29.00, Z:-2.53 [[ 9.82708325e-01 1.84866026e-01 1.04355483e-02 2.29259266e+02] [-1.84856631e-01 9.82763727e-01 -1.86613564e-03 -2.89951547e+01] [-1.06006634e-02 -9.52132736e-05 9.99943807e-01 -2.52651323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:-29.00, Z:-2.53 [[ 9.82729586e-01 1.84752966e-01 1.04356586e-02 2.29316603e+02] [-1.84743571e-01 9.82784988e-01 -1.86551866e-03 -2.90010932e+01] [-1.06006687e-02 -9.46204631e-05 9.99943807e-01 -2.52595704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:-29.00, Z:-2.52 [[ 9.82335869e-01 1.86835043e-01 1.04358465e-02 2.29374705e+02] [-1.86825777e-01 9.82391293e-01 -1.86446669e-03 -2.90032412e+01] [-1.06004325e-02 -1.18152625e-04 9.99943807e-01 -2.52449672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-29.01, Z:-2.53 [[ 9.81531082e-01 1.91017867e-01 1.04359790e-02 2.29432588e+02] [-1.91008845e-01 9.81586546e-01 -1.86372517e-03 -2.90087081e+01] [-1.05998214e-02 -1.64060105e-04 9.99943807e-01 -2.52505353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:-29.01, Z:-2.53 [[ 9.80897357e-01 1.94245883e-01 1.04361160e-02 2.29490540e+02] [-1.94237052e-01 9.80952852e-01 -1.86295752e-03 -2.90126315e+01] [-1.05992096e-02 -1.99710302e-04 9.99943807e-01 -2.52512699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:-29.01, Z:-2.53 [[ 9.80136249e-01 1.98050546e-01 1.04362536e-02 2.29547880e+02] [-1.98041939e-01 9.80191779e-01 -1.86218652e-03 -2.90131636e+01] [-1.05983370e-02 -2.41619383e-04 9.99943807e-01 -2.52599358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.61, Y:-29.01, Z:-2.53 [[ 9.80168224e-01 1.97892227e-01 1.04364121e-02 2.29605774e+02] [-1.97883620e-01 9.80223754e-01 -1.86129776e-03 -2.90124362e+01] [-1.05983554e-02 -2.40810073e-04 9.99943807e-01 -2.52841276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-29.02, Z:-2.52 [[ 9.81094365e-01 1.93248350e-01 1.04365648e-02 2.29664661e+02] [-1.93239489e-01 9.81149855e-01 -1.86044115e-03 -2.90151688e+01] [-1.05993612e-02 -1.91488118e-04 9.99943807e-01 -2.52434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:-29.02, Z:-2.52 [[ 9.81915009e-01 1.89034363e-01 1.04366519e-02 2.29722491e+02] [-1.89025270e-01 9.81970462e-01 -1.85995240e-03 -2.90175776e+01] [-1.06000788e-02 -1.46475763e-04 9.99943807e-01 -2.52427901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.78, Y:-29.02, Z:-2.53 [[ 9.83097050e-01 1.82787483e-01 1.04368033e-02 2.29781589e+02] [-1.82778046e-01 9.83152445e-01 -1.85910261e-03 -2.90222012e+01] [-1.06007893e-02 -7.99402094e-05 9.99943807e-01 -2.52610464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.84, Y:-29.03, Z:-2.53 [[ 9.84693337e-01 1.73983055e-01 1.04368911e-02 2.29839140e+02] [-1.73973128e-01 9.84748646e-01 -1.85860916e-03 -2.90318330e+01] [-1.06010809e-02 1.44214593e-05 9.99943807e-01 -2.52754309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.90, Y:-29.05, Z:-2.53 [[ 9.86110758e-01 1.65760798e-01 1.04370214e-02 2.29895412e+02] [-1.65750418e-01 9.86165984e-01 -1.85787734e-03 -2.90478683e+01] [-1.06005987e-02 1.02132176e-04 9.99943807e-01 -2.52941611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:-29.06, Z:-2.53 [[ 9.86412952e-01 1.63952906e-01 1.04371284e-02 2.29952317e+02] [-1.63942430e-01 9.86468160e-01 -1.85727622e-03 -2.90624645e+01] [-1.06004006e-02 1.20953133e-04 9.99943807e-01 -2.52708971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:-29.08, Z:-2.53 [[ 9.85933778e-01 1.66810223e-01 1.04372157e-02 2.30009611e+02] [-1.66799913e-01 9.85989017e-01 -1.85678525e-03 -2.90760205e+01] [-1.06007108e-02 8.97406256e-05 9.99943807e-01 -2.53004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:-29.09, Z:-2.54 [[ 9.84999238e-01 1.72242745e-01 1.04373021e-02 2.30066336e+02] [-1.72232745e-01 9.85054534e-01 -1.85629937e-03 -2.90875298e+01] [-1.06010459e-02 3.08082721e-05 9.99943807e-01 -2.53622218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.12, Y:-29.10, Z:-2.54 [[ 9.84163415e-01 1.76956016e-01 1.04374575e-02 2.30122315e+02] [-1.76946289e-01 9.84218760e-01 -1.85542541e-03 -2.90964052e+01] [-1.06010702e-02 -2.08275585e-05 9.99943807e-01 -2.53566738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.505769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:230.18, Y:-29.10, Z:-2.54 [[ 9.83841675e-01 1.78736160e-01 1.04376052e-02 2.30181124e+02] [-1.78726542e-01 9.83897039e-01 -1.85459426e-03 -2.91028650e+01] [-1.06010119e-02 -4.08499626e-05 9.99943807e-01 -2.53540505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.24, Y:-29.11, Z:-2.54 [[ 9.83959574e-01 1.78085968e-01 1.04376888e-02 2.30238647e+02] [-1.78076319e-01 9.84014932e-01 -1.85412359e-03 -2.91118131e+01] [-1.06010350e-02 -3.43225446e-05 9.99943807e-01 -2.53736762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:-29.12, Z:-2.54 [[ 9.84509614e-01 1.75019632e-01 1.04378136e-02 2.30297317e+02] [-1.75009818e-01 9.84564944e-01 -1.85342054e-03 -2.91201973e+01] [-1.06010904e-02 -2.00952011e-06 9.99943807e-01 -2.53916010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.685769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:-29.13, Z:-2.53 [[ 9.84830519e-01 1.73204788e-01 1.04378968e-02 2.30354509e+02] [-1.73194877e-01 9.84885831e-01 -1.85295225e-03 -2.91320141e+01] [-1.06010768e-02 1.70536818e-05 9.99943807e-01 -2.53421907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-29.14, Z:-2.54 [[ 9.85103361e-01 1.71646197e-01 1.04380210e-02 2.30412705e+02] [-1.71636206e-01 9.85158658e-01 -1.85225201e-03 -2.91431304e+01] [-1.06010388e-02 3.31173563e-05 9.99943807e-01 -2.53898596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.805769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:-29.16, Z:-2.54 [[ 9.85585011e-01 1.68858615e-01 1.04381037e-02 2.30470462e+02] [-1.68848473e-01 9.85640281e-01 -1.85178610e-03 -2.91566540e+01] [-1.06009055e-02 6.26347661e-05 9.99943807e-01 -2.54018285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.53, Y:-29.17, Z:-2.54 [[ 9.85663592e-01 1.68399312e-01 1.04381925e-02 2.30527103e+02] [-1.68389149e-01 9.85718858e-01 -1.85128532e-03 -2.91710874e+01] [-1.06008783e-02 6.70661926e-05 9.99943807e-01 -2.54299834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.58, Y:-29.18, Z:-2.54 [[ 9.85633346e-01 1.68576237e-01 1.04383497e-02 2.30583923e+02] [-1.68566094e-01 9.85688616e-01 -1.85039857e-03 -2.91846446e+01] [-1.06008957e-02 6.42627079e-05 9.99943807e-01 -2.54028424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.64, Y:-29.20, Z:-2.54 [[ 9.85790012e-01 1.67657658e-01 1.04384620e-02 2.30641069e+02] [-1.67647470e-01 9.85845274e-01 -1.84976486e-03 -2.92000057e+01] [-1.06008356e-02 7.34979889e-05 9.99943807e-01 -2.54057100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:-29.22, Z:-2.54 [[ 9.85684145e-01 1.68278945e-01 1.04385509e-02 2.30697493e+02] [-1.68268797e-01 9.85739414e-01 -1.84926304e-03 -2.92151717e+01] [-1.06008831e-02 6.63068568e-05 9.99943807e-01 -2.54345720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.75, Y:-29.23, Z:-2.54 [[ 9.85842595e-01 1.67348174e-01 1.04386604e-02 2.30754728e+02] [-1.67337980e-01 9.85897856e-01 -1.84864441e-03 -2.92307413e+01] [-1.06008202e-02 7.56880544e-05 9.99943807e-01 -2.54422072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:-29.24, Z:-2.54 [[ 9.85792646e-01 1.67642155e-01 1.04387473e-02 2.30812525e+02] [-1.67631983e-01 9.85847911e-01 -1.84815381e-03 -2.92428948e+01] [-1.06008457e-02 7.20285246e-05 9.99943807e-01 -2.54381680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.87, Y:-29.26, Z:-2.54 [[ 9.84995171e-01 1.72265913e-01 1.04388341e-02 2.30869357e+02] [-1.72256005e-01 9.85050483e-01 -1.84766363e-03 -2.92563072e+01] [-1.06010680e-02 2.17879073e-05 9.99943807e-01 -2.54411627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:-29.27, Z:-2.54 [[ 9.84162414e-01 1.76961495e-01 1.04389629e-02 2.30925834e+02] [-1.76951859e-01 9.84217775e-01 -1.84693558e-03 -2.92703629e+01] [-1.06010493e-02 -2.95093099e-05 9.99943807e-01 -2.54184571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.345769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:-29.29, Z:-2.55 [[ 9.84025990e-01 1.77718534e-01 1.04390698e-02 2.30981110e+02] [-1.77708947e-01 9.84081359e-01 -1.84633099e-03 -2.92872592e+01] [-1.06010212e-02 -3.82784175e-05 9.99943807e-01 -2.54953657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:-29.30, Z:-2.55 [[ 9.84007798e-01 1.77819225e-01 1.04391753e-02 2.31038456e+02] [-1.77809650e-01 9.84063170e-01 -1.84573448e-03 -2.93011769e+01] [-1.06010150e-02 -3.99689701e-05 9.99943807e-01 -2.55283122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:-29.32, Z:-2.55 [[ 9.83361699e-01 1.81358183e-01 1.04392589e-02 2.31094941e+02] [-1.81348812e-01 9.83417105e-01 -1.84526130e-03 -2.93151024e+01] [-1.06007990e-02 -7.85879156e-05 9.99943807e-01 -2.55369282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.525769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:-29.33, Z:-2.56 [[ 9.82725165e-01 1.84776266e-01 1.04393820e-02 2.31151837e+02] [-1.84767096e-01 9.82780605e-01 -1.84456454e-03 -2.93288349e+01] [-1.06004539e-02 -1.16154304e-04 9.99943807e-01 -2.55685591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:-29.35, Z:-2.56 [[ 9.82845033e-01 1.84137609e-01 1.04394668e-02 2.31208531e+02] [-1.84128407e-01 9.82900467e-01 -1.84408454e-03 -2.93457263e+01] [-1.06005221e-02 -1.09753071e-04 9.99943807e-01 -2.55595964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:-29.36, Z:-2.56 [[ 9.83076461e-01 1.82898027e-01 1.04395522e-02 2.31265880e+02] [-1.82888761e-01 9.83131884e-01 -1.84360100e-03 -2.93615568e+01] [-1.06006476e-02 -9.68760186e-05 9.99943807e-01 -2.55746984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:231.32, Y:-29.38, Z:-2.56 [[ 9.82742372e-01 1.84684714e-01 1.04396406e-02 2.31321378e+02] [-1.84675554e-01 9.82797814e-01 -1.84310015e-03 -2.93812496e+01] [-1.06004484e-02 -1.16653798e-04 9.99943807e-01 -2.55519819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:231.38, Y:-29.40, Z:-2.56 [[ 9.82435785e-01 1.86308722e-01 1.04397573e-02 2.31378058e+02] [-1.86299661e-01 9.82491243e-01 -1.84243905e-03 -2.93954701e+01] [-1.06002326e-02 -1.34845183e-04 9.99943807e-01 -2.55784218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:-29.41, Z:-2.57 [[ 9.82286092e-01 1.87096345e-01 1.04398550e-02 2.31433573e+02] [-1.87087334e-01 9.82341558e-01 -1.84188507e-03 -2.94144718e+01] [-1.06001134e-02 -1.43906558e-04 9.99943807e-01 -2.56679578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:-29.43, Z:-2.57 [[ 9.82407855e-01 1.86455929e-01 1.04399517e-02 2.31490881e+02] [-1.86446888e-01 9.82463316e-01 -1.84133716e-03 -2.94347161e+01] [-1.06001978e-02 -1.37552407e-04 9.99943807e-01 -2.56878718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.55, Y:-29.45, Z:-2.57 [[ 9.81897400e-01 1.89125626e-01 1.04399955e-02 2.31548739e+02] [-1.89116738e-01 9.81952886e-01 -1.84108887e-03 -2.94524336e+01] [-1.05997808e-02 -1.66617512e-04 9.99943807e-01 -2.56934154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:-29.47, Z:-2.57 [[ 9.79623421e-01 2.00571579e-01 1.04400385e-02 2.31605205e+02] [-2.00563342e-01 9.79679007e-01 -1.84084457e-03 -2.94694836e+01] [-1.05971077e-02 -2.90554560e-04 9.99943807e-01 -2.56506327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:-29.48, Z:-2.57 [[ 9.78286792e-01 2.06992649e-01 1.04401025e-02 2.31662786e+02] [-2.06984780e-01 9.78342432e-01 -1.84048177e-03 -2.94809911e+01] [-1.05949615e-02 -3.60423316e-04 9.99943807e-01 -2.56859511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.125769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:-29.49, Z:-2.57 [[ 9.77587983e-01 2.10268254e-01 1.04401865e-02 2.31720025e+02] [-2.10260577e-01 9.77643649e-01 -1.84000508e-03 -2.94890570e+01] [-1.05936767e-02 -3.96392782e-04 9.99943807e-01 -2.56970815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.185769231 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:-29.50, Z:-2.57 [[ 9.79170031e-01 2.02773398e-01 1.04402971e-02 2.31780583e+02] [-2.02765301e-01 9.79225638e-01 -1.83937747e-03 -2.94996632e+01] [-1.05963834e-02 -3.15866686e-04 9.99943807e-01 -2.57282032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.245769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:-29.51, Z:-2.58 [[ 9.81373049e-01 1.91827890e-01 1.04402526e-02 2.31841187e+02] [-1.91819170e-01 9.81428562e-01 -1.83963000e-03 -2.95103980e+01] [-1.05992544e-02 -1.97277283e-04 9.99943807e-01 -2.57631743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.305769231 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:231.90, Y:-29.52, Z:-2.58 [[ 9.82702328e-01 1.84897653e-01 1.04399645e-02 2.31903069e+02] [-1.84888525e-01 9.82757774e-01 -1.84126329e-03 -2.95220058e+01] [-1.06004016e-02 -1.20815919e-04 9.99943807e-01 -2.57838923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.365769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:-29.54, Z:-2.58 [[ 9.84304090e-01 1.76171714e-01 1.04396025e-02 2.31962244e+02] [-1.76162072e-01 9.84359450e-01 -1.84331384e-03 -2.95360959e+01] [-1.06010611e-02 -2.46806414e-05 9.99943807e-01 -2.57548055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42576923099998 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:-29.55, Z:-2.58 [[ 9.84840944e-01 1.73145417e-01 1.04393101e-02 2.32021387e+02] [-1.73135587e-01 9.84896271e-01 -1.84496833e-03 -2.95532398e+01] [-1.06010854e-02 9.58427480e-06 9.99943807e-01 -2.57961802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48576923099998 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:-29.57, Z:-2.58 [[ 9.84767850e-01 1.73560668e-01 1.04391475e-02 2.32082974e+02] [-1.73550851e-01 9.84823179e-01 -1.84588742e-03 -2.95687770e+01] [-1.06010879e-02 6.04764274e-06 9.99943807e-01 -2.58145131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54576923099998 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:-29.59, Z:-2.58 [[ 9.85031688e-01 1.72056981e-01 1.04387889e-02 2.32141361e+02] [-1.72047059e-01 9.85086998e-01 -1.84791312e-03 -2.95936394e+01] [-1.06010616e-02 2.42900365e-05 9.99943807e-01 -2.58327006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60576923099998 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-29.61, Z:-2.58 [[ 9.85002214e-01 1.72225655e-01 1.04384562e-02 2.32201893e+02] [-1.72215723e-01 9.85057523e-01 -1.84979086e-03 -2.96111899e+01] [-1.06010612e-02 2.43818166e-05 9.99943807e-01 -2.58331394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66576923099998 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:232.26, Y:-29.63, Z:-2.59 [[ 9.84037899e-01 1.77652635e-01 1.04381023e-02 2.32262556e+02] [-1.77642987e-01 9.84093258e-01 -1.85178583e-03 -2.96290049e+01] [-1.06010407e-02 -3.20282242e-05 9.99943807e-01 -2.58595749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.725769231 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:232.32, Y:-29.65, Z:-2.59 [[ 9.82777559e-01 1.84497487e-01 1.04377465e-02 2.32322730e+02] [-1.84488202e-01 9.82832980e-01 -1.85378872e-03 -2.96450252e+01] [-1.06005809e-02 -1.03779146e-04 9.99943807e-01 -2.58536552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.785769231 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:232.38, Y:-29.66, Z:-2.59 [[ 9.82504352e-01 1.85946924e-01 1.04374175e-02 2.32383724e+02] [-1.85937702e-01 9.82559783e-01 -1.85563944e-03 -2.96628410e+01] [-1.06004371e-02 -1.17535606e-04 9.99943807e-01 -2.58793024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.845769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:-29.69, Z:-2.59 [[ 9.83169818e-01 1.82395661e-01 1.04370706e-02 2.32443217e+02] [-1.82386218e-01 9.83225212e-01 -1.85758862e-03 -2.96861286e+01] [-1.06008071e-02 -7.72527727e-05 9.99943807e-01 -2.58758364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.905769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:232.50, Y:-29.70, Z:-2.59 [[ 9.83184965e-01 1.82314016e-01 1.04367197e-02 2.32502754e+02] [-1.82304547e-01 9.83240354e-01 -1.85955816e-03 -2.97030632e+01] [-1.06008275e-02 -7.43718293e-05 9.99943807e-01 -2.58923059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.965769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:-29.72, Z:-2.60 [[ 9.82038426e-01 1.88392177e-01 1.04363944e-02 2.32563417e+02] [-1.88383032e-01 9.82093869e-01 -1.86138206e-03 -2.97228388e+01] [-1.06001888e-02 -1.38090909e-04 9.99943807e-01 -2.59889916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.025769231 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:-29.74, Z:-2.60 [[ 9.79911709e-01 1.99158557e-01 1.04360384e-02 2.32624786e+02] [-1.99149999e-01 9.79967247e-01 -1.86337549e-03 -2.97376986e+01] [-1.05980830e-02 -2.52393593e-04 9.99943807e-01 -2.59945055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.085769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:-29.75, Z:-2.60 [[ 9.79469801e-01 2.01320655e-01 1.04356823e-02 2.32685561e+02] [-2.01312199e-01 9.79525354e-01 -1.86536784e-03 -2.97500849e+01] [-1.05975525e-02 -2.73758687e-04 9.99943807e-01 -2.59957947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:-29.77, Z:-2.60 [[ 9.79294375e-01 2.02172275e-01 1.04354637e-02 2.32746708e+02] [-2.02163855e-01 9.79349933e-01 -1.86658998e-03 -2.97655845e+01] [-1.05973434e-02 -2.81732502e-04 9.99943807e-01 -2.60107393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20576923099998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:-29.78, Z:-2.61 [[ 9.80145423e-01 1.98005196e-01 1.04351241e-02 2.32807649e+02] [-1.97996519e-01 9.80200942e-01 -1.86848668e-03 -2.97814984e+01] [-1.05984885e-02 -2.34729583e-04 9.99943807e-01 -2.60512811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:232.87, Y:-29.80, Z:-2.60 [[ 9.81190198e-01 1.92761282e-01 1.04347704e-02 2.32867976e+02] [-1.92752287e-01 9.81245666e-01 -1.87046006e-03 -2.97983609e+01] [-1.05996255e-02 -1.76048771e-04 9.99943807e-01 -2.60481274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32576923099998 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:-29.82, Z:-2.61 [[ 9.81711297e-01 1.90089590e-01 1.04344416e-02 2.32927698e+02] [-1.90080425e-01 9.81766737e-01 -1.87229235e-03 -2.98158205e+01] [-1.06000910e-02 -1.45332539e-04 9.99943807e-01 -2.61116257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38576923099998 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:-29.84, Z:-2.61 [[ 9.82198519e-01 1.87555852e-01 1.04341452e-02 2.32987383e+02] [-1.87546526e-01 9.82253933e-01 -1.87394271e-03 -2.98353670e+01] [-1.06004491e-02 -1.16303920e-04 9.99943807e-01 -2.61480936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44576923099999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:-29.85, Z:-2.62 [[ 9.82586974e-01 1.85510036e-01 1.04338481e-02 2.33047789e+02] [-1.85500577e-01 9.82642365e-01 -1.87559541e-03 -2.98530315e+01] [-1.06006829e-02 -9.25492253e-05 9.99943807e-01 -2.61656984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.505769231 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:233.11, Y:-29.87, Z:-2.61 [[ 9.82258977e-01 1.87239001e-01 1.04334912e-02 2.33107525e+02] [-1.87229619e-01 9.82314382e-01 -1.87757864e-03 -2.98684584e+01] [-1.06005244e-02 -1.09190099e-04 9.99943807e-01 -2.61399805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.565769231 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:-29.88, Z:-2.62 [[ 9.81551367e-01 1.90913754e-01 1.04332040e-02 2.33168863e+02] [-1.90904562e-01 9.81606804e-01 -1.87917322e-03 -2.98846102e+01] [-1.06000640e-02 -1.47241200e-04 9.99943807e-01 -2.61620518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.625769231 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:233.23, Y:-29.90, Z:-2.62 [[ 9.81239107e-01 1.92512261e-01 1.04328501e-02 2.33230009e+02] [-1.92503139e-01 9.81294555e-01 -1.88113593e-03 -2.99008333e+01] [-1.05998407e-02 -1.62512249e-04 9.99943807e-01 -2.61685887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.685769231 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:-29.92, Z:-2.62 [[ 9.80590595e-01 1.95788782e-01 1.04324993e-02 2.33291177e+02] [-1.95779824e-01 9.80646070e-01 -1.88307937e-03 -2.99154345e+01] [-1.05992753e-02 -1.95942952e-04 9.99943807e-01 -2.61766628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.745769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:-29.93, Z:-2.62 [[ 9.79934808e-01 1.99045076e-01 1.04321491e-02 2.33351602e+02] [-1.99036282e-01 9.79990309e-01 -1.88501758e-03 -2.99278371e+01] [-1.05986085e-02 -2.29181818e-04 9.99943807e-01 -2.61876515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.805769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:233.41, Y:-29.94, Z:-2.62 [[ 9.79719509e-01 2.00102124e-01 1.04318241e-02 2.33413176e+02] [-2.00093371e-01 9.79775016e-01 -1.88681406e-03 -2.99390587e+01] [-1.05983962e-02 -2.38790313e-04 9.99943807e-01 -2.62069569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.865769231 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:-29.96, Z:-2.63 [[ 9.79891083e-01 1.99260255e-01 1.04314788e-02 2.33471634e+02] [-1.99251433e-01 9.79946580e-01 -1.88872168e-03 -2.99573934e+01] [-1.05986391e-02 -2.27745560e-04 9.99943807e-01 -2.62881589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92576923099998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:-29.97, Z:-2.63 [[ 9.79547421e-01 2.00942874e-01 1.04313080e-02 2.33531154e+02] [-2.00934138e-01 9.79602930e-01 -1.88966432e-03 -2.99694107e+01] [-1.05982545e-02 -2.44990067e-04 9.99943807e-01 -2.62735238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98576923099998 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:-29.98, Z:-2.63 [[ 9.78357188e-01 2.06660121e-01 1.04310361e-02 2.33590842e+02] [-2.06651693e-01 9.78412746e-01 -1.89116426e-03 -2.99823794e+01] [-1.05966869e-02 -3.05357115e-04 9.99943807e-01 -2.62841803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04576923099998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-29.99, Z:-2.63 [[ 9.76432097e-01 2.15572633e-01 1.04307474e-02 2.33652863e+02] [-2.15564696e-01 9.76487726e-01 -1.89275483e-03 -2.99905812e+01] [-1.05935230e-02 -4.00354326e-04 9.99943807e-01 -2.62625422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10576923099998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:-30.00, Z:-2.63 [[ 9.74447563e-01 2.24372800e-01 1.04304359e-02 2.33715438e+02] [-2.24365347e-01 9.74503259e-01 -1.89446999e-03 -2.99952609e+01] [-1.05895613e-02 -4.94166699e-04 9.99943807e-01 -2.62913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16576923099998 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:-30.00, Z:-2.64 [[ 9.73832438e-01 2.27027742e-01 1.04301291e-02 2.33775858e+02] [-2.27020422e-01 9.73888152e-01 -1.89615784e-03 -2.99989426e+01] [-1.05882595e-02 -5.21312288e-04 9.99943807e-01 -2.64149980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.225769231 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:-30.00, Z:-2.65 [[ 9.74936070e-01 2.22240572e-01 1.04301072e-02 2.33836916e+02] [-2.22232977e-01 9.74991748e-01 -1.89627793e-03 -3.00046720e+01] [-1.05906984e-02 -4.69164034e-04 9.99943807e-01 -2.64680232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.285769231 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:-30.01, Z:-2.64 [[ 9.75868278e-01 2.18110797e-01 1.04299381e-02 2.33899085e+02] [-2.18102957e-01 9.75923922e-01 -1.89720774e-03 -3.00121865e+01] [-1.05926276e-02 -4.23375487e-04 9.99943807e-01 -2.63824797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.345769231 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:-30.02, Z:-2.64 [[ 9.77366603e-01 2.11295401e-01 1.04296213e-02 2.33959588e+02] [-2.11287154e-01 9.77422187e-01 -1.89894749e-03 -3.00195252e+01] [-1.05953822e-02 -3.47677155e-04 9.99943807e-01 -2.63778331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.405769231 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:-30.03, Z:-2.64 [[ 9.78630913e-01 2.05360086e-01 1.04293291e-02 2.34022138e+02] [-2.05351485e-01 9.78686444e-01 -1.90055110e-03 -3.00292447e+01] [-1.05973404e-02 -2.81740159e-04 9.99943807e-01 -2.63772154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.465769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:-30.04, Z:-2.63 [[ 9.80164736e-01 1.97909894e-01 1.04289860e-02 2.34081553e+02] [-1.97900851e-01 9.80220197e-01 -1.90243199e-03 -3.00416580e+01] [-1.05992128e-02 -1.99208450e-04 9.99943807e-01 -2.62630885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:-30.05, Z:-2.62 [[ 9.80826854e-01 1.94601950e-01 1.04289431e-02 2.34142215e+02] [-1.94592717e-01 9.80882284e-01 -1.90266730e-03 -3.00546844e+01] [-1.05998283e-02 -1.63209186e-04 9.99943807e-01 -2.62157700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.585769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:-30.07, Z:-2.62 [[ 9.80644406e-01 1.95519290e-01 1.04286225e-02 2.34203361e+02] [-1.95510090e-01 9.80699841e-01 -1.90442286e-03 -3.00665053e+01] [-1.05996998e-02 -1.71339297e-04 9.99943807e-01 -2.62448868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.645769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:234.26, Y:-30.08, Z:-2.63 [[ 9.80278129e-01 1.97347510e-01 1.04283036e-02 2.34262744e+02] [-1.97338395e-01 9.80333578e-01 -1.90616715e-03 -3.00808102e+01] [-1.05993936e-02 -1.89330738e-04 9.99943807e-01 -2.62719550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70576923099998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:-30.09, Z:-2.63 [[ 9.79813292e-01 1.99642603e-01 1.04280110e-02 2.34324013e+02] [-1.99633601e-01 9.79868759e-01 -1.90776690e-03 -3.00946294e+01] [-1.05989537e-02 -2.12526021e-04 9.99943807e-01 -2.62631606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76576923099998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:-30.11, Z:-2.63 [[ 9.79270912e-01 2.02286297e-01 1.04276418e-02 2.34383914e+02] [-2.02277423e-01 9.79326400e-01 -1.90978262e-03 -3.01070924e+01] [-1.05983878e-02 -2.39081949e-04 9.99943807e-01 -2.63140134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82576923099998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:-30.11, Z:-2.63 [[ 9.77937090e-01 2.08639207e-01 1.04273456e-02 2.34445540e+02] [-2.08630676e-01 9.77992632e-01 -1.91139828e-03 -3.01138838e+01] [-1.05966598e-02 -3.06236891e-04 9.99943807e-01 -2.62981649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:-30.12, Z:-2.63 [[ 9.76769372e-01 2.14039417e-01 1.04270286e-02 2.34507967e+02] [-2.14031174e-01 9.76824957e-01 -1.91312633e-03 -3.01214229e+01] [-1.05948662e-02 -3.63025972e-04 9.99943807e-01 -2.62919450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.57, Y:-30.12, Z:-2.63 [[ 9.74881454e-01 2.22480192e-01 1.04266652e-02 2.34571418e+02] [-2.22472410e-01 9.74937105e-01 -1.91510467e-03 -3.01214912e+01] [-1.05914157e-02 -4.52645308e-04 9.99943807e-01 -2.62897982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:-30.12, Z:-2.63 [[ 9.74299745e-01 2.25013995e-01 1.04263289e-02 2.34634573e+02] [-2.25006338e-01 9.74355414e-01 -1.91693389e-03 -3.01240914e+01] [-1.05902870e-02 -4.78321879e-04 9.99943807e-01 -2.62886834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.70, Y:-30.13, Z:-2.63 [[ 9.75068183e-01 2.21660409e-01 1.04259728e-02 2.34697549e+02] [-2.21652539e-01 9.75123823e-01 -1.91886892e-03 -3.01262458e+01] [-1.05919517e-02 -4.39915305e-04 9.99943807e-01 -2.63464461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:-30.13, Z:-2.64 [[ 9.76550317e-01 2.15036704e-01 1.04256639e-02 2.34760037e+02] [-2.15028439e-01 9.76605899e-01 -1.92054568e-03 -3.01271832e+01] [-1.05947527e-02 -3.66304738e-04 9.99943807e-01 -2.63790131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.82, Y:-30.13, Z:-2.63 [[ 9.77478256e-01 2.10778486e-01 1.04253565e-02 2.34821482e+02] [-2.10769962e-01 9.77533799e-01 -1.92221289e-03 -3.01345459e+01] [-1.05962995e-02 -3.18430686e-04 9.99943807e-01 -2.63371416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:-30.14, Z:-2.63 [[ 9.78646044e-01 2.05288180e-01 1.04251895e-02 2.34883446e+02] [-2.05279334e-01 9.78701536e-01 -1.92311829e-03 -3.01390687e+01] [-1.05979424e-02 -2.58023853e-04 9.99943807e-01 -2.63179877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:-30.15, Z:-2.64 [[ 9.79759291e-01 1.99907613e-01 1.04248773e-02 2.34944081e+02] [-1.99898445e-01 9.79814731e-01 -1.92480902e-03 -3.01489602e+01] [-1.05992323e-02 -1.98067236e-04 9.99943807e-01 -2.63930991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.01, Y:-30.16, Z:-2.64 [[ 9.81125221e-01 1.93092282e-01 1.04245887e-02 2.35005635e+02] [-1.93082712e-01 9.81180593e-01 -1.92637098e-03 -3.01597007e+01] [-1.06003715e-02 -1.22796698e-04 9.99943807e-01 -2.64391448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.07, Y:-30.17, Z:-2.65 [[ 9.82224654e-01 1.87419483e-01 1.04242882e-02 2.35066956e+02] [-1.87409575e-01 9.82279967e-01 -1.92799572e-03 -3.01714353e+01] [-1.06009134e-02 -5.98864909e-05 9.99943807e-01 -2.64596289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.13, Y:-30.19, Z:-2.64 [[ 9.82857637e-01 1.84071200e-01 1.04239779e-02 2.35126770e+02] [-1.84061087e-01 9.82912912e-01 -1.92967148e-03 -3.01865616e+01] [-1.06010595e-02 -2.20563648e-05 9.99943807e-01 -2.64459289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.19, Y:-30.20, Z:-2.65 [[ 9.83054121e-01 1.83018967e-01 1.04236910e-02 2.35185699e+02] [-1.83008778e-01 9.83109382e-01 -1.93122029e-03 -3.02018127e+01] [-1.06010784e-02 -9.13288498e-06 9.99943807e-01 -2.64593585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60576923099998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:235.25, Y:-30.22, Z:-2.64 [[ 9.82723105e-01 1.84788122e-01 1.04235197e-02 2.35246249e+02] [-1.84778022e-01 9.82778383e-01 -1.93214444e-03 -3.02150503e+01] [-1.06010472e-02 -2.72743696e-05 9.99943807e-01 -2.64387133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:-30.23, Z:-2.65 [[ 9.81985601e-01 1.88668056e-01 1.04232175e-02 2.35305769e+02] [-1.88658158e-01 9.82040916e-01 -1.93377317e-03 -3.02288546e+01] [-1.06008673e-02 -6.74876077e-05 9.99943807e-01 -2.65214428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.725769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.37, Y:-30.24, Z:-2.65 [[ 9.81294662e-01 1.92229413e-01 1.04230488e-02 2.35365408e+02] [-1.92219705e-01 9.81350010e-01 -1.93468231e-03 -3.02413453e+01] [-1.06005619e-02 -1.05021936e-04 9.99943807e-01 -2.64785964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:-30.26, Z:-2.65 [[ 9.80474365e-01 1.96370533e-01 1.04227743e-02 2.35426535e+02] [-1.96361044e-01 9.80529751e-01 -1.93616003e-03 -3.02551904e+01] [-1.06000450e-02 -1.48271561e-04 9.99943807e-01 -2.64683322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:-30.27, Z:-2.65 [[ 9.79965475e-01 1.98894545e-01 1.04224807e-02 2.35486545e+02] [-1.98885181e-01 9.80020882e-01 -1.93773905e-03 -3.02665254e+01] [-1.05996545e-02 -1.73959599e-04 9.99943807e-01 -2.64638342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:-30.28, Z:-2.64 [[ 9.80030832e-01 1.98572265e-01 1.04223209e-02 2.35546074e+02] [-1.98562875e-01 9.80086234e-01 -1.93859818e-03 -3.02810218e+01] [-1.05997251e-02 -1.69600005e-04 9.99943807e-01 -2.64433084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:-30.29, Z:-2.64 [[ 9.80412036e-01 1.96681521e-01 1.04220548e-02 2.35607046e+02] [-1.96672008e-01 9.80467418e-01 -1.94002761e-03 -3.02949719e+01] [-1.06000527e-02 -1.47700037e-04 9.99943807e-01 -2.64146291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:-30.31, Z:-2.64 [[ 9.80127611e-01 1.98094052e-01 1.04217715e-02 2.35668538e+02] [-1.98084603e-01 9.80183003e-01 -1.94154827e-03 -3.03113484e+01] [-1.05998525e-02 -1.61427411e-04 9.99943807e-01 -2.63850145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.73, Y:-30.32, Z:-2.65 [[ 9.79189552e-01 2.02680080e-01 1.04214215e-02 2.35728196e+02] [-2.02670870e-01 9.79244985e-01 -1.94342499e-03 -3.03232605e+01] [-1.05990183e-02 -2.09137126e-04 9.99943807e-01 -2.64835530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.79, Y:-30.33, Z:-2.64 [[ 9.78655799e-01 2.05241867e-01 1.04212491e-02 2.35789662e+02] [-2.05232793e-01 9.78711255e-01 -1.94434918e-03 -3.03332146e+01] [-1.05984556e-02 -2.35933459e-04 9.99943807e-01 -2.64296002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.85, Y:-30.34, Z:-2.65 [[ 9.78523729e-01 2.05870627e-01 1.04209483e-02 2.35850109e+02] [-2.05861571e-01 9.78579188e-01 -1.94596015e-03 -3.03439349e+01] [-1.05983391e-02 -2.41104605e-04 9.99943807e-01 -2.65080845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:-30.36, Z:-2.65 [[ 9.78811289e-01 2.04499073e-01 1.04206713e-02 2.35911488e+02] [-2.04489924e-01 9.78866732e-01 -1.94744251e-03 -3.03557590e+01] [-1.05986986e-02 -2.24743560e-04 9.99943807e-01 -2.64945379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.97, Y:-30.36, Z:-2.65 [[ 9.78679170e-01 2.05130447e-01 1.04203095e-02 2.35971766e+02] [-2.05121313e-01 9.78734615e-01 -1.94937617e-03 -3.03638787e+01] [-1.05985940e-02 -2.29613714e-04 9.99943807e-01 -2.65190702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.03, Y:-30.37, Z:-2.65 [[ 9.78768244e-01 2.04705026e-01 1.04200181e-02 2.36033656e+02] [-2.04695851e-01 9.78823683e-01 -1.95093260e-03 -3.03715118e+01] [-1.05987262e-02 -2.23423600e-04 9.99943807e-01 -2.65246572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:-30.38, Z:-2.65 [[ 9.80050270e-01 1.98476441e-01 1.04197077e-02 2.36095620e+02] [-1.98466896e-01 9.80105647e-01 -1.95258878e-03 -3.03810526e+01] [-1.05999573e-02 -1.54331892e-04 9.99943807e-01 -2.65494642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.16, Y:-30.39, Z:-2.66 [[ 9.81387719e-01 1.91753962e-01 1.04193465e-02 2.36157158e+02] [-1.91744017e-01 9.81443025e-01 -1.95451482e-03 -3.03913243e+01] [-1.06007809e-02 -7.97105110e-05 9.99943807e-01 -2.65572324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.565769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:236.22, Y:-30.40, Z:-2.65 [[ 9.82965228e-01 1.83496061e-01 1.04190178e-02 2.36217624e+02] [-1.83485633e-01 9.83020445e-01 -1.95626501e-03 -3.04006908e+01] [-1.06010745e-02 1.12004026e-05 9.99943807e-01 -2.65369288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:-30.41, Z:-2.66 [[ 9.83123562e-01 1.82645865e-01 1.04187136e-02 2.36279287e+02] [-1.82635373e-01 9.83178767e-01 -1.95788376e-03 -3.04073886e+01] [-1.06010574e-02 2.20160104e-05 9.99943807e-01 -2.65617998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:-30.42, Z:-2.66 [[ 9.83158603e-01 1.82457169e-01 1.04183886e-02 2.36341284e+02] [-1.82446648e-01 9.83213802e-01 -1.95961168e-03 -3.04174164e+01] [-1.06010487e-02 2.58089987e-05 9.99943807e-01 -2.65601467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.40, Y:-30.43, Z:-2.65 [[ 9.84202914e-01 1.76737345e-01 1.04180162e-02 2.36401319e+02] [-1.76726481e-01 9.84258047e-01 -1.96158984e-03 -3.04322419e+01] [-1.06007024e-02 8.94630994e-05 9.99943807e-01 -2.65079032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.46, Y:-30.45, Z:-2.65 [[ 9.84863099e-01 1.73020657e-01 1.04177155e-02 2.36460539e+02] [-1.73009568e-01 9.84918187e-01 -1.96318513e-03 -3.04504928e+01] [-1.06002691e-02 1.31104126e-04 9.99943807e-01 -2.65009710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.52, Y:-30.46, Z:-2.65 [[ 9.84784103e-01 1.73469729e-01 1.04174855e-02 2.36520763e+02] [-1.73458653e-01 9.84839193e-01 -1.96440517e-03 -3.04641147e+01] [-1.06003128e-02 1.27511977e-04 9.99943807e-01 -2.65181485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:-30.48, Z:-2.66 [[ 9.84500137e-01 1.75074164e-01 1.04171640e-02 2.36581367e+02] [-1.75063159e-01 9.84555242e-01 -1.96610872e-03 -3.04804093e+01] [-1.06004882e-02 1.11972670e-04 9.99943807e-01 -2.65654936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.64, Y:-30.50, Z:-2.66 [[ 9.82204945e-01 1.87523147e-01 1.04170456e-02 2.36641186e+02] [-1.87512834e-01 9.82260184e-01 -1.96673541e-03 -3.04968286e+01] [-1.06010576e-02 -2.15925026e-05 9.99943807e-01 -2.65614939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.70, Y:-30.51, Z:-2.66 [[ 9.80580467e-01 1.95840344e-01 1.04167161e-02 2.36702303e+02] [-1.95830482e-01 9.80635787e-01 -1.96847936e-03 -3.05078665e+01] [-1.06005123e-02 -1.09658120e-04 9.99943807e-01 -2.65769572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:-30.51, Z:-2.65 [[ 9.78981977e-01 2.03680604e-01 1.04163673e-02 2.36764494e+02] [-2.03671165e-01 9.79037371e-01 -1.97032302e-03 -3.05119126e+01] [-1.05993295e-02 -1.92602948e-04 9.99943807e-01 -2.65119960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.83, Y:-30.52, Z:-2.66 [[ 9.77851860e-01 2.09038864e-01 1.04160517e-02 2.36826164e+02] [-2.09029710e-01 9.77907302e-01 -1.97199043e-03 -3.05160505e+01] [-1.05981556e-02 -2.48949751e-04 9.99943807e-01 -2.65629986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:-30.52, Z:-2.66 [[ 9.77345162e-01 2.11395238e-01 1.04157621e-02 2.36889700e+02] [-2.11386202e-01 9.77400624e-01 -1.97351877e-03 -3.05174269e+01] [-1.05975648e-02 -2.72939365e-04 9.99943807e-01 -2.66306169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.95, Y:-30.52, Z:-2.66 [[ 9.77253677e-01 2.11817762e-01 1.04156513e-02 2.36952517e+02] [-2.11808743e-01 9.77309142e-01 -1.97410346e-03 -3.05197759e+01] [-1.05974614e-02 -2.76926144e-04 9.99943807e-01 -2.66102053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.01, Y:-30.53, Z:-2.66 [[ 9.77291214e-01 2.11644523e-01 1.04153412e-02 2.37014992e+02] [-2.11635477e-01 9.77346674e-01 -1.97573792e-03 -3.05250660e+01] [-1.05975532e-02 -2.73384398e-04 9.99943807e-01 -2.65878409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:-30.53, Z:-2.67 [[ 9.78058696e-01 2.08069011e-01 1.04150328e-02 2.37076694e+02] [-2.08059745e-01 9.78114120e-01 -1.97736213e-03 -3.05264241e+01] [-1.05985185e-02 -2.32972851e-04 9.99943807e-01 -2.66820739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.14, Y:-30.53, Z:-2.67 [[ 9.79026184e-01 2.03468089e-01 1.04147491e-02 2.37138355e+02] [-2.03458547e-01 9.79081561e-01 -1.97885555e-03 -3.05325937e+01] [-1.05995228e-02 -1.81618317e-04 9.99943807e-01 -2.66829253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.20, Y:-30.54, Z:-2.66 [[ 9.80452985e-01 1.96477680e-01 1.04147061e-02 2.37200544e+02] [-1.96467740e-01 9.80508292e-01 -1.97908187e-03 -3.05391247e+01] [-1.06005511e-02 -1.05757043e-04 9.99943807e-01 -2.66296663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:-30.55, Z:-2.66 [[ 9.81206620e-01 1.92678771e-01 1.04144058e-02 2.37260226e+02] [-1.92668601e-01 9.81261885e-01 -1.98066075e-03 -3.05467036e+01] [-1.06008908e-02 -6.30915510e-05 9.99943807e-01 -2.66365603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.32, Y:-30.55, Z:-2.66 [[ 9.80630864e-01 1.95587957e-01 1.04143844e-02 2.37322075e+02] [-1.95577950e-01 9.80686159e-01 -1.98077318e-03 -3.05513345e+01] [-1.06006580e-02 -9.44166365e-05 9.99943807e-01 -2.66149510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:-30.56, Z:-2.66 [[ 9.79930876e-01 1.99065368e-01 1.04143379e-02 2.37382115e+02] [-1.99055554e-01 9.79986205e-01 -1.98101761e-03 -3.05561166e+01] [-1.06002595e-02 -1.31771485e-04 9.99943807e-01 -2.66153060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.44, Y:-30.56, Z:-2.66 [[ 9.79834229e-01 1.99540540e-01 1.04142314e-02 2.37443716e+02] [-1.99530747e-01 9.79889562e-01 -1.98157759e-03 -3.05583763e+01] [-1.06002017e-02 -1.36341819e-04 9.99943807e-01 -2.66268191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:-30.56, Z:-2.67 [[ 9.79180920e-01 2.02722148e-01 1.04142314e-02 2.37504240e+02] [-2.02712535e-01 9.79236285e-01 -1.98157759e-03 -3.05605707e+01] [-1.05997029e-02 -1.70772277e-04 9.99943807e-01 -2.66797900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:237.56, Y:-30.56, Z:-2.67 [[ 9.78299424e-01 2.06934239e-01 1.04142778e-02 2.37563428e+02] [-2.06924867e-01 9.78354830e-01 -1.98133361e-03 -3.05584427e+01] [-1.05988647e-02 -2.16635520e-04 9.99943807e-01 -2.67401524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:-30.56, Z:-2.67 [[ 9.78699664e-01 2.05032942e-01 1.04143910e-02 2.37623081e+02] [-2.05023469e-01 9.78755053e-01 -1.98073855e-03 -3.05610500e+01] [-1.05992544e-02 -1.96646404e-04 9.99943807e-01 -2.67027720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.68, Y:-30.57, Z:-2.67 [[ 9.79075965e-01 2.03228428e-01 1.04144833e-02 2.37680948e+02] [-2.03218857e-01 9.79131337e-01 -1.98025274e-03 -3.05653092e+01] [-1.05995906e-02 -1.77601543e-04 9.99943807e-01 -2.66948733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:-30.57, Z:-2.67 [[ 9.79737998e-01 2.00012480e-01 1.04145979e-02 2.37738506e+02] [-2.00002735e-01 9.79793339e-01 -1.97965011e-03 -3.05721366e+01] [-1.06001084e-02 -1.43409628e-04 9.99943807e-01 -2.67411825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.125769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:-30.58, Z:-2.68 [[ 9.80322885e-01 1.97125783e-01 1.04147100e-02 2.37798486e+02] [-1.97115880e-01 9.80378199e-01 -1.97906030e-03 -3.05788557e+01] [-1.06004784e-02 -1.12786618e-04 9.99943807e-01 -2.68027753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:-30.59, Z:-2.69 [[ 9.79558248e-01 2.00890945e-01 1.04147325e-02 2.37856515e+02] [-2.00881256e-01 9.79613600e-01 -1.97894193e-03 -3.05854245e+01] [-1.05999651e-02 -1.53635653e-04 9.99943807e-01 -2.68754040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:-30.59, Z:-2.67 [[ 9.78748083e-01 2.04801666e-01 1.04148218e-02 2.37915921e+02] [-2.04792204e-01 9.78803473e-01 -1.97847173e-03 -3.05906106e+01] [-1.05992580e-02 -1.96448892e-04 9.99943807e-01 -2.67382131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.97, Y:-30.60, Z:-2.67 [[ 9.78248023e-01 2.07177062e-01 1.04148881e-02 2.37974389e+02] [-2.07167738e-01 9.78303437e-01 -1.97812238e-03 -3.05959342e+01] [-1.05987424e-02 -2.22534506e-04 9.99943807e-01 -2.66901158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:-30.60, Z:-2.67 [[ 9.77667079e-01 2.09901432e-01 1.04149980e-02 2.38034628e+02] [-2.09892269e-01 9.77722519e-01 -1.97754392e-03 -3.05965285e+01] [-1.05980674e-02 -2.52647965e-04 9.99943807e-01 -2.66581819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:-30.60, Z:-2.67 [[ 9.77781414e-01 2.09368173e-01 1.04150906e-02 2.38094939e+02] [-2.09358984e-01 9.77836851e-01 -1.97705604e-03 -3.05957472e+01] [-1.05981920e-02 -2.47364129e-04 9.99943807e-01 -2.66720100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:-30.60, Z:-2.67 [[ 9.78156899e-01 2.07606852e-01 1.04151827e-02 2.38153817e+02] [-2.07597569e-01 9.78212320e-01 -1.97657063e-03 -3.05959588e+01] [-1.05986096e-02 -2.28770412e-04 9.99943807e-01 -2.67381519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:-30.60, Z:-2.67 [[ 9.78699582e-01 2.05033291e-01 1.04152967e-02 2.38213478e+02] [-2.05023869e-01 9.78754979e-01 -1.97596955e-03 -3.05954464e+01] [-1.05991631e-02 -2.01503858e-04 9.99943807e-01 -2.66684936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:-30.60, Z:-2.66 [[ 9.79239054e-01 2.02441089e-01 1.04154135e-02 2.38271976e+02] [-2.02431526e-01 9.79294427e-01 -1.97535376e-03 -3.05966298e+01] [-1.05996492e-02 -1.74064506e-04 9.99943807e-01 -2.66322615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:-30.60, Z:-2.66 [[ 9.79453383e-01 2.01401556e-01 1.04155293e-02 2.38330093e+02] [-2.01391940e-01 9.79508748e-01 -1.97474293e-03 -3.06000125e+01] [-1.05998184e-02 -1.63435016e-04 9.99943807e-01 -2.66098012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:-30.60, Z:-2.67 [[ 9.79475007e-01 2.01296359e-01 1.04156722e-02 2.38389752e+02] [-2.01286746e-01 9.79530372e-01 -1.97398900e-03 -3.06006008e+01] [-1.05998241e-02 -1.63063878e-04 9.99943807e-01 -2.66518908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:-30.60, Z:-2.67 [[ 9.79729208e-01 2.00055470e-01 1.04157667e-02 2.38448100e+02] [-2.00045792e-01 9.79784561e-01 -1.97349025e-03 -3.06025118e+01] [-1.06000150e-02 -1.50144267e-04 9.99943807e-01 -2.66695635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:-30.61, Z:-2.67 [[ 9.80633015e-01 1.95577080e-01 1.04161429e-02 2.38507461e+02] [-1.95567171e-01 9.80688327e-01 -1.97150299e-03 -3.06054636e+01] [-1.06005705e-02 -1.03734666e-04 9.99943807e-01 -2.67458921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:-30.61, Z:-2.68 [[ 9.83032002e-01 1.83138157e-01 1.04162361e-02 2.38566169e+02] [-1.83127553e-01 9.83087186e-01 -1.97101004e-03 -3.06114307e+01] [-1.06010354e-02 3.00661075e-05 9.99943807e-01 -2.68163269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.62, Y:-30.62, Z:-2.68 [[ 9.85446633e-01 1.69665655e-01 1.04163300e-02 2.38623107e+02] [-1.69654302e-01 9.85501667e-01 -1.97051412e-03 -3.06233187e+01] [-1.05996391e-02 1.74661314e-04 9.99943807e-01 -2.67600217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:-30.64, Z:-2.67 [[ 9.87589249e-01 1.56713029e-01 1.04164455e-02 2.38679558e+02] [-1.56700960e-01 9.87644130e-01 -1.96990323e-03 -3.06419349e+01] [-1.05964507e-02 3.13188243e-04 9.99943807e-01 -2.67340884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.74, Y:-30.66, Z:-2.67 [[ 9.88054604e-01 1.53751734e-01 1.04165372e-02 2.38736341e+02] [-1.53739506e-01 9.88109450e-01 -1.96941806e-03 -3.06602616e+01] [-1.05954803e-02 3.44459289e-04 9.99943807e-01 -2.66695162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.145769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.79, Y:-30.67, Z:-2.66 [[ 9.87547366e-01 1.56976730e-01 1.04166286e-02 2.38793669e+02] [-1.56964686e-01 9.87602253e-01 -1.96893457e-03 -3.06746470e+01] [-1.05965628e-02 3.09373305e-04 9.99943807e-01 -2.66341401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:-30.69, Z:-2.67 [[ 9.86886264e-01 1.61080703e-01 1.04167215e-02 2.38849465e+02] [-1.61068893e-01 9.86941202e-01 -1.96844309e-03 -3.06936139e+01] [-1.05977698e-02 2.64819656e-04 9.99943807e-01 -2.66659407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:-30.71, Z:-2.67 [[ 9.86678095e-01 1.62350936e-01 1.04168136e-02 2.38905099e+02] [-1.62339202e-01 9.86733049e-01 -1.96795544e-03 -3.07111398e+01] [-1.05981137e-02 2.50681318e-04 9.99943807e-01 -2.66582479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:-30.73, Z:-2.67 [[ 9.87132744e-01 1.59563260e-01 1.04169278e-02 2.38961383e+02] [-1.59551377e-01 9.87187666e-01 -1.96735053e-03 -3.07317319e+01] [-1.05973796e-02 2.80000945e-04 9.99943807e-01 -2.66789831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38576923099998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:239.02, Y:-30.75, Z:-2.68 [[ 9.87764925e-01 1.55601860e-01 1.04170208e-02 2.39017055e+02] [-1.55589762e-01 9.87819800e-01 -1.96685798e-03 -3.07537862e+01] [-1.05961862e-02 3.22011536e-04 9.99943807e-01 -2.67595022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.07, Y:-30.77, Z:-2.68 [[ 9.87912175e-01 1.54664210e-01 1.04171135e-02 2.39072057e+02] [-1.54652065e-01 9.87967040e-01 -1.96636710e-03 -3.07717184e+01] [-1.05958914e-02 3.31569889e-04 9.99943807e-01 -2.68139625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.505769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:239.13, Y:-30.79, Z:-2.68 [[ 9.88115041e-01 1.53362794e-01 1.04172301e-02 2.39128129e+02] [-1.53350583e-01 9.88169891e-01 -1.96574935e-03 -3.07948680e+01] [-1.05954659e-02 3.44898191e-04 9.99943807e-01 -2.68264679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.19, Y:-30.82, Z:-2.68 [[ 9.87877192e-01 1.54887488e-01 1.04172757e-02 2.39185215e+02] [-1.54875364e-01 9.87932062e-01 -1.96550732e-03 -3.08156432e+01] [-1.05959932e-02 3.28300476e-04 9.99943807e-01 -2.68496250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:-30.83, Z:-2.69 [[ 9.87267143e-01 1.58729544e-01 1.04173210e-02 2.39240537e+02] [-1.58717636e-01 9.87322060e-01 -1.96526720e-03 -3.08348988e+01] [-1.05971968e-02 2.86831159e-04 9.99943807e-01 -2.68646207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:-30.85, Z:-2.69 [[ 9.87296477e-01 1.58546978e-01 1.04174331e-02 2.39298139e+02] [-1.58535066e-01 9.87351393e-01 -1.96467329e-03 -3.08522994e+01] [-1.05971600e-02 2.88186577e-04 9.99943807e-01 -2.68629980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.745769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:239.36, Y:-30.87, Z:-2.68 [[ 9.87988065e-01 1.54178663e-01 1.04174791e-02 2.39356587e+02] [-1.54166511e-01 9.88042928e-01 -1.96442922e-03 -3.08704748e+01] [-1.05957896e-02 3.34806214e-04 9.99943807e-01 -2.68036910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.805769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:-30.89, Z:-2.67 [[ 9.88756392e-01 1.49171959e-01 1.04174791e-02 2.39414720e+02] [-1.49159529e-01 9.88811193e-01 -1.96442922e-03 -3.08906229e+01] [-1.05939577e-02 3.88475669e-04 9.99943807e-01 -2.67048783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.47, Y:-30.91, Z:-2.68 [[ 9.88349524e-01 1.51844321e-01 1.04173133e-02 2.39471122e+02] [-1.51832031e-01 9.88404357e-01 -1.96530812e-03 -3.09149448e+01] [-1.05949387e-02 3.60729516e-04 9.99943807e-01 -2.67878715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:-30.94, Z:-2.68 [[ 9.87651228e-01 1.56321883e-01 1.04172907e-02 2.39530526e+02] [-1.56309840e-01 9.87706116e-01 -1.96542751e-03 -3.09359359e+01] [-1.05964611e-02 3.12831840e-04 9.99943807e-01 -2.67877821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98576923099998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:-30.96, Z:-2.68 [[ 9.86429148e-01 1.63856715e-01 1.04169531e-02 2.39588816e+02] [-1.63845072e-01 9.86484122e-01 -1.96721560e-03 -3.09560563e+01] [-1.05985003e-02 2.33752380e-04 9.99943807e-01 -2.67701042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.65, Y:-30.97, Z:-2.68 [[ 9.85759511e-01 1.67838253e-01 1.04166418e-02 2.39647496e+02] [-1.67826816e-01 9.85814528e-01 -1.96886236e-03 -3.09735396e+01] [-1.05993272e-02 1.92632977e-04 9.99943807e-01 -2.68240358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:239.71, Y:-31.00, Z:-2.68 [[ 9.83929813e-01 1.78251566e-01 1.04164580e-02 2.39706562e+02] [-1.78240700e-01 9.83984945e-01 -1.96983443e-03 -3.09970273e+01] [-1.06007639e-02 8.15420630e-05 9.99943807e-01 -2.68272948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:-31.01, Z:-2.68 [[ 9.82602410e-01 1.85429254e-01 1.04161221e-02 2.39765410e+02] [-1.85418772e-01 9.82657617e-01 -1.97160881e-03 -3.10125446e+01] [-1.06010757e-02 5.96299298e-06 9.99943807e-01 -2.68430365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:-31.02, Z:-2.68 [[ 9.80435529e-01 1.96564703e-01 1.04159381e-02 2.39824388e+02] [-1.96554838e-01 9.80490849e-01 -1.97258053e-03 -3.10242763e+01] [-1.06004717e-02 -1.13314986e-04 9.99943807e-01 -2.67930829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:-31.03, Z:-2.68 [[ 9.78830350e-01 2.04408057e-01 1.04159613e-02 2.39884192e+02] [-2.04398636e-01 9.78885748e-01 -1.97245796e-03 -3.10343320e+01] [-1.05992224e-02 -1.98306564e-04 9.99943807e-01 -2.68191452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:-31.05, Z:-2.68 [[ 9.79193511e-01 2.02661232e-01 1.04159613e-02 2.39945256e+02] [-2.02651712e-01 9.79248892e-01 -1.97245796e-03 -3.10450581e+01] [-1.05995593e-02 -1.79394356e-04 9.99943807e-01 -2.68220197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.00, Y:-31.05, Z:-2.68 [[ 9.79414158e-01 2.01592216e-01 1.04156322e-02 2.40004784e+02] [-2.01582618e-01 9.79469525e-01 -1.97419406e-03 -3.10534874e+01] [-1.05997765e-02 -1.66056801e-04 9.99943807e-01 -2.68019345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.465769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:240.07, Y:-31.06, Z:-2.67 [[ 9.79255365e-01 2.02362169e-01 1.04155362e-02 2.40066329e+02] [-2.02352608e-01 9.79310738e-01 -1.97470079e-03 -3.10605801e+01] [-1.05996512e-02 -1.73874570e-04 9.99943807e-01 -2.67454953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:-31.06, Z:-2.68 [[ 9.78684990e-01 2.05102921e-01 1.04154889e-02 2.40126025e+02] [-2.05093513e-01 9.78740390e-01 -1.97495011e-03 -3.10606278e+01] [-1.05991277e-02 -2.03295182e-04 9.99943807e-01 -2.68084676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.585769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:240.19, Y:-31.06, Z:-2.68 [[ 9.77804595e-01 2.09259861e-01 1.04155593e-02 2.40185356e+02] [-2.09250692e-01 9.77860035e-01 -1.97457865e-03 -3.10604573e+01] [-1.05981593e-02 -2.48710919e-04 9.99943807e-01 -2.67567565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.645769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:-31.06, Z:-2.67 [[ 9.78373244e-01 2.06584873e-01 1.04156510e-02 2.40244963e+02] [-2.06575559e-01 9.78428659e-01 -1.97409478e-03 -3.10622516e+01] [-1.05987896e-02 -2.20217414e-04 9.99943807e-01 -2.67071204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.30, Y:-31.07, Z:-2.67 [[ 9.78940497e-01 2.03879905e-01 1.04157435e-02 2.40303042e+02] [-2.03870442e-01 9.78995887e-01 -1.97360657e-03 -3.10715352e+01] [-1.05993488e-02 -1.91418844e-04 9.99943807e-01 -2.67305748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.36, Y:-31.08, Z:-2.68 [[ 9.80664586e-01 1.95418732e-01 1.04158355e-02 2.40360747e+02] [-1.95408796e-01 9.80719893e-01 -1.97312099e-03 -3.10811131e+01] [-1.06006019e-02 -1.00375997e-04 9.99943807e-01 -2.67925661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.42, Y:-31.09, Z:-2.68 [[ 9.81122716e-01 1.93105480e-01 1.04158763e-02 2.40418302e+02] [-1.93095416e-01 9.81178000e-01 -1.97290542e-03 -3.10944615e+01] [-1.06008076e-02 -7.55956516e-05 9.99943807e-01 -2.67511058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:-31.11, Z:-2.68 [[ 9.81201479e-01 1.92704867e-01 1.04159671e-02 2.40476244e+02] [-1.92694786e-01 9.81256760e-01 -1.97242637e-03 -3.11072812e+01] [-1.06008343e-02 -7.17548726e-05 9.99943807e-01 -2.67606330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94576923099999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:-31.12, Z:-2.68 [[ 9.80927517e-01 1.94094594e-01 1.04160603e-02 2.40532889e+02] [-1.94084596e-01 9.80982814e-01 -1.97193373e-03 -3.11247036e+01] [-1.06007178e-02 -8.72728034e-05 9.99943807e-01 -2.68336183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.005769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:-31.14, Z:-2.68 [[ 9.79852879e-01 1.99448842e-01 1.04161293e-02 2.40590217e+02] [-1.99439150e-01 9.79908229e-01 -1.97156931e-03 -3.11398106e+01] [-1.06000780e-02 -1.45536121e-04 9.99943807e-01 -2.68459290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:-31.15, Z:-2.68 [[ 9.78225305e-01 2.07284235e-01 1.04162190e-02 2.40648344e+02] [-2.07274992e-01 9.78280733e-01 -1.97109552e-03 -3.11485210e+01] [-1.05985634e-02 -2.30846178e-04 9.99943807e-01 -2.68272468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:-31.16, Z:-2.68 [[ 9.78073654e-01 2.07998627e-01 1.04163095e-02 2.40706527e+02] [-2.07989429e-01 9.78129089e-01 -1.97061672e-03 -3.11575066e+01] [-1.05983809e-02 -2.39073986e-04 9.99943807e-01 -2.68183567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:-31.17, Z:-2.68 [[ 9.78663673e-01 2.05204565e-01 1.04164000e-02 2.40762966e+02] [-2.05195214e-01 9.78719083e-01 -1.97013832e-03 -3.11679288e+01] [-1.05990109e-02 -2.09292621e-04 9.99943807e-01 -2.67959824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.82, Y:-31.18, Z:-2.67 [[ 9.79418690e-01 2.01570152e-01 1.04164884e-02 2.40821997e+02] [-2.01560600e-01 9.79474065e-01 -1.96967093e-03 -3.11776751e+01] [-1.05997071e-02 -1.70421137e-04 9.99943807e-01 -2.67494054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.88, Y:-31.19, Z:-2.68 [[ 9.80817452e-01 1.94649996e-01 1.04165345e-02 2.40880059e+02] [-1.94640056e-01 9.80872759e-01 -1.96942710e-03 -3.11876030e+01] [-1.06006439e-02 -9.58263946e-05 9.99943807e-01 -2.67965567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.94, Y:-31.20, Z:-2.67 [[ 9.82244068e-01 1.87318139e-01 1.04166031e-02 2.40939902e+02] [-1.87307791e-01 9.82299300e-01 -1.96906437e-03 -3.11989873e+01] [-1.06010634e-02 -1.70091116e-05 9.99943807e-01 -2.67373653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:-31.22, Z:-2.68 [[ 9.83264519e-01 1.81885626e-01 1.04166031e-02 2.40998374e+02] [-1.81874972e-01 9.83319692e-01 -1.96906437e-03 -3.12150623e+01] [-1.06009954e-02 4.15917405e-05 9.99943807e-01 -2.67742526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:241.06, Y:-31.23, Z:-2.68 [[ 9.83526022e-01 1.80466226e-01 1.04165799e-02 2.41056495e+02] [-1.80455492e-01 9.83581180e-01 -1.96918708e-03 -3.12285821e+01] [-1.06009237e-02 5.70176934e-05 9.99943807e-01 -2.67875378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:-31.25, Z:-2.67 [[ 9.82774353e-01 1.84515760e-01 1.04166248e-02 2.41113751e+02] [-1.84505255e-01 9.82829555e-01 -1.96894962e-03 -3.12451356e+01] [-1.06010689e-02 1.31111725e-05 9.99943807e-01 -2.67242142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:-31.26, Z:-2.68 [[ 9.81341271e-01 1.91991674e-01 1.04166699e-02 2.41172427e+02] [-1.91981592e-01 9.81396552e-01 -1.96871084e-03 -3.12620550e+01] [-1.06008600e-02 -6.78316757e-05 9.99943807e-01 -2.67795519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:-31.28, Z:-2.68 [[ 9.80517769e-01 1.96154017e-01 1.04166699e-02 2.41229885e+02] [-1.96144170e-01 9.80573092e-01 -1.96871084e-03 -3.12775916e+01] [-1.06004767e-02 -1.12813109e-04 9.99943807e-01 -2.67825550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.725769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:241.29, Y:-31.29, Z:-2.68 [[ 9.80183884e-01 1.97815688e-01 1.04166937e-02 2.41288901e+02] [-1.97805936e-01 9.80239224e-01 -1.96858494e-03 -3.12936344e+01] [-1.06002687e-02 -1.30908612e-04 9.99943807e-01 -2.68046082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.35, Y:-31.31, Z:-2.68 [[ 9.79920197e-01 1.99117807e-01 1.04166469e-02 2.41348483e+02] [-1.99108125e-01 9.79975550e-01 -1.96883232e-03 -3.13069383e+01] [-1.06000889e-02 -1.44740482e-04 9.99943807e-01 -2.67989418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.41, Y:-31.32, Z:-2.67 [[ 9.79165801e-01 2.02795041e-01 1.04166006e-02 2.41408337e+02] [-2.02785565e-01 9.79221189e-01 -1.96907740e-03 -3.13170632e+01] [-1.05994752e-02 -1.84282990e-04 9.99943807e-01 -2.67373766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.47, Y:-31.33, Z:-2.67 [[ 9.78979911e-01 2.03690522e-01 1.04165776e-02 2.41466420e+02] [-2.03681095e-01 9.79035308e-01 -1.96919887e-03 -3.13277191e+01] [-1.05993044e-02 -1.93853808e-04 9.99943807e-01 -2.67411828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:-31.34, Z:-2.68 [[ 9.78551085e-01 2.05740780e-01 1.04166003e-02 2.41525061e+02] [-2.05731471e-01 9.78606501e-01 -1.96907923e-03 -3.13368812e+01] [-1.05988726e-02 -2.16177874e-04 9.99943807e-01 -2.67574459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.025769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:-31.35, Z:-2.67 [[ 9.77666528e-01 2.09903917e-01 1.04166450e-02 2.41583757e+02] [-2.09894846e-01 9.77721984e-01 -1.96884240e-03 -3.13468156e+01] [-1.05978506e-02 -2.61528789e-04 9.99943807e-01 -2.67399842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.64, Y:-31.35, Z:-2.67 [[ 9.75902875e-01 2.17956581e-01 1.04166894e-02 2.41643373e+02] [-2.17947970e-01 9.75958404e-01 -1.96860754e-03 -3.13500385e+01] [-1.05953265e-02 -3.49126549e-04 9.99943807e-01 -2.67261842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.145769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.70, Y:-31.35, Z:-2.68 [[ 9.75244207e-01 2.20885100e-01 1.04167772e-02 2.41702621e+02] [-2.20876660e-01 9.75299763e-01 -1.96814287e-03 -3.13530768e+01] [-1.05942138e-02 -3.81403029e-04 9.99943807e-01 -2.67723665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:-31.35, Z:-2.68 [[ 9.76332237e-01 2.16025119e-01 1.04168696e-02 2.41762245e+02] [-2.16016408e-01 9.76387751e-01 -1.96765386e-03 -3.13513361e+01] [-1.05959665e-02 -3.29130851e-04 9.99943807e-01 -2.68343873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:-31.36, Z:-2.68 [[ 9.77092172e-01 2.12561458e-01 1.04169609e-02 2.41821304e+02] [-2.12552556e-01 9.77147656e-01 -1.96717036e-03 -3.13567247e+01] [-1.05970535e-02 -2.92044899e-04 9.99943807e-01 -2.67854888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:-31.36, Z:-2.69 [[ 9.78903169e-01 2.04058988e-01 1.04170538e-02 2.41880224e+02] [-2.04049609e-01 9.78958574e-01 -1.96667798e-03 -3.13582961e+01] [-1.05991825e-02 -2.00408450e-04 9.99943807e-01 -2.68883096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.94, Y:-31.37, Z:-2.69 [[ 9.81026595e-01 1.93593138e-01 1.04171459e-02 2.41938287e+02] [-1.93583173e-01 9.81081897e-01 -1.96619031e-03 -3.13662170e+01] [-1.06007142e-02 -8.76991666e-05 9.99943807e-01 -2.68844732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:-31.38, Z:-2.68 [[ 9.83312224e-01 1.81627506e-01 1.04172386e-02 2.41997150e+02] [-1.81616873e-01 9.83367402e-01 -1.96569881e-03 -3.13772187e+01] [-1.06009979e-02 4.09493635e-05 9.99943807e-01 -2.68365938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.505769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:-31.39, Z:-2.68 [[ 9.84328552e-01 1.76036306e-01 1.04172852e-02 2.42054497e+02] [-1.76025362e-01 9.84383669e-01 -1.96545211e-03 -3.13884623e+01] [-1.06005963e-02 1.00944233e-04 9.99943807e-01 -2.68044060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:-31.40, Z:-2.69 [[ 9.85072716e-01 1.71823234e-01 1.04173354e-02 2.42111821e+02] [-1.71812057e-01 9.85127786e-01 -1.96518582e-03 -3.14041790e+01] [-1.06000711e-02 1.46027104e-04 9.99943807e-01 -2.68510764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.625769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:-31.42, Z:-2.68 [[ 9.85371416e-01 1.70101883e-01 1.04173823e-02 2.42169676e+02] [-1.70090613e-01 9.85426467e-01 -1.96493702e-03 -3.14173465e+01] [-1.05998038e-02 1.64293827e-04 9.99943807e-01 -2.67831859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:-31.44, Z:-2.68 [[ 9.85544291e-01 1.69097395e-01 1.04174055e-02 2.42227781e+02] [-1.69086070e-01 9.85599331e-01 -1.96481392e-03 -3.14352729e+01] [-1.05996328e-02 1.74972973e-04 9.99943807e-01 -2.67672623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:-31.45, Z:-2.68 [[ 9.85576949e-01 1.68906943e-01 1.04174055e-02 2.42284874e+02] [-1.68895607e-01 9.85631987e-01 -1.96481392e-03 -3.14543706e+01] [-1.05995988e-02 1.77021266e-04 9.99943807e-01 -2.67845342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.34, Y:-31.47, Z:-2.68 [[ 9.85055967e-01 1.71919225e-01 1.04174286e-02 2.42343530e+02] [-1.71908059e-01 9.85111039e-01 -1.96469173e-03 -3.14698944e+01] [-1.06000922e-02 1.44491383e-04 9.99943807e-01 -2.68006453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:-31.49, Z:-2.68 [[ 9.84612847e-01 1.74439154e-01 1.04174286e-02 2.42401921e+02] [-1.74428129e-01 9.84667948e-01 -1.96469173e-03 -3.14862447e+01] [-1.06004272e-02 1.17368137e-04 9.99943807e-01 -2.68300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:-31.51, Z:-2.69 [[ 9.84970768e-01 1.72406683e-01 1.04174286e-02 2.42460996e+02] [-1.72395544e-01 9.85025846e-01 -1.96469173e-03 -3.15065668e+01] [-1.06001624e-02 1.39245652e-04 9.99943807e-01 -2.68567731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:-31.52, Z:-2.69 [[ 9.84549536e-01 1.74796154e-01 1.04171064e-02 2.42520687e+02] [-1.74785130e-01 9.84604637e-01 -1.96639832e-03 -3.15229808e+01] [-1.06004502e-02 1.15261245e-04 9.99943807e-01 -2.69075201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:-31.54, Z:-2.69 [[ 9.83194157e-01 1.82265575e-01 1.04167832e-02 2.42580482e+02] [-1.82254953e-01 9.83249337e-01 -1.96810894e-03 -3.15353612e+01] [-1.06010137e-02 3.65228731e-05 9.99943807e-01 -2.68909123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:-31.55, Z:-2.69 [[ 9.82522753e-01 1.85850829e-01 1.04167371e-02 2.42640572e+02] [-1.85840406e-01 9.82577971e-01 -1.96835337e-03 -3.15476206e+01] [-1.06010765e-02 -1.89866331e-06 9.99943807e-01 -2.69219622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.70, Y:-31.56, Z:-2.69 [[ 9.82787680e-01 1.84444756e-01 1.04166911e-02 2.42699796e+02] [-1.84434251e-01 9.82842883e-01 -1.96859655e-03 -3.15624931e+01] [-1.06010680e-02 1.35178193e-05 9.99943807e-01 -2.69048523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:-31.58, Z:-2.69 [[ 9.83291906e-01 1.81737519e-01 1.04163953e-02 2.42760186e+02] [-1.81726845e-01 9.83347076e-01 -1.97016046e-03 -3.15752501e+01] [-1.06009839e-02 4.43041808e-05 9.99943807e-01 -2.68569817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.82, Y:-31.58, Z:-2.69 [[ 9.82208614e-01 1.87503981e-01 1.04161000e-02 2.42819673e+02] [-1.87493614e-01 9.82263843e-01 -1.97172041e-03 -3.15836970e+01] [-1.06010639e-02 -1.63114633e-05 9.99943807e-01 -2.69069146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.88, Y:-31.59, Z:-2.69 [[ 9.81001628e-01 1.93719670e-01 1.04161000e-02 2.42878268e+02] [-1.93709653e-01 9.81056921e-01 -1.97172041e-03 -3.15940701e+01] [-1.06007480e-02 -8.34381901e-05 9.99943807e-01 -2.68672275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:-31.61, Z:-2.69 [[ 9.80825588e-01 1.94609020e-01 1.04160837e-02 2.42937840e+02] [-1.94599052e-01 9.80880890e-01 -1.97180640e-03 -3.16052602e+01] [-1.06006688e-02 -9.29618530e-05 9.99943807e-01 -2.68904583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.00, Y:-31.62, Z:-2.69 [[ 9.80882426e-01 1.94322340e-01 1.04160837e-02 2.42998097e+02] [-1.94312357e-01 9.80937725e-01 -1.97180640e-03 -3.16175500e+01] [-1.06006955e-02 -8.98635341e-05 9.99943807e-01 -2.69095137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:-31.63, Z:-2.69 [[ 9.80631816e-01 1.95583096e-01 1.04160384e-02 2.43058151e+02] [-1.95573181e-01 9.80687127e-01 -1.97204593e-03 -3.16274362e+01] [-1.06005736e-02 -1.03246782e-04 9.99943807e-01 -2.68880859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:-31.64, Z:-2.69 [[ 9.80039824e-01 1.98528210e-01 1.04160148e-02 2.43118090e+02] [-1.98518460e-01 9.80095165e-01 -1.97217054e-03 -3.16385072e+01] [-1.06002172e-02 -1.34965546e-04 9.99943807e-01 -2.68719408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:-31.64, Z:-2.69 [[ 9.78636569e-01 2.05333811e-01 1.04159679e-02 2.43176697e+02] [-2.05324443e-01 9.78691975e-01 -1.97241827e-03 -3.16432884e+01] [-1.05990283e-02 -2.08372155e-04 9.99943807e-01 -2.68859169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:-31.65, Z:-2.69 [[ 9.77821157e-01 2.09182436e-01 1.04160135e-02 2.43236935e+02] [-2.09173289e-01 9.77876600e-01 -1.97217750e-03 -3.16485125e+01] [-1.05981207e-02 -2.50314914e-04 9.99943807e-01 -2.68557728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:-31.65, Z:-2.69 [[ 9.77451399e-01 2.10903455e-01 1.04160603e-02 2.43297097e+02] [-2.10894408e-01 9.77506859e-01 -1.97193036e-03 -3.16490103e+01] [-1.05976573e-02 -2.69222770e-04 9.99943807e-01 -2.68616934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:-31.66, Z:-2.69 [[ 9.77954305e-01 2.08559058e-01 1.04161531e-02 2.43354442e+02] [-2.08549883e-01 9.78009744e-01 -1.97143980e-03 -3.16551102e+01] [-1.05982609e-02 -2.44309469e-04 9.99943807e-01 -2.69032452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:-31.67, Z:-2.69 [[ 9.79230576e-01 2.02482051e-01 1.04162680e-02 2.43413374e+02] [-2.02472538e-01 9.79285958e-01 -1.97083278e-03 -3.16652496e+01] [-1.05995632e-02 -1.79108498e-04 9.99943807e-01 -2.69163918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.47, Y:-31.68, Z:-2.69 [[ 9.80799447e-01 1.94740712e-01 1.04163141e-02 2.43470803e+02] [-1.94730765e-01 9.80854753e-01 -1.97058868e-03 -3.16798106e+01] [-1.06006451e-02 -9.56245303e-05 9.99943807e-01 -2.69072508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:-31.69, Z:-2.69 [[ 9.81195413e-01 1.92735728e-01 1.04163831e-02 2.43527961e+02] [-1.92725672e-01 9.81250699e-01 -1.97022402e-03 -3.16929217e+01] [-1.06008158e-02 -7.43296652e-05 9.99943807e-01 -2.69274067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.065769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:-31.71, Z:-2.69 [[ 9.81405504e-01 1.91663077e-01 1.04164512e-02 2.43585961e+02] [-1.91652964e-01 9.81460779e-01 -1.96986385e-03 -3.17075500e+01] [-1.06008885e-02 -6.31085248e-05 9.99943807e-01 -2.69015171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:-31.72, Z:-2.69 [[ 9.81617738e-01 1.90573117e-01 1.04164971e-02 2.43644934e+02] [-1.90562945e-01 9.81673003e-01 -1.96962141e-03 -3.17237904e+01] [-1.06009508e-02 -5.15830473e-05 9.99943807e-01 -2.68822005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:243.71, Y:-31.74, Z:-2.69 [[ 9.81725703e-01 1.90016158e-01 1.04164971e-02 2.43705040e+02] [-1.90005955e-01 9.81780962e-01 -1.96962141e-03 -3.17386622e+01] [-1.06009784e-02 -4.55685072e-05 9.99943807e-01 -2.68791164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:-31.76, Z:-2.69 [[ 9.82080142e-01 1.88175697e-01 1.04164499e-02 2.43763544e+02] [-1.88165387e-01 9.82135381e-01 -1.96987082e-03 -3.17551210e+01] [-1.06010458e-02 -2.54443140e-05 9.99943807e-01 -2.68752180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:-31.77, Z:-2.69 [[ 9.81999890e-01 1.88594047e-01 1.04164266e-02 2.43823030e+02] [-1.88583761e-01 9.82055133e-01 -1.96999397e-03 -3.17688085e+01] [-1.06010344e-02 -2.98350349e-05 9.99943807e-01 -2.69103600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.365769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:-31.78, Z:-2.69 [[ 9.80634433e-01 1.95569957e-01 1.04163802e-02 2.43882076e+02] [-1.95560060e-01 9.80689748e-01 -1.97023935e-03 -3.17809949e+01] [-1.06005569e-02 -1.04943392e-04 9.99943807e-01 -2.69179270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:-31.79, Z:-2.70 [[ 9.80280339e-01 1.97337165e-01 1.04163802e-02 2.43941223e+02] [-1.97327368e-01 9.80335671e-01 -1.97023935e-03 -3.17932487e+01] [-1.06003505e-02 -1.24049988e-04 9.99943807e-01 -2.69752212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:-31.81, Z:-2.70 [[ 9.80388937e-01 1.96796927e-01 1.04163802e-02 2.43999966e+02] [-1.96787100e-01 9.80444264e-01 -1.97023935e-03 -3.18056479e+01] [-1.06004173e-02 -1.18208389e-04 9.99943807e-01 -2.69963679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54576923099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:-31.82, Z:-2.69 [[ 9.80280399e-01 1.97336868e-01 1.04163576e-02 2.44059539e+02] [-1.97327070e-01 9.80335731e-01 -1.97035861e-03 -3.18177710e+01] [-1.06003520e-02 -1.23925404e-04 9.99943807e-01 -2.69474376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:-31.83, Z:-2.70 [[ 9.79575685e-01 2.00805820e-01 1.04163576e-02 2.44118174e+02] [-2.00796218e-01 9.79631051e-01 -1.97035861e-03 -3.18271284e+01] [-1.05998469e-02 -1.61449824e-04 9.99943807e-01 -2.69734316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66576923099998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:-31.83, Z:-2.70 [[ 9.78268289e-01 2.07081271e-01 1.04164025e-02 2.44177332e+02] [-2.07072027e-01 9.78323717e-01 -1.97012130e-03 -3.18347941e+01] [-1.05985888e-02 -2.29638388e-04 9.99943807e-01 -2.70266658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.725769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:-31.84, Z:-2.71 [[ 9.77645207e-01 2.10003207e-01 1.04164471e-02 2.44235570e+02] [-2.09994130e-01 9.77700662e-01 -1.96988542e-03 -3.18440979e+01] [-1.05978495e-02 -2.61543718e-04 9.99943807e-01 -2.70688056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.785769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:-31.86, Z:-2.70 [[ 9.78885397e-01 2.04144252e-01 1.04164968e-02 2.44295548e+02] [-2.04134847e-01 9.78940797e-01 -1.96962265e-03 -3.18577565e+01] [-1.05992208e-02 -1.98335126e-04 9.99943807e-01 -2.69603923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.845769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:-31.88, Z:-2.70 [[ 9.80113680e-01 1.98163244e-01 1.04164499e-02 2.44354233e+02] [-1.98153498e-01 9.80169022e-01 -1.96987047e-03 -3.18758731e+01] [-1.06002375e-02 -1.33358999e-04 9.99943807e-01 -2.69687299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.905769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:-31.89, Z:-2.70 [[ 9.79801424e-01 1.99701459e-01 1.04161484e-02 2.44415207e+02] [-1.99691783e-01 9.79856778e-01 -1.97146342e-03 -3.18895919e+01] [-1.06000378e-02 -1.48376590e-04 9.99943807e-01 -2.69872523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.965769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:-31.90, Z:-2.70 [[ 9.78247830e-01 2.07177926e-01 1.04158124e-02 2.44473584e+02] [-2.07168654e-01 9.78303253e-01 -1.97323719e-03 -3.19041516e+01] [-1.05986344e-02 -2.27514835e-04 9.99943807e-01 -2.69795916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.025769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:-31.92, Z:-2.69 [[ 9.76937368e-01 2.13271870e-01 1.04157887e-02 2.44532028e+02] [-2.13262943e-01 9.76992847e-01 -1.97336249e-03 -3.19189336e+01] [-1.05970137e-02 -2.93450187e-04 9.99943807e-01 -2.69413535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.085769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:-31.93, Z:-2.69 [[ 9.76415074e-01 2.15650445e-01 1.04157653e-02 2.44593206e+02] [-2.15641651e-01 9.76470575e-01 -1.97348596e-03 -3.19323037e+01] [-1.05962714e-02 -3.19131384e-04 9.99943807e-01 -2.68678672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.145769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:-31.94, Z:-2.69 [[ 9.75686529e-01 2.18923082e-01 1.04154315e-02 2.44652626e+02] [-2.18914456e-01 9.75742056e-01 -1.97524577e-03 -3.19420080e+01] [-1.05952015e-02 -3.52867841e-04 9.99943807e-01 -2.68969595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20576923099998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:-31.95, Z:-2.70 [[ 9.74825530e-01 2.22725628e-01 1.04154080e-02 2.44713618e+02] [-2.22717216e-01 9.74881090e-01 -1.97536980e-03 -3.19515282e+01] [-1.05937498e-02 -3.94049767e-04 9.99943807e-01 -2.69809241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:-31.96, Z:-2.70 [[ 9.76390970e-01 2.15759573e-01 1.04153613e-02 2.44774358e+02] [-2.15750763e-01 9.76446468e-01 -1.97561618e-03 -3.19648322e+01] [-1.05963008e-02 -3.18148344e-04 9.99943807e-01 -2.69998576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32576923099998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:244.83, Y:-31.98, Z:-2.70 [[ 9.77258074e-01 2.11797505e-01 1.04150326e-02 2.44834367e+02] [-2.11788451e-01 9.77313533e-01 -1.97734745e-03 -3.19789336e+01] [-1.05975496e-02 -2.73404859e-04 9.99943807e-01 -2.70111720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38576923099998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:-31.99, Z:-2.70 [[ 9.77777295e-01 2.09387427e-01 1.04147293e-02 2.44893535e+02] [-2.09378219e-01 9.77832729e-01 -1.97894372e-03 -3.19940762e+01] [-1.05982291e-02 -2.45651232e-04 9.99943807e-01 -2.69844566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44576923099999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:-32.01, Z:-2.70 [[ 9.77763560e-01 2.09451569e-01 1.04144340e-02 2.44953491e+02] [-2.09442348e-01 9.77818992e-01 -1.98049637e-03 -3.20097350e+01] [-1.05982494e-02 -2.44766327e-04 9.99943807e-01 -2.70292407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.505769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:-32.02, Z:-2.71 [[ 9.76421229e-01 2.15622657e-01 1.04141137e-02 2.45013606e+02] [-2.15613769e-01 9.76476714e-01 -1.98217916e-03 -3.20198441e+01] [-1.05965423e-02 -3.09984499e-04 9.99943807e-01 -2.71001030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.565769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:-32.03, Z:-2.71 [[ 9.75333206e-01 2.20491913e-01 1.04140911e-02 2.45073649e+02] [-2.20483300e-01 9.75388735e-01 -1.98229813e-03 -3.20278206e+01] [-1.05948678e-02 -3.62731975e-04 9.99943807e-01 -2.71039422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.625769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:-32.03, Z:-2.70 [[ 9.73836775e-01 2.27009873e-01 1.04140911e-02 2.45133849e+02] [-2.27001632e-01 9.73892360e-01 -1.98229813e-03 -3.20308464e+01] [-1.05922050e-02 -4.33580846e-04 9.99943807e-01 -2.70336348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.685769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:-32.03, Z:-2.71 [[ 9.73918907e-01 2.26657248e-01 1.04141376e-02 2.45194034e+02] [-2.26648990e-01 9.73974490e-01 -1.98205365e-03 -3.20328217e+01] [-1.05923512e-02 -4.29994240e-04 9.99943807e-01 -2.70677133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.745769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:-32.03, Z:-2.71 [[ 9.75198613e-01 2.21086430e-01 1.04141850e-02 2.45254094e+02] [-2.21077857e-01 9.75254148e-01 -1.98180470e-03 -3.20346593e+01] [-1.05946272e-02 -3.69692497e-04 9.99943807e-01 -2.70500790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.805769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:245.31, Y:-32.04, Z:-2.70 [[ 9.75996487e-01 2.17537125e-01 1.04142321e-02 2.45312600e+02] [-2.17528352e-01 9.76051991e-01 -1.98155702e-03 -3.20407610e+01] [-1.05958942e-02 -3.31398053e-04 9.99943807e-01 -2.70497661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.865769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:-32.05, Z:-2.71 [[ 9.77434414e-01 2.10982247e-01 1.04143025e-02 2.45371673e+02] [-2.10973106e-01 9.77489859e-01 -1.98118706e-03 -3.20464349e+01] [-1.05978704e-02 -2.60657330e-04 9.99943807e-01 -2.70804738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92576923099998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:-32.06, Z:-2.71 [[ 9.78221428e-01 2.07302627e-01 1.04143535e-02 2.45429117e+02] [-2.07293280e-01 9.78276838e-01 -1.98091869e-03 -3.20565328e+01] [-1.05987705e-02 -2.21048387e-04 9.99943807e-01 -2.70690999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98576923099998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:245.49, Y:-32.06, Z:-2.71 [[ 9.78191952e-01 2.07441668e-01 1.04144069e-02 2.45487178e+02] [-2.07432332e-01 9.78247364e-01 -1.98063810e-03 -3.20647308e+01] [-1.05987330e-02 -2.22840468e-04 9.99943807e-01 -2.71009822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:-32.07, Z:-2.72 [[ 9.77929153e-01 2.08677048e-01 1.04145012e-02 2.45543926e+02] [-2.08667788e-01 9.77984577e-01 -1.98014212e-03 -3.20738599e+01] [-1.05984318e-02 -2.36732219e-04 9.99943807e-01 -2.71509142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:-32.08, Z:-2.71 [[ 9.77655984e-01 2.09953118e-01 1.04146179e-02 2.45602041e+02] [-2.09943936e-01 9.77711422e-01 -1.97952808e-03 -3.20834169e+01] [-1.05980990e-02 -2.51188401e-04 9.99943807e-01 -2.71248344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16576923099998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:-32.09, Z:-2.71 [[ 9.78670362e-01 2.05172747e-01 1.04147107e-02 2.45658823e+02] [-2.05163299e-01 9.78725755e-01 -1.97903952e-03 -3.20948885e+01] [-1.05991906e-02 -1.99889098e-04 9.99943807e-01 -2.71222022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.225769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.72, Y:-32.11, Z:-2.71 [[ 9.80582557e-01 1.95829978e-01 1.04148255e-02 2.45717296e+02] [-1.95820009e-01 9.80637859e-01 -1.97843560e-03 -3.21074694e+01] [-1.06006091e-02 -9.94117836e-05 9.99943807e-01 -2.71149134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.285769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:-32.12, Z:-2.72 [[ 9.81973547e-01 1.88731249e-01 1.04148710e-02 2.45775403e+02] [-1.88720883e-01 9.82028775e-01 -1.97819610e-03 -3.21233527e+01] [-1.06010504e-02 -2.29673998e-05 9.99943807e-01 -2.71669840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.345769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:-32.14, Z:-2.72 [[ 9.82672556e-01 1.85057229e-01 1.04148710e-02 2.45833352e+02] [-1.85046656e-01 9.82727746e-01 -1.97819610e-03 -3.21391677e+01] [-1.06010621e-02 1.66819785e-05 9.99943807e-01 -2.71782311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.405769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:245.89, Y:-32.16, Z:-2.72 [[ 9.82893790e-01 1.83878568e-01 1.04148935e-02 2.45891798e+02] [-1.83867930e-01 9.82948967e-01 -1.97807742e-03 -3.21564727e+01] [-1.06010348e-02 2.92751009e-05 9.99943807e-01 -2.71737524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:-32.17, Z:-2.71 [[ 9.82748816e-01 1.84651818e-01 1.04148935e-02 2.45951430e+02] [-1.84641224e-01 9.82804002e-01 -1.97807742e-03 -3.21735735e+01] [-1.06010546e-02 2.09345653e-05 9.99943807e-01 -2.71421907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:-32.19, Z:-2.71 [[ 9.81493943e-01 1.91209758e-01 1.04148488e-02 2.46008605e+02] [-1.91199530e-01 9.81549197e-01 -1.97831253e-03 -3.21889694e+01] [-1.06009592e-02 -4.96124438e-05 9.99943807e-01 -2.71258570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.585769231 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:246.07, Y:-32.20, Z:-2.72 [[ 9.80162436e-01 1.97922026e-01 1.04149037e-02 2.46065153e+02] [-1.97912180e-01 9.80217760e-01 -1.97802394e-03 -3.22033038e+01] [-1.06003680e-02 -1.22451521e-04 9.99943807e-01 -2.71511408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.645769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.12, Y:-32.22, Z:-2.71 [[ 9.79450920e-01 2.01413566e-01 1.04149688e-02 2.46122891e+02] [-2.01403920e-01 9.79506279e-01 -1.97768074e-03 -3.22150807e+01] [-1.05998591e-02 -1.60574324e-04 9.99943807e-01 -2.71159023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70576923099998 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:-32.23, Z:-2.71 [[ 9.79473440e-01 2.01304018e-01 1.04150330e-02 2.46180986e+02] [-2.01294370e-01 9.79528798e-01 -1.97734274e-03 -3.22272063e+01] [-1.05998718e-02 -1.59732807e-04 9.99943807e-01 -2.71147126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76576923099998 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:246.24, Y:-32.24, Z:-2.72 [[ 9.80074692e-01 1.98356053e-01 1.04150754e-02 2.46239656e+02] [-1.98346241e-01 9.80130022e-01 -1.97711933e-03 -3.22391264e+01] [-1.06003017e-02 -1.28066431e-04 9.99943807e-01 -2.71882710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82576923099998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:246.30, Y:-32.25, Z:-2.72 [[ 9.80796423e-01 1.94756006e-01 1.04151174e-02 2.46300133e+02] [-1.94745993e-01 9.80851717e-01 -1.97689792e-03 -3.22520751e+01] [-1.06006986e-02 -8.93679758e-05 9.99943807e-01 -2.71768927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88576923099998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:246.36, Y:-32.27, Z:-2.71 [[ 9.81942257e-01 1.88893979e-01 1.04147937e-02 2.46360621e+02] [-1.88883618e-01 9.81997487e-01 -1.97860210e-03 -3.22688597e+01] [-1.06010472e-02 -2.43108888e-05 9.99943807e-01 -2.71478809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94576923099999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:-32.29, Z:-2.72 [[ 9.82571256e-01 1.85594361e-01 1.04144029e-02 2.46420543e+02] [-1.85583792e-01 9.82626446e-01 -1.98065664e-03 -3.22871136e+01] [-1.06010664e-02 1.33918894e-05 9.99943807e-01 -2.71519643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.48, Y:-32.30, Z:-2.71 [[ 9.82800688e-01 1.84375575e-01 1.04141597e-02 2.46480363e+02] [-1.84364925e-01 9.82855862e-01 -1.98193459e-03 -3.23029832e+01] [-1.06010383e-02 2.78409052e-05 9.99943807e-01 -2.71332092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:-32.32, Z:-2.72 [[ 9.83341413e-01 1.81469606e-01 1.04138001e-02 2.46539314e+02] [-1.81458772e-01 9.83396552e-01 -1.98382234e-03 -3.23233802e+01] [-1.06008986e-02 6.10992817e-05 9.99943807e-01 -2.72076852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.125769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:-32.35, Z:-2.73 [[ 9.83757751e-01 1.79198904e-01 1.04134846e-02 2.46598106e+02] [-1.79187926e-01 9.83812861e-01 -1.98547730e-03 -3.23452962e+01] [-1.06007154e-02 8.72579829e-05 9.99943807e-01 -2.72971242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.185769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:-32.36, Z:-2.72 [[ 9.83310043e-01 1.81639548e-01 1.04131689e-02 2.46657307e+02] [-1.81628689e-01 9.83365177e-01 -1.98713125e-03 -3.23611744e+01] [-1.06008893e-02 6.26358835e-05 9.99943807e-01 -2.72292280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.245769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:-32.38, Z:-2.72 [[ 9.81810503e-01 1.89577708e-01 1.04128779e-02 2.46717016e+02] [-1.89567279e-01 9.81865720e-01 -1.98865542e-03 -3.23801334e+01] [-1.06010525e-02 -2.14581393e-05 9.99943807e-01 -2.71802523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.305769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:-32.40, Z:-2.72 [[ 9.79998582e-01 1.98731874e-01 1.04125544e-02 2.46777028e+02] [-1.98721942e-01 9.80053891e-01 -1.99034740e-03 -3.23996968e+01] [-1.06004100e-02 -1.18665405e-04 9.99943807e-01 -2.72063605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.365769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:246.84, Y:-32.41, Z:-2.72 [[ 9.78750677e-01 2.04789387e-01 1.04124392e-02 2.46837285e+02] [-2.04779791e-01 9.78806045e-01 -1.99094996e-03 -3.24135082e+01] [-1.05994839e-02 -1.83613505e-04 9.99943807e-01 -2.71847850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42576923099998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.90, Y:-32.43, Z:-2.72 [[ 9.78202351e-01 2.07392742e-01 1.04120977e-02 2.46897498e+02] [-2.07383275e-01 9.78257740e-01 -1.99273466e-03 -3.24269060e+01] [-1.05989938e-02 -2.09997177e-04 9.99943807e-01 -2.71773065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.96, Y:-32.44, Z:-2.72 [[ 9.77287412e-01 2.11662250e-01 1.04118743e-02 2.46957862e+02] [-2.11653012e-01 9.77342840e-01 -1.99390083e-03 -3.24403400e+01] [-1.05980044e-02 -2.55090387e-04 9.99943807e-01 -2.72462925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.02, Y:-32.45, Z:-2.72 [[ 9.76843444e-01 2.13701860e-01 1.04115653e-02 2.47019381e+02] [-2.13692720e-01 9.76898889e-01 -1.99551306e-03 -3.24513879e+01] [-1.05974914e-02 -2.75571859e-04 9.99943807e-01 -2.71955792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.08, Y:-32.46, Z:-2.72 [[ 9.75694605e-01 2.18887284e-01 1.04112600e-02 2.47082703e+02] [-2.18878423e-01 9.75750095e-01 -1.99710464e-03 -3.24562795e+01] [-1.05959288e-02 -3.30235951e-04 9.99943807e-01 -2.71956203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.15, Y:-32.46, Z:-2.72 [[ 9.75374347e-01 2.20309999e-01 1.04109141e-02 2.47145289e+02] [-2.20301199e-01 9.75429847e-01 -1.99890625e-03 -3.24617051e+01] [-1.05954954e-02 -3.43854986e-04 9.99943807e-01 -2.72259641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.21, Y:-32.47, Z:-2.72 [[ 9.76349436e-01 2.15947678e-01 1.04105686e-02 2.47207295e+02] [-2.15938610e-01 9.76404892e-01 -2.00070401e-03 -3.24721851e+01] [-1.05969775e-02 -2.94657489e-04 9.99943807e-01 -2.72160320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.27, Y:-32.48, Z:-2.72 [[ 9.78016932e-01 2.08265476e-01 1.04101935e-02 2.47267975e+02] [-2.08255953e-01 9.78072312e-01 -2.00265371e-03 -3.24848517e+01] [-1.05990057e-02 -2.09355541e-04 9.99943807e-01 -2.72291458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.33, Y:-32.50, Z:-2.72 [[ 9.78621035e-01 2.05408143e-01 1.04098439e-02 2.47329614e+02] [-2.05398438e-01 9.78676384e-01 -2.00446973e-03 -3.24999338e+01] [-1.05996027e-02 -1.76549428e-04 9.99943807e-01 -2.72105017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.39, Y:-32.52, Z:-2.72 [[ 9.77747110e-01 2.09528592e-01 1.04094700e-02 2.47391235e+02] [-2.09519100e-01 9.77802496e-01 -2.00640934e-03 -3.25153899e+01] [-1.05988059e-02 -2.19221847e-04 9.99943807e-01 -2.72129591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.45, Y:-32.53, Z:-2.72 [[ 9.76526677e-01 2.15144836e-01 1.04090990e-02 2.47453268e+02] [-2.15135642e-01 9.76582112e-01 -2.00833210e-03 -3.25284095e+01] [-1.05974222e-02 -2.78178338e-04 9.99943807e-01 -2.72228646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:247.51, Y:-32.54, Z:-2.73 [[ 9.75437983e-01 2.20028180e-01 1.04087319e-02 2.47514058e+02] [-2.20019243e-01 9.75493461e-01 -2.01023299e-03 -3.25391585e+01] [-1.05959578e-02 -3.29263705e-04 9.99943807e-01 -2.72524112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.085769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:247.58, Y:-32.55, Z:-2.73 [[ 9.75848287e-01 2.18201250e-01 1.04083913e-02 2.47575687e+02] [-2.18192191e-01 9.75903745e-01 -2.01199479e-03 -3.25509559e+01] [-1.05966079e-02 -3.07628036e-04 9.99943807e-01 -2.72841767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.64, Y:-32.56, Z:-2.73 [[ 9.76222703e-01 2.16519991e-01 1.04080314e-02 2.47636077e+02] [-2.16510816e-01 9.76278142e-01 -2.01385500e-03 -3.25594898e+01] [-1.05971734e-02 -2.87480400e-04 9.99943807e-01 -2.73087769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.70, Y:-32.57, Z:-2.73 [[ 9.77056917e-01 2.12723906e-01 1.04077407e-02 2.47698139e+02] [-2.12714500e-01 9.77112317e-01 -2.01535647e-03 -3.25683203e+01] [-1.05982461e-02 -2.44759372e-04 9.99943807e-01 -2.73036617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:-32.58, Z:-2.73 [[ 9.78348688e-01 2.06701549e-01 1.04073868e-02 2.47759057e+02] [-2.06691782e-01 9.78404026e-01 -2.01718201e-03 -3.25783525e+01] [-1.05995838e-02 -1.77613961e-04 9.99943807e-01 -2.73201034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32576923099998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:247.82, Y:-32.59, Z:-2.74 [[ 9.79448638e-01 2.01425070e-01 1.04070574e-02 2.47820229e+02] [-2.01414987e-01 9.79503919e-01 -2.01888013e-03 -3.25916100e+01] [-1.06004066e-02 -1.18747949e-04 9.99943807e-01 -2.73555985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.88, Y:-32.61, Z:-2.73 [[ 9.80121070e-01 1.98127200e-01 1.04067292e-02 2.47881310e+02] [-1.98116914e-01 9.80176314e-01 -2.02057066e-03 -3.26061053e+01] [-1.06007595e-02 -8.13451840e-05 9.99943807e-01 -2.73363077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.94, Y:-32.62, Z:-2.73 [[ 9.80694976e-01 1.95266666e-01 1.04063523e-02 2.47941274e+02] [-1.95256198e-01 9.80750186e-01 -2.02250970e-03 -3.26193543e+01] [-1.06009607e-02 -4.84396862e-05 9.99943807e-01 -2.73120214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:-32.63, Z:-2.74 [[ 9.80162871e-01 1.97920340e-01 1.04060495e-02 2.48000640e+02] [-1.97910004e-01 9.80218105e-01 -2.02406635e-03 -3.26317070e+01] [-1.06008021e-02 -7.55466262e-05 9.99943807e-01 -2.74262935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.06, Y:-32.64, Z:-2.74 [[ 9.79821341e-01 1.99604256e-01 1.04057703e-02 2.48061319e+02] [-1.99594000e-01 9.79876590e-01 -2.02550083e-03 -3.26435179e+01] [-1.06006693e-02 -9.23003764e-05 9.99943807e-01 -2.73983976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.12, Y:-32.65, Z:-2.73 [[ 9.79823105e-01 1.99595615e-01 1.04054429e-02 2.48122088e+02] [-1.99585341e-01 9.79878351e-01 -2.02718147e-03 -3.26545939e+01] [-1.06006848e-02 -9.04946206e-05 9.99943807e-01 -2.73320188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.18, Y:-32.67, Z:-2.73 [[ 9.79856568e-01 1.99431292e-01 1.04051237e-02 2.48183175e+02] [-1.99420991e-01 9.79911808e-01 -2.02881834e-03 -3.26667050e+01] [-1.06007135e-02 -8.70491095e-05 9.99943807e-01 -2.73449231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.24, Y:-32.68, Z:-2.74 [[ 9.80022856e-01 1.98612546e-01 1.04047583e-02 2.48244397e+02] [-1.98602179e-01 9.80078084e-01 -2.03069062e-03 -3.26798101e+01] [-1.06007962e-02 -7.62844504e-05 9.99943807e-01 -2.73654581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:-32.69, Z:-2.74 [[ 9.79966290e-01 1.98891477e-01 1.04043719e-02 2.48305408e+02] [-1.98881105e-01 9.80021517e-01 -2.03266832e-03 -3.26910555e+01] [-1.06007888e-02 -7.72865602e-05 9.99943807e-01 -2.73517617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:-32.71, Z:-2.73 [[ 9.79538268e-01 2.00988902e-01 1.04040140e-02 2.48367017e+02] [-2.00978629e-01 9.79593513e-01 -2.03449882e-03 -3.27051166e+01] [-1.06006163e-02 -9.81150163e-05 9.99943807e-01 -2.73035854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.43, Y:-32.71, Z:-2.73 [[ 9.78989402e-01 2.03645562e-01 1.04036440e-02 2.48429714e+02] [-2.03635419e-01 9.79044672e-01 -2.03638919e-03 -3.27148089e+01] [-1.06003338e-02 -1.24946961e-04 9.99943807e-01 -2.73465120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:-32.73, Z:-2.74 [[ 9.79120345e-01 2.03015079e-01 1.04032406e-02 2.48490540e+02] [-2.03004878e-01 9.79175604e-01 -2.03844805e-03 -3.27265360e+01] [-1.06004351e-02 -1.16022626e-04 9.99943807e-01 -2.73803918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.55, Y:-32.74, Z:-2.73 [[ 9.80065027e-01 1.98404442e-01 1.04028669e-02 2.48551485e+02] [-1.98393961e-01 9.80120234e-01 -2.04035316e-03 -3.27386989e+01] [-1.06008755e-02 -6.41871948e-05 9.99943807e-01 -2.73490481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.61, Y:-32.75, Z:-2.74 [[ 9.80614618e-01 1.95670026e-01 1.04025021e-02 2.48613157e+02] [-1.95659371e-01 9.80669791e-01 -2.04221141e-03 -3.27499486e+01] [-1.06010191e-02 -3.27246529e-05 9.99943807e-01 -2.73725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.67, Y:-32.76, Z:-2.74 [[ 9.80364622e-01 1.96918773e-01 1.04021137e-02 2.48673534e+02] [-1.96908167e-01 9.80419805e-01 -2.04418787e-03 -3.27637398e+01] [-1.06009772e-02 -4.42116711e-05 9.99943807e-01 -2.74383515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.73, Y:-32.78, Z:-2.75 [[ 9.80195250e-01 1.97760145e-01 1.04017712e-02 2.48734439e+02] [-1.97749568e-01 9.80250439e-01 -2.04592931e-03 -3.27793944e+01] [-1.06009440e-02 -5.15355613e-05 9.99943807e-01 -2.74512299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.79, Y:-32.80, Z:-2.74 [[ 9.79885179e-01 1.99290861e-01 1.04013793e-02 2.48794779e+02] [-1.99280349e-01 9.79940380e-01 -2.04791975e-03 -3.27973517e+01] [-1.06008632e-02 -6.60642792e-05 9.99943807e-01 -2.73788559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.85, Y:-32.82, Z:-2.74 [[ 9.79280308e-01 2.02242175e-01 1.04010381e-02 2.48853756e+02] [-2.02231811e-01 9.79335537e-01 -2.04965105e-03 -3.28169139e+01] [-1.06006321e-02 -9.62378557e-05 9.99943807e-01 -2.73751456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.91, Y:-32.83, Z:-2.75 [[ 9.78185595e-01 2.07472330e-01 1.04006769e-02 2.48913783e+02] [-2.07462243e-01 9.78240875e-01 -2.05148232e-03 -3.28349616e+01] [-1.05999931e-02 -1.51017297e-04 9.99943807e-01 -2.74513879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.97, Y:-32.85, Z:-2.75 [[ 9.77260927e-01 2.11785063e-01 1.04003341e-02 2.48973417e+02] [-2.11775200e-01 9.77316248e-01 -2.05321850e-03 -3.28517798e+01] [-1.05992565e-02 -1.96002628e-04 9.99943807e-01 -2.74619353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.03, Y:-32.87, Z:-2.74 [[ 9.76020106e-01 2.17431813e-01 1.03999704e-02 2.49034656e+02] [-2.17422251e-01 9.76075479e-01 -2.05505926e-03 -3.28685737e+01] [-1.05979913e-02 -2.55405814e-04 9.99943807e-01 -2.74462502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.585769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.10, Y:-32.88, Z:-2.74 [[ 9.74456587e-01 2.24335036e-01 1.03995894e-02 2.49095760e+02] [-2.24325845e-01 9.74512024e-01 -2.05698566e-03 -3.28826245e+01] [-1.05959788e-02 -3.28453445e-04 9.99943807e-01 -2.74482270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.645769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:-32.89, Z:-2.75 [[ 9.73859907e-01 2.26911300e-01 1.03992118e-02 2.49157396e+02] [-2.26902236e-01 9.73915364e-01 -2.05889282e-03 -3.28929291e+01] [-1.05951382e-02 -3.54531230e-04 9.99943807e-01 -2.74567437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:-32.91, Z:-2.75 [[ 9.74247491e-01 2.25241405e-01 1.03988640e-02 2.49217623e+02] [-2.25232227e-01 9.74302929e-01 -2.06064795e-03 -3.29061983e+01] [-1.05957869e-02 -3.34578200e-04 9.99943807e-01 -2.74757207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:-32.92, Z:-2.74 [[ 9.75052029e-01 2.21732742e-01 1.03986346e-02 2.49277914e+02] [-2.21723353e-01 9.75107432e-01 -2.06180471e-03 -3.29197585e+01] [-1.05969555e-02 -2.95253264e-04 9.99943807e-01 -2.74457487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:-32.93, Z:-2.74 [[ 9.74672390e-01 2.23395630e-01 1.03982939e-02 2.49340293e+02] [-2.23386317e-01 9.74727806e-01 -2.06352137e-03 -3.29310134e+01] [-1.05964879e-02 -3.11579276e-04 9.99943807e-01 -2.73937097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.40, Y:-32.94, Z:-2.74 [[ 9.73539841e-01 2.28280663e-01 1.03979339e-02 2.49401985e+02] [-2.28271608e-01 9.73595300e-01 -2.06533422e-03 -3.29415961e+01] [-1.05948554e-02 -3.62867934e-04 9.99943807e-01 -2.74132616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.46, Y:-32.95, Z:-2.74 [[ 9.73408326e-01 2.28840823e-01 1.03975765e-02 2.49463430e+02] [-2.28831781e-01 9.73463786e-01 -2.06713149e-03 -3.29542163e+01] [-1.05947083e-02 -3.67132951e-04 9.99943807e-01 -2.74171914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.53, Y:-32.97, Z:-2.74 [[ 9.74623235e-01 2.23610036e-01 1.03971929e-02 2.49525448e+02] [-2.23600676e-01 9.74678643e-01 -2.06905916e-03 -3.29650426e+01] [-1.05965843e-02 -3.08266240e-04 9.99943807e-01 -2.74378589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.59, Y:-32.98, Z:-2.75 [[ 9.74685946e-01 2.23336546e-01 1.03967988e-02 2.49586549e+02] [-2.23327149e-01 9.74741348e-01 -2.07103787e-03 -3.29768021e+01] [-1.05967281e-02 -3.03275927e-04 9.99943807e-01 -2.74970493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:-32.98, Z:-2.75 [[ 9.74052640e-01 2.26082659e-01 1.03964309e-02 2.49649476e+02] [-2.26073399e-01 9.74108065e-01 -2.07288299e-03 -3.29838999e+01] [-1.05958901e-02 -3.31259319e-04 9.99943807e-01 -2.75175920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.71, Y:-32.99, Z:-2.75 [[ 9.73351724e-01 2.29081524e-01 1.03960330e-02 2.49711357e+02] [-2.29072413e-01 9.73407173e-01 -2.07487638e-03 -3.29916849e+01] [-1.05948890e-02 -3.61859874e-04 9.99943807e-01 -2.74509456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.77, Y:-33.00, Z:-2.75 [[ 9.73155226e-01 2.29914846e-01 1.03956631e-02 2.49773536e+02] [-2.29905763e-01 9.73210680e-01 -2.07672835e-03 -3.30008065e+01] [-1.05946410e-02 -3.69043803e-04 9.99943807e-01 -2.75227596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:-33.01, Z:-2.76 [[ 9.73192745e-01 2.29755998e-01 1.03952736e-02 2.49835168e+02] [-2.29746885e-01 9.73248194e-01 -2.07867604e-03 -3.30076788e+01] [-1.05947696e-02 -3.65329292e-04 9.99943807e-01 -2.76256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.90, Y:-33.02, Z:-2.76 [[ 9.73506868e-01 2.28421371e-01 1.03949346e-02 2.49897227e+02] [-2.28412164e-01 9.73562302e-01 -2.08037016e-03 -3.30158028e+01] [-1.05953174e-02 -3.49074857e-04 9.99943807e-01 -2.75550515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:-33.02, Z:-2.75 [[ 9.73734884e-01 2.27447418e-01 1.03945973e-02 2.49958790e+02] [-2.27438137e-01 9.73790305e-01 -2.08205375e-03 -3.30247378e+01] [-1.05957159e-02 -3.36759494e-04 9.99943807e-01 -2.74788356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:-33.04, Z:-2.75 [[ 9.73775823e-01 2.27272096e-01 1.03942376e-02 2.50021087e+02] [-2.27262786e-01 9.73831240e-01 -2.08384819e-03 -3.30368305e+01] [-1.05958338e-02 -3.33022402e-04 9.99943807e-01 -2.75004424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.08, Y:-33.04, Z:-2.76 [[ 9.73982465e-01 2.26384906e-01 1.03938587e-02 2.50083627e+02] [-2.26375526e-01 9.74037869e-01 -2.08573619e-03 -3.30445348e+01] [-1.05961912e-02 -3.21444760e-04 9.99943807e-01 -2.75541955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.14, Y:-33.06, Z:-2.76 [[ 9.74302346e-01 2.25004255e-01 1.03934814e-02 2.50144268e+02] [-2.24994776e-01 9.74357733e-01 -2.08761493e-03 -3.30562315e+01] [-1.05966912e-02 -3.04510886e-04 9.99943807e-01 -2.75672549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:-33.06, Z:-2.75 [[ 9.74718252e-01 2.23195681e-01 1.03931300e-02 2.50206614e+02] [-2.23186081e-01 9.74773619e-01 -2.08936282e-03 -3.30637971e+01] [-1.05972857e-02 -2.83061870e-04 9.99943807e-01 -2.75438213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:-33.08, Z:-2.75 [[ 9.75610027e-01 2.19264832e-01 1.03927515e-02 2.50267409e+02] [-2.19254988e-01 9.75665351e-01 -2.09124365e-03 -3.30753627e+01] [-1.05983837e-02 -2.38424334e-04 9.99943807e-01 -2.75344772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.33, Y:-33.09, Z:-2.76 [[ 9.77292535e-01 2.11639542e-01 1.03925174e-02 2.50328986e+02] [-2.11629255e-01 9.77347779e-01 -2.09240665e-03 -3.30870849e+01] [-1.05999397e-02 -1.54467298e-04 9.99943807e-01 -2.75565437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.39, Y:-33.10, Z:-2.76 [[ 9.77668373e-01 2.09896538e-01 1.03921331e-02 2.50389846e+02] [-2.09886132e-01 9.77723594e-01 -2.09431344e-03 -3.31008152e+01] [-1.06002228e-02 -1.33620607e-04 9.99943807e-01 -2.76193967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:-33.11, Z:-2.76 [[ 9.76211561e-01 2.16571002e-01 1.03917953e-02 2.50450164e+02] [-2.16560955e-01 9.76266849e-01 -2.09598818e-03 -3.31088878e+01] [-1.05990955e-02 -2.04329217e-04 9.99943807e-01 -2.75520678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.51, Y:-33.12, Z:-2.76 [[ 9.74555854e-01 2.23903776e-01 1.03916279e-02 2.50512882e+02] [-2.23894136e-01 9.74611214e-01 -2.09681769e-03 -3.31168813e+01] [-1.05972825e-02 -2.83158598e-04 9.99943807e-01 -2.75734836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.57, Y:-33.12, Z:-2.76 [[ 9.73992427e-01 2.26342163e-01 1.03912296e-02 2.50573509e+02] [-2.26332641e-01 9.74047807e-01 -2.09878997e-03 -3.31235845e+01] [-1.05965990e-02 -3.07668895e-04 9.99943807e-01 -2.75946248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.085769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-33.13, Z:-2.76 [[ 9.74644790e-01 2.23516356e-01 1.03909094e-02 2.50635616e+02] [-2.23506657e-01 9.74700140e-01 -2.10037381e-03 -3.31285145e+01] [-1.05974888e-02 -2.75319036e-04 9.99943807e-01 -2.75783797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.145769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:-33.13, Z:-2.76 [[ 9.75586671e-01 2.19368828e-01 1.03905625e-02 2.50696256e+02] [-2.19358875e-01 9.75641976e-01 -2.10208857e-03 -3.31329834e+01] [-1.05986016e-02 -2.28492516e-04 9.99943807e-01 -2.76080722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-33.14, Z:-2.76 [[ 9.77026732e-01 2.12863343e-01 1.03905379e-02 2.50757238e+02] [-2.12853020e-01 9.77081968e-01 -2.10220998e-03 -3.31437467e+01] [-1.05998907e-02 -1.57742035e-04 9.99943807e-01 -2.76235548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:-33.16, Z:-2.76 [[ 9.79092807e-01 2.03148514e-01 1.03901951e-02 2.50819227e+02] [-2.03137626e-01 9.79147935e-01 -2.10390308e-03 -3.31564853e+01] [-1.06009429e-02 -5.07231919e-05 9.99943807e-01 -2.76237182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.88, Y:-33.17, Z:-2.77 [[ 9.80636680e-01 1.95560104e-01 1.03897998e-02 2.50879320e+02] [-1.95548768e-01 9.80691717e-01 -2.10585355e-03 -3.31733357e+01] [-1.06010115e-02 3.33646882e-05 9.99943807e-01 -2.76546798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38576923099998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.94, Y:-33.19, Z:-2.77 [[ 9.81574308e-01 1.90798152e-01 1.03895526e-02 2.50938258e+02] [-1.90786536e-01 9.81629287e-01 -2.10707249e-03 -3.31921885e+01] [-1.06007146e-02 8.60614785e-05 9.99943807e-01 -2.76781183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44576923099999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.00, Y:-33.22, Z:-2.76 [[ 9.81801944e-01 1.89623325e-01 1.03893067e-02 2.50998120e+02] [-1.89611630e-01 9.81856906e-01 -2.10828380e-03 -3.32162396e+01] [-1.06005924e-02 9.99837464e-05 9.99943807e-01 -2.76472226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.06, Y:-33.23, Z:-2.77 [[ 9.80467518e-01 1.96406507e-01 1.03888907e-02 2.51058200e+02] [-1.96395172e-01 9.80522556e-01 -2.11033208e-03 -3.32318808e+01] [-1.06010246e-02 2.87840915e-05 9.99943807e-01 -2.76639241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.12, Y:-33.25, Z:-2.76 [[ 9.79162791e-01 2.02811013e-01 1.03885042e-02 2.51118806e+02] [-2.02800017e-01 9.79217898e-01 -2.11223310e-03 -3.32475959e+01] [-1.06009933e-02 -3.85687636e-05 9.99943807e-01 -2.76377658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.18, Y:-33.25, Z:-2.76 [[ 9.77193913e-01 2.12094654e-01 1.03881424e-02 2.51181904e+02] [-2.12084163e-01 9.77249118e-01 -2.11401087e-03 -3.32530715e+01] [-1.06001734e-02 -1.37361925e-04 9.99943807e-01 -2.76231830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.24, Y:-33.26, Z:-2.76 [[ 9.76481277e-01 2.15351827e-01 1.03877434e-02 2.51243126e+02] [-2.15341499e-01 9.76536513e-01 -2.11596940e-03 -3.32628528e+01] [-1.05996886e-02 -1.70707736e-04 9.99943807e-01 -2.76115475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:-33.27, Z:-2.77 [[ 9.76347029e-01 2.15959676e-01 1.03873988e-02 2.51305378e+02] [-2.15949365e-01 9.76402267e-01 -2.11765980e-03 -3.32683971e+01] [-1.05996089e-02 -1.75581322e-04 9.99943807e-01 -2.77025903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:-33.28, Z:-2.77 [[ 9.77127149e-01 2.12402081e-01 1.03870536e-02 2.51365933e+02] [-2.12391550e-01 9.77182346e-01 -2.11935189e-03 -3.32787142e+01] [-1.06002001e-02 -1.35246141e-04 9.99943807e-01 -2.76815653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.865769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.43, Y:-33.29, Z:-2.77 [[ 9.77817786e-01 2.09199645e-01 1.03868587e-02 2.51426081e+02] [-2.09188923e-01 9.77872946e-01 -2.12030651e-03 -3.32892940e+01] [-1.06005955e-02 -9.95423678e-05 9.99943807e-01 -2.76678990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923099998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:251.49, Y:-33.31, Z:-2.77 [[ 9.78019976e-01 2.08252351e-01 1.03868104e-02 2.51485688e+02] [-2.08241573e-01 9.78075125e-01 -2.12054316e-03 -3.33053661e+01] [-1.06006889e-02 -8.90321657e-05 9.99943807e-01 -2.76563037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98576923099998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:251.55, Y:-33.31, Z:-2.77 [[ 9.76764468e-01 2.14063751e-01 1.03867624e-02 2.51545577e+02] [-2.14053299e-01 9.76819680e-01 -2.12077789e-03 -3.33133523e+01] [-1.05999756e-02 -1.51820275e-04 9.99943807e-01 -2.76505270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.045769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:-33.32, Z:-2.76 [[ 9.75221742e-01 2.20985678e-01 1.03867624e-02 2.51604132e+02] [-2.20975617e-01 9.75277027e-01 -2.12077789e-03 -3.33241923e+01] [-1.05986323e-02 -2.26992535e-04 9.99943807e-01 -2.76475933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.105769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:251.67, Y:-33.33, Z:-2.77 [[ 9.75129029e-01 2.21394425e-01 1.03868106e-02 2.51665418e+02] [-2.21384391e-01 9.75184318e-01 -2.12054213e-03 -3.33313043e+01] [-1.05985310e-02 -2.31675540e-04 9.99943807e-01 -2.76912855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.165769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:251.73, Y:-33.34, Z:-2.77 [[ 9.75537986e-01 2.19585412e-01 1.03867608e-02 2.51725740e+02] [-2.19575273e-01 9.75593256e-01 -2.12078571e-03 -3.33424511e+01] [-1.05989474e-02 -2.11768818e-04 9.99943807e-01 -2.77308227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.225769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:251.79, Y:-33.35, Z:-2.77 [[ 9.77155925e-01 2.12269676e-01 1.03867115e-02 2.51785327e+02] [-2.12259120e-01 9.77211117e-01 -2.12102735e-03 -3.33544005e+01] [-1.06002397e-02 -1.32099802e-04 9.99943807e-01 -2.77313792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.285769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:251.85, Y:-33.37, Z:-2.77 [[ 9.77899563e-01 2.08817054e-01 1.03866870e-02 2.51846145e+02] [-2.08806302e-01 9.77954717e-01 -2.12114753e-03 -3.33669986e+01] [-1.06006413e-02 -9.45364496e-05 9.99943807e-01 -2.77100083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:251.91, Y:-33.37, Z:-2.78 [[ 9.77528943e-01 2.10545221e-01 1.03863365e-02 2.51906079e+02] [-2.10534548e-01 9.77584113e-01 -2.12286212e-03 -3.33746644e+01] [-1.06004760e-02 -1.11523501e-04 9.99943807e-01 -2.77569880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:251.97, Y:-33.38, Z:-2.77 [[ 9.77621910e-01 2.10113130e-01 1.03862200e-02 2.51965670e+02] [-2.10102427e-01 9.77677074e-01 -2.12343208e-03 -3.33837040e+01] [-1.06005301e-02 -1.06256301e-04 9.99943807e-01 -2.77331728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:-33.40, Z:-2.77 [[ 9.77950940e-01 2.08576330e-01 1.03862200e-02 2.52023323e+02] [-2.08565540e-01 9.78006087e-01 -2.12343208e-03 -3.33973293e+01] [-1.06006840e-02 -8.95951902e-05 9.99943807e-01 -2.77435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:252.08, Y:-33.41, Z:-2.78 [[ 9.78248094e-01 2.07178167e-01 1.03862443e-02 2.52082673e+02] [-2.07167300e-01 9.78303226e-01 -2.12331292e-03 -3.34133125e+01] [-1.06008004e-02 -7.45633750e-05 9.99943807e-01 -2.78253698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:-33.43, Z:-2.78 [[ 9.78014926e-01 2.08276096e-01 1.03861953e-02 2.52142497e+02] [-2.08265288e-01 9.78070069e-01 -2.12355261e-03 -3.34280081e+01] [-1.06007120e-02 -8.62178100e-05 9.99943807e-01 -2.77885300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:252.20, Y:-33.44, Z:-2.78 [[ 9.77731345e-01 2.09603302e-01 1.03861468e-02 2.52202172e+02] [-2.09592567e-01 9.77786503e-01 -2.12379020e-03 -3.34417386e+01] [-1.06005876e-02 -1.00362902e-04 9.99943807e-01 -2.77643800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:252.26, Y:-33.46, Z:-2.78 [[ 9.77665289e-01 2.09911201e-01 1.03860981e-02 2.52261423e+02] [-2.09900480e-01 9.77720449e-01 -2.12402814e-03 -3.34559644e+01] [-1.06005578e-02 -1.03458388e-04 9.99943807e-01 -2.77674646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:-33.47, Z:-2.78 [[ 9.78291412e-01 2.06973532e-01 1.03860500e-02 2.52320574e+02] [-2.06962643e-01 9.78346540e-01 -2.12426335e-03 -3.34739986e+01] [-1.06008224e-02 -7.13757647e-05 9.99943807e-01 -2.78070120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:-33.49, Z:-2.78 [[ 9.78817748e-01 2.04469930e-01 1.03857399e-02 2.52380285e+02] [-2.04458884e-01 9.78872845e-01 -2.12577854e-03 -3.34887227e+01] [-1.06009765e-02 -4.27070159e-05 9.99943807e-01 -2.77965455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:252.44, Y:-33.50, Z:-2.79 [[ 9.77816692e-01 2.09204816e-01 1.03856931e-02 2.52439821e+02] [-2.09194034e-01 9.77871840e-01 -2.12600688e-03 -3.35002204e+01] [-1.06006477e-02 -9.37800294e-05 9.99943807e-01 -2.78712455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-33.51, Z:-2.79 [[ 9.75836300e-01 2.18255934e-01 1.03856931e-02 2.52497339e+02] [-2.18245664e-01 9.75891546e-01 -2.12600688e-03 -3.35113375e+01] [-1.05993237e-02 -1.91997799e-04 9.99943807e-01 -2.78573905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:-33.52, Z:-2.78 [[ 9.75508212e-01 2.19717690e-01 1.03857625e-02 2.52556380e+02] [-2.19707506e-01 9.75563475e-01 -2.12566797e-03 -3.35222553e+01] [-1.05990174e-02 -2.08223411e-04 9.99943807e-01 -2.78248134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.065769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:-33.53, Z:-2.78 [[ 9.76051435e-01 2.17291812e-01 1.03858082e-02 2.52615838e+02] [-2.17281493e-01 9.76106672e-01 -2.12544457e-03 -3.35325433e+01] [-1.05994984e-02 -1.82100681e-04 9.99943807e-01 -2.78383831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.125769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:-33.54, Z:-2.78 [[ 9.76763964e-01 2.14066096e-01 1.03858082e-02 2.52677469e+02] [-2.14055594e-01 9.76819167e-01 -2.12544457e-03 -3.35428599e+01] [-1.06000421e-02 -1.47082677e-04 9.99943807e-01 -2.78337449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.185769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:-33.55, Z:-2.79 [[ 9.77009821e-01 2.12941194e-01 1.03854614e-02 2.52737260e+02] [-2.12930611e-01 9.77065008e-01 -2.12713766e-03 -3.35508266e+01] [-1.06002262e-02 -1.33148265e-04 9.99943807e-01 -2.78848205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.245769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:-33.56, Z:-2.78 [[ 9.77612185e-01 2.10158415e-01 1.03854369e-02 2.52795710e+02] [-2.10147673e-01 9.77667341e-01 -2.12725721e-03 -3.35608175e+01] [-1.06005635e-02 -1.02842843e-04 9.99943807e-01 -2.78401393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.305769231 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:252.85, Y:-33.57, Z:-2.79 [[ 9.78287502e-01 2.06992044e-01 1.03854606e-02 2.52854630e+02] [-2.06981126e-01 9.78342623e-01 -2.12714168e-03 -3.35723943e+01] [-1.06008402e-02 -6.86382063e-05 9.99943807e-01 -2.78540026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.365769231 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:252.91, Y:-33.59, Z:-2.79 [[ 9.78180865e-01 2.07495392e-01 1.03855066e-02 2.52914673e+02] [-2.07484504e-01 9.78235992e-01 -2.12691718e-03 -3.35852711e+01] [-1.06008018e-02 -7.43219919e-05 9.99943807e-01 -2.78949367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.425769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:252.97, Y:-33.60, Z:-2.79 [[ 9.77426181e-01 2.11021805e-01 1.03854573e-02 2.52973344e+02] [-2.11011114e-01 9.77481348e-01 -2.12715778e-03 -3.35996523e+01] [-1.06004675e-02 -1.12307203e-04 9.99943807e-01 -2.79414174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.485769231 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:253.03, Y:-33.61, Z:-2.79 [[ 9.75890649e-01 2.18012807e-01 1.03854329e-02 2.53032270e+02] [-2.18002509e-01 9.75945890e-01 -2.12727694e-03 -3.36101758e+01] [-1.05993942e-02 -1.88060754e-04 9.99943807e-01 -2.79244736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.545769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:253.09, Y:-33.62, Z:-2.79 [[ 9.74108731e-01 2.25841366e-01 1.03854811e-02 2.53091840e+02] [-2.25831515e-01 9.74164053e-01 -2.12704162e-03 -3.36179757e+01] [-1.05975363e-02 -2.73399118e-04 9.99943807e-01 -2.79026316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.605769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:253.15, Y:-33.62, Z:-2.79 [[ 9.72105367e-01 2.34314523e-01 1.03855307e-02 2.53152332e+02] [-2.34305156e-01 9.72160774e-01 -2.12679924e-03 -3.36174768e+01] [-1.05947455e-02 -3.65910431e-04 9.99943807e-01 -2.79193597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.665769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:253.21, Y:-33.62, Z:-2.79 [[ 9.71504368e-01 2.36794009e-01 1.03856306e-02 2.53212088e+02] [-2.36784789e-01 9.71559799e-01 -2.12631127e-03 -3.36209514e+01] [-1.05937590e-02 -3.93438664e-04 9.99943807e-01 -2.79194841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.725769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:253.27, Y:-33.62, Z:-2.79 [[ 9.72269303e-01 2.33633345e-01 1.03857297e-02 2.53272412e+02] [-2.33623950e-01 9.72324704e-01 -2.12582710e-03 -3.36178011e+01] [-1.05949657e-02 -3.59478772e-04 9.99943807e-01 -2.79170012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.785769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:-33.62, Z:-2.79 [[ 9.74545087e-01 2.23950901e-01 1.03858766e-02 2.53330990e+02] [-2.23940963e-01 9.74600394e-01 -2.12510932e-03 -3.36188391e+01] [-1.05979996e-02 -2.54808363e-04 9.99943807e-01 -2.78993080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-33.62, Z:-2.79 [[ 9.76441632e-01 2.15531597e-01 1.03860046e-02 2.53391614e+02] [-2.15521189e-01 9.76496853e-01 -2.12448370e-03 -3.36180801e+01] [-1.05997941e-02 -1.63969722e-04 9.99943807e-01 -2.78710304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:253.45, Y:-33.62, Z:-2.79 [[ 9.77079664e-01 2.12620458e-01 1.03861011e-02 2.53450209e+02] [-2.12609890e-01 9.77134854e-01 -2.12401154e-03 -3.36180109e+01] [-1.06002297e-02 -1.32859341e-04 9.99943807e-01 -2.79102053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:253.51, Y:-33.62, Z:-2.79 [[ 9.77712921e-01 2.09689223e-01 1.03862596e-02 2.53509841e+02] [-2.09678498e-01 9.77768081e-01 -2.12323646e-03 -3.36214185e+01] [-1.06005729e-02 -1.01859591e-04 9.99943807e-01 -2.79469141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:253.57, Y:-33.62, Z:-2.80 [[ 9.79248251e-01 2.02398090e-01 1.03863548e-02 2.53568006e+02] [-2.02386959e-01 9.79303330e-01 -2.12277048e-03 -3.36227711e+01] [-1.06010365e-02 -2.33434849e-05 9.99943807e-01 -2.79658872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:-33.63, Z:-2.80 [[ 9.80375684e-01 1.96864520e-01 1.03865206e-02 2.53625106e+02] [-1.96853087e-01 9.80430701e-01 -2.12195912e-03 -3.36308890e+01] [-1.06010021e-02 3.56984847e-05 9.99943807e-01 -2.79507478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:253.68, Y:-33.64, Z:-2.80 [[ 9.81711426e-01 1.90091539e-01 1.03866616e-02 2.53682281e+02] [-1.90079734e-01 9.81766365e-01 -2.12126840e-03 -3.36402802e+01] [-1.06005102e-02 1.08179552e-04 9.99943807e-01 -2.79787078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:253.74, Y:-33.65, Z:-2.80 [[ 9.83285234e-01 1.81775309e-01 1.03868097e-02 2.53738739e+02] [-1.81763047e-01 9.83340072e-01 -2.12054334e-03 -3.36547453e+01] [-1.05992286e-02 1.97160785e-04 9.99943807e-01 -2.80405682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:253.79, Y:-33.67, Z:-2.80 [[ 9.84729532e-01 1.73781071e-01 1.03869313e-02 2.53794903e+02] [-1.73768370e-01 9.84784271e-01 -2.11994737e-03 -3.36749107e+01] [-1.05972933e-02 2.82654670e-04 9.99943807e-01 -2.79958163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:253.85, Y:-33.70, Z:-2.81 [[ 9.85287720e-01 1.70587860e-01 1.03870226e-02 2.53850216e+02] [-1.70574987e-01 9.85342418e-01 -2.11950003e-03 -3.37040197e+01] [-1.05963349e-02 3.16551118e-04 9.99943807e-01 -2.80913774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:253.91, Y:-33.73, Z:-2.80 [[ 9.85003276e-01 1.72222692e-01 1.03870725e-02 2.53905230e+02] [-1.72209912e-01 9.85057996e-01 -2.11925538e-03 -3.37330010e+01] [-1.05968527e-02 2.98716648e-04 9.99943807e-01 -2.80375292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:-33.76, Z:-2.80 [[ 9.84176328e-01 1.76887151e-01 1.03870972e-02 2.53961023e+02] [-1.76874631e-01 9.84231108e-01 -2.11913442e-03 -3.37567431e+01] [-1.05981518e-02 2.48387951e-04 9.99943807e-01 -2.80460481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:254.02, Y:-33.79, Z:-2.81 [[ 9.82397792e-01 1.86511891e-01 1.03871459e-02 2.54015009e+02] [-1.86499910e-01 9.82452693e-01 -2.11889569e-03 -3.37873462e+01] [-1.06000787e-02 1.44396677e-04 9.99943807e-01 -2.81183278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.565769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.07, Y:-33.81, Z:-2.80 [[ 9.80441203e-01 1.96537922e-01 1.03871701e-02 2.54072096e+02] [-1.96526505e-01 9.80496223e-01 -2.11877674e-03 -3.38146362e+01] [-1.06010011e-02 3.59817773e-05 9.99943807e-01 -2.80381714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.625769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:254.13, Y:-33.84, Z:-2.81 [[ 9.78422145e-01 2.06354583e-01 1.03871181e-02 2.54129989e+02] [-2.06343715e-01 9.78477277e-01 -2.11903173e-03 -3.38381363e+01] [-1.06008310e-02 -7.00089649e-05 9.99943807e-01 -2.81118050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.685769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:-33.86, Z:-2.82 [[ 9.76595715e-01 2.14832314e-01 1.03867841e-02 2.54187522e+02] [-2.14821907e-01 9.76650936e-01 -2.12066746e-03 -3.38591083e+01] [-1.05998504e-02 -1.60274018e-04 9.99943807e-01 -2.82045029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.745769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:254.25, Y:-33.88, Z:-2.81 [[ 9.75391179e-01 2.20236606e-01 1.03867593e-02 2.54245756e+02] [-2.20226503e-01 9.75446457e-01 -2.12078891e-03 -3.38778043e+01] [-1.05988029e-02 -2.18840897e-04 9.99943807e-01 -2.81420204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.805769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:-33.89, Z:-2.81 [[ 9.75049747e-01 2.21743334e-01 1.03867353e-02 2.54307699e+02] [-2.21733316e-01 9.75105040e-01 -2.12090670e-03 -3.38904427e+01] [-1.05984549e-02 -2.35095716e-04 9.99943807e-01 -2.81236554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.865769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:254.37, Y:-33.91, Z:-2.82 [[ 9.75129662e-01 2.21391657e-01 1.03863275e-02 2.54367109e+02] [-2.21381597e-01 9.75184947e-01 -2.12290188e-03 -3.39074621e+01] [-1.05985830e-02 -2.29237169e-04 9.99943807e-01 -2.81525510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.925769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:-33.92, Z:-2.81 [[ 9.74557735e-01 2.23895847e-01 1.03860751e-02 2.54429340e+02] [-2.23885916e-01 9.74613044e-01 -2.12413590e-03 -3.39182252e+01] [-1.05979895e-02 -2.55202864e-04 9.99943807e-01 -2.81170526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.985769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:-33.93, Z:-2.82 [[ 9.73927324e-01 2.26622383e-01 1.03856741e-02 2.54490175e+02] [-2.26612586e-01 9.73982657e-01 -2.12609470e-03 -3.39307426e+01] [-1.05972871e-02 -2.82862752e-04 9.99943807e-01 -2.81886473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.045769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:254.55, Y:-33.93, Z:-2.82 [[ 9.73456307e-01 2.28637188e-01 1.03853246e-02 2.54551707e+02] [-2.28627488e-01 9.73511656e-01 -2.12780066e-03 -3.39323889e+01] [-1.05967289e-02 -3.03049702e-04 9.99943807e-01 -2.82208179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.105769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:-33.94, Z:-2.82 [[ 9.72655398e-01 2.32020735e-01 1.03852998e-02 2.54609695e+02] [-2.32011226e-01 9.72710781e-01 -2.12792144e-03 -3.39361445e+01] [-1.05956150e-02 -3.39771875e-04 9.99943807e-01 -2.82202219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.165769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:-33.93, Z:-2.82 [[ 9.72088746e-01 2.34383473e-01 1.03854175e-02 2.54672186e+02] [-2.34374105e-01 9.72144153e-01 -2.12734687e-03 -3.39308315e+01] [-1.05947379e-02 -3.66102990e-04 9.99943807e-01 -2.81799956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.225769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:-33.93, Z:-2.82 [[ 9.73347355e-01 2.29100563e-01 1.03854682e-02 2.54733491e+02] [-2.29090896e-01 9.73402710e-01 -2.12709934e-03 -3.39253123e+01] [-1.05965626e-02 -3.08809711e-04 9.99943807e-01 -2.81599457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.285769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:254.80, Y:-33.92, Z:-2.82 [[ 9.74625451e-01 2.23600917e-01 1.03855687e-02 2.54795742e+02] [-2.23590943e-01 9.74680752e-01 -2.12660889e-03 -3.39162208e+01] [-1.05981256e-02 -2.49471943e-04 9.99943807e-01 -2.81977217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:254.86, Y:-33.92, Z:-2.82 [[ 9.77149002e-01 2.12301593e-01 1.03856692e-02 2.54855745e+02] [-2.12290984e-01 9.77204184e-01 -2.12611773e-03 -3.39156061e+01] [-1.06002976e-02 -1.27250126e-04 9.99943807e-01 -2.82101482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:254.91, Y:-33.92, Z:-2.82 [[ 9.79390118e-01 2.01710515e-01 1.03857691e-02 2.54914290e+02] [-2.01699315e-01 9.79445184e-01 -2.12562947e-03 -3.39183916e+01] [-1.06010534e-02 -1.29820192e-05 9.99943807e-01 -2.82005207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:254.97, Y:-33.92, Z:-2.82 [[ 9.81454787e-01 1.91412213e-01 1.03858934e-02 2.54973083e+02] [-1.91400441e-01 9.81509733e-01 -2.12502202e-03 -3.39229883e+01] [-1.06006107e-02 9.77484406e-05 9.99943807e-01 -2.82240268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:255.03, Y:-33.93, Z:-2.83 [[ 9.81363459e-01 1.91879891e-01 1.03859965e-02 2.55031249e+02] [-1.91868152e-01 9.81418412e-01 -2.12451823e-03 -3.39279364e+01] [-1.06006605e-02 9.21826138e-05 9.99943807e-01 -2.82916816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:255.09, Y:-33.94, Z:-2.82 [[ 9.80798127e-01 1.94748971e-01 1.03861235e-02 2.55088770e+02] [-1.94737399e-01 9.80853116e-01 -2.12389692e-03 -3.39389102e+01] [-1.06008884e-02 6.05474418e-05 9.99943807e-01 -2.82348954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.15, Y:-33.95, Z:-2.82 [[ 9.80782978e-01 1.94825245e-01 1.03862241e-02 2.55145203e+02] [-1.94813683e-01 9.80837968e-01 -2.12340529e-03 -3.39497902e+01] [-1.06008959e-02 5.92212048e-05 9.99943807e-01 -2.82355861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:-33.96, Z:-2.82 [[ 9.80178249e-01 1.97845202e-01 1.03863485e-02 2.55202277e+02] [-1.97833815e-01 9.80233276e-01 -2.12279617e-03 -3.39621410e+01] [-1.06010295e-02 2.59476724e-05 9.99943807e-01 -2.81821393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:-33.97, Z:-2.82 [[ 9.80169231e-01 1.97889867e-01 1.03864749e-02 2.55260472e+02] [-1.97878489e-01 9.80224260e-01 -2.12217766e-03 -3.39733879e+01] [-1.06010321e-02 2.48332866e-05 9.99943807e-01 -2.82267266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.32, Y:-33.99, Z:-2.82 [[ 9.80521898e-01 1.96134963e-01 1.03866687e-02 2.55316779e+02] [-1.96123497e-01 9.80576909e-01 -2.12122864e-03 -3.39881321e+01] [-1.06009746e-02 4.28413376e-05 9.99943807e-01 -2.82379123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.37, Y:-34.01, Z:-2.83 [[ 9.80883599e-01 1.94317984e-01 1.03868204e-02 2.55373410e+02] [-1.94306423e-01 9.80938590e-01 -2.12048595e-03 -3.40072216e+01] [-1.06008815e-02 6.17239827e-05 9.99943807e-01 -2.83107778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.43, Y:-34.02, Z:-2.83 [[ 9.80826997e-01 1.94603475e-01 1.03869738e-02 2.55430280e+02] [-1.94591938e-01 9.80881993e-01 -2.11973410e-03 -3.40209351e+01] [-1.06009032e-02 5.78710700e-05 9.99943807e-01 -2.83413259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:-34.04, Z:-2.83 [[ 9.80466042e-01 1.96413975e-01 1.03870787e-02 2.55485348e+02] [-1.96402545e-01 9.80521060e-01 -2.11921993e-03 -3.40395230e+01] [-1.06009938e-02 3.77744866e-05 9.99943807e-01 -2.83111238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.54, Y:-34.06, Z:-2.83 [[ 9.80144268e-01 1.98013433e-01 1.03872217e-02 2.55541012e+02] [-1.98002101e-01 9.80199306e-01 -2.11851893e-03 -3.40603271e+01] [-1.06010427e-02 1.97624711e-05 9.99943807e-01 -2.82570481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:255.60, Y:-34.08, Z:-2.83 [[ 9.79770160e-01 1.99856289e-01 1.03873254e-02 2.55597871e+02] [-1.99845066e-01 9.79825221e-01 -2.11801004e-03 -3.40783526e+01] [-1.06010611e-02 -6.92700524e-07 9.99943807e-01 -2.82553193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.185769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:255.65, Y:-34.10, Z:-2.83 [[ 9.79348434e-01 2.01912720e-01 1.03874278e-02 2.55652772e+02] [-2.01901617e-01 9.79403519e-01 -2.11750802e-03 -3.40999695e+01] [-1.06010351e-02 -2.34603092e-05 9.99943807e-01 -2.83212227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:-34.12, Z:-2.83 [[ 9.78927081e-01 2.03945748e-01 1.03875584e-02 2.55709994e+02] [-2.03934767e-01 9.78982191e-01 -2.11686697e-03 -3.41150345e+01] [-1.06009607e-02 -4.61258984e-05 9.99943807e-01 -2.83096279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.77, Y:-34.13, Z:-2.83 [[ 9.78320613e-01 2.06835383e-01 1.03876588e-02 2.55766852e+02] [-2.06824570e-01 9.78375755e-01 -2.11637403e-03 -3.41305425e+01] [-1.06007746e-02 -7.79307307e-05 9.99943807e-01 -2.82692200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.82, Y:-34.15, Z:-2.83 [[ 9.78513074e-01 2.05922941e-01 1.03877593e-02 2.55823273e+02] [-2.05912082e-01 9.78568208e-01 -2.11588099e-03 -3.41464579e+01] [-1.06008394e-02 -6.85479288e-05 9.99943807e-01 -2.83117060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:-34.16, Z:-2.83 [[ 9.80139762e-01 1.98035705e-01 1.03878330e-02 2.55882932e+02] [-1.98024406e-01 9.80194807e-01 -2.11551894e-03 -3.41620074e+01] [-1.06010482e-02 1.64597692e-05 9.99943807e-01 -2.82919683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.94, Y:-34.18, Z:-2.83 [[ 9.81512811e-01 1.91114354e-01 1.03877803e-02 2.55941945e+02] [-1.91102664e-01 9.81567774e-01 -2.11577768e-03 -3.41805563e+01] [-1.06006659e-02 9.15304109e-05 9.99943807e-01 -2.83271713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.545769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.00, Y:-34.20, Z:-2.84 [[ 9.82008356e-01 1.88551559e-01 1.03874401e-02 2.56001005e+02] [-1.88539708e-01 9.82063285e-01 -2.11744643e-03 -3.41950167e+01] [-1.06003714e-02 1.20905157e-04 9.99943807e-01 -2.84003515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:-34.21, Z:-2.84 [[ 9.82539276e-01 1.85765098e-01 1.03874401e-02 2.56060800e+02] [-1.85753091e-01 9.82594171e-01 -2.11744643e-03 -3.42119105e+01] [-1.05999858e-02 1.50975165e-04 9.99943807e-01 -2.83781959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:-34.23, Z:-2.83 [[ 9.83024253e-01 1.83181401e-01 1.03870853e-02 2.56120868e+02] [-1.83169232e-01 9.83079113e-01 -2.11918541e-03 -3.42302164e+01] [-1.05995220e-02 1.80616212e-04 9.99943807e-01 -2.83154573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:-34.25, Z:-2.84 [[ 9.83420490e-01 1.81042140e-01 1.03867287e-02 2.56180058e+02] [-1.81029833e-01 9.83475318e-01 -2.12093205e-03 -3.42476483e+01] [-1.05990694e-02 2.05460274e-04 9.99943807e-01 -2.83721781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:-34.26, Z:-2.83 [[ 9.82720316e-01 1.84805039e-01 1.03864005e-02 2.56242260e+02] [-1.84792924e-01 9.82775188e-01 -2.12253777e-03 -3.42600865e+01] [-1.05997524e-02 1.66527658e-04 9.99943807e-01 -2.83325595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.30, Y:-34.27, Z:-2.83 [[ 9.81951381e-01 1.88848132e-01 1.03859856e-02 2.56303575e+02] [-1.88836222e-01 9.82006297e-01 -2.12456603e-03 -3.42726380e+01] [-1.06003236e-02 1.24970252e-04 9.99943807e-01 -2.83403521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:-34.28, Z:-2.84 [[ 9.80807339e-01 1.94702601e-01 1.03855644e-02 2.56364231e+02] [-1.94690997e-01 9.80862321e-01 -2.12662298e-03 -3.42812363e+01] [-1.06008679e-02 6.38315229e-05 9.99943807e-01 -2.83572747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:-34.29, Z:-2.84 [[ 9.79836499e-01 1.99530906e-01 1.03852264e-02 2.56422539e+02] [-1.99519556e-01 9.79891533e-01 -2.12827244e-03 -3.42905199e+01] [-1.06010516e-02 1.33032501e-05 9.99943807e-01 -2.84230447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:-34.30, Z:-2.84 [[ 9.79817707e-01 1.99623169e-01 1.03851903e-02 2.56483366e+02] [-1.99611822e-01 9.79872742e-01 -2.12844854e-03 -3.43009891e+01] [-1.06010526e-02 1.24848046e-05 9.99943807e-01 -2.84156434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.54, Y:-34.31, Z:-2.84 [[ 9.80217873e-01 1.97648854e-01 1.03851404e-02 2.56542906e+02] [-1.97637394e-01 9.80272885e-01 -2.12869206e-03 -3.43138915e+01] [-1.06010051e-02 3.40899242e-05 9.99943807e-01 -2.84304954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.60, Y:-34.33, Z:-2.84 [[ 9.80421866e-01 1.96634470e-01 1.03850894e-02 2.56602155e+02] [-1.96622950e-01 9.80476865e-01 -2.12894080e-03 -3.43252404e+01] [-1.06009631e-02 4.53131868e-05 9.99943807e-01 -2.84466918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.66, Y:-34.34, Z:-2.84 [[ 9.80383297e-01 1.96826677e-01 1.03850642e-02 2.56661825e+02] [-1.96815167e-01 9.80438299e-01 -2.12906384e-03 -3.43411106e+01] [-1.06009712e-02 4.33604821e-05 9.99943807e-01 -2.84323189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.72, Y:-34.36, Z:-2.84 [[ 9.80516914e-01 1.96159968e-01 1.03850138e-02 2.56719634e+02] [-1.96148418e-01 9.80571907e-01 -2.12930971e-03 -3.43574248e+01] [-1.06009381e-02 5.08201663e-05 9.99943807e-01 -2.84263606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.78, Y:-34.37, Z:-2.85 [[ 9.80912464e-01 1.94172324e-01 1.03848994e-02 2.56779965e+02] [-1.94160656e-01 9.80967432e-01 -2.12986759e-03 -3.43748821e+01] [-1.06008094e-02 7.28748003e-05 9.99943807e-01 -2.84542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.84, Y:-34.39, Z:-2.85 [[ 9.81447553e-01 1.91449369e-01 1.03845471e-02 2.56840291e+02] [-1.91437531e-01 9.81502485e-01 -2.13158368e-03 -3.43915384e+01] [-1.06005491e-02 1.04045534e-04 9.99943807e-01 -2.85011244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:256.90, Y:-34.41, Z:-2.86 [[ 9.81184244e-01 1.92794317e-01 1.03841955e-02 2.56900831e+02] [-1.92782536e-01 9.81239187e-01 -2.13329534e-03 -3.44061732e+01] [-1.06006667e-02 9.12642400e-05 9.99943807e-01 -2.85843545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:-34.42, Z:-2.85 [[ 9.80005598e-01 1.98698774e-01 1.03838467e-02 2.56960259e+02] [-1.98687306e-01 9.80060609e-01 -2.13499143e-03 -3.44183194e+01] [-1.06010193e-02 2.91650233e-05 9.99943807e-01 -2.84762137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.02, Y:-34.43, Z:-2.85 [[ 9.79257749e-01 2.02352262e-01 1.03838221e-02 2.57019519e+02] [-2.02340998e-01 9.79312801e-01 -2.13511120e-03 -3.44308091e+01] [-1.06010545e-02 -1.02487423e-05 9.99943807e-01 -2.84971406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:-34.45, Z:-2.85 [[ 9.78692164e-01 2.05070293e-01 1.03838221e-02 2.57079429e+02] [-2.05059182e-01 9.78747247e-01 -2.13511120e-03 -3.44462181e+01] [-1.06009852e-02 -3.96814624e-05 9.99943807e-01 -2.85380543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:-34.46, Z:-2.85 [[ 9.79456003e-01 2.01390469e-01 1.03834746e-02 2.57139410e+02] [-2.01379133e-01 9.79511041e-01 -2.13679995e-03 -3.44601982e+01] [-1.06010591e-02 1.88643631e-06 9.99943807e-01 -2.84980188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.20, Y:-34.48, Z:-2.85 [[ 9.80374324e-01 1.96871466e-01 1.03831555e-02 2.57198495e+02] [-1.96859860e-01 9.80429305e-01 -2.13834952e-03 -3.44812497e+01] [-1.06009299e-02 5.23564326e-05 9.99943807e-01 -2.84751411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:-34.50, Z:-2.85 [[ 9.80997032e-01 1.93744731e-01 1.03828147e-02 2.57258672e+02] [-1.93732932e-01 9.81051972e-01 -2.14000271e-03 -3.45012585e+01] [-1.06006951e-02 8.78431662e-05 9.99943807e-01 -2.84885358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:-34.52, Z:-2.85 [[ 9.81223508e-01 1.92594476e-01 1.03824266e-02 2.57320279e+02] [-1.92582592e-01 9.81278430e-01 -2.14188403e-03 -3.45165651e+01] [-1.06005663e-02 1.02192326e-04 9.99943807e-01 -2.84853916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:-34.53, Z:-2.84 [[ 9.81298539e-01 1.92211837e-01 1.03820167e-02 2.57379433e+02] [-1.92199912e-01 9.81353452e-01 -2.14386894e-03 -3.45339906e+01] [-1.06005049e-02 1.08352766e-04 9.99943807e-01 -2.84336990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.44, Y:-34.55, Z:-2.84 [[ 9.79683499e-01 2.00280957e-01 1.03816868e-02 2.57440294e+02] [-2.00269467e-01 9.79738505e-01 -2.14546568e-03 -3.45493091e+01] [-1.06010342e-02 2.27424589e-05 9.99943807e-01 -2.84239624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.50, Y:-34.56, Z:-2.85 [[ 9.78065085e-01 2.08040666e-01 1.03813066e-02 2.57500055e+02] [-2.08029593e-01 9.78120175e-01 -2.14730357e-03 -3.45628654e+01] [-1.06008919e-02 -5.94163289e-05 9.99943807e-01 -2.85232064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.56, Y:-34.58, Z:-2.85 [[ 9.77334179e-01 2.11447714e-01 1.03811189e-02 2.57560789e+02] [-2.11436822e-01 9.77389306e-01 -2.14821038e-03 -3.45765424e+01] [-1.06006288e-02 -9.54313754e-05 9.99943807e-01 -2.85236044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:-34.59, Z:-2.86 [[ 9.77415018e-01 2.11073736e-01 1.03807949e-02 2.57620809e+02] [-2.11062807e-01 9.77470138e-01 -2.14977489e-03 -3.45901038e+01] [-1.06006781e-02 -8.97774585e-05 9.99943807e-01 -2.85620730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.68, Y:-34.60, Z:-2.85 [[ 9.77034888e-01 2.12826395e-01 1.03804516e-02 2.57681630e+02] [-2.12815547e-01 9.77090024e-01 -2.15143173e-03 -3.46036201e+01] [-1.06005171e-02 -1.07097616e-04 9.99943807e-01 -2.85435399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:-34.61, Z:-2.85 [[ 9.74199531e-01 2.25449611e-01 1.03801357e-02 2.57743951e+02] [-2.25439461e-01 9.74254799e-01 -2.15295481e-03 -3.46114430e+01] [-1.05982798e-02 -2.42684621e-04 9.99943807e-01 -2.85240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.81, Y:-34.61, Z:-2.86 [[ 9.71950595e-01 2.34955956e-01 1.03797825e-02 2.57805880e+02] [-2.34946328e-01 9.72005957e-01 -2.15465630e-03 -3.46143627e+01] [-1.05954597e-02 -3.44472299e-04 9.99943807e-01 -2.85548719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.87, Y:-34.62, Z:-2.85 [[ 9.72168532e-01 2.34052572e-01 1.03797325e-02 2.57868683e+02] [-2.34042891e-01 9.72223884e-01 -2.15489692e-03 -3.46183931e+01] [-1.05957830e-02 -3.34379630e-04 9.99943807e-01 -2.85263031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:-34.62, Z:-2.85 [[ 9.73141700e-01 2.29972824e-01 1.03793762e-02 2.57930331e+02] [-2.29962892e-01 9.73197008e-01 -2.15661190e-03 -3.46237444e+01] [-1.05971400e-02 -2.88182395e-04 9.99943807e-01 -2.84919942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:-34.62, Z:-2.84 [[ 9.73864713e-01 2.26891583e-01 1.03793254e-02 2.57992410e+02] [-2.26881474e-01 9.73919989e-01 -2.15685640e-03 -3.46211963e+01] [-1.05980050e-02 -2.54390299e-04 9.99943807e-01 -2.84405237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:-34.63, Z:-2.85 [[ 9.74430475e-01 2.24449369e-01 1.03793254e-02 2.58051420e+02] [-2.24439121e-01 9.74485725e-01 -2.15685640e-03 -3.46268039e+01] [-1.05986095e-02 -2.27820057e-04 9.99943807e-01 -2.84640826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:-34.63, Z:-2.86 [[ 9.76182852e-01 2.16700964e-01 1.03794017e-02 2.58111893e+02] [-2.16690282e-01 9.76238020e-01 -2.15648900e-03 -3.46341798e+01] [-1.06000798e-02 -1.43987894e-04 9.99943807e-01 -2.85868113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.17, Y:-34.64, Z:-2.85 [[ 9.77558470e-01 2.10408426e-01 1.03794017e-02 2.58170252e+02] [-2.10397389e-01 9.77613568e-01 -2.15648900e-03 -3.46434302e+01] [-1.06007874e-02 -7.57049239e-05 9.99943807e-01 -2.85160163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.23, Y:-34.65, Z:-2.86 [[ 9.77183075e-01 2.12145010e-01 1.03794527e-02 2.58230704e+02] [-2.12134073e-01 9.77238193e-01 -2.15624356e-03 -3.46477847e+01] [-1.06006339e-02 -9.47908631e-05 9.99943807e-01 -2.85517073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:-34.65, Z:-2.87 [[ 9.75392470e-01 2.20231233e-01 1.03795054e-02 2.58289125e+02] [-2.20220756e-01 9.75447677e-01 -2.15598988e-03 -3.46498438e+01] [-1.05994807e-02 -1.82846226e-04 9.99943807e-01 -2.86540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:-34.65, Z:-2.86 [[ 9.72662307e-01 2.31992024e-01 1.03796353e-02 2.58349335e+02] [-2.31982220e-01 9.72717638e-01 -2.15536398e-03 -3.46502407e+01] [-1.05964816e-02 -3.11449546e-04 9.99943807e-01 -2.86351191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.41, Y:-34.65, Z:-2.87 [[ 9.71855001e-01 2.35351054e-01 1.03797377e-02 2.58407159e+02] [-2.35341446e-01 9.71910366e-01 -2.15487070e-03 -3.46537266e+01] [-1.05953258e-02 -3.48560630e-04 9.99943807e-01 -2.86794637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.47, Y:-34.66, Z:-2.87 [[ 9.72736223e-01 2.31681893e-01 1.03798636e-02 2.58465292e+02] [-2.31672083e-01 9.72791553e-01 -2.15426418e-03 -3.46590031e+01] [-1.05965477e-02 -3.09193833e-04 9.99943807e-01 -2.86958375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.52, Y:-34.66, Z:-2.86 [[ 9.74682876e-01 2.23350726e-01 1.03799836e-02 2.58524265e+02] [-2.23340450e-01 9.74738121e-01 -2.15368585e-03 -3.46647306e+01] [-1.05987930e-02 -2.19109497e-04 9.99943807e-01 -2.86313276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:-34.67, Z:-2.86 [[ 9.75354186e-01 2.20400695e-01 1.03800824e-02 2.58582950e+02] [-2.20390257e-01 9.75409400e-01 -2.15320954e-03 -3.46708364e+01] [-1.05993989e-02 -1.87527090e-04 9.99943807e-01 -2.85780024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.64, Y:-34.68, Z:-2.85 [[ 9.75193337e-01 2.21111300e-01 1.03801880e-02 2.58640702e+02] [-2.21100907e-01 9.75248560e-01 -2.15270067e-03 -3.46790178e+01] [-1.05992498e-02 -1.95769620e-04 9.99943807e-01 -2.85324417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:-34.69, Z:-2.85 [[ 9.75671387e-01 2.18992222e-01 1.03803186e-02 2.58697560e+02] [-2.18981716e-01 9.75726589e-01 -2.15207049e-03 -3.46882913e+01] [-1.05996396e-02 -1.73386375e-04 9.99943807e-01 -2.85442517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.75, Y:-34.70, Z:-2.86 [[ 9.76717723e-01 2.14277241e-01 1.03804762e-02 2.58754619e+02] [-2.14266476e-01 9.76772875e-01 -2.15131005e-03 -3.46983397e+01] [-1.06003444e-02 -1.22965402e-04 9.99943807e-01 -2.85717331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.81, Y:-34.71, Z:-2.87 [[ 9.77339816e-01 2.11421680e-01 1.03806061e-02 2.58812839e+02] [-2.11410761e-01 9.77394938e-01 -2.15068312e-03 -3.47092460e+01] [-1.06006529e-02 -9.26235874e-05 9.99943807e-01 -2.86620963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:-34.72, Z:-2.87 [[ 9.78392937e-01 2.06493346e-01 1.03806822e-02 2.58869652e+02] [-2.06482153e-01 9.78448004e-01 -2.15031570e-03 -3.47228551e+01] [-1.06009837e-02 -3.95719212e-05 9.99943807e-01 -2.86817876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.93, Y:-34.74, Z:-2.87 [[ 9.79001281e-01 2.03589616e-01 1.03807864e-02 2.58926168e+02] [-2.03578266e-01 9.79056315e-01 -2.14981264e-03 -3.47373247e+01] [-1.06010540e-02 -8.63316704e-06 9.99943807e-01 -2.86565378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.98, Y:-34.75, Z:-2.87 [[ 9.79057484e-01 2.03319157e-01 1.03809401e-02 2.58982638e+02] [-2.03307799e-01 9.79112517e-01 -2.14907011e-03 -3.47521215e+01] [-1.06010555e-02 -6.46290919e-06 9.99943807e-01 -2.86571734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:-34.76, Z:-2.87 [[ 9.77986685e-01 2.08408918e-01 1.03810655e-02 2.59039977e+02] [-2.08397853e-01 9.78041778e-01 -2.14846406e-03 -3.47616199e+01] [-1.06008749e-02 -6.22225244e-05 9.99943807e-01 -2.86896872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.10, Y:-34.77, Z:-2.86 [[ 9.74677395e-01 2.23374590e-01 1.03811889e-02 2.59099449e+02] [-2.23364377e-01 9.74732652e-01 -2.14786790e-03 -3.47667569e+01] [-1.05986629e-02 -2.25309491e-04 9.99943807e-01 -2.86199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:-34.77, Z:-2.86 [[ 9.73340181e-01 2.29131232e-01 1.03812908e-02 2.59158920e+02] [-2.29121351e-01 9.73395498e-01 -2.14737527e-03 -3.47651590e+01] [-1.05971324e-02 -2.88448733e-04 9.99943807e-01 -2.85764819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:-34.77, Z:-2.86 [[ 9.73523970e-01 2.28349089e-01 1.03814160e-02 2.59216747e+02] [-2.28339170e-01 9.73579280e-01 -2.14676970e-03 -3.47733672e+01] [-1.05973444e-02 -2.80552162e-04 9.99943807e-01 -2.85984485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:-34.78, Z:-2.87 [[ 9.75430433e-01 2.20062929e-01 1.03815679e-02 2.59274979e+02] [-2.20052548e-01 9.75485659e-01 -2.14603475e-03 -3.47801127e+01] [-1.05993333e-02 -1.91182872e-04 9.99943807e-01 -2.86587782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:-34.79, Z:-2.87 [[ 9.78572539e-01 2.05640480e-01 1.03816694e-02 2.59333726e+02] [-2.05629290e-01 9.78627606e-01 -2.14554388e-03 -3.47860962e+01] [-1.06009989e-02 -3.52049824e-05 9.99943807e-01 -2.86644765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:-34.80, Z:-2.87 [[ 9.81003267e-01 1.93713215e-01 1.03817718e-02 2.59390197e+02] [-1.93701360e-01 9.81058195e-01 -2.14504839e-03 -3.47976551e+01] [-1.06006465e-02 9.33361629e-05 9.99943807e-01 -2.86987489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:-34.81, Z:-2.87 [[ 9.81841319e-01 1.89419746e-01 1.03818990e-02 2.59448258e+02] [-1.89407658e-01 9.81896196e-01 -2.14443257e-03 -3.48081255e+01] [-1.06001450e-02 1.39081335e-04 9.99943807e-01 -2.87267979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:-34.82, Z:-2.88 [[ 9.81960732e-01 1.88799721e-01 1.03819993e-02 2.59505954e+02] [-1.88787604e-01 9.82015603e-01 -2.14394654e-03 -3.48174186e+01] [-1.06000618e-02 1.45278541e-04 9.99943807e-01 -2.87541918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:-34.83, Z:-2.88 [[ 9.81960891e-01 1.88798892e-01 1.03820994e-02 2.59562973e+02] [-1.88786779e-01 9.82015762e-01 -2.14346167e-03 -3.48280989e+01] [-1.06000685e-02 1.44792423e-04 9.99943807e-01 -2.87946462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.62, Y:-34.84, Z:-2.87 [[ 9.82825461e-01 1.84245276e-01 1.03822777e-02 2.59620287e+02] [-1.84232918e-01 9.82880278e-01 -2.14259785e-03 -3.48425036e+01] [-1.05992995e-02 1.93042407e-04 9.99943807e-01 -2.87311873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.68, Y:-34.86, Z:-2.87 [[ 9.83267140e-01 1.81873411e-01 1.03823795e-02 2.59675770e+02] [-1.81860927e-01 9.83321928e-01 -2.14210444e-03 -3.48601210e+01] [-1.05988133e-02 2.18111754e-04 9.99943807e-01 -2.87076053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.73, Y:-34.88, Z:-2.87 [[ 9.82881253e-01 1.83947402e-01 1.03825052e-02 2.59732728e+02] [-1.83935040e-01 9.82936069e-01 -2.14149521e-03 -3.48766873e+01] [-1.05992613e-02 1.95129001e-04 9.99943807e-01 -2.87254078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.79, Y:-34.90, Z:-2.87 [[ 9.81409140e-01 1.91646293e-01 1.03826051e-02 2.59788747e+02] [-1.91634366e-01 9.81464052e-01 -2.14101046e-03 -3.48958279e+01] [-1.06004704e-02 1.11543283e-04 9.99943807e-01 -2.87056489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:-34.91, Z:-2.87 [[ 9.79652040e-01 2.00434729e-01 1.03827059e-02 2.59843770e+02] [-2.00423299e-01 9.79707058e-01 -2.14052174e-03 -3.49146303e+01] [-1.06010451e-02 1.60303252e-05 9.99943807e-01 -2.86836975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:-34.93, Z:-2.87 [[ 9.78769716e-01 2.04699876e-01 1.03828313e-02 2.59900215e+02] [-2.04688693e-01 9.78824785e-01 -2.13991338e-03 -3.49298869e+01] [-1.06010126e-02 -3.07657498e-05 9.99943807e-01 -2.86889380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:-34.94, Z:-2.87 [[ 9.77501679e-01 2.10671929e-01 1.03829769e-02 2.59958047e+02] [-2.10661089e-01 9.77556816e-01 -2.13920633e-03 -3.49415422e+01] [-1.06006206e-02 -9.62114539e-05 9.99943807e-01 -2.87109157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.02, Y:-34.95, Z:-2.87 [[ 9.75860378e-01 2.18148375e-01 1.03830749e-02 2.60015064e+02] [-2.18137963e-01 9.75915598e-01 -2.13873059e-03 -3.49488315e+01] [-1.05995654e-02 -1.77840374e-04 9.99943807e-01 -2.87485883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:-34.96, Z:-2.87 [[ 9.74968033e-01 2.22102508e-01 1.03831962e-02 2.60074023e+02] [-2.22092326e-01 9.75023296e-01 -2.13814175e-03 -3.49552841e+01] [-1.05987448e-02 -2.21408339e-04 9.99943807e-01 -2.87118741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:-34.96, Z:-2.88 [[ 9.74828788e-01 2.22712870e-01 1.03832920e-02 2.60132639e+02] [-2.22702728e-01 9.74884057e-01 -2.13767631e-03 -3.49619469e+01] [-1.05985939e-02 -2.28519049e-04 9.99943807e-01 -2.87574322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-34.97, Z:-2.88 [[ 9.75861010e-01 2.18145536e-01 1.03833922e-02 2.60190907e+02] [-2.18135140e-01 9.75916233e-01 -2.13718964e-03 -3.49727223e+01] [-1.05995393e-02 -1.79382665e-04 9.99943807e-01 -2.88094313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:-34.98, Z:-2.88 [[ 9.77328002e-01 2.11476141e-01 1.03835816e-02 2.60248222e+02] [-2.11465378e-01 9.77383154e-01 -2.13626886e-03 -3.49841227e+01] [-1.06005076e-02 -1.07932634e-04 9.99943807e-01 -2.88124133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:260.30, Y:-35.00, Z:-2.88 [[ 9.78237679e-01 2.07227466e-01 1.03836810e-02 2.60304027e+02] [-2.07216469e-01 9.78292785e-01 -2.13578562e-03 -3.50000359e+01] [-1.06008737e-02 -6.23637465e-05 9.99943807e-01 -2.88446744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.36, Y:-35.02, Z:-2.89 [[ 9.78879539e-01 2.04174001e-01 1.03838550e-02 2.60358886e+02] [-2.04162841e-01 9.78934613e-01 -2.13493952e-03 -3.50160878e+01] [-1.06010142e-02 -3.01487249e-05 9.99943807e-01 -2.88510454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.42, Y:-35.03, Z:-2.88 [[ 9.77800232e-01 2.09281818e-01 1.03840257e-02 2.60416280e+02] [-2.09270954e-01 9.77855364e-01 -2.13410857e-03 -3.50290021e+01] [-1.06007054e-02 -8.63431200e-05 9.99943807e-01 -2.88046354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.47, Y:-35.04, Z:-2.89 [[ 9.76056120e-01 2.17270846e-01 1.03841293e-02 2.60473637e+02] [-2.17260439e-01 9.76111341e-01 -2.13360455e-03 -3.50381771e+01] [-1.05996364e-02 -1.73542704e-04 9.99943807e-01 -2.88576840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.53, Y:-35.05, Z:-2.88 [[ 9.74965183e-01 2.22114970e-01 1.03842571e-02 2.60532683e+02] [-2.22104844e-01 9.75020456e-01 -2.13298239e-03 -3.50454736e+01] [-1.05986304e-02 -2.26810234e-04 9.99943807e-01 -2.88373632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.59, Y:-35.05, Z:-2.88 [[ 9.74835879e-01 2.22681778e-01 1.03843569e-02 2.60590586e+02] [-2.22671689e-01 9.74891159e-01 -2.13249652e-03 -3.50530614e+01] [-1.05984858e-02 -2.33468163e-04 9.99943807e-01 -2.87800015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:-35.06, Z:-2.88 [[ 9.76029590e-01 2.17389976e-01 1.03844799e-02 2.60647301e+02] [-2.17379594e-01 9.76084816e-01 -2.13189738e-03 -3.50637233e+01] [-1.05995862e-02 -1.76579083e-04 9.99943807e-01 -2.87855032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:-35.08, Z:-2.88 [[ 9.77784807e-01 2.09353839e-01 1.03846312e-02 2.60704378e+02] [-2.09343011e-01 9.77839947e-01 -2.13116018e-03 -3.50781722e+01] [-1.06006738e-02 -9.01339056e-05 9.99943807e-01 -2.88387204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:-35.09, Z:-2.88 [[ 9.78630679e-01 2.05363461e-01 1.03847321e-02 2.60760162e+02] [-2.05352413e-01 9.78685775e-01 -2.13066814e-03 -3.50931362e+01] [-1.06009510e-02 -4.73925963e-05 9.99943807e-01 -2.88251484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.82, Y:-35.11, Z:-2.88 [[ 9.78772944e-01 2.04684339e-01 1.03848576e-02 2.60816463e+02] [-2.04673260e-01 9.78828034e-01 -2.13005658e-03 -3.51071272e+01] [-1.06009789e-02 -4.06609019e-05 9.99943807e-01 -2.87792466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:-35.12, Z:-2.88 [[ 9.79611631e-01 2.00632010e-01 1.03850335e-02 2.60872159e+02] [-2.00620712e-01 9.79666676e-01 -2.12919844e-03 -3.51238194e+01] [-1.06010566e-02 2.33474353e-06 9.99943807e-01 -2.88384868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.93, Y:-35.14, Z:-2.88 [[ 9.81287485e-01 1.92268093e-01 1.03851552e-02 2.60928155e+02] [-1.92256332e-01 9.81342434e-01 -2.12860482e-03 -3.51431495e+01] [-1.06006562e-02 9.21614327e-05 9.99943807e-01 -2.87866508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:-35.16, Z:-2.89 [[ 9.81819255e-01 1.89533894e-01 1.03852543e-02 2.60984427e+02] [-1.89521985e-01 9.81874171e-01 -2.12812110e-03 -3.51625264e+01] [-1.06003640e-02 1.21196261e-04 9.99943807e-01 -2.88605616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-35.18, Z:-2.89 [[ 9.81795853e-01 1.89655075e-01 1.03853550e-02 2.61040270e+02] [-1.89643178e-01 9.81850772e-01 -2.12762950e-03 -3.51769710e+01] [-1.06003846e-02 1.19386099e-04 9.99943807e-01 -2.88880025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:-35.20, Z:-2.89 [[ 9.81452319e-01 1.91424888e-01 1.03854792e-02 2.61095558e+02] [-1.91413097e-01 9.81507260e-01 -2.12702315e-03 -3.51981700e+01] [-1.06005884e-02 9.96550743e-05 9.99943807e-01 -2.88669878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:-35.22, Z:-2.88 [[ 9.80242188e-01 1.97528208e-01 1.03855756e-02 2.61151789e+02] [-1.97516763e-01 9.80297203e-01 -2.12655225e-03 -3.52196820e+01] [-1.06010048e-02 3.32109504e-05 9.99943807e-01 -2.87785109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:-35.23, Z:-2.88 [[ 9.79005014e-01 2.03571414e-01 1.03856772e-02 2.61207632e+02] [-2.03560314e-01 9.79060099e-01 -2.12605580e-03 -3.52337590e+01] [-1.06010064e-02 -3.26924320e-05 9.99943807e-01 -2.88043762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.26, Y:-35.25, Z:-2.88 [[ 9.77744443e-01 2.09542213e-01 1.03858032e-02 2.61264742e+02] [-2.09531456e-01 9.77799597e-01 -2.12544014e-03 -3.52470084e+01] [-1.06006036e-02 -9.80151890e-05 9.99943807e-01 -2.88299422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:261.32, Y:-35.26, Z:-2.89 [[ 9.76971992e-01 2.13114663e-01 1.03859049e-02 2.61321750e+02] [-2.13104113e-01 9.77027186e-01 -2.12494313e-03 -3.52564546e+01] [-1.06001680e-02 -1.37269136e-04 9.99943807e-01 -2.89027247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.38, Y:-35.26, Z:-2.88 [[ 9.77395073e-01 2.11165816e-01 1.03860299e-02 2.61379901e+02] [-2.11155163e-01 9.77450247e-01 -2.12433205e-03 -3.52634704e+01] [-1.06004138e-02 -1.16752158e-04 9.99943807e-01 -2.88100264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.44, Y:-35.28, Z:-2.88 [[ 9.78933759e-01 2.03913764e-01 1.03861547e-02 2.61437882e+02] [-2.03902708e-01 9.78988854e-01 -2.12372189e-03 -3.52759585e+01] [-1.06009858e-02 -3.87820167e-05 9.99943807e-01 -2.87916382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.50, Y:-35.29, Z:-2.88 [[ 9.80766389e-01 1.94908737e-01 1.03862578e-02 2.61495719e+02] [-1.94897181e-01 9.80821381e-01 -2.12321759e-03 -3.52913977e+01] [-1.06008973e-02 5.81280894e-05 9.99943807e-01 -2.88186424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.55, Y:-35.30, Z:-2.89 [[ 9.80496625e-01 1.96261288e-01 1.03863098e-02 2.61552470e+02] [-1.96249810e-01 9.80551633e-01 -2.12296303e-03 -3.53020368e+01] [-1.06009685e-02 4.32467647e-05 9.99943807e-01 -2.88790269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.61, Y:-35.31, Z:-2.89 [[ 9.79527261e-01 2.01043444e-01 1.03864387e-02 2.61608733e+02] [-2.01032241e-01 9.79582326e-01 -2.12233208e-03 -3.53136581e+01] [-1.06010528e-02 -9.12692741e-06 9.99943807e-01 -2.89200750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.67, Y:-35.33, Z:-2.88 [[ 9.79316268e-01 2.02068718e-01 1.03865596e-02 2.61665255e+02] [-2.02057580e-01 9.79371346e-01 -2.12174044e-03 -3.53275246e+01] [-1.06010362e-02 -2.08281602e-05 9.99943807e-01 -2.88251407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:-35.34, Z:-2.88 [[ 9.79284389e-01 2.02223149e-01 1.03866759e-02 2.61722859e+02] [-2.02212025e-01 9.79339470e-01 -2.12117062e-03 -3.53374096e+01] [-1.06010315e-02 -2.30815031e-05 9.99943807e-01 -2.88324757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.78, Y:-35.34, Z:-2.89 [[ 9.77854287e-01 2.09028964e-01 1.03867758e-02 2.61780501e+02] [-2.09018229e-01 9.77909445e-01 -2.12068144e-03 -3.53449155e+01] [-1.06006100e-02 -9.73080476e-05 9.99943807e-01 -2.88741268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:-35.35, Z:-2.89 [[ 9.77215735e-01 2.11994150e-01 1.03868993e-02 2.61837832e+02] [-2.11983588e-01 9.77270926e-01 -2.12007646e-03 -3.53521283e+01] [-1.06002585e-02 -1.30080106e-04 9.99943807e-01 -2.89018223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:-35.36, Z:-2.89 [[ 9.77593922e-01 2.10243273e-01 1.03870449e-02 2.61896309e+02] [-2.10232620e-01 9.77649095e-01 -2.11936295e-03 -3.53615880e+01] [-1.06004668e-02 -1.11819326e-04 9.99943807e-01 -2.89361591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:-35.37, Z:-2.89 [[ 9.78313040e-01 2.06871221e-01 1.03871428e-02 2.61952811e+02] [-2.06860383e-01 9.78368178e-01 -2.11888295e-03 -3.53729571e+01] [-1.06007859e-02 -7.57575181e-05 9.99943807e-01 -2.89313152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:-35.39, Z:-2.89 [[ 9.78754201e-01 2.04773823e-01 1.03872642e-02 2.62010634e+02] [-2.04762873e-01 9.78809317e-01 -2.11828765e-03 -3.53854218e+01] [-1.06009208e-02 -5.36431299e-05 9.99943807e-01 -2.88866142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:-35.40, Z:-2.89 [[ 9.79287937e-01 2.02205930e-01 1.03873601e-02 2.62067434e+02] [-2.02194841e-01 9.79343025e-01 -2.11781748e-03 -3.53989065e+01] [-1.06010239e-02 -2.63175118e-05 9.99943807e-01 -2.88929283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.13, Y:-35.41, Z:-2.89 [[ 9.79731212e-01 2.00047123e-01 1.03875034e-02 2.62125343e+02] [-2.00035920e-01 9.79786277e-01 -2.11711443e-03 -3.54111857e+01] [-1.06010559e-02 -3.67070042e-06 9.99943807e-01 -2.89165799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.18, Y:-35.42, Z:-2.89 [[ 9.80407819e-01 1.96704362e-01 1.03876020e-02 2.62184113e+02] [-1.96692976e-01 9.80462846e-01 -2.11663030e-03 -3.54190318e+01] [-1.06010082e-02 3.19925440e-05 9.99943807e-01 -2.89445526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.24, Y:-35.43, Z:-2.89 [[ 9.80724236e-01 1.95120654e-01 1.03877046e-02 2.62240647e+02] [-1.95109184e-01 9.80779245e-01 -2.11612691e-03 -3.54301605e+01] [-1.06009451e-02 4.86003764e-05 9.99943807e-01 -2.89214271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.30, Y:-35.44, Z:-2.89 [[ 9.80987688e-01 1.93791767e-01 1.03878313e-02 2.62298046e+02] [-1.93780230e-01 9.81042684e-01 -2.11550453e-03 -3.54425538e+01] [-1.06008733e-02 6.23275577e-05 9.99943807e-01 -2.89474317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:-35.46, Z:-2.90 [[ 9.81558033e-01 1.90881950e-01 1.03879312e-02 2.62355049e+02] [-1.90870255e-01 9.81612995e-01 -2.11501367e-03 -3.54568748e+01] [-1.06006462e-02 9.32615705e-05 9.99943807e-01 -2.89630297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.41, Y:-35.48, Z:-2.89 [[ 9.82431675e-01 1.86333282e-01 1.03880302e-02 2.62412169e+02] [-1.86321338e-01 9.82486584e-01 -2.11452776e-03 -3.54759536e+01] [-1.06001072e-02 1.41867371e-04 9.99943807e-01 -2.89401689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.47, Y:-35.50, Z:-2.90 [[ 9.83284961e-01 1.81776713e-01 1.03880803e-02 2.62468753e+02] [-1.81764517e-01 9.83339814e-01 -2.11428137e-03 -3.55004362e+01] [-1.05993401e-02 1.90756677e-04 9.99943807e-01 -2.89766285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.52, Y:-35.53, Z:-2.90 [[ 9.83116698e-01 1.82684550e-01 1.03880803e-02 2.62524523e+02] [-1.82672405e-01 9.83171563e-01 -2.11428137e-03 -3.55268138e+01] [-1.05995117e-02 1.80969712e-04 9.99943807e-01 -2.89858011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:-35.55, Z:-2.90 [[ 9.81913427e-01 1.89045263e-01 1.03879523e-02 2.62581146e+02] [-1.89033466e-01 9.81968368e-01 -2.11490988e-03 -3.55504059e+01] [-1.06004543e-02 1.12987770e-04 9.99943807e-01 -2.90200202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.64, Y:-35.57, Z:-2.91 [[ 9.80758792e-01 1.94946872e-01 1.03879523e-02 2.62638525e+02] [-1.94935405e-01 9.80813802e-01 -2.11490988e-03 -3.55678083e+01] [-1.06009421e-02 4.92367565e-05 9.99943807e-01 -2.90608377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:-35.58, Z:-2.89 [[ 9.78424348e-01 2.06344095e-01 1.03879768e-02 2.62697387e+02] [-2.06333271e-01 9.78479488e-01 -2.11478987e-03 -3.55811940e+01] [-1.06007966e-02 -7.42233311e-05 9.99943807e-01 -2.89236937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:-35.60, Z:-2.90 [[ 9.77401057e-01 2.11138020e-01 1.03879768e-02 2.62756557e+02] [-2.11127467e-01 9.77456250e-01 -2.11478987e-03 -3.55950393e+01] [-1.06003054e-02 -1.26189369e-04 9.99943807e-01 -2.89915347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.81, Y:-35.61, Z:-2.90 [[ 9.77390784e-01 2.11185573e-01 1.03879517e-02 2.62814741e+02] [-2.11175020e-01 9.77445977e-01 -2.11491324e-03 -3.56081964e+01] [-1.06003007e-02 -1.26579194e-04 9.99943807e-01 -2.90437156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:-35.62, Z:-2.90 [[ 9.78492997e-01 2.06018312e-01 1.03879979e-02 2.62873467e+02] [-2.06007470e-01 9.78548134e-01 -2.11468600e-03 -3.56209811e+01] [-1.06008200e-02 -7.07997299e-05 9.99943807e-01 -2.90010584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:-35.64, Z:-2.90 [[ 9.78501511e-01 2.05977867e-01 1.03879979e-02 2.62934717e+02] [-2.05967023e-01 9.78556648e-01 -2.11468600e-03 -3.56354067e+01] [-1.06008229e-02 -7.03615592e-05 9.99943807e-01 -2.89839825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.99, Y:-35.65, Z:-2.91 [[ 9.77729426e-01 2.09612184e-01 1.03875802e-02 2.62994965e+02] [-2.09601524e-01 9.77784598e-01 -2.11673595e-03 -3.56468071e+01] [-1.06005096e-02 -1.07657606e-04 9.99943807e-01 -2.90965553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.05, Y:-35.66, Z:-2.90 [[ 9.77294830e-01 2.11629201e-01 1.03873725e-02 2.63054306e+02] [-2.11618643e-01 9.77350022e-01 -2.11775462e-03 -3.56639989e+01] [-1.06002775e-02 -1.28491039e-04 9.99943807e-01 -2.90115419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.11, Y:-35.67, Z:-2.90 [[ 9.76698903e-01 2.14362673e-01 1.03873230e-02 2.63114079e+02] [-2.14352267e-01 9.76754124e-01 -2.11799734e-03 -3.56736683e+01] [-1.05998802e-02 -1.57900560e-04 9.99943807e-01 -2.89741702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:-35.69, Z:-2.90 [[ 9.77241782e-01 2.11874027e-01 1.03873230e-02 2.63175425e+02] [-2.11863481e-01 9.77296976e-01 -2.11799734e-03 -3.56852543e+01] [-1.06002480e-02 -1.30898918e-04 9.99943807e-01 -2.89841112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.24, Y:-35.70, Z:-2.90 [[ 9.77943467e-01 2.08611329e-01 1.03869678e-02 2.63236195e+02] [-2.08600581e-01 9.77998622e-01 -2.11973816e-03 -3.56983206e+01] [-1.06006415e-02 -9.37434216e-05 9.99943807e-01 -2.89949516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.30, Y:-35.72, Z:-2.90 [[ 9.78118198e-01 2.07790539e-01 1.03866131e-02 2.63295410e+02] [-2.07779726e-01 9.78173341e-01 -2.12147469e-03 -3.57157899e+01] [-1.06007304e-02 -8.30746154e-05 9.99943807e-01 -2.90045596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.36, Y:-35.73, Z:-2.90 [[ 9.78260271e-01 2.07120657e-01 1.03862872e-02 2.63357179e+02] [-2.07109789e-01 9.78315403e-01 -2.12306903e-03 -3.57295154e+01] [-1.06007962e-02 -7.41876618e-05 9.99943807e-01 -2.89641806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.42, Y:-35.74, Z:-2.90 [[ 9.78120934e-01 2.07777697e-01 1.03858677e-02 2.63416382e+02] [-2.07766845e-01 9.78176069e-01 -2.12511915e-03 -3.57432204e+01] [-1.06007596e-02 -7.92154251e-05 9.99943807e-01 -2.90045689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.48, Y:-35.75, Z:-2.91 [[ 9.77515469e-01 2.10607803e-01 1.03856629e-02 2.63476942e+02] [-2.10597099e-01 9.77570632e-01 -2.12611966e-03 -3.57509532e+01] [-1.06004964e-02 -1.08875616e-04 9.99943807e-01 -2.90963886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.54, Y:-35.76, Z:-2.90 [[ 9.77671676e-01 2.09881472e-01 1.03856118e-02 2.63536811e+02] [-2.09870725e-01 9.77726832e-01 -2.12636918e-03 -3.57628126e+01] [-1.06005768e-02 -1.00744948e-04 9.99943807e-01 -2.90271417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:-35.77, Z:-2.90 [[ 9.78622690e-01 2.05401486e-01 1.03855612e-02 2.63597239e+02] [-2.05390484e-01 9.78677795e-01 -2.12661619e-03 -3.57720362e+01] [-1.06009283e-02 -5.19405806e-05 9.99943807e-01 -2.89920670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.66, Y:-35.78, Z:-2.91 [[ 9.79281032e-01 2.02239481e-01 1.03852353e-02 2.63657938e+02] [-2.02228283e-01 9.79336098e-01 -2.12820629e-03 -3.57833201e+01] [-1.06010432e-02 -1.60762668e-05 9.99943807e-01 -2.90748454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.72, Y:-35.79, Z:-2.91 [[ 9.79535339e-01 2.01004152e-01 1.03851403e-02 2.63718082e+02] [-2.00992880e-01 9.79590389e-01 -2.12866988e-03 -3.57943208e+01] [-1.06010551e-02 -2.23188205e-06 9.99943807e-01 -2.90831357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.78, Y:-35.81, Z:-2.91 [[ 9.79069508e-01 2.03261034e-01 1.03850911e-02 2.63777711e+02] [-2.03249887e-01 9.79124584e-01 -2.12890976e-03 -3.58075621e+01] [-1.06010224e-02 -2.64179701e-05 9.99943807e-01 -2.91156681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:-35.82, Z:-2.91 [[ 9.78664508e-01 2.05202175e-01 1.03850413e-02 2.63836502e+02] [-2.05191134e-01 9.78719605e-01 -2.12915306e-03 -3.58220950e+01] [-1.06009503e-02 -4.71918584e-05 9.99943807e-01 -2.90946918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.89, Y:-35.84, Z:-2.91 [[ 9.78197986e-01 2.07414685e-01 1.03850165e-02 2.63894779e+02] [-2.07403768e-01 9.78253108e-01 -2.12927377e-03 -3.58355016e+01] [-1.06008173e-02 -7.10402359e-05 9.99943807e-01 -2.91068063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:-35.85, Z:-2.91 [[ 9.77714914e-01 2.09679990e-01 1.03850406e-02 2.63954650e+02] [-2.09669202e-01 9.77770061e-01 -2.12915625e-03 -3.58505767e+01] [-1.06006232e-02 -9.57153496e-05 9.99943807e-01 -2.91274462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:-35.87, Z:-2.91 [[ 9.78317123e-01 2.06852022e-01 1.03849906e-02 2.64014470e+02] [-2.06841072e-01 9.78372238e-01 -2.12940001e-03 -3.58670289e+01] [-1.06008572e-02 -6.48140975e-05 9.99943807e-01 -2.91284884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.08, Y:-35.88, Z:-2.91 [[ 9.78661079e-01 2.05218546e-01 1.03846428e-02 2.64075348e+02] [-2.05207485e-01 9.78716173e-01 -2.13109472e-03 -3.58845379e+01] [-1.06009580e-02 -4.53869867e-05 9.99943807e-01 -2.91321857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:-35.90, Z:-2.91 [[ 9.78404129e-01 2.06440131e-01 1.03842471e-02 2.64133928e+02] [-2.06429119e-01 9.78459232e-01 -2.13302106e-03 -3.59031538e+01] [-1.06009036e-02 -5.66543756e-05 9.99943807e-01 -2.90969407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.20, Y:-35.92, Z:-2.91 [[ 9.77129690e-01 2.12390537e-01 1.03840591e-02 2.64195211e+02] [-2.12379850e-01 9.77184857e-01 -2.13393629e-03 -3.59178085e+01] [-1.06003732e-02 -1.20232405e-04 9.99943807e-01 -2.90604682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:-35.93, Z:-2.90 [[ 9.76031182e-01 2.17382867e-01 1.03836494e-02 2.64254478e+02] [-2.17372441e-01 9.76086400e-01 -2.13592779e-03 -3.59321934e+01] [-1.05996531e-02 -1.72387095e-04 9.99943807e-01 -2.90284955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.32, Y:-35.95, Z:-2.91 [[ 9.75759505e-01 2.18599115e-01 1.03834539e-02 2.64315558e+02] [-2.18588749e-01 9.75814733e-01 -2.13687789e-03 -3.59485009e+01] [-1.05994469e-02 -1.84627280e-04 9.99943807e-01 -2.90557485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:-35.96, Z:-2.92 [[ 9.75998796e-01 2.17528257e-01 1.03830557e-02 2.64374547e+02] [-2.17517809e-01 9.76054009e-01 -2.13881086e-03 -3.59646766e+01] [-1.05996750e-02 -1.71022707e-04 9.99943807e-01 -2.91813853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.44, Y:-35.98, Z:-2.91 [[ 9.76331259e-01 2.16031180e-01 1.03827356e-02 2.64435168e+02] [-2.16020631e-01 9.76386453e-01 -2.14036381e-03 -3.59795505e+01] [-1.05999477e-02 -1.53180992e-04 9.99943807e-01 -2.91463402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.50, Y:-35.99, Z:-2.91 [[ 9.75978116e-01 2.17621052e-01 1.03823918e-02 2.64495137e+02] [-2.17610576e-01 9.76033324e-01 -2.14203021e-03 -3.59901581e+01] [-1.05997112e-02 -1.68743643e-04 9.99943807e-01 -2.91155690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:-36.00, Z:-2.91 [[ 9.75590925e-01 2.19350315e-01 1.03820763e-02 2.64557361e+02] [-2.19339919e-01 9.75646147e-01 -2.14355796e-03 -3.60019610e+01] [-1.05994229e-02 -1.85968095e-04 9.99943807e-01 -2.91214876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.62, Y:-36.01, Z:-2.92 [[ 9.75144468e-01 2.21326655e-01 1.03816714e-02 2.64617476e+02] [-2.21316351e-01 9.75199708e-01 -2.14551744e-03 -3.60146854e+01] [-1.05990631e-02 -2.05444162e-04 9.99943807e-01 -2.91986522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.68, Y:-36.02, Z:-2.92 [[ 9.73746749e-01 2.27397218e-01 1.03814705e-02 2.64676798e+02] [-2.27387248e-01 9.73802050e-01 -2.14648912e-03 -3.60198339e+01] [-1.05976029e-02 -2.70477202e-04 9.99943807e-01 -2.92426384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:-36.03, Z:-2.92 [[ 9.73109597e-01 2.30108533e-01 1.03815178e-02 2.64735300e+02] [-2.30098720e-01 9.73164926e-01 -2.14626030e-03 -3.60293624e+01] [-1.05968018e-02 -3.00227455e-04 9.99943807e-01 -2.92021157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.80, Y:-36.04, Z:-2.91 [[ 9.72883083e-01 2.31064339e-01 1.03815887e-02 2.64796857e+02] [-2.31054583e-01 9.72938423e-01 -2.14591746e-03 -3.60365729e+01] [-1.05964915e-02 -3.10986844e-04 9.99943807e-01 -2.91465902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:-36.05, Z:-2.92 [[ 9.73559916e-01 2.28195777e-01 1.03815387e-02 2.64856370e+02] [-2.28185856e-01 9.73615226e-01 -2.14615932e-03 -3.60478717e+01] [-1.05973686e-02 -2.79505598e-04 9.99943807e-01 -2.91931170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:-36.05, Z:-2.93 [[ 9.74874869e-01 2.22511154e-01 1.03815139e-02 2.64915645e+02] [-2.22500909e-01 9.74930120e-01 -2.14627888e-03 -3.60547338e+01] [-1.05988216e-02 -2.17542941e-04 9.99943807e-01 -2.93017682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:-36.07, Z:-2.93 [[ 9.74630915e-01 2.23577285e-01 1.03815595e-02 2.64974030e+02] [-2.23567103e-01 9.74686178e-01 -2.14605865e-03 -3.60650423e+01] [-1.05985725e-02 -2.29360063e-04 9.99943807e-01 -2.92591259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.03, Y:-36.08, Z:-2.92 [[ 9.74715745e-01 2.23207165e-01 1.03816504e-02 2.65031844e+02] [-2.23196966e-01 9.74771004e-01 -2.14561856e-03 -3.60760780e+01] [-1.05986492e-02 -2.25784685e-04 9.99943807e-01 -2.91588751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:265.09, Y:-36.09, Z:-2.92 [[ 9.75471881e-01 2.19879123e-01 1.03817180e-02 2.65091214e+02] [-2.19868739e-01 9.75527106e-01 -2.14529173e-03 -3.60914919e+01] [-1.05993521e-02 -1.89943478e-04 9.99943807e-01 -2.91610953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.15, Y:-36.11, Z:-2.92 [[ 9.76276722e-01 2.16277560e-01 1.03816700e-02 2.65151040e+02] [-2.16266971e-01 9.76331908e-01 -2.14552395e-03 -3.61066769e+01] [-1.05999843e-02 -1.50587229e-04 9.99943807e-01 -2.91706312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.21, Y:-36.12, Z:-2.92 [[ 9.76619278e-01 2.14725424e-01 1.03816222e-02 2.65209035e+02] [-2.14714744e-01 9.76674447e-01 -2.14575497e-03 -3.61227081e+01] [-1.06002133e-02 -1.33501679e-04 9.99943807e-01 -2.91627450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:-36.14, Z:-2.92 [[ 9.76898826e-01 2.13450014e-01 1.03815139e-02 2.65269868e+02] [-2.13439256e-01 9.76953979e-01 -2.14627878e-03 -3.61420216e+01] [-1.06003846e-02 -1.19125387e-04 9.99943807e-01 -2.91514460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.33, Y:-36.16, Z:-2.92 [[ 9.77351011e-01 2.11369899e-01 1.03811011e-02 2.65330030e+02] [-2.11359003e-01 9.77406137e-01 -2.14827379e-03 -3.61592572e+01] [-1.06006323e-02 -9.45216190e-05 9.99943807e-01 -2.91738980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.39, Y:-36.18, Z:-2.92 [[ 9.77659881e-01 2.09936650e-01 1.03807181e-02 2.65388238e+02] [-2.09925653e-01 9.77714988e-01 -2.15012280e-03 -3.61794338e+01] [-1.06007732e-02 -7.70902220e-05 9.99943807e-01 -2.91915493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:-36.19, Z:-2.92 [[ 9.76705055e-01 2.14334978e-01 1.03803911e-02 2.65449194e+02] [-2.14324212e-01 9.76760207e-01 -2.15170036e-03 -3.61948930e+01] [-1.06003376e-02 -1.23192524e-04 9.99943807e-01 -2.91973322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:-36.21, Z:-2.92 [[ 9.75706364e-01 2.18836349e-01 1.03799921e-02 2.65510487e+02] [-2.18825818e-01 9.75761561e-01 -2.15362345e-03 -3.62098407e+01] [-1.05996884e-02 -1.70106152e-04 9.99943807e-01 -2.91806483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:265.57, Y:-36.22, Z:-2.93 [[ 9.75393628e-01 2.20226101e-01 1.03795931e-02 2.65570015e+02] [-2.20215628e-01 9.75448836e-01 -2.15554476e-03 -3.62227556e+01] [-1.05994692e-02 -1.83243982e-04 9.99943807e-01 -2.92529176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.63, Y:-36.24, Z:-2.93 [[ 9.76609370e-01 2.14770595e-01 1.03792734e-02 2.65630595e+02] [-2.14759797e-01 9.76664516e-01 -2.15708295e-03 -3.62374111e+01] [-1.06003460e-02 -1.22423229e-04 9.99943807e-01 -2.92858132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:265.69, Y:-36.25, Z:-2.92 [[ 9.77602359e-01 2.10204436e-01 1.03789295e-02 2.65690722e+02] [-2.10193363e-01 9.77657450e-01 -2.15873624e-03 -3.62522968e+01] [-1.06008137e-02 -7.11964664e-05 9.99943807e-01 -2.92228893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:265.75, Y:-36.26, Z:-2.92 [[ 9.77434856e-01 2.10981958e-01 1.03785875e-02 2.65751748e+02] [-2.10970911e-01 9.77489953e-01 -2.16037924e-03 -3.62648438e+01] [-1.06007661e-02 -7.79501028e-05 9.99943807e-01 -2.91862665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.565769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:265.81, Y:-36.27, Z:-2.92 [[ 9.75980092e-01 2.17612391e-01 1.03782465e-02 2.65814218e+02] [-2.17601701e-01 9.76035258e-01 -2.16201652e-03 -3.62747646e+01] [-1.06000160e-02 -1.48238999e-04 9.99943807e-01 -2.92116194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.625769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:-36.29, Z:-2.92 [[ 9.74824082e-01 2.22733719e-01 1.03778451e-02 2.65876346e+02] [-2.22723299e-01 9.74879300e-01 -2.16394123e-03 -3.62856960e+01] [-1.05991291e-02 -2.01925880e-04 9.99943807e-01 -2.91824004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.685769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:265.94, Y:-36.29, Z:-2.92 [[ 9.75109761e-01 2.21479712e-01 1.03774331e-02 2.65938354e+02] [-2.21469200e-01 9.75164962e-01 -2.16591526e-03 -3.62941596e+01] [-1.05994155e-02 -1.86276695e-04 9.99943807e-01 -2.91730347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.745769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:-36.30, Z:-2.92 [[ 9.76589153e-01 2.14862614e-01 1.03770507e-02 2.66000010e+02] [-2.14851708e-01 9.76644277e-01 -2.16774594e-03 -3.63032795e+01] [-1.06004547e-02 -1.12529894e-04 9.99943807e-01 -2.92109677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:266.06, Y:-36.32, Z:-2.92 [[ 9.77645637e-01 2.10003174e-01 1.03766728e-02 2.66061327e+02] [-2.09991975e-01 9.77700702e-01 -2.16955353e-03 -3.63168005e+01] [-1.06008934e-02 -5.79634626e-05 9.99943807e-01 -2.92334492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.865769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:-36.33, Z:-2.93 [[ 9.79033347e-01 2.03435589e-01 1.03762460e-02 2.66121525e+02] [-2.03423998e-01 9.79088332e-01 -2.17159285e-03 -3.63312414e+01] [-1.06010406e-02 1.52843759e-05 9.99943807e-01 -2.92615755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.925769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:266.18, Y:-36.35, Z:-2.92 [[ 9.79563945e-01 2.00865179e-01 1.03758484e-02 2.66182824e+02] [-2.00853424e-01 9.79618894e-01 -2.17349063e-03 -3.63460107e+01] [-1.06009557e-02 4.50483653e-05 9.99943807e-01 -2.92472106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.985769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:-36.36, Z:-2.93 [[ 9.78012250e-01 2.08289199e-01 1.03754318e-02 2.66244068e+02] [-2.08277840e-01 9.78067282e-01 -2.17547758e-03 -3.63556891e+01] [-1.06009989e-02 -3.33288062e-05 9.99943807e-01 -2.92695618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.045769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:266.31, Y:-36.36, Z:-2.93 [[ 9.75259288e-01 2.20820468e-01 1.03750599e-02 2.66305329e+02] [-2.20809798e-01 9.75314458e-01 -2.17724990e-03 -3.63611222e+01] [-1.05997273e-02 -1.67531690e-04 9.99943807e-01 -2.93129437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.105769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:266.37, Y:-36.37, Z:-2.93 [[ 9.74337134e-01 2.24854430e-01 1.03747193e-02 2.66367323e+02] [-2.24843970e-01 9.74392345e-01 -2.17887172e-03 -3.63665710e+01] [-1.05989760e-02 -2.09737442e-04 9.99943807e-01 -2.93022734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.165769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:266.43, Y:-36.37, Z:-2.93 [[ 9.74381069e-01 2.24663969e-01 1.03746684e-02 2.66427500e+02] [-2.24653497e-01 9.74436277e-01 -2.17911394e-03 -3.63684611e+01] [-1.05990216e-02 -2.07418167e-04 9.99943807e-01 -2.92690812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.225769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:266.49, Y:-36.38, Z:-2.92 [[ 9.74456345e-01 2.24337240e-01 1.03746935e-02 2.66487648e+02] [-2.24326750e-01 9.74511550e-01 -2.17899454e-03 -3.63751452e+01] [-1.05990882e-02 -2.03986217e-04 9.99943807e-01 -2.92234740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.285769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:-36.38, Z:-2.92 [[ 9.75264183e-01 2.20798868e-01 1.03746935e-02 2.66548392e+02] [-2.20788178e-01 9.75319349e-01 -2.17899454e-03 -3.63793119e+01] [-1.05997588e-02 -1.65514338e-04 9.99943807e-01 -2.91821499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-36.38, Z:-2.93 [[ 9.75955820e-01 2.17721388e-01 1.03746935e-02 2.66607423e+02] [-2.17710524e-01 9.76010953e-01 -2.17899454e-03 -3.63841106e+01] [-1.06002282e-02 -1.32077550e-04 9.99943807e-01 -2.92517286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:-36.40, Z:-2.93 [[ 9.76190794e-01 2.16665405e-01 1.03747706e-02 2.66665977e+02] [-2.16654485e-01 9.76245916e-01 -2.17862731e-03 -3.63951589e+01] [-1.06003606e-02 -1.20984655e-04 9.99943807e-01 -2.92868863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:-36.40, Z:-2.93 [[ 9.76675977e-01 2.14467709e-01 1.03748221e-02 2.66724447e+02] [-2.14456668e-01 9.76731075e-01 -2.17838183e-03 -3.64039252e+01] [-1.06006037e-02 -9.73765746e-05 9.99943807e-01 -2.92809687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:-36.42, Z:-2.93 [[ 9.77026911e-01 2.12863280e-01 1.03748989e-02 2.66782453e+02] [-2.12852152e-01 9.77081991e-01 -2.17801612e-03 -3.64175509e+01] [-1.06007465e-02 -8.03391979e-05 9.99943807e-01 -2.92816267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:-36.43, Z:-2.94 [[ 9.78061931e-01 2.08055810e-01 1.03749507e-02 2.66840148e+02] [-2.08044414e-01 9.78116956e-01 -2.17776930e-03 -3.64339564e+01] [-1.06010128e-02 -2.84572907e-05 9.99943807e-01 -2.94000366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:-36.45, Z:-2.94 [[ 9.78539762e-01 2.05796730e-01 1.03749507e-02 2.66898687e+02] [-2.05785207e-01 9.78594761e-01 -2.17776930e-03 -3.64486109e+01] [-1.06010502e-02 -3.97752439e-06 9.99943807e-01 -2.93627078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:-36.46, Z:-2.93 [[ 9.78624229e-01 2.05394693e-01 1.03749507e-02 2.66956904e+02] [-2.05383147e-01 9.78679222e-01 -2.17776931e-03 -3.64631422e+01] [-1.06010510e-02 3.77778734e-07 9.99943807e-01 -2.93478774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:-36.47, Z:-2.94 [[ 9.78441281e-01 2.06264444e-01 1.03749323e-02 2.67015198e+02] [-2.06252946e-01 9.78496285e-01 -2.17785693e-03 -3.64744987e+01] [-1.06010472e-02 -8.95523193e-06 9.99943807e-01 -2.93613753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:267.07, Y:-36.49, Z:-2.93 [[ 9.78234352e-01 2.07243606e-01 1.03749834e-02 2.67072856e+02] [-2.07232166e-01 9.78289368e-01 -2.17761365e-03 -3.64901854e+01] [-1.06010324e-02 -1.98137915e-05 9.99943807e-01 -2.93422379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:267.13, Y:-36.50, Z:-2.94 [[ 9.77287031e-01 2.11665818e-01 1.03749666e-02 2.67131445e+02] [-2.11654626e-01 9.77342098e-01 -2.17769343e-03 -3.65000984e+01] [-1.06008349e-02 -6.76781308e-05 9.99943807e-01 -2.93715639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.19, Y:-36.51, Z:-2.94 [[ 9.76216108e-01 2.16551309e-01 1.03750185e-02 2.67188821e+02] [-2.16540395e-01 9.76271231e-01 -2.17744639e-03 -3.65141022e+01] [-1.06003609e-02 -1.20952355e-04 9.99943807e-01 -2.93612987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:267.25, Y:-36.53, Z:-2.93 [[ 9.75746422e-01 2.18657901e-01 1.03750814e-02 2.67246089e+02] [-2.18647109e-01 9.75801569e-01 -2.17714648e-03 -3.65252366e+01] [-1.06000710e-02 -1.44138673e-04 9.99943807e-01 -2.93149518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.065769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:267.30, Y:-36.54, Z:-2.93 [[ 9.75682042e-01 2.18944991e-01 1.03752050e-02 2.67304379e+02] [-2.18934222e-01 9.75737193e-01 -2.17655722e-03 -3.65365216e+01] [-1.06000197e-02 -1.47859643e-04 9.99943807e-01 -2.93092723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.125769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:267.36, Y:-36.55, Z:-2.94 [[ 9.75319423e-01 2.20554704e-01 1.03752548e-02 2.67361934e+02] [-2.20544029e-01 9.75374592e-01 -2.17631981e-03 -3.65457104e+01] [-1.05997575e-02 -1.65593517e-04 9.99943807e-01 -2.93525971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.185769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:267.42, Y:-36.55, Z:-2.93 [[ 9.75003367e-01 2.21947711e-01 1.03753806e-02 2.67420145e+02] [-2.21937120e-01 9.75058553e-01 -2.17571986e-03 -3.65542076e+01] [-1.05994997e-02 -1.81347913e-04 9.99943807e-01 -2.93393226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.245769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:-36.56, Z:-2.94 [[ 9.74597602e-01 2.23722738e-01 1.03754814e-02 2.67477108e+02] [-2.23712253e-01 9.74652808e-01 -2.17523929e-03 -3.65648578e+01] [-1.05991426e-02 -2.01139317e-04 9.99943807e-01 -2.93725160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.305769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.53, Y:-36.58, Z:-2.93 [[ 9.75522679e-01 2.19653932e-01 1.03756096e-02 2.67534924e+02] [-2.19643224e-01 9.75577842e-01 -2.17462769e-03 -3.65780851e+01] [-1.05998803e-02 -1.57533705e-04 9.99943807e-01 -2.93349631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.365769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.59, Y:-36.60, Z:-2.94 [[ 9.77421769e-01 2.11042720e-01 1.03757084e-02 2.67592774e+02] [-2.11031531e-01 9.77476837e-01 -2.17415626e-03 -3.65953707e+01] [-1.06008544e-02 -6.45339614e-05 9.99943807e-01 -2.94023117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.425769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:267.65, Y:-36.62, Z:-2.94 [[ 9.79284009e-01 2.02225554e-01 1.03757084e-02 2.67649541e+02] [-2.02213869e-01 9.79338973e-01 -2.17415626e-03 -3.66202527e+01] [-1.06010055e-02 3.10043259e-05 9.99943807e-01 -2.94398542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.485769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.71, Y:-36.64, Z:-2.94 [[ 9.80515842e-01 1.96165837e-01 1.03753797e-02 2.67707672e+02] [-1.96153796e-01 9.80570729e-01 -2.17572369e-03 -3.66408854e+01] [-1.06005963e-02 9.81614399e-05 9.99943807e-01 -2.93903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.76, Y:-36.67, Z:-2.95 [[ 9.81283185e-01 1.92290587e-01 1.03750532e-02 2.67764608e+02] [-1.92278312e-01 9.81338020e-01 -2.17727959e-03 -3.66730073e+01] [-1.06001045e-02 1.41630145e-04 9.99943807e-01 -2.95087030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.82, Y:-36.69, Z:-2.95 [[ 9.81205650e-01 1.92685852e-01 1.03746829e-02 2.67822593e+02] [-1.92673581e-01 9.81260487e-01 -2.17904254e-03 -3.66936725e+01] [-1.06001370e-02 1.39161552e-04 9.99943807e-01 -2.94859910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.88, Y:-36.72, Z:-2.94 [[ 9.80652890e-01 1.95479620e-01 1.03743417e-02 2.67880960e+02] [-1.95467487e-01 9.80707758e-01 -2.18066579e-03 -3.67181075e+01] [-1.06004731e-02 1.10629712e-04 9.99943807e-01 -2.93923683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.94, Y:-36.74, Z:-2.94 [[ 9.79776578e-01 1.99825520e-01 1.03739722e-02 2.67939585e+02] [-1.99813613e-01 9.79831494e-01 -2.18242183e-03 -3.67408033e+01] [-1.06008483e-02 6.54249222e-05 9.99943807e-01 -2.93718637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.00, Y:-36.76, Z:-2.94 [[ 9.78416878e-01 2.06380237e-01 1.03735815e-02 2.68000514e+02] [-2.06368678e-01 9.78471869e-01 -2.18427770e-03 -3.67556531e+01] [-1.06010494e-02 -3.64812860e-06 9.99943807e-01 -2.93595058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.06, Y:-36.77, Z:-2.93 [[ 9.76334517e-01 2.16016918e-01 1.03731759e-02 2.68061219e+02] [-2.16005881e-01 9.76389615e-01 -2.18620199e-03 -3.67698358e+01] [-1.06005179e-02 -1.06202542e-04 9.99943807e-01 -2.93418622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:-36.78, Z:-2.94 [[ 9.75085665e-01 2.21585992e-01 1.03728002e-02 2.68122016e+02] [-2.21575250e-01 9.75140821e-01 -2.18798307e-03 -3.67844691e+01] [-1.05997673e-02 -1.64884882e-04 9.99943807e-01 -2.94177645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:-36.79, Z:-2.95 [[ 9.74938392e-01 2.22233085e-01 1.03724521e-02 2.68183146e+02] [-2.22222363e-01 9.74993552e-01 -2.18963198e-03 -3.67927838e+01] [-1.05996826e-02 -1.70234536e-04 9.99943807e-01 -2.94560075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.25, Y:-36.80, Z:-2.94 [[ 9.74811081e-01 2.22790878e-01 1.03720829e-02 2.68245423e+02] [-2.22780169e-01 9.74866244e-01 -2.19137987e-03 -3.67987291e+01] [-1.05996129e-02 -1.74512992e-04 9.99943807e-01 -2.93922622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.31, Y:-36.81, Z:-2.95 [[ 9.74694241e-01 2.23301506e-01 1.03717358e-02 2.68306837e+02] [-2.23290809e-01 9.74749406e-01 -2.19302108e-03 -3.68059130e+01] [-1.05995483e-02 -1.78388267e-04 9.99943807e-01 -2.94751852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.37, Y:-36.82, Z:-2.94 [[ 9.75772107e-01 2.18543425e-01 1.03713929e-02 2.68369574e+02] [-2.18532441e-01 9.75827216e-01 -2.19464193e-03 -3.68153897e+01] [-1.06003120e-02 -1.25015419e-04 9.99943807e-01 -2.94292679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.43, Y:-36.82, Z:-2.95 [[ 9.75940952e-01 2.17788201e-01 1.03709783e-02 2.68431608e+02] [-2.17777154e-01 9.75996048e-01 -2.19659907e-03 -3.68224293e+01] [-1.06004272e-02 -1.14811151e-04 9.99943807e-01 -2.94535742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:-36.83, Z:-2.95 [[ 9.75451342e-01 2.19970747e-01 1.03706123e-02 2.68493272e+02] [-2.19959805e-01 9.75506459e-01 -2.19832557e-03 -3.68289743e+01] [-1.06001666e-02 -1.36758241e-04 9.99943807e-01 -2.94524434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:-36.84, Z:-2.94 [[ 9.75292352e-01 2.20674617e-01 1.03702232e-02 2.68555689e+02] [-2.20663694e-01 9.75347473e-01 -2.20015999e-03 -3.68358409e+01] [-1.06000904e-02 -1.42532544e-04 9.99943807e-01 -2.94259255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.62, Y:-36.85, Z:-2.94 [[ 9.75289617e-01 2.20686720e-01 1.03698716e-02 2.68617280e+02] [-2.20675781e-01 9.75344735e-01 -2.20181591e-03 -3.68454041e+01] [-1.06001112e-02 -1.40971306e-04 9.99943807e-01 -2.94315102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.68, Y:-36.85, Z:-2.95 [[ 9.75858630e-01 2.18156844e-01 1.03695136e-02 2.68677757e+02] [-2.18145744e-01 9.75913715e-01 -2.20350065e-03 -3.68514272e+01] [-1.06004592e-02 -1.11760122e-04 9.99943807e-01 -2.94703093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:-36.86, Z:-2.94 [[ 9.76605929e-01 2.14786714e-01 1.03694883e-02 2.68738811e+02] [-2.14775423e-01 9.76660976e-01 -2.20361948e-03 -3.68582187e+01] [-1.06007827e-02 -7.50433838e-05 9.99943807e-01 -2.94010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.80, Y:-36.86, Z:-2.94 [[ 9.76806568e-01 2.13872402e-01 1.03694371e-02 2.68799890e+02] [-2.13861057e-01 9.76861603e-01 -2.20386035e-03 -3.68640460e+01] [-1.06008499e-02 -6.48735126e-05 9.99943807e-01 -2.94468170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.86, Y:-36.87, Z:-2.95 [[ 9.76891011e-01 2.13486367e-01 1.03694116e-02 2.68858984e+02] [-2.13474998e-01 9.76946041e-01 -2.20398038e-03 -3.68711922e+01] [-1.06008754e-02 -6.05614996e-05 9.99943807e-01 -2.94908020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.92, Y:-36.88, Z:-2.95 [[ 9.77402965e-01 2.11130097e-01 1.03694622e-02 2.68918197e+02] [-2.11118598e-01 9.77457969e-01 -2.20374221e-03 -3.68821809e+01] [-1.06009898e-02 -3.52421602e-05 9.99943807e-01 -2.94724741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.98, Y:-36.88, Z:-2.95 [[ 9.78083088e-01 2.07956598e-01 1.03694622e-02 2.68978384e+02] [-2.07944921e-01 9.78138054e-01 -2.20374221e-03 -3.68849896e+01] [-1.06010483e-02 -8.34015423e-07 9.99943807e-01 -2.94990925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.04, Y:-36.89, Z:-2.95 [[ 9.77721122e-01 2.09651810e-01 1.03695137e-02 2.69036824e+02] [-2.09640231e-01 9.77776108e-01 -2.20350006e-03 -3.68928864e+01] [-1.06010305e-02 -1.94586953e-05 9.99943807e-01 -2.95272940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:-36.90, Z:-2.95 [[ 9.77695722e-01 2.09770225e-01 1.03695903e-02 2.69094097e+02] [-2.09758656e-01 9.77750711e-01 -2.20313941e-03 -3.69045381e+01] [-1.06010273e-02 -2.11113488e-05 9.99943807e-01 -2.95281495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:-36.91, Z:-2.95 [[ 9.78390148e-01 2.06507111e-01 1.03696917e-02 2.69153159e+02] [-2.06495364e-01 9.78445100e-01 -2.20266220e-03 -3.69121258e+01] [-1.06010394e-02 1.37697411e-05 9.99943807e-01 -2.94984457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.21, Y:-36.92, Z:-2.95 [[ 9.79764096e-01 1.99886929e-01 1.03697441e-02 2.69211181e+02] [-1.99874814e-01 9.79818967e-01 -2.20241549e-03 -3.69242087e+01] [-1.06007060e-02 8.51969600e-05 9.99943807e-01 -2.94575068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.27, Y:-36.94, Z:-2.95 [[ 9.80837366e-01 1.94552128e-01 1.03697163e-02 2.69269354e+02] [-1.94539712e-01 9.80892170e-01 -2.20254614e-03 -3.69417032e+01] [-1.06000836e-02 1.43017925e-04 9.99943807e-01 -2.95067842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.33, Y:-36.96, Z:-2.95 [[ 9.81503683e-01 1.91162209e-01 1.03697163e-02 2.69327204e+02] [-1.91149604e-01 9.81558443e-01 -2.20254614e-03 -3.69611524e+01] [-1.05995262e-02 1.79639976e-04 9.99943807e-01 -2.95307839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.39, Y:-36.98, Z:-2.95 [[ 9.81733082e-01 1.89980590e-01 1.03696909e-02 2.69385308e+02] [-1.89967918e-01 9.81787828e-01 -2.20266585e-03 -3.69837614e+01] [-1.05993000e-02 1.92521344e-04 9.99943807e-01 -2.94813974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.44, Y:-37.01, Z:-2.95 [[ 9.80655390e-01 1.95467331e-01 1.03696405e-02 2.69443158e+02] [-1.95454963e-01 9.80710204e-01 -2.20290286e-03 -3.70097059e+01] [-1.06002078e-02 1.33490857e-04 9.99943807e-01 -2.95452866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.50, Y:-37.03, Z:-2.96 [[ 9.78237985e-01 2.07226741e-01 1.03692791e-02 2.69500145e+02] [-2.07215013e-01 9.78292941e-01 -2.20460288e-03 -3.70305393e+01] [-1.06010452e-02 7.95597436e-06 9.99943807e-01 -2.95712847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.56, Y:-37.05, Z:-2.96 [[ 9.75249317e-01 2.20864773e-01 1.03692535e-02 2.69557368e+02] [-2.20853813e-01 9.75304431e-01 -2.20472315e-03 -3.70463532e+01] [-1.06001246e-02 -1.39934433e-04 9.99943807e-01 -2.96355084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.62, Y:-37.05, Z:-2.96 [[ 9.71619340e-01 2.36322525e-01 1.03693028e-02 2.69617085e+02] [-2.36312444e-01 9.71674621e-01 -2.20449148e-03 -3.70521136e+01] [-1.05965593e-02 -3.08468722e-04 9.99943807e-01 -2.95882598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.68, Y:-37.06, Z:-2.96 [[ 9.69605207e-01 2.44454942e-01 1.03693541e-02 2.69676349e+02] [-2.44445327e-01 9.69660571e-01 -2.20425020e-03 -3.70565724e+01] [-1.05935936e-02 -3.97487668e-04 9.99943807e-01 -2.96196542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.73, Y:-37.06, Z:-2.96 [[ 9.69862655e-01 2.43431522e-01 1.03694559e-02 2.69734357e+02] [-2.43421853e-01 9.69918009e-01 -2.20377118e-03 -3.70614702e+01] [-1.05939894e-02 -3.86796794e-04 9.99943807e-01 -2.96177036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:-37.07, Z:-2.96 [[ 9.71558866e-01 2.36571007e-01 1.03695812e-02 2.69794178e+02] [-2.36560954e-01 9.71614152e-01 -2.20318138e-03 -3.70651273e+01] [-1.05964407e-02 -3.12517611e-04 9.99943807e-01 -2.96236175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.85, Y:-37.07, Z:-2.95 [[ 9.73259445e-01 2.29474450e-01 1.03696814e-02 2.69854116e+02] [-2.29463999e-01 9.73314657e-01 -2.20270972e-03 -3.70680604e+01] [-1.05984285e-02 -2.35660519e-04 9.99943807e-01 -2.95295937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.91, Y:-37.07, Z:-2.96 [[ 9.74362793e-01 2.24743441e-01 1.03697809e-02 2.69913541e+02] [-2.24732727e-01 9.74417955e-01 -2.20224087e-03 -3.70705716e+01] [-1.05994399e-02 -1.84647579e-04 9.99943807e-01 -2.95550678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:-37.08, Z:-2.96 [[ 9.76445099e-01 2.15516669e-01 1.03698829e-02 2.69971272e+02] [-2.15505438e-01 9.76500158e-01 -2.20176083e-03 -3.70772596e+01] [-1.06007084e-02 -8.48675818e-05 9.99943807e-01 -2.95895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.03, Y:-37.08, Z:-2.96 [[ 9.78201927e-01 2.07396847e-01 1.03700093e-02 2.70028504e+02] [-2.07385166e-01 9.78256893e-01 -2.20116515e-03 -3.70839577e+01] [-1.06010478e-02 2.59788872e-06 9.99943807e-01 -2.96046507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.09, Y:-37.10, Z:-2.96 [[ 9.80152579e-01 1.97973184e-01 1.03701345e-02 2.70085780e+02] [-1.97960981e-01 9.80207431e-01 -2.20057496e-03 -3.70980665e+01] [-1.06005378e-02 1.04017217e-04 9.99943807e-01 -2.96330463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.14, Y:-37.11, Z:-2.96 [[ 9.81137929e-01 1.93030626e-01 1.03702346e-02 2.70142589e+02] [-1.93018151e-01 9.81192720e-01 -2.20010352e-03 -3.71131864e+01] [-1.05998860e-02 1.56961516e-04 9.99943807e-01 -2.95944924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:-37.13, Z:-2.96 [[ 9.81160016e-01 1.92918327e-01 1.03702920e-02 2.70199873e+02] [-1.92905849e-01 9.81214805e-01 -2.19983268e-03 -3.71299039e+01] [-1.05998721e-02 1.57897878e-04 9.99943807e-01 -2.96023656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.26, Y:-37.15, Z:-2.97 [[ 9.81380204e-01 1.91795074e-01 1.03703437e-02 2.70258238e+02] [-1.91782536e-01 9.81434980e-01 -2.19958885e-03 -3.71520401e+01] [-1.05996884e-02 1.69782140e-04 9.99943807e-01 -2.96772880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:-37.18, Z:-2.96 [[ 9.81211177e-01 1.92657941e-01 1.03702919e-02 2.70314422e+02] [-1.92645449e-01 9.81265964e-01 -2.19983314e-03 -3.71762792e+01] [-1.05998298e-02 1.60711329e-04 9.99943807e-01 -2.96119504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.37, Y:-37.19, Z:-2.96 [[ 9.80956255e-01 1.93951756e-01 1.03702662e-02 2.70373648e+02] [-1.93939335e-01 9.81011057e-01 -2.19995410e-03 -3.71929817e+01] [-1.06000308e-02 1.46856201e-04 9.99943807e-01 -2.95945230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:-37.21, Z:-2.96 [[ 9.78262918e-01 2.07108962e-01 1.03702152e-02 2.70431441e+02] [-2.07097275e-01 9.78317882e-01 -2.20019471e-03 -3.72127103e+01] [-1.06010470e-02 4.72558334e-06 9.99943807e-01 -2.96467948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:-37.23, Z:-2.97 [[ 9.76615399e-01 2.14743617e-01 1.03702152e-02 2.70489633e+02] [-2.14732359e-01 9.76670453e-01 -2.20019471e-03 -3.72279981e+01] [-1.06007605e-02 -7.80767425e-05 9.99943807e-01 -2.96880255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:-37.24, Z:-2.97 [[ 9.74608464e-01 2.23675659e-01 1.03701890e-02 2.70547071e+02] [-2.23664905e-01 9.74663618e-01 -2.20031839e-03 -3.72394845e+01] [-1.05996036e-02 -1.74998398e-04 9.99943807e-01 -2.96703040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:-37.25, Z:-2.97 [[ 9.73283446e-01 2.29372605e-01 1.03702662e-02 2.70606623e+02] [-2.29362178e-01 9.73338662e-01 -2.19995404e-03 -3.72474774e+01] [-1.05983903e-02 -2.37368001e-04 9.99943807e-01 -2.96739009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:-37.26, Z:-2.97 [[ 9.73393668e-01 2.28904397e-01 1.03703176e-02 2.70665918e+02] [-2.28893946e-01 9.73448880e-01 -2.19971211e-03 -3.72573734e+01] [-1.05984978e-02 -2.32517071e-04 9.99943807e-01 -2.96928473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.72, Y:-37.27, Z:-2.96 [[ 9.74656073e-01 2.23468107e-01 1.03703688e-02 2.70724251e+02] [-2.23457350e-01 9.74711226e-01 -2.19947073e-03 -3.72686646e+01] [-1.05996264e-02 -1.73607615e-04 9.99943807e-01 -2.96334861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.78, Y:-37.28, Z:-2.96 [[ 9.76054791e-01 2.17277470e-01 1.03704194e-02 2.70782678e+02] [-2.17266366e-01 9.76109876e-01 -2.19923183e-03 -3.72849846e+01] [-1.06005123e-02 -1.06572579e-04 9.99943807e-01 -2.96434191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.84, Y:-37.30, Z:-2.97 [[ 9.76642809e-01 2.14618916e-01 1.03703943e-02 2.70841105e+02] [-2.14607660e-01 9.76697863e-01 -2.19935050e-03 -3.72985582e+01] [-1.06007641e-02 -7.75861945e-05 9.99943807e-01 -2.96923351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.90, Y:-37.31, Z:-2.97 [[ 9.75775365e-01 2.18528929e-01 1.03703943e-02 2.70899341e+02] [-2.18517894e-01 9.75830463e-01 -2.19935050e-03 -3.73135228e+01] [-1.06003683e-02 -1.20044672e-04 9.99943807e-01 -2.97407377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.96, Y:-37.33, Z:-2.97 [[ 9.73725551e-01 2.27488472e-01 1.03704192e-02 2.70955877e+02] [-2.27477945e-01 9.73780749e-01 -2.19923300e-03 -3.73250007e+01] [-1.05988147e-02 -2.17592279e-04 9.99943807e-01 -2.97035741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:-37.33, Z:-2.96 [[ 9.72182719e-01 2.33994043e-01 1.03705424e-02 2.71014482e+02] [-2.33983892e-01 9.72237987e-01 -2.19865173e-03 -3.73301671e+01] [-1.05971067e-02 -2.89048655e-04 9.99943807e-01 -2.96280034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:-37.33, Z:-2.97 [[ 9.71072236e-01 2.38560603e-01 1.03706684e-02 2.71074299e+02] [-2.38550718e-01 9.71127553e-01 -2.19805722e-03 -3.73307622e+01] [-1.05956117e-02 -3.39458057e-04 9.99943807e-01 -2.96867283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:-37.33, Z:-2.97 [[ 9.70978068e-01 2.38943588e-01 1.03707722e-02 2.71134666e+02] [-2.38933730e-01 9.71033389e-01 -2.19756720e-03 -3.73294224e+01] [-1.05954607e-02 -3.44137739e-04 9.99943807e-01 -2.97029700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.19, Y:-37.33, Z:-2.96 [[ 9.72483989e-01 2.32738774e-01 1.03708754e-02 2.71194923e+02] [-2.32728568e-01 9.72539247e-01 -2.19708026e-03 -3.73288373e+01] [-1.05974291e-02 -2.76973609e-04 9.99943807e-01 -2.96251681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.25, Y:-37.33, Z:-2.97 [[ 9.73706625e-01 2.27569442e-01 1.03709793e-02 2.71253230e+02] [-2.27558948e-01 9.73761829e-01 -2.19658989e-03 -3.73332389e+01] [-1.05987405e-02 -2.21175003e-04 9.99943807e-01 -2.96597150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.31, Y:-37.34, Z:-2.98 [[ 9.75149242e-01 2.21306113e-01 1.03711353e-02 2.71311295e+02] [-2.21295272e-01 9.75204379e-01 -2.19585282e-03 -3.73403936e+01] [-1.05999322e-02 -1.53799000e-04 9.99943807e-01 -2.97608419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:-37.35, Z:-2.97 [[ 9.76385672e-01 2.15785674e-01 1.03712392e-02 2.71368702e+02] [-2.15774526e-01 9.76440748e-01 -2.19536217e-03 -3.73505390e+01] [-1.06006283e-02 -9.43290591e-05 9.99943807e-01 -2.96837341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:-37.37, Z:-2.97 [[ 9.77016111e-01 2.12913017e-01 1.03713677e-02 2.71425132e+02] [-2.12901714e-01 9.77071156e-01 -2.19475485e-03 -3.73670697e+01] [-1.06008561e-02 -6.37711125e-05 9.99943807e-01 -2.96711963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:-37.39, Z:-2.97 [[ 9.78147855e-01 2.07651649e-01 1.03714722e-02 2.71480694e+02] [-2.07640055e-01 9.78202838e-01 -2.19426106e-03 -3.73865279e+01] [-1.06010454e-02 -7.22130675e-06 9.99943807e-01 -2.96764428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.54, Y:-37.41, Z:-2.97 [[ 9.78866146e-01 2.04238828e-01 1.03715768e-02 2.71535381e+02] [-2.04227048e-01 9.78921090e-01 -2.19376620e-03 -3.74050946e+01] [-1.06010075e-02 2.92469411e-05 9.99943807e-01 -2.96991856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.59, Y:-37.43, Z:-2.98 [[ 9.79739183e-01 2.00008901e-01 1.03717135e-02 2.71591932e+02] [-1.99996891e-01 9.79794077e-01 -2.19311985e-03 -3.74274888e+01] [-1.06007870e-02 7.43749953e-05 9.99943807e-01 -2.97709878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.65, Y:-37.45, Z:-2.98 [[ 9.79951992e-01 1.98963616e-01 1.03717655e-02 2.71648105e+02] [-1.98951549e-01 9.80006874e-01 -2.19287399e-03 -3.74454325e+01] [-1.06007036e-02 8.54324176e-05 9.99943807e-01 -2.97918943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.71, Y:-37.46, Z:-2.97 [[ 9.80012602e-01 1.98664856e-01 1.03718425e-02 2.71705317e+02] [-1.98652776e-01 9.80067481e-01 -2.19250969e-03 -3.74632315e+01] [-1.06006802e-02 8.82918140e-05 9.99943807e-01 -2.97420484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.76, Y:-37.48, Z:-2.97 [[ 9.79552964e-01 2.00918926e-01 1.03718678e-02 2.71764100e+02] [-2.00906974e-01 9.79607871e-01 -2.19239022e-03 -3.74758889e+01] [-1.06008560e-02 6.37817712e-05 9.99943807e-01 -2.97190875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:-37.49, Z:-2.98 [[ 9.79367367e-01 2.01821661e-01 1.03719195e-02 2.71822446e+02] [-2.01809763e-01 9.79422286e-01 -2.19214546e-03 -3.74901381e+01] [-1.06009115e-02 5.37611149e-05 9.99943807e-01 -2.98058219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:-37.51, Z:-2.98 [[ 9.79994102e-01 1.98756090e-01 1.03719195e-02 2.71881010e+02] [-1.98744020e-01 9.80048983e-01 -2.19214546e-03 -3.75081132e+01] [-1.06006914e-02 8.69326492e-05 9.99943807e-01 -2.97657094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.94, Y:-37.53, Z:-2.97 [[ 9.80220163e-01 1.97638198e-01 1.03718670e-02 2.71938665e+02] [-1.97626062e-01 9.80275029e-01 -2.19239381e-03 -3.75259845e+01] [-1.06005830e-02 9.92773831e-05 9.99943807e-01 -2.96854282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:-37.54, Z:-2.97 [[ 9.78232074e-01 2.07254516e-01 1.03718410e-02 2.71998638e+02] [-2.07242919e-01 9.78287057e-01 -2.19251684e-03 -3.75369446e+01] [-1.06010468e-02 -4.70030578e-06 9.99943807e-01 -2.97180391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:-37.55, Z:-2.98 [[ 9.76582596e-01 2.14892668e-01 1.03718410e-02 2.72057490e+02] [-2.14881501e-01 9.76637667e-01 -2.19251684e-03 -3.75466698e+01] [-1.06006864e-02 -8.75429757e-05 9.99943807e-01 -2.97992121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:-37.55, Z:-2.98 [[ 9.75503409e-01 2.19739670e-01 1.03718673e-02 2.72116938e+02] [-2.19728778e-01 9.75558536e-01 -2.19239236e-03 -3.75543292e+01] [-1.06001193e-02 -1.40311499e-04 9.99943807e-01 -2.97895380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:-37.56, Z:-2.98 [[ 9.76271399e-01 2.16302053e-01 1.03719192e-02 2.72176390e+02] [-2.16290969e-01 9.76326488e-01 -2.19214667e-03 -3.75600530e+01] [-1.06005453e-02 -1.03222367e-04 9.99943807e-01 -2.97659459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:-37.57, Z:-2.98 [[ 9.78044715e-01 2.08136875e-01 1.03719708e-02 2.72234343e+02] [-2.08125333e-01 9.78099709e-01 -2.19190257e-03 -3.75681536e+01] [-1.06010374e-02 -1.48911583e-05 9.99943807e-01 -2.97887661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.29, Y:-37.58, Z:-2.98 [[ 9.79780612e-01 1.99805836e-01 1.03720474e-02 2.72293269e+02] [-1.99793831e-01 9.79835508e-01 -2.19153989e-03 -3.75814817e+01] [-1.06007828e-02 7.49571921e-05 9.99943807e-01 -2.98227487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.35, Y:-37.60, Z:-2.98 [[ 9.82325676e-01 1.86892178e-01 1.03720474e-02 2.72351766e+02] [-1.86879451e-01 9.82380409e-01 -2.19153989e-03 -3.76006659e+01] [-1.05988779e-02 2.14483363e-04 9.99943807e-01 -2.98302892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:-37.62, Z:-2.98 [[ 9.83898896e-01 1.78424743e-01 1.03717181e-02 2.72411394e+02] [-1.78411530e-01 9.83953513e-01 -2.19309730e-03 -3.76214284e+01] [-1.05965913e-02 3.07351918e-04 9.99943807e-01 -2.98253148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:-37.64, Z:-2.98 [[ 9.83749465e-01 1.79246830e-01 1.03713179e-02 2.72470591e+02] [-1.79233642e-01 9.83804088e-01 -2.19498836e-03 -3.76437683e+01] [-1.05967897e-02 3.00429544e-04 9.99943807e-01 -2.98207388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.53, Y:-37.66, Z:-2.99 [[ 9.82192638e-01 1.87590154e-01 1.03709217e-02 2.72528777e+02] [-1.87577410e-01 9.82247367e-01 -2.19685878e-03 -3.76646408e+01] [-1.05989196e-02 2.12387891e-04 9.99943807e-01 -2.98891618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:-37.68, Z:-2.99 [[ 9.80405637e-01 1.96716120e-01 1.03708481e-02 2.72587166e+02] [-1.96703882e-01 9.80460481e-01 -2.19720631e-03 -3.76814451e+01] [-1.06004326e-02 1.14167381e-04 9.99943807e-01 -2.98722890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:-37.69, Z:-2.98 [[ 9.78325976e-01 2.06810856e-01 1.03708235e-02 2.72646098e+02] [-2.06799183e-01 9.78380943e-01 -2.19732223e-03 -3.76917751e+01] [-1.06010462e-02 5.01958620e-06 9.99943807e-01 -2.98211253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:-37.70, Z:-2.99 [[ 9.76385677e-01 2.15785667e-01 1.03708715e-02 2.72707395e+02] [-2.15774501e-01 9.76440750e-01 -2.19709586e-03 -3.76959540e+01] [-1.06006433e-02 -9.25566884e-05 9.99943807e-01 -2.99056705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:-37.70, Z:-2.99 [[ 9.75478853e-01 2.19848703e-01 1.03708715e-02 2.72766801e+02] [-2.19837767e-01 9.75533971e-01 -2.19709586e-03 -3.77020186e+01] [-1.06001661e-02 -1.36688676e-04 9.99943807e-01 -2.99159782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:-37.70, Z:-2.99 [[ 9.75586173e-01 2.19371973e-01 1.03709238e-02 2.72826909e+02] [-2.19361013e-01 9.75641287e-01 -2.19684898e-03 -3.77029279e+01] [-1.06002285e-02 -1.31760847e-04 9.99943807e-01 -2.99145118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:-37.71, Z:-2.99 [[ 9.77165885e-01 2.12224587e-01 1.03710014e-02 2.72887054e+02] [-2.12213227e-01 9.77220918e-01 -2.19648254e-03 -3.77085086e+01] [-1.06009071e-02 -5.45358573e-05 9.99943807e-01 -2.99180169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.95, Y:-37.71, Z:-3.00 [[ 9.78814320e-01 2.04487087e-01 1.03710517e-02 2.72946629e+02] [-2.04475294e-01 9.78869261e-01 -2.19624502e-03 -3.77148256e+01] [-1.06010074e-02 2.90922345e-05 9.99943807e-01 -2.99705622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.01, Y:-37.72, Z:-2.99 [[ 9.79821864e-01 1.99603495e-01 1.03711032e-02 2.73005034e+02] [-1.99591431e-01 9.79876746e-01 -2.19600177e-03 -3.77249192e+01] [-1.06007325e-02 8.17072221e-05 9.99943807e-01 -2.99201479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:-37.74, Z:-2.99 [[ 9.81108374e-01 1.93180735e-01 1.03711801e-02 2.73063326e+02] [-1.93168316e-01 9.81163178e-01 -2.19563849e-03 -3.77410920e+01] [-1.05999751e-02 1.50775920e-04 9.99943807e-01 -2.99092835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:-37.76, Z:-2.99 [[ 9.82202187e-01 1.87540135e-01 1.03711801e-02 2.73121665e+02] [-1.87527402e-01 9.82256918e-01 -2.19563849e-03 -3.77637592e+01] [-1.05989337e-02 2.11680474e-04 9.99943807e-01 -2.99276505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:-37.78, Z:-2.99 [[ 9.82078818e-01 1.88185127e-01 1.03708179e-02 2.73179918e+02] [-1.88172411e-01 9.82133553e-01 -2.19734769e-03 -3.77818747e+01] [-1.05990364e-02 2.06466805e-04 9.99943807e-01 -2.99309592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:-37.80, Z:-3.00 [[ 9.80688508e-01 1.95301041e-01 1.03707924e-02 2.73238168e+02] [-1.95288721e-01 9.80743334e-01 -2.19746816e-03 -3.78005264e+01] [-1.06002533e-02 1.29732979e-04 9.99943807e-01 -2.99540480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.30, Y:-37.82, Z:-3.00 [[ 9.78979407e-01 2.03695280e-01 1.03707924e-02 2.73296528e+02] [-2.03683430e-01 9.79034336e-01 -2.19746816e-03 -3.78178511e+01] [-1.06009758e-02 3.89175000e-05 9.99943807e-01 -2.99787902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.36, Y:-37.83, Z:-3.00 [[ 9.78623106e-01 2.05400249e-01 1.03707924e-02 2.73356983e+02] [-2.05388495e-01 9.78678056e-01 -2.19746816e-03 -3.78324704e+01] [-1.06010275e-02 2.04516648e-05 9.99943807e-01 -2.99635090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.42, Y:-37.85, Z:-3.00 [[ 9.77721721e-01 2.09648971e-01 1.03704188e-02 2.73415821e+02] [-2.09637437e-01 9.77776717e-01 -2.19923010e-03 -3.78469000e+01] [-1.06010203e-02 -2.37929717e-05 9.99943807e-01 -3.00172010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.48, Y:-37.86, Z:-3.00 [[ 9.76338639e-01 2.15998418e-01 1.03703925e-02 2.73475249e+02] [-2.15987240e-01 9.76393709e-01 -2.19935417e-03 -3.78553519e+01] [-1.06006430e-02 -9.25579859e-05 9.99943807e-01 -3.00317530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.53, Y:-37.86, Z:-3.00 [[ 9.75511463e-01 2.19703983e-01 1.03704433e-02 2.73534729e+02] [-2.19693017e-01 9.75566575e-01 -2.19911422e-03 -3.78619543e+01] [-1.06002120e-02 -1.33052857e-04 9.99943807e-01 -2.99702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.485769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:273.59, Y:-37.87, Z:-3.00 [[ 9.75140542e-01 2.21344472e-01 1.03704950e-02 2.73594485e+02] [-2.21333602e-01 9.75195674e-01 -2.19887039e-03 -3.78689336e+01] [-1.05999697e-02 -1.51131348e-04 9.99943807e-01 -3.00416827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:-37.88, Z:-3.01 [[ 9.75535402e-01 2.19597657e-01 1.03705461e-02 2.73653447e+02] [-2.19586691e-01 9.75590514e-01 -2.19862974e-03 -3.78790731e+01] [-1.06002203e-02 -1.32392742e-04 9.99943807e-01 -3.01091600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.71, Y:-37.89, Z:-3.01 [[ 9.77174901e-01 2.12183092e-01 1.03705977e-02 2.73713165e+02] [-2.12171709e-01 9.77229928e-01 -2.19838635e-03 -3.78907098e+01] [-1.06009188e-02 -5.21394698e-05 9.99943807e-01 -3.00982495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.77, Y:-37.90, Z:-3.01 [[ 9.77039963e-01 2.12803576e-01 1.03705977e-02 2.73771459e+02] [-2.12792228e-01 9.77094998e-01 -2.19838635e-03 -3.79019068e+01] [-1.06008836e-02 -5.88712709e-05 9.99943807e-01 -3.00803581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.83, Y:-37.91, Z:-3.01 [[ 9.75593684e-01 2.19338580e-01 1.03706501e-02 2.73829981e+02] [-2.19327603e-01 9.75648795e-01 -2.19813874e-03 -3.79069734e+01] [-1.06002489e-02 -1.30079572e-04 9.99943807e-01 -3.00990626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.785769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:273.89, Y:-37.91, Z:-3.01 [[ 9.74247735e-01 2.25241643e-01 1.03707797e-02 2.73888647e+02] [-2.25231007e-01 9.74302912e-01 -2.19752707e-03 -3.79147617e+01] [-1.05992555e-02 -1.94885392e-04 9.99943807e-01 -3.01022849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:-37.92, Z:-3.01 [[ 9.75128126e-01 2.21399150e-01 1.03708828e-02 2.73947408e+02] [-2.21388302e-01 9.75183261e-01 -2.19704083e-03 -3.79210656e+01] [-1.05999342e-02 -1.53595817e-04 9.99943807e-01 -3.00842114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:274.00, Y:-37.93, Z:-3.01 [[ 9.76913335e-01 2.13384111e-01 1.03709850e-02 2.74004259e+02] [-2.13372815e-01 9.76968381e-01 -2.19655788e-03 -3.79322382e+01] [-1.06008350e-02 -6.70395936e-05 9.99943807e-01 -3.00591222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.06, Y:-37.95, Z:-3.02 [[ 9.78392759e-01 2.06494671e-01 1.03711327e-02 2.74061125e+02] [-2.06482995e-01 9.78447725e-01 -2.19586036e-03 -3.79467116e+01] [-1.06010447e-02 6.95132538e-06 9.99943807e-01 -3.01542994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.12, Y:-37.96, Z:-3.02 [[ 9.78671126e-01 2.05171304e-01 1.03712325e-02 2.74119282e+02] [-2.05159559e-01 9.78726078e-01 -2.19538900e-03 -3.79614126e+01] [-1.06010265e-02 2.08063428e-05 9.99943807e-01 -3.01518926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:274.18, Y:-37.98, Z:-3.01 [[ 9.79492320e-01 2.01214392e-01 1.03712844e-02 2.74175857e+02] [-2.01202427e-01 9.79547224e-01 -2.19514375e-03 -3.79830702e+01] [-1.06008574e-02 6.33988429e-05 9.99943807e-01 -3.01242951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.23, Y:-38.00, Z:-3.01 [[ 9.78898263e-01 2.04084850e-01 1.03713100e-02 2.74231957e+02] [-2.04073048e-01 9.78953203e-01 -2.19502276e-03 -3.80044713e+01] [-1.06009980e-02 3.21991189e-05 9.99943807e-01 -3.01390000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:-38.03, Z:-3.00 [[ 9.77359669e-01 2.11330340e-01 1.03713609e-02 2.74287697e+02] [-2.11318948e-01 9.77414695e-01 -2.19478250e-03 -3.80288473e+01] [-1.06009446e-02 -4.65731661e-05 9.99943807e-01 -3.00291270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:274.35, Y:-38.05, Z:-3.01 [[ 9.75426112e-01 2.20082563e-01 1.03713859e-02 2.74345490e+02] [-2.20071666e-01 9.75481238e-01 -2.19466397e-03 -3.80451134e+01] [-1.06000997e-02 -1.41715636e-04 9.99943807e-01 -3.01104581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:-38.06, Z:-3.02 [[ 9.74017214e-01 2.26236382e-01 1.03714350e-02 2.74402724e+02] [-2.26225835e-01 9.74072408e-01 -2.19443214e-03 -3.80577958e+01] [-1.05989890e-02 -2.08871870e-04 9.99943807e-01 -3.01818918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:274.46, Y:-38.07, Z:-3.01 [[ 9.72938552e-01 2.30831117e-01 1.03715324e-02 2.74461493e+02] [-2.30820836e-01 9.72993797e-01 -2.19397156e-03 -3.80666299e+01] [-1.05978736e-02 -2.59366273e-04 9.99943807e-01 -3.01308269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:274.52, Y:-38.08, Z:-3.01 [[ 9.72786550e-01 2.31470860e-01 1.03715847e-02 2.74520887e+02] [-2.31460618e-01 9.72841801e-01 -2.19372459e-03 -3.80752770e+01] [-1.05976944e-02 -2.66587622e-04 9.99943807e-01 -3.00890716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:-38.08, Z:-3.01 [[ 9.73740406e-01 2.27424828e-01 1.03715700e-02 2.74580396e+02] [-2.27414356e-01 9.73795614e-01 -2.19379386e-03 -3.80807203e+01] [-1.05987126e-02 -2.22458195e-04 9.99943807e-01 -3.01039010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:274.64, Y:-38.09, Z:-3.01 [[ 9.75691753e-01 2.18901877e-01 1.03716219e-02 2.74639068e+02] [-2.18890925e-01 9.75746868e-01 -2.19354846e-03 -3.80892953e+01] [-1.06002495e-02 -1.30026773e-04 9.99943807e-01 -3.01446913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.625769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:274.70, Y:-38.10, Z:-3.01 [[ 9.77078344e-01 2.12627229e-01 1.03716477e-02 2.74696849e+02] [-2.12615924e-01 9.77133388e-01 -2.19342671e-03 -3.80997347e+01] [-1.06008655e-02 -6.20277159e-05 9.99943807e-01 -3.01345385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:274.76, Y:-38.11, Z:-3.01 [[ 9.77499095e-01 2.10684472e-01 1.03717234e-02 2.74755529e+02] [-2.10673061e-01 9.77554117e-01 -2.19306840e-03 -3.81102033e+01] [-1.06009664e-02 -4.13203449e-05 9.99943807e-01 -3.01335330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.745769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:274.81, Y:-38.12, Z:-3.01 [[ 9.76710380e-01 2.14311130e-01 1.03717752e-02 2.74813444e+02] [-2.14299927e-01 9.76765444e-01 -2.19282367e-03 -3.81245575e+01] [-1.06007381e-02 -8.09170242e-05 9.99943807e-01 -3.01350482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:274.87, Y:-38.13, Z:-3.01 [[ 9.75677955e-01 2.18963363e-01 1.03718265e-02 2.74872023e+02] [-2.18952424e-01 9.75733072e-01 -2.19258088e-03 -3.81331552e+01] [-1.06002290e-02 -1.31683725e-04 9.99943807e-01 -3.01387205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.865769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:274.93, Y:-38.15, Z:-3.01 [[ 9.74723104e-01 2.23175479e-01 1.03719299e-02 2.74928502e+02] [-2.23164784e-01 9.74778269e-01 -2.19209139e-03 -3.81463249e+01] [-1.05995530e-02 -1.77967386e-04 9.99943807e-01 -3.01074071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.925769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:274.99, Y:-38.15, Z:-3.02 [[ 9.74632693e-01 2.23569978e-01 1.03720668e-02 2.74987150e+02] [-2.23559312e-01 9.74687864e-01 -2.19144355e-03 -3.81547564e+01] [-1.05994686e-02 -1.82919597e-04 9.99943807e-01 -3.01982697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.985769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:-38.17, Z:-3.02 [[ 9.75009063e-01 2.21922837e-01 1.03721666e-02 2.75043475e+02] [-2.21912083e-01 9.75064217e-01 -2.19097136e-03 -3.81671311e+01] [-1.05997550e-02 -1.65492153e-04 9.99943807e-01 -3.01561513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.045769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:-38.18, Z:-3.01 [[ 9.75152394e-01 2.21292171e-01 1.03722902e-02 2.75100765e+02] [-2.21281388e-01 9.75207542e-01 -2.19038567e-03 -3.81781837e+01] [-1.05998509e-02 -1.59234948e-04 9.99943807e-01 -3.01261468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.105769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-38.19, Z:-3.01 [[ 9.75493342e-01 2.19784333e-01 1.03724124e-02 2.75158649e+02] [-2.19773470e-01 9.75548475e-01 -2.18980727e-03 -3.81921451e+01] [-1.06000764e-02 -1.43438646e-04 9.99943807e-01 -3.00901660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.165769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-38.20, Z:-3.01 [[ 9.75920752e-01 2.17878631e-01 1.03724646e-02 2.75216567e+02] [-2.17867664e-01 9.75975864e-01 -2.18956000e-03 -3.82033031e+01] [-1.06003334e-02 -1.22987582e-04 9.99943807e-01 -3.01379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.225769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.27, Y:-38.22, Z:-3.01 [[ 9.77183982e-01 2.12141169e-01 1.03725420e-02 2.75273448e+02] [-2.12129882e-01 9.77239029e-01 -2.18919328e-03 -3.82198541e+01] [-1.06008709e-02 -6.10815007e-05 9.99943807e-01 -3.01397104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.285769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:275.33, Y:-38.23, Z:-3.01 [[ 9.78400917e-01 2.06455939e-01 1.03726177e-02 2.75332049e+02] [-2.06444336e-01 9.78455899e-01 -2.18883441e-03 -3.82310097e+01] [-1.06010468e-02 1.89424271e-07 9.99943807e-01 -3.01297461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.345769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:275.39, Y:-38.25, Z:-3.02 [[ 9.79459151e-01 2.01375715e-01 1.03726672e-02 2.75388765e+02] [-2.01363829e-01 9.79514072e-01 -2.18859958e-03 -3.82484644e+01] [-1.06009043e-02 5.49638924e-05 9.99943807e-01 -3.01882430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:275.45, Y:-38.27, Z:-3.02 [[ 9.79998473e-01 1.98734498e-01 1.03726917e-02 2.75448020e+02] [-1.98722465e-01 9.80053362e-01 -2.18848350e-03 -3.82667721e+01] [-1.06007186e-02 8.34236258e-05 9.99943807e-01 -3.02049227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:275.51, Y:-38.29, Z:-3.02 [[ 9.78831151e-01 2.04406439e-01 1.03723329e-02 2.75505225e+02] [-2.04394706e-01 9.78886105e-01 -2.19018301e-03 -3.82872664e+01] [-1.06010200e-02 2.37694285e-05 9.99943807e-01 -3.01854077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:275.56, Y:-38.30, Z:-3.02 [[ 9.78096975e-01 2.07891137e-01 1.03722163e-02 2.75564574e+02] [-2.07879594e-01 9.78151969e-01 -2.19073470e-03 -3.83004671e+01] [-1.06010382e-02 -1.34211426e-05 9.99943807e-01 -3.01624843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:-38.31, Z:-3.01 [[ 9.77136595e-01 2.12359348e-01 1.03722163e-02 2.75622346e+02] [-2.12348056e-01 9.77191641e-01 -2.19073470e-03 -3.83133661e+01] [-1.06008661e-02 -6.18729375e-05 9.99943807e-01 -3.01288380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:-38.32, Z:-3.02 [[ 9.77406576e-01 2.11113244e-01 1.03722411e-02 2.75683040e+02] [-2.11101884e-01 9.77461608e-01 -2.19061736e-03 -3.83240246e+01] [-1.06009358e-02 -4.84758289e-05 9.99943807e-01 -3.01623792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:-38.34, Z:-3.02 [[ 9.78754917e-01 2.04771166e-01 1.03721902e-02 2.75743754e+02] [-2.04759447e-01 9.78809874e-01 -2.19085823e-03 -3.83377697e+01] [-1.06010268e-02 2.05093225e-05 9.99943807e-01 -3.02175639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:-38.35, Z:-3.02 [[ 9.79107251e-01 2.03079828e-01 1.03718358e-02 2.75804414e+02] [-2.03067996e-01 9.79162184e-01 -2.19253492e-03 -3.83496029e+01] [-1.06009690e-02 4.05389234e-05 9.99943807e-01 -3.01548571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:275.87, Y:-38.36, Z:-3.01 [[ 9.78025055e-01 2.08229259e-01 1.03714724e-02 2.75865342e+02] [-2.08217698e-01 9.78080045e-01 -2.19425272e-03 -3.83597948e+01] [-1.06010378e-02 -1.34899743e-05 9.99943807e-01 -3.01275858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:-38.36, Z:-3.02 [[ 9.76520373e-01 2.15175263e-01 1.03714192e-02 2.75924550e+02] [-2.15164091e-01 9.76575444e-01 -2.19450388e-03 -3.83638386e+01] [-1.06006763e-02 -8.85792416e-05 9.99943807e-01 -3.01775507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:275.98, Y:-38.38, Z:-3.02 [[ 9.76288872e-01 2.16223198e-01 1.03714977e-02 2.75984777e+02] [-2.16212089e-01 9.76343955e-01 -2.19413285e-03 -3.83759917e+01] [-1.06005715e-02 -1.00335696e-04 9.99943807e-01 -3.01857131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.005769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:-38.39, Z:-3.02 [[ 9.77795142e-01 2.09306220e-01 1.03714444e-02 2.76045015e+02] [-2.09294718e-01 9.77850145e-01 -2.19438504e-03 -3.83884173e+01] [-1.06010168e-02 -2.50294943e-05 9.99943807e-01 -3.01828904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.065769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:-38.40, Z:-3.02 [[ 9.79613080e-01 2.00625650e-01 1.03712331e-02 2.76104046e+02] [-2.00613650e-01 9.79667976e-01 -2.19538289e-03 -3.84038948e+01] [-1.06008151e-02 7.00148527e-05 9.99943807e-01 -3.02156015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.125769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:-38.42, Z:-3.03 [[ 9.79987246e-01 1.98789944e-01 1.03708941e-02 2.76163053e+02] [-1.98777824e-01 9.80042116e-01 -2.19698353e-03 -3.84178463e+01] [-1.06006512e-02 9.15120793e-05 9.99943807e-01 -3.02630741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.185769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:276.22, Y:-38.44, Z:-3.03 [[ 9.79478827e-01 2.01280086e-01 1.03708941e-02 2.76221887e+02] [-2.01268106e-01 9.79533727e-01 -2.19698353e-03 -3.84356972e+01] [-1.06008495e-02 6.45686456e-05 9.99943807e-01 -3.02960581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.245769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:-38.46, Z:-3.02 [[ 9.79118610e-01 2.03025103e-01 1.03708419e-02 2.76279913e+02] [-2.03013218e-01 9.79173532e-01 -2.19722953e-03 -3.84553896e+01] [-1.06009467e-02 4.59303255e-05 9.99943807e-01 -3.02372411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.305769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:276.34, Y:-38.47, Z:-3.02 [[ 9.78613704e-01 2.05445057e-01 1.03705071e-02 2.76338807e+02] [-2.05433291e-01 9.78668651e-01 -2.19880863e-03 -3.84718033e+01] [-1.06010246e-02 2.13368412e-05 9.99943807e-01 -3.02129761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.365769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:276.40, Y:-38.49, Z:-3.03 [[ 9.77862396e-01 2.08991852e-01 1.03701762e-02 2.76398936e+02] [-2.08980269e-01 9.77917382e-01 -2.20036814e-03 -3.84857302e+01] [-1.06010346e-02 -1.55049547e-05 9.99943807e-01 -3.03015071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.425769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:276.46, Y:-38.50, Z:-3.03 [[ 9.77295817e-01 2.11625489e-01 1.03701017e-02 2.76458135e+02] [-2.11614051e-01 9.77350833e-01 -2.20071933e-03 -3.84968059e+01] [-1.06009558e-02 -4.37054285e-05 9.99943807e-01 -3.02863307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.485769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:-38.51, Z:-3.02 [[ 9.77246179e-01 2.11854590e-01 1.03701017e-02 2.76518568e+02] [-2.11843164e-01 9.77301197e-01 -2.20071933e-03 -3.85095854e+01] [-1.06009453e-02 -4.61906006e-05 9.99943807e-01 -3.02227822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.545769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.58, Y:-38.53, Z:-3.02 [[ 9.78143009e-01 2.07674558e-01 1.03697632e-02 2.76578096e+02] [-2.07662881e-01 9.78197975e-01 -2.20231302e-03 -3.85260202e+01] [-1.06010458e-02 7.62177400e-07 9.99943807e-01 -3.02202797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.605769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:276.64, Y:-38.54, Z:-3.02 [[ 9.78574229e-01 2.05633049e-01 1.03695047e-02 2.76638936e+02] [-2.05621244e-01 9.78629168e-01 -2.20352961e-03 -3.85396607e+01] [-1.06010183e-02 2.41268352e-05 9.99943807e-01 -3.02272365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.665769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:276.70, Y:-38.55, Z:-3.03 [[ 9.78181595e-01 2.07492765e-01 1.03691235e-02 2.76699190e+02] [-2.07481045e-01 9.78236552e-01 -2.20532185e-03 -3.85530844e+01] [-1.06010440e-02 5.80865469e-06 9.99943807e-01 -3.02613071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.725769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:276.76, Y:-38.57, Z:-3.03 [[ 9.77441005e-01 2.10953955e-01 1.03687633e-02 2.76759778e+02] [-2.10942412e-01 9.77495999e-01 -2.20701422e-03 -3.85667532e+01] [-1.06010030e-02 -2.99857424e-05 9.99943807e-01 -3.02602790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.785769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:276.82, Y:-38.58, Z:-3.03 [[ 9.77065875e-01 2.12684679e-01 1.03683959e-02 2.76820236e+02] [-2.12673215e-01 9.77120886e-01 -2.20873878e-03 -3.85810573e+01] [-1.06009411e-02 -4.69968086e-05 9.99943807e-01 -3.02592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.845769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:276.88, Y:-38.59, Z:-3.03 [[ 9.76632384e-01 2.14666463e-01 1.03680075e-02 2.76880786e+02] [-2.14655091e-01 9.76687414e-01 -2.21056046e-03 -3.85942667e+01] [-1.06008357e-02 -6.66406727e-05 9.99943807e-01 -3.03417167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.94, Y:-38.61, Z:-3.03 [[ 9.75871918e-01 2.18097481e-01 1.03676283e-02 2.76941357e+02] [-2.18086283e-01 9.75926984e-01 -2.21233759e-03 -3.86074944e+01] [-1.06005535e-02 -1.02079402e-04 9.99943807e-01 -3.03433546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.00, Y:-38.62, Z:-3.03 [[ 9.74920863e-01 2.22310214e-01 1.03672255e-02 2.77001048e+02] [-2.22299235e-01 9.74975973e-01 -2.21422355e-03 -3.86237891e+01] [-1.06000403e-02 -1.45933566e-04 9.99943807e-01 -3.02968567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:-38.64, Z:-3.02 [[ 9.74644648e-01 2.23518079e-01 1.03671752e-02 2.77062125e+02] [-2.23507165e-01 9.74699771e-01 -2.21445926e-03 -3.86380196e+01] [-1.05998549e-02 -1.58827063e-04 9.99943807e-01 -3.02326871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.12, Y:-38.65, Z:-3.03 [[ 9.74503080e-01 2.24134505e-01 1.03668142e-02 2.77122749e+02] [-2.24123608e-01 9.74558206e-01 -2.21614781e-03 -3.86524246e+01] [-1.05997790e-02 -1.63804940e-04 9.99943807e-01 -3.02630048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.18, Y:-38.67, Z:-3.03 [[ 9.74479390e-01 2.24237497e-01 1.03664482e-02 2.77183739e+02] [-2.24226588e-01 9.74534514e-01 -2.21785859e-03 -3.86688375e+01] [-1.05997886e-02 -1.63175820e-04 9.99943807e-01 -3.03200407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:277.24, Y:-38.68, Z:-3.03 [[ 9.74334976e-01 2.24864180e-01 1.03660274e-02 2.77244239e+02] [-2.24853286e-01 9.74390103e-01 -2.21982332e-03 -3.86828759e+01] [-1.05997133e-02 -1.67983830e-04 9.99943807e-01 -3.03233355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:-38.70, Z:-3.03 [[ 9.74028482e-01 2.26188131e-01 1.03656343e-02 2.77305205e+02] [-2.26177292e-01 9.74083619e-01 -2.22165771e-03 -3.86974989e+01] [-1.05995072e-02 -1.80513203e-04 9.99943807e-01 -3.02899110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:-38.71, Z:-3.03 [[ 9.73261446e-01 2.29466161e-01 1.03652762e-02 2.77365544e+02] [-2.29455490e-01 9.73316616e-01 -2.22332720e-03 -3.87122370e+01] [-1.05988739e-02 -2.14490874e-04 9.99943807e-01 -3.02831031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:277.43, Y:-38.72, Z:-3.03 [[ 9.71781386e-01 2.35655480e-01 1.03649166e-02 2.77426783e+02] [-2.35645143e-01 9.71836620e-01 -2.22500229e-03 -3.87243901e+01] [-1.05973395e-02 -2.80226446e-04 9.99943807e-01 -3.03343084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.49, Y:-38.73, Z:-3.04 [[ 9.70653924e-01 2.40257228e-01 1.03645439e-02 2.77487528e+02] [-2.40247134e-01 9.70709203e-01 -2.22673697e-03 -3.87346609e+01] [-1.05959478e-02 -3.28660992e-04 9.99943807e-01 -3.03753218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.505769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.55, Y:-38.75, Z:-3.03 [[ 9.69616061e-01 2.44412107e-01 1.03642025e-02 2.77547298e+02] [-2.44402233e-01 9.69671379e-01 -2.22832483e-03 -3.87469388e+01] [-1.05945001e-02 -3.72414691e-04 9.99943807e-01 -3.03271360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.565769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:-38.75, Z:-3.03 [[ 9.69689277e-01 2.44121467e-01 1.03641497e-02 2.77607110e+02] [-2.44111573e-01 9.69744592e-01 -2.22857037e-03 -3.87537579e+01] [-1.05946200e-02 -3.68988106e-04 9.99943807e-01 -3.03442406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:277.67, Y:-38.77, Z:-3.04 [[ 9.70078410e-01 2.42570535e-01 1.03640291e-02 2.77665744e+02] [-2.42560547e-01 9.70133708e-01 -2.22913118e-03 -3.87656489e+01] [-1.05952155e-02 -3.51472543e-04 9.99943807e-01 -3.03554222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.685769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:277.73, Y:-38.77, Z:-3.04 [[ 9.70892734e-01 2.39290378e-01 1.03640546e-02 2.77725982e+02] [-2.39280204e-01 9.70947998e-01 -2.22901281e-03 -3.87736585e+01] [-1.05963393e-02 -3.15780751e-04 9.99943807e-01 -3.04022413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.745769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:277.78, Y:-38.78, Z:-3.04 [[ 9.71687101e-01 2.36043989e-01 1.03640546e-02 2.77784645e+02] [-2.36033630e-01 9.71742330e-01 -2.22901281e-03 -3.87835958e+01] [-1.05973356e-02 -2.80362433e-04 9.99943807e-01 -3.04447495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.84, Y:-38.80, Z:-3.05 [[ 9.72109390e-01 2.34298781e-01 1.03640799e-02 2.77843285e+02] [-2.34288325e-01 9.72164602e-01 -2.22889494e-03 -3.87954294e+01] [-1.05978190e-02 -2.61453219e-04 9.99943807e-01 -3.04515992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.865769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:277.90, Y:-38.81, Z:-3.05 [[ 9.73919609e-01 2.26656526e-01 1.03641307e-02 2.77901831e+02] [-2.26645639e-01 9.73974737e-01 -2.22865869e-03 -3.88079116e+01] [-1.05995415e-02 -1.78450626e-04 9.99943807e-01 -3.04590401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.925769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.96, Y:-38.82, Z:-3.04 [[ 9.75420942e-01 2.20105821e-01 1.03640107e-02 2.77960048e+02] [-2.20094558e-01 9.75475995e-01 -2.22921667e-03 -3.88191641e+01] [-1.06005072e-02 -1.06637726e-04 9.99943807e-01 -3.04342197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.985769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:-38.84, Z:-3.04 [[ 9.76576661e-01 2.14920014e-01 1.03640353e-02 2.78018645e+02] [-2.14908460e-01 9.76631653e-01 -2.22910229e-03 -3.88364383e+01] [-1.06009236e-02 -5.04295890e-05 9.99943807e-01 -3.03827345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.08, Y:-38.85, Z:-3.05 [[ 9.76864698e-01 2.13606999e-01 1.03639860e-02 2.78078443e+02] [-2.13595368e-01 9.76919674e-01 -2.22933152e-03 -3.88502499e+01] [-1.06009826e-02 -3.59441417e-05 9.99943807e-01 -3.04695209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.105769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:-38.86, Z:-3.05 [[ 9.76581081e-01 2.14899932e-01 1.03639367e-02 2.78137593e+02] [-2.14888371e-01 9.76636072e-01 -2.22956067e-03 -3.88611494e+01] [-1.06009269e-02 -4.97427075e-05 9.99943807e-01 -3.04503012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.165769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:-38.88, Z:-3.04 [[ 9.76031604e-01 2.17381912e-01 1.03639856e-02 2.78194680e+02] [-2.17370494e-01 9.76086624e-01 -2.22933333e-03 -3.88757784e+01] [-1.06007645e-02 -7.69248815e-05 9.99943807e-01 -3.04249975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.25, Y:-38.89, Z:-3.05 [[ 9.75663574e-01 2.19027799e-01 1.03640582e-02 2.78252070e+02] [-2.19016478e-01 9.75718614e-01 -2.22899587e-03 -3.88906642e+01] [-1.06006165e-02 -9.51494411e-05 9.99943807e-01 -3.04708160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.31, Y:-38.90, Z:-3.05 [[ 9.75697850e-01 2.18875058e-01 1.03641058e-02 2.78308945e+02] [-2.18863730e-01 9.75752889e-01 -2.22877426e-03 -3.89037430e+01] [-1.06006293e-02 -9.37166051e-05 9.99943807e-01 -3.04544421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:278.37, Y:-38.92, Z:-3.05 [[ 9.75577606e-01 2.19410389e-01 1.03641767e-02 2.78366188e+02] [-2.19399095e-01 9.75632652e-01 -2.22844482e-03 -3.89168702e+01] [-1.06005731e-02 -9.98701112e-05 9.99943807e-01 -3.04632140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-38.93, Z:-3.05 [[ 9.76003460e-01 2.17508228e-01 1.03642467e-02 2.78424013e+02] [-2.17496830e-01 9.76058484e-01 -2.22811915e-03 -3.89301926e+01] [-1.06007451e-02 -7.95387948e-05 9.99943807e-01 -3.04745458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:278.49, Y:-38.94, Z:-3.05 [[ 9.76809402e-01 2.13859704e-01 1.03642931e-02 2.78485782e+02] [-2.13848103e-01 9.76864384e-01 -2.22790326e-03 -3.89406895e+01] [-1.06009675e-02 -4.01475666e-05 9.99943807e-01 -3.04826020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.55, Y:-38.95, Z:-3.05 [[ 9.77087937e-01 2.12583520e-01 1.03639308e-02 2.78547981e+02] [-2.12571829e-01 9.77142900e-01 -2.22958709e-03 -3.89497199e+01] [-1.06010149e-02 -2.45770906e-05 9.99943807e-01 -3.05121358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.61, Y:-38.96, Z:-3.05 [[ 9.77127936e-01 2.12399612e-01 1.03635062e-02 2.78608246e+02] [-2.12387890e-01 9.77182892e-01 -2.23155913e-03 -3.89593657e+01] [-1.06010233e-02 -2.05644458e-05 9.99943807e-01 -3.05307460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.67, Y:-38.97, Z:-3.05 [[ 9.76908195e-01 2.13408022e-01 1.03631648e-02 2.78668580e+02] [-2.13396340e-01 9.76963160e-01 -2.23314322e-03 -3.89652898e+01] [-1.06010010e-02 -2.98855357e-05 9.99943807e-01 -3.04806834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.73, Y:-38.97, Z:-3.05 [[ 9.76960870e-01 2.13166751e-01 1.03631648e-02 2.78729709e+02] [-2.13155055e-01 9.77015832e-01 -2.23314322e-03 -3.89718758e+01] [-1.06010080e-02 -2.72674291e-05 9.99943807e-01 -3.04850474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.79, Y:-38.98, Z:-3.05 [[ 9.77175990e-01 2.12178440e-01 1.03631107e-02 2.78789934e+02] [-2.12166686e-01 9.77230940e-01 -2.23339458e-03 -3.89806663e+01] [-1.06010306e-02 -1.62872858e-05 9.99943807e-01 -3.04868236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:278.85, Y:-38.99, Z:-3.05 [[ 9.77302647e-01 2.11594295e-01 1.03629852e-02 2.78850837e+02] [-2.11582502e-01 9.77357588e-01 -2.23397674e-03 -3.89909822e+01] [-1.06010389e-02 -9.35494873e-06 9.99943807e-01 -3.04722025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.91, Y:-39.00, Z:-3.05 [[ 9.76842751e-01 2.13707393e-01 1.03629296e-02 2.78909961e+02] [-2.13695716e-01 9.76897717e-01 -2.23423462e-03 -3.89983096e+01] [-1.06009947e-02 -3.20177724e-05 9.99943807e-01 -3.04854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.97, Y:-39.01, Z:-3.05 [[ 9.76544256e-01 2.15067257e-01 1.03629571e-02 2.78969673e+02] [-2.15055658e-01 9.76599238e-01 -2.23410694e-03 -3.90056697e+01] [-1.06009393e-02 -4.69082686e-05 9.99943807e-01 -3.04744815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.03, Y:-39.02, Z:-3.06 [[ 9.77190313e-01 2.12112472e-01 1.03630103e-02 2.79027202e+02] [-2.12100709e-01 9.77245260e-01 -2.23385996e-03 -3.90153866e+01] [-1.06010323e-02 -1.50955320e-05 9.99943807e-01 -3.05620585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.09, Y:-39.03, Z:-3.06 [[ 9.78264399e-01 2.07102325e-01 1.03630891e-02 2.79085015e+02] [-2.07090285e-01 9.78319286e-01 -2.23349433e-03 -3.90307264e+01] [-1.06009718e-02 3.88529063e-05 9.99943807e-01 -3.06340064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:-39.05, Z:-3.06 [[ 9.80040892e-01 1.98525703e-01 1.03631418e-02 2.79144483e+02] [-1.98513185e-01 9.80095673e-01 -2.23325000e-03 -3.90460514e+01] [-1.06002280e-02 1.31456040e-04 9.99943807e-01 -3.06276627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.20, Y:-39.07, Z:-3.07 [[ 9.81067449e-01 1.93388902e-01 1.03630887e-02 2.79202012e+02] [-1.93376094e-01 9.81122162e-01 -2.23349640e-03 -3.90704632e+01] [-1.05993894e-02 1.87237004e-04 9.99943807e-01 -3.06510906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:-39.09, Z:-3.07 [[ 9.80562446e-01 1.95933413e-01 1.03627461e-02 2.79260244e+02] [-1.95920731e-01 9.80617189e-01 -2.23508471e-03 -3.90897698e+01] [-1.05998148e-02 1.61363339e-04 9.99943807e-01 -3.07226319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.32, Y:-39.11, Z:-3.07 [[ 9.79347286e-01 2.01919560e-01 1.03626945e-02 2.79319761e+02] [-2.01907210e-01 9.79402104e-01 -2.23532421e-03 -3.91058688e+01] [-1.06006004e-02 9.68559674e-05 9.99943807e-01 -3.07015777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.38, Y:-39.12, Z:-3.06 [[ 9.77192015e-01 2.12104646e-01 1.03626427e-02 2.79377273e+02] [-2.12092864e-01 9.77246959e-01 -2.23556435e-03 -3.91174691e+01] [-1.06010346e-02 -1.32669353e-05 9.99943807e-01 -3.06406431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:-39.13, Z:-3.07 [[ 9.76646782e-01 2.14601204e-01 1.03627197e-02 2.79434526e+02] [-2.14589567e-01 9.76701757e-01 -2.23520720e-03 -3.91301514e+01] [-1.06009647e-02 -4.07236173e-05 9.99943807e-01 -3.06709378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.49, Y:-39.14, Z:-3.06 [[ 9.77073253e-01 2.12651056e-01 1.03627948e-02 2.79492373e+02] [-2.12639313e-01 9.77128205e-01 -2.23485871e-03 -3.91447070e+01] [-1.06010242e-02 -1.99169106e-05 9.99943807e-01 -3.06265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.55, Y:-39.16, Z:-3.06 [[ 9.77570901e-01 2.10351479e-01 1.03628446e-02 2.79550851e+02] [-2.10339610e-01 9.77625826e-01 -2.23462817e-03 -3.91629800e+01] [-1.06010418e-02 4.79079038e-06 9.99943807e-01 -3.05619915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:-39.19, Z:-3.06 [[ 9.77478039e-01 2.10782576e-01 1.03628446e-02 2.79607687e+02] [-2.10770730e-01 9.77532969e-01 -2.23462817e-03 -3.91866585e+01] [-1.06010429e-02 1.15643331e-07 9.99943807e-01 -3.05913859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.66, Y:-39.21, Z:-3.06 [[ 9.76408492e-01 2.15682796e-01 1.03628201e-02 2.79664921e+02] [-2.15671225e-01 9.76463480e-01 -2.23474147e-03 -3.92082109e+01] [-1.06009107e-02 -5.29415573e-05 9.99943807e-01 -3.06120185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.72, Y:-39.22, Z:-3.06 [[ 9.76123410e-01 2.16969353e-01 1.03627960e-02 2.79724482e+02] [-2.16957853e-01 9.76178414e-01 -2.23485316e-03 -3.92238783e+01] [-1.06008324e-02 -6.67974890e-05 9.99943807e-01 -3.06244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:-39.24, Z:-3.06 [[ 9.75329101e-01 2.20512490e-01 1.03627481e-02 2.79781709e+02] [-2.20501188e-01 9.75384145e-01 -2.23507547e-03 -3.92433528e+01] [-1.06005222e-02 -1.05064115e-04 9.99943807e-01 -3.06250788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:-39.26, Z:-3.06 [[ 9.74279923e-01 2.25102742e-01 1.03627244e-02 2.79841192e+02] [-2.25091698e-01 9.74335020e-01 -2.23518532e-03 -3.92642001e+01] [-1.05999116e-02 -1.54867055e-04 9.99943807e-01 -3.06179471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:-39.28, Z:-3.07 [[ 9.73200872e-01 2.29723062e-01 1.03622956e-02 2.79901049e+02] [-2.29712258e-01 9.73256017e-01 -2.23717124e-03 -3.92780684e+01] [-1.05990964e-02 -2.03129331e-04 9.99943807e-01 -3.06915654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.96, Y:-39.29, Z:-3.07 [[ 9.71661357e-01 2.36150033e-01 1.03619511e-02 2.79961656e+02] [-2.36139576e-01 9.71716568e-01 -2.23876616e-03 -3.92897945e+01] [-1.05975642e-02 -2.71544173e-04 9.99943807e-01 -3.06986736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:-39.30, Z:-3.06 [[ 9.71072928e-01 2.38558167e-01 1.03619017e-02 2.80024011e+02] [-2.38547845e-01 9.71128165e-01 -2.23899455e-03 -3.92976576e+01] [-1.05968650e-02 -2.97582334e-04 9.99943807e-01 -3.06301298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:-39.30, Z:-3.07 [[ 9.71928615e-01 2.35047666e-01 1.03615423e-02 2.80084825e+02] [-2.35037127e-01 9.71983811e-01 -2.24065638e-03 -3.93038003e+01] [-1.05979125e-02 -2.57589086e-04 9.99943807e-01 -3.07207418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.15, Y:-39.31, Z:-3.07 [[ 9.72954204e-01 2.30765599e-01 1.03612119e-02 2.80146388e+02] [-2.30754801e-01 9.73009350e-01 -2.24218330e-03 -3.93112676e+01] [-1.05989748e-02 -2.09357727e-04 9.99943807e-01 -3.07367159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.21, Y:-39.32, Z:-3.07 [[ 9.74142050e-01 2.25698735e-01 1.03608571e-02 2.80208461e+02] [-2.25687633e-01 9.74197135e-01 -2.24382160e-03 -3.93156717e+01] [-1.05999450e-02 -1.52516335e-04 9.99943807e-01 -3.07100921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.27, Y:-39.32, Z:-3.06 [[ 9.73970140e-01 2.26439442e-01 1.03608064e-02 2.80269557e+02] [-2.26428379e-01 9.74025232e-01 -2.24405556e-03 -3.93197247e+01] [-1.05998296e-02 -1.60337499e-04 9.99943807e-01 -3.06448460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:-39.32, Z:-3.06 [[ 9.73948156e-01 2.26533979e-01 1.03608064e-02 2.80329318e+02] [-2.26522922e-01 9.74003250e-01 -2.24405556e-03 -3.93237376e+01] [-1.05998140e-02 -1.61366367e-04 9.99943807e-01 -3.06441602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.39, Y:-39.33, Z:-3.06 [[ 9.73932360e-01 2.26601877e-01 1.03608590e-02 2.80388756e+02] [-2.26590825e-01 9.73987455e-01 -2.24381282e-03 -3.93314736e+01] [-1.05997989e-02 -1.62353679e-04 9.99943807e-01 -3.06415065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.45, Y:-39.34, Z:-3.07 [[ 9.74264372e-01 2.25170124e-01 1.03609109e-02 2.80448178e+02] [-2.25158995e-01 9.74319451e-01 -2.24357324e-03 -3.93369061e+01] [-1.06000227e-02 -1.47018806e-04 9.99943807e-01 -3.06667020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.51, Y:-39.34, Z:-3.07 [[ 9.73769465e-01 2.27300855e-01 1.03610143e-02 2.80506327e+02] [-2.27289851e-01 9.73824570e-01 -2.24309571e-03 -3.93395458e+01] [-1.05996678e-02 -1.70695274e-04 9.99943807e-01 -3.07282732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.57, Y:-39.35, Z:-3.07 [[ 9.73488106e-01 2.28502853e-01 1.03611424e-02 2.80565326e+02] [-2.28491924e-01 9.73543226e-01 -2.24250366e-03 -3.93459850e+01] [-1.05994385e-02 -1.84386717e-04 9.99943807e-01 -3.07144237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.62, Y:-39.35, Z:-3.07 [[ 9.74883226e-01 2.22475483e-01 1.03612436e-02 2.80624495e+02] [-2.22464217e-01 9.74938278e-01 -2.24203613e-03 -3.93502397e+01] [-1.06003710e-02 -1.19282526e-04 9.99943807e-01 -3.07474694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.68, Y:-39.36, Z:-3.07 [[ 9.75805381e-01 2.18395284e-01 1.03613442e-02 2.80681414e+02] [-2.18383794e-01 9.75860387e-01 -2.24157088e-03 -3.93608058e+01] [-1.06007739e-02 -7.54127316e-05 9.99943807e-01 -3.06915487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.74, Y:-39.37, Z:-3.07 [[ 9.76987903e-01 2.13042901e-01 1.03614690e-02 2.80740088e+02] [-2.13031115e-01 9.77042846e-01 -2.24099392e-03 -3.93696030e+01] [-1.06010270e-02 -1.78913430e-05 9.99943807e-01 -3.07358473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.80, Y:-39.38, Z:-3.07 [[ 9.78396539e-01 2.06477239e-01 1.03615684e-02 2.80796789e+02] [-2.06465089e-01 9.78451402e-01 -2.24053406e-03 -3.93805806e+01] [-1.06009105e-02 5.28286117e-05 9.99943807e-01 -3.07078835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.85, Y:-39.39, Z:-3.07 [[ 9.79587386e-01 2.00751561e-01 1.03616967e-02 2.80853307e+02] [-2.00739096e-01 9.79642178e-01 -2.23994084e-03 -3.93937850e+01] [-1.06004267e-02 1.14220165e-04 9.99943807e-01 -3.06948611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.91, Y:-39.41, Z:-3.07 [[ 9.80527289e-01 1.96109329e-01 1.03618211e-02 2.80910539e+02] [-1.96096612e-01 9.80582023e-01 -2.23936522e-03 -3.94094201e+01] [-1.05997759e-02 1.63840705e-04 9.99943807e-01 -3.07248536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.97, Y:-39.43, Z:-3.08 [[ 9.81580204e-01 1.90769322e-01 1.03619170e-02 2.80966242e+02] [-1.90756311e-01 9.81634869e-01 -2.23892152e-03 -3.94282995e+01] [-1.05987365e-02 2.21079982e-04 9.99943807e-01 -3.07778199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-39.45, Z:-3.08 [[ 9.81879533e-01 1.89222651e-01 1.03620120e-02 2.81023965e+02] [-1.89209559e-01 9.81934179e-01 -2.23848154e-03 -3.94499897e+01] [-1.05983852e-02 2.37327486e-04 9.99943807e-01 -3.08039184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:-39.48, Z:-3.08 [[ 9.81820515e-01 1.89528643e-01 1.03619590e-02 2.81080703e+02] [-1.89515565e-01 9.81875164e-01 -2.23872687e-03 -3.94753534e+01] [-1.05984531e-02 2.34275455e-04 9.99943807e-01 -3.07543627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.14, Y:-39.50, Z:-3.07 [[ 9.81535536e-01 1.90999018e-01 1.03617554e-02 2.81137977e+02] [-1.90986012e-01 9.81590203e-01 -2.23966895e-03 -3.95016249e+01] [-1.05987721e-02 2.19364326e-04 9.99943807e-01 -3.07395486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:-39.52, Z:-3.08 [[ 9.80970256e-01 1.93881402e-01 1.03613938e-02 2.81197149e+02] [-1.93868540e-01 9.81024957e-01 -2.24134066e-03 -3.95215533e+01] [-1.05993401e-02 1.89940244e-04 9.99943807e-01 -3.08064173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.26, Y:-39.54, Z:-3.08 [[ 9.79362002e-01 2.01848253e-01 1.03610334e-02 2.81255722e+02] [-2.01835818e-01 9.79416802e-01 -2.24300532e-03 -3.95402603e+01] [-1.06005169e-02 1.05486538e-04 9.99943807e-01 -3.08230325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.32, Y:-39.56, Z:-3.08 [[ 9.78048923e-01 2.08117659e-01 1.03607017e-02 2.81315831e+02] [-2.08105559e-01 9.78103797e-01 -2.24453635e-03 -3.95591529e+01] [-1.06009693e-02 3.91467403e-05 9.99943807e-01 -3.08195858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.38, Y:-39.57, Z:-3.08 [[ 9.77061529e-01 2.12705037e-01 1.03602779e-02 2.81375684e+02] [-2.12693174e-01 9.77116455e-01 -2.24649068e-03 -3.95736221e+01] [-1.06010379e-02 -8.60078372e-06 9.99943807e-01 -3.08199033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.44, Y:-39.59, Z:-3.07 [[ 9.76398813e-01 2.15726740e-01 1.03600760e-02 2.81436813e+02] [-2.15715036e-01 9.76453774e-01 -2.24742157e-03 -3.95853240e+01] [-1.06009642e-02 -4.04444150e-05 9.99943807e-01 -3.07469074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.50, Y:-39.59, Z:-3.08 [[ 9.75596820e-01 2.19325149e-01 1.03597144e-02 2.81497683e+02] [-2.19313631e-01 9.75651820e-01 -2.24908724e-03 -3.95904588e+01] [-1.06007556e-02 -7.78242100e-05 9.99943807e-01 -3.07603903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.56, Y:-39.60, Z:-3.08 [[ 9.75359399e-01 2.20378583e-01 1.03597144e-02 2.81557210e+02] [-2.20367124e-01 9.75414411e-01 -2.24908724e-03 -3.95991426e+01] [-1.06006653e-02 -8.92720812e-05 9.99943807e-01 -3.07975205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.62, Y:-39.61, Z:-3.08 [[ 9.75749581e-01 2.18644530e-01 1.03597144e-02 2.81616381e+02] [-2.18632974e-01 9.75804573e-01 -2.24908724e-03 -3.96102542e+01] [-1.06008073e-02 -7.04292259e-05 9.99943807e-01 -3.08018527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.68, Y:-39.62, Z:-3.08 [[ 9.77113730e-01 2.12465137e-01 1.03597144e-02 2.81676642e+02] [-2.12453233e-01 9.77168647e-01 -2.24908724e-03 -3.96209461e+01] [-1.06010407e-02 -3.34078406e-06 9.99943807e-01 -3.07832402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:-39.63, Z:-3.08 [[ 9.77967028e-01 2.08502203e-01 1.03596633e-02 2.81735913e+02] [-2.08490074e-01 9.78021896e-01 -2.24932252e-03 -3.96319056e+01] [-1.06009662e-02 3.98762967e-05 9.99943807e-01 -3.08007256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.80, Y:-39.65, Z:-3.08 [[ 9.79041787e-01 2.03395814e-01 1.03596379e-02 2.81795113e+02] [-2.03383397e-01 9.79096591e-01 -2.24943947e-03 -3.96479668e+01] [-1.06006127e-02 9.53168913e-05 9.99943807e-01 -3.08468777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:-39.67, Z:-3.09 [[ 9.80601638e-01 1.95737338e-01 1.03595876e-02 2.81853841e+02] [-1.95724491e-01 9.80656343e-01 -2.24967114e-03 -3.96679087e+01] [-1.05995399e-02 1.78406196e-04 9.99943807e-01 -3.08784211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.91, Y:-39.69, Z:-3.08 [[ 9.81289554e-01 1.92258935e-01 1.03592381e-02 2.81913958e+02] [-1.92245877e-01 9.81344208e-01 -2.25127935e-03 -3.96852206e+01] [-1.05988069e-02 2.17636104e-04 9.99943807e-01 -3.08012053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:-39.70, Z:-3.08 [[ 9.80649316e-01 1.95498368e-01 1.03588906e-02 2.81973569e+02] [-1.95485474e-01 9.80704009e-01 -2.25287736e-03 -3.97042134e+01] [-1.05994393e-02 1.84270019e-04 9.99943807e-01 -3.07696921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:-39.72, Z:-3.09 [[ 9.78788603e-01 2.04610778e-01 1.03585469e-02 2.82032917e+02] [-2.04598376e-01 9.78843410e-01 -2.25445648e-03 -3.97182922e+01] [-1.06006814e-02 8.72944436e-05 9.99943807e-01 -3.08540706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.09, Y:-39.73, Z:-3.09 [[ 9.78761236e-01 2.04741652e-01 1.03584971e-02 2.82094133e+02] [-2.04729255e-01 9.78816044e-01 -2.25468532e-03 -3.97313794e+01] [-1.06006911e-02 8.61112104e-05 9.99943807e-01 -3.08522956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.15, Y:-39.75, Z:-3.08 [[ 9.80039557e-01 1.98532555e-01 1.03581492e-02 2.82154397e+02] [-1.98519794e-01 9.80094282e-01 -2.25628232e-03 -3.97500575e+01] [-1.05999083e-02 1.54948285e-04 9.99943807e-01 -3.08380170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.21, Y:-39.77, Z:-3.09 [[ 9.80734652e-01 1.95069886e-01 1.03577364e-02 2.82214821e+02] [-1.95056911e-01 9.80789326e-01 -2.25817585e-03 -3.97690280e+01] [-1.05992594e-02 1.94323239e-04 9.99943807e-01 -3.08530606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.27, Y:-39.79, Z:-3.09 [[ 9.80303390e-01 1.97225732e-01 1.03573233e-02 2.82274294e+02] [-1.97212858e-01 9.80358088e-01 -2.26006900e-03 -3.97892214e+01] [-1.05996294e-02 1.72955984e-04 9.99943807e-01 -3.08837852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.33, Y:-39.81, Z:-3.09 [[ 9.77997468e-01 2.08359512e-01 1.03569399e-02 2.82334348e+02] [-2.08347242e-01 9.78052305e-01 -2.26182433e-03 -3.98061490e+01] [-1.06009016e-02 5.42185963e-05 9.99943807e-01 -3.08958037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.39, Y:-39.82, Z:-3.09 [[ 9.76084171e-01 2.17146109e-01 1.03565656e-02 2.82393963e+02] [-2.17134315e-01 9.76139112e-01 -2.26353708e-03 -3.98214307e+01] [-1.06009670e-02 -3.93630555e-05 9.99943807e-01 -3.09257779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:-39.83, Z:-3.09 [[ 9.74508230e-01 2.24112601e-01 1.03562233e-02 2.82456103e+02] [-2.24101183e-01 9.74563250e-01 -2.26510184e-03 -3.98324511e+01] [-1.06004325e-02 -1.13481518e-04 9.99943807e-01 -3.09062647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.52, Y:-39.84, Z:-3.09 [[ 9.73621084e-01 2.27935829e-01 1.03558096e-02 2.82517873e+02] [-2.27924607e-01 9.73676144e-01 -2.26699202e-03 -3.98449310e+01] [-1.05999334e-02 -1.53152598e-04 9.99943807e-01 -3.08985903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.58, Y:-39.85, Z:-3.08 [[ 9.73410454e-01 2.28833681e-01 1.03553962e-02 2.82579028e+02] [-2.28822489e-01 9.73465521e-01 -2.26887853e-03 -3.98542152e+01] [-1.05998170e-02 -1.60997454e-04 9.99943807e-01 -3.08384252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.64, Y:-39.86, Z:-3.08 [[ 9.74348342e-01 2.24806764e-01 1.03550418e-02 2.82640215e+02] [-2.24795328e-01 9.74403359e-01 -2.27049477e-03 -3.98633514e+01] [-1.06004101e-02 -1.15512209e-04 9.99943807e-01 -3.08183408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.725769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:-39.88, Z:-3.09 [[ 9.76279255e-01 2.16267423e-01 1.03546370e-02 2.82702384e+02] [-2.16255486e-01 9.76334165e-01 -2.27233973e-03 -3.98754150e+01] [-1.06010189e-02 -2.08089131e-05 9.99943807e-01 -3.08796690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.76, Y:-39.89, Z:-3.09 [[ 9.77697438e-01 2.09762984e-01 1.03542373e-02 2.82763240e+02] [-2.09750663e-01 9.77752263e-01 -2.27415955e-03 -3.98903229e+01] [-1.06009134e-02 5.16318390e-05 9.99943807e-01 -3.08636041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.82, Y:-39.90, Z:-3.08 [[ 9.77990424e-01 2.08392728e-01 1.03538141e-02 2.82823875e+02] [-2.08380309e-01 9.78045227e-01 -2.27608460e-03 -3.99045952e+01] [-1.06008179e-02 6.84579691e-05 9.99943807e-01 -3.08466397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:-39.92, Z:-3.10 [[ 9.77994140e-01 2.08375302e-01 1.03535514e-02 2.82882949e+02] [-2.08362869e-01 9.78048940e-01 -2.27727898e-03 -3.99185452e+01] [-1.06008086e-02 6.98698224e-05 9.99943807e-01 -3.09690355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:282.94, Y:-39.93, Z:-3.09 [[ 9.77947329e-01 2.08594900e-01 1.03532316e-02 2.82944022e+02] [-2.08582464e-01 9.78002128e-01 -2.27873175e-03 -3.99332466e+01] [-1.06008144e-02 6.89770635e-05 9.99943807e-01 -3.09316716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.01, Y:-39.95, Z:-3.09 [[ 9.77490148e-01 2.10726909e-01 1.03527973e-02 2.83005130e+02] [-2.10714572e-01 9.77544970e-01 -2.28070322e-03 -3.99456403e+01] [-1.06009305e-02 4.78796745e-05 9.99943807e-01 -3.09215227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:-39.95, Z:-3.09 [[ 9.75084908e-01 2.21590274e-01 1.03523929e-02 2.83063195e+02] [-2.21578528e-01 9.75139860e-01 -2.28253721e-03 -3.99492124e+01] [-1.06008190e-02 -6.82004061e-05 9.99943807e-01 -3.08982007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:-39.96, Z:-3.09 [[ 9.74089184e-01 2.25927171e-01 1.03525130e-02 2.83124869e+02] [-2.25915676e-01 9.74144188e-01 -2.28199258e-03 -3.99590910e+01] [-1.06004045e-02 -1.15930684e-04 9.99943807e-01 -3.09144939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:-39.97, Z:-3.09 [[ 9.73167743e-01 2.29863825e-01 1.03521328e-02 2.83184925e+02] [-2.29852534e-01 9.73222789e-01 -2.28371600e-03 -3.99685360e+01] [-1.05998753e-02 -1.57025216e-04 9.99943807e-01 -3.09260893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:-39.98, Z:-3.10 [[ 9.73316510e-01 2.29233080e-01 1.03521059e-02 2.83243609e+02] [-2.29221752e-01 9.73371549e-01 -2.28383805e-03 -3.99772764e+01] [-1.05999766e-02 -1.50030560e-04 9.99943807e-01 -3.09565204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.30, Y:-39.99, Z:-3.10 [[ 9.73653106e-01 2.27799172e-01 1.03521316e-02 2.83302377e+02] [-2.27787764e-01 9.73708128e-01 -2.28372148e-03 -3.99867248e+01] [-1.06001845e-02 -1.34536403e-04 9.99943807e-01 -3.09530023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:-40.00, Z:-3.09 [[ 9.73724694e-01 2.27492971e-01 1.03521831e-02 2.83361628e+02] [-2.27481548e-01 9.73779714e-01 -2.28348812e-03 -3.99971786e+01] [-1.06002234e-02 -1.31441853e-04 9.99943807e-01 -3.09262656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-40.01, Z:-3.09 [[ 9.74112814e-01 2.25825280e-01 1.03522345e-02 2.83421386e+02] [-2.25813765e-01 9.74167814e-01 -2.28325499e-03 -4.00097452e+01] [-1.06004303e-02 -1.13529109e-04 9.99943807e-01 -3.09497073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.48, Y:-40.02, Z:-3.10 [[ 9.74576662e-01 2.23815018e-01 1.03521805e-02 2.83480352e+02] [-2.23803388e-01 9.74631638e-01 -2.28349993e-03 -4.00225642e+01] [-1.06006442e-02 -9.14073143e-05 9.99943807e-01 -3.09720745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-40.03, Z:-3.10 [[ 9.74502108e-01 2.24139408e-01 1.03521537e-02 2.83540861e+02] [-2.24127795e-01 9.74557087e-01 -2.28362137e-03 -4.00313273e+01] [-1.06006143e-02 -9.48115282e-05 9.99943807e-01 -3.09635086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.60, Y:-40.04, Z:-3.10 [[ 9.73779911e-01 2.27256501e-01 1.03521537e-02 2.83599834e+02] [-2.27245063e-01 9.73834928e-01 -2.28362137e-03 -4.00421613e+01] [-1.06002566e-02 -1.28731198e-04 9.99943807e-01 -3.09657011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.66, Y:-40.05, Z:-3.10 [[ 9.72599470e-01 2.32256545e-01 1.03522072e-02 2.83656881e+02] [-2.32245392e-01 9.72654545e-01 -2.28337870e-03 -4.00504826e+01] [-1.05994510e-02 -1.83439512e-04 9.99943807e-01 -3.09687858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:-40.06, Z:-3.09 [[ 9.72246178e-01 2.33731040e-01 1.03523464e-02 2.83715333e+02] [-2.33719978e-01 9.72301271e-01 -2.28274723e-03 -4.00596076e+01] [-1.05991485e-02 -2.00157920e-04 9.99943807e-01 -3.09379907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:-40.07, Z:-3.10 [[ 9.71732469e-01 2.35857657e-01 1.03524521e-02 2.83774291e+02] [-2.35846721e-01 9.71787588e-01 -2.28226799e-03 -4.00652793e+01] [-1.05986748e-02 -2.23837972e-04 9.99943807e-01 -3.09551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:-40.07, Z:-3.10 [[ 9.72607978e-01 2.32220898e-01 1.03525581e-02 2.83831605e+02] [-2.32209761e-01 9.72663056e-01 -2.28178707e-03 -4.00748367e+01] [-1.05994294e-02 -1.84680721e-04 9.99943807e-01 -3.09883339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:-40.09, Z:-3.10 [[ 9.73785270e-01 2.27233512e-01 1.03526889e-02 2.83888883e+02] [-2.27222099e-01 9.73840292e-01 -2.28119323e-03 -4.00878461e+01] [-1.06002292e-02 -1.30967343e-04 9.99943807e-01 -3.10361120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:-40.10, Z:-3.10 [[ 9.75089215e-01 2.21571305e-01 1.03527906e-02 2.83947474e+02] [-2.21559578e-01 9.75144170e-01 -2.28073193e-03 -4.00982340e+01] [-1.06008081e-02 -6.98427999e-05 9.99943807e-01 -3.10178124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:-40.10, Z:-3.10 [[ 9.74833870e-01 2.22692038e-01 1.03528457e-02 2.84005102e+02] [-2.22680376e-01 9.74888840e-01 -2.28048161e-03 -4.01038962e+01] [-1.06007188e-02 -8.22848567e-05 9.99943807e-01 -3.10306105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:-40.11, Z:-3.11 [[ 9.74372486e-01 2.24702191e-01 1.03529828e-02 2.84063868e+02] [-2.24690650e-01 9.74427480e-01 -2.27985905e-03 -4.01084182e+01] [-1.06005203e-02 -1.04786504e-04 9.99943807e-01 -3.10541149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.12, Y:-40.12, Z:-3.10 [[ 9.75647034e-01 2.19101982e-01 1.03530902e-02 2.84120802e+02] [-2.19090130e-01 9.75701962e-01 -2.27937129e-03 -4.01198646e+01] [-1.06009452e-02 -4.43980383e-05 9.99943807e-01 -3.10423383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:-40.14, Z:-3.10 [[ 9.78688927e-01 2.05087288e-01 1.03532231e-02 2.84177723e+02] [-2.05074656e-01 9.78743681e-01 -2.27876756e-03 -4.01379535e+01] [-1.06004979e-02 1.07020923e-04 9.99943807e-01 -3.10063671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.24, Y:-40.16, Z:-3.10 [[ 9.81327720e-01 1.92064350e-01 1.03532767e-02 2.84235320e+02] [-1.92050994e-01 9.81382303e-01 -2.27852369e-03 -4.01612327e+01] [-1.05981457e-02 2.47621368e-04 9.99943807e-01 -3.10308126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.29, Y:-40.19, Z:-3.10 [[ 9.82434190e-01 1.86321977e-01 1.03529298e-02 2.84293436e+02] [-1.86308285e-01 9.82488689e-01 -2.28009913e-03 -4.01906205e+01] [-1.05964690e-02 3.11210758e-04 9.99943807e-01 -3.10285565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:-40.23, Z:-3.10 [[ 9.82731482e-01 1.84747557e-01 1.03525090e-02 2.84350018e+02] [-1.84733758e-01 9.82785954e-01 -2.28200776e-03 -4.02259140e+01] [-1.05958958e-02 3.30142969e-04 9.99943807e-01 -3.10333441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:284.41, Y:-40.26, Z:-3.11 [[ 9.82519762e-01 1.85870254e-01 1.03520911e-02 2.84405845e+02] [-1.85856498e-01 9.82574245e-01 -2.28390221e-03 -4.02637240e+01] [-1.05962076e-02 3.19975669e-04 9.99943807e-01 -3.10706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.46, Y:-40.30, Z:-3.11 [[ 9.80662465e-01 1.95432783e-01 1.03516628e-02 2.84462820e+02] [-1.95419537e-01 9.80717074e-01 -2.28584173e-03 -4.02951281e+01] [-1.05987809e-02 2.18722035e-04 9.99943807e-01 -3.10519111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:284.52, Y:-40.32, Z:-3.11 [[ 9.77861028e-01 2.08999191e-01 1.03512632e-02 2.84520650e+02] [-2.08986684e-01 9.77915811e-01 -2.28764970e-03 -4.03212376e+01] [-1.06007809e-02 7.37273099e-05 9.99943807e-01 -3.10735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.58, Y:-40.34, Z:-3.11 [[ 9.76198302e-01 2.16632719e-01 1.03508797e-02 2.84580627e+02] [-2.16620621e-01 9.76253177e-01 -2.28938357e-03 -4.03403555e+01] [-1.06010346e-02 -7.32164331e-06 9.99943807e-01 -3.10892711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:-40.36, Z:-3.11 [[ 9.73561124e-01 2.28192038e-01 1.03504544e-02 2.84640467e+02] [-2.28180571e-01 9.73616134e-01 -2.29130490e-03 -4.03577714e+01] [-1.06002269e-02 -1.31047229e-04 9.99943807e-01 -3.10965718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:284.70, Y:-40.37, Z:-3.11 [[ 9.71650889e-01 2.36193622e-01 1.03500616e-02 2.84701250e+02] [-2.36182590e-01 9.71705987e-01 -2.29307797e-03 -4.03734590e+01] [-1.05988272e-02 -2.16433107e-04 9.99943807e-01 -3.10971744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:-40.38, Z:-3.11 [[ 9.70091024e-01 2.42520700e-01 1.03496406e-02 2.84763783e+02] [-2.42510007e-01 9.70146190e-01 -2.29497665e-03 -4.03831895e+01] [-1.05972437e-02 -2.83555160e-04 9.99943807e-01 -3.11014655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:284.83, Y:-40.39, Z:-3.11 [[ 9.68467367e-01 2.48925394e-01 1.03492249e-02 2.84827007e+02] [-2.48915046e-01 9.68522599e-01 -2.29684960e-03 -4.03905248e+01] [-1.05952024e-02 -3.51653904e-04 9.99943807e-01 -3.10960974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:284.89, Y:-40.39, Z:-3.11 [[ 9.67082771e-01 2.54251481e-01 1.03488044e-02 2.84891208e+02] [-2.54241417e-01 9.67138055e-01 -2.29874255e-03 -4.03924565e+01] [-1.05931813e-02 -4.08020383e-04 9.99943807e-01 -3.10698573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.005769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:284.95, Y:-40.40, Z:-3.11 [[ 9.66532830e-01 2.56334156e-01 1.03483677e-02 2.84953572e+02] [-2.56324190e-01 9.66588132e-01 -2.30070669e-03 -4.03980692e+01] [-1.05923591e-02 -4.28828436e-04 9.99943807e-01 -3.10835470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.065769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:285.02, Y:-40.40, Z:-3.11 [[ 9.66838957e-01 2.55177090e-01 1.03480974e-02 2.85017180e+02] [-2.55167044e-01 9.66894245e-01 -2.30192185e-03 -4.03994650e+01] [-1.05929136e-02 -4.14905711e-04 9.99943807e-01 -3.11232737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.08, Y:-40.40, Z:-3.11 [[ 9.67592761e-01 2.52303734e-01 1.03477201e-02 2.85079902e+02] [-2.52293506e-01 9.67648015e-01 -2.30361657e-03 -4.04011666e+01] [-1.05941619e-02 -3.81699880e-04 9.99943807e-01 -3.11085472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.185769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-40.41, Z:-3.11 [[ 9.67623696e-01 2.52185081e-01 1.03473719e-02 2.85138857e+02] [-2.52174830e-01 9.67678945e-01 -2.30517999e-03 -4.04052158e+01] [-1.05942659e-02 -3.78799950e-04 9.99943807e-01 -3.10966664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.245769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:-40.41, Z:-3.11 [[ 9.67107390e-01 2.54157879e-01 1.03474503e-02 2.85199141e+02] [-2.54147744e-01 9.67162661e-01 -2.30482760e-03 -4.04057651e+01] [-1.05934577e-02 -4.00765351e-04 9.99943807e-01 -3.11094587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.305769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:285.26, Y:-40.40, Z:-3.11 [[ 9.66991489e-01 2.54598485e-01 1.03475541e-02 2.85259658e+02] [-2.54588381e-01 9.67046765e-01 -2.30436165e-03 -4.04046779e+01] [-1.05932557e-02 -4.06068945e-04 9.99943807e-01 -3.11116545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.365769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:285.32, Y:-40.40, Z:-3.11 [[ 9.66757600e-01 2.55485163e-01 1.03476571e-02 2.85319419e+02] [-2.55475114e-01 9.66812887e-01 -2.30389914e-03 -4.04036640e+01] [-1.05928603e-02 -4.16256863e-04 9.99943807e-01 -3.11175417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.425769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:-40.41, Z:-3.11 [[ 9.66605032e-01 2.56061778e-01 1.03478102e-02 2.85377469e+02] [-2.56051769e-01 9.66660326e-01 -2.30321105e-03 -4.04108526e+01] [-1.05925819e-02 -4.23279726e-04 9.99943807e-01 -3.11296758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.44, Y:-40.40, Z:-3.12 [[ 9.65979253e-01 2.58412467e-01 1.03479634e-02 2.85439276e+02] [-2.58402600e-01 9.66034572e-01 -2.30252273e-03 -4.04047871e+01] [-1.05914910e-02 -4.49751465e-04 9.99943807e-01 -3.11782831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.545769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:285.50, Y:-40.41, Z:-3.12 [[ 9.67273387e-01 2.53525369e-01 1.03480672e-02 2.85497765e+02] [-2.53515227e-01 9.67328657e-01 -2.30205623e-03 -4.04066067e+01] [-1.05936116e-02 -3.96674882e-04 9.99943807e-01 -3.12194588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:-40.41, Z:-3.12 [[ 9.70525468e-01 2.40776309e-01 1.03481957e-02 2.85556525e+02] [-2.40765448e-01 9.70580601e-01 -2.30147853e-03 -4.04121865e+01] [-1.05978995e-02 -2.57844435e-04 9.99943807e-01 -3.11996989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.665769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:285.62, Y:-40.42, Z:-3.12 [[ 9.72846281e-01 2.31220731e-01 1.03483018e-02 2.85615621e+02] [-2.31209333e-01 9.72901305e-01 -2.30100133e-03 -4.04177978e+01] [-1.05999155e-02 -1.54103356e-04 9.99943807e-01 -3.12292531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.725769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:285.67, Y:-40.43, Z:-3.13 [[ 9.73578051e-01 2.28119900e-01 1.03484122e-02 2.85672288e+02] [-2.28108332e-01 9.73633040e-01 -2.30050444e-03 -4.04261868e+01] [-1.06003469e-02 -1.20838424e-04 9.99943807e-01 -3.12582818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.785769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:-40.44, Z:-3.13 [[ 9.73783488e-01 2.27241337e-01 1.03486041e-02 2.85729903e+02] [-2.27229728e-01 9.73838468e-01 -2.29964088e-03 -4.04369087e+01] [-1.06004423e-02 -1.12158188e-04 9.99943807e-01 -3.12553839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.845769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:-40.45, Z:-3.13 [[ 9.74131595e-01 2.25744413e-01 1.03487088e-02 2.85787098e+02] [-2.25732725e-01 9.74186559e-01 -2.29916976e-03 -4.04484104e+01] [-1.06005977e-02 -9.63483268e-05 9.99943807e-01 -3.12706970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:285.84, Y:-40.46, Z:-3.12 [[ 9.74097868e-01 2.25889894e-01 1.03488653e-02 2.85844645e+02] [-2.25878222e-01 9.74152835e-01 -2.29846489e-03 -4.04594009e+01] [-1.06005765e-02 -9.86535566e-05 9.99943807e-01 -3.12232456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.90, Y:-40.47, Z:-3.12 [[ 9.74700230e-01 2.23276421e-01 1.03489739e-02 2.85901132e+02] [-2.23264606e-01 9.74755167e-01 -2.29797604e-03 -4.04738194e+01] [-1.06007996e-02 -7.07218090e-05 9.99943807e-01 -3.12374786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.96, Y:-40.49, Z:-3.13 [[ 9.75330980e-01 2.20504817e-01 1.03491357e-02 2.85957099e+02] [-2.20492854e-01 9.75385885e-01 -2.29724713e-03 -4.04890196e+01] [-1.06009549e-02 -4.13341734e-05 9.99943807e-01 -3.12941021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:-40.50, Z:-3.13 [[ 9.75388743e-01 2.20249160e-01 1.03492691e-02 2.86014570e+02] [-2.20237189e-01 9.75443646e-01 -2.29664611e-03 -4.05011053e+01] [-1.06009631e-02 -3.91711724e-05 9.99943807e-01 -3.12541575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.07, Y:-40.51, Z:-3.13 [[ 9.75158721e-01 2.21265359e-01 1.03493784e-02 2.86071507e+02] [-2.21253451e-01 9.75213637e-01 -2.29615337e-03 -4.05111763e+01] [-1.06009141e-02 -5.07216954e-05 9.99943807e-01 -3.12600479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.13, Y:-40.52, Z:-3.13 [[ 9.74830670e-01 2.22706202e-01 1.03495423e-02 2.86129384e+02] [-2.22694383e-01 9.74885605e-01 -2.29541449e-03 -4.05183811e+01] [-1.06008228e-02 -6.71444819e-05 9.99943807e-01 -3.12674975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:286.19, Y:-40.52, Z:-3.12 [[ 9.74656065e-01 2.23469099e-01 1.03497037e-02 2.86188467e+02] [-2.23457330e-01 9.74711012e-01 -2.29468660e-03 -4.05228290e+01] [-1.06007617e-02 -7.61869305e-05 9.99943807e-01 -3.12000953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:-40.53, Z:-3.12 [[ 9.75333910e-01 2.20491828e-01 1.03498134e-02 2.86246396e+02] [-2.20479897e-01 9.75388821e-01 -2.29419145e-03 -4.05304506e+01] [-1.06009428e-02 -4.43230738e-05 9.99943807e-01 -3.12165999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.30, Y:-40.54, Z:-3.12 [[ 9.77507789e-01 2.10645200e-01 1.03499777e-02 2.86303623e+02] [-2.10632723e-01 9.77562579e-01 -2.29344985e-03 -4.05420348e+01] [-1.06008551e-02 6.18210930e-05 9.99943807e-01 -3.12069175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.36, Y:-40.56, Z:-3.12 [[ 9.79044988e-01 2.03380890e-01 1.03501458e-02 2.86359397e+02] [-2.03368015e-01 9.79099685e-01 -2.29269108e-03 -4.05551624e+01] [-1.06001141e-02 1.39759103e-04 9.99943807e-01 -3.12007931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:-40.57, Z:-3.12 [[ 9.79091941e-01 2.03154724e-01 1.03503396e-02 2.86416268e+02] [-2.03141845e-01 9.79146638e-01 -2.29181592e-03 -4.05662485e+01] [-1.06000934e-02 1.41311409e-04 9.99943807e-01 -3.12132111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.47, Y:-40.58, Z:-3.13 [[ 9.78212403e-01 2.07348407e-01 1.03505038e-02 2.86473251e+02] [-2.07335771e-01 9.78267156e-01 -2.29107422e-03 -4.05813871e+01] [-1.06006085e-02 9.51275371e-05 9.99943807e-01 -3.12566607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.53, Y:-40.60, Z:-3.13 [[ 9.77992404e-01 2.08383597e-01 1.03506147e-02 2.86529010e+02] [-2.08371024e-01 9.78047171e-01 -2.29057291e-03 -4.05954226e+01] [-1.06007073e-02 8.33947181e-05 9.99943807e-01 -3.12524559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.59, Y:-40.61, Z:-3.13 [[ 9.77979511e-01 2.08444084e-01 1.03508072e-02 2.86586893e+02] [-2.08431524e-01 9.78034282e-01 -2.28970298e-03 -4.06080310e+01] [-1.06007193e-02 8.18480948e-05 9.99943807e-01 -3.13152881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.745769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:286.64, Y:-40.62, Z:-3.14 [[ 9.77931053e-01 2.08671310e-01 1.03508890e-02 2.86644576e+02] [-2.08658766e-01 9.77985827e-01 -2.28933284e-03 -4.06208041e+01] [-1.06007408e-02 7.90059427e-05 9.99943807e-01 -3.13706172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:286.70, Y:-40.64, Z:-3.13 [[ 9.77878459e-01 2.08917630e-01 1.03509979e-02 2.86700944e+02] [-2.08905105e-01 9.77933238e-01 -2.28884064e-03 -4.06387727e+01] [-1.06007640e-02 7.58316692e-05 9.99943807e-01 -3.13498679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.76, Y:-40.66, Z:-3.13 [[ 9.77808094e-01 2.09246709e-01 1.03511097e-02 2.86756171e+02] [-2.09234208e-01 9.77862879e-01 -2.28833466e-03 -4.06576865e+01] [-1.06007924e-02 7.17459085e-05 9.99943807e-01 -3.13101319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.81, Y:-40.67, Z:-3.13 [[ 9.77315080e-01 2.11537432e-01 1.03512472e-02 2.86812820e+02] [-2.11525066e-01 9.77369895e-01 -2.28771237e-03 -4.06723135e+01] [-1.06009342e-02 4.62675409e-05 9.99943807e-01 -3.13138122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.87, Y:-40.69, Z:-3.13 [[ 9.76640717e-01 2.14629351e-01 1.03514106e-02 2.86868002e+02] [-2.14617167e-01 9.76695573e-01 -2.28697291e-03 -4.06873132e+01] [-1.06010284e-02 1.19604482e-05 9.99943807e-01 -3.13152558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.92, Y:-40.70, Z:-3.13 [[ 9.76665003e-01 2.14518802e-01 1.03515996e-02 2.86924916e+02] [-2.14506620e-01 9.76719859e-01 -2.28611738e-03 -4.07035687e+01] [-1.06010280e-02 1.22842024e-05 9.99943807e-01 -3.12840311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.98, Y:-40.72, Z:-3.13 [[ 9.78135998e-01 2.07708479e-01 1.03517072e-02 2.86981326e+02] [-2.07695920e-01 9.78190769e-01 -2.28562968e-03 -4.07217347e+01] [-1.06006891e-02 8.56493087e-05 9.99943807e-01 -3.12976556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.04, Y:-40.75, Z:-3.13 [[ 9.80165047e-01 1.97912405e-01 1.03518167e-02 2.87035515e+02] [-1.97899304e-01 9.80219691e-01 -2.28513367e-03 -4.07452687e+01] [-1.05993109e-02 1.91190827e-04 9.99943807e-01 -3.12991056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.09, Y:-40.77, Z:-3.13 [[ 9.81878019e-01 1.89231055e-01 1.03519517e-02 2.87089688e+02] [-1.89217478e-01 9.81932547e-01 -2.28452223e-03 -4.07721295e+01] [-1.05972208e-02 2.84351975e-04 9.99943807e-01 -3.13376961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:-40.80, Z:-3.14 [[ 9.82758463e-01 1.84604008e-01 1.03520072e-02 2.87145213e+02] [-1.84590177e-01 9.82812927e-01 -2.28427032e-03 -4.08046445e+01] [-1.05957720e-02 3.34007144e-04 9.99943807e-01 -3.13589673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.20, Y:-40.82, Z:-3.14 [[ 9.82606347e-01 1.85411985e-01 1.03519567e-02 2.87204901e+02] [-1.85398196e-01 9.82660821e-01 -2.28449933e-03 -4.08231773e+01] [-1.05960358e-02 3.25529440e-04 9.99943807e-01 -3.13552354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.26, Y:-40.85, Z:-3.14 [[ 9.80530357e-01 1.96094528e-01 1.03515751e-02 2.87261690e+02] [-1.96081315e-01 9.80584974e-01 -2.28622711e-03 -4.08478863e+01] [-1.05989156e-02 2.11964621e-04 9.99943807e-01 -3.13525763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:-40.86, Z:-3.14 [[ 9.77007829e-01 2.12951982e-01 1.03515481e-02 2.87319685e+02] [-2.12939710e-01 9.77062666e-01 -2.28634953e-03 -4.08627993e+01] [-1.06009938e-02 2.95257377e-05 9.99943807e-01 -3.13818871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.38, Y:-40.87, Z:-3.14 [[ 9.74425701e-01 2.24471374e-01 1.03516021e-02 2.87377852e+02] [-2.24459753e-01 9.74480679e-01 -2.28610489e-03 -4.08726872e+01] [-1.06006014e-02 -9.58786921e-05 9.99943807e-01 -3.13591492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.44, Y:-40.88, Z:-3.13 [[ 9.73184215e-01 2.29794093e-01 1.03517094e-02 2.87435058e+02] [-2.29782778e-01 9.73239257e-01 -2.28561898e-03 -4.08811886e+01] [-1.05999117e-02 -1.54316228e-04 9.99943807e-01 -3.13078720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.49, Y:-40.89, Z:-3.14 [[ 9.72700400e-01 2.31833500e-01 1.03518409e-02 2.87493156e+02] [-2.31822306e-01 9.72755466e-01 -2.28502330e-03 -4.08908530e+01] [-1.05995548e-02 -1.77144553e-04 9.99943807e-01 -3.13685834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.55, Y:-40.90, Z:-3.14 [[ 9.71787760e-01 2.35629766e-01 1.03519465e-02 2.87552332e+02] [-2.35618793e-01 9.71842871e-01 -2.28454480e-03 -4.08973292e+01] [-1.05987721e-02 -2.19020460e-04 9.99943807e-01 -3.13690890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:287.61, Y:-40.91, Z:-3.14 [[ 9.71779514e-01 2.35663769e-01 1.03520510e-02 2.87609411e+02] [-2.35652803e-01 9.71834626e-01 -2.28407115e-03 -4.09053662e+01] [-1.05987544e-02 -2.19876276e-04 9.99943807e-01 -3.14069842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:287.67, Y:-40.92, Z:-3.14 [[ 9.72832839e-01 2.31277104e-01 1.03521801e-02 2.87666976e+02] [-2.31265895e-01 9.72887903e-01 -2.28348575e-03 -4.09161418e+01] [-1.05996288e-02 -1.72656280e-04 9.99943807e-01 -3.14273294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.72, Y:-40.93, Z:-3.14 [[ 9.73349175e-01 2.29094332e-01 1.03522832e-02 2.87724397e+02] [-2.29083005e-01 9.73404214e-01 -2.28301812e-03 -4.09276886e+01] [-1.05999826e-02 -1.49358345e-04 9.99943807e-01 -3.14456663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:287.78, Y:-40.94, Z:-3.14 [[ 9.74197181e-01 2.25461041e-01 1.03523854e-02 2.87780862e+02] [-2.25449513e-01 9.74252178e-01 -2.28255486e-03 -4.09407193e+01] [-1.06004612e-02 -1.10281732e-04 9.99943807e-01 -3.14160548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.005769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:-40.96, Z:-3.14 [[ 9.74908866e-01 2.22363506e-01 1.03525126e-02 2.87836913e+02] [-2.22351810e-01 9.74963828e-01 -2.28197757e-03 -4.09556414e+01] [-1.06007539e-02 -7.71797519e-05 9.99943807e-01 -3.13727807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.89, Y:-40.97, Z:-3.14 [[ 9.74676751e-01 2.23378725e-01 1.03526376e-02 2.87893055e+02] [-2.23367092e-01 9.74731726e-01 -2.28141057e-03 -4.09723724e+01] [-1.06006629e-02 -8.88007122e-05 9.99943807e-01 -3.14060364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.125769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.95, Y:-40.99, Z:-3.14 [[ 9.74498056e-01 2.24156996e-01 1.03527406e-02 2.87949844e+02] [-2.24145412e-01 9.74553042e-01 -2.28094302e-03 -4.09860169e+01] [-1.06005842e-02 -9.77447697e-05 9.99943807e-01 -3.14489679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.185769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:288.01, Y:-41.00, Z:-3.14 [[ 9.74323516e-01 2.24914438e-01 1.03528453e-02 2.88005472e+02] [-2.24902902e-01 9.74378512e-01 -2.28046768e-03 -4.10022454e+01] [-1.06005001e-02 -1.06471664e-04 9.99943807e-01 -3.14124421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.06, Y:-41.02, Z:-3.14 [[ 9.75196914e-01 2.21096797e-01 1.03529961e-02 2.88062999e+02] [-2.21085053e-01 9.75251866e-01 -2.27978309e-03 -4.10192709e+01] [-1.06008315e-02 -6.56552510e-05 9.99943807e-01 -3.14316084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.12, Y:-41.04, Z:-3.15 [[ 9.75991611e-01 2.17561922e-01 1.03530477e-02 2.88118941e+02] [-2.17549981e-01 9.76046520e-01 -2.27954830e-03 -4.10373554e+01] [-1.06009991e-02 -2.74853230e-05 9.99943807e-01 -3.14570964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.18, Y:-41.05, Z:-3.15 [[ 9.74714561e-01 2.23213657e-01 1.03531246e-02 2.88177397e+02] [-2.23202039e-01 9.74769540e-01 -2.27919903e-03 -4.10524167e+01] [-1.06006589e-02 -8.92700454e-05 9.99943807e-01 -3.14675567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.425769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:-41.06, Z:-3.14 [[ 9.73054841e-01 2.30341244e-01 1.03531246e-02 2.88235861e+02] [-2.30330028e-01 9.73109903e-01 -2.27919903e-03 -4.10617578e+01] [-1.05997217e-02 -1.66849838e-04 9.99943807e-01 -3.14340623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.485769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:288.29, Y:-41.07, Z:-3.15 [[ 9.72022603e-01 2.34659052e-01 1.03532055e-02 2.88294386e+02] [-2.34648085e-01 9.72077715e-01 -2.27883177e-03 -4.10709642e+01] [-1.05988688e-02 -2.14283848e-04 9.99943807e-01 -3.14702352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.545769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:-41.08, Z:-3.15 [[ 9.71377912e-01 2.37313634e-01 1.03533045e-02 2.88352994e+02] [-2.37302822e-01 9.71433055e-01 -2.27838192e-03 -4.10800770e+01] [-1.05982333e-02 -2.43698489e-04 9.99943807e-01 -3.15312979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.41, Y:-41.09, Z:-3.16 [[ 9.71474844e-01 2.36916515e-01 1.03534093e-02 2.88410976e+02] [-2.36905686e-01 9.71529983e-01 -2.27790546e-03 -4.10923900e+01] [-1.05983210e-02 -2.39853679e-04 9.99943807e-01 -3.15534266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.47, Y:-41.10, Z:-3.16 [[ 9.72157435e-01 2.34099819e-01 1.03535151e-02 2.88467385e+02] [-2.34088835e-01 9.72212544e-01 -2.27742460e-03 -4.11044177e+01] [-1.05989619e-02 -2.09627020e-04 9.99943807e-01 -3.15504365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.725769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:288.53, Y:-41.12, Z:-3.15 [[ 9.72759335e-01 2.31586006e-01 1.03536461e-02 2.88525376e+02] [-2.31574885e-01 9.72814416e-01 -2.27682882e-03 -4.11205403e+01] [-1.05994579e-02 -1.82837918e-04 9.99943807e-01 -3.15034985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.785769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:288.58, Y:-41.14, Z:-3.15 [[ 9.73514784e-01 2.28389505e-01 1.03537004e-02 2.88583009e+02] [-2.28378206e-01 9.73569829e-01 -2.27658175e-03 -4.11361263e+01] [-1.05999977e-02 -1.48273533e-04 9.99943807e-01 -3.15296602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.64, Y:-41.15, Z:-3.15 [[ 9.73196013e-01 2.29744034e-01 1.03537272e-02 2.88639986e+02] [-2.29732813e-01 9.73251074e-01 -2.27645984e-03 -4.11489336e+01] [-1.05997792e-02 -1.63149240e-04 9.99943807e-01 -3.14819265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:288.70, Y:-41.16, Z:-3.15 [[ 9.73448449e-01 2.28672068e-01 1.03538540e-02 2.88697115e+02] [-2.28660793e-01 9.73503499e-01 -2.27588316e-03 -4.11628200e+01] [-1.05999440e-02 -1.52065529e-04 9.99943807e-01 -3.14948481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:288.76, Y:-41.18, Z:-3.15 [[ 9.75322933e-01 2.20540181e-01 1.03539562e-02 2.88756424e+02] [-2.20528452e-01 9.75377888e-01 -2.27541787e-03 -4.11800346e+01] [-1.06008410e-02 -6.40747139e-05 9.99943807e-01 -3.15196580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.81, Y:-41.20, Z:-3.15 [[ 9.76513283e-01 2.15208285e-01 1.03539032e-02 2.88814731e+02] [-2.15196253e-01 9.76568172e-01 -2.27565910e-03 -4.11976027e+01] [-1.06010330e-02 -5.90983741e-06 9.99943807e-01 -3.14749751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.87, Y:-41.22, Z:-3.15 [[ 9.76307259e-01 2.16141014e-01 1.03536121e-02 2.88873760e+02] [-2.16129021e-01 9.76362157e-01 -2.27698263e-03 -4.12169238e+01] [-1.06010244e-02 -1.46813841e-05 9.99943807e-01 -3.15179635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:288.93, Y:-41.23, Z:-3.16 [[ 9.75466717e-01 2.19903359e-01 1.03535331e-02 2.88932349e+02] [-2.19891574e-01 9.75521660e-01 -2.27734204e-03 -4.12328181e+01] [-1.06008909e-02 -5.51833222e-05 9.99943807e-01 -3.15519919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.99, Y:-41.25, Z:-3.16 [[ 9.74578021e-01 2.23809044e-01 1.03533961e-02 2.88991876e+02] [-2.23797472e-01 9.74633009e-01 -2.27796459e-03 -4.12496448e+01] [-1.06005907e-02 -9.70096548e-05 9.99943807e-01 -3.15516207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.05, Y:-41.27, Z:-3.15 [[ 9.74093169e-01 2.25909968e-01 1.03530203e-02 2.89051407e+02] [-2.25898496e-01 9.74148178e-01 -2.27967111e-03 -4.12669530e+01] [-1.06003763e-02 -1.18119673e-04 9.99943807e-01 -3.15484393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:-41.28, Z:-3.15 [[ 9.73785847e-01 2.27231042e-01 1.03526458e-02 2.89111170e+02] [-2.27219627e-01 9.73840868e-01 -2.28137094e-03 -4.12802833e+01] [-1.06002278e-02 -1.30757574e-04 9.99943807e-01 -3.15483511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:-41.29, Z:-3.16 [[ 9.73074282e-01 2.30259139e-01 1.03523015e-02 2.89171455e+02] [-2.30247878e-01 9.73129335e-01 -2.28293212e-03 -4.12925583e+01] [-1.05997942e-02 -1.62132920e-04 9.99943807e-01 -3.15510560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:-41.30, Z:-3.16 [[ 9.71637720e-01 2.36247691e-01 1.03522491e-02 2.89229903e+02] [-2.36236767e-01 9.71692841e-01 -2.28316978e-03 -4.13013601e+01] [-1.05985999e-02 -2.27167977e-04 9.99943807e-01 -3.15731662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.29, Y:-41.31, Z:-3.16 [[ 9.71178049e-01 2.38130273e-01 1.03523269e-02 2.89289199e+02] [-2.38119460e-01 9.71233191e-01 -2.28281680e-03 -4.13112474e+01] [-1.05981313e-02 -2.48068924e-04 9.99943807e-01 -3.15794499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.565769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:289.35, Y:-41.32, Z:-3.16 [[ 9.71934311e-01 2.35024517e-01 1.03523781e-02 2.89347712e+02] [-2.35013530e-01 9.71989419e-01 -2.28258440e-03 -4.13198171e+01] [-1.05988653e-02 -2.14426841e-04 9.99943807e-01 -3.15718724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.41, Y:-41.33, Z:-3.16 [[ 9.73161417e-01 2.29890588e-01 1.03524540e-02 2.89405810e+02] [-2.29879314e-01 9.73216467e-01 -2.28224020e-03 -4.13318320e+01] [-1.05998443e-02 -1.58826921e-04 9.99943807e-01 -3.15902716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.46, Y:-41.34, Z:-3.15 [[ 9.74141467e-01 2.25701636e-01 1.03525042e-02 2.89464798e+02] [-2.25690128e-01 9.74196468e-01 -2.28201273e-03 -4.13434763e+01] [-1.06004270e-02 -1.13454766e-04 9.99943807e-01 -3.15356269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.52, Y:-41.35, Z:-3.16 [[ 9.74574544e-01 2.23824224e-01 1.03525539e-02 2.89522072e+02] [-2.23812613e-01 9.74629523e-01 -2.28178727e-03 -4.13548317e+01] [-1.06006239e-02 -9.32603449e-05 9.99943807e-01 -3.15525928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.58, Y:-41.37, Z:-3.16 [[ 9.75752969e-01 2.18629747e-01 1.03526279e-02 2.89581373e+02] [-2.18617846e-01 9.75807887e-01 -2.28145139e-03 -4.13705885e+01] [-1.06009691e-02 -3.71362386e-05 9.99943807e-01 -3.15563406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:-41.38, Z:-3.15 [[ 9.76442945e-01 2.15527259e-01 1.03525748e-02 2.89642412e+02] [-2.15515181e-01 9.76497824e-01 -2.28169236e-03 -4.13830435e+01] [-1.06010336e-02 -3.19461484e-06 9.99943807e-01 -3.15474289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.925769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:289.70, Y:-41.39, Z:-3.16 [[ 9.75745417e-01 2.18663472e-01 1.03521966e-02 2.89702772e+02] [-2.18651553e-01 9.75800330e-01 -2.28340697e-03 -4.13939541e+01] [-1.06009745e-02 -3.54999714e-05 9.99943807e-01 -3.15904662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.76, Y:-41.40, Z:-3.16 [[ 9.73985296e-01 2.26374638e-01 1.03521413e-02 2.89760841e+02] [-2.26363150e-01 9.74040302e-01 -2.28365735e-03 -4.14009389e+01] [-1.06003650e-02 -1.19094651e-04 9.99943807e-01 -3.16063335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.82, Y:-41.41, Z:-3.16 [[ 9.73231207e-01 2.29594968e-01 1.03522229e-02 2.89819552e+02] [-2.29583666e-01 9.73286251e-01 -2.28328747e-03 -4.14095995e+01] [-1.05999076e-02 -1.54534668e-04 9.99943807e-01 -3.15737925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:-41.42, Z:-3.16 [[ 9.73514032e-01 2.28392774e-01 1.03523032e-02 2.89878493e+02] [-2.28381408e-01 9.73569063e-01 -2.28292354e-03 -4.14165008e+01] [-1.06000853e-02 -1.41815481e-04 9.99943807e-01 -3.15972072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:-41.43, Z:-3.16 [[ 9.74147037e-01 2.25677598e-01 1.03523616e-02 2.89936844e+02] [-2.25666081e-01 9.74202037e-01 -2.28265874e-03 -4.14257577e+01] [-1.06004367e-02 -1.12531612e-04 9.99943807e-01 -3.16305849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.00, Y:-41.44, Z:-3.17 [[ 9.76560232e-01 2.14995210e-01 1.03524678e-02 2.89995161e+02] [-2.14983097e-01 9.76615103e-01 -2.28217665e-03 -4.14438235e+01] [-1.06010335e-02 3.07736696e-06 9.99943807e-01 -3.16656997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:-41.47, Z:-3.17 [[ 9.79520072e-01 2.01080225e-01 1.03524132e-02 2.90053335e+02] [-2.01067330e-01 9.79574764e-01 -2.28242468e-03 -4.14683462e+01] [-1.05999131e-02 1.54148706e-04 9.99943807e-01 -3.16677047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:-41.49, Z:-3.16 [[ 9.80778886e-01 1.94847667e-01 1.03520047e-02 2.90112931e+02] [-1.94834405e-01 9.80833491e-01 -2.28427559e-03 -4.14906784e+01] [-1.05986787e-02 2.23442586e-04 9.99943807e-01 -3.16467826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.17, Y:-41.53, Z:-3.17 [[ 9.81499165e-01 1.91186383e-01 1.03515997e-02 2.90170155e+02] [-1.91172898e-01 9.81553716e-01 -2.28610977e-03 -4.15257627e+01] [-1.05977242e-02 2.64869527e-04 9.99943807e-01 -3.16621208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:-41.55, Z:-3.17 [[ 9.81636239e-01 1.90481355e-01 1.03511746e-02 2.90228394e+02] [-1.90467811e-01 9.81690775e-01 -2.28803262e-03 -4.15544984e+01] [-1.05974802e-02 2.74450172e-04 9.99943807e-01 -3.16909801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:-41.59, Z:-3.17 [[ 9.81247467e-01 1.92474076e-01 1.03507462e-02 2.90285952e+02] [-1.92460622e-01 9.81302025e-01 -2.28996914e-03 -4.15863622e+01] [-1.05979679e-02 2.54915364e-04 9.99943807e-01 -3.16773828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-41.61, Z:-3.17 [[ 9.79037905e-01 2.03414973e-01 1.03503013e-02 2.90344225e+02] [-2.03402107e-01 9.79092605e-01 -2.29197816e-03 -4.16123133e+01] [-1.06001262e-02 1.38660398e-04 9.99943807e-01 -3.16843237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:-41.63, Z:-3.17 [[ 9.75309045e-01 2.20601786e-01 1.03498554e-02 2.90405631e+02] [-2.20589863e-01 9.75363958e-01 -2.29398998e-03 -4.16280104e+01] [-1.06009342e-02 -4.57240121e-05 9.99943807e-01 -3.16724712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.47, Y:-41.64, Z:-3.17 [[ 9.72014059e-01 2.34694610e-01 1.03494093e-02 2.90466478e+02] [-2.34683461e-01 9.72069134e-01 -2.29600070e-03 -4.16392969e+01] [-1.05992004e-02 -1.97090253e-04 9.99943807e-01 -3.16813352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.53, Y:-41.65, Z:-3.17 [[ 9.70103846e-01 2.42469432e-01 1.03489981e-02 2.90528982e+02] [-2.42458706e-01 9.70159006e-01 -2.29785276e-03 -4.16469395e+01] [-1.05973328e-02 -2.80048890e-04 9.99943807e-01 -3.16765341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.59, Y:-41.65, Z:-3.17 [[ 9.69384922e-01 2.45327905e-01 1.03485653e-02 2.90591151e+02] [-2.45317320e-01 9.69440108e-01 -2.29980040e-03 -4.16541281e+01] [-1.05965195e-02 -3.09290466e-04 9.99943807e-01 -3.17171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.65, Y:-41.66, Z:-3.18 [[ 9.69253096e-01 2.45848228e-01 1.03481774e-02 2.90651911e+02] [-2.45837654e-01 9.69308285e-01 -2.30154429e-03 -4.16624225e+01] [-1.05964047e-02 -3.13192733e-04 9.99943807e-01 -3.17830466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.71, Y:-41.67, Z:-3.17 [[ 9.69465734e-01 2.45008395e-01 1.03478213e-02 2.90713564e+02] [-2.44997756e-01 9.69520910e-01 -2.30314449e-03 -4.16729869e+01] [-1.05967188e-02 -3.02373327e-04 9.99943807e-01 -3.17049460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.77, Y:-41.68, Z:-3.17 [[ 9.69882382e-01 2.43353847e-01 1.03474324e-02 2.90774704e+02] [-2.43343096e-01 9.69937537e-01 -2.30489040e-03 -4.16806027e+01] [-1.05972670e-02 -2.82503633e-04 9.99943807e-01 -3.17404605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.84, Y:-41.69, Z:-3.18 [[ 9.70170175e-01 2.42203982e-01 1.03470757e-02 2.90836414e+02] [-2.42193148e-01 9.70225314e-01 -2.30649026e-03 -4.16905260e+01] [-1.05976359e-02 -2.68302784e-04 9.99943807e-01 -3.17735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.90, Y:-41.70, Z:-3.17 [[ 9.70769283e-01 2.39791463e-01 1.03466966e-02 2.90896695e+02] [-2.39780474e-01 9.70824390e-01 -2.30818988e-03 -4.17015761e+01] [-1.05983096e-02 -2.40215974e-04 9.99943807e-01 -3.17373719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.96, Y:-41.71, Z:-3.17 [[ 9.71792917e-01 2.35608744e-01 1.03463474e-02 2.90958802e+02] [-2.35597501e-01 9.71847973e-01 -2.30975410e-03 -4.17140232e+01] [-1.05992750e-02 -1.92970915e-04 9.99943807e-01 -3.17257519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:291.02, Y:-41.73, Z:-3.18 [[ 9.72885872e-01 2.31054198e-01 1.03459210e-02 2.91018692e+02] [-2.31042677e-01 9.72940871e-01 -2.31166243e-03 -4.17305037e+01] [-1.06000887e-02 -1.41365557e-04 9.99943807e-01 -3.18014071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:-41.75, Z:-3.18 [[ 9.73934542e-01 2.26593199e-01 1.03455370e-02 2.91077272e+02] [-2.26581408e-01 9.73989483e-01 -2.31337982e-03 -4.17470941e+01] [-1.06006403e-02 -9.10258194e-05 9.99943807e-01 -3.17524582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:-41.77, Z:-3.18 [[ 9.74190911e-01 2.25488460e-01 1.03451825e-02 2.91138267e+02] [-2.25476590e-01 9.74245836e-01 -2.31496400e-03 -4.17651293e+01] [-1.06007486e-02 -7.73795683e-05 9.99943807e-01 -3.17667536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.20, Y:-41.78, Z:-3.18 [[ 9.74736289e-01 2.23119148e-01 1.03447322e-02 2.91198374e+02] [-2.23107123e-01 9.74791179e-01 -2.31697415e-03 -4.17810980e+01] [-1.06009150e-02 -4.95446656e-05 9.99943807e-01 -3.17706252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.26, Y:-41.80, Z:-3.18 [[ 9.75228083e-01 2.20959681e-01 1.03443140e-02 2.91258482e+02] [-2.20947515e-01 9.75282943e-01 -2.31884008e-03 -4.18014676e+01] [-1.06010031e-02 -2.41524879e-05 9.99943807e-01 -3.17850340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:-41.82, Z:-3.19 [[ 9.75607813e-01 2.19276992e-01 1.03438738e-02 2.91316158e+02] [-2.19264710e-01 9.75662647e-01 -2.32080192e-03 -4.18241904e+01] [-1.06010297e-02 -3.85400013e-06 9.99943807e-01 -3.18536586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.38, Y:-41.84, Z:-3.18 [[ 9.74589955e-01 2.23757527e-01 1.03435198e-02 2.91375805e+02] [-2.23745481e-01 9.74644841e-01 -2.32237832e-03 -4.18418332e+01] [-1.06009079e-02 -5.09492445e-05 9.99943807e-01 -3.18069862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.44, Y:-41.86, Z:-3.18 [[ 9.73057737e-01 2.30329459e-01 1.03431383e-02 2.91435914e+02] [-2.30317765e-01 9.73112699e-01 -2.32407659e-03 -4.18584646e+01] [-1.06003425e-02 -1.20747781e-04 9.99943808e-01 -3.18263453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:-41.88, Z:-3.19 [[ 9.73576576e-01 2.28126453e-01 1.03427332e-02 2.91495567e+02] [-2.28114615e-01 9.73631508e-01 -2.32587770e-03 -4.18767483e+01] [-1.06006052e-02 -9.49085545e-05 9.99943808e-01 -3.18796170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:-41.89, Z:-3.17 [[ 9.74189721e-01 2.25493733e-01 1.03423615e-02 2.91555316e+02] [-2.25481730e-01 9.74244616e-01 -2.32752947e-03 -4.18923799e+01] [-1.06008333e-02 -6.45582681e-05 9.99943808e-01 -3.17267730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.61, Y:-41.91, Z:-3.18 [[ 9.72784383e-01 2.31481288e-01 1.03420196e-02 2.91614970e+02] [-2.31469607e-01 9.72839348e-01 -2.32904760e-03 -4.19084899e+01] [-1.06002545e-02 -1.28202077e-04 9.99943808e-01 -3.18251220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:-41.92, Z:-3.19 [[ 9.71390265e-01 2.37263572e-01 1.03416529e-02 2.91675752e+02] [-2.37252200e-01 9.71445295e-01 -2.33067468e-03 -4.19186139e+01] [-1.05993343e-02 -1.89585209e-04 9.99943808e-01 -3.19140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:-41.93, Z:-3.17 [[ 9.71098182e-01 2.38456241e-01 1.03412903e-02 2.91735646e+02] [-2.38444919e-01 9.71153222e-01 -2.33228260e-03 -4.19324336e+01] [-1.05991247e-02 -2.00952732e-04 9.99943808e-01 -3.17354932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.80, Y:-41.94, Z:-3.18 [[ 9.71009925e-01 2.38815389e-01 1.03409590e-02 2.91798940e+02] [-2.38804073e-01 9.71064966e-01 -2.33375059e-03 -4.19388958e+01] [-1.05990785e-02 -2.03368130e-04 9.99943808e-01 -3.17947911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.86, Y:-41.95, Z:-3.19 [[ 9.70197833e-01 2.42093449e-01 1.03405164e-02 2.91859579e+02] [-2.42082297e-01 9.70252908e-01 -2.33571002e-03 -4.19476001e+01] [-1.05983762e-02 -2.37155163e-04 9.99943808e-01 -3.18646749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.92, Y:-41.95, Z:-3.19 [[ 9.68997772e-01 2.46852989e-01 1.03401592e-02 2.91922210e+02] [-2.46842091e-01 9.69052898e-01 -2.33729015e-03 -4.19495610e+01] [-1.05971283e-02 -2.87557573e-04 9.99943808e-01 -3.19065869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.98, Y:-41.96, Z:-3.19 [[ 9.69074078e-01 2.46553266e-01 1.03401099e-02 2.91983271e+02] [-2.46542349e-01 9.69129200e-01 -2.33750834e-03 -4.19595992e+01] [-1.05972227e-02 -2.84056239e-04 9.99943808e-01 -3.19035477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.05, Y:-41.97, Z:-3.18 [[ 9.68887937e-01 2.47283740e-01 1.03400609e-02 2.92045842e+02] [-2.47272862e-01 9.68943067e-01 -2.33772500e-03 -4.19656638e+01] [-1.05970117e-02 -2.91822901e-04 9.99943808e-01 -3.18445780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.11, Y:-41.97, Z:-3.19 [[ 9.68614643e-01 2.48352098e-01 1.03396824e-02 2.92107492e+02] [-2.48341262e-01 9.68669781e-01 -2.33939772e-03 -4.19735855e+01] [-1.05967323e-02 -3.01794902e-04 9.99943808e-01 -3.19321142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.17, Y:-41.98, Z:-3.19 [[ 9.68384414e-01 2.49248322e-01 1.03393037e-02 2.92169472e+02] [-2.49237521e-01 9.68439558e-01 -2.34107038e-03 -4.19797194e+01] [-1.05964986e-02 -3.09886350e-04 9.99943808e-01 -3.18956099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.23, Y:-41.99, Z:-3.18 [[ 9.68967065e-01 2.46973534e-01 1.03392496e-02 2.92231441e+02] [-2.46962600e-01 9.69022184e-01 -2.34130942e-03 -4.19868112e+01] [-1.05972037e-02 -2.84756236e-04 9.99943808e-01 -3.18229423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.29, Y:-42.00, Z:-3.19 [[ 9.70524437e-01 2.40780867e-01 1.03388627e-02 2.92292025e+02] [-2.40769563e-01 9.70579480e-01 -2.34301668e-03 -4.19951918e+01] [-1.05988416e-02 -2.15328509e-04 9.99943808e-01 -3.18932418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.35, Y:-42.01, Z:-3.19 [[ 9.72288501e-01 2.33555531e-01 1.03385063e-02 2.92351845e+02] [-2.33543802e-01 9.72343456e-01 -2.34458831e-03 -4.20073540e+01] [-1.06001705e-02 -1.34877802e-04 9.99943808e-01 -3.19320966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.41, Y:-42.02, Z:-3.19 [[ 9.73554704e-01 2.28219985e-01 1.03381559e-02 2.92412214e+02] [-2.28207938e-01 9.73609589e-01 -2.34613209e-03 -4.20206423e+01] [-1.06007620e-02 -7.51613172e-05 9.99943808e-01 -3.19238417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.47, Y:-42.04, Z:-3.19 [[ 9.73953576e-01 2.26511726e-01 1.03377764e-02 2.92472135e+02] [-2.26499565e-01 9.74008437e-01 -2.34780303e-03 -4.20373105e+01] [-1.06008864e-02 -5.48507085e-05 9.99943808e-01 -3.18898485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.53, Y:-42.06, Z:-3.19 [[ 9.74304965e-01 2.24995495e-01 1.03373779e-02 2.92530713e+02] [-2.24983230e-01 9.74359803e-01 -2.34955638e-03 -4.20568458e+01] [-1.06009651e-02 -3.65522268e-05 9.99943808e-01 -3.19395377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.59, Y:-42.07, Z:-3.19 [[ 9.73759538e-01 2.27344471e-01 1.03370103e-02 2.92591622e+02] [-2.27332321e-01 9.73814401e-01 -2.35117254e-03 -4.20732655e+01] [-1.06008556e-02 -6.04598609e-05 9.99943808e-01 -3.19082684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.65, Y:-42.09, Z:-3.18 [[ 9.72770084e-01 2.31541614e-01 1.03365584e-02 2.92652249e+02] [-2.31529680e-01 9.72824995e-01 -2.35315783e-03 -4.20862764e+01] [-1.06005163e-02 -1.04138508e-04 9.99943808e-01 -3.18236385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.71, Y:-42.10, Z:-3.19 [[ 9.73275563e-01 2.29407591e-01 1.03361649e-02 2.92713466e+02] [-2.29395518e-01 9.73330443e-01 -2.35488487e-03 -4.20972898e+01] [-1.06007324e-02 -7.91180074e-05 9.99943808e-01 -3.18505374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:-42.11, Z:-3.18 [[ 9.74175922e-01 2.25553642e-01 1.03357476e-02 2.92774314e+02] [-2.25541332e-01 9.74230750e-01 -2.35671483e-03 -4.21102804e+01] [-1.06009688e-02 -3.52834420e-05 9.99943808e-01 -3.18234034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.84, Y:-42.12, Z:-3.18 [[ 9.74393877e-01 2.24610224e-01 1.03353346e-02 2.92836288e+02] [-2.24597842e-01 9.74448689e-01 -2.35852457e-03 -4.21229657e+01] [-1.06010020e-02 -2.31619500e-05 9.99943808e-01 -3.18493962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.90, Y:-42.13, Z:-3.20 [[ 9.74250241e-01 2.25232455e-01 1.03348962e-02 2.92897429e+02] [-2.25220087e-01 9.74305055e-01 -2.36044440e-03 -4.21306394e+01] [-1.06009903e-02 -2.79626922e-05 9.99943808e-01 -3.19822629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.96, Y:-42.14, Z:-3.20 [[ 9.73334548e-01 2.29157259e-01 1.03348420e-02 2.92957340e+02] [-2.29145110e-01 9.73389411e-01 -2.36068173e-03 -4.21362597e+01] [-1.06007931e-02 -7.04454114e-05 9.99943808e-01 -3.19957615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.02, Y:-42.14, Z:-3.20 [[ 9.71740229e-01 2.35826458e-01 1.03348959e-02 2.93015590e+02] [-2.35814688e-01 9.71795175e-01 -2.36044545e-03 -4.21401342e+01] [-1.06000575e-02 -1.43380460e-04 9.99943808e-01 -3.19971145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:-42.14, Z:-3.20 [[ 9.70824157e-01 2.39569703e-01 1.03350347e-02 2.93074825e+02] [-2.39558151e-01 9.70879150e-01 -2.35983780e-03 -4.21439716e+01] [-1.05994153e-02 -1.84854257e-04 9.99943808e-01 -3.19948937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:-42.15, Z:-3.20 [[ 9.70941678e-01 2.39092959e-01 1.03351458e-02 2.93132778e+02] [-2.39081386e-01 9.70996665e-01 -2.35935088e-03 -4.21494831e+01] [-1.05994963e-02 -1.80148882e-04 9.99943808e-01 -3.19760934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.19, Y:-42.16, Z:-3.20 [[ 9.73115566e-01 2.30085369e-01 1.03352831e-02 2.93190367e+02] [-2.30073293e-01 9.73170446e-01 -2.35874944e-03 -4.21583092e+01] [-1.06007058e-02 -8.25368090e-05 9.99943808e-01 -3.20004007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.25, Y:-42.17, Z:-3.19 [[ 9.75371113e-01 2.20327872e-01 1.03354117e-02 2.93248186e+02] [-2.20315253e-01 9.75425870e-01 -2.35818574e-03 -4.21684217e+01] [-1.06010020e-02 2.30574113e-05 9.99943808e-01 -3.19482173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.31, Y:-42.18, Z:-3.20 [[ 9.76423294e-01 2.15617086e-01 1.03355135e-02 2.93305222e+02] [-2.15604207e-01 9.76477991e-01 -2.35773966e-03 -4.21779110e+01] [-1.06007704e-02 7.37717370e-05 9.99943808e-01 -3.19796126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.36, Y:-42.19, Z:-3.20 [[ 9.76464991e-01 2.15428171e-01 1.03356400e-02 2.93363312e+02] [-2.15415287e-01 9.76519686e-01 -2.35718473e-03 -4.21898684e+01] [-1.06007599e-02 7.52535026e-05 9.99943808e-01 -3.19660500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.42, Y:-42.20, Z:-3.19 [[ 9.76008904e-01 2.17485154e-01 1.03357415e-02 2.93421372e+02] [-2.17472390e-01 9.76063628e-01 -2.35673974e-03 -4.22010306e+01] [-1.06008972e-02 5.24605611e-05 9.99943808e-01 -3.19300517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.48, Y:-42.21, Z:-3.19 [[ 9.75688308e-01 2.18918924e-01 1.03358518e-02 2.93477669e+02] [-2.18906246e-01 9.75743052e-01 -2.35625584e-03 -4.22146885e+01] [-1.06009646e-02 3.63887511e-05 9.99943808e-01 -3.18966829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.53, Y:-42.23, Z:-3.19 [[ 9.75102501e-01 2.21513612e-01 1.03359961e-02 2.93534449e+02] [-2.21501087e-01 9.75157279e-01 -2.35562289e-03 -4.22288871e+01] [-1.06010243e-02 7.53941094e-06 9.99943808e-01 -3.19049665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.59, Y:-42.24, Z:-3.19 [[ 9.74950523e-01 2.22181552e-01 1.03361038e-02 2.93591945e+02] [-2.22169070e-01 9.75005312e-01 -2.35514988e-03 -4.22433312e+01] [-1.06010270e-02 -2.07966000e-07 9.99943808e-01 -3.19300534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.65, Y:-42.26, Z:-3.19 [[ 9.75272572e-01 2.20763614e-01 1.03362110e-02 2.93647500e+02] [-2.20751056e-01 9.75327343e-01 -2.35467930e-03 -4.22599302e+01] [-1.06010168e-02 1.47246303e-05 9.99943808e-01 -3.18937170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:-42.28, Z:-3.20 [[ 9.75982251e-01 2.17604700e-01 1.03363438e-02 2.93703712e+02] [-2.17591972e-01 9.76036983e-01 -2.35409645e-03 -4.22798150e+01] [-1.06009162e-02 4.84509312e-05 9.99943808e-01 -3.19683563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:-42.30, Z:-3.20 [[ 9.76609733e-01 2.14771015e-01 1.03363978e-02 2.93760211e+02] [-2.14758130e-01 9.76664428e-01 -2.35385916e-03 -4.23031099e+01] [-1.06007328e-02 7.89762982e-05 9.99943808e-01 -3.19933824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:-42.33, Z:-3.20 [[ 9.76453352e-01 2.15480882e-01 1.03363978e-02 2.93816746e+02] [-2.15468037e-01 9.76508057e-01 -2.35385916e-03 -4.23256092e+01] [-1.06007874e-02 7.12703265e-05 9.99943808e-01 -3.19919877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.88, Y:-42.34, Z:-3.21 [[ 9.75351820e-01 2.20413215e-01 1.03363978e-02 2.93875819e+02] [-2.20400647e-01 9.75406589e-01 -2.35385916e-03 -4.23421502e+01] [-1.06010122e-02 1.76920547e-05 9.99943808e-01 -3.20789533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.93, Y:-42.36, Z:-3.21 [[ 9.75585048e-01 2.19378608e-01 1.03363409e-02 2.93934992e+02] [-2.19365979e-01 9.75639803e-01 -2.35410925e-03 -4.23596716e+01] [-1.06009868e-02 2.91922501e-05 9.99943808e-01 -3.20648208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.99, Y:-42.38, Z:-3.20 [[ 9.77294820e-01 2.11631756e-01 1.03361153e-02 2.93992676e+02] [-2.11618682e-01 9.77349470e-01 -2.35509917e-03 -4.23823423e+01] [-1.06004106e-02 1.14311115e-04 9.99943808e-01 -3.20228464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.05, Y:-42.41, Z:-3.20 [[ 9.78749979e-01 2.04796607e-01 1.03357559e-02 2.94051996e+02] [-2.04783135e-01 9.78804533e-01 -2.35667558e-03 -4.24071305e+01] [-1.05993239e-02 1.90007686e-04 9.99943808e-01 -3.20045359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.11, Y:-42.43, Z:-3.20 [[ 9.78928471e-01 2.03941734e-01 1.03353111e-02 2.94109660e+02] [-2.03928194e-01 9.78983007e-01 -2.35862455e-03 -4.24327332e+01] [-1.05991159e-02 2.01263401e-04 9.99943808e-01 -3.20167797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.17, Y:-42.45, Z:-3.20 [[ 9.78349794e-01 2.06699952e-01 1.03348971e-02 2.94168752e+02] [-2.06686547e-01 9.78404364e-01 -2.36043716e-03 -4.24547725e+01] [-1.05996107e-02 1.73249021e-04 9.99943808e-01 -3.20360881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:-42.48, Z:-3.21 [[ 9.77658740e-01 2.09944247e-01 1.03344729e-02 2.94226154e+02] [-2.09931003e-01 9.77713349e-01 -2.36229309e-03 -4.24820811e+01] [-1.06001019e-02 1.39990232e-04 9.99943808e-01 -3.20514786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.28, Y:-42.51, Z:-3.20 [[ 9.76960205e-01 2.13171213e-01 1.03340226e-02 2.94283699e+02] [-2.13158129e-01 9.77014853e-01 -2.36426117e-03 -4.25119373e+01] [-1.06004860e-02 1.07008162e-04 9.99943808e-01 -3.19967165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.34, Y:-42.54, Z:-3.20 [[ 9.75999546e-01 2.17527248e-01 1.03335644e-02 2.94341939e+02] [-2.17514386e-01 9.76054247e-01 -2.36626206e-03 -4.25371689e+01] [-1.06008459e-02 6.17717772e-05 9.99943808e-01 -3.20165467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.40, Y:-42.56, Z:-3.21 [[ 9.74695672e-01 2.23297053e-01 1.03331398e-02 2.94400719e+02] [-2.23284495e-01 9.74750443e-01 -2.36811466e-03 -4.25587087e+01] [-1.06010257e-02 9.61196981e-07 9.99943808e-01 -3.21092408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.46, Y:-42.58, Z:-3.20 [[ 9.74464022e-01 2.24305825e-01 1.03327474e-02 2.94459870e+02] [-2.24293306e-01 9.74518803e-01 -2.36982579e-03 -4.25799798e+01] [-1.06010223e-02 -8.25610483e-06 9.99943808e-01 -3.20414927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.52, Y:-42.60, Z:-3.20 [[ 9.74399218e-01 2.24587193e-01 1.03323583e-02 2.94519473e+02] [-2.24574672e-01 9.74453997e-01 -2.37152103e-03 -4.25984824e+01] [-1.06010211e-02 -9.57773984e-06 9.99943808e-01 -3.20048463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.58, Y:-42.61, Z:-3.20 [[ 9.73339622e-01 2.29135836e-01 1.03319457e-02 2.94580868e+02] [-2.29123552e-01 9.73394455e-01 -2.37331708e-03 -4.26112525e+01] [-1.06008707e-02 -5.72485530e-05 9.99943808e-01 -3.19996634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.64, Y:-42.62, Z:-3.20 [[ 9.71215854e-01 2.37976944e-01 1.03315051e-02 2.94642873e+02] [-2.37965138e-01 9.71270792e-01 -2.37523364e-03 -4.26174266e+01] [-1.05999400e-02 -1.51673477e-04 9.99943808e-01 -3.20422091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.70, Y:-42.63, Z:-3.20 [[ 9.70530182e-01 2.40758039e-01 1.03310961e-02 2.94704990e+02] [-2.40746372e-01 9.70585150e-01 -2.37701148e-03 -4.26286687e+01] [-1.05994930e-02 -1.80212509e-04 9.99943808e-01 -3.20478247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:-42.63, Z:-3.21 [[ 9.69893477e-01 2.43310340e-01 1.03306621e-02 2.94768479e+02] [-2.43298798e-01 9.69948471e-01 -2.37889617e-03 -4.26334180e+01] [-1.05990199e-02 -2.06161781e-04 9.99943808e-01 -3.20700193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.83, Y:-42.64, Z:-3.21 [[ 9.71497976e-01 2.36822654e-01 1.03302158e-02 2.94830645e+02] [-2.36810724e-01 9.71552887e-01 -2.38083230e-03 -4.26369981e+01] [-1.06001860e-02 -1.33332128e-04 9.99943808e-01 -3.21440359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.89, Y:-42.65, Z:-3.21 [[ 9.73160795e-01 2.29894233e-01 1.03299961e-02 2.94892210e+02] [-2.29881901e-01 9.73215618e-01 -2.38178546e-03 -4.26462915e+01] [-1.06008722e-02 -5.68189072e-05 9.99943808e-01 -3.21356169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:294.95, Y:-42.66, Z:-3.21 [[ 9.74647341e-01 2.23508077e-01 1.03295881e-02 2.94954515e+02] [-2.23495368e-01 9.74702077e-01 -2.38355347e-03 -4.26553244e+01] [-1.06010144e-02 1.45089628e-05 9.99943808e-01 -3.21295066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:-42.67, Z:-3.21 [[ 9.75072696e-01 2.21645089e-01 1.03291544e-02 2.95015786e+02] [-2.21632255e-01 9.75127404e-01 -2.38543134e-03 -4.26701842e+01] [-1.06009607e-02 3.66951853e-05 9.99943808e-01 -3.21196532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:-42.69, Z:-3.21 [[ 9.75800355e-01 2.18419287e-01 1.03286986e-02 2.95075308e+02] [-2.18406251e-01 9.75855015e-01 -2.38740328e-03 -4.26861580e+01] [-1.06007673e-02 7.37766163e-05 9.99943808e-01 -3.20719247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.13, Y:-42.70, Z:-3.21 [[ 9.76177421e-01 2.16727870e-01 1.03282745e-02 2.95134419e+02] [-2.16714720e-01 9.76232053e-01 -2.38923659e-03 -4.27039391e+01] [-1.06006068e-02 9.40296868e-05 9.99943808e-01 -3.21153658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:-42.72, Z:-3.22 [[ 9.74685647e-01 2.23341049e-01 1.03278588e-02 2.95194799e+02] [-2.23328251e-01 9.74740363e-01 -2.39103221e-03 -4.27184235e+01] [-1.06009965e-02 2.40021347e-05 9.99943808e-01 -3.21780852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:-42.73, Z:-3.21 [[ 9.72045508e-01 2.34565286e-01 1.03274725e-02 2.95256586e+02] [-2.34553102e-01 9.72100364e-01 -2.39269953e-03 -4.27291217e+01] [-1.06005840e-02 -9.65278910e-05 9.99943808e-01 -3.21203954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:-42.74, Z:-3.21 [[ 9.70568396e-01 2.40604115e-01 1.03270901e-02 2.95317318e+02] [-2.40592255e-01 9.70623322e-01 -2.39434886e-03 -4.27394119e+01] [-1.05998047e-02 -1.60738569e-04 9.99943808e-01 -3.21379005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.38, Y:-42.75, Z:-3.22 [[ 9.71052802e-01 2.38641606e-01 1.03266852e-02 2.95377294e+02] [-2.38629616e-01 9.71107700e-01 -2.39609382e-03 -4.27528127e+01] [-1.06001312e-02 -1.37519318e-04 9.99943808e-01 -3.22345538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:295.44, Y:-42.76, Z:-3.22 [[ 9.71608013e-01 2.36370971e-01 1.03263394e-02 2.95438373e+02] [-2.36358837e-01 9.71662880e-01 -2.39758355e-03 -4.27643392e+01] [-1.06004398e-02 -1.11210179e-04 9.99943808e-01 -3.22366969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.50, Y:-42.77, Z:-3.22 [[ 9.70719080e-01 2.39995505e-01 1.03259439e-02 2.95501063e+02] [-2.39983558e-01 9.70773988e-01 -2.39928540e-03 -4.27747390e+01] [-1.05999755e-02 -1.49024638e-04 9.99943808e-01 -3.22055090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:-42.78, Z:-3.22 [[ 9.68983853e-01 2.46908235e-01 1.03255249e-02 2.95564832e+02] [-2.46896661e-01 9.69038840e-01 -2.40108712e-03 -4.27801547e+01] [-1.05986829e-02 -2.22722977e-04 9.99943808e-01 -3.21627500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:-42.78, Z:-3.21 [[ 9.68430438e-01 2.49070031e-01 1.03250636e-02 2.95627887e+02] [-2.49058558e-01 9.68485446e-01 -2.40306940e-03 -4.27848786e+01] [-1.05982064e-02 -2.44339900e-04 9.99943808e-01 -3.21441439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.69, Y:-42.80, Z:-3.22 [[ 9.69997046e-01 2.42897371e-01 1.03246382e-02 2.95688486e+02] [-2.42885528e-01 9.70051976e-01 -2.40489576e-03 -4.27950035e+01] [-1.05995785e-02 -1.74963420e-04 9.99943808e-01 -3.22365184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.75, Y:-42.81, Z:-3.22 [[ 9.71955231e-01 2.34939208e-01 1.03245856e-02 2.95750465e+02] [-2.34926913e-01 9.72010062e-01 -2.40512143e-03 -4.28082262e+01] [-1.06006584e-02 -8.78526773e-05 9.99943808e-01 -3.22181892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:-42.82, Z:-3.22 [[ 9.71659921e-01 2.36157595e-01 1.03241354e-02 2.95811752e+02] [-2.36145349e-01 9.71714763e-01 -2.40705233e-03 -4.28234702e+01] [-1.06005585e-02 -9.91602840e-05 9.99943808e-01 -3.21639727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.105769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:-42.84, Z:-3.22 [[ 9.70294706e-01 2.41705617e-01 1.03236871e-02 2.95873070e+02] [-2.41693664e-01 9.70349612e-01 -2.40897379e-03 -4.28356722e+01] [-1.05998482e-02 -1.57755230e-04 9.99943808e-01 -3.22212174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:-42.85, Z:-3.22 [[ 9.69417179e-01 2.45201475e-01 1.03232215e-02 2.95933301e+02] [-2.45189698e-01 9.69472124e-01 -2.41096715e-03 -4.28492511e+01] [-1.05992482e-02 -1.93914592e-04 9.99943808e-01 -3.22317428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:-42.86, Z:-3.23 [[ 9.68356088e-01 2.49359032e-01 1.03228173e-02 2.95992739e+02] [-2.49347473e-01 9.68411078e-01 -2.41269669e-03 -4.28620051e+01] [-1.05983583e-02 -2.37618870e-04 9.99943808e-01 -3.22671742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.285769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:296.05, Y:-42.87, Z:-3.22 [[ 9.67074944e-01 2.54282309e-01 1.03227887e-02 2.96050714e+02] [-2.54271029e-01 9.67129992e-01 -2.41281906e-03 -4.28716978e+01] [-1.05970157e-02 -2.91409235e-04 9.99943808e-01 -3.22368602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.11, Y:-42.88, Z:-3.23 [[ 9.65148058e-01 2.61500791e-01 1.03228720e-02 2.96108882e+02] [-2.61489926e-01 9.65203190e-01 -2.41246266e-03 -4.28796314e+01] [-1.05945299e-02 -3.70943373e-04 9.99943808e-01 -3.22677743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.17, Y:-42.89, Z:-3.23 [[ 9.64860466e-01 2.62559931e-01 1.03229811e-02 2.96167464e+02] [-2.62549132e-01 9.64915611e-01 -2.41199540e-03 -4.28909384e+01] [-1.05940990e-02 -3.83050730e-04 9.99943808e-01 -3.22737605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.23, Y:-42.91, Z:-3.23 [[ 9.66835370e-01 2.55191697e-01 1.03230374e-02 2.96225412e+02] [-2.55180480e-01 9.66890431e-01 -2.41175477e-03 -4.29070953e+01] [-1.05967058e-02 -3.02467816e-04 9.99943808e-01 -3.22739354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:-42.92, Z:-3.23 [[ 9.67680357e-01 2.51968572e-01 1.03230097e-02 2.96284269e+02] [-2.51957170e-01 9.67735381e-01 -2.41187332e-03 -4.29188259e+01] [-1.05976580e-02 -2.67033869e-04 9.99943808e-01 -3.23031394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:-42.93, Z:-3.23 [[ 9.67592139e-01 2.52307130e-01 1.03230097e-02 2.96343680e+02] [-2.52295747e-01 9.67647167e-01 -2.41187332e-03 -4.29314482e+01] [-1.05975639e-02 -2.70741772e-04 9.99943808e-01 -3.22979117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:-42.94, Z:-3.22 [[ 9.67347356e-01 2.53244008e-01 1.03230097e-02 2.96403518e+02] [-2.53232678e-01 9.67402395e-01 -2.41187332e-03 -4.29399673e+01] [-1.05972967e-02 -2.81004112e-04 9.99943808e-01 -3.22439785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:-42.95, Z:-3.23 [[ 9.68208523e-01 2.49931373e-01 1.03230097e-02 2.96462740e+02] [-2.49919855e-01 9.68263522e-01 -2.41187332e-03 -4.29512850e+01] [-1.05981965e-02 -2.44728779e-04 9.99943808e-01 -3.22728203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:-42.96, Z:-3.24 [[ 9.69232285e-01 2.45931319e-01 1.03230097e-02 2.96521371e+02] [-2.45919574e-01 9.69287236e-01 -2.41187332e-03 -4.29583962e+01] [-1.05991167e-02 -2.00964657e-04 9.99943808e-01 -3.23621600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:-42.97, Z:-3.23 [[ 9.69115492e-01 2.46391145e-01 1.03230947e-02 2.96579299e+02] [-2.46379430e-01 9.69170450e-01 -2.41150923e-03 -4.29676162e+01] [-1.05990129e-02 -2.06367244e-04 9.99943808e-01 -3.23116607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:296.64, Y:-42.98, Z:-3.23 [[ 9.68756723e-01 2.47797989e-01 1.03232069e-02 2.96637843e+02] [-2.47786359e-01 9.68811699e-01 -2.41102896e-03 -4.29766909e+01] [-1.05986917e-02 -2.22249339e-04 9.99943808e-01 -3.23345472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:296.70, Y:-42.99, Z:-3.24 [[ 9.68622976e-01 2.48320275e-01 1.03233182e-02 2.96695679e+02] [-2.48308680e-01 9.68677959e-01 -2.41055246e-03 -4.29872585e+01] [-1.05985598e-02 -2.28453001e-04 9.99943808e-01 -3.23743602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.005769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:296.76, Y:-42.99, Z:-3.23 [[ 9.68394214e-01 2.49210903e-01 1.03234287e-02 2.96755554e+02] [-2.49199363e-01 9.68449208e-01 -2.41007875e-03 -4.29907501e+01] [-1.05983343e-02 -2.38685547e-04 9.99943808e-01 -3.23359899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.065769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:-43.00, Z:-3.24 [[ 9.68113781e-01 2.50298084e-01 1.03235386e-02 2.96813358e+02] [-2.50286611e-01 9.68168790e-01 -2.40960806e-03 -4.29994300e+01] [-1.05980482e-02 -2.51068721e-04 9.99943808e-01 -3.23632501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:-43.00, Z:-3.24 [[ 9.67561354e-01 2.52425132e-01 1.03237017e-02 2.96871665e+02] [-2.52413787e-01 9.67616390e-01 -2.40890928e-03 -4.30034628e+01] [-1.05974522e-02 -2.75077104e-04 9.99943808e-01 -3.23807002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.93, Y:-43.01, Z:-3.23 [[ 9.67739748e-01 2.51740338e-01 1.03238635e-02 2.96930853e+02] [-2.51728962e-01 9.67794777e-01 -2.40821529e-03 -4.30095828e+01] [-1.05976261e-02 -2.68289804e-04 9.99943808e-01 -3.23482989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.245769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:296.99, Y:-43.02, Z:-3.23 [[ 9.69745995e-01 2.43897768e-01 1.03239715e-02 2.96987666e+02] [-2.43885952e-01 9.69800931e-01 -2.40775250e-03 -4.30168066e+01] [-1.05994426e-02 -1.82963266e-04 9.99943808e-01 -3.23478563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.305769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:-43.03, Z:-3.24 [[ 9.71801579e-01 2.35573986e-01 1.03241582e-02 2.97045464e+02] [-2.35561707e-01 9.71856414e-01 -2.40695148e-03 -4.30297023e+01] [-1.06006145e-02 -9.28970901e-05 9.99943808e-01 -3.24058325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.365769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:297.10, Y:-43.04, Z:-3.23 [[ 9.73153764e-01 2.29924249e-01 1.03242635e-02 2.97103114e+02] [-2.29911657e-01 9.73208528e-01 -2.40649967e-03 -4.30399812e+01] [-1.06009739e-02 -3.17743327e-05 9.99943808e-01 -3.23389362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:-43.05, Z:-3.24 [[ 9.74123968e-01 2.25778436e-01 1.03243782e-02 2.97159725e+02] [-2.25765616e-01 9.74178679e-01 -2.40600753e-03 -4.30486639e+01] [-1.06010138e-02 1.28599963e-05 9.99943808e-01 -3.23646343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.485769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:-43.06, Z:-3.24 [[ 9.75288091e-01 2.20695585e-01 1.03246237e-02 2.97217097e+02] [-2.20682491e-01 9.75342737e-01 -2.40495389e-03 -4.30594998e+01] [-1.06008094e-02 6.70592268e-05 9.99943808e-01 -3.23869393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.545769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:-43.07, Z:-3.24 [[ 9.76502271e-01 2.15259642e-01 1.03247881e-02 2.97273183e+02] [-2.15246251e-01 9.76556845e-01 -2.40424760e-03 -4.30728296e+01] [-1.06002800e-02 1.25381304e-04 9.99943808e-01 -3.23900394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:-43.09, Z:-3.24 [[ 9.76813094e-01 2.13844746e-01 1.03249239e-02 2.97329048e+02] [-2.13831283e-01 9.76867650e-01 -2.40366459e-03 -4.30879618e+01] [-1.06000951e-02 1.40139327e-04 9.99943808e-01 -3.23892956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:-43.10, Z:-3.24 [[ 9.75956415e-01 2.17721078e-01 1.03250846e-02 2.97384509e+02] [-2.17707838e-01 9.76011026e-01 -2.40297387e-03 -4.31047046e+01] [-1.06005745e-02 9.73459135e-05 9.99943808e-01 -3.23923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:297.44, Y:-43.12, Z:-3.24 [[ 9.73729768e-01 2.27472479e-01 1.03252167e-02 2.97440231e+02] [-2.27459792e-01 9.73784510e-01 -2.40240599e-03 -4.31192352e+01] [-1.06010174e-02 -9.27742561e-06 9.99943808e-01 -3.23866739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:297.50, Y:-43.13, Z:-3.25 [[ 9.71301983e-01 2.37625427e-01 1.03253851e-02 2.97497396e+02] [-2.37613321e-01 9.71356856e-01 -2.40168215e-03 -4.31310619e+01] [-1.06003344e-02 -1.20690402e-04 9.99943808e-01 -3.24561457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:-43.14, Z:-3.25 [[ 9.70653095e-01 2.40262260e-01 1.03254978e-02 2.97553919e+02] [-2.40250308e-01 9.70708001e-01 -2.40119747e-03 -4.31431492e+01] [-1.05999605e-02 -1.49974274e-04 9.99943808e-01 -3.25231908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:-43.16, Z:-3.24 [[ 9.71843825e-01 2.35399577e-01 1.03256366e-02 2.97611029e+02] [-2.35387356e-01 9.71898672e-01 -2.40060031e-03 -4.31582652e+01] [-1.06005728e-02 -9.75157272e-05 9.99943808e-01 -3.24466127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.67, Y:-43.17, Z:-3.24 [[ 9.70965785e-01 2.38995448e-01 1.03257449e-02 2.97668679e+02] [-2.38983435e-01 9.71020678e-01 -2.40013441e-03 -4.31655135e+01] [-1.06001330e-02 -1.37233606e-04 9.99943808e-01 -3.24405995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.73, Y:-43.17, Z:-3.25 [[ 9.69374029e-01 2.45371897e-01 1.03259061e-02 2.97727713e+02] [-2.45360253e-01 9.69429002e-01 -2.39944087e-03 -4.31680376e+01] [-1.05989882e-02 -2.07611270e-04 9.99943808e-01 -3.24535079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.79, Y:-43.18, Z:-3.25 [[ 9.70027567e-01 2.42775392e-01 1.03260790e-02 2.97785204e+02] [-2.42763608e-01 9.70082510e-01 -2.39869643e-03 -4.31782545e+01] [-1.05994931e-02 -1.79994540e-04 9.99943808e-01 -3.24640752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.84, Y:-43.19, Z:-3.25 [[ 9.71515043e-01 2.36752801e-01 1.03262523e-02 2.97841616e+02] [-2.36740685e-01 9.71569914e-01 -2.39795040e-03 -4.31916442e+01] [-1.06003975e-02 -1.14999149e-04 9.99943808e-01 -3.24756005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.90, Y:-43.21, Z:-3.25 [[ 9.73328226e-01 2.29184488e-01 1.03264266e-02 2.97897554e+02] [-2.29171953e-01 9.73383002e-01 -2.39719952e-03 -4.32076394e+01] [-1.06009691e-02 -3.32653960e-05 9.99943808e-01 -3.24827228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:-43.23, Z:-3.25 [[ 9.74002690e-01 2.26300955e-01 1.03265704e-02 2.97954146e+02] [-2.26288265e-01 9.74057430e-01 -2.39657968e-03 -4.32252067e+01] [-1.06010209e-02 -2.50665387e-06 9.99943808e-01 -3.25360602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:-43.24, Z:-3.26 [[ 9.74200138e-01 2.25449443e-01 1.03266839e-02 2.98011270e+02] [-2.25436710e-01 9.74254868e-01 -2.39609069e-03 -4.32397978e+01] [-1.06010194e-02 6.25824424e-06 9.99943808e-01 -3.25591346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.07, Y:-43.25, Z:-3.26 [[ 9.73326735e-01 2.29190801e-01 1.03267991e-02 2.98067352e+02] [-2.29178283e-01 9.73381516e-01 -2.39559406e-03 -4.32531841e+01] [-1.06009635e-02 -3.49823409e-05 9.99943808e-01 -3.25625975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:-43.26, Z:-3.26 [[ 9.73075054e-01 2.30257014e-01 1.03269789e-02 2.98124373e+02] [-2.30244564e-01 9.73129850e-01 -2.39481868e-03 -4.32640633e+01] [-1.06009152e-02 -4.73924419e-05 9.99943808e-01 -3.25979670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:-43.27, Z:-3.26 [[ 9.73384115e-01 2.28946969e-01 1.03271267e-02 2.98182471e+02] [-2.28934453e-01 9.73438896e-01 -2.39418109e-03 -4.32718645e+01] [-1.06009673e-02 -3.37772658e-05 9.99943808e-01 -3.25712800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:-43.28, Z:-3.26 [[ 9.73333296e-01 2.29162917e-01 1.03272752e-02 2.98238855e+02] [-2.29150420e-01 9.73388081e-01 -2.39354065e-03 -4.32795882e+01] [-1.06009573e-02 -3.67866324e-05 9.99943808e-01 -3.25849535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:-43.29, Z:-3.26 [[ 9.74094959e-01 2.25903417e-01 1.03274808e-02 2.98295977e+02] [-2.25890746e-01 9.74149704e-01 -2.39265324e-03 -4.32878139e+01] [-1.06010209e-02 -2.21086836e-06 9.99943808e-01 -3.25859762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.35, Y:-43.30, Z:-3.26 [[ 9.74608392e-01 2.23677942e-01 1.03276836e-02 2.98353683e+02] [-2.23665155e-01 9.74663110e-01 -2.39177725e-03 -4.32982462e+01] [-1.06010001e-02 2.11032235e-05 9.99943808e-01 -3.25505969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.41, Y:-43.31, Z:-3.26 [[ 9.74645541e-01 2.23516009e-01 1.03277978e-02 2.98411562e+02] [-2.23503218e-01 9.74700258e-01 -2.39128420e-03 -4.33105143e+01] [-1.06009975e-02 2.23584403e-05 9.99943808e-01 -3.25949788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.47, Y:-43.32, Z:-3.26 [[ 9.75402407e-01 2.20189644e-01 1.03279138e-02 2.98468140e+02] [-2.20176672e-01 9.75457081e-01 -2.39078320e-03 -4.33220529e+01] [-1.06008623e-02 5.80100144e-05 9.99943808e-01 -3.25900050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.52, Y:-43.33, Z:-3.26 [[ 9.75747656e-01 2.18654623e-01 1.03280571e-02 2.98524242e+02] [-2.18641571e-01 9.75802311e-01 -2.39016367e-03 -4.33347008e+01] [-1.06007624e-02 7.40539568e-05 9.99943808e-01 -3.25799052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:-43.35, Z:-3.27 [[ 9.76370531e-01 2.15856235e-01 1.03282635e-02 2.98580565e+02] [-2.15843036e-01 9.76425151e-01 -2.38927175e-03 -4.33474725e+01] [-1.06005154e-02 1.03530785e-04 9.99943808e-01 -3.26826489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:-43.36, Z:-3.27 [[ 9.77487117e-01 2.10742164e-01 1.03284092e-02 2.98636830e+02] [-2.10728686e-01 9.77541669e-01 -2.38864176e-03 -4.33611443e+01] [-1.05998379e-02 1.58374457e-04 9.99943808e-01 -3.26860634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.69, Y:-43.38, Z:-3.27 [[ 9.78761540e-01 2.04741711e-01 1.03285806e-02 2.98692645e+02] [-2.04727907e-01 9.78816010e-01 -2.38790028e-03 -4.33785371e+01] [-1.05986828e-02 2.22636270e-04 9.99943808e-01 -3.26995058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:-43.40, Z:-3.27 [[ 9.79537011e-01 2.00998907e-01 1.03287215e-02 2.98747110e+02] [-2.00984901e-01 9.79591430e-01 -2.38729055e-03 -4.34028671e+01] [-1.05977699e-02 2.62522377e-04 9.99943808e-01 -3.26669553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.165769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:298.80, Y:-43.43, Z:-3.26 [[ 9.79524951e-01 2.01057668e-01 1.03288346e-02 2.98803151e+02] [-2.01043670e-01 9.79579372e-01 -2.38680116e-03 -4.34262070e+01] [-1.05977980e-02 2.61384467e-04 9.99943808e-01 -3.26111838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.86, Y:-43.44, Z:-3.26 [[ 9.77451435e-01 2.10907576e-01 1.03288939e-02 2.98858459e+02] [-2.10894130e-01 9.77505995e-01 -2.38654464e-03 -4.34444246e+01] [-1.05998960e-02 1.54428399e-04 9.99943808e-01 -3.25825187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.91, Y:-43.46, Z:-3.26 [[ 9.75082693e-01 2.21601111e-01 1.03290533e-02 2.98914075e+02] [-2.21588270e-01 9.75137399e-01 -2.38585453e-03 -4.34572846e+01] [-1.06009542e-02 3.76084164e-05 9.99943808e-01 -3.26049995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.97, Y:-43.47, Z:-3.26 [[ 9.74341203e-01 2.24838891e-01 1.03292453e-02 2.98971318e+02] [-2.24826241e-01 9.74395953e-01 -2.38502311e-03 -4.34695085e+01] [-1.06010207e-02 1.54090695e-06 9.99943808e-01 -3.26358572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.03, Y:-43.48, Z:-3.26 [[ 9.75683027e-01 2.18942767e-01 1.03293536e-02 2.99028397e+02] [-2.18929791e-01 9.75737701e-01 -2.38455369e-03 -4.34823876e+01] [-1.06008205e-02 6.51653322e-05 9.99943808e-01 -3.26088986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.09, Y:-43.50, Z:-3.26 [[ 9.76279460e-01 2.16267702e-01 1.03294678e-02 2.99085438e+02] [-2.16254581e-01 9.76334099e-01 -2.38405889e-03 -4.34960416e+01] [-1.06006066e-02 9.37129855e-05 9.99943808e-01 -3.26334902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.14, Y:-43.51, Z:-3.27 [[ 9.75519187e-01 2.19671608e-01 1.03295821e-02 2.99142092e+02] [-2.19658683e-01 9.75573873e-01 -2.38356381e-03 -4.35079718e+01] [-1.06008717e-02 5.62298366e-05 9.99943808e-01 -3.26737176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.20, Y:-43.52, Z:-3.27 [[ 9.74231712e-01 2.25312821e-01 1.03297235e-02 2.99200409e+02] [-2.25300219e-01 9.74286474e-01 -2.38295070e-03 -4.35171922e+01] [-1.06010192e-02 -5.74282912e-06 9.99943808e-01 -3.27346053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.26, Y:-43.53, Z:-3.27 [[ 9.74104946e-01 2.25860242e-01 1.03298377e-02 2.99256980e+02] [-2.25847676e-01 9.74159715e-01 -2.38245560e-03 -4.35280574e+01] [-1.06010137e-02 -1.22080493e-05 9.99943808e-01 -3.27311317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.31, Y:-43.54, Z:-3.27 [[ 9.75603844e-01 2.19295308e-01 1.03299787e-02 2.99313616e+02] [-2.19282380e-01 9.75658529e-01 -2.38184414e-03 -4.35408758e+01] [-1.06008590e-02 5.85539896e-05 9.99943808e-01 -3.27339956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.37, Y:-43.56, Z:-3.27 [[ 9.76781156e-01 2.13990332e-01 1.03301408e-02 2.99370176e+02] [-2.13977114e-01 9.76835772e-01 -2.38114086e-03 -4.35558421e+01] [-1.06003922e-02 1.15439808e-04 9.99943808e-01 -3.27410210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.43, Y:-43.57, Z:-3.27 [[ 9.77388707e-01 2.11198016e-01 1.03302548e-02 2.99426589e+02] [-2.11184648e-01 9.77443286e-01 -2.38064620e-03 -4.35717206e+01] [-1.06000259e-02 1.45225487e-04 9.99943808e-01 -3.26731624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.48, Y:-43.59, Z:-3.27 [[ 9.76899212e-01 2.13450726e-01 1.03303676e-02 2.99482481e+02] [-2.13437489e-01 9.76953824e-01 -2.38015632e-03 -4.35897904e+01] [-1.06003383e-02 1.20285109e-04 9.99943808e-01 -3.26520474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:299.54, Y:-43.61, Z:-3.27 [[ 9.76467578e-01 2.15416689e-01 1.03304798e-02 2.99539209e+02] [-2.15403567e-01 9.76522217e-01 -2.37966963e-03 -4.36068009e+01] [-1.06005636e-02 9.84480436e-05 9.99943808e-01 -3.27165765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.005769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:299.60, Y:-43.62, Z:-3.27 [[ 9.76250862e-01 2.16396703e-01 1.03305950e-02 2.99596191e+02] [-2.16383641e-01 9.76305515e-01 -2.37916946e-03 -4.36210320e+01] [-1.06006613e-02 8.72944819e-05 9.99943808e-01 -3.27139302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.065769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.65, Y:-43.63, Z:-3.27 [[ 9.74604886e-01 2.23693075e-01 1.03307102e-02 2.99652808e+02] [-2.23680428e-01 9.74659637e-01 -2.37866879e-03 -4.36333823e+01] [-1.06010180e-02 7.48453879e-06 9.99943808e-01 -3.26562134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.71, Y:-43.64, Z:-3.27 [[ 9.73931924e-01 2.26605120e-01 1.03308533e-02 2.99710847e+02] [-2.26592643e-01 9.73986714e-01 -2.37804733e-03 -4.36448966e+01] [-1.06009915e-02 -2.48391351e-05 9.99943808e-01 -3.27175202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.77, Y:-43.66, Z:-3.28 [[ 9.73315645e-01 2.29237707e-01 1.03309666e-02 2.99768167e+02] [-2.29225384e-01 9.73370469e-01 -2.37755517e-03 -4.36570827e+01] [-1.06008831e-02 -5.40081323e-05 9.99943808e-01 -3.27548092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.83, Y:-43.66, Z:-3.27 [[ 9.72349902e-01 2.33300101e-01 1.03310798e-02 2.99826420e+02] [-2.33288011e-01 9.72404779e-01 -2.37706303e-03 -4.36637163e+01] [-1.06005604e-02 -9.87800581e-05 9.99943808e-01 -3.26784348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.88, Y:-43.67, Z:-3.27 [[ 9.71843524e-01 2.35400574e-01 1.03312195e-02 2.99883503e+02] [-2.35388610e-01 9.71898428e-01 -2.37645572e-03 -4.36718919e+01] [-1.06003150e-02 -1.22308294e-04 9.99943808e-01 -3.27004065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.94, Y:-43.68, Z:-3.27 [[ 9.71994396e-01 2.34776818e-01 1.03314616e-02 2.99941568e+02] [-2.34764830e-01 9.72049295e-01 -2.37540283e-03 -4.36783626e+01] [-1.06003794e-02 -1.16585573e-04 9.99943808e-01 -3.26967863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:-43.69, Z:-3.26 [[ 9.72761430e-01 2.31578190e-01 1.03316242e-02 2.99999837e+02] [-2.31566028e-01 9.72816291e-01 -2.37469545e-03 -4.36888293e+01] [-1.06007000e-02 -8.24410269e-05 9.99943808e-01 -3.26447241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:-43.70, Z:-3.27 [[ 9.73075004e-01 2.30257012e-01 1.03317358e-02 3.00057070e+02] [-2.30244781e-01 9.73129849e-01 -2.37420944e-03 -4.37003283e+01] [-1.06007989e-02 -6.85443974e-05 9.99943808e-01 -3.26847867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.11, Y:-43.71, Z:-3.27 [[ 9.72381121e-01 2.33169911e-01 1.03319046e-02 3.00113814e+02] [-2.33157852e-01 9.72436004e-01 -2.37347470e-03 -4.37093042e+01] [-1.06005389e-02 -1.01042705e-04 9.99943808e-01 -3.26748492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.17, Y:-43.71, Z:-3.27 [[ 9.71275117e-01 2.37734925e-01 1.03320993e-02 3.00172282e+02] [-2.37723134e-01 9.71330058e-01 -2.37262689e-03 -4.37144477e+01] [-1.05999349e-02 -1.51705568e-04 9.99943808e-01 -3.27410419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.23, Y:-43.72, Z:-3.28 [[ 9.71027528e-01 2.38744185e-01 1.03322366e-02 3.00229055e+02] [-2.38732457e-01 9.71082482e-01 -2.37202898e-03 -4.37246252e+01] [-1.05997621e-02 -1.63334781e-04 9.99943808e-01 -3.27868891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.29, Y:-43.73, Z:-3.28 [[ 9.70686693e-01 2.40126187e-01 1.03323720e-02 3.00288642e+02] [-2.40114544e-01 9.70741666e-01 -2.37143909e-03 -4.37282230e+01] [-1.05995086e-02 -1.79028411e-04 9.99943808e-01 -3.27918160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.35, Y:-43.73, Z:-3.28 [[ 9.71653623e-01 2.36183143e-01 1.03324844e-02 3.00347274e+02] [-2.36171281e-01 9.71708549e-01 -2.37094908e-03 -4.37313013e+01] [-1.06001416e-02 -1.36494817e-04 9.99943808e-01 -3.27965728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.845769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:300.40, Y:-43.74, Z:-3.28 [[ 9.75003809e-01 2.21947764e-01 1.03326237e-02 3.00404723e+02] [-2.21935107e-01 9.75058557e-01 -2.37034169e-03 -4.37445526e+01] [-1.06010052e-02 1.79202199e-05 9.99943808e-01 -3.27770290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.46, Y:-43.76, Z:-3.28 [[ 9.77983719e-01 2.08425239e-01 1.03327341e-02 3.00459738e+02] [-2.08411830e-01 9.78038288e-01 -2.36986042e-03 -4.37627389e+01] [-1.05997483e-02 1.64220876e-04 9.99943808e-01 -3.27585250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.51, Y:-43.79, Z:-3.28 [[ 9.79213610e-01 2.02568351e-01 1.03329141e-02 3.00513923e+02] [-2.02554624e-01 9.79268100e-01 -2.36907559e-03 -4.37866828e+01] [-1.05985929e-02 2.26851530e-04 9.99943808e-01 -3.27767970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:-43.81, Z:-3.28 [[ 9.79193633e-01 2.02664888e-01 1.03330701e-02 3.00568741e+02] [-2.02651173e-01 9.79248126e-01 -2.36839503e-03 -4.38084460e+01] [-1.05986300e-02 2.25108559e-04 9.99943808e-01 -3.27579698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:-43.84, Z:-3.27 [[ 9.79041247e-01 2.03399758e-01 1.03332294e-02 3.00621857e+02] [-2.03386092e-01 9.79095752e-01 -2.36769980e-03 -4.38401968e+01] [-1.05988105e-02 2.16440630e-04 9.99943808e-01 -3.27457677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:-43.86, Z:-3.28 [[ 9.78232092e-01 2.07256354e-01 1.03333407e-02 3.00677496e+02] [-2.07242908e-01 9.78286652e-01 -2.36721371e-03 -4.38618086e+01] [-1.05995894e-02 1.74172843e-04 9.99943808e-01 -3.27785318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:-43.89, Z:-3.28 [[ 9.77160637e-01 2.12250582e-01 1.03334535e-02 3.00730750e+02] [-2.12237420e-01 9.77215266e-01 -2.36672129e-03 -4.38864274e+01] [-1.06003465e-02 1.19521369e-04 9.99943808e-01 -3.28026382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.79, Y:-43.91, Z:-3.28 [[ 9.75397018e-01 2.20213248e-01 1.03335932e-02 3.00786545e+02] [-2.20200538e-01 9.75451754e-01 -2.36611127e-03 -4.39056257e+01] [-1.06009706e-02 3.24350967e-05 9.99943808e-01 -3.27585576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.84, Y:-43.92, Z:-3.28 [[ 9.73429318e-01 2.28754403e-01 1.03337061e-02 3.00843625e+02] [-2.28742179e-01 9.73484165e-01 -2.36561779e-03 -4.39186763e+01] [-1.06008448e-02 -6.09927431e-05 9.99943808e-01 -3.27667485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.90, Y:-43.93, Z:-3.28 [[ 9.71999064e-01 2.34757389e-01 1.03338190e-02 3.00901086e+02] [-2.34745509e-01 9.72053986e-01 -2.36512477e-03 -4.39293787e+01] [-1.06002604e-02 -1.26918535e-04 9.99943808e-01 -3.28207139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.96, Y:-43.94, Z:-3.28 [[ 9.72137461e-01 2.34183616e-01 1.03339324e-02 3.00958543e+02] [-2.34171709e-01 9.72192378e-01 -2.36462888e-03 -4.39386561e+01] [-1.06003277e-02 -1.21170301e-04 9.99943808e-01 -3.28184922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:-43.95, Z:-3.28 [[ 9.73164482e-01 2.29878443e-01 1.03340722e-02 3.01015588e+02] [-2.29866299e-01 9.73219346e-01 -2.36401790e-03 -4.39479715e+01] [-1.06007558e-02 -7.48766780e-05 9.99943808e-01 -3.27921392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.07, Y:-43.96, Z:-3.28 [[ 9.73785142e-01 2.27234905e-01 1.03342095e-02 3.01073709e+02] [-2.27222618e-01 9.73839975e-01 -2.36341776e-03 -4.39572550e+01] [-1.06009173e-02 -4.67050402e-05 9.99943808e-01 -3.28350024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.13, Y:-43.97, Z:-3.28 [[ 9.74728804e-01 2.23152325e-01 1.03343181e-02 3.01131891e+02] [-2.23139814e-01 9.74783586e-01 -2.36294259e-03 -4.39663539e+01] [-1.06010198e-02 -2.76962158e-06 9.99943808e-01 -3.28024515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:-43.97, Z:-3.28 [[ 9.74761092e-01 2.23011242e-01 1.03344294e-02 3.01189513e+02] [-2.22998728e-01 9.74815873e-01 -2.36245571e-03 -4.39738945e+01] [-1.06010200e-02 -1.73471226e-06 9.99943808e-01 -3.27743131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.25, Y:-43.98, Z:-3.28 [[ 9.73823370e-01 2.27071005e-01 1.03345673e-02 3.01247809e+02] [-2.27058726e-01 9.73878204e-01 -2.36185237e-03 -4.39799167e+01] [-1.06009180e-02 -4.65266557e-05 9.99943808e-01 -3.27766673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.31, Y:-43.98, Z:-3.28 [[ 9.72564343e-01 2.32404372e-01 1.03347414e-02 3.01305253e+02] [-2.32392402e-01 9.72619246e-01 -2.36109030e-03 -4.39830733e+01] [-1.06004961e-02 -1.05403136e-04 9.99943808e-01 -3.27618243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.865769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:301.36, Y:-43.99, Z:-3.28 [[ 9.72546153e-01 2.32480469e-01 1.03349421e-02 3.01363678e+02] [-2.32468513e-01 9.72601059e-01 -2.36021157e-03 -4.39877516e+01] [-1.06004787e-02 -1.07133931e-04 9.99943808e-01 -3.28162115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.42, Y:-43.99, Z:-3.29 [[ 9.73116706e-01 2.30080557e-01 1.03351071e-02 3.01421668e+02] [-2.30068472e-01 9.73171583e-01 -2.35948884e-03 -4.39911806e+01] [-1.06007050e-02 -8.17242964e-05 9.99943808e-01 -3.28572285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.48, Y:-44.00, Z:-3.28 [[ 9.73621804e-01 2.27933683e-01 1.03352981e-02 3.01480154e+02] [-2.27921486e-01 9.73676657e-01 -2.35865178e-03 -4.39987931e+01] [-1.06008547e-02 -5.92017079e-05 9.99943808e-01 -3.28239454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:301.54, Y:-44.01, Z:-3.28 [[ 9.74630722e-01 2.23580267e-01 1.03354001e-02 3.01539035e+02] [-2.23567830e-01 9.74685521e-01 -2.35820471e-03 -4.40071485e+01] [-1.06010129e-02 -1.22842226e-05 9.99943808e-01 -3.28456750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:-44.01, Z:-3.28 [[ 9.75168939e-01 2.21220969e-01 1.03355124e-02 3.01597150e+02] [-2.21208405e-01 9.75223709e-01 -2.35771236e-03 -4.40130284e+01] [-1.06010122e-02 1.28656355e-05 9.99943808e-01 -3.28489354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.165769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:301.65, Y:-44.02, Z:-3.28 [[ 9.75427802e-01 2.20076750e-01 1.03356789e-02 3.01654071e+02] [-2.20064130e-01 9.75482559e-01 -2.35698218e-03 -4.40221610e+01] [-1.06009915e-02 2.45537519e-05 9.99943808e-01 -3.28373983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.225769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:301.71, Y:-44.04, Z:-3.29 [[ 9.76441737e-01 2.15533536e-01 1.03358165e-02 3.01710905e+02] [-2.15520667e-01 9.76496436e-01 -2.35637873e-03 -4.40356051e+01] [-1.06007666e-02 7.32844708e-05 9.99943808e-01 -3.28709901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.77, Y:-44.06, Z:-3.28 [[ 9.77590522e-01 2.10261598e-01 1.03359276e-02 3.01766753e+02] [-2.10248440e-01 9.77645152e-01 -2.35589124e-03 -4.40564862e+01] [-1.06002230e-02 1.29984284e-04 9.99943808e-01 -3.28065103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.345769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:-44.08, Z:-3.28 [[ 9.77829169e-01 2.09148949e-01 1.03360388e-02 3.01821467e+02] [-2.09135733e-01 9.77883785e-01 -2.35540340e-03 -4.40752234e+01] [-1.06000749e-02 1.41547096e-04 9.99943808e-01 -3.28074386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.405769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:-44.09, Z:-3.29 [[ 9.77078053e-01 2.12630293e-01 1.03362046e-02 3.01877748e+02] [-2.12617280e-01 9.77132718e-01 -2.35467560e-03 -4.40921917e+01] [-1.06005191e-02 1.03046145e-04 9.99943808e-01 -3.28948941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:-44.11, Z:-3.29 [[ 9.76572794e-01 2.14938916e-01 1.03363214e-02 3.01933686e+02] [-2.14926038e-01 9.76627491e-01 -2.35416298e-03 -4.41063887e+01] [-1.06007368e-02 7.74669271e-05 9.99943808e-01 -3.28779388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:301.99, Y:-44.12, Z:-3.29 [[ 9.76143139e-01 2.16881830e-01 1.03365174e-02 3.01989483e+02] [-2.16869069e-01 9.76197864e-01 -2.35330191e-03 -4.41192540e+01] [-1.06008746e-02 5.54886047e-05 9.99943808e-01 -3.28704400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:302.05, Y:-44.13, Z:-3.29 [[ 9.75711339e-01 2.18816215e-01 1.03367063e-02 3.02046208e+02] [-2.18803571e-01 9.75766090e-01 -2.35247179e-03 -4.41295917e+01] [-1.06009665e-02 3.36251441e-05 9.99943808e-01 -3.28811243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:-44.14, Z:-3.29 [[ 9.75380795e-01 2.20284936e-01 1.03368736e-02 3.02103275e+02] [-2.20272383e-01 9.75435568e-01 -2.35173670e-03 -4.41389066e+01] [-1.06010063e-02 1.69110442e-05 9.99943808e-01 -3.28575951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:-44.15, Z:-3.29 [[ 9.75463818e-01 2.19916998e-01 1.03370113e-02 3.02160690e+02] [-2.19904430e-01 9.75518587e-01 -2.35113106e-03 -4.41484937e+01] [-1.06010003e-02 2.02886924e-05 9.99943808e-01 -3.28838391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:302.22, Y:-44.16, Z:-3.30 [[ 9.75330225e-01 2.20508718e-01 1.03371764e-02 3.02217721e+02] [-2.20496191e-01 9.75385004e-01 -2.35040494e-03 -4.41567906e+01] [-1.06010116e-02 1.31129552e-05 9.99943808e-01 -3.29534259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:302.28, Y:-44.16, Z:-3.29 [[ 9.74802994e-01 2.22827877e-01 1.03373124e-02 3.02276183e+02] [-2.22815487e-01 9.74857803e-01 -2.34980658e-03 -4.41646775e+01] [-1.06010121e-02 -1.27148201e-05 9.99943808e-01 -3.29103228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:302.33, Y:-44.17, Z:-3.29 [[ 9.74955205e-01 2.22160946e-01 1.03374246e-02 3.02334461e+02] [-2.22148524e-01 9.75010007e-01 -2.34931279e-03 -4.41744204e+01] [-1.06010180e-02 -5.96889678e-06 9.99943808e-01 -3.28980348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:302.39, Y:-44.19, Z:-3.29 [[ 9.76228483e-01 2.16497307e-01 1.03375364e-02 3.02390307e+02] [-2.16484572e-01 9.76283214e-01 -2.34882092e-03 -4.41894544e+01] [-1.06008767e-02 5.50687447e-05 9.99943808e-01 -3.29013612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.005769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:302.45, Y:-44.21, Z:-3.29 [[ 9.78121237e-01 2.07778676e-01 1.03377042e-02 3.02445801e+02] [-2.07765461e-01 9.78175853e-01 -2.34808196e-03 -4.42079566e+01] [-1.05999740e-02 1.48890943e-04 9.99943808e-01 -3.28948917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.065769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:302.50, Y:-44.22, Z:-3.29 [[ 9.78891545e-01 2.04118767e-01 1.03378720e-02 3.02501039e+02] [-2.04105356e-01 9.78946114e-01 -2.34734324e-03 -4.42243644e+01] [-1.05993564e-02 1.87779415e-04 9.99943808e-01 -3.29138659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.125769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:302.56, Y:-44.25, Z:-3.29 [[ 9.79132191e-01 2.02961269e-01 1.03380404e-02 3.02555502e+02] [-2.02947801e-01 9.79186746e-01 -2.34660109e-03 -4.42459517e+01] [-1.05991413e-02 1.99550091e-04 9.99943808e-01 -3.29146271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.185769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:302.61, Y:-44.27, Z:-3.29 [[ 9.79711424e-01 2.00146566e-01 1.03382081e-02 3.02610348e+02] [-2.00132949e-01 9.79765941e-01 -2.34586209e-03 -4.42677221e+01] [-1.05985405e-02 2.29251808e-04 9.99943808e-01 -3.29408297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.245769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:-44.29, Z:-3.30 [[ 9.81079206e-01 1.93330576e-01 1.03383188e-02 3.02665254e+02] [-1.93316585e-01 9.81133629e-01 -2.34537445e-03 -4.42926213e+01] [-1.05967048e-02 3.02429627e-04 9.99943808e-01 -3.29600879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:302.72, Y:-44.32, Z:-3.30 [[ 9.81538498e-01 1.90985061e-01 1.03384286e-02 3.02719854e+02] [-1.90970946e-01 9.81592889e-01 -2.34489017e-03 -4.43179991e+01] [-1.05959670e-02 3.27260482e-04 9.99943808e-01 -3.29607470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:-44.34, Z:-3.30 [[ 9.80441348e-01 1.96539761e-01 1.03385102e-02 3.02774882e+02] [-1.96525958e-01 9.80495819e-01 -2.34453048e-03 -4.43401696e+01] [-1.05976595e-02 2.66889010e-04 9.99943808e-01 -3.30362133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.425769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:302.83, Y:-44.36, Z:-3.30 [[ 9.79790948e-01 1.99756879e-01 1.03386169e-02 3.02832034e+02] [-1.99743260e-01 9.79845465e-01 -2.34405953e-03 -4.43564789e+01] [-1.05984889e-02 2.31619261e-04 9.99943808e-01 -3.30068143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.485769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:-44.38, Z:-3.30 [[ 9.79555720e-01 2.00907196e-01 1.03387235e-02 3.02887566e+02] [-2.00893646e-01 9.79610255e-01 -2.34358940e-03 -4.43753106e+01] [-1.05987635e-02 2.18692549e-04 9.99943808e-01 -3.30185126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.545769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:-44.40, Z:-3.30 [[ 9.80845758e-01 1.94511460e-01 1.03388027e-02 3.02945576e+02] [-1.94497558e-01 9.80900204e-01 -2.34324002e-03 -4.43962429e+01] [-1.05971207e-02 2.87485155e-04 9.99943808e-01 -3.30166441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.605769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:303.00, Y:-44.42, Z:-3.30 [[ 9.81475753e-01 1.91307230e-01 1.03387471e-02 3.03003502e+02] [-1.91293148e-01 9.81530152e-01 -2.34348517e-03 -4.44187578e+01] [-1.05961177e-02 3.22342393e-04 9.99943808e-01 -3.29609264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.06, Y:-44.44, Z:-3.30 [[ 9.81546536e-01 1.90943750e-01 1.03383897e-02 3.03062756e+02] [-1.90929631e-01 9.81600925e-01 -2.34506101e-03 -4.44412333e+01] [-1.05959476e-02 3.27881584e-04 9.99943808e-01 -3.30142411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:-44.46, Z:-3.30 [[ 9.81365100e-01 1.91874091e-01 1.03379500e-02 3.03121264e+02] [-1.91860003e-01 9.81419498e-01 -2.34699763e-03 -4.44619215e+01] [-1.05961938e-02 3.19822444e-04 9.99943808e-01 -3.30396396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.18, Y:-44.49, Z:-3.30 [[ 9.81095232e-01 1.93249265e-01 1.03376782e-02 3.03180290e+02] [-1.93235240e-01 9.81149646e-01 -2.34819440e-03 -4.44852206e+01] [-1.05965961e-02 3.06198604e-04 9.99943808e-01 -3.30231044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.845769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:303.24, Y:-44.51, Z:-3.30 [[ 9.80962591e-01 1.93921472e-01 1.03372391e-02 3.03238371e+02] [-1.93907464e-01 9.81017009e-01 -2.35012571e-03 -4.45071845e+01] [-1.05967472e-02 3.00917587e-04 9.99943808e-01 -3.30309182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.30, Y:-44.53, Z:-3.30 [[ 9.80851181e-01 1.94484216e-01 1.03368316e-02 3.03297872e+02] [-1.94470221e-01 9.80905603e-01 -2.35191655e-03 -4.45301741e+01] [-1.05968667e-02 2.96674188e-04 9.99943808e-01 -3.30468627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:303.36, Y:-44.55, Z:-3.31 [[ 9.80137454e-01 1.98049818e-01 1.03364049e-02 3.03356275e+02] [-1.98036001e-01 9.80191921e-01 -2.35379042e-03 -4.45530710e+01] [-1.05978284e-02 2.60057851e-04 9.99943808e-01 -3.31063651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.42, Y:-44.57, Z:-3.31 [[ 9.79623613e-01 2.00576031e-01 1.03360349e-02 3.03417107e+02] [-2.00562337e-01 9.79678111e-01 -2.35541406e-03 -4.45697699e+01] [-1.05984268e-02 2.34399908e-04 9.99943808e-01 -3.30873336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.48, Y:-44.59, Z:-3.30 [[ 9.79349816e-01 2.01908674e-01 1.03356105e-02 3.03475542e+02] [-2.01895035e-01 9.79404328e-01 -2.35727490e-03 -4.45889048e+01] [-1.05986959e-02 2.21888303e-04 9.99943808e-01 -3.30499919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.54, Y:-44.61, Z:-3.31 [[ 9.79541381e-01 2.00977266e-01 1.03354079e-02 3.03535078e+02] [-2.00963566e-01 9.79595878e-01 -2.35816274e-03 -4.46112852e+01] [-1.05984601e-02 2.32877552e-04 9.99943808e-01 -3.30694456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.59, Y:-44.63, Z:-3.31 [[ 9.78937459e-01 2.03898599e-01 1.03349920e-02 3.03593670e+02] [-2.03885043e-01 9.78991992e-01 -2.35998432e-03 -4.46314403e+01] [-1.05990719e-02 2.03126778e-04 9.99943808e-01 -3.30691657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.65, Y:-44.65, Z:-3.31 [[ 9.77514130e-01 2.10616529e-01 1.03346054e-02 3.03654545e+02] [-2.10603329e-01 9.77568750e-01 -2.36167600e-03 -4.46455330e+01] [-1.06001953e-02 1.32069354e-04 9.99943808e-01 -3.30844942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:-44.65, Z:-3.30 [[ 9.74728627e-01 2.23153103e-01 1.03341980e-02 3.03714924e+02] [-2.23140587e-01 9.74783408e-01 -2.36345737e-03 -4.46542263e+01] [-1.06010176e-02 -2.24944869e-06 9.99943808e-01 -3.30287407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.78, Y:-44.66, Z:-3.30 [[ 9.73690931e-01 2.27638262e-01 1.03340837e-02 3.03778314e+02] [-2.27625993e-01 9.73745767e-01 -2.36395688e-03 -4.46603828e+01] [-1.06008973e-02 -5.05426942e-05 9.99943808e-01 -3.30351026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.84, Y:-44.67, Z:-3.30 [[ 9.75471933e-01 2.19881156e-01 1.03336517e-02 3.03839327e+02] [-2.19868431e-01 9.75526666e-01 -2.36584376e-03 -4.46723919e+01] [-1.06009573e-02 3.57703886e-05 9.99943808e-01 -3.30495087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.90, Y:-44.69, Z:-3.31 [[ 9.76422438e-01 2.15621071e-01 1.03332508e-02 3.03900596e+02] [-2.15608089e-01 9.76477110e-01 -2.36759356e-03 -4.46862587e+01] [-1.06006860e-02 8.38390171e-05 9.99943808e-01 -3.30925165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.96, Y:-44.70, Z:-3.31 [[ 9.78676534e-01 2.05147449e-01 1.03328001e-02 3.03960014e+02] [-2.05133860e-01 9.78731058e-01 -2.36955911e-03 -4.47038771e+01] [-1.05991414e-02 1.99424729e-04 9.99943808e-01 -3.30988396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.02, Y:-44.73, Z:-3.32 [[ 9.79823459e-01 1.99597673e-01 1.03323800e-02 3.04018496e+02] [-1.99583756e-01 9.79877901e-01 -2.37138955e-03 -4.47289083e+01] [-1.05977946e-02 2.61367911e-04 9.99943808e-01 -3.31633833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.08, Y:-44.75, Z:-3.32 [[ 9.80005433e-01 1.98702278e-01 1.03322403e-02 3.04076420e+02] [-1.98688305e-01 9.80059861e-01 -2.37199768e-03 -4.47549356e+01] [-1.05975354e-02 2.71675295e-04 9.99943808e-01 -3.32083459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.13, Y:-44.79, Z:-3.32 [[ 9.79305561e-01 2.02123408e-01 1.03318367e-02 3.04133188e+02] [-2.02109607e-01 9.79360032e-01 -2.37375444e-03 -4.47853904e+01] [-1.05983793e-02 2.36467458e-04 9.99943808e-01 -3.31711701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:-44.81, Z:-3.31 [[ 9.77013882e-01 2.12925188e-01 1.03314324e-02 3.04191459e+02] [-2.12911971e-01 9.77068498e-01 -2.37551275e-03 -4.48081089e+01] [-1.06003237e-02 1.21223284e-04 9.99943808e-01 -3.31073073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:-44.83, Z:-3.31 [[ 9.74216001e-01 2.25380687e-01 1.03310242e-02 3.04249978e+02] [-2.25368149e-01 9.74270776e-01 -2.37728692e-03 -4.48291170e+01] [-1.06010095e-02 -1.22928413e-05 9.99943808e-01 -3.31374334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.31, Y:-44.85, Z:-3.31 [[ 9.71435623e-01 2.37078276e-01 1.03305886e-02 3.04311296e+02] [-2.37066378e-01 9.71490541e-01 -2.37917818e-03 -4.48455533e+01] [-1.06001206e-02 -1.37816789e-04 9.99943808e-01 -3.31267027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.985769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:304.37, Y:-44.86, Z:-3.31 [[ 9.69751000e-01 2.43877605e-01 1.03301350e-02 3.04372029e+02] [-2.43866071e-01 9.69805996e-01 -2.38114632e-03 -4.48600982e+01] [-1.05989351e-02 -2.10050396e-04 9.99943808e-01 -3.31255381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.43, Y:-44.88, Z:-3.31 [[ 9.68023812e-01 2.50645553e-01 1.03298544e-02 3.04433146e+02] [-2.50634391e-01 9.68078884e-01 -2.38236262e-03 -4.48751547e+01] [-1.05972426e-02 -2.82833029e-04 9.99943808e-01 -3.31241939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.49, Y:-44.89, Z:-3.32 [[ 9.66500721e-01 2.56455961e-01 1.03294022e-02 3.04494389e+02] [-2.56445109e-01 9.66555855e-01 -2.38432171e-03 -4.48869077e+01] [-1.05954177e-02 -3.44476027e-04 9.99943808e-01 -3.31960108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.56, Y:-44.90, Z:-3.32 [[ 9.65777626e-01 2.59165755e-01 1.03290051e-02 3.04556242e+02] [-2.59155039e-01 9.65832787e-01 -2.38604102e-03 -4.48970656e+01] [-1.05944719e-02 -3.72428669e-04 9.99943808e-01 -3.31708993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.62, Y:-44.91, Z:-3.31 [[ 9.65934628e-01 2.58579996e-01 1.03285569e-02 3.04617985e+02] [-2.58569226e-01 9.65989779e-01 -2.38797927e-03 -4.49094439e+01] [-1.05947641e-02 -3.64015098e-04 9.99943808e-01 -3.31299229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:-44.92, Z:-3.31 [[ 9.66774086e-01 2.55423563e-01 1.03281073e-02 3.04679507e+02] [-2.55412592e-01 9.66829197e-01 -2.38992228e-03 -4.49177256e+01] [-1.05959582e-02 -3.27413729e-04 9.99943808e-01 -3.31496168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:304.74, Y:-44.93, Z:-3.32 [[ 9.67407875e-01 2.53012528e-01 1.03278280e-02 3.04741758e+02] [-2.53001407e-01 9.67462956e-01 -2.39112858e-03 -4.49270676e+01] [-1.05967765e-02 -2.99758407e-04 9.99943808e-01 -3.31902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.80, Y:-44.94, Z:-3.32 [[ 9.68994384e-01 2.46866826e-01 1.03273785e-02 3.04803171e+02] [-2.46855335e-01 9.69049388e-01 -2.39306843e-03 -4.49362142e+01] [-1.05985091e-02 -2.30498620e-04 9.99943808e-01 -3.32244022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:-44.95, Z:-3.32 [[ 9.70598469e-01 2.40482776e-01 1.03269614e-02 3.04862982e+02] [-2.40470903e-01 9.70653393e-01 -2.39486736e-03 -4.49504693e+01] [-1.05998244e-02 -1.58879137e-04 9.99943808e-01 -3.32227258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.92, Y:-44.96, Z:-3.33 [[ 9.73066877e-01 2.30291584e-01 1.03265807e-02 3.04924679e+02] [-2.30279119e-01 9.73121670e-01 -2.39650746e-03 -4.49630557e+01] [-1.06009150e-02 -4.60338822e-05 9.99943808e-01 -3.32515464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.99, Y:-44.98, Z:-3.32 [[ 9.73677850e-01 2.27694565e-01 1.03261216e-02 3.04986171e+02] [-2.27681932e-01 9.73732604e-01 -2.39848431e-03 -4.49789024e+01] [-1.06010031e-02 -1.57202650e-05 9.99943808e-01 -3.32312752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.05, Y:-44.99, Z:-3.32 [[ 9.73297814e-01 2.29313639e-01 1.03256620e-02 3.05047895e+02] [-2.29301077e-01 9.73352585e-01 -2.40046107e-03 -4.49905203e+01] [-1.06009683e-02 -3.13219144e-05 9.99943808e-01 -3.32353756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.11, Y:-45.00, Z:-3.32 [[ 9.72913566e-01 2.30938485e-01 1.03251988e-02 3.05107713e+02] [-2.30925993e-01 9.72968352e-01 -2.40245181e-03 -4.50049771e+01] [-1.06009103e-02 -4.69788336e-05 9.99943808e-01 -3.32457215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.17, Y:-45.02, Z:-3.32 [[ 9.71841291e-01 2.35410078e-01 1.03247689e-02 3.05169634e+02] [-2.35397819e-01 9.71896129e-01 -2.40429815e-03 -4.50183735e+01] [-1.06005989e-02 -9.38318553e-05 9.99943808e-01 -3.32243488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:-45.03, Z:-3.32 [[ 9.70817628e-01 2.39596623e-01 1.03243035e-02 3.05231636e+02] [-2.39584579e-01 9.70872515e-01 -2.40629472e-03 -4.50287874e+01] [-1.06001226e-02 -1.37470575e-04 9.99943808e-01 -3.31913041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:-45.04, Z:-3.32 [[ 9.71556926e-01 2.36580977e-01 1.03238375e-02 3.05292026e+02] [-2.36568741e-01 9.71611770e-01 -2.40829256e-03 -4.50411504e+01] [-1.06005182e-02 -1.02503921e-04 9.99943808e-01 -3.31689537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:-45.06, Z:-3.32 [[ 9.73239136e-01 2.29562654e-01 1.03234045e-02 3.05350885e+02] [-2.29550003e-01 9.73293885e-01 -2.41014710e-03 -4.50598205e+01] [-1.06009862e-02 -2.40880587e-05 9.99943808e-01 -3.31703474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.41, Y:-45.08, Z:-3.32 [[ 9.75777840e-01 2.18520123e-01 1.03229771e-02 3.05409512e+02] [-2.18506833e-01 9.75832438e-01 -2.41197616e-03 -4.50834278e+01] [-1.06005613e-02 9.79118506e-05 9.99943808e-01 -3.32089765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.47, Y:-45.11, Z:-3.33 [[ 9.76938191e-01 2.13272632e-01 1.03225318e-02 3.05467681e+02] [-2.13259028e-01 9.76992712e-01 -2.41388049e-03 -4.51088734e+01] [-1.05998530e-02 1.56838933e-04 9.99943808e-01 -3.32705416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.53, Y:-45.13, Z:-3.32 [[ 9.77124758e-01 2.12416247e-01 1.03220418e-02 3.05525400e+02] [-2.12402574e-01 9.77179262e-01 -2.41597399e-03 -4.51345220e+01] [-1.05996773e-02 1.68279750e-04 9.99943808e-01 -3.32213067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:-45.16, Z:-3.33 [[ 9.77310448e-01 2.11560274e-01 1.03217375e-02 3.05582512e+02] [-2.11546540e-01 9.77364936e-01 -2.41727349e-03 -4.51639880e+01] [-1.05995033e-02 1.78898795e-04 9.99943808e-01 -3.32523979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:-45.19, Z:-3.34 [[ 9.77641951e-01 2.10023062e-01 1.03213213e-02 3.05640378e+02] [-2.10009223e-01 9.77696412e-01 -2.41904938e-03 -4.51893610e+01] [-1.05991749e-02 1.97391497e-04 9.99943808e-01 -3.33516820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.70, Y:-45.22, Z:-3.33 [[ 9.77920168e-01 2.08723795e-01 1.03209338e-02 3.05698212e+02] [-2.08709867e-01 9.77974607e-01 -2.42070157e-03 -4.52192151e+01] [-1.05988691e-02 2.13172181e-04 9.99943808e-01 -3.32728820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.76, Y:-45.24, Z:-3.33 [[ 9.77838205e-01 2.09107470e-01 1.03204620e-02 3.05758038e+02] [-2.09093541e-01 9.77892643e-01 -2.42271098e-03 -4.52376207e+01] [-1.05989109e-02 2.11077402e-04 9.99943808e-01 -3.32634426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.82, Y:-45.26, Z:-3.33 [[ 9.76900882e-01 2.13443586e-01 1.03200234e-02 3.05816281e+02] [-2.13429879e-01 9.76955377e-01 -2.42457798e-03 -4.52634715e+01] [-1.05997130e-02 1.65971015e-04 9.99943808e-01 -3.33129303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.87, Y:-45.29, Z:-3.33 [[ 9.75378578e-01 2.20295567e-01 1.03195440e-02 3.05873582e+02] [-2.20282222e-01 9.75433162e-01 -2.42661693e-03 -4.52891226e+01] [-1.06005984e-02 9.36581049e-05 9.99943808e-01 -3.33182308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.93, Y:-45.31, Z:-3.33 [[ 9.73733594e-01 2.27456378e-01 1.03191058e-02 3.05932289e+02] [-2.27443414e-01 9.73788271e-01 -2.42847892e-03 -4.53124394e+01] [-1.06009972e-02 1.76788627e-05 9.99943808e-01 -3.32966327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.99, Y:-45.33, Z:-3.33 [[ 9.72953681e-01 2.30769711e-01 1.03186710e-02 3.05991174e+02] [-2.30756914e-01 9.73008397e-01 -2.43032496e-03 -4.53341560e+01] [-1.06009989e-02 -1.65110443e-05 9.99943808e-01 -3.33104001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.05, Y:-45.36, Z:-3.33 [[ 9.71300181e-01 2.37633103e-01 1.03182420e-02 3.06050284e+02] [-2.37620673e-01 9.71354982e-01 -2.43214498e-03 -4.53558334e+01] [-1.06006339e-02 -8.94847426e-05 9.99943808e-01 -3.32978001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.11, Y:-45.37, Z:-3.33 [[ 9.68847255e-01 2.47444012e-01 1.03177920e-02 3.06110999e+02] [-2.47432117e-01 9.68902174e-01 -2.43405255e-03 -4.53720320e+01] [-1.05992228e-02 -1.94727976e-04 9.99943808e-01 -3.33359202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.17, Y:-45.38, Z:-3.33 [[ 9.66318768e-01 2.57141189e-01 1.03173469e-02 3.06172943e+02] [-2.57129824e-01 9.66373799e-01 -2.43593766e-03 -4.53816563e+01] [-1.05967936e-02 -2.99005316e-04 9.99943808e-01 -3.33353604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.24, Y:-45.39, Z:-3.34 [[ 9.64767420e-01 2.62901858e-01 1.03168853e-02 3.06235366e+02] [-2.62890801e-01 9.64822514e-01 -2.43789083e-03 -4.53870335e+01] [-1.05948893e-02 -3.60216602e-04 9.99943808e-01 -3.33652647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.30, Y:-45.39, Z:-3.34 [[ 9.64605386e-01 2.63495769e-01 1.03164588e-02 3.06298604e+02] [-2.63484727e-01 9.64660483e-01 -2.43969433e-03 -4.53928606e+01] [-1.05947293e-02 -3.64887046e-04 9.99943808e-01 -3.33708271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:-45.40, Z:-3.33 [[ 9.65012950e-01 2.61999212e-01 1.03160041e-02 3.06362265e+02] [-2.61988064e-01 9.65068025e-01 -2.44161545e-03 -4.53953632e+01] [-1.05953471e-02 -3.46479431e-04 9.99943808e-01 -3.33250373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.43, Y:-45.40, Z:-3.34 [[ 9.66158919e-01 2.57741213e-01 1.03155518e-02 3.06426636e+02] [-2.57729802e-01 9.66213940e-01 -2.44352522e-03 -4.53980767e+01] [-1.05968271e-02 -2.97791427e-04 9.99943808e-01 -3.33547792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:306.49, Y:-45.40, Z:-3.33 [[ 9.65819745e-01 2.59009305e-01 1.03151004e-02 3.06490019e+02] [-2.58997945e-01 9.65874777e-01 -2.44542924e-03 -4.54013415e+01] [-1.05964842e-02 -3.09745961e-04 9.99943808e-01 -3.33334261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:306.55, Y:-45.40, Z:-3.34 [[ 9.65954994e-01 2.58504461e-01 1.03146811e-02 3.06553698e+02] [-2.58493054e-01 9.66010017e-01 -2.44719624e-03 -4.54049317e+01] [-1.05966965e-02 -3.02392000e-04 9.99943808e-01 -3.33636104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:306.61, Y:-45.41, Z:-3.34 [[ 9.66278517e-01 2.57292526e-01 1.03142159e-02 3.06614733e+02] [-2.57281030e-01 9.66333521e-01 -2.44915567e-03 -4.54142371e+01] [-1.05971220e-02 -2.87085564e-04 9.99943808e-01 -3.34003802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:-45.42, Z:-3.34 [[ 9.67026827e-01 2.54465600e-01 1.03137829e-02 3.06678840e+02] [-2.54453923e-01 9.67081793e-01 -2.45097760e-03 -4.54169406e+01] [-1.05979611e-02 -2.54221424e-04 9.99943808e-01 -3.34261968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:-45.42, Z:-3.34 [[ 9.68363161e-01 2.49331954e-01 1.03133120e-02 3.06741593e+02] [-2.49319965e-01 9.68418060e-01 -2.45295743e-03 -4.54195712e+01] [-1.05991983e-02 -1.95960980e-04 9.99943808e-01 -3.34282372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:306.80, Y:-45.42, Z:-3.35 [[ 9.70074816e-01 2.42587091e-01 1.03128742e-02 3.06803972e+02] [-2.42574700e-01 9.70129625e-01 -2.45479661e-03 -4.54229997e+01] [-1.06003268e-02 -1.20306006e-04 9.99943808e-01 -3.34693054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:306.86, Y:-45.43, Z:-3.35 [[ 9.72918085e-01 2.30920015e-01 1.03124624e-02 3.06864794e+02] [-2.30906948e-01 9.72972737e-01 -2.45652527e-03 -4.54331601e+01] [-1.06010057e-02 8.77862579e-06 9.99943808e-01 -3.34981290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.505769231 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:306.93, Y:-45.45, Z:-3.35 [[ 9.74849970e-01 2.22623439e-01 1.03121135e-02 3.06925384e+02] [-2.22609892e-01 9.74904505e-01 -2.45798917e-03 -4.54467234e+01] [-1.06005319e-02 1.00592189e-04 9.99943808e-01 -3.34585203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.565769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:-45.47, Z:-3.34 [[ 9.76813620e-01 2.13842980e-01 1.03117066e-02 3.06985391e+02] [-2.13828925e-01 9.76868026e-01 -2.45969501e-03 -4.54654342e+01] [-1.05991650e-02 1.97722451e-04 9.99943808e-01 -3.34070021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.625769231 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:307.05, Y:-45.49, Z:-3.35 [[ 9.77578464e-01 2.10318865e-01 1.03112320e-02 3.07045060e+02] [-2.10304593e-01 9.77632814e-01 -2.46168306e-03 -4.54881751e+01] [-1.05983371e-02 2.37988897e-04 9.99943808e-01 -3.34578742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.685769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:307.10, Y:-45.51, Z:-3.35 [[ 9.76123980e-01 2.16969270e-01 1.03107497e-02 3.07104554e+02] [-2.16955347e-01 9.76178420e-01 -2.46370159e-03 -4.55122060e+01] [-1.05996789e-02 1.67905923e-04 9.99943808e-01 -3.34569928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.745769231 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:-45.53, Z:-3.35 [[ 9.74476118e-01 2.24254306e-01 1.03102648e-02 3.07164316e+02] [-2.24240769e-01 9.74530655e-01 -2.46572914e-03 -4.55290247e+01] [-1.06006195e-02 9.08124644e-05 9.99943808e-01 -3.34638786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.805769231 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:-45.54, Z:-3.34 [[ 9.72241368e-01 2.33752917e-01 1.03099660e-02 3.07225325e+02] [-2.33739899e-01 9.72296032e-01 -2.46697792e-03 -4.55440338e+01] [-1.06010023e-02 -1.13524092e-05 9.99943808e-01 -3.34293315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.865769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:307.29, Y:-45.56, Z:-3.34 [[ 9.71384034e-01 2.37290483e-01 1.03095078e-02 3.07286549e+02] [-2.37277644e-01 9.71438739e-01 -2.46889134e-03 -4.55585558e+01] [-1.06008996e-02 -4.79740794e-05 9.99943808e-01 -3.34199589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.925769231 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:307.35, Y:-45.57, Z:-3.34 [[ 9.72021069e-01 2.34667348e-01 1.03090326e-02 3.07347254e+02] [-2.34654340e-01 9.72075735e-01 -2.47087397e-03 -4.55730635e+01] [-1.06009938e-02 -1.73176713e-05 9.99943808e-01 -3.34484512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.985769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:307.41, Y:-45.58, Z:-3.35 [[ 9.72010978e-01 2.34709163e-01 1.03085930e-02 3.07408774e+02] [-2.34696138e-01 9.72065640e-01 -2.47270653e-03 -4.55839698e+01] [-1.06009959e-02 -1.58890687e-05 9.99943808e-01 -3.34960314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.045769231 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:307.47, Y:-45.60, Z:-3.35 [[ 9.71274370e-01 2.37739013e-01 1.03081866e-02 3.07469529e+02] [-2.37726141e-01 9.71329068e-01 -2.47439956e-03 -4.55959421e+01] [-1.06009026e-02 -4.72045374e-05 9.99943808e-01 -3.35256284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.105769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:307.53, Y:-45.61, Z:-3.35 [[ 9.70553558e-01 2.40664791e-01 1.03077780e-02 3.07530162e+02] [-2.40652065e-01 9.70608290e-01 -2.47610041e-03 -4.56070297e+01] [-1.06007250e-02 -7.74000087e-05 9.99943808e-01 -3.34549939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.165769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:307.59, Y:-45.62, Z:-3.35 [[ 9.70235850e-01 2.41942457e-01 1.03074040e-02 3.07592055e+02] [-2.41929787e-01 9.70290595e-01 -2.47765640e-03 -4.56168963e+01] [-1.06006274e-02 -8.97569786e-05 9.99943808e-01 -3.34675792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.225769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:307.65, Y:-45.63, Z:-3.35 [[ 9.70486373e-01 2.40935608e-01 1.03069507e-02 3.07653689e+02] [-2.40922861e-01 9.70541100e-01 -2.47954065e-03 -4.56257153e+01] [-1.06007289e-02 -7.68196398e-05 9.99943808e-01 -3.34694176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.285769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:307.71, Y:-45.64, Z:-3.35 [[ 9.70607691e-01 2.40446428e-01 1.03065300e-02 3.07714773e+02] [-2.40433635e-01 9.70662408e-01 -2.48128823e-03 -4.56394675e+01] [-1.06007781e-02 -6.96790250e-05 9.99943808e-01 -3.34588117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.345769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:307.78, Y:-45.65, Z:-3.35 [[ 9.71608064e-01 2.36371647e-01 1.03060767e-02 3.07776245e+02] [-2.36358605e-01 9.71662721e-01 -2.48316933e-03 -4.56489190e+01] [-1.06009814e-02 -2.32625678e-05 9.99943808e-01 -3.34834987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.405769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:-45.66, Z:-3.35 [[ 9.72620764e-01 2.32169423e-01 1.03057958e-02 3.07837244e+02] [-2.32156132e-01 9.72675361e-01 -2.48433458e-03 -4.56648714e+01] [-1.06009802e-02 2.37617054e-05 9.99943808e-01 -3.35130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:307.90, Y:-45.68, Z:-3.35 [[ 9.72327187e-01 2.33395891e-01 1.03053408e-02 3.07897756e+02] [-2.33382649e-01 9.72381796e-01 -2.48622048e-03 -4.56763494e+01] [-1.06009995e-02 1.23320228e-05 9.99943808e-01 -3.35219866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:307.96, Y:-45.69, Z:-3.36 [[ 9.71809052e-01 2.35543997e-01 1.03049168e-02 3.07957075e+02] [-2.35530857e-01 9.71863687e-01 -2.48797662e-03 -4.56903703e+01] [-1.06010024e-02 -9.28769943e-06 9.99943808e-01 -3.35511691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:-45.70, Z:-3.35 [[ 9.70790316e-01 2.39708111e-01 1.03045595e-02 3.08018094e+02] [-2.39695189e-01 9.70845002e-01 -2.48945568e-03 -4.57047249e+01] [-1.06008728e-02 -5.32138812e-05 9.99943808e-01 -3.35295238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:308.08, Y:-45.72, Z:-3.36 [[ 9.70076716e-01 2.42579863e-01 1.03041212e-02 3.08078694e+02] [-2.42567084e-01 9.70131436e-01 -2.49126849e-03 -4.57174224e+01] [-1.06006835e-02 -8.27190848e-05 9.99943808e-01 -3.35657268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:308.14, Y:-45.73, Z:-3.36 [[ 9.69863984e-01 2.43429016e-01 1.03037187e-02 3.08140466e+02] [-2.43416267e-01 9.69918711e-01 -2.49293222e-03 -4.57267267e+01] [-1.06006216e-02 -9.02875726e-05 9.99943808e-01 -3.35902964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:308.20, Y:-45.73, Z:-3.36 [[ 9.69302519e-01 2.45655181e-01 1.03033161e-02 3.08202929e+02] [-2.45642541e-01 9.69357271e-01 -2.49459514e-03 -4.57344539e+01] [-1.06004046e-02 -1.12915391e-04 9.99943808e-01 -3.35556026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:308.27, Y:-45.74, Z:-3.35 [[ 9.68753053e-01 2.47813181e-01 1.03029165e-02 3.08266442e+02] [-2.47800645e-01 9.68807829e-01 -2.49624444e-03 -4.57413603e+01] [-1.06001484e-02 -1.34824926e-04 9.99943808e-01 -3.35472867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:308.33, Y:-45.74, Z:-3.36 [[ 9.68857110e-01 2.47406062e-01 1.03024401e-02 3.08330162e+02] [-2.47393482e-01 9.68911876e-01 -2.49820909e-03 -4.57440559e+01] [-1.06002286e-02 -1.28348877e-04 9.99943808e-01 -3.35580853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:-45.75, Z:-3.36 [[ 9.69928566e-01 2.43171641e-01 1.03019569e-02 3.08393558e+02] [-2.43158801e-01 9.69983271e-01 -2.50020018e-03 -4.57490584e+01] [-1.06007036e-02 -7.99959028e-05 9.99943808e-01 -3.35729828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.005769231 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:-45.76, Z:-3.35 [[ 9.70917686e-01 2.39191819e-01 1.03014776e-02 3.08456441e+02] [-2.39178733e-01 9.70972334e-01 -2.50217330e-03 -4.57550961e+01] [-1.06009491e-02 -3.44900485e-05 9.99943808e-01 -3.35380576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.065769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:-45.77, Z:-3.36 [[ 9.72424675e-01 2.32989572e-01 1.03010294e-02 3.08516339e+02] [-2.32976119e-01 9.72479233e-01 -2.50401708e-03 -4.57653436e+01] [-1.06009470e-02 3.50741378e-05 9.99943808e-01 -3.36237633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.125769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:308.58, Y:-45.78, Z:-3.36 [[ 9.73958289e-01 2.26493153e-01 1.03006434e-02 3.08575955e+02] [-2.26479318e-01 9.74012752e-01 -2.50560377e-03 -4.57819724e+01] [-1.06004602e-02 1.07470855e-04 9.99943808e-01 -3.36452569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.185769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:308.64, Y:-45.80, Z:-3.37 [[ 9.74710145e-01 2.23235389e-01 1.03002318e-02 3.08636645e+02] [-2.23221355e-01 9.74764556e-01 -2.50729500e-03 -4.57964423e+01] [-1.06000178e-02 1.44654177e-04 9.99943808e-01 -3.36590473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.245769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:308.70, Y:-45.81, Z:-3.36 [[ 9.74874450e-01 2.22516789e-01 1.02997944e-02 3.08695460e+02] [-2.22502696e-01 9.74928846e-01 -2.50909051e-03 -4.58114130e+01] [-1.05998814e-02 1.54316215e-04 9.99943808e-01 -3.35942805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.305769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:-45.83, Z:-3.37 [[ 9.74544954e-01 2.23955457e-01 1.02997663e-02 3.08754539e+02] [-2.23941443e-01 9.74599371e-01 -2.50920589e-03 -4.58265584e+01] [-1.06000961e-02 1.38789419e-04 9.99943808e-01 -3.36810641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.365769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:-45.84, Z:-3.37 [[ 9.73703685e-01 2.27585257e-01 1.02997092e-02 3.08815520e+02] [-2.27571444e-01 9.73758153e-01 -2.50944022e-03 -4.58414212e+01] [-1.06005374e-02 9.95315073e-05 9.99943808e-01 -3.36791014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.425769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:308.88, Y:-45.86, Z:-3.36 [[ 9.72557356e-01 2.32435186e-01 1.02992108e-02 3.08876082e+02] [-2.32421622e-01 9.72611887e-01 -2.51148393e-03 -4.58550170e+01] [-1.06008921e-02 4.88028910e-05 9.99943808e-01 -3.35838724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.485769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:308.94, Y:-45.87, Z:-3.36 [[ 9.72557072e-01 2.32436392e-01 1.02987730e-02 3.08935667e+02] [-2.32422809e-01 9.72611598e-01 -2.51327779e-03 -4.58712660e+01] [-1.06008833e-02 5.06363208e-05 9.99943808e-01 -3.36004131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.545769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:-45.89, Z:-3.36 [[ 9.73281357e-01 2.29384703e-01 1.02984662e-02 3.08994901e+02] [-2.29370936e-01 9.73335837e-01 -2.51453447e-03 -4.58905297e+01] [-1.06006620e-02 8.51806957e-05 9.99943808e-01 -3.36370871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.605769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:309.05, Y:-45.91, Z:-3.37 [[ 9.73348775e-01 2.29098480e-01 1.02980156e-02 3.09051358e+02] [-2.29084677e-01 9.73403246e-01 -2.51637850e-03 -4.59088334e+01] [-1.06006203e-02 9.01963522e-05 9.99943808e-01 -3.36692439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.665769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:-45.92, Z:-3.36 [[ 9.72177556e-01 2.34018696e-01 1.02980430e-02 3.09112357e+02] [-2.34005171e-01 9.72232096e-01 -2.51626633e-03 -4.59231390e+01] [-1.06009413e-02 3.64623390e-05 9.99943808e-01 -3.36352717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.725769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:309.17, Y:-45.94, Z:-3.36 [[ 9.71145923e-01 2.38263629e-01 1.02975409e-02 3.09171921e+02] [-2.38250320e-01 9.71200516e-01 -2.51831944e-03 -4.59389299e+01] [-1.06010010e-02 -7.73676590e-06 9.99943808e-01 -3.36255297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.785769231 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:309.23, Y:-45.95, Z:-3.36 [[ 9.70329380e-01 2.41567515e-01 1.02970765e-02 3.09231932e+02] [-2.41554372e-01 9.70384014e-01 -2.52021694e-03 -4.59500842e+01] [-1.06009210e-02 -4.18633000e-05 9.99943808e-01 -3.36167834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.845769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:309.29, Y:-45.96, Z:-3.36 [[ 9.69398148e-01 2.45277821e-01 1.02966823e-02 3.09292761e+02] [-2.45264870e-01 9.69452827e-01 -2.52182657e-03 -4.59645437e+01] [-1.06006959e-02 -8.07604338e-05 9.99943808e-01 -3.36497248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:309.35, Y:-45.98, Z:-3.37 [[ 9.68258344e-01 2.49739399e-01 1.02962574e-02 3.09352643e+02] [-2.49726681e-01 9.68313078e-01 -2.52356011e-03 -4.59765267e+01] [-1.06002331e-02 -1.27792054e-04 9.99943808e-01 -3.36549716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:309.41, Y:-45.99, Z:-3.37 [[ 9.67650568e-01 2.52084048e-01 1.02961970e-02 3.09410980e+02] [-2.52071461e-01 9.67705332e-01 -2.52380634e-03 -4.59864690e+01] [-1.05998961e-02 -1.53214792e-04 9.99943808e-01 -3.37029568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:-45.99, Z:-3.37 [[ 9.67262208e-01 2.53570126e-01 1.02962268e-02 3.09469956e+02] [-2.53557623e-01 9.67316992e-01 -2.52368504e-03 -4.59932909e+01] [-1.05996462e-02 -1.69621628e-04 9.99943808e-01 -3.37064823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:-46.00, Z:-3.37 [[ 9.66390501e-01 2.56872312e-01 1.02963436e-02 3.09529191e+02] [-2.56860002e-01 9.66445328e-01 -2.52320840e-03 -4.59985030e+01] [-1.05989955e-02 -2.06314207e-04 9.99943808e-01 -3.36687536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:309.59, Y:-46.00, Z:-3.37 [[ 9.66815604e-01 2.55267644e-01 1.02964634e-02 3.09588206e+02] [-2.55255249e-01 9.66870412e-01 -2.52271951e-03 -4.59996075e+01] [-1.05993144e-02 -1.89221723e-04 9.99943808e-01 -3.37013855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:309.65, Y:-46.01, Z:-3.37 [[ 9.67217261e-01 2.53741501e-01 1.02966112e-02 3.09646741e+02] [-2.53729025e-01 9.67272051e-01 -2.52211603e-03 -4.60098438e+01] [-1.05995897e-02 -1.73114952e-04 9.99943808e-01 -3.37059930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:309.71, Y:-46.01, Z:-3.37 [[ 9.68991743e-01 2.46878470e-01 1.02967272e-02 3.09706832e+02] [-2.46865611e-01 9.69046444e-01 -2.52164234e-03 -4.60134907e+01] [-1.06005461e-02 -9.84572448e-05 9.99943808e-01 -3.36822318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:-46.02, Z:-3.37 [[ 9.70527594e-01 2.40769942e-01 1.02968435e-02 3.09765615e+02] [-2.40756744e-01 9.70582214e-01 -2.52116706e-03 -4.60178959e+01] [-1.06009545e-02 -3.21723273e-05 9.99943808e-01 -3.36943685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:-46.03, Z:-3.37 [[ 9.71117052e-01 2.38381298e-01 1.02970193e-02 3.09823408e+02] [-2.38367973e-01 9.71171641e-01 -2.52044906e-03 -4.60265100e+01] [-1.06010010e-02 -6.82856360e-06 9.99943808e-01 -3.36976519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.88, Y:-46.04, Z:-3.37 [[ 9.72026031e-01 2.34647314e-01 1.02971947e-02 3.09881175e+02] [-2.34633787e-01 9.72080571e-01 -2.51973216e-03 -4.60356692e+01] [-1.06009513e-02 3.31754581e-05 9.99943808e-01 -3.36941110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:-46.05, Z:-3.37 [[ 9.73720736e-01 2.27512401e-01 1.02973398e-02 3.09939182e+02] [-2.27498480e-01 9.73775177e-01 -2.51913910e-03 -4.60478277e+01] [-1.06004293e-02 1.10308816e-04 9.99943808e-01 -3.37414356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.00, Y:-46.06, Z:-3.38 [[ 9.74617347e-01 2.23640311e-01 1.02974642e-02 3.09996066e+02] [-2.23626180e-01 9.74671734e-01 -2.51863033e-03 -4.60626382e+01] [-1.05999146e-02 1.51918218e-04 9.99943808e-01 -3.37924620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.05, Y:-46.08, Z:-3.37 [[ 9.74798546e-01 2.22849174e-01 1.02975877e-02 3.10052474e+02] [-2.22835004e-01 9.74852922e-01 -2.51812569e-03 -4.60759589e+01] [-1.05997956e-02 1.60002279e-04 9.99943808e-01 -3.37292237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.11, Y:-46.09, Z:-3.37 [[ 9.75037114e-01 2.21803029e-01 1.02977570e-02 3.10109193e+02] [-2.21788808e-01 9.75091476e-01 -2.51743278e-03 -4.60901225e+01] [-1.05996293e-02 1.70663131e-04 9.99943808e-01 -3.37287661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.745769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:310.16, Y:-46.11, Z:-3.38 [[ 9.75735859e-01 2.18708680e-01 1.02979226e-02 3.10163943e+02] [-2.18694294e-01 9.75790178e-01 -2.51675541e-03 -4.61085363e+01] [-1.05990480e-02 2.03591601e-04 9.99943808e-01 -3.38074894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.805769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:-46.13, Z:-3.38 [[ 9.76245272e-01 2.16423472e-01 1.02980593e-02 3.10220672e+02] [-2.16408964e-01 9.76299559e-01 -2.51619594e-03 -4.61253479e+01] [-1.05985546e-02 2.27832042e-04 9.99943808e-01 -3.38023386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.865769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:-46.14, Z:-3.38 [[ 9.76295694e-01 2.16195898e-01 1.02981815e-02 3.10276685e+02] [-2.16181383e-01 9.76349979e-01 -2.51569563e-03 -4.61418729e+01] [-1.05985124e-02 2.29787692e-04 9.99943808e-01 -3.37966129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.925769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.33, Y:-46.16, Z:-3.38 [[ 9.76403849e-01 2.15706908e-01 1.02982526e-02 3.10333278e+02] [-2.15692369e-01 9.76458127e-01 -2.51540462e-03 -4.61583938e+01] [-1.05984026e-02 2.34796253e-04 9.99943808e-01 -3.37955834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:-46.18, Z:-3.38 [[ 9.76655475e-01 2.14564739e-01 1.02983674e-02 3.10390282e+02] [-2.14550142e-01 9.76709738e-01 -2.51493466e-03 -4.61777587e+01] [-1.05981320e-02 2.46708530e-04 9.99943808e-01 -3.38136964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:-46.20, Z:-3.38 [[ 9.76579614e-01 2.14909750e-01 1.02984278e-02 3.10446001e+02] [-2.14895174e-01 9.76633882e-01 -2.51468697e-03 -4.61964783e+01] [-1.05982243e-02 2.42709580e-04 9.99943808e-01 -3.37830052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.105769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:310.50, Y:-46.21, Z:-3.38 [[ 9.75172801e-01 2.21205672e-01 1.02985176e-02 3.10501300e+02] [-2.21191451e-01 9.75227163e-01 -2.51431932e-03 -4.62127525e+01] [-1.05995758e-02 1.73951769e-04 9.99943808e-01 -3.37536388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.165769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:-46.23, Z:-3.38 [[ 9.73800272e-01 2.27171669e-01 1.02986631e-02 3.10558577e+02] [-2.27157787e-01 9.73854723e-01 -2.51372336e-03 -4.62259996e+01] [-1.06004484e-02 1.08442981e-04 9.99943808e-01 -3.37848357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.225769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:-46.24, Z:-3.38 [[ 9.72739786e-01 2.31670552e-01 1.02987826e-02 3.10614469e+02] [-2.31656927e-01 9.72794301e-01 -2.51323331e-03 -4.62395061e+01] [-1.06008392e-02 5.89376892e-05 9.99943808e-01 -3.38006626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.67, Y:-46.25, Z:-3.38 [[ 9.72944338e-01 2.30809981e-01 1.02989309e-02 3.10671298e+02] [-2.30796314e-01 9.72998843e-01 -2.51262554e-03 -4.62521577e+01] [-1.06007869e-02 6.76895033e-05 9.99943808e-01 -3.38119267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.73, Y:-46.26, Z:-3.38 [[ 9.73072243e-01 2.30270145e-01 1.02990723e-02 3.10729223e+02] [-2.30256454e-01 9.73126741e-01 -2.51204595e-03 -4.62631800e+01] [-1.06007518e-02 7.29743223e-05 9.99943808e-01 -3.38346930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.79, Y:-46.27, Z:-3.38 [[ 9.72289065e-01 2.33554919e-01 1.02991927e-02 3.10785924e+02] [-2.33541417e-01 9.72343611e-01 -2.51155215e-03 -4.62728996e+01] [-1.06009396e-02 3.66666379e-05 9.99943808e-01 -3.38210554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.84, Y:-46.28, Z:-3.39 [[ 9.71890425e-01 2.35208257e-01 1.02993547e-02 3.10842897e+02] [-2.35194856e-01 9.71944996e-01 -2.51088778e-03 -4.62830581e+01] [-1.06009878e-02 1.79525542e-05 9.99943808e-01 -3.38649683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.90, Y:-46.30, Z:-3.38 [[ 9.72806165e-01 2.31391628e-01 1.02994930e-02 3.10900747e+02] [-2.31378019e-01 9.72860684e-01 -2.51032036e-03 -4.62958675e+01] [-1.06008389e-02 5.89788465e-05 9.99943808e-01 -3.38234981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.96, Y:-46.31, Z:-3.39 [[ 9.73326889e-01 2.29191373e-01 1.02996068e-02 3.10957928e+02] [-2.29177645e-01 9.73381378e-01 -2.50985323e-03 -4.63103425e+01] [-1.06006822e-02 8.24679966e-05 9.99943808e-01 -3.38650858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.01, Y:-46.32, Z:-3.39 [[ 9.73077927e-01 2.30246095e-01 1.02997231e-02 3.11014937e+02] [-2.30232431e-01 9.73132432e-01 -2.50937601e-03 -4.63241806e+01] [-1.06007686e-02 7.04881214e-05 9.99943808e-01 -3.38662502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.07, Y:-46.34, Z:-3.38 [[ 9.73100655e-01 2.30150013e-01 1.02998387e-02 3.11070759e+02] [-2.30136349e-01 9.73155161e-01 -2.50890143e-03 -4.63425506e+01] [-1.06007649e-02 7.10463620e-05 9.99943808e-01 -3.38119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.13, Y:-46.36, Z:-3.39 [[ 9.73551871e-01 2.28233797e-01 1.02999604e-02 3.11125517e+02] [-2.28220031e-01 9.73606350e-01 -2.50840165e-03 -4.63605027e+01] [-1.06006089e-02 9.14018393e-05 9.99943808e-01 -3.38743827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.18, Y:-46.38, Z:-3.38 [[ 9.73374979e-01 2.28987025e-01 1.03001105e-02 3.11180503e+02] [-2.28973307e-01 9.73429471e-01 -2.50778492e-03 -4.63773750e+01] [-1.06006814e-02 8.25647122e-05 9.99943808e-01 -3.38439401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:-46.39, Z:-3.38 [[ 9.72446452e-01 2.32898695e-01 1.03002532e-02 3.11237183e+02] [-2.32885203e-01 9.72501001e-01 -2.50719890e-03 -4.63900005e+01] [-1.06009299e-02 3.93401269e-05 9.99943808e-01 -3.38438619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.29, Y:-46.40, Z:-3.39 [[ 9.71702814e-01 2.35982080e-01 1.03004191e-02 3.11294829e+02] [-2.35968769e-01 9.71757407e-01 -2.50651699e-03 -4.64014797e+01] [-1.06010017e-02 5.01239200e-06 9.99943808e-01 -3.38619112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:-46.42, Z:-3.39 [[ 9.72190275e-01 2.33965742e-01 1.03005339e-02 3.11351768e+02] [-2.33952321e-01 9.72244841e-01 -2.50604544e-03 -4.64155423e+01] [-1.06009697e-02 2.65192017e-05 9.99943808e-01 -3.38747542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:-46.43, Z:-3.39 [[ 9.73072826e-01 2.30267610e-01 1.03006488e-02 3.11409211e+02] [-2.30253987e-01 9.73127342e-01 -2.50557307e-03 -4.64298233e+01] [-1.06007953e-02 6.63396175e-05 9.99943808e-01 -3.38809906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:-46.45, Z:-3.39 [[ 9.73765798e-01 2.27319301e-01 1.03007628e-02 3.11465897e+02] [-2.27305518e-01 9.73820274e-01 -2.50510410e-03 -4.64473920e+01] [-1.06005502e-02 9.79644702e-05 9.99943808e-01 -3.38705169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.185769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:311.52, Y:-46.46, Z:-3.39 [[ 9.73077488e-01 2.30247896e-01 1.03008770e-02 3.11523446e+02] [-2.30234282e-01 9.73132006e-01 -2.50463444e-03 -4.64611828e+01] [-1.06007999e-02 6.55883623e-05 9.99943808e-01 -3.39209732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.245769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:-46.48, Z:-3.39 [[ 9.70938114e-01 2.39108907e-01 1.03009902e-02 3.11579679e+02] [-2.39095795e-01 9.70992755e-01 -2.50416885e-03 -4.64764711e+01] [-1.06009559e-02 -3.15304613e-05 9.99943808e-01 -3.39115988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.305769231 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:311.64, Y:-46.49, Z:-3.39 [[ 9.71044243e-01 2.38677531e-01 1.03011532e-02 3.11637056e+02] [-2.38664403e-01 9.71098880e-01 -2.50349814e-03 -4.64915946e+01] [-1.06009671e-02 -2.75111143e-05 9.99943808e-01 -3.38903304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.365769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:311.69, Y:-46.51, Z:-3.39 [[ 9.72247380e-01 2.33728294e-01 1.03012636e-02 3.11693911e+02] [-2.33714892e-01 9.72301951e-01 -2.50304392e-03 -4.65081937e+01] [-1.06009708e-02 2.60191869e-05 9.99943808e-01 -3.39257394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.425769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:311.75, Y:-46.53, Z:-3.39 [[ 9.73012880e-01 2.30520752e-01 1.03013227e-02 3.11750028e+02] [-2.30507173e-01 9.73067407e-01 -2.50280062e-03 -4.65280812e+01] [-1.06008288e-02 6.07284738e-05 9.99943808e-01 -3.39203711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.485769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:311.81, Y:-46.55, Z:-3.39 [[ 9.73088489e-01 2.30201378e-01 1.03013826e-02 3.11806486e+02] [-2.30187784e-01 9.73143012e-01 -2.50255392e-03 -4.65458811e+01] [-1.06008099e-02 6.39539786e-05 9.99943808e-01 -3.39391672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.545769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:311.86, Y:-46.57, Z:-3.40 [[ 9.72950946e-01 2.30782016e-01 1.03013493e-02 3.11863581e+02] [-2.30768453e-01 9.73005477e-01 -2.50269109e-03 -4.65654396e+01] [-1.06008454e-02 5.77692239e-05 9.99943808e-01 -3.39720181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.605769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:311.92, Y:-46.58, Z:-3.39 [[ 9.71648073e-01 2.36207335e-01 1.03013493e-02 3.11920317e+02] [-2.36194076e-01 9.71702678e-01 -2.50269109e-03 -4.65792580e+01] [-1.06010027e-02 -1.38269858e-06 9.99943808e-01 -3.39083286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.665769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.98, Y:-46.59, Z:-3.39 [[ 9.70274929e-01 2.41785942e-01 1.03014375e-02 3.11977310e+02] [-2.41773002e-01 9.70329611e-01 -2.50232799e-03 -4.65907362e+01] [-1.06008176e-02 -6.26633487e-05 9.99943808e-01 -3.39227740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.725769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:312.03, Y:-46.60, Z:-3.40 [[ 9.70370859e-01 2.41400650e-01 1.03015799e-02 3.12034771e+02] [-2.41387693e-01 9.70425537e-01 -2.50174170e-03 -4.66040944e+01] [-1.06008382e-02 -5.90573551e-05 9.99943808e-01 -3.40015445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.785769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:-46.62, Z:-3.40 [[ 9.71148842e-01 2.38251552e-01 1.03016926e-02 3.12094152e+02] [-2.38238423e-01 9.71203479e-01 -2.50127754e-03 -4.66177892e+01] [-1.06009729e-02 -2.51462092e-05 9.99943808e-01 -3.39719911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.845769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:-46.63, Z:-3.40 [[ 9.71234561e-01 2.37901878e-01 1.03016926e-02 3.12152433e+02] [-2.37888729e-01 9.71289193e-01 -2.50127754e-03 -4.66318061e+01] [-1.06009813e-02 -2.13293622e-05 9.99943808e-01 -3.39732359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.905769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:-46.64, Z:-3.39 [[ 9.70733274e-01 2.39939128e-01 1.03017226e-02 3.12209775e+02] [-2.39926095e-01 9.70787934e-01 -2.50115395e-03 -4.66440451e+01] [-1.06009127e-02 -4.36987082e-05 9.99943808e-01 -3.39350481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.27, Y:-46.65, Z:-3.40 [[ 9.69955827e-01 2.43062885e-01 1.03018366e-02 3.12267901e+02] [-2.43050033e-01 9.70010530e-01 -2.50068427e-03 -4.66545980e+01] [-1.06007135e-02 -7.83084446e-05 9.99943808e-01 -3.39638937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.33, Y:-46.67, Z:-3.40 [[ 9.70111047e-01 2.42442626e-01 1.03019531e-02 3.12325863e+02] [-2.42429744e-01 9.70165743e-01 -2.50020410e-03 -4.66673409e+01] [-1.06007580e-02 -7.20242371e-05 9.99943808e-01 -3.39574415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:-46.68, Z:-3.40 [[ 9.71023067e-01 2.38763628e-01 1.03020702e-02 3.12384109e+02] [-2.38750545e-01 9.71077715e-01 -2.49972165e-03 -4.66840503e+01] [-1.06009534e-02 -3.23374764e-05 9.99943808e-01 -3.39731487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.44, Y:-46.70, Z:-3.40 [[ 9.70510156e-01 2.40839997e-01 1.03020702e-02 3.12440878e+02] [-2.40827030e-01 9.70564832e-01 -2.49972165e-03 -4.66990732e+01] [-1.06008600e-02 -5.50117139e-05 9.99943808e-01 -3.40058571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.50, Y:-46.71, Z:-3.40 [[ 9.68915535e-01 2.47177167e-01 1.03021610e-02 3.12498027e+02] [-2.47164562e-01 9.68970295e-01 -2.49934720e-03 -4.67118814e+01] [-1.06002696e-02 -1.24672784e-04 9.99943808e-01 -3.39859126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:-46.72, Z:-3.40 [[ 9.66430214e-01 2.56722623e-01 1.03022802e-02 3.12555094e+02] [-2.56710564e-01 9.66485097e-01 -2.49885599e-03 -4.67210222e+01] [-1.05985131e-02 -2.29734223e-04 9.99943808e-01 -3.40149623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:-46.73, Z:-3.41 [[ 9.65620181e-01 2.59752817e-01 1.03024381e-02 3.12612288e+02] [-2.59740937e-01 9.65675103e-01 -2.49820458e-03 -4.67304819e+01] [-1.05977237e-02 -2.63648174e-04 9.99943808e-01 -3.40766434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:-46.74, Z:-3.41 [[ 9.67120452e-01 2.54109994e-01 1.03025832e-02 3.12670914e+02] [-2.54097800e-01 9.67175305e-01 -2.49760627e-03 -4.67402963e+01] [-1.05990707e-02 -2.02377608e-04 9.99943808e-01 -3.40649170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:-46.75, Z:-3.40 [[ 9.69160541e-01 2.46214744e-01 1.03027053e-02 3.12727622e+02] [-2.46202109e-01 9.69215294e-01 -2.49710233e-03 -4.67545745e+01] [-1.06003630e-02 -1.16454727e-04 9.99943808e-01 -3.40466622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.505769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.78, Y:-46.77, Z:-3.41 [[ 9.70276589e-01 2.41779226e-01 1.03027962e-02 3.12784989e+02] [-2.41766344e-01 9.70331284e-01 -2.49672740e-03 -4.67676726e+01] [-1.06007823e-02 -6.83532151e-05 9.99943808e-01 -3.40563780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.565769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.84, Y:-46.78, Z:-3.41 [[ 9.71054506e-01 2.38635698e-01 1.03029151e-02 3.12843079e+02] [-2.38622644e-01 9.71109161e-01 -2.49623660e-03 -4.67827623e+01] [-1.06009464e-02 -3.45270337e-05 9.99943808e-01 -3.40982058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.625769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:312.90, Y:-46.80, Z:-3.41 [[ 9.71005853e-01 2.38833585e-01 1.03029753e-02 3.12899628e+02] [-2.38820545e-01 9.71060512e-01 -2.49598803e-03 -4.67963874e+01] [-1.06009382e-02 -3.69431945e-05 9.99943808e-01 -3.41092558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.685769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.96, Y:-46.81, Z:-3.41 [[ 9.71580634e-01 2.36484495e-01 1.03031249e-02 3.12956389e+02] [-2.36471329e-01 9.71635263e-01 -2.49537016e-03 -4.68123201e+01] [-1.06009959e-02 -1.19403281e-05 9.99943808e-01 -3.41088940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.745769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.01, Y:-46.83, Z:-3.42 [[ 9.72424056e-01 2.32992055e-01 1.03032446e-02 3.13012763e+02] [-2.32978698e-01 9.72478638e-01 -2.49487603e-03 -4.68306222e+01] [-1.06009716e-02 2.56409544e-05 9.99943808e-01 -3.41893473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.805769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:-46.85, Z:-3.42 [[ 9.72931353e-01 2.30864514e-01 1.03033039e-02 3.13068798e+02] [-2.30851041e-01 9.72985906e-01 -2.49463128e-03 -4.68497344e+01] [-1.06008913e-02 4.85765674e-05 9.99943808e-01 -3.41903411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:-46.87, Z:-3.42 [[ 9.73325781e-01 2.29195907e-01 1.03033886e-02 3.13125794e+02] [-2.29182344e-01 9.73380312e-01 -2.49428100e-03 -4.68676242e+01] [-1.06007947e-02 6.63932408e-05 9.99943808e-01 -3.42197245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.18, Y:-46.89, Z:-3.42 [[ 9.73443196e-01 2.28696704e-01 1.03034456e-02 3.13181590e+02] [-2.28683115e-01 9.73497721e-01 -2.49404565e-03 -4.68884274e+01] [-1.06007608e-02 7.15877342e-05 9.99943808e-01 -3.41773948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.985769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:-46.91, Z:-3.42 [[ 9.73316768e-01 2.29234176e-01 1.03035305e-02 3.13239847e+02] [-2.29220621e-01 9.73371300e-01 -2.49369495e-03 -4.69104418e+01] [-1.06008010e-02 6.53734508e-05 9.99943808e-01 -3.41678082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.045769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:-46.93, Z:-3.41 [[ 9.73465803e-01 2.28600471e-01 1.03031083e-02 3.13297771e+02] [-2.28586862e-01 9.73520323e-01 -2.49543819e-03 -4.69346510e+01] [-1.06007436e-02 7.40685513e-05 9.99943808e-01 -3.41392852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.105769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:-46.96, Z:-3.41 [[ 9.73258310e-01 2.29482283e-01 1.03026602e-02 3.13354592e+02] [-2.29468704e-01 9.73312836e-01 -2.49728672e-03 -4.69601448e+01] [-1.06007945e-02 6.63669692e-05 9.99943808e-01 -3.41210243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.41, Y:-46.99, Z:-3.41 [[ 9.71868120e-01 2.35300275e-01 1.03023018e-02 3.13411909e+02] [-2.35287007e-01 9.71922724e-01 -2.49876459e-03 -4.69860235e+01] [-1.06010012e-02 4.47190561e-06 9.99943808e-01 -3.41377616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.47, Y:-47.01, Z:-3.42 [[ 9.70130313e-01 2.42365524e-01 1.03019151e-02 3.13469848e+02] [-2.42352637e-01 9.70185007e-01 -2.50035784e-03 -4.70078958e+01] [-1.06007641e-02 -7.10233489e-05 9.99943808e-01 -3.42160414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:-47.03, Z:-3.42 [[ 9.68153985e-01 2.50143436e-01 1.03015610e-02 3.13529575e+02] [-2.50130972e-01 9.68208778e-01 -2.50181575e-03 -4.70294233e+01] [-1.05998746e-02 -1.54596577e-04 9.99943808e-01 -3.41846279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.59, Y:-47.04, Z:-3.42 [[ 9.66804864e-01 2.55308130e-01 1.03011004e-02 3.13589657e+02] [-2.55295939e-01 9.66859718e-01 -2.50371081e-03 -4.70444058e+01] [-1.05989368e-02 -2.09229313e-04 9.99943808e-01 -3.41724808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.65, Y:-47.06, Z:-3.42 [[ 9.64638283e-01 2.63375927e-01 1.03006750e-02 3.13650853e+02] [-2.63364176e-01 9.64693233e-01 -2.50545989e-03 -4.70594484e+01] [-1.05968693e-02 -2.95966250e-04 9.99943808e-01 -3.42171460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.71, Y:-47.07, Z:-3.42 [[ 9.64276078e-01 2.64698981e-01 1.03001966e-02 3.13710547e+02] [-2.64687285e-01 9.64331040e-01 -2.50742491e-03 -4.70747766e+01] [-1.05965121e-02 -3.08481209e-04 9.99943808e-01 -3.42153271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.77, Y:-47.09, Z:-3.42 [[ 9.64691882e-01 2.63179566e-01 1.02999020e-02 3.13771733e+02] [-2.63167770e-01 9.64746823e-01 -2.50863442e-03 -4.70918098e+01] [-1.05970191e-02 -2.90542982e-04 9.99943808e-01 -3.42191707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.83, Y:-47.10, Z:-3.42 [[ 9.64477974e-01 2.63962421e-01 1.02994322e-02 3.13832787e+02] [-2.63950649e-01 9.64532919e-01 -2.51056165e-03 -4.71046669e+01] [-1.05968354e-02 -2.97160415e-04 9.99943808e-01 -3.41993564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:-47.12, Z:-3.42 [[ 9.63993953e-01 2.65724648e-01 1.02989943e-02 3.13893840e+02] [-2.65712958e-01 9.64048916e-01 -2.51235702e-03 -4.71187545e+01] [-1.05963295e-02 -3.14679254e-04 9.99943808e-01 -3.42083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.96, Y:-47.13, Z:-3.42 [[ 9.63929676e-01 2.65957742e-01 1.02985258e-02 3.13955276e+02] [-2.65946044e-01 9.63984637e-01 -2.51427596e-03 -4.71276743e+01] [-1.05963118e-02 -3.15266979e-04 9.99943808e-01 -3.42350762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:-47.13, Z:-3.42 [[ 9.64055861e-01 2.65499994e-01 1.02980910e-02 3.14017868e+02] [-2.65488251e-01 9.64110812e-01 -2.51605538e-03 -4.71340003e+01] [-1.05965136e-02 -3.08404251e-04 9.99943808e-01 -3.41989974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.08, Y:-47.14, Z:-3.42 [[ 9.64190160e-01 2.65011872e-01 1.02976892e-02 3.14081965e+02] [-2.65000083e-01 9.64245102e-01 -2.51769906e-03 -4.71355416e+01] [-1.05967165e-02 -3.01347827e-04 9.99943808e-01 -3.42128667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:314.14, Y:-47.14, Z:-3.42 [[ 9.65251407e-01 2.61120068e-01 1.02971934e-02 3.14144276e+02] [-2.61108036e-01 9.65306296e-01 -2.51972510e-03 -4.71366024e+01] [-1.05978964e-02 -2.56511754e-04 9.99943808e-01 -3.42365800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.20, Y:-47.14, Z:-3.43 [[ 9.66943246e-01 2.54783702e-01 1.02967944e-02 3.14203665e+02] [-2.54771293e-01 9.66998051e-01 -2.52135466e-03 -4.71424602e+01] [-1.05993802e-02 -1.85320759e-04 9.99943808e-01 -3.42507794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.26, Y:-47.15, Z:-3.43 [[ 9.69526895e-01 2.44768410e-01 1.02968804e-02 3.14262268e+02] [-2.44755439e-01 9.69581569e-01 -2.52100318e-03 -4.71494869e+01] [-1.06007274e-02 -7.60371118e-05 9.99943808e-01 -3.42998475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:-47.16, Z:-3.43 [[ 9.71154508e-01 2.38228659e-01 1.02969911e-02 3.14319652e+02] [-2.38215325e-01 9.71209095e-01 -2.52055116e-03 -4.71592807e+01] [-1.06009989e-02 -5.05645236e-06 9.99943808e-01 -3.42850131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:-47.18, Z:-3.43 [[ 9.71896136e-01 2.35184758e-01 1.02971289e-02 3.14375132e+02] [-2.35171259e-01 9.71950682e-01 -2.51998799e-03 -4.71750994e+01] [-1.06009642e-02 2.75778279e-05 9.99943808e-01 -3.42653194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:-47.19, Z:-3.43 [[ 9.72125687e-01 2.34234104e-01 1.02972656e-02 3.14431384e+02] [-2.34220557e-01 9.72180222e-01 -2.51942920e-03 -4.71924843e+01] [-1.06009342e-02 3.73705563e-05 9.99943808e-01 -3.43443302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:-47.21, Z:-3.43 [[ 9.72550222e-01 2.32465113e-01 1.02973743e-02 3.14487414e+02] [-2.32451472e-01 9.72604734e-01 -2.51898510e-03 -4.72088068e+01] [-1.06008511e-02 5.61997205e-05 9.99943808e-01 -3.42905433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.305769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:314.54, Y:-47.23, Z:-3.43 [[ 9.73051035e-01 2.30359814e-01 1.02975229e-02 3.14541956e+02] [-2.30346061e-01 9.73105518e-01 -2.51837746e-03 -4.72292367e+01] [-1.06007093e-02 7.85159633e-05 9.99943808e-01 -3.43148733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.365769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:-47.25, Z:-3.44 [[ 9.73498227e-01 2.28462600e-01 1.02976562e-02 3.14600946e+02] [-2.28448747e-01 9.73552685e-01 -2.51783204e-03 -4.72479426e+01] [-1.06005413e-02 9.86183676e-05 9.99943808e-01 -3.43698371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.425769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:314.66, Y:-47.27, Z:-3.43 [[ 9.73364405e-01 2.29032081e-01 1.02975978e-02 3.14659298e+02] [-2.29018257e-01 9.73418870e-01 -2.51807088e-03 -4.72660086e+01] [-1.06005950e-02 9.26626586e-05 9.99943808e-01 -3.43359401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.485769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:-47.28, Z:-3.43 [[ 9.73426131e-01 2.28769595e-01 1.02975398e-02 3.14718535e+02] [-2.28755754e-01 9.73480592e-01 -2.51830826e-03 -4.72833036e+01] [-1.06005675e-02 9.57655961e-05 9.99943808e-01 -3.43407092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.545769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:-47.31, Z:-3.44 [[ 9.75542200e-01 2.19570897e-01 1.02974309e-02 3.14777818e+02] [-2.19556538e-01 9.75596527e-01 -2.51875318e-03 -4.73052412e+01] [-1.05991827e-02 1.96281730e-04 9.99943808e-01 -3.43867294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:-47.33, Z:-3.44 [[ 9.77973886e-01 2.08473142e-01 1.02969445e-02 3.14834572e+02] [-2.08458145e-01 9.78028040e-01 -2.52074030e-03 -4.73331052e+01] [-1.05962071e-02 3.18736243e-04 9.99943808e-01 -3.44108086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.665769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:314.89, Y:-47.36, Z:-3.44 [[ 9.77989583e-01 2.08399514e-01 1.02964983e-02 3.14892360e+02] [-2.08384495e-01 9.78043731e-01 -2.52256168e-03 -4.73605302e+01] [-1.05961262e-02 3.21408457e-04 9.99943808e-01 -3.44181993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:314.95, Y:-47.39, Z:-3.44 [[ 9.76092895e-01 2.17109769e-01 1.02960152e-02 3.14949488e+02] [-2.17095212e-01 9.76147169e-01 -2.52453162e-03 -4.73856756e+01] [-1.05985266e-02 2.28961772e-04 9.99943808e-01 -3.44325855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.785769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:-47.41, Z:-3.44 [[ 9.74317365e-01 2.24943712e-01 1.02955677e-02 3.15008559e+02] [-2.24929571e-01 9.74371749e-01 -2.52635525e-03 -4.74099262e+01] [-1.05999981e-02 1.45694154e-04 9.99943808e-01 -3.44052916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.845769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:315.07, Y:-47.43, Z:-3.44 [[ 9.73003801e-01 2.30559350e-01 1.02950744e-02 3.15066221e+02] [-2.30545503e-01 9.73058261e-01 -2.52836389e-03 -4.74338908e+01] [-1.06006452e-02 8.66245599e-05 9.99943808e-01 -3.43790915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.905769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:315.13, Y:-47.45, Z:-3.44 [[ 9.72524148e-01 2.32574294e-01 1.02946185e-02 3.15126143e+02] [-2.32560540e-01 9.72578631e-01 -2.53021915e-03 -4.74502705e+01] [-1.06007899e-02 6.65772020e-05 9.99943808e-01 -3.43831689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:-47.46, Z:-3.45 [[ 9.70875232e-01 2.39364396e-01 1.02941839e-02 3.15188150e+02] [-2.39351004e-01 9.70929805e-01 -2.53198600e-03 -4.74628200e+01] [-1.06009972e-02 -5.68075724e-06 9.99943808e-01 -3.44644399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.25, Y:-47.47, Z:-3.44 [[ 9.68907147e-01 2.47210396e-01 1.02936945e-02 3.15249383e+02] [-2.47197425e-01 9.68961822e-01 -2.53397399e-03 -4.74732412e+01] [-1.06006217e-02 -8.93892564e-05 9.99943808e-01 -3.43747137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:315.31, Y:-47.48, Z:-3.44 [[ 9.68275596e-01 2.49672625e-01 1.02932415e-02 3.15311723e+02] [-2.49659773e-01 9.68330299e-01 -2.53581273e-03 -4.74814180e+01] [-1.06003807e-02 -1.14442762e-04 9.99943808e-01 -3.44238728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:315.37, Y:-47.49, Z:-3.45 [[ 9.68735892e-01 2.47880680e-01 1.02927443e-02 3.15374446e+02] [-2.47867706e-01 9.68790566e-01 -2.53782926e-03 -4.74856260e+01] [-1.06005924e-02 -9.27526222e-05 9.99943808e-01 -3.45031812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:315.44, Y:-47.49, Z:-3.45 [[ 9.70562373e-01 2.40629901e-01 1.02922849e-02 3.15438128e+02] [-2.40616499e-01 9.70616943e-01 -2.53969124e-03 -4.74910832e+01] [-1.06009917e-02 -1.15647870e-05 9.99943808e-01 -3.44778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:-47.50, Z:-3.44 [[ 9.71437008e-01 2.37074287e-01 1.02918052e-02 3.15501347e+02] [-2.37060665e-01 9.71491524e-01 -2.54163344e-03 -4.74955250e+01] [-1.06009575e-02 2.92546029e-05 9.99943808e-01 -3.44331285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:-47.51, Z:-3.44 [[ 9.71643814e-01 2.36225289e-01 1.02913575e-02 3.15564105e+02] [-2.36211599e-01 9.71698313e-01 -2.54344489e-03 -4.75055918e+01] [-1.06009207e-02 4.03844744e-05 9.99943808e-01 -3.44396026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:315.63, Y:-47.52, Z:-3.44 [[ 9.73301759e-01 2.29298459e-01 1.02908765e-02 3.15625761e+02] [-2.29284361e-01 9.73356154e-01 -2.54538963e-03 -4.75193691e+01] [-1.06003419e-02 1.17895166e-04 9.99943808e-01 -3.44320233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:-47.54, Z:-3.45 [[ 9.75191142e-01 2.21125179e-01 1.02903913e-02 3.15685715e+02] [-2.21110605e-01 9.75245411e-01 -2.54734955e-03 -4.75406167e+01] [-1.05989401e-02 2.08838063e-04 9.99943808e-01 -3.44808791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.505769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.74, Y:-47.56, Z:-3.45 [[ 9.76820707e-01 2.13811657e-01 1.02898882e-02 3.15744298e+02] [-2.13796655e-01 9.76874859e-01 -2.54938022e-03 -4.75639681e+01] [-1.05970203e-02 2.90343705e-04 9.99943808e-01 -3.44798793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.565769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:315.80, Y:-47.59, Z:-3.45 [[ 9.77085869e-01 2.12596644e-01 1.02894211e-02 3.15801983e+02] [-2.12581555e-01 9.77139997e-01 -2.55126424e-03 -4.75885730e+01] [-1.05965951e-02 3.05463107e-04 9.99943808e-01 -3.45459965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.625769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:-47.61, Z:-3.45 [[ 9.75754310e-01 2.18626766e-01 1.02889614e-02 3.15860457e+02] [-2.18611992e-01 9.75808526e-01 -2.55311679e-03 -4.76144258e+01] [-1.05982359e-02 2.41924369e-04 9.99943808e-01 -3.45442186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.685769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:-47.63, Z:-3.45 [[ 9.73266635e-01 2.29447609e-01 1.02884819e-02 3.15920638e+02] [-2.29433417e-01 9.73321005e-01 -2.55504760e-03 -4.76338863e+01] [-1.06002451e-02 1.26221025e-04 9.99943808e-01 -3.45074412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.745769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:315.98, Y:-47.65, Z:-3.45 [[ 9.71946372e-01 2.34977459e-01 1.02879921e-02 3.15980136e+02] [-2.34963556e-01 9.72000817e-01 -2.55701814e-03 -4.76523003e+01] [-1.06007784e-02 6.79812951e-05 9.99943808e-01 -3.45415478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:-47.67, Z:-3.45 [[ 9.72589958e-01 2.32299245e-01 1.02875412e-02 3.16040370e+02] [-2.32285173e-01 9.72644360e-01 -2.55883111e-03 -4.76695377e+01] [-1.06005334e-02 9.90501616e-05 9.99943808e-01 -3.45439438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.865769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:316.10, Y:-47.68, Z:-3.45 [[ 9.72539329e-01 2.32511140e-01 1.02870450e-02 3.16101027e+02] [-2.32497059e-01 9.72593728e-01 -2.56082450e-03 -4.76834233e+01] [-1.06005356e-02 9.87948473e-05 9.99943808e-01 -3.44656391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.925769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:-47.70, Z:-3.45 [[ 9.71621069e-01 2.36319031e-01 1.02865840e-02 3.16163295e+02] [-2.36305143e-01 9.71675518e-01 -2.56267492e-03 -4.76959277e+01] [-1.06008307e-02 5.91762494e-05 9.99943808e-01 -3.44532621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.985769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:-47.71, Z:-3.45 [[ 9.70330933e-01 2.41561747e-01 1.02860969e-02 3.16225769e+02] [-2.41548132e-01 9.70385451e-01 -2.56462836e-03 -4.77071317e+01] [-1.06009949e-02 3.95073570e-06 9.99943808e-01 -3.44988700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.045769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:-47.72, Z:-3.46 [[ 9.70104666e-01 2.42468849e-01 1.02856165e-02 3.16287685e+02] [-2.42455265e-01 9.70159192e-01 -2.56655378e-03 -4.77163193e+01] [-1.06009947e-02 -3.97607423e-06 9.99943808e-01 -3.45551209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.105769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:-47.72, Z:-3.46 [[ 9.69588097e-01 2.44526352e-01 1.02851708e-02 3.16350496e+02] [-2.44512865e-01 9.69642647e-01 -2.56833854e-03 -4.77228540e+01] [-1.06009667e-02 -2.46260961e-05 9.99943808e-01 -3.45964740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.165769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:-47.73, Z:-3.46 [[ 9.69702048e-01 2.44074094e-01 1.02847032e-02 3.16413286e+02] [-2.44060561e-01 9.69756586e-01 -2.57020952e-03 -4.77310571e+01] [-1.06009802e-02 -1.77530034e-05 9.99943808e-01 -3.45659852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.225769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:316.47, Y:-47.74, Z:-3.46 [[ 9.70287270e-01 2.41737147e-01 1.02842378e-02 3.16474882e+02] [-2.41723464e-01 9.70341771e-01 -2.57207042e-03 -4.77415678e+01] [-1.06009905e-02 9.70560210e-06 9.99943808e-01 -3.46069441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:-47.75, Z:-3.46 [[ 9.70442830e-01 2.41111916e-01 1.02838342e-02 3.16535009e+02] [-2.41098180e-01 9.70497318e-01 -2.57368332e-03 -4.77529996e+01] [-1.06009792e-02 1.81988293e-05 9.99943808e-01 -3.46342284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:-47.76, Z:-3.46 [[ 9.70029770e-01 2.42768387e-01 1.02837767e-02 3.16595248e+02] [-2.42754742e-01 9.70084280e-01 -2.57391276e-03 -4.77616094e+01] [-1.06009948e-02 3.36436650e-07 9.99943808e-01 -3.46135551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:-47.77, Z:-3.46 [[ 9.69819964e-01 2.43605175e-01 1.02837767e-02 3.16654021e+02] [-2.43591577e-01 9.69874486e-01 -2.57391276e-03 -4.77704461e+01] [-1.06009911e-02 -8.80941218e-06 9.99943808e-01 -3.46387872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:-47.78, Z:-3.47 [[ 9.70722305e-01 2.39984271e-01 1.02838334e-02 3.16712376e+02] [-2.39970472e-01 9.70776776e-01 -2.57368647e-03 -4.77827578e+01] [-1.06009509e-02 3.05185243e-05 9.99943808e-01 -3.46640443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:316.77, Y:-47.80, Z:-3.46 [[ 9.71858059e-01 2.35342635e-01 1.02838895e-02 3.16772075e+02] [-2.35328578e-01 9.71912464e-01 -2.57346233e-03 -4.77965972e+01] [-1.06006857e-02 8.09470306e-05 9.99943808e-01 -3.45838342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:316.83, Y:-47.81, Z:-3.46 [[ 9.72450075e-01 2.32884296e-01 1.02838312e-02 3.16829998e+02] [-2.32870099e-01 9.72504444e-01 -2.57369510e-03 -4.78123150e+01] [-1.06004447e-02 1.07993198e-04 9.99943808e-01 -3.46010993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.89, Y:-47.83, Z:-3.46 [[ 9.72728024e-01 2.31720597e-01 1.02838023e-02 3.16889739e+02] [-2.31706334e-01 9.72782376e-01 -2.57381042e-03 -4.78270303e+01] [-1.06003066e-02 1.20795389e-04 9.99943808e-01 -3.46243461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.95, Y:-47.84, Z:-3.47 [[ 9.72908063e-01 2.30963514e-01 1.02837431e-02 3.16949156e+02] [-2.30949206e-01 9.72962404e-01 -2.57404720e-03 -4.78406975e+01] [-1.06002064e-02 1.29288983e-04 9.99943808e-01 -3.46680529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.01, Y:-47.86, Z:-3.47 [[ 9.73910864e-01 2.26697776e-01 1.02833608e-02 3.17010136e+02] [-2.26683214e-01 9.73965136e-01 -2.57557342e-03 -4.78555719e+01] [-1.05995117e-02 1.77313653e-04 9.99943808e-01 -3.46727427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.07, Y:-47.87, Z:-3.47 [[ 9.74227442e-01 2.25333426e-01 1.02828797e-02 3.17069863e+02] [-2.25318767e-01 9.74281689e-01 -2.57749286e-03 -4.78727005e+01] [-1.05992167e-02 1.94138506e-04 9.99943808e-01 -3.46791303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.13, Y:-47.89, Z:-3.47 [[ 9.75022437e-01 2.21868249e-01 1.02824332e-02 3.17129247e+02] [-2.21853379e-01 9.75076625e-01 -2.57927298e-03 -4.78928245e+01] [-1.05984190e-02 2.33656487e-04 9.99943808e-01 -3.47081703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.19, Y:-47.91, Z:-3.46 [[ 9.74390146e-01 2.24628858e-01 1.02820308e-02 3.17187800e+02] [-2.24614125e-01 9.74444372e-01 -2.58087577e-03 -4.79105437e+01] [-1.05990063e-02 2.05290559e-04 9.99943808e-01 -3.46432530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.25, Y:-47.93, Z:-3.47 [[ 9.73966641e-01 2.26458083e-01 1.02819733e-02 3.17248334e+02] [-2.26443449e-01 9.74020894e-01 -2.58110499e-03 -4.79260674e+01] [-1.05993689e-02 1.85624651e-04 9.99943808e-01 -3.46963800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.065769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:317.31, Y:-47.95, Z:-3.47 [[ 9.74718762e-01 2.23198625e-01 1.02814900e-02 3.17307558e+02] [-2.23183789e-01 9.74772960e-01 -2.58302886e-03 -4.79451481e+01] [-1.05986469e-02 2.23064796e-04 9.99943808e-01 -3.46985470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.37, Y:-47.96, Z:-3.47 [[ 9.75078281e-01 2.21622755e-01 1.02810421e-02 3.17367929e+02] [-2.21607813e-01 9.75132450e-01 -2.58481030e-03 -4.79628646e+01] [-1.05982305e-02 2.42033135e-04 9.99943808e-01 -3.46713259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.43, Y:-47.98, Z:-3.47 [[ 9.74600176e-01 2.23715907e-01 1.02805543e-02 3.17427045e+02] [-2.23701061e-01 9.74654371e-01 -2.58674895e-03 -4.79840765e+01] [-1.05986841e-02 2.21275075e-04 9.99943808e-01 -3.47024984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:-48.01, Z:-3.48 [[ 9.73770084e-01 2.27301876e-01 1.02800714e-02 3.17484188e+02] [-2.27287210e-01 9.73824329e-01 -2.58866679e-03 -4.80059908e+01] [-1.05993924e-02 1.84237540e-04 9.99943808e-01 -3.47965804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.54, Y:-48.03, Z:-3.48 [[ 9.73601264e-01 2.28023916e-01 1.02796833e-02 3.17542617e+02] [-2.28009273e-01 9.73655515e-01 -2.59020703e-03 -4.80337477e+01] [-1.05994994e-02 1.77965736e-04 9.99943808e-01 -3.47662098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.60, Y:-48.06, Z:-3.47 [[ 9.72737671e-01 2.31680302e-01 1.02791848e-02 3.17598689e+02] [-2.31665842e-01 9.72791971e-01 -2.59218344e-03 -4.80605818e+01] [-1.06000663e-02 1.40178470e-04 9.99943808e-01 -3.47155889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.425769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:317.66, Y:-48.08, Z:-3.47 [[ 9.70000716e-01 2.42884660e-01 1.02787841e-02 3.17658624e+02] [-2.42870811e-01 9.70055174e-01 -2.59377153e-03 -4.80822312e+01] [-1.06009750e-02 1.95436085e-05 9.99943808e-01 -3.47047084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.485769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:-48.10, Z:-3.47 [[ 9.68089695e-01 2.50393090e-01 1.02783200e-02 3.17717416e+02] [-2.50379644e-01 9.68144254e-01 -2.59560913e-03 -4.81018508e+01] [-1.06008191e-02 -6.06996575e-05 9.99943808e-01 -3.47193406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.78, Y:-48.12, Z:-3.47 [[ 9.67468257e-01 2.52783577e-01 1.02778920e-02 3.17777911e+02] [-2.52770248e-01 9.67522845e-01 -2.59730307e-03 -4.81190054e+01] [-1.06006508e-02 -8.51370253e-05 9.99943808e-01 -3.47060100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.84, Y:-48.13, Z:-3.47 [[ 9.66280096e-01 2.57288067e-01 1.02774417e-02 3.17838940e+02] [-2.57274973e-01 9.66334742e-01 -2.59908372e-03 -4.81334889e+01] [-1.06001622e-02 -1.32685664e-04 9.99943808e-01 -3.47136336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.90, Y:-48.14, Z:-3.47 [[ 9.64371976e-01 2.64350291e-01 1.02769479e-02 3.17900880e+02] [-2.64337576e-01 9.64426711e-01 -2.60103463e-03 -4.81431493e+01] [-1.05989473e-02 -2.08218601e-04 9.99943808e-01 -3.47423990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.96, Y:-48.15, Z:-3.47 [[ 9.63663409e-01 2.66921763e-01 1.02764912e-02 3.17963161e+02] [-2.66909176e-01 9.63718173e-01 -2.60283784e-03 -4.81535606e+01] [-1.05983954e-02 -2.34630203e-04 9.99943808e-01 -3.47414401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.02, Y:-48.17, Z:-3.48 [[ 9.64296195e-01 2.64626628e-01 1.02759922e-02 3.18023608e+02] [-2.64613888e-01 9.64350924e-01 -2.60480641e-03 -4.81652733e+01] [-1.05989637e-02 -2.07365337e-04 9.99943808e-01 -3.48230457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.09, Y:-48.18, Z:-3.48 [[ 9.65413167e-01 2.60522217e-01 1.02757488e-02 3.18085621e+02] [-2.60509235e-01 9.65467839e-01 -2.60576631e-03 -4.81759907e+01] [-1.05997650e-02 -1.61286346e-04 9.99943808e-01 -3.48295314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:-48.19, Z:-3.49 [[ 9.65990997e-01 2.58371463e-01 1.02752805e-02 3.18146004e+02] [-2.58358339e-01 9.66045635e-01 -2.60761154e-03 -4.81888685e+01] [-1.06001223e-02 -1.35775139e-04 9.99943808e-01 -3.48643719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.21, Y:-48.20, Z:-3.49 [[ 9.67248537e-01 2.53623138e-01 1.02748446e-02 3.18207689e+02] [-2.53609728e-01 9.67303105e-01 -2.60932781e-03 -4.82011928e+01] [-1.06006750e-02 -8.19320459e-05 9.99943808e-01 -3.48509292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:-48.22, Z:-3.48 [[ 9.68444907e-01 2.49015861e-01 1.02743400e-02 3.18267355e+02] [-2.49002171e-01 9.68499406e-01 -2.61131323e-03 -4.82168174e+01] [-1.06009506e-02 -2.94199750e-05 9.99943808e-01 -3.48130239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:-48.24, Z:-3.48 [[ 9.69390680e-01 2.45308289e-01 1.02739345e-02 3.18326774e+02] [-2.45294373e-01 9.69445121e-01 -2.61290780e-03 -4.82354224e+01] [-1.06009836e-02 1.27901482e-05 9.99943808e-01 -3.48335221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.39, Y:-48.26, Z:-3.47 [[ 9.70611223e-01 2.40433587e-01 1.02734688e-02 3.18385061e+02] [-2.40419379e-01 9.70665589e-01 -2.61473743e-03 -4.82618933e+01] [-1.06007734e-02 6.79524981e-05 9.99943808e-01 -3.47299713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:-48.28, Z:-3.48 [[ 9.70538252e-01 2.40727995e-01 1.02729680e-02 3.18444337e+02] [-2.40713782e-01 9.70592617e-01 -2.61670362e-03 -4.82815596e+01] [-1.06007807e-02 6.67659781e-05 9.99943808e-01 -3.47693281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.50, Y:-48.30, Z:-3.48 [[ 9.69029607e-01 2.46730818e-01 1.02725024e-02 3.18503649e+02] [-2.46716922e-01 9.69084054e-01 -2.61853005e-03 -4.83046236e+01] [-1.06009904e-02 3.03295532e-06 9.99943808e-01 -3.47958176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.56, Y:-48.33, Z:-3.48 [[ 9.67520873e-01 2.52582353e-01 1.02720213e-02 3.18562679e+02] [-2.52568767e-01 9.67575398e-01 -2.62041614e-03 -4.83268302e+01] [-1.06008260e-02 -5.90844369e-05 9.99943808e-01 -3.48243736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.62, Y:-48.35, Z:-3.48 [[ 9.67578761e-01 2.52360529e-01 1.02715316e-02 3.18620062e+02] [-2.52346910e-01 9.67633278e-01 -2.62233440e-03 -4.83506770e+01] [-1.06008494e-02 -5.46741755e-05 9.99943808e-01 -3.48438285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.68, Y:-48.38, Z:-3.49 [[ 9.68120314e-01 2.50274973e-01 1.02710776e-02 3.18678611e+02] [-2.50261217e-01 9.68174797e-01 -2.62411126e-03 -4.83762259e+01] [-1.06009478e-02 -2.99969600e-05 9.99943808e-01 -3.48645515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.74, Y:-48.40, Z:-3.49 [[ 9.68311591e-01 2.49533919e-01 1.02705960e-02 3.18736692e+02] [-2.49520102e-01 9.68366058e-01 -2.62599484e-03 -4.83991989e+01] [-1.06009713e-02 -1.99389258e-05 9.99943808e-01 -3.48980966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.79, Y:-48.43, Z:-3.49 [[ 9.68279304e-01 2.49659192e-01 1.02701763e-02 3.18793558e+02] [-2.49645365e-01 9.68333769e-01 -2.62763507e-03 -4.84277831e+01] [-1.06009718e-02 -1.96172570e-05 9.99943808e-01 -3.49152465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.85, Y:-48.45, Z:-3.49 [[ 9.66909838e-01 2.54911549e-01 1.02697309e-02 3.18852342e+02] [-2.54897999e-01 9.66964372e-01 -2.62937491e-03 -4.84532360e+01] [-1.06007219e-02 -7.53653866e-05 9.99943808e-01 -3.49060471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:-48.47, Z:-3.49 [[ 9.64916262e-01 2.62356913e-01 1.02692289e-02 3.18912096e+02] [-2.62343763e-01 9.64970894e-01 -2.63133403e-03 -4.84715502e+01] [-1.05998557e-02 -1.55051151e-04 9.99943808e-01 -3.49394380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.97, Y:-48.49, Z:-3.49 [[ 9.62784245e-01 2.70076007e-01 1.02687905e-02 3.18970752e+02] [-2.70063277e-01 9.62838976e-01 -2.63304358e-03 -4.84880396e+01] [-1.05983137e-02 -2.38170349e-04 9.99943808e-01 -3.49161073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.03, Y:-48.50, Z:-3.48 [[ 9.59895554e-01 2.80169744e-01 1.02683889e-02 3.19032757e+02] [-2.80157572e-01 9.59950412e-01 -2.63460896e-03 -4.84978902e+01] [-1.05952819e-02 -3.47817478e-04 9.99943808e-01 -3.48182720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.10, Y:-48.50, Z:-3.48 [[ 9.57160297e-01 2.89376457e-01 1.02679623e-02 3.19096010e+02] [-2.89364795e-01 9.57215266e-01 -2.63627057e-03 -4.85024064e+01] [-1.05915249e-02 -4.47853284e-04 9.99943808e-01 -3.47784529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.16, Y:-48.51, Z:-3.48 [[ 9.56025840e-01 2.93102665e-01 1.02675119e-02 3.19160257e+02] [-2.93091198e-01 9.56080849e-01 -2.63802364e-03 -4.85066433e+01] [-1.05897832e-02 -4.87298591e-04 9.99943808e-01 -3.47700500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.22, Y:-48.51, Z:-3.48 [[ 9.56816387e-01 2.90511599e-01 1.02670366e-02 3.19223833e+02] [-2.90499963e-01 9.56871362e-01 -2.63987214e-03 -4.85102358e+01] [-1.05911468e-02 -4.56700826e-04 9.99943808e-01 -3.48238881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:-48.52, Z:-3.48 [[ 9.57868296e-01 2.87024261e-01 1.02665441e-02 3.19285792e+02] [-2.87012405e-01 9.57923223e-01 -2.64178606e-03 -4.85162110e+01] [-1.05928177e-02 -4.16142402e-04 9.99943808e-01 -3.48244533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:-48.53, Z:-3.48 [[ 9.58836234e-01 2.83774001e-01 1.02660856e-02 3.19347603e+02] [-2.83761939e-01 9.58891117e-01 -2.64356649e-03 -4.85259753e+01] [-1.05942338e-02 -3.78377033e-04 9.99943808e-01 -3.48422841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:-48.53, Z:-3.49 [[ 9.59544624e-01 2.81369379e-01 1.02657946e-02 3.19409242e+02] [-2.81357168e-01 9.59599473e-01 -2.64469599e-03 -4.85342629e+01] [-1.05951876e-02 -3.50651087e-04 9.99943808e-01 -3.49100197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:-48.54, Z:-3.49 [[ 9.59854955e-01 2.80308914e-01 1.02653647e-02 3.19472245e+02] [-2.80296625e-01 9.59909787e-01 -2.64636382e-03 -4.85395510e+01] [-1.05956234e-02 -3.37221648e-04 9.99943808e-01 -3.49405671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:-48.55, Z:-3.50 [[ 9.60412515e-01 2.78392586e-01 1.02649429e-02 3.19533902e+02] [-2.78380169e-01 9.60467318e-01 -2.64799895e-03 -4.85470307e+01] [-1.05963254e-02 -3.14385205e-04 9.99943808e-01 -3.49570203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.60, Y:-48.56, Z:-3.50 [[ 9.62609049e-01 2.70699942e-01 1.02644948e-02 3.19595149e+02] [-2.70687069e-01 9.62663747e-01 -2.64973490e-03 -4.85559372e+01] [-1.05985401e-02 -2.27807201e-04 9.99943808e-01 -3.49625546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.66, Y:-48.57, Z:-3.49 [[ 9.65856048e-01 2.58875924e-01 1.02640528e-02 3.19655624e+02] [-2.58862363e-01 9.65910579e-01 -2.65144573e-03 -4.85727402e+01] [-1.06005527e-02 -9.60620720e-05 9.99943808e-01 -3.49246369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.71, Y:-48.59, Z:-3.50 [[ 9.67251003e-01 2.53614187e-01 1.02635745e-02 3.19713827e+02] [-2.53600310e-01 9.67305455e-01 -2.65329591e-03 -4.85904464e+01] [-1.06009251e-02 -3.64425472e-05 9.99943808e-01 -3.50074913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.77, Y:-48.62, Z:-3.50 [[ 9.67184515e-01 2.53867639e-01 1.02633384e-02 3.19770551e+02] [-2.53853767e-01 9.67238968e-01 -2.65420892e-03 -4.86166434e+01] [-1.06009186e-02 -3.82773386e-05 9.99943808e-01 -3.49514170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.83, Y:-48.64, Z:-3.49 [[ 9.66356409e-01 2.57001874e-01 1.02629609e-02 3.19829633e+02] [-2.56988162e-01 9.66410902e-01 -2.65566763e-03 -4.86387605e+01] [-1.06007489e-02 -7.11380387e-05 9.99943808e-01 -3.49456603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.89, Y:-48.66, Z:-3.50 [[ 9.64554264e-01 2.63684951e-01 1.02625023e-02 3.19888319e+02] [-2.63671599e-01 9.64608846e-01 -2.65743863e-03 -4.86632758e+01] [-1.06000271e-02 -1.42686638e-04 9.99943808e-01 -3.49598314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.95, Y:-48.69, Z:-3.50 [[ 9.63243288e-01 2.68434458e-01 1.02620374e-02 3.19945178e+02] [-2.68421355e-01 9.63297931e-01 -2.65923266e-03 -4.86902420e+01] [-1.05992291e-02 -1.93061987e-04 9.99943808e-01 -3.49644169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.00, Y:-48.72, Z:-3.50 [[ 9.62779877e-01 2.70091849e-01 1.02616076e-02 3.20002591e+02] [-2.70078823e-01 9.62834539e-01 -2.66089051e-03 -4.87178124e+01] [-1.05989150e-02 -2.09591047e-04 9.99943808e-01 -3.49773234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.06, Y:-48.74, Z:-3.50 [[ 9.61772938e-01 2.73655850e-01 1.02611627e-02 3.20060695e+02] [-2.73643008e-01 9.61827643e-01 -2.66260503e-03 -4.87430871e+01] [-1.05981073e-02 -2.47073945e-04 9.99943808e-01 -3.50045939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:-48.76, Z:-3.50 [[ 9.60116903e-01 2.79410541e-01 1.02607121e-02 3.20120192e+02] [-2.79398008e-01 9.60171680e-01 -2.66434025e-03 -4.87635417e+01] [-1.05964899e-02 -3.08744412e-04 9.99943808e-01 -3.49703624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.18, Y:-48.79, Z:-3.50 [[ 9.56833863e-01 2.90454276e-01 1.02602264e-02 3.20177482e+02] [-2.90442355e-01 9.56888776e-01 -2.66620913e-03 -4.87888733e+01] [-1.05923074e-02 -4.28885152e-04 9.99943808e-01 -3.49735314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.24, Y:-48.81, Z:-3.51 [[ 9.55583919e-01 2.94540507e-01 1.02597758e-02 3.20236843e+02] [-2.94528802e-01 9.55638879e-01 -2.66794200e-03 -4.88061636e+01] [-1.05904577e-02 -4.72357011e-04 9.99943808e-01 -3.50571148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.30, Y:-48.82, Z:-3.51 [[ 9.54538999e-01 2.97909459e-01 1.02593451e-02 3.20296470e+02] [-2.97897930e-01 9.54593996e-01 -2.66959735e-03 -4.88220239e+01] [-1.05888075e-02 -5.08002892e-04 9.99943808e-01 -3.50540348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.36, Y:-48.83, Z:-3.50 [[ 9.53024099e-01 3.02720699e-01 1.02588882e-02 3.20358428e+02] [-3.02709429e-01 9.53079150e-01 -2.67135200e-03 -4.88338414e+01] [-1.05862060e-02 -5.59599358e-04 9.99943808e-01 -3.50412198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:-48.84, Z:-3.51 [[ 9.50847698e-01 3.09488967e-01 1.02584062e-02 3.20419906e+02] [-3.09478069e-01 9.50902823e-01 -2.67320154e-03 -4.88404889e+01] [-1.05820738e-02 -6.32944222e-04 9.99943808e-01 -3.50820533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.48, Y:-48.84, Z:-3.50 [[ 9.49899379e-01 3.12387490e-01 1.02580198e-02 3.20483039e+02] [-3.12376744e-01 9.49954534e-01 -2.67468373e-03 -4.88439188e+01] [-1.05801901e-02 -6.63686405e-04 9.99943808e-01 -3.49858448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.55, Y:-48.85, Z:-3.50 [[ 9.50492676e-01 3.10577613e-01 1.02576004e-02 3.20546758e+02] [-3.10566745e-01 9.50547807e-01 -2.67629114e-03 -4.88491217e+01] [-1.05815357e-02 -6.41874437e-04 9.99943808e-01 -3.50372695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.61, Y:-48.85, Z:-3.51 [[ 9.51157289e-01 3.08536228e-01 1.02571245e-02 3.20611399e+02] [-3.08525222e-01 9.51212392e-01 -2.67811378e-03 -4.88520872e+01] [-1.05829990e-02 -6.17274173e-04 9.99943808e-01 -3.50658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.67, Y:-48.86, Z:-3.51 [[ 9.51649078e-01 3.07016016e-01 1.02566468e-02 3.20672683e+02] [-3.07004903e-01 9.51704160e-01 -2.67994196e-03 -4.88599313e+01] [-1.05840785e-02 -5.98476559e-04 9.99943808e-01 -3.50511543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.74, Y:-48.86, Z:-3.51 [[ 9.52683953e-01 3.03789555e-01 1.02562599e-02 3.20735445e+02] [-3.03778239e-01 9.52738994e-01 -2.68142177e-03 -4.88626402e+01] [-1.05861267e-02 -5.61081088e-04 9.99943808e-01 -3.51035461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.80, Y:-48.87, Z:-3.51 [[ 9.54586461e-01 2.97757448e-01 1.02562005e-02 3.20797906e+02] [-2.97745782e-01 9.54641429e-01 -2.68164904e-03 -4.88654304e+01] [-1.05894749e-02 -4.93874567e-04 9.99943808e-01 -3.51194162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.86, Y:-48.87, Z:-3.51 [[ 9.56314806e-01 2.92158867e-01 1.02561392e-02 3.20858382e+02] [-2.92146876e-01 9.56369704e-01 -2.68188359e-03 -4.88688702e+01] [-1.05921968e-02 -4.31574029e-04 9.99943808e-01 -3.51039772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.92, Y:-48.88, Z:-3.51 [[ 9.56692380e-01 2.90920091e-01 1.02562010e-02 3.20918831e+02] [-2.90908032e-01 9.56747263e-01 -2.68164706e-03 -4.88804222e+01] [-1.05927373e-02 -4.18099939e-04 9.99943808e-01 -3.51058952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:320.98, Y:-48.88, Z:-3.51 [[ 9.57872780e-01 2.87009667e-01 1.02561366e-02 3.20977995e+02] [-2.86997381e-01 9.57927613e-01 -2.68189347e-03 -4.88843912e+01] [-1.05943658e-02 -3.74571577e-04 9.99943808e-01 -3.50878458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.04, Y:-48.89, Z:-3.51 [[ 9.59592345e-01 2.81206936e-01 1.02562323e-02 3.21037096e+02] [-2.81194322e-01 9.59647103e-01 -2.68152734e-03 -4.88899150e+01] [-1.05964277e-02 -3.10821181e-04 9.99943808e-01 -3.51088174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.09, Y:-48.90, Z:-3.52 [[ 9.61984960e-01 2.72909774e-01 1.02563545e-02 3.21094740e+02] [-2.72896693e-01 9.62039608e-01 -2.68105973e-03 -4.88968992e+01] [-1.05987067e-02 -2.19786092e-04 9.99943808e-01 -3.51965713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.15, Y:-48.91, Z:-3.51 [[ 9.64463289e-01 2.64017741e-01 1.02565060e-02 3.21154048e+02] [-2.64004162e-01 9.64517816e-01 -2.68048005e-03 -4.89073863e+01] [-1.06002771e-02 -1.22535678e-04 9.99943808e-01 -3.51162159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.21, Y:-48.92, Z:-3.51 [[ 9.66776391e-01 2.55417723e-01 1.02565687e-02 3.21211434e+02] [-2.55403661e-01 9.66830795e-01 -2.68024034e-03 -4.89220381e+01] [-1.06009473e-02 -2.83721073e-05 9.99943808e-01 -3.50875099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.27, Y:-48.94, Z:-3.51 [[ 9.69110049e-01 2.46415328e-01 1.02566324e-02 3.21269029e+02] [-2.46400763e-01 9.69164321e-01 -2.67999663e-03 -4.89433921e+01] [-1.06007544e-02 6.99696243e-05 9.99943808e-01 -3.50909688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.33, Y:-48.97, Z:-3.51 [[ 9.70986190e-01 2.38915513e-01 1.02565681e-02 3.21326429e+02] [-2.38900527e-01 9.71040346e-01 -2.68024267e-03 -4.89680152e+01] [-1.05998930e-02 1.52179097e-04 9.99943808e-01 -3.50998590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.39, Y:-48.99, Z:-3.51 [[ 9.71238470e-01 2.37887884e-01 1.02561182e-02 3.21385574e+02] [-2.37872823e-01 9.71292606e-01 -2.68196313e-03 -4.89895654e+01] [-1.05996983e-02 1.65173986e-04 9.99943808e-01 -3.50988791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.44, Y:-49.01, Z:-3.51 [[ 9.70079733e-01 2.42569856e-01 1.02555930e-02 3.21443139e+02] [-2.42555034e-01 9.70133935e-01 -2.68396967e-03 -4.90077734e+01] [-1.06003490e-02 1.16118857e-04 9.99943808e-01 -3.51247491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.50, Y:-49.02, Z:-3.52 [[ 9.68971862e-01 2.46958202e-01 1.02555607e-02 3.21501236e+02] [-2.46943625e-01 9.69026131e-01 -2.68409325e-03 -4.90244082e+01] [-1.06007651e-02 6.82655042e-05 9.99943808e-01 -3.51696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.56, Y:-49.04, Z:-3.51 [[ 9.68447972e-01 2.49004719e-01 1.02555607e-02 3.21559387e+02] [-2.48990256e-01 9.68502270e-01 -2.68409325e-03 -4.90399043e+01] [-1.06008857e-02 4.58699827e-05 9.99943808e-01 -3.51171017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.62, Y:-49.05, Z:-3.51 [[ 9.67840439e-01 2.51355743e-01 1.02555295e-02 3.21617544e+02] [-2.51341411e-01 9.67894772e-01 -2.68421234e-03 -4.90549543e+01] [-1.06009656e-02 2.02499904e-05 9.99943808e-01 -3.51447097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.68, Y:-49.07, Z:-3.51 [[ 9.66891113e-01 2.54983135e-01 1.02555905e-02 3.21675568e+02] [-2.54969009e-01 9.66945500e-01 -2.68397936e-03 -4.90670359e+01] [-1.06009665e-02 -1.97419564e-05 9.99943808e-01 -3.51497226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.73, Y:-49.08, Z:-3.51 [[ 9.65768568e-01 2.59202418e-01 1.02557111e-02 3.21733658e+02] [-2.59188535e-01 9.65823018e-01 -2.68351834e-03 -4.90797797e+01] [-1.06007763e-02 -6.65050782e-05 9.99943808e-01 -3.51437356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.79, Y:-49.09, Z:-3.52 [[ 9.65465230e-01 2.60330001e-01 1.02557741e-02 3.21791640e+02] [-2.60316184e-01 9.65519697e-01 -2.68327770e-03 -4.90934347e+01] [-1.06006896e-02 -7.91326450e-05 9.99943808e-01 -3.51809957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.85, Y:-49.11, Z:-3.52 [[ 9.65181462e-01 2.61380111e-01 1.02558373e-02 3.21849796e+02] [-2.61366356e-01 9.65235945e-01 -2.68303599e-03 -4.91070155e+01] [-1.06005951e-02 -9.09142311e-05 9.99943808e-01 -3.51587362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.91, Y:-49.12, Z:-3.51 [[ 9.64271603e-01 2.64717005e-01 1.02559005e-02 3.21907854e+02] [-2.64703441e-01 9.64326133e-01 -2.68279434e-03 -4.91199959e+01] [-1.06002142e-02 -1.27829768e-04 9.99943808e-01 -3.51462413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:321.96, Y:-49.13, Z:-3.52 [[ 9.62804512e-01 2.70004233e-01 1.02559650e-02 3.21964673e+02] [-2.69990971e-01 9.62859117e-01 -2.68254789e-03 -4.91300539e+01] [-1.05993487e-02 -1.86248736e-04 9.99943808e-01 -3.51661590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.02, Y:-49.14, Z:-3.52 [[ 9.61324585e-01 2.75226913e-01 1.02561450e-02 3.22023791e+02] [-2.75213955e-01 9.61379263e-01 -2.68185932e-03 -4.91361027e+01] [-1.05981650e-02 -2.44496935e-04 9.99943808e-01 -3.51870426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.08, Y:-49.14, Z:-3.52 [[ 9.60464006e-01 2.78215208e-01 1.02562763e-02 3.22082510e+02] [-2.78202426e-01 9.60518725e-01 -2.68135733e-03 -4.91394502e+01] [-1.05973398e-02 -2.77973741e-04 9.99943808e-01 -3.51915108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.14, Y:-49.15, Z:-3.52 [[ 9.60946181e-01 2.76545192e-01 1.02564384e-02 3.22139665e+02] [-2.76532321e-01 9.61000879e-01 -2.68073697e-03 -4.91478255e+01] [-1.05977913e-02 -2.60192770e-04 9.99943808e-01 -3.51759819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.20, Y:-49.16, Z:-3.52 [[ 9.64192705e-01 2.65004206e-01 1.02566233e-02 3.22196992e+02] [-2.64990688e-01 9.64247247e-01 -2.68002952e-03 -4.91590597e+01] [-1.06001399e-02 -1.33844744e-04 9.99943808e-01 -3.51935471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.25, Y:-49.17, Z:-3.52 [[ 9.64991605e-01 2.62080141e-01 1.02568104e-02 3.22254549e+02] [-2.62066465e-01 9.65046107e-01 -2.67931329e-03 -4.91714229e+01] [-1.06004897e-02 -1.02451203e-04 9.99943808e-01 -3.51615495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.31, Y:-49.18, Z:-3.52 [[ 9.64174016e-01 2.65072182e-01 1.02569385e-02 3.22311288e+02] [-2.65058680e-01 9.64228562e-01 -2.67882259e-03 -4.91828956e+01] [-1.06001144e-02 -1.35839456e-04 9.99943808e-01 -3.52104366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.37, Y:-49.19, Z:-3.52 [[ 9.63585767e-01 2.67202658e-01 1.02571297e-02 3.22368215e+02] [-2.67189285e-01 9.63640345e-01 -2.67809026e-03 -4.91935951e+01] [-1.05997769e-02 -1.60025502e-04 9.99943808e-01 -3.51869408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:-49.20, Z:-3.52 [[ 9.63166476e-01 2.68710117e-01 1.02573222e-02 3.22424449e+02] [-2.68696837e-01 9.63221076e-01 -2.67735302e-03 -4.92028932e+01] [-1.05995007e-02 -1.77373355e-04 9.99943808e-01 -3.52148960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.48, Y:-49.22, Z:-3.53 [[ 9.63665818e-01 2.66913794e-01 1.02575434e-02 3.22481279e+02] [-2.66900421e-01 9.63720396e-01 -2.67650526e-03 -4.92175048e+01] [-1.05997999e-02 -1.58486019e-04 9.99943808e-01 -3.52517712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.54, Y:-49.24, Z:-3.52 [[ 9.65001848e-01 2.62042390e-01 1.02576706e-02 3.22535791e+02] [-2.62028747e-01 9.65056358e-01 -2.67601777e-03 -4.92360041e+01] [-1.06004603e-02 -1.05442466e-04 9.99943808e-01 -3.52403198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.59, Y:-49.26, Z:-3.53 [[ 9.66429327e-01 2.56727743e-01 1.02578278e-02 3.22589983e+02] [-2.56713806e-01 9.66483763e-01 -2.67541478e-03 -4.92607035e+01] [-1.06008772e-02 -4.77267209e-05 9.99943808e-01 -3.52903925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.64, Y:-49.29, Z:-3.53 [[ 9.67682742e-01 2.51962071e-01 1.02579585e-02 3.22642975e+02] [-2.51947871e-01 9.67737110e-01 -2.67491382e-03 -4.92890212e+01] [-1.06009839e-02 3.99713623e-06 9.99943808e-01 -3.53105313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.70, Y:-49.31, Z:-3.53 [[ 9.67999006e-01 2.50744285e-01 1.02580553e-02 3.22698275e+02] [-2.50730021e-01 9.68053358e-01 -2.67454255e-03 -4.93089304e+01] [-1.06009711e-02 1.69521197e-05 9.99943808e-01 -3.52998025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.75, Y:-49.34, Z:-3.52 [[ 9.67865595e-01 2.51258751e-01 1.02581506e-02 3.22751940e+02] [-2.51244520e-01 9.67919955e-01 -2.67417669e-03 -4.93382350e+01] [-1.06009790e-02 1.09394722e-05 9.99943808e-01 -3.52364213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.81, Y:-49.36, Z:-3.52 [[ 9.66529917e-01 2.56348762e-01 1.02582122e-02 3.22806676e+02] [-2.56334820e-01 9.66584352e-01 -2.67394057e-03 -4.93645372e+01] [-1.06008887e-02 -4.50934157e-05 9.99943808e-01 -3.52376827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.86, Y:-49.39, Z:-3.53 [[ 9.64421092e-01 2.64171773e-01 1.02582737e-02 3.22864585e+02] [-2.64158274e-01 9.64475639e-01 -2.67370453e-03 -4.93872071e+01] [-1.06001723e-02 -1.31230833e-04 9.99943808e-01 -3.52885603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.92, Y:-49.40, Z:-3.53 [[ 9.61579610e-01 2.74334523e-01 1.02578128e-02 3.22922320e+02] [-2.74321582e-01 9.61634292e-01 -2.67547165e-03 -4.94018100e+01] [-1.05982388e-02 -2.41260449e-04 9.99943808e-01 -3.52954951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.98, Y:-49.41, Z:-3.53 [[ 9.59747146e-01 2.80678094e-01 1.02578452e-02 3.22979518e+02] [-2.80665516e-01 9.59801912e-01 -2.67534741e-03 -4.94127075e+01] [-1.05964108e-02 -3.11366375e-04 9.99943808e-01 -3.53135862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.04, Y:-49.42, Z:-3.53 [[ 9.59346466e-01 2.82044555e-01 1.02580190e-02 3.23035983e+02] [-2.82032062e-01 9.59401252e-01 -2.67468086e-03 -4.94235873e+01] [-1.05959354e-02 -3.27144617e-04 9.99943808e-01 -3.53153410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.09, Y:-49.44, Z:-3.53 [[ 9.61874453e-01 2.73298933e-01 1.02581685e-02 3.23093798e+02] [-2.73285948e-01 9.61929124e-01 -2.67410721e-03 -4.94365004e+01] [-1.05984617e-02 -2.31257902e-04 9.99943808e-01 -3.52992212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:-49.45, Z:-3.53 [[ 9.64929913e-01 2.62307131e-01 1.02582296e-02 3.23153143e+02] [-2.62293525e-01 9.64984434e-01 -2.67387289e-03 -4.94519223e+01] [-1.06004078e-02 -1.10567272e-04 9.99943808e-01 -3.52924097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.21, Y:-49.47, Z:-3.52 [[ 9.67349254e-01 2.53239396e-01 1.02581675e-02 3.23210977e+02] [-2.53225277e-01 9.67403643e-01 -2.67411132e-03 -4.94680678e+01] [-1.06009789e-02 -1.08277091e-05 9.99943808e-01 -3.52472813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:-49.49, Z:-3.53 [[ 9.69949717e-01 2.43089115e-01 1.02581365e-02 3.23270398e+02] [-2.43074425e-01 9.70003955e-01 -2.67423023e-03 -4.94914240e+01] [-1.06005092e-02 1.00378229e-04 9.99943808e-01 -3.52751244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:-49.52, Z:-3.53 [[ 9.71379540e-01 2.37311125e-01 1.02576421e-02 3.23328360e+02] [-2.37296093e-01 9.71433684e-01 -2.67612501e-03 -4.95199168e+01] [-1.05996933e-02 1.65434679e-04 9.99943808e-01 -3.53227054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:-49.54, Z:-3.53 [[ 9.71405489e-01 2.37204906e-01 1.02571374e-02 3.23385869e+02] [-2.37189847e-01 9.71459626e-01 -2.67805814e-03 -4.95435953e+01] [-1.05996434e-02 1.68591516e-04 9.99943808e-01 -3.53387448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.44, Y:-49.57, Z:-3.54 [[ 9.70058142e-01 2.42656140e-01 1.02566667e-02 3.23443741e+02] [-2.42641367e-01 9.70112357e-01 -2.67985948e-03 -4.95670985e+01] [-1.06004035e-02 1.10927869e-04 9.99943808e-01 -3.53637319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.50, Y:-49.59, Z:-3.53 [[ 9.68533535e-01 2.48671674e-01 1.02562038e-02 3.23502338e+02] [-2.48657219e-01 9.68587836e-01 -2.68163010e-03 -4.95881368e+01] [-1.06008797e-02 4.69695745e-05 9.99943808e-01 -3.53306736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.56, Y:-49.61, Z:-3.53 [[ 9.68284327e-01 2.49640305e-01 1.02557485e-02 3.23562887e+02] [-2.49625886e-01 9.68338637e-01 -2.68337005e-03 -4.96061876e+01] [-1.06009149e-02 3.81648441e-05 9.99943808e-01 -3.53088157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.62, Y:-49.62, Z:-3.54 [[ 9.67779491e-01 2.51590315e-01 1.02552534e-02 3.23623085e+02] [-2.51575985e-01 9.67833825e-01 -2.68526104e-03 -4.96222910e+01] [-1.06009668e-02 1.87650877e-05 9.99943808e-01 -3.53566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.68, Y:-49.63, Z:-3.53 [[ 9.66851200e-01 2.55134467e-01 1.02547940e-02 3.23683686e+02] [-2.55120317e-01 9.66905582e-01 -2.68701419e-03 -4.96343136e+01] [-1.06009675e-02 -1.82634096e-05 9.99943808e-01 -3.53459836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.74, Y:-49.65, Z:-3.53 [[ 9.66509164e-01 2.56427151e-01 1.02543776e-02 3.23743530e+02] [-2.56413057e-01 9.66563560e-01 -2.68860254e-03 -4.96493802e+01] [-1.06009384e-02 -3.07973095e-05 9.99943808e-01 -3.53433343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.80, Y:-49.67, Z:-3.54 [[ 9.66815358e-01 2.55270286e-01 1.02539651e-02 3.23804204e+02] [-2.55256111e-01 9.66869733e-01 -2.69017488e-03 -4.96674498e+01] [-1.06009702e-02 -1.64848569e-05 9.99943808e-01 -3.53512031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.86, Y:-49.69, Z:-3.54 [[ 9.66479603e-01 2.56538580e-01 1.02534965e-02 3.23863873e+02] [-2.56524457e-01 9.66533991e-01 -2.69195957e-03 -4.96869328e+01] [-1.06009444e-02 -2.85486077e-05 9.99943808e-01 -3.53666486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.92, Y:-49.70, Z:-3.54 [[ 9.65592920e-01 2.59856095e-01 1.02529782e-02 3.23923444e+02] [-2.59842138e-01 9.65647351e-01 -2.69393243e-03 -4.97048086e+01] [-1.06007960e-02 -6.29136927e-05 9.99943808e-01 -3.53604945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.98, Y:-49.73, Z:-3.54 [[ 9.63686358e-01 2.66839814e-01 1.02526585e-02 3.23982782e+02] [-2.66826239e-01 9.63740886e-01 -2.69514839e-03 -4.97259072e+01] [-1.06000791e-02 -1.38400578e-04 9.99943808e-01 -3.53853438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.04, Y:-49.74, Z:-3.54 [[ 9.63211361e-01 2.68549374e-01 1.02521695e-02 3.24043492e+02] [-2.68535876e-01 9.63265908e-01 -2.69700742e-03 -4.97430048e+01] [-1.05998450e-02 -1.55287124e-04 9.99943808e-01 -3.53850072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.10, Y:-49.76, Z:-3.54 [[ 9.62728414e-01 2.70275608e-01 1.02516507e-02 3.24103163e+02] [-2.70262186e-01 9.62782980e-01 -2.69897787e-03 -4.97584203e+01] [-1.05995827e-02 -1.72250845e-04 9.99943808e-01 -3.54025660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.17, Y:-49.77, Z:-3.54 [[ 9.61038663e-01 2.76223824e-01 1.02511717e-02 3.24165364e+02] [-2.76210721e-01 9.61093306e-01 -2.70079615e-03 -4.97691337e+01] [-1.05983567e-02 -2.35913998e-04 9.99943808e-01 -3.54073106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.23, Y:-49.78, Z:-3.54 [[ 9.58558755e-01 2.84710443e-01 1.02506741e-02 3.24226285e+02] [-2.84697804e-01 9.58613507e-01 -2.70268328e-03 -4.97752391e+01] [-1.05959168e-02 -3.27663678e-04 9.99943808e-01 -3.54253276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.29, Y:-49.78, Z:-3.54 [[ 9.58184449e-01 2.85967629e-01 1.02506434e-02 3.24287489e+02] [-2.85955060e-01 9.58239218e-01 -2.70279983e-03 -4.97821871e+01] [-1.05954817e-02 -3.41442569e-04 9.99943808e-01 -3.53927747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.35, Y:-49.79, Z:-3.54 [[ 9.59379257e-01 2.81933268e-01 1.02505809e-02 3.24348904e+02] [-2.81920466e-01 9.59433971e-01 -2.70303681e-03 -4.97876570e+01] [-1.05968315e-02 -2.96611090e-04 9.99943808e-01 -3.54317788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.41, Y:-49.79, Z:-3.54 [[ 9.59940000e-01 2.80018078e-01 1.02504282e-02 3.24408716e+02] [-2.80005161e-01 9.59994688e-01 -2.70361569e-03 -4.97931691e+01] [-1.05974179e-02 -2.74863950e-04 9.99943808e-01 -3.53823810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.47, Y:-49.80, Z:-3.54 [[ 9.59893793e-01 2.80176432e-01 1.02504901e-02 3.24468726e+02] [-2.80163526e-01 9.59948483e-01 -2.70338080e-03 -4.98010501e+01] [-1.05973660e-02 -2.76855014e-04 9.99943808e-01 -3.53590126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.53, Y:-49.81, Z:-3.54 [[ 9.60854764e-01 2.76862870e-01 1.02505537e-02 3.24526092e+02] [-2.76849778e-01 9.60909410e-01 -2.70313993e-03 -4.98084991e+01] [-1.05982525e-02 -2.40538629e-04 9.99943808e-01 -3.53994367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.58, Y:-49.82, Z:-3.54 [[ 9.61789069e-01 2.73599541e-01 1.02507301e-02 3.24583990e+02] [-2.73586271e-01 9.61843672e-01 -2.70247080e-03 -4.98202909e+01] [-1.05989946e-02 -2.05252142e-04 9.99943808e-01 -3.54019004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.64, Y:-49.83, Z:-3.54 [[ 9.62208890e-01 2.72119409e-01 1.02508544e-02 3.24642001e+02] [-2.72106060e-01 9.62263473e-01 -2.70199905e-03 -4.98306520e+01] [-1.05992892e-02 -1.89432099e-04 9.99943808e-01 -3.54287903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.70, Y:-49.84, Z:-3.54 [[ 9.62334042e-01 2.71676479e-01 1.02509807e-02 3.24699630e+02] [-2.71663110e-01 9.62388620e-01 -2.70151988e-03 -4.98415326e+01] [-1.05993666e-02 -1.85048746e-04 9.99943808e-01 -3.54299477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.76, Y:-49.85, Z:-3.55 [[ 9.61242001e-01 2.75515392e-01 1.02511066e-02 3.24756719e+02] [-2.75502246e-01 9.61296633e-01 -2.70104199e-03 -4.98517594e+01] [-1.05985329e-02 -2.27847890e-04 9.99943808e-01 -3.54799713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.82, Y:-49.86, Z:-3.55 [[ 9.60270460e-01 2.78882690e-01 1.02512627e-02 3.24816102e+02] [-2.78869741e-01 9.60325140e-01 -2.70044933e-03 -4.98585590e+01] [-1.05976539e-02 -2.65605266e-04 9.99943808e-01 -3.54692524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.87, Y:-49.87, Z:-3.54 [[ 9.60040516e-01 2.79673232e-01 1.02513886e-02 3.24872283e+02] [-2.79660334e-01 9.60095208e-01 -2.69997126e-03 -4.98678526e+01] [-1.05974188e-02 -2.74824969e-04 9.99943808e-01 -3.54302079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.93, Y:-49.88, Z:-3.55 [[ 9.60846185e-01 2.76892601e-01 1.02516060e-02 3.24928847e+02] [-2.76879554e-01 9.60900842e-01 -2.69914558e-03 -4.98754326e+01] [-1.05981503e-02 -2.44996366e-04 9.99943808e-01 -3.54670070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.99, Y:-49.89, Z:-3.55 [[ 9.61522864e-01 2.74533567e-01 1.02519194e-02 3.24986092e+02] [-2.74520398e-01 9.61577491e-01 -2.69795466e-03 -4.98857078e+01] [-1.05986941e-02 -2.20215910e-04 9.99943808e-01 -3.54833160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.04, Y:-49.89, Z:-3.54 [[ 9.62611584e-01 2.70691397e-01 1.02521033e-02 3.25043561e+02] [-2.70678017e-01 9.62666160e-01 -2.69725596e-03 -4.98944870e+01] [-1.05994769e-02 -1.78609150e-04 9.99943808e-01 -3.54311410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.10, Y:-49.90, Z:-3.55 [[ 9.63002524e-01 2.69297288e-01 1.02522944e-02 3.25101301e+02] [-2.69283837e-01 9.63057082e-01 -2.69652926e-03 -4.99037500e+01] [-1.05997128e-02 -1.64012684e-04 9.99943808e-01 -3.54677151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.16, Y:-49.91, Z:-3.55 [[ 9.63665290e-01 2.66915896e-01 1.02524847e-02 3.25159256e+02] [-2.66902318e-01 9.63719817e-01 -2.69580541e-03 -4.99114655e+01] [-1.06000760e-02 -1.38557836e-04 9.99943808e-01 -3.54883726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.22, Y:-49.92, Z:-3.55 [[ 9.64919851e-01 2.62344363e-01 1.02526739e-02 3.25216884e+02] [-2.62330534e-01 9.64974314e-01 -2.69508588e-03 -4.99212572e+01] [-1.06006075e-02 -8.90475481e-05 9.99943808e-01 -3.55224955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.27, Y:-49.93, Z:-3.55 [[ 9.65712105e-01 2.59412815e-01 1.02528659e-02 3.25272705e+02] [-2.59398828e-01 9.65766529e-01 -2.69435523e-03 -4.99315587e+01] [-1.06008250e-02 -5.76099355e-05 9.99943808e-01 -3.55302508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.33, Y:-49.94, Z:-3.55 [[ 9.65861146e-01 2.58857331e-01 1.02531994e-02 3.25329400e+02] [-2.58843327e-01 9.65915565e-01 -2.69308533e-03 -4.99400592e+01] [-1.06008498e-02 -5.28257652e-05 9.99943808e-01 -3.55320874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.39, Y:-49.95, Z:-3.55 [[ 9.66251112e-01 2.57397857e-01 1.02534177e-02 3.25386364e+02] [-2.57383780e-01 9.66305512e-01 -2.69225389e-03 -4.99496342e+01] [-1.06009145e-02 -3.76700975e-05 9.99943808e-01 -3.55001615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.44, Y:-49.96, Z:-3.55 [[ 9.67909982e-01 2.51087894e-01 1.02535697e-02 3.25442838e+02] [-2.51073468e-01 9.67964291e-01 -2.69167522e-03 -4.99625984e+01] [-1.06009363e-02 3.09000181e-05 9.99943808e-01 -3.55139009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.50, Y:-49.98, Z:-3.55 [[ 9.70837887e-01 2.39517551e-01 1.02537501e-02 3.25498729e+02] [-2.39502485e-01 9.70892022e-01 -2.69098770e-03 -4.99800531e+01] [-1.05998229e-02 1.56714186e-04 9.99943808e-01 -3.55136216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.55, Y:-50.00, Z:-3.55 [[ 9.72720267e-01 2.31754480e-01 1.02539366e-02 3.25552421e+02] [-2.31738989e-01 9.72774282e-01 -2.69027672e-03 -5.00036353e+01] [-1.05982495e-02 2.40649784e-04 9.99943808e-01 -3.55075116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.61, Y:-50.03, Z:-3.56 [[ 9.72656678e-01 2.32021204e-01 1.02541249e-02 3.25606793e+02] [-2.32005736e-01 9.72710699e-01 -2.68955896e-03 -5.00298211e+01] [-1.05983317e-02 2.37001696e-04 9.99943808e-01 -3.55515377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.66, Y:-50.05, Z:-3.55 [[ 9.70003967e-01 2.42872712e-01 1.02542509e-02 3.25660729e+02] [-2.42857853e-01 9.70058159e-01 -2.68907835e-03 -5.00510678e+01] [-1.06003235e-02 1.18091306e-04 9.99943808e-01 -3.55492831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.72, Y:-50.07, Z:-3.56 [[ 9.67147147e-01 2.54010322e-01 1.02544068e-02 3.25716434e+02] [-2.53996094e-01 9.67201508e-01 -2.68848373e-03 -5.00672314e+01] [-1.06009803e-02 -4.41990386e-06 9.99943808e-01 -3.55644343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.77, Y:-50.08, Z:-3.56 [[ 9.63076292e-01 2.69033267e-01 1.02546026e-02 3.25773769e+02] [-2.69019895e-01 9.63130870e-01 -2.68773669e-03 -5.00787715e+01] [-1.05996149e-02 -1.70196627e-04 9.99943808e-01 -3.55962769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.83, Y:-50.09, Z:-3.56 [[ 9.61048100e-01 2.76190859e-01 1.02547316e-02 3.25830354e+02] [-2.76177899e-01 9.61102777e-01 -2.68724444e-03 -5.00892983e+01] [-1.05980434e-02 -2.49559066e-04 9.99943808e-01 -3.56271407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:-50.10, Z:-3.56 [[ 9.61155500e-01 2.75816857e-01 1.02550680e-02 3.25888137e+02] [-2.75803889e-01 9.61210175e-01 -2.68595997e-03 -5.00955472e+01] [-1.05981088e-02 -2.46762450e-04 9.99943808e-01 -3.55744473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:-50.10, Z:-3.56 [[ 9.62600187e-01 2.70731805e-01 1.02552204e-02 3.25946545e+02] [-2.70718554e-01 9.62654794e-01 -2.68537804e-03 -5.01048236e+01] [-1.05992543e-02 -1.91333042e-04 9.99943808e-01 -3.56185143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.00, Y:-50.11, Z:-3.56 [[ 9.64252138e-01 2.64787919e-01 1.02553441e-02 3.26003390e+02] [-2.64774336e-01 9.64306664e-01 -2.68490551e-03 -5.01128786e+01] [-1.06002272e-02 -1.26426053e-04 9.99943808e-01 -3.56415511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.06, Y:-50.12, Z:-3.56 [[ 9.65421717e-01 2.60491328e-01 1.02555600e-02 3.26061158e+02] [-2.60477512e-01 9.65476184e-01 -2.68408052e-03 -5.01245810e+01] [-1.06006787e-02 -8.00731392e-05 9.99943808e-01 -3.56066918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.12, Y:-50.14, Z:-3.56 [[ 9.66914065e-01 2.54896081e-01 1.02556857e-02 3.26118394e+02] [-2.54881955e-01 9.66968452e-01 -2.68360027e-03 -5.01361081e+01] [-1.06009637e-02 -1.91783700e-05 9.99943808e-01 -3.56179684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.17, Y:-50.15, Z:-3.56 [[ 9.67505824e-01 2.52640647e-01 1.02558747e-02 3.26173951e+02] [-2.52626402e-01 9.67560181e-01 -2.68287768e-03 -5.01480048e+01] [-1.06009800e-02 4.79505359e-06 9.99943808e-01 -3.56369131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.23, Y:-50.16, Z:-3.56 [[ 9.67724614e-01 2.51801278e-01 1.02560931e-02 3.26230824e+02] [-2.51786995e-01 9.67778960e-01 -2.68204261e-03 -5.01598475e+01] [-1.06009729e-02 1.31277931e-05 9.99943808e-01 -3.56171516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.29, Y:-50.17, Z:-3.56 [[ 9.68768105e-01 2.47756268e-01 1.02562832e-02 3.26286947e+02] [-2.47741765e-01 9.68822393e-01 -2.68131563e-03 -5.01716899e+01] [-1.06008295e-02 5.66633686e-05 9.99943808e-01 -3.56107300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.34, Y:-50.19, Z:-3.56 [[ 9.69613208e-01 2.44427966e-01 1.02565022e-02 3.26342986e+02] [-2.44413285e-01 9.69667449e-01 -2.68047755e-03 -5.01876459e+01] [-1.06005800e-02 9.22010386e-05 9.99943808e-01 -3.56343945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.365769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:326.40, Y:-50.20, Z:-3.56 [[ 9.71121328e-01 2.38365616e-01 1.02566917e-02 3.26397204e+02] [-2.38350604e-01 9.71175478e-01 -2.67975205e-03 -5.02039517e+01] [-1.05998082e-02 1.57675691e-04 9.99943808e-01 -3.55959763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:-50.22, Z:-3.56 [[ 9.72016644e-01 2.34687962e-01 1.02569106e-02 3.26452126e+02] [-2.34672755e-01 9.72070739e-01 -2.67891393e-03 -5.02205604e+01] [-1.05991516e-02 1.96931452e-04 9.99943808e-01 -3.56357480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:-50.24, Z:-3.56 [[ 9.72744679e-01 2.31651851e-01 1.02571233e-02 3.26506681e+02] [-2.31636483e-01 9.72798729e-01 -2.67809954e-03 -5.02402873e+01] [-1.05985032e-02 2.29183117e-04 9.99943808e-01 -3.56333043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.56, Y:-50.26, Z:-3.56 [[ 9.72733934e-01 2.31696960e-01 1.02573120e-02 3.26562053e+02] [-2.31681602e-01 9.72787987e-01 -2.67737640e-03 -5.02590259e+01] [-1.05985299e-02 2.27944395e-04 9.99943808e-01 -3.55702959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.62, Y:-50.28, Z:-3.56 [[ 9.72445458e-01 2.32904733e-01 1.02574999e-02 3.26617809e+02] [-2.32889450e-01 9.72499532e-01 -2.67665648e-03 -5.02771635e+01] [-1.05988198e-02 2.14038926e-04 9.99943808e-01 -3.55557489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.67, Y:-50.30, Z:-3.57 [[ 9.71958417e-01 2.34928960e-01 1.02576283e-02 3.26671795e+02] [-2.34913795e-01 9.72012524e-01 -2.67616436e-03 -5.02984863e+01] [-1.05992517e-02 1.91462087e-04 9.99943808e-01 -3.56532209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.73, Y:-50.32, Z:-3.56 [[ 9.71322528e-01 2.37544364e-01 1.02577866e-02 3.26726823e+02] [-2.37529351e-01 9.71376677e-01 -2.67555738e-03 -5.03190001e+01] [-1.05997382e-02 1.62303766e-04 9.99943808e-01 -3.56434727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.78, Y:-50.34, Z:-3.56 [[ 9.70328880e-01 2.41571188e-01 1.02579764e-02 3.26781601e+02] [-2.41556408e-01 9.70383093e-01 -2.67482962e-03 -5.03393481e+01] [-1.06003286e-02 1.17584510e-04 9.99943808e-01 -3.56279059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.84, Y:-50.36, Z:-3.56 [[ 9.69797814e-01 2.43694419e-01 1.02581664e-02 3.26836400e+02] [-2.43679764e-01 9.69852062e-01 -2.67410058e-03 -5.03608267e+01] [-1.06005672e-02 9.36293249e-05 9.99943808e-01 -3.56159991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.89, Y:-50.38, Z:-3.57 [[ 9.69581089e-01 2.44555264e-01 1.02583554e-02 3.26890612e+02] [-2.44540666e-01 9.69635352e-01 -2.67337542e-03 -5.03799048e+01] [-1.06006521e-02 8.34691935e-05 9.99943808e-01 -3.57021228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.95, Y:-50.40, Z:-3.57 [[ 9.68734331e-01 2.47888199e-01 1.02585199e-02 3.26946688e+02] [-2.47873794e-01 9.68788645e-01 -2.67274399e-03 -5.03968051e+01] [-1.06008793e-02 4.63606107e-05 9.99943808e-01 -3.57225547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.00, Y:-50.41, Z:-3.56 [[ 9.67207417e-01 2.53780559e-01 1.02586437e-02 3.27003945e+02] [-2.53766490e-01 9.67261819e-01 -2.67226881e-03 -5.04101746e+01] [-1.06009642e-02 -1.86617932e-05 9.99943808e-01 -3.56428088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.06, Y:-50.42, Z:-3.56 [[ 9.65760765e-01 2.59231370e-01 1.02587665e-02 3.27061997e+02] [-2.59217613e-01 9.65815247e-01 -2.67179727e-03 -5.04184619e+01] [-1.06006868e-02 -7.89359873e-05 9.99943808e-01 -3.56442775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.12, Y:-50.42, Z:-3.57 [[ 9.65405383e-01 2.60551723e-01 1.02589525e-02 3.27120912e+02] [-2.60538048e-01 9.65459886e-01 -2.67108280e-03 -5.04195719e+01] [-1.06005624e-02 -9.41697584e-05 9.99943808e-01 -3.56848305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.18, Y:-50.42, Z:-3.57 [[ 9.65890793e-01 2.58746452e-01 1.02591663e-02 3.27179865e+02] [-2.58732684e-01 9.65945272e-01 -2.67026134e-03 -5.04243400e+01] [-1.06007139e-02 -7.52007904e-05 9.99943808e-01 -3.56922570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.24, Y:-50.42, Z:-3.57 [[ 9.67390713e-01 2.53080924e-01 1.02593409e-02 3.27239746e+02] [-2.53066844e-01 9.67445112e-01 -2.66959046e-03 -5.04244725e+01] [-1.06009716e-02 -1.37620109e-05 9.99943808e-01 -3.56546482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.30, Y:-50.42, Z:-3.57 [[ 9.69385158e-01 2.45330711e-01 1.02595288e-02 3.27299016e+02] [-2.45316204e-01 9.69439445e-01 -2.66886826e-03 -5.04248204e+01] [-1.06007472e-02 7.03326232e-05 9.99943808e-01 -3.56567797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.36, Y:-50.43, Z:-3.57 [[ 9.70957794e-01 2.39030750e-01 1.02597466e-02 3.27358702e+02] [-2.39015900e-01 9.71011988e-01 -2.66803042e-03 -5.04273232e+01] [-1.06000783e-02 1.38302359e-04 9.99943808e-01 -3.57185094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.42, Y:-50.43, Z:-3.58 [[ 9.72337943e-01 2.33353077e-01 1.02599337e-02 3.27416133e+02] [-2.33337918e-01 9.72392051e-01 -2.66731078e-03 -5.04343273e+01] [-1.05991032e-02 1.99495899e-04 9.99943808e-01 -3.57556224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.47, Y:-50.45, Z:-3.57 [[ 9.73704689e-01 2.27582752e-01 1.02600872e-02 3.27472073e+02] [-2.27567279e-01 9.73758708e-01 -2.66672022e-03 -5.04478276e+01] [-1.05977488e-02 2.61737849e-04 9.99943808e-01 -3.57437491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.53, Y:-50.47, Z:-3.57 [[ 9.75509158e-01 2.19719386e-01 1.02602756e-02 3.27528163e+02] [-2.19703485e-01 9.75563053e-01 -2.66599511e-03 -5.04653933e+01] [-1.05953166e-02 3.46484338e-04 9.99943808e-01 -3.57335584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.58, Y:-50.49, Z:-3.57 [[ 9.76602369e-01 2.14808140e-01 1.02604002e-02 3.27581747e+02] [-2.14791973e-01 9.76656185e-01 -2.66551564e-03 -5.04871478e+01] [-1.05934578e-02 3.99297284e-04 9.99943808e-01 -3.57460165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:327.64, Y:-50.51, Z:-3.57 [[ 9.76496319e-01 2.15289707e-01 1.02606144e-02 3.27635559e+02] [-2.15273575e-01 9.76550146e-01 -2.66469096e-03 -5.05121175e+01] [-1.05936850e-02 3.93221781e-04 9.99943808e-01 -3.57147835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.745769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:327.69, Y:-50.54, Z:-3.57 [[ 9.75182713e-01 2.21163725e-01 1.02607995e-02 3.27688391e+02] [-2.21147924e-01 9.75236637e-01 -2.66397787e-03 -5.05350048e+01] [-1.05958829e-02 3.28710654e-04 9.99943808e-01 -3.56721046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.805769231 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:327.74, Y:-50.56, Z:-3.57 [[ 9.74248502e-01 2.25243349e-01 1.02610953e-02 3.27743074e+02] [-2.25227787e-01 9.74302496e-01 -2.66283813e-03 -5.05559975e+01] [-1.05971973e-02 2.83182281e-04 9.99943808e-01 -3.56817030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.865769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:327.80, Y:-50.58, Z:-3.57 [[ 9.73276164e-01 2.29408400e-01 1.02612857e-02 3.27796212e+02] [-2.29393076e-01 9.73330227e-01 -2.66210417e-03 -5.05824395e+01] [-1.05983286e-02 2.37094647e-04 9.99943808e-01 -3.57451270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.925769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:327.85, Y:-50.60, Z:-3.57 [[ 9.73041477e-01 2.30401793e-01 1.02614433e-02 3.27850869e+02] [-2.30386531e-01 9.73095557e-01 -2.66149643e-03 -5.06017491e+01] [-1.05985785e-02 2.25648085e-04 9.99943808e-01 -3.56970176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.985769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:-50.63, Z:-3.58 [[ 9.72651451e-01 2.32042787e-01 1.02615992e-02 3.27904435e+02] [-2.32027623e-01 9.72705558e-01 -2.66089517e-03 -5.06292767e+01] [-1.05989561e-02 2.07149069e-04 9.99943808e-01 -3.57914042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.045769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:327.96, Y:-50.65, Z:-3.58 [[ 9.72434964e-01 2.32948359e-01 1.02617263e-02 3.27959183e+02] [-2.32933250e-01 9.72489087e-01 -2.66040510e-03 -5.06515585e+01] [-1.05991538e-02 1.96773683e-04 9.99943808e-01 -3.57865061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.105769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:328.01, Y:-50.68, Z:-3.58 [[ 9.72220880e-01 2.33840232e-01 1.02618544e-02 3.28012431e+02] [-2.33825177e-01 9.72275018e-01 -2.65991096e-03 -5.06804392e+01] [-1.05993388e-02 1.86541061e-04 9.99943808e-01 -3.57885810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.165769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:328.06, Y:-50.71, Z:-3.58 [[ 9.71906048e-01 2.35145331e-01 1.02619494e-02 3.28064148e+02] [-2.35130353e-01 9.71960207e-01 -2.65954409e-03 -5.07104602e+01] [-1.05995859e-02 1.71931183e-04 9.99943808e-01 -3.58095687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.225769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:328.12, Y:-50.74, Z:-3.58 [[ 9.70357327e-01 2.41456717e-01 1.02621016e-02 3.28119750e+02] [-2.41442098e-01 9.70411584e-01 -2.65895699e-03 -5.07370299e+01] [-1.06004853e-02 1.02435063e-04 9.99943808e-01 -3.57568979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.285769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:328.18, Y:-50.76, Z:-3.58 [[ 9.69544717e-01 2.44699268e-01 1.02621016e-02 3.28177507e+02] [-2.44684830e-01 9.69599022e-01 -2.65895699e-03 -5.07553998e+01] [-1.06007685e-02 6.69971219e-05 9.99943808e-01 -3.57771009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.345769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:328.23, Y:-50.78, Z:-3.58 [[ 9.67190111e-01 2.53846367e-01 1.02621016e-02 3.28232845e+02] [-2.53832443e-01 9.67244551e-01 -2.65895699e-03 -5.07765799e+01] [-1.06009284e-02 -3.31374053e-05 9.99943808e-01 -3.57778236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.405769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:328.29, Y:-50.79, Z:-3.58 [[ 9.65062788e-01 2.61817689e-01 1.02621952e-02 3.28290072e+02] [-2.61804218e-01 9.65117342e-01 -2.65859569e-03 -5.07942353e+01] [-1.06002899e-02 -1.20974209e-04 9.99943808e-01 -3.57568973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.465769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:328.35, Y:-50.81, Z:-3.58 [[ 9.63420312e-01 2.67798409e-01 1.02622589e-02 3.28348880e+02] [-2.67785280e-01 9.63474949e-01 -2.65834970e-03 -5.08085188e+01] [-1.05993312e-02 -1.86973771e-04 9.99943808e-01 -3.57958993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:328.41, Y:-50.82, Z:-3.58 [[ 9.62391581e-01 2.71472154e-01 1.02622589e-02 3.28407172e+02] [-2.71459233e-01 9.62446267e-01 -2.65834970e-03 -5.08211006e+01] [-1.05985407e-02 -2.27411558e-04 9.99943808e-01 -3.58340024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:328.46, Y:-50.83, Z:-3.58 [[ 9.62536386e-01 2.70958281e-01 1.02623221e-02 3.28464760e+02] [-2.70945334e-01 9.62591066e-01 -2.65810572e-03 -5.08346556e+01] [-1.05986553e-02 -2.22004806e-04 9.99943808e-01 -3.58319113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:328.52, Y:-50.85, Z:-3.59 [[ 9.64727969e-01 2.63048718e-01 1.02624159e-02 3.28522608e+02] [-2.63035326e-01 9.64782542e-01 -2.65774344e-03 -5.08532560e+01] [-1.06001157e-02 -1.35378480e-04 9.99943808e-01 -3.58919994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:328.58, Y:-50.87, Z:-3.59 [[ 9.66684474e-01 2.55765146e-01 1.02624159e-02 3.28581530e+02] [-2.55751343e-01 9.66738944e-01 -2.65774344e-03 -5.08724265e+01] [-1.06008353e-02 -5.54273293e-05 9.99943808e-01 -3.58601183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:328.64, Y:-50.89, Z:-3.59 [[ 9.67088482e-01 2.54233279e-01 1.02619841e-02 3.28642119e+02] [-2.54219372e-01 9.67142926e-01 -2.65940948e-03 -5.08896386e+01] [-1.06009158e-02 -3.69108844e-05 9.99943808e-01 -3.58640826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:328.70, Y:-50.91, Z:-3.58 [[ 9.67276775e-01 2.53515963e-01 1.02614694e-02 3.28702560e+02] [-2.53501995e-01 9.67331203e-01 -2.66139424e-03 -5.09080594e+01] [-1.06009454e-02 -2.69981211e-05 9.99943808e-01 -3.58436762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:328.76, Y:-50.93, Z:-3.58 [[ 9.68989727e-01 2.46887872e-01 1.02609558e-02 3.28761066e+02] [-2.46873510e-01 9.69044053e-01 -2.66337308e-03 -5.09283318e+01] [-1.06008727e-02 4.76229906e-05 9.99943808e-01 -3.57748904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:328.82, Y:-50.95, Z:-3.59 [[ 9.70376100e-01 2.41381330e-01 1.02604800e-02 3.28820590e+02] [-2.41366641e-01 9.70430338e-01 -2.66520459e-03 -5.09479581e+01] [-1.06004117e-02 1.09713238e-04 9.99943808e-01 -3.58656799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.005769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:328.88, Y:-50.97, Z:-3.59 [[ 9.69646722e-01 2.44294836e-01 1.02599798e-02 3.28879140e+02] [-2.44280290e-01 9.69700999e-01 -2.66712864e-03 -5.09669116e+01] [-1.06006785e-02 7.98616987e-05 9.99943808e-01 -3.59043724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.065769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:328.94, Y:-50.99, Z:-3.59 [[ 9.68371823e-01 2.49300529e-01 1.02595770e-02 3.28939317e+02] [-2.49286246e-01 9.68426169e-01 -2.66867721e-03 -5.09865084e+01] [-1.06009455e-02 2.67003648e-05 9.99943808e-01 -3.59071191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.125769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:329.00, Y:-51.01, Z:-3.59 [[ 9.67281346e-01 2.53498618e-01 1.02590678e-02 3.28998276e+02] [-2.53484551e-01 9.67335749e-01 -2.67063359e-03 -5.10057244e+01] [-1.06009649e-02 -1.72611276e-05 9.99943808e-01 -3.58998549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.185769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:329.06, Y:-51.02, Z:-3.58 [[ 9.64434210e-01 2.64123865e-01 1.02585952e-02 3.29056879e+02] [-2.64110377e-01 9.64488759e-01 -2.67244740e-03 -5.10219787e+01] [-1.06001569e-02 -1.32001763e-04 9.99943808e-01 -3.58477173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.245769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:329.12, Y:-51.04, Z:-3.59 [[ 9.62067323e-01 2.72619200e-01 1.02585649e-02 3.29116490e+02] [-2.72606193e-01 9.62121989e-01 -2.67256391e-03 -5.10358495e+01] [-1.05985831e-02 -2.25361918e-04 9.99943808e-01 -3.58799610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.305769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.18, Y:-51.05, Z:-3.59 [[ 9.59196292e-01 2.82554838e-01 1.02585022e-02 3.29175051e+02] [-2.82542394e-01 9.59251089e-01 -2.67280447e-03 -5.10451431e+01] [-1.05956932e-02 -3.34717644e-04 9.99943808e-01 -3.58905306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.365769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:329.23, Y:-51.05, Z:-3.59 [[ 9.58260894e-01 2.85711079e-01 1.02585947e-02 3.29233873e+02] [-2.85698819e-01 9.58315732e-01 -2.67244925e-03 -5.10528485e+01] [-1.05945211e-02 -3.69964798e-04 9.99943808e-01 -3.58726890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.425769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:329.29, Y:-51.06, Z:-3.59 [[ 9.58940473e-01 2.83421819e-01 1.02587152e-02 3.29294096e+02] [-2.83409433e-01 9.58995283e-01 -2.67198675e-03 -5.10602434e+01] [-1.05953588e-02 -3.45140429e-04 9.99943808e-01 -3.59221121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.485769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:-51.07, Z:-3.59 [[ 9.59270672e-01 2.82302208e-01 1.02587467e-02 3.29353833e+02] [-2.82289760e-01 9.59325467e-01 -2.67186584e-03 -5.10679344e+01] [-1.05957506e-02 -3.32896604e-04 9.99943808e-01 -3.58509575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.545769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.41, Y:-51.08, Z:-3.59 [[ 9.59425548e-01 2.81775397e-01 1.02588092e-02 3.29412184e+02] [-2.81762921e-01 9.59480338e-01 -2.67162572e-03 -5.10757457e+01] [-1.05959241e-02 -3.27326086e-04 9.99943808e-01 -3.58538514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.605769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:-51.08, Z:-3.59 [[ 9.60092721e-01 2.79493688e-01 1.02589332e-02 3.29469865e+02] [-2.79481087e-01 9.60147482e-01 -2.67114968e-03 -5.10833997e+01] [-1.05966583e-02 -3.02626441e-04 9.99943808e-01 -3.58932234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.665769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:329.53, Y:-51.09, Z:-3.59 [[ 9.60927147e-01 2.76611224e-01 1.02591041e-02 3.29527086e+02] [-2.76598466e-01 9.60981871e-01 -2.67049324e-03 -5.10932684e+01] [-1.05975014e-02 -2.71502990e-04 9.99943808e-01 -3.58936793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.725769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:-51.11, Z:-3.59 [[ 9.62259694e-01 2.71939384e-01 1.02592553e-02 3.29584967e+02] [-2.71926367e-01 9.62314357e-01 -2.66991224e-03 -5.11058690e+01] [-1.05986829e-02 -2.20613070e-04 9.99943808e-01 -3.59385529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.785769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:-51.12, Z:-3.59 [[ 9.63652475e-01 2.66961895e-01 1.02593766e-02 3.29642309e+02] [-2.66948600e-01 9.63707071e-01 -2.66944600e-03 -5.11202585e+01] [-1.05996741e-02 -1.66307974e-04 9.99943808e-01 -3.59132216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.845769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:329.70, Y:-51.14, Z:-3.59 [[ 9.64757253e-01 2.62941412e-01 1.02594974e-02 3.29698501e+02] [-2.62927895e-01 9.64811794e-01 -2.66898149e-03 -5.11366269e+01] [-1.06002699e-02 -1.22588807e-04 9.99943808e-01 -3.58721071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.75, Y:-51.15, Z:-3.59 [[ 9.67251294e-01 2.53613237e-01 1.02596204e-02 3.29754177e+02] [-2.53599199e-01 9.67305704e-01 -2.66850867e-03 -5.11541323e+01] [-1.06009585e-02 -2.07130478e-05 9.99943808e-01 -3.59441691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.965769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:329.81, Y:-51.17, Z:-3.60 [[ 9.67953613e-01 2.50919390e-01 1.02597425e-02 3.29808974e+02] [-2.50905205e-01 9.68007985e-01 -2.66803915e-03 -5.11716004e+01] [-1.06009754e-02 8.31534016e-06 9.99943808e-01 -3.59980449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:329.86, Y:-51.19, Z:-3.60 [[ 9.67777925e-01 2.51596148e-01 1.02598939e-02 3.29864711e+02] [-2.51582007e-01 9.67832309e-01 -2.66745660e-03 -5.11892077e+01] [-1.06009787e-02 3.00907156e-07 9.99943808e-01 -3.59703724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:329.92, Y:-51.21, Z:-3.60 [[ 9.66898973e-01 2.54953147e-01 1.02600437e-02 3.29921402e+02] [-2.54939201e-01 9.66953407e-01 -2.66688039e-03 -5.12124070e+01] [-1.06009138e-02 -3.70834399e-05 9.99943808e-01 -3.59545317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:329.98, Y:-51.23, Z:-3.60 [[ 9.66255788e-01 2.57380037e-01 1.02600437e-02 3.29979045e+02] [-2.57366228e-01 9.66310257e-01 -2.66688039e-03 -5.12289942e+01] [-1.06007873e-02 -6.37001399e-05 9.99943808e-01 -3.59514598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:330.04, Y:-51.25, Z:-3.59 [[ 9.63014544e-01 2.69254006e-01 1.02600756e-02 3.30036251e+02] [-2.69240870e-01 9.63069178e-01 -2.66675775e-03 -5.12462297e+01] [-1.05991978e-02 -1.94305181e-04 9.99943808e-01 -3.59421104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:330.09, Y:-51.26, Z:-3.60 [[ 9.59463046e-01 2.81647639e-01 1.02601393e-02 3.30093209e+02] [-2.81635211e-01 9.59517847e-01 -2.66651271e-03 -5.12577546e+01] [-1.05958038e-02 -3.31196083e-04 9.99943808e-01 -3.59699443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:330.15, Y:-51.26, Z:-3.59 [[ 9.56079351e-01 2.92928322e-01 1.02603016e-02 3.30152485e+02] [-2.92916547e-01 9.56134295e-01 -2.66588787e-03 -5.12644457e+01] [-1.05911403e-02 -4.56611777e-04 9.99943808e-01 -3.59109866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:330.21, Y:-51.27, Z:-3.59 [[ 9.54930435e-01 2.96652302e-01 1.02604255e-02 3.30209088e+02] [-2.96640746e-01 9.54985426e-01 -2.66541094e-03 -5.12718692e+01] [-1.05892571e-02 -4.98378252e-04 9.99943808e-01 -3.59403308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:330.27, Y:-51.27, Z:-3.60 [[ 9.54926116e-01 2.96666194e-01 1.02606942e-02 3.30268763e+02] [-2.96654650e-01 9.54981110e-01 -2.66437642e-03 -5.12730607e+01] [-1.05891995e-02 -4.99600004e-04 9.99943808e-01 -3.59708872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.505769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:330.33, Y:-51.27, Z:-3.60 [[ 9.54987148e-01 2.96469665e-01 1.02608435e-02 3.30328362e+02] [-2.96458116e-01 9.55042140e-01 -2.66380115e-03 -5.12724890e+01] [-1.05892742e-02 -4.98014474e-04 9.99943808e-01 -3.59584463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.565769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.39, Y:-51.27, Z:-3.60 [[ 9.56133638e-01 2.92751049e-01 1.02610242e-02 3.30388576e+02] [-2.92739294e-01 9.56188587e-01 -2.66310486e-03 -5.12731432e+01] [-1.05911010e-02 -4.57520841e-04 9.99943808e-01 -3.59754746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.45, Y:-51.28, Z:-3.60 [[ 9.57003156e-01 2.89895958e-01 1.02612146e-02 3.30445432e+02] [-2.89884046e-01 9.57058071e-01 -2.66237090e-03 -5.12804333e+01] [-1.05923889e-02 -4.26665059e-04 9.99943808e-01 -3.59720306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.685769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:330.50, Y:-51.28, Z:-3.60 [[ 9.58248083e-01 2.85753936e-01 1.02615464e-02 3.30504700e+02] [-2.85741801e-01 9.58302949e-01 -2.66109144e-03 -5.12830376e+01] [-1.05940876e-02 -3.82166994e-04 9.99943808e-01 -3.59603210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.56, Y:-51.29, Z:-3.60 [[ 9.58724680e-01 2.84150814e-01 1.02617360e-02 3.30562108e+02] [-2.84138594e-01 9.58779527e-01 -2.66036011e-03 -5.12918844e+01] [-1.05946859e-02 -3.65202361e-04 9.99943808e-01 -3.59527661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:330.62, Y:-51.30, Z:-3.60 [[ 9.59402649e-01 2.81853244e-01 1.02618929e-02 3.30620180e+02] [-2.81840900e-01 9.59457468e-01 -2.65975487e-03 -5.12992066e+01] [-1.05955103e-02 -3.40445266e-04 9.99943808e-01 -3.59721566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.865769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:330.68, Y:-51.31, Z:-3.60 [[ 9.60949018e-01 2.76535125e-01 1.02620777e-02 3.30676927e+02] [-2.76522485e-01 9.61003769e-01 -2.65904168e-03 -5.13107318e+01] [-1.05972138e-02 -2.82491740e-04 9.99943808e-01 -3.59886061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.925769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:330.73, Y:-51.32, Z:-3.60 [[ 9.62511137e-01 2.71047960e-01 1.02622639e-02 3.30732997e+02] [-2.71035015e-01 9.62565818e-01 -2.65832291e-03 -5.13236647e+01] [-1.05986374e-02 -2.22767445e-04 9.99943808e-01 -3.59726890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.79, Y:-51.34, Z:-3.60 [[ 9.64626282e-01 2.63421367e-01 1.02624796e-02 3.30788189e+02] [-2.63407999e-01 9.64680861e-01 -2.65749005e-03 -5.13369435e+01] [-1.06000573e-02 -1.39734464e-04 9.99943808e-01 -3.59823250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.045769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.84, Y:-51.36, Z:-3.60 [[ 9.66911855e-01 2.54904182e-01 1.02626937e-02 3.30843243e+02] [-2.54890342e-01 9.66966316e-01 -2.65666276e-03 -5.13558499e+01] [-1.06008736e-02 -4.71027999e-05 9.99943808e-01 -3.59994074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:-51.38, Z:-3.61 [[ 9.69039319e-01 2.46693073e-01 1.02628770e-02 3.30897078e+02] [-2.46678779e-01 9.69093662e-01 -2.65595453e-03 -5.13786079e+01] [-1.06008947e-02 4.20903941e-05 9.99943808e-01 -3.60618792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:-51.40, Z:-3.60 [[ 9.69957483e-01 2.43057916e-01 1.02630292e-02 3.30951998e+02] [-2.43043424e-01 9.70011775e-01 -2.65536635e-03 -5.14002715e+01] [-1.06006670e-02 8.12306975e-05 9.99943808e-01 -3.60484273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.225769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:331.00, Y:-51.43, Z:-3.60 [[ 9.70083337e-01 2.42555122e-01 1.02631517e-02 3.31004652e+02] [-2.42540607e-01 9.70137622e-01 -2.65489279e-03 -5.14253877e+01] [-1.06006274e-02 8.62362111e-05 9.99943808e-01 -3.60488368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.06, Y:-51.45, Z:-3.61 [[ 9.68865021e-01 2.47376704e-01 1.02634202e-02 3.31057841e+02] [-2.47362471e-01 9.68919380e-01 -2.65385420e-03 -5.14524131e+01] [-1.06009285e-02 3.24415110e-05 9.99943808e-01 -3.61422933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.11, Y:-51.48, Z:-3.60 [[ 9.66558294e-01 2.56241534e-01 1.02635389e-02 3.31111972e+02] [-2.56227804e-01 9.66612783e-01 -2.65339506e-03 -5.14777758e+01] [-1.06007780e-02 -6.51430404e-05 9.99943808e-01 -3.60481485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:331.17, Y:-51.50, Z:-3.60 [[ 9.64221151e-01 2.64900414e-01 1.02636599e-02 3.31167457e+02] [-2.64887178e-01 9.64275762e-01 -2.65292700e-03 -5.14994081e+01] [-1.05997600e-02 -1.60703593e-04 9.99943808e-01 -3.60259660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.22, Y:-51.52, Z:-3.60 [[ 9.60992181e-01 2.76385028e-01 1.02637848e-02 3.31221948e+02] [-2.76372450e-01 9.61046947e-01 -2.65244375e-03 -5.15198055e+01] [-1.05970748e-02 -2.87649651e-04 9.99943808e-01 -3.60102996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.28, Y:-51.54, Z:-3.60 [[ 9.59071859e-01 2.82976715e-01 1.02639384e-02 3.31277393e+02] [-2.82964519e-01 9.59126711e-01 -2.65184931e-03 -5.15370627e+01] [-1.05948291e-02 -3.61016350e-04 9.99943808e-01 -3.60167292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.33, Y:-51.55, Z:-3.61 [[ 9.58160645e-01 2.86046895e-01 1.02641199e-02 3.31335000e+02] [-2.86034883e-01 9.58215538e-01 -2.65114655e-03 -5.15492433e+01] [-1.05935914e-02 -3.95672047e-04 9.99943808e-01 -3.60529254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.39, Y:-51.56, Z:-3.60 [[ 9.57461960e-01 2.88376907e-01 1.02642394e-02 3.31392438e+02] [-2.88365033e-01 9.57516883e-01 -2.65068383e-03 -5.15607208e+01] [-1.05925785e-02 -4.21918807e-04 9.99943808e-01 -3.60247926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.45, Y:-51.57, Z:-3.61 [[ 9.55919741e-01 2.93448617e-01 1.02643584e-02 3.31451008e+02] [-2.93437040e-01 9.55974728e-01 -2.65022281e-03 -5.15698799e+01] [-1.05901715e-02 -4.78542657e-04 9.99943808e-01 -3.60881743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:331.51, Y:-51.58, Z:-3.61 [[ 9.55449801e-01 2.94975114e-01 1.02644800e-02 3.31508804e+02] [-2.94963629e-01 9.55504807e-01 -2.64975209e-03 -5.15756198e+01] [-1.05893709e-02 -4.95943152e-04 9.99943808e-01 -3.61253527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.57, Y:-51.58, Z:-3.61 [[ 9.56668348e-01 2.90998815e-01 1.02646296e-02 3.31567249e+02] [-2.90987108e-01 9.56723306e-01 -2.64917229e-03 -5.15826984e+01] [-1.05913164e-02 -4.52495601e-04 9.99943808e-01 -3.60680634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.62, Y:-51.59, Z:-3.61 [[ 9.58420303e-01 2.85175660e-01 1.02647821e-02 3.31624241e+02] [-2.85163625e-01 9.58475191e-01 -2.64858142e-03 -5.15939505e+01] [-1.05938499e-02 -3.88688256e-04 9.99943808e-01 -3.60671591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.68, Y:-51.61, Z:-3.61 [[ 9.60342146e-01 2.78635233e-01 1.02649672e-02 3.31681332e+02] [-2.78622832e-01 9.60396952e-01 -2.64786359e-03 -5.16052095e+01] [-1.05962313e-02 -3.17199240e-04 9.99943808e-01 -3.60992202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.74, Y:-51.62, Z:-3.60 [[ 9.61092904e-01 2.76034522e-01 1.02651207e-02 3.31738316e+02] [-2.76021979e-01 9.61147678e-01 -2.64726835e-03 -5.16191457e+01] [-1.05970344e-02 -2.89128118e-04 9.99943808e-01 -3.60478435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:-51.63, Z:-3.60 [[ 9.61047056e-01 2.76194102e-01 1.02652449e-02 3.31794731e+02] [-2.76181573e-01 9.61101833e-01 -2.64678663e-03 -5.16319143e+01] [-1.05969726e-02 -2.91384996e-04 9.99943808e-01 -3.60197475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.85, Y:-51.64, Z:-3.61 [[ 9.59524672e-01 2.81437425e-01 1.02654324e-02 3.31852539e+02] [-2.81425203e-01 9.59579519e-01 -2.64605920e-03 -5.16413660e+01] [-1.05951988e-02 -3.49992322e-04 9.99943808e-01 -3.60554972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.91, Y:-51.65, Z:-3.61 [[ 9.59666152e-01 2.80954611e-01 1.02656207e-02 3.31907662e+02] [-2.80942370e-01 9.59720994e-01 -2.64532851e-03 -5.16543017e+01] [-1.05953490e-02 -3.45415586e-04 9.99943808e-01 -3.60593216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.96, Y:-51.67, Z:-3.61 [[ 9.61657904e-01 2.74059639e-01 1.02659484e-02 3.31962775e+02] [-2.74047017e-01 9.61712660e-01 -2.64405623e-03 -5.16713693e+01] [-1.05975217e-02 -2.70674965e-04 9.99943808e-01 -3.60990966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.02, Y:-51.69, Z:-3.61 [[ 9.63093050e-01 2.68972829e-01 1.02661331e-02 3.32018462e+02] [-2.68959927e-01 9.63147741e-01 -2.64333896e-03 -5.16903095e+01] [-1.05987893e-02 -2.15397023e-04 9.99943808e-01 -3.61383349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.08, Y:-51.71, Z:-3.62 [[ 9.62243760e-01 2.71995499e-01 1.02662556e-02 3.32075172e+02] [-2.71982773e-01 9.62298491e-01 -2.64286303e-03 -5.17058502e+01] [-1.05980491e-02 -2.49166208e-04 9.99943808e-01 -3.61667175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.13, Y:-51.72, Z:-3.62 [[ 9.60438407e-01 2.78303195e-01 1.02663810e-02 3.32131462e+02] [-2.78290834e-01 9.60493222e-01 -2.64237575e-03 -5.17190982e+01] [-1.05961710e-02 -3.19200587e-04 9.99943808e-01 -3.61768447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.19, Y:-51.73, Z:-3.62 [[ 9.58556628e-01 2.84717031e-01 1.02665675e-02 3.32189913e+02] [-2.84705044e-01 9.58611527e-01 -2.64165090e-03 -5.17290802e+01] [-1.05937730e-02 -3.90771584e-04 9.99943808e-01 -3.61662402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.25, Y:-51.74, Z:-3.62 [[ 9.58192951e-01 2.85938565e-01 1.02666900e-02 3.32248152e+02] [-2.85926653e-01 9.58247866e-01 -2.64117482e-03 -5.17363249e+01] [-1.05932475e-02 -4.04765221e-04 9.99943808e-01 -3.61811545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.31, Y:-51.74, Z:-3.62 [[ 9.58467987e-01 2.85015279e-01 1.02668709e-02 3.32305209e+02] [-2.85003322e-01 9.58522892e-01 -2.64047141e-03 -5.17438535e+01] [-1.05936055e-02 -3.95285004e-04 9.99943808e-01 -3.61900039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.36, Y:-51.75, Z:-3.62 [[ 9.58702015e-01 2.84227082e-01 1.02670806e-02 3.32363207e+02] [-2.84215089e-01 9.58756912e-01 -2.63965596e-03 -5.17532551e+01] [-1.05938962e-02 -3.87415731e-04 9.99943808e-01 -3.62174811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.42, Y:-51.76, Z:-3.62 [[ 9.59558850e-01 2.81320801e-01 1.02674704e-02 3.32421456e+02] [-2.81308657e-01 9.59613714e-01 -2.63813883e-03 -5.17607500e+01] [-1.05949687e-02 -3.56878846e-04 9.99943808e-01 -3.62102186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.48, Y:-51.77, Z:-3.63 [[ 9.60314309e-01 2.78731061e-01 1.02676202e-02 3.32479146e+02] [-2.78718776e-01 9.60369141e-01 -2.63755553e-03 -5.17673723e+01] [-1.05958743e-02 -3.28896223e-04 9.99943808e-01 -3.62510050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.54, Y:-51.78, Z:-3.63 [[ 9.61031391e-01 2.76248498e-01 1.02680853e-02 3.32535575e+02] [-2.76236090e-01 9.61086195e-01 -2.63574372e-03 -5.17802107e+01] [-1.05966353e-02 -3.03383294e-04 9.99943808e-01 -3.62670986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.59, Y:-51.79, Z:-3.62 [[ 9.62823279e-01 2.69936839e-01 1.02682293e-02 3.32593089e+02] [-2.69924077e-01 9.62878003e-01 -2.63518260e-03 -5.17913461e+01] [-1.05983850e-02 -2.34427173e-04 9.99943808e-01 -3.62326094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.65, Y:-51.81, Z:-3.63 [[ 9.64022101e-01 2.65623689e-01 1.02686290e-02 3.32649790e+02] [-2.65610700e-01 9.64076771e-01 -2.63362422e-03 -5.18062205e+01] [-1.05992997e-02 -1.88585775e-04 9.99943808e-01 -3.62731674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.71, Y:-51.82, Z:-3.63 [[ 9.64127608e-01 2.65240474e-01 1.02687484e-02 3.32707554e+02] [-2.65227468e-01 9.64182274e-01 -2.63315837e-03 -5.18193328e+01] [-1.05993654e-02 -1.84853476e-04 9.99943808e-01 -3.62532235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.76, Y:-51.83, Z:-3.63 [[ 9.64321874e-01 2.64533313e-01 1.02688670e-02 3.32763215e+02] [-2.64520271e-01 9.64376532e-01 -2.63269583e-03 -5.18341311e+01] [-1.05994901e-02 -1.77557317e-04 9.99943808e-01 -3.62654255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:-51.85, Z:-3.62 [[ 9.65123324e-01 2.61594181e-01 1.02690443e-02 3.32819483e+02] [-2.61580981e-01 9.65177944e-01 -2.63200419e-03 -5.18500347e+01] [-1.05999720e-02 -1.45978045e-04 9.99943808e-01 -3.62369229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.87, Y:-51.87, Z:-3.62 [[ 9.66059917e-01 2.58113893e-01 1.02691691e-02 3.32873867e+02] [-2.58100501e-01 9.66114489e-01 -2.63151722e-03 -5.18710906e+01] [-1.06004242e-02 -1.08274381e-04 9.99943808e-01 -3.62344215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.93, Y:-51.89, Z:-3.63 [[ 9.66515241e-01 2.56403644e-01 1.02693570e-02 3.32928333e+02] [-2.56390163e-01 9.66569792e-01 -2.63078381e-03 -5.18915368e+01] [-1.06005928e-02 -9.02694576e-05 9.99943808e-01 -3.62563663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.98, Y:-51.91, Z:-3.62 [[ 9.66586961e-01 2.56133135e-01 1.02695471e-02 3.32983847e+02] [-2.56119647e-01 9.66641510e-01 -2.63004135e-03 -5.19085363e+01] [-1.06006113e-02 -8.80691064e-05 9.99943808e-01 -3.62428296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.04, Y:-51.93, Z:-3.63 [[ 9.67171348e-01 2.53917539e-01 1.02697036e-02 3.33038411e+02] [-2.53903932e-01 9.67225868e-01 -2.62943031e-03 -5.19279946e+01] [-1.06007814e-02 -6.44084596e-05 9.99943808e-01 -3.62676298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:-51.95, Z:-3.63 [[ 9.67306606e-01 2.53401774e-01 1.02698901e-02 3.33093198e+02] [-2.53388146e-01 9.67361120e-01 -2.62870171e-03 -5.19464730e+01] [-1.06008100e-02 -5.95078758e-05 9.99943808e-01 -3.62781891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.15, Y:-51.96, Z:-3.63 [[ 9.67133872e-01 2.54060229e-01 1.02700759e-02 3.33147318e+02] [-2.54046646e-01 9.67188397e-01 -2.62797526e-03 -5.19630478e+01] [-1.06007623e-02 -6.74744609e-05 9.99943808e-01 -3.62702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.20, Y:-51.98, Z:-3.63 [[ 9.67000537e-01 2.54567247e-01 1.02702903e-02 3.33202947e+02] [-2.54553702e-01 9.67055071e-01 -2.62713726e-03 -5.19784903e+01] [-1.06007194e-02 -7.38972725e-05 9.99943808e-01 -3.62888847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.26, Y:-51.99, Z:-3.63 [[ 9.66814321e-01 2.55273550e-01 1.02704765e-02 3.33258069e+02] [-2.55260052e-01 9.66868868e-01 -2.62640907e-03 -5.19942456e+01] [-1.06006568e-02 -8.23924639e-05 9.99943808e-01 -3.63447295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:-52.01, Z:-3.63 [[ 9.66889367e-01 2.54989147e-01 1.02706302e-02 3.33313827e+02] [-2.54975640e-01 9.66943912e-01 -2.62580802e-03 -5.20083672e+01] [-1.06006759e-02 -7.98946453e-05 9.99943808e-01 -3.63494435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:-52.03, Z:-3.63 [[ 9.67689350e-01 2.51936168e-01 1.02708162e-02 3.33368786e+02] [-2.51922495e-01 9.67743853e-01 -2.62508026e-03 -5.20251447e+01] [-1.06008719e-02 -4.71874359e-05 9.99943808e-01 -3.63219892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.42, Y:-52.04, Z:-3.63 [[ 9.68959406e-01 2.47006432e-01 1.02709697e-02 3.33424486e+02] [-2.46992489e-01 9.69013840e-01 -2.62447952e-03 -5.20437884e+01] [-1.06009751e-02 6.16174878e-06 9.99943808e-01 -3.63211652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.48, Y:-52.06, Z:-3.63 [[ 9.69605859e-01 2.44456505e-01 1.02710849e-02 3.33479643e+02] [-2.44442423e-01 9.69660258e-01 -2.62402865e-03 -5.20622479e+01] [-1.06009237e-02 3.35846691e-05 9.99943808e-01 -3.62938449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.54, Y:-52.08, Z:-3.63 [[ 9.70123711e-01 2.42393247e-01 1.02712688e-02 3.33535215e+02] [-2.42379057e-01 9.70178082e-01 -2.62330840e-03 -5.20809724e+01] [-1.06008321e-02 5.53932208e-05 9.99943808e-01 -3.62980387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.59, Y:-52.10, Z:-3.64 [[ 9.70520101e-01 2.40801230e-01 1.02713949e-02 3.33589013e+02] [-2.40786956e-01 9.70574450e-01 -2.62281461e-03 -5.21022380e+01] [-1.06007305e-02 7.22763792e-05 9.99943808e-01 -3.63934320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.64, Y:-52.12, Z:-3.64 [[ 9.70338316e-01 2.41532706e-01 1.02715530e-02 3.33644906e+02] [-2.41518480e-01 9.70392677e-01 -2.62219531e-03 -5.21223201e+01] [-1.06007858e-02 6.36467088e-05 9.99943808e-01 -3.63620534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.70, Y:-52.14, Z:-3.63 [[ 9.68845847e-01 2.47451447e-01 1.02716653e-02 3.33700851e+02] [-2.47437557e-01 9.68900295e-01 -2.62175561e-03 -5.21416037e+01] [-1.06009767e-02 -1.51873117e-06 9.99943808e-01 -3.63212126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.76, Y:-52.16, Z:-3.64 [[ 9.66768976e-01 2.55445175e-01 1.02717802e-02 3.33757431e+02] [-2.55431741e-01 9.66823538e-01 -2.62130522e-03 -5.21581545e+01] [-1.06005986e-02 -8.95421326e-05 9.99943808e-01 -3.63566075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.81, Y:-52.17, Z:-3.64 [[ 9.65440090e-01 2.60422581e-01 1.02719038e-02 3.33813809e+02] [-2.60409433e-01 9.65494722e-01 -2.62082072e-03 -5.21727374e+01] [-1.05999898e-02 -1.44655262e-04 9.99943808e-01 -3.63686947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.87, Y:-52.18, Z:-3.64 [[ 9.64195335e-01 2.64994038e-01 1.02720881e-02 3.33871672e+02] [-2.64981157e-01 9.64250031e-01 -2.62009803e-03 -5.21845524e+01] [-1.05991717e-02 -1.95623505e-04 9.99943808e-01 -3.64083979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.93, Y:-52.20, Z:-3.64 [[ 9.63939699e-01 2.65922430e-01 1.02722109e-02 3.33928600e+02] [-2.65909607e-01 9.63994408e-01 -2.61961658e-03 -5.21960816e+01] [-1.05989687e-02 -2.06327149e-04 9.99943808e-01 -3.63885065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.99, Y:-52.21, Z:-3.63 [[ 9.64199739e-01 2.64978003e-01 1.02723622e-02 3.33985444e+02] [-2.64965132e-01 9.64254437e-01 -2.61902339e-03 -5.22107256e+01] [-1.05991544e-02 -1.96556137e-04 9.99943808e-01 -3.63477625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.04, Y:-52.22, Z:-3.63 [[ 9.63729641e-01 2.66682685e-01 1.02724839e-02 3.34042636e+02] [-2.66669916e-01 9.63784363e-01 -2.61854577e-03 -5.22192132e+01] [-1.05987802e-02 -2.15792248e-04 9.99943808e-01 -3.63441611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.10, Y:-52.22, Z:-3.64 [[ 9.61957940e-01 2.73004384e-01 1.02726650e-02 3.34101129e+02] [-2.72991983e-01 9.62012746e-01 -2.61783519e-03 -5.22248135e+01] [-1.05971152e-02 -2.86107839e-04 9.99943808e-01 -3.63549376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:334.16, Y:-52.23, Z:-3.64 [[ 9.60337534e-01 2.78650838e-01 1.02728512e-02 3.34160353e+02] [-2.78638767e-01 9.60392414e-01 -2.61710439e-03 -5.22289288e+01] [-1.05952267e-02 -3.49111002e-04 9.99943808e-01 -3.63514261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:334.22, Y:-52.24, Z:-3.64 [[ 9.60690522e-01 2.77431407e-01 1.02730371e-02 3.34216918e+02] [-2.77419274e-01 9.60745388e-01 -2.61637429e-03 -5.22366939e+01] [-1.05956374e-02 -3.36412511e-04 9.99943808e-01 -3.63554577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.27, Y:-52.25, Z:-3.64 [[ 9.62651557e-01 2.70548406e-01 1.02732515e-02 3.34274533e+02] [-2.70535889e-01 9.62706337e-01 -2.61553207e-03 -5.22452314e+01] [-1.05977524e-02 -2.61437224e-04 9.99943808e-01 -3.64234370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.33, Y:-52.26, Z:-3.64 [[ 9.63836828e-01 2.66294997e-01 1.02734021e-02 3.34331745e+02] [-2.66282245e-01 9.63891554e-01 -2.61494074e-03 -5.22575030e+01] [-1.05987911e-02 -2.15248371e-04 9.99943808e-01 -3.64321036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.39, Y:-52.27, Z:-3.64 [[ 9.64223601e-01 2.64891111e-01 1.02735851e-02 3.34387053e+02] [-2.64878287e-01 9.64278310e-01 -2.61422122e-03 -5.22719777e+01] [-1.05990793e-02 -2.00555835e-04 9.99943808e-01 -3.64453413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.44, Y:-52.29, Z:-3.64 [[ 9.65504255e-01 2.60184517e-01 1.02737956e-02 3.34443056e+02] [-2.60171435e-01 9.65558903e-01 -2.61339376e-03 -5.22908432e+01] [-1.05999194e-02 -1.49705357e-04 9.99943808e-01 -3.64459327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.945769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:334.50, Y:-52.31, Z:-3.65 [[ 9.67934992e-01 2.50990634e-01 1.02739229e-02 3.34497245e+02] [-2.50977038e-01 9.67989514e-01 -2.61289342e-03 -5.23120336e+01] [-1.06008614e-02 -4.94077613e-05 9.99943808e-01 -3.64508871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.55, Y:-52.33, Z:-3.65 [[ 9.69157159e-01 2.46229252e-01 1.02740804e-02 3.34551636e+02] [-2.46215395e-01 9.69211615e-01 -2.61227389e-03 -5.23330404e+01] [-1.06009763e-02 2.06717559e-06 9.99943808e-01 -3.64814433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.065769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:334.61, Y:-52.35, Z:-3.64 [[ 9.69492977e-01 2.44903671e-01 1.02742367e-02 3.34607002e+02] [-2.44889746e-01 9.69547416e-01 -2.61165888e-03 -5.23549039e+01] [-1.06009645e-02 1.59297215e-05 9.99943808e-01 -3.64314949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.125769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:-52.38, Z:-3.64 [[ 9.68777937e-01 2.47717069e-01 1.02743623e-02 3.34661520e+02] [-2.47703307e-01 9.68832418e-01 -2.61116492e-03 -5.23788830e+01] [-1.06009654e-02 -1.53545475e-05 9.99943808e-01 -3.64172867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.72, Y:-52.40, Z:-3.64 [[ 9.67616250e-01 2.52216627e-01 1.02744868e-02 3.34716022e+02] [-2.52203124e-01 9.67670796e-01 -2.61067486e-03 -5.24014838e+01] [-1.06007764e-02 -6.51262494e-05 9.99943808e-01 -3.64226819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:-52.42, Z:-3.65 [[ 9.65246083e-01 2.61140635e-01 1.02746117e-02 3.34772027e+02] [-2.61127641e-01 9.65300752e-01 -2.61018317e-03 -5.24195093e+01] [-1.05997153e-02 -1.63516032e-04 9.99943808e-01 -3.64522659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.83, Y:-52.44, Z:-3.65 [[ 9.63167732e-01 2.68704950e-01 1.02747353e-02 3.34827437e+02] [-2.68692391e-01 9.63222502e-01 -2.60969637e-03 -5.24363824e+01] [-1.05980946e-02 -2.47167873e-04 9.99943808e-01 -3.65010340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.365769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:334.88, Y:-52.45, Z:-3.65 [[ 9.62321163e-01 2.71721190e-01 1.02748881e-02 3.34884633e+02] [-2.71708809e-01 9.62375974e-01 -2.60909487e-03 -5.24517960e+01] [-1.05972518e-02 -2.80990397e-04 9.99943808e-01 -3.64674888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:334.94, Y:-52.46, Z:-3.64 [[ 9.60828486e-01 2.76953144e-01 1.02750105e-02 3.34941682e+02] [-2.76941066e-01 9.60883365e-01 -2.60861255e-03 -5.24637341e+01] [-1.05955501e-02 -3.39143116e-04 9.99943808e-01 -3.64369249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.485769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.00, Y:-52.47, Z:-3.65 [[ 9.59476528e-01 2.81601161e-01 1.02751919e-02 3.34998044e+02] [-2.81589356e-01 9.59531466e-01 -2.60789782e-03 -5.24719077e+01] [-1.05937570e-02 -3.91167933e-04 9.99943808e-01 -3.65169660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.545769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:335.06, Y:-52.48, Z:-3.65 [[ 9.59176376e-01 2.82621823e-01 1.02754737e-02 3.35056263e+02] [-2.82610089e-01 9.59231329e-01 -2.60678703e-03 -5.24826759e+01] [-1.05932912e-02 -4.03584016e-04 9.99943808e-01 -3.65002861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.11, Y:-52.49, Z:-3.65 [[ 9.58666814e-01 2.84345481e-01 1.02755925e-02 3.35113381e+02] [-2.84333851e-01 9.58721789e-01 -2.60631895e-03 -5.24885585e+01] [-1.05925294e-02 -4.23107285e-04 9.99943808e-01 -3.64838377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.665769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.17, Y:-52.50, Z:-3.65 [[ 9.59870759e-01 2.80254411e-01 1.02757981e-02 3.35171348e+02] [-2.80242555e-01 9.59925686e-01 -2.60550800e-03 -5.24962136e+01] [-1.05942076e-02 -3.78764965e-04 9.99943808e-01 -3.65090255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.23, Y:-52.51, Z:-3.65 [[ 9.61547612e-01 2.74445978e-01 1.02759716e-02 3.35229078e+02] [-2.74433798e-01 9.61602468e-01 -2.60482353e-03 -5.25055962e+01] [-1.05962830e-02 -3.15412067e-04 9.99943808e-01 -3.65042190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.785769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.29, Y:-52.52, Z:-3.65 [[ 9.64445800e-01 2.64080859e-01 1.02761446e-02 3.35286157e+02] [-2.64068096e-01 9.64500523e-01 -2.60414078e-03 -5.25173315e+01] [-1.05990506e-02 -2.02049300e-04 9.99943808e-01 -3.64875068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.845769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.34, Y:-52.53, Z:-3.65 [[ 9.66350148e-01 2.57024880e-01 1.02763168e-02 3.35343308e+02] [-2.57011725e-01 9.66404778e-01 -2.60346125e-03 -5.25284977e+01] [-1.06002359e-02 -1.25278731e-04 9.99943808e-01 -3.65160813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.40, Y:-52.54, Z:-3.65 [[ 9.66711259e-01 2.55663323e-01 1.02764946e-02 3.35398868e+02] [-2.55650098e-01 9.66765873e-01 -2.60275906e-03 -5.25414860e+01] [-1.06003943e-02 -1.11070369e-04 9.99943808e-01 -3.65121798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.965769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.46, Y:-52.55, Z:-3.65 [[ 9.66508933e-01 2.56427126e-01 1.02767003e-02 3.35455529e+02] [-2.56413953e-01 9.66563559e-01 -2.60194663e-03 -5.25540004e+01] [-1.06002937e-02 -1.20284684e-04 9.99943808e-01 -3.65008444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.51, Y:-52.57, Z:-3.66 [[ 9.66137127e-01 2.57824431e-01 1.02768808e-02 3.35513362e+02] [-2.57811345e-01 9.66191774e-01 -2.60123344e-03 -5.25656865e+01] [-1.06000992e-02 -1.36348264e-04 9.99943808e-01 -3.65579061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.57, Y:-52.58, Z:-3.65 [[ 9.65999545e-01 2.58339433e-01 1.02770045e-02 3.35570161e+02] [-2.58326381e-01 9.66054200e-01 -2.60074473e-03 -5.25808211e+01] [-1.06000183e-02 -1.42503154e-04 9.99943808e-01 -3.65225112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.63, Y:-52.59, Z:-3.65 [[ 9.65095851e-01 2.61695204e-01 1.02771274e-02 3.35626430e+02] [-2.61682347e-01 9.65150552e-01 -2.60025884e-03 -5.25918117e+01] [-1.05994505e-02 -1.79843818e-04 9.99943808e-01 -3.65188747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.68, Y:-52.60, Z:-3.66 [[ 9.63044829e-01 2.69145003e-01 1.02773410e-02 3.35682306e+02] [-2.69132579e-01 9.63099630e-01 -2.59941453e-03 -5.26016967e+01] [-1.05977227e-02 -2.62614556e-04 9.99943808e-01 -3.65848733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:-52.61, Z:-3.66 [[ 9.61043468e-01 2.76206124e-01 1.02776647e-02 3.35741352e+02] [-2.76194115e-01 9.61098362e-01 -2.59813394e-03 -5.26090241e+01] [-1.05954672e-02 -3.41710856e-04 9.99943808e-01 -3.65724090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.80, Y:-52.62, Z:-3.66 [[ 9.59125063e-01 2.82795828e-01 1.02777865e-02 3.35798280e+02] [-2.82784202e-01 9.59180039e-01 -2.59765206e-03 -5.26170157e+01] [-1.05928528e-02 -4.14922453e-04 9.99943808e-01 -3.65600331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.86, Y:-52.62, Z:-3.66 [[ 9.58387492e-01 2.85285433e-01 1.02779967e-02 3.35856732e+02] [-2.85273958e-01 9.58442500e-01 -2.59682016e-03 -5.26226158e+01] [-1.05917038e-02 -4.43284841e-04 9.99943808e-01 -3.65561049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.445769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:335.91, Y:-52.63, Z:-3.66 [[ 9.57334309e-01 2.88799885e-01 1.02784722e-02 3.35913944e+02] [-2.88788633e-01 9.57389363e-01 -2.59493669e-03 -5.26289536e+01] [-1.05899174e-02 -4.84084008e-04 9.99943808e-01 -3.65954830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.97, Y:-52.64, Z:-3.65 [[ 9.58598715e-01 2.84574861e-01 1.02786773e-02 3.35971123e+02] [-2.84563375e-01 9.58653721e-01 -2.59412406e-03 -5.26381560e+01] [-1.05919147e-02 -4.38211108e-04 9.99943808e-01 -3.65490830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.565769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.03, Y:-52.65, Z:-3.66 [[ 9.60122921e-01 2.79389183e-01 1.02791417e-02 3.36027368e+02] [-2.79377419e-01 9.60177868e-01 -2.59228236e-03 -5.26513856e+01] [-1.05940601e-02 -3.82850374e-04 9.99943808e-01 -3.65676343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.625769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:336.08, Y:-52.66, Z:-3.66 [[ 9.61436323e-01 2.74835454e-01 1.02796037e-02 3.36082898e+02] [-2.74823449e-01 9.61491218e-01 -2.59044900e-03 -5.26638267e+01] [-1.05956960e-02 -3.34524393e-04 9.99943808e-01 -3.65799152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:336.14, Y:-52.68, Z:-3.66 [[ 9.61850820e-01 2.73381282e-01 1.02798041e-02 3.36137918e+02] [-2.73369203e-01 9.61905698e-01 -2.58965370e-03 -5.26766561e+01] [-1.05961650e-02 -3.19321316e-04 9.99943808e-01 -3.66091872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.19, Y:-52.69, Z:-3.66 [[ 9.63459179e-01 2.67657859e-01 1.02801144e-02 3.36193935e+02] [-2.67645467e-01 9.63513987e-01 -2.58842128e-03 -5.26923243e+01] [-1.05978453e-02 -2.57587784e-04 9.99943808e-01 -3.65807804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.25, Y:-52.71, Z:-3.66 [[ 9.65020033e-01 2.61974523e-01 1.02802969e-02 3.36248573e+02] [-2.61961816e-01 9.65074770e-01 -2.58769612e-03 -5.27101342e+01] [-1.05991657e-02 -1.95866661e-04 9.99943808e-01 -3.66292290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.30, Y:-52.73, Z:-3.66 [[ 9.66951538e-01 2.54752890e-01 1.02805086e-02 3.36303053e+02] [-2.54739783e-01 9.67006179e-01 -2.58685480e-03 -5.27327373e+01] [-1.06003241e-02 -1.17491311e-04 9.99943808e-01 -3.66040196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.36, Y:-52.75, Z:-3.66 [[ 9.67687126e-01 2.51944305e-01 1.02806921e-02 3.36357519e+02] [-2.51931047e-01 9.67741732e-01 -2.58612568e-03 -5.27526803e+01] [-1.06006144e-02 -8.74649795e-05 9.99943808e-01 -3.65891458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.41, Y:-52.78, Z:-3.66 [[ 9.67602724e-01 2.52268254e-01 1.02808802e-02 3.36411613e+02] [-2.52255022e-01 9.67657336e-01 -2.58537737e-03 -5.27759035e+01] [-1.06005778e-02 -9.17854825e-05 9.99943808e-01 -3.66261360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:-52.80, Z:-3.66 [[ 9.66080635e-01 2.58035861e-01 1.02810672e-02 3.36466795e+02] [-2.58022963e-01 9.66135327e-01 -2.58463366e-03 -5.27956211e+01] [-1.05998304e-02 -1.55786899e-04 9.99943808e-01 -3.66252612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.52, Y:-52.81, Z:-3.67 [[ 9.64256931e-01 2.64769458e-01 1.02812535e-02 3.36521451e+02] [-2.64756950e-01 9.64311714e-01 -2.58389219e-03 -5.28134864e+01] [-1.05984690e-02 -2.30497376e-04 9.99943808e-01 -3.66758350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.58, Y:-52.83, Z:-3.67 [[ 9.62471216e-01 2.71188951e-01 1.02815791e-02 3.36577314e+02] [-2.71176822e-01 9.62526084e-01 -2.58259619e-03 -5.28252627e+01] [-1.05966596e-02 -3.02451439e-04 9.99943808e-01 -3.66738650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.225769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.63, Y:-52.84, Z:-3.67 [[ 9.61275184e-01 2.75398449e-01 1.02817890e-02 3.36633959e+02] [-2.75386569e-01 9.61330106e-01 -2.58176029e-03 -5.28368093e+01] [-1.05952061e-02 -3.49684495e-04 9.99943808e-01 -3.66538182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.69, Y:-52.84, Z:-3.66 [[ 9.60854043e-01 2.76864209e-01 1.02819697e-02 3.36690270e+02] [-2.76852420e-01 9.60908984e-01 -2.58104018e-03 -5.28446900e+01] [-1.05946347e-02 -3.66585319e-04 9.99943808e-01 -3.66367746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.75, Y:-52.85, Z:-3.66 [[ 9.62154790e-01 2.72309449e-01 1.02821776e-02 3.36748217e+02] [-2.72297410e-01 9.62209677e-01 -2.58021204e-03 -5.28536525e+01] [-1.05962269e-02 -3.17246934e-04 9.99943808e-01 -3.66404415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.405769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:336.81, Y:-52.86, Z:-3.66 [[ 9.63660475e-01 2.66932131e-01 1.02823539e-02 3.36805434e+02] [-2.66919792e-01 9.63715295e-01 -2.57950903e-03 -5.28633175e+01] [-1.05978156e-02 -2.58792873e-04 9.99943808e-01 -3.66430083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:336.86, Y:-52.88, Z:-3.66 [[ 9.64809924e-01 2.62747181e-01 1.02825302e-02 3.36863070e+02] [-2.62734612e-01 9.64864692e-01 -2.57880620e-03 -5.28760741e+01] [-1.05988244e-02 -2.13518771e-04 9.99943808e-01 -3.65935686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.92, Y:-52.89, Z:-3.67 [[ 9.65401924e-01 2.60563604e-01 1.02826489e-02 3.36919799e+02] [-2.60550916e-01 9.65456665e-01 -2.57833286e-03 -5.28895371e+01] [-1.05992716e-02 -1.90026083e-04 9.99943808e-01 -3.66525486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:336.98, Y:-52.90, Z:-3.67 [[ 9.65494941e-01 2.60218723e-01 1.02827670e-02 3.36975393e+02] [-2.60206021e-01 9.65549678e-01 -2.57786156e-03 -5.29008144e+01] [-1.05993302e-02 -1.86725598e-04 9.99943808e-01 -3.67077442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.03, Y:-52.91, Z:-3.67 [[ 9.65019885e-01 2.61974966e-01 1.02829723e-02 3.37032011e+02] [-2.61962372e-01 9.65074647e-01 -2.57704250e-03 -5.29130721e+01] [-1.05989565e-02 -2.06854560e-04 9.99943808e-01 -3.67059042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.09, Y:-52.92, Z:-3.67 [[ 9.64585948e-01 2.63568219e-01 1.02831534e-02 3.37089108e+02] [-2.63555723e-01 9.64640733e-01 -2.57631973e-03 -5.29205432e+01] [-1.05985846e-02 -2.25102114e-04 9.99943808e-01 -3.67159405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.15, Y:-52.93, Z:-3.67 [[ 9.64642499e-01 2.63361163e-01 1.02833620e-02 3.37145546e+02] [-2.63348664e-01 9.64697283e-01 -2.57548688e-03 -5.29326386e+01] [-1.05986146e-02 -2.23685540e-04 9.99943808e-01 -3.67288565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.20, Y:-52.94, Z:-3.67 [[ 9.66077142e-01 2.58048829e-01 1.02838089e-02 3.37202617e+02] [-2.58036048e-01 9.66131862e-01 -2.57370088e-03 -5.29422951e+01] [-1.05996560e-02 -1.67199829e-04 9.99943808e-01 -3.67183735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.26, Y:-52.95, Z:-3.67 [[ 9.67582380e-01 2.52346147e-01 1.02839918e-02 3.37258654e+02] [-2.52333051e-01 9.67637025e-01 -2.57297000e-03 -5.29541185e+01] [-1.06004503e-02 -1.05430588e-04 9.99943808e-01 -3.66988679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.31, Y:-52.97, Z:-3.67 [[ 9.68536633e-01 2.48658454e-01 1.02842031e-02 3.37314910e+02] [-2.48645159e-01 9.68591229e-01 -2.57212514e-03 -5.29682065e+01] [-1.06007696e-02 -6.59198982e-05 9.99943808e-01 -3.66762505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.37, Y:-52.98, Z:-3.67 [[ 9.68143249e-01 2.50185694e-01 1.02843829e-02 3.37370281e+02] [-2.50172493e-01 9.68197868e-01 -2.57140610e-03 -5.29815858e+01] [-1.06006466e-02 -8.33802525e-05 9.99943808e-01 -3.66563253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.43, Y:-53.00, Z:-3.67 [[ 9.67490781e-01 2.52697079e-01 1.02847103e-02 3.37427157e+02] [-2.52684034e-01 9.67545437e-01 -2.57009576e-03 -5.29959994e+01] [-1.06003803e-02 -1.12238140e-04 9.99943808e-01 -3.67019679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.48, Y:-53.01, Z:-3.67 [[ 9.67725274e-01 2.51797571e-01 1.02848340e-02 3.37482672e+02] [-2.51784480e-01 9.67779920e-01 -2.56960087e-03 -5.30091456e+01] [-1.06004751e-02 -1.02893868e-04 9.99943808e-01 -3.67387980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.54, Y:-53.02, Z:-3.67 [[ 9.68526821e-01 2.48696626e-01 1.02851696e-02 3.37539383e+02] [-2.48683375e-01 9.68581428e-01 -2.56825697e-03 -5.30218191e+01] [-1.06007411e-02 -7.03249133e-05 9.99943808e-01 -3.67334514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.59, Y:-53.04, Z:-3.67 [[ 9.69778071e-01 2.43771829e-01 1.02853506e-02 3.37594544e+02] [-2.43758308e-01 9.69832612e-01 -2.56753190e-03 -5.30388451e+01] [-1.06009603e-02 -1.72035167e-05 9.99943808e-01 -3.67240422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.65, Y:-53.06, Z:-3.67 [[ 9.70655153e-01 2.40255659e-01 1.02855329e-02 3.37649641e+02] [-2.40241948e-01 9.70709646e-01 -2.56680107e-03 -5.30586512e+01] [-1.06009545e-02 2.04622143e-05 9.99943808e-01 -3.67339759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.70, Y:-53.08, Z:-3.67 [[ 9.70932468e-01 2.39132488e-01 1.02857192e-02 3.37703580e+02] [-2.39118722e-01 9.70986947e-01 -2.56605448e-03 -5.30785288e+01] [-1.06009261e-02 3.19575792e-05 9.99943808e-01 -3.67252957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.76, Y:-53.10, Z:-3.67 [[ 9.70598071e-01 2.40486136e-01 1.02860442e-02 3.37758164e+02] [-2.40472460e-01 9.70652573e-01 -2.56475089e-03 -5.31020617e+01] [-1.06009623e-02 1.58319068e-05 9.99943808e-01 -3.67448649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.81, Y:-53.12, Z:-3.68 [[ 9.69919089e-01 2.43210105e-01 1.02861659e-02 3.37812281e+02] [-2.43196587e-01 9.69973631e-01 -2.56426280e-03 -5.31247349e+01] [-1.06009643e-02 -1.44329965e-05 9.99943808e-01 -3.67949608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.87, Y:-53.15, Z:-3.68 [[ 9.70602628e-01 2.40467730e-01 1.02863486e-02 3.37866124e+02] [-2.40454066e-01 9.70657133e-01 -2.56352993e-03 -5.31478722e+01] [-1.06009638e-02 1.47745520e-05 9.99943808e-01 -3.67772690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.92, Y:-53.17, Z:-3.67 [[ 9.71816397e-01 2.35514498e-01 1.02865329e-02 3.37920773e+02] [-2.35500564e-01 9.71870833e-01 -2.56278991e-03 -5.31710427e+01] [-1.06007555e-02 6.80769513e-05 9.99943808e-01 -3.67499339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:337.98, Y:-53.19, Z:-3.67 [[ 9.71858650e-01 2.35340071e-01 1.02866543e-02 3.37976357e+02] [-2.35326132e-01 9.71913086e-01 -2.56230254e-03 -5.31895862e+01] [-1.06007464e-02 6.94773215e-05 9.99943808e-01 -3.67425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.03, Y:-53.21, Z:-3.68 [[ 9.70325967e-01 2.41581662e-01 1.02867759e-02 3.38031238e+02] [-2.41568078e-01 9.70380493e-01 -2.56181443e-03 -5.32066591e+01] [-1.06009740e-02 8.38377863e-07 9.99943808e-01 -3.67851121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.785769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.09, Y:-53.22, Z:-3.68 [[ 9.69497748e-01 2.44884248e-01 1.02869509e-02 3.38086707e+02] [-2.44870858e-01 9.69552321e-01 -2.56111159e-03 -5.32245347e+01] [-1.06009130e-02 -3.59825584e-05 9.99943808e-01 -3.68197452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.845769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:338.14, Y:-53.24, Z:-3.68 [[ 9.70279051e-01 2.41770010e-01 1.02871312e-02 3.38143042e+02] [-2.41756452e-01 9.70333583e-01 -2.56038700e-03 -5.32430459e+01] [-1.06009737e-02 -2.69047151e-06 9.99943808e-01 -3.67724487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.905769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.20, Y:-53.26, Z:-3.68 [[ 9.70496548e-01 2.40895458e-01 1.02872505e-02 3.38199077e+02] [-2.40881857e-01 9.70551069e-01 -2.55990782e-03 -5.32596115e+01] [-1.06009721e-02 6.36971285e-06 9.99943808e-01 -3.67561709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.965769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:338.26, Y:-53.28, Z:-3.68 [[ 9.70233304e-01 2.41953521e-01 1.02873696e-02 3.38255488e+02] [-2.41939984e-01 9.70287841e-01 -2.55942879e-03 -5.32767313e+01] [-1.06009725e-02 -5.68299133e-06 9.99943808e-01 -3.67659623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.31, Y:-53.29, Z:-3.67 [[ 9.70068959e-01 2.42611586e-01 1.02874882e-02 3.38311259e+02] [-2.42598091e-01 9.70123507e-01 -2.55895230e-03 -5.32921381e+01] [-1.06009656e-02 -1.33647962e-05 9.99943808e-01 -3.67400577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.37, Y:-53.31, Z:-3.67 [[ 9.70802173e-01 2.39660812e-01 1.02876347e-02 3.38367139e+02] [-2.39647157e-01 9.70856681e-01 -2.55836290e-03 -5.33132353e+01] [-1.06009582e-02 1.82618504e-05 9.99943808e-01 -3.67324144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:338.42, Y:-53.34, Z:-3.68 [[ 9.72284886e-01 2.33572822e-01 1.02877224e-02 3.38421431e+02] [-2.33558830e-01 9.72339308e-01 -2.55801033e-03 -5.33374049e+01] [-1.06006386e-02 8.43263778e-05 9.99943808e-01 -3.67870001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:338.48, Y:-53.36, Z:-3.68 [[ 9.72727238e-01 2.31723719e-01 1.02878090e-02 3.38477051e+02] [-2.31709627e-01 9.72781634e-01 -2.55766188e-03 -5.33620501e+01] [-1.06004626e-02 1.04122990e-04 9.99943808e-01 -3.68482851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:338.53, Y:-53.38, Z:-3.69 [[ 9.71879937e-01 2.35252094e-01 1.02878661e-02 3.38532871e+02] [-2.35238202e-01 9.71934385e-01 -2.55743243e-03 -5.33817581e+01] [-1.06007721e-02 6.54181514e-05 9.99943808e-01 -3.68691720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:338.59, Y:-53.40, Z:-3.69 [[ 9.70269292e-01 2.41809137e-01 1.02879509e-02 3.38588847e+02] [-2.41795616e-01 9.70323833e-01 -2.55709104e-03 -5.34033225e+01] [-1.06009719e-02 -6.51452359e-06 9.99943808e-01 -3.68982100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.65, Y:-53.43, Z:-3.69 [[ 9.69268375e-01 2.45790509e-01 1.02880068e-02 3.38648716e+02] [-2.45777215e-01 9.69322972e-01 -2.55686610e-03 -5.34253467e+01] [-1.06008548e-02 -5.02682092e-05 9.99943808e-01 -3.69361317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.445769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:338.71, Y:-53.45, Z:-3.70 [[ 9.68865631e-01 2.47373313e-01 1.02875047e-02 3.38707902e+02] [-2.47360086e-01 9.68920244e-01 -2.55888489e-03 -5.34458299e+01] [-1.06007714e-02 -6.55024217e-05 9.99943808e-01 -3.69510887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.505769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:338.76, Y:-53.47, Z:-3.69 [[ 9.68985844e-01 2.46902027e-01 1.02870393e-02 3.38763453e+02] [-2.46888754e-01 9.69040446e-01 -2.56075423e-03 -5.34659318e+01] [-1.06008126e-02 -5.84197218e-05 9.99943808e-01 -3.69168962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.565769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:338.82, Y:-53.49, Z:-3.69 [[ 9.69079662e-01 2.46533536e-01 1.02871205e-02 3.38820069e+02] [-2.46520246e-01 9.69134259e-01 -2.56042811e-03 -5.34879854e+01] [-1.06008323e-02 -5.47246675e-05 9.99943808e-01 -3.68968092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.625769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:338.88, Y:-53.51, Z:-3.69 [[ 9.68740008e-01 2.47864826e-01 1.02871205e-02 3.38877561e+02] [-2.47851611e-01 9.68794624e-01 -2.56042811e-03 -5.35073339e+01] [-1.06007471e-02 -6.92902412e-05 9.99943808e-01 -3.69221903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.685769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:-53.52, Z:-3.69 [[ 9.67909063e-01 2.51090066e-01 1.02871205e-02 3.38938378e+02] [-2.51077033e-01 9.67963722e-01 -2.56042811e-03 -5.35241406e+01] [-1.06004575e-02 -1.04598117e-04 9.99943808e-01 -3.69361434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.745769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:339.00, Y:-53.54, Z:-3.69 [[ 9.67001038e-01 2.54564682e-01 1.02866326e-02 3.38999457e+02] [-2.54551825e-01 9.67055739e-01 -2.56238666e-03 -5.35371570e+01] [-1.06000403e-02 -1.40650549e-04 9.99943808e-01 -3.69124899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.805769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:339.06, Y:-53.55, Z:-3.69 [[ 9.66727164e-01 2.55602786e-01 1.02862045e-02 3.39059406e+02] [-2.55589969e-01 9.66781875e-01 -2.56410430e-03 -5.35512986e+01] [-1.05999082e-02 -1.50261395e-04 9.99943808e-01 -3.69070944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.865769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:339.12, Y:-53.56, Z:-3.70 [[ 9.66573034e-01 2.56185038e-01 1.02857512e-02 3.39120493e+02] [-2.56172234e-01 9.66627748e-01 -2.56592128e-03 -5.35644243e+01] [-1.05998432e-02 -1.54773549e-04 9.99943808e-01 -3.69993051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.925769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:339.18, Y:-53.58, Z:-3.70 [[ 9.66346128e-01 2.57039633e-01 1.02853256e-02 3.39181849e+02] [-2.57026860e-01 9.66400849e-01 -2.56762610e-03 -5.35777170e+01] [-1.05997291e-02 -1.62389409e-04 9.99943808e-01 -3.69943965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.985769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:339.24, Y:-53.59, Z:-3.70 [[ 9.65922165e-01 2.58628293e-01 1.02848438e-02 3.39243056e+02] [-2.58615589e-01 9.65976902e-01 -2.56955450e-03 -5.35874166e+01] [-1.05994811e-02 -1.77831297e-04 9.99943808e-01 -3.70146352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.045769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:339.30, Y:-53.60, Z:-3.71 [[ 9.65877221e-01 2.58796107e-01 1.02843947e-02 3.39304282e+02] [-2.58783394e-01 9.65931956e-01 -2.57135079e-03 -5.35983109e+01] [-1.05994811e-02 -1.77821403e-04 9.99943808e-01 -3.70801581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.105769231 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:339.37, Y:-53.61, Z:-3.71 [[ 9.66152801e-01 2.57765407e-01 1.02839842e-02 3.39366669e+02] [-2.57752618e-01 9.66207518e-01 -2.57299157e-03 -5.36102257e+01] [-1.05996911e-02 -1.64820833e-04 9.99943808e-01 -3.70730115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.165769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:339.43, Y:-53.62, Z:-3.71 [[ 9.67328484e-01 2.53317692e-01 1.02834923e-02 3.39427355e+02] [-2.53304630e-01 9.67383137e-01 -2.57495619e-03 -5.36219545e+01] [-1.06003590e-02 -1.14027736e-04 9.99943808e-01 -3.70521585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.225769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:-53.64, Z:-3.71 [[ 9.67717691e-01 2.51826787e-01 1.02830342e-02 3.39487191e+02] [-2.51813621e-01 9.67772318e-01 -2.57678420e-03 -5.36352758e+01] [-1.06005391e-02 -9.58084235e-05 9.99943808e-01 -3.71048738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.285769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:339.55, Y:-53.65, Z:-3.71 [[ 9.67379250e-01 2.53123778e-01 1.02829751e-02 3.39546161e+02] [-2.53110684e-01 9.67433895e-01 -2.57701979e-03 -5.36480124e+01] [-1.06004037e-02 -1.09775394e-04 9.99943808e-01 -3.71350174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.345769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:-53.66, Z:-3.71 [[ 9.67103633e-01 2.54174788e-01 1.02829751e-02 3.39606334e+02] [-2.54161753e-01 9.67158292e-01 -2.57701979e-03 -5.36623046e+01] [-1.06002781e-02 -1.21293784e-04 9.99943808e-01 -3.71193155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.405769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:339.67, Y:-53.67, Z:-3.71 [[ 9.66482791e-01 2.56525393e-01 1.02829159e-02 3.39666132e+02] [-2.56512488e-01 9.66537481e-01 -2.57725634e-03 -5.36745969e+01] [-1.05999553e-02 -1.46822430e-04 9.99943808e-01 -3.71349984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.465769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:339.72, Y:-53.69, Z:-3.71 [[ 9.65845022e-01 2.58916310e-01 1.02828546e-02 3.39724752e+02] [-2.58903538e-01 9.65899744e-01 -2.57750068e-03 -5.36855155e+01] [-1.05995636e-02 -1.72801229e-04 9.99943808e-01 -3.71412579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:339.78, Y:-53.70, Z:-3.71 [[ 9.65604316e-01 2.59812561e-01 1.02828848e-02 3.39783775e+02] [-2.59799841e-01 9.65659049e-01 -2.57738012e-03 -5.36957771e+01] [-1.05993965e-02 -1.82762478e-04 9.99943808e-01 -3.71401958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:339.84, Y:-53.70, Z:-3.71 [[ 9.64978237e-01 2.62128334e-01 1.02829446e-02 3.39843421e+02] [-2.62115748e-01 9.65033001e-01 -2.57714141e-03 -5.37010228e+01] [-1.05989227e-02 -2.08436350e-04 9.99943808e-01 -3.71268466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:339.90, Y:-53.71, Z:-3.71 [[ 9.64704155e-01 2.63135234e-01 1.02830634e-02 3.39902206e+02] [-2.63122710e-01 9.64758934e-01 -2.57666751e-03 -5.37083808e+01] [-1.05986893e-02 -2.19985647e-04 9.99943808e-01 -3.71186864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:339.96, Y:-53.71, Z:-3.71 [[ 9.65508020e-01 2.60170176e-01 1.02831814e-02 3.39960668e+02] [-2.60157489e-01 9.65562760e-01 -2.57619635e-03 -5.37136400e+01] [-1.05993065e-02 -1.87908417e-04 9.99943808e-01 -3.71061317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:340.02, Y:-53.72, Z:-3.71 [[ 9.66217181e-01 2.57524002e-01 1.02833275e-02 3.40019279e+02] [-2.57511171e-01 9.66271889e-01 -2.57561314e-03 -5.37231446e+01] [-1.05997725e-02 -1.59470047e-04 9.99943808e-01 -3.71310379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:340.08, Y:-53.73, Z:-3.72 [[ 9.66994275e-01 2.54590500e-01 1.02834429e-02 3.40076299e+02] [-2.54577508e-01 9.67048944e-01 -2.57515245e-03 -5.37326576e+01] [-1.06002019e-02 -1.27775593e-04 9.99943808e-01 -3.71802307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:340.13, Y:-53.75, Z:-3.72 [[ 9.67367566e-01 2.53168403e-01 1.02835860e-02 3.40132864e+02] [-2.53155337e-01 9.67422218e-01 -2.57458065e-03 -5.37453533e+01] [-1.06003721e-02 -1.12778870e-04 9.99943808e-01 -3.71669832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:340.19, Y:-53.76, Z:-3.72 [[ 9.67140085e-01 2.54036022e-01 1.02837557e-02 3.40189913e+02] [-2.54023012e-01 9.67194750e-01 -2.57390291e-03 -5.37590359e+01] [-1.06002585e-02 -1.22985914e-04 9.99943808e-01 -3.71591362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:-53.77, Z:-3.72 [[ 9.66840701e-01 2.55173080e-01 1.02838767e-02 3.40245786e+02] [-2.55160139e-01 9.66895383e-01 -2.57341928e-03 -5.37719060e+01] [-1.06001002e-02 -1.35948906e-04 9.99943808e-01 -3.72330219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.065769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:340.30, Y:-53.79, Z:-3.72 [[ 9.66865230e-01 2.55080115e-01 1.02840265e-02 3.40301717e+02] [-2.55067176e-01 9.66919912e-01 -2.57282045e-03 -5.37851716e+01] [-1.06001053e-02 -1.35546953e-04 9.99943808e-01 -3.72079198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:340.36, Y:-53.80, Z:-3.72 [[ 9.67115366e-01 2.54130093e-01 1.02842204e-02 3.40358569e+02] [-2.54117108e-01 9.67170037e-01 -2.57204510e-03 -5.37993154e+01] [-1.06002239e-02 -1.25932012e-04 9.99943808e-01 -3.72433991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.185769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:340.41, Y:-53.82, Z:-3.73 [[ 9.67866802e-01 2.51253031e-01 1.02843408e-02 3.40414147e+02] [-2.51239889e-01 9.67921436e-01 -2.57156365e-03 -5.38158376e+01] [-1.06005471e-02 -9.49055512e-05 9.99943808e-01 -3.72698229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.245769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:340.47, Y:-53.83, Z:-3.73 [[ 9.68821519e-01 2.47546143e-01 1.02844919e-02 3.40470887e+02] [-2.47532798e-01 9.68876104e-01 -2.57095921e-03 -5.38318997e+01] [-1.06008295e-02 -5.49484474e-05 9.99943808e-01 -3.72664504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.305769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:340.53, Y:-53.85, Z:-3.73 [[ 9.69515342e-01 2.44814684e-01 1.02846092e-02 3.40526541e+02] [-2.44801190e-01 9.69569889e-01 -2.57048975e-03 -5.38514414e+01] [-1.06009411e-02 -2.55553314e-05 9.99943808e-01 -3.72643136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.365769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:-53.86, Z:-3.73 [[ 9.69199641e-01 2.46061537e-01 1.02847309e-02 3.40582958e+02] [-2.46048118e-01 9.69254207e-01 -2.57000302e-03 -5.38644927e+01] [-1.06008975e-02 -3.96926687e-05 9.99943808e-01 -3.72838499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.425769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:340.64, Y:-53.88, Z:-3.73 [[ 9.69256000e-01 2.45839436e-01 1.02849012e-02 3.40640332e+02] [-2.45826012e-01 9.69310565e-01 -2.56932109e-03 -5.38789856e+01] [-1.06009038e-02 -3.79663628e-05 9.99943808e-01 -3.73347567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.485769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:340.70, Y:-53.89, Z:-3.74 [[ 9.70722881e-01 2.39981889e-01 1.02850175e-02 3.40697339e+02] [-2.39968141e-01 9.70777365e-01 -2.56885567e-03 -5.38899436e+01] [-1.06009410e-02 2.55704590e-05 9.99943808e-01 -3.73538825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.545769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:340.76, Y:-53.90, Z:-3.73 [[ 9.71352593e-01 2.37420207e-01 1.02851769e-02 3.40755086e+02] [-2.37406322e-01 9.71407043e-01 -2.56821712e-03 -5.39035895e+01] [-1.06008399e-02 5.28783395e-05 9.99943808e-01 -3.73356138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.605769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:340.81, Y:-53.92, Z:-3.73 [[ 9.72801069e-01 2.31413684e-01 1.02852984e-02 3.40812687e+02] [-2.31399468e-01 9.72855433e-01 -2.56773026e-03 -5.39174496e+01] [-1.06003164e-02 1.17878152e-04 9.99943808e-01 -3.73183240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.665769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:340.87, Y:-53.93, Z:-3.73 [[ 9.74837929e-01 2.22677400e-01 1.02853590e-02 3.40869765e+02] [-2.22662699e-01 9.74892164e-01 -2.56748763e-03 -5.39346233e+01] [-1.05988374e-02 2.12718522e-04 9.99943808e-01 -3.73415892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.725769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:340.93, Y:-53.95, Z:-3.73 [[ 9.75435303e-01 2.20045860e-01 1.02854196e-02 3.40926871e+02] [-2.20031016e-01 9.75489498e-01 -2.56724508e-03 -5.39537744e+01] [-1.05982304e-02 2.41070171e-04 9.99943808e-01 -3.73339997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.785769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:340.99, Y:-53.98, Z:-3.74 [[ 9.75285912e-01 2.20707044e-01 1.02854196e-02 3.40985084e+02] [-2.20692237e-01 9.75340118e-01 -2.56724508e-03 -5.39769665e+01] [-1.05983914e-02 2.33885711e-04 9.99943808e-01 -3.73911247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.845769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:341.04, Y:-54.00, Z:-3.74 [[ 9.74526925e-01 2.24034575e-01 1.02849848e-02 3.41043815e+02] [-2.24019934e-01 9.74581176e-01 -2.56898552e-03 -5.39986737e+01] [-1.05990942e-02 1.99503941e-04 9.99943808e-01 -3.74063632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.905769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:341.10, Y:-54.02, Z:-3.74 [[ 9.73093928e-01 2.30179139e-01 1.02845472e-02 3.41100803e+02] [-2.30164823e-01 9.73148265e-01 -2.57073639e-03 -5.40229601e+01] [-1.06001191e-02 1.34426998e-04 9.99943808e-01 -3.74208065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.965769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:341.16, Y:-54.04, Z:-3.74 [[ 9.71935019e-01 2.35024586e-01 1.02841439e-02 3.41159133e+02] [-2.35010523e-01 9.71989422e-01 -2.57234850e-03 -5.40443814e+01] [-1.06006443e-02 8.32735450e-05 9.99943808e-01 -3.74008062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:341.22, Y:-54.06, Z:-3.74 [[ 9.71046732e-01 2.38668143e-01 1.02840842e-02 3.41217832e+02] [-2.38654281e-01 9.71101187e-01 -2.57258753e-03 -5.40624776e+01] [-1.06008810e-02 4.37620044e-05 9.99943808e-01 -3.73876397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.28, Y:-54.08, Z:-3.74 [[ 9.70955725e-01 2.39038111e-01 1.02840253e-02 3.41278432e+02] [-2.39024268e-01 9.71010185e-01 -2.57282295e-03 -5.40811486e+01] [-1.06008960e-02 3.99655594e-05 9.99943808e-01 -3.73731885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.34, Y:-54.10, Z:-3.73 [[ 9.71225667e-01 2.37938970e-01 1.02835055e-02 3.41338273e+02] [-2.37925044e-01 9.71280106e-01 -2.57489858e-03 -5.40984673e+01] [-1.06008331e-02 5.41040835e-05 9.99943808e-01 -3.73499566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:341.40, Y:-54.12, Z:-3.74 [[ 9.71857939e-01 2.35343165e-01 1.02830237e-02 3.41398948e+02] [-2.35329072e-01 9.71912335e-01 -2.57682151e-03 -5.41159153e+01] [-1.06006349e-02 8.44100285e-05 9.99943808e-01 -3.73549513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:341.46, Y:-54.13, Z:-3.74 [[ 9.72831764e-01 2.31284734e-01 1.02825310e-02 3.41459111e+02] [-2.31270393e-01 9.72886096e-01 -2.57878595e-03 -5.41345567e+01] [-1.06001653e-02 1.30679892e-04 9.99943808e-01 -3.74134623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.52, Y:-54.16, Z:-3.75 [[ 9.74026521e-01 2.26200388e-01 1.02820312e-02 3.41515574e+02] [-2.26185743e-01 9.74080771e-01 -2.58077720e-03 -5.41591213e+01] [-1.05993017e-02 1.88096564e-04 9.99943808e-01 -3.74550863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:341.58, Y:-54.18, Z:-3.74 [[ 9.74708757e-01 2.23242298e-01 1.02817849e-02 3.41575090e+02] [-2.23227478e-01 9.74762960e-01 -2.58175802e-03 -5.41827957e+01] [-1.05986607e-02 2.21285234e-04 9.99943808e-01 -3.74322511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.445769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.63, Y:-54.21, Z:-3.74 [[ 9.74805341e-01 2.22820202e-01 1.02812903e-02 3.41632255e+02] [-2.22805338e-01 9.74859531e-01 -2.58372629e-03 -5.42103537e+01] [-1.05985202e-02 2.27903825e-04 9.99943808e-01 -3.74329201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.69, Y:-54.24, Z:-3.75 [[ 9.73537824e-01 2.28294567e-01 1.02808302e-02 3.41689409e+02] [-2.28279989e-01 9.73592092e-01 -2.58555585e-03 -5.42384126e+01] [-1.05996033e-02 1.70228622e-04 9.99943808e-01 -3.74635478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.75, Y:-54.26, Z:-3.75 [[ 9.72140009e-01 2.34175397e-01 1.02803746e-02 3.41748116e+02] [-2.34161128e-01 9.72194359e-01 -2.58736594e-03 -5.42613258e+01] [-1.06004196e-02 1.08017833e-04 9.99943808e-01 -3.74877744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.625769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:341.81, Y:-54.28, Z:-3.76 [[ 9.70554780e-01 2.40661055e-01 1.02798946e-02 3.41806282e+02] [-2.40647129e-01 9.70609218e-01 -2.58927155e-03 -5.42815337e+01] [-1.06008973e-02 3.92027451e-05 9.99943808e-01 -3.75525344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:-54.30, Z:-3.76 [[ 9.68271362e-01 2.49689608e-01 1.02795093e-02 3.41865322e+02] [-2.49676173e-01 9.68325925e-01 -2.59080028e-03 -5.43031792e+01] [-1.06008113e-02 -5.79508380e-05 9.99943808e-01 -3.75621450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.92, Y:-54.32, Z:-3.75 [[ 9.66903149e-01 2.54936544e-01 1.02790868e-02 3.41924467e+02] [-2.54923387e-01 9.66957779e-01 -2.59247552e-03 -5.43207487e+01] [-1.06003597e-02 -1.13706885e-04 9.99943808e-01 -3.75352250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.805769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:341.99, Y:-54.34, Z:-3.76 [[ 9.65523133e-01 2.60114260e-01 1.02787001e-02 3.41985617e+02] [-2.60101380e-01 9.65577829e-01 -2.59400794e-03 -5.43350300e+01] [-1.05996234e-02 -1.68929409e-04 9.99943808e-01 -3.75679658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.05, Y:-54.35, Z:-3.76 [[ 9.64508262e-01 2.63852555e-01 1.02782450e-02 3.42046463e+02] [-2.63839868e-01 9.64563003e-01 -2.59580987e-03 -5.43482786e+01] [-1.05989259e-02 -2.08130737e-04 9.99943808e-01 -3.75633595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.11, Y:-54.36, Z:-3.75 [[ 9.63619901e-01 2.67078738e-01 1.02778242e-02 3.42106862e+02] [-2.67066216e-01 9.63674680e-01 -2.59747493e-03 -5.43632568e+01] [-1.05982093e-02 -2.41881080e-04 9.99943808e-01 -3.74961109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.17, Y:-54.38, Z:-3.76 [[ 9.63484557e-01 2.67566595e-01 1.02774366e-02 3.42167435e+02] [-2.67554084e-01 9.63539339e-01 -2.59900748e-03 -5.43778335e+01] [-1.05981221e-02 -2.45666577e-04 9.99943808e-01 -3.75897118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:342.23, Y:-54.39, Z:-3.76 [[ 9.63344415e-01 2.68070739e-01 1.02770405e-02 3.42228612e+02] [-2.68058240e-01 9.63399199e-01 -2.60057288e-03 -5.43936281e+01] [-1.05980301e-02 -2.49598041e-04 9.99943808e-01 -3.75837692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.29, Y:-54.41, Z:-3.76 [[ 9.63335254e-01 2.68103674e-01 1.02765887e-02 3.42289141e+02] [-2.68091159e-01 9.63390034e-01 -2.60235714e-03 -5.44080003e+01] [-1.05980646e-02 -2.48120194e-04 9.99943808e-01 -3.75559965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.165769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:342.35, Y:-54.42, Z:-3.75 [[ 9.63757836e-01 2.66580629e-01 1.02763081e-02 3.42349231e+02] [-2.66568015e-01 9.63812593e-01 -2.60346453e-03 -5.44242379e+01] [-1.05984684e-02 -2.30225716e-04 9.99943808e-01 -3.75472231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.41, Y:-54.44, Z:-3.75 [[ 9.63908319e-01 2.66036010e-01 1.02758941e-02 3.42408745e+02] [-2.66023348e-01 9.63963066e-01 -2.60509782e-03 -5.44398935e+01] [-1.05986322e-02 -2.22552289e-04 9.99943808e-01 -3.75272877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.47, Y:-54.45, Z:-3.75 [[ 9.64271176e-01 2.64717802e-01 1.02754847e-02 3.42469343e+02] [-2.64705047e-01 9.64325901e-01 -2.60671144e-03 -5.44535030e+01] [-1.05989590e-02 -2.06395965e-04 9.99943808e-01 -3.75442899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:-54.47, Z:-3.76 [[ 9.64635171e-01 2.63388321e-01 1.02752154e-02 3.42530101e+02] [-2.63375480e-01 9.64689875e-01 -2.60777242e-03 -5.44701657e+01] [-1.05992531e-02 -1.90690808e-04 9.99943808e-01 -3.75684295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:-54.48, Z:-3.76 [[ 9.65189751e-01 2.61348757e-01 1.02747848e-02 3.42590932e+02] [-2.61335783e-01 9.65244425e-01 -2.60946818e-03 -5.44847088e+01] [-1.05996600e-02 -1.66536977e-04 9.99943808e-01 -3.75842829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.65, Y:-54.50, Z:-3.76 [[ 9.66131732e-01 2.57844748e-01 1.02743548e-02 3.42650856e+02] [-2.57831557e-01 9.66186354e-01 -2.61116012e-03 -5.45031851e+01] [-1.06002153e-02 -1.26328244e-04 9.99943808e-01 -3.76101671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.71, Y:-54.52, Z:-3.76 [[ 9.66176483e-01 2.57677028e-01 1.02738864e-02 3.42711967e+02] [-2.57663808e-01 9.66231098e-01 -2.61300164e-03 -5.45199506e+01] [-1.06002591e-02 -1.22587958e-04 9.99943808e-01 -3.75912010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.77, Y:-54.53, Z:-3.75 [[ 9.65184071e-01 2.61369789e-01 1.02733797e-02 3.42772961e+02] [-2.61356757e-01 9.65238731e-01 -2.61499238e-03 -5.45317390e+01] [-1.05997440e-02 -1.61068206e-04 9.99943808e-01 -3.75237282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.83, Y:-54.54, Z:-3.76 [[ 9.64052523e-01 2.65513082e-01 1.02730657e-02 3.42834599e+02] [-2.65500272e-01 9.64107235e-01 -2.61622528e-03 -5.45434072e+01] [-1.05989790e-02 -2.05323157e-04 9.99943808e-01 -3.75709833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.90, Y:-54.55, Z:-3.76 [[ 9.62979178e-01 2.69379985e-01 1.02725859e-02 3.42896792e+02] [-2.69367374e-01 9.63033937e-01 -2.61810787e-03 -5.45499178e+01] [-1.05981147e-02 -2.45916123e-04 9.99943808e-01 -3.76145782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.96, Y:-54.56, Z:-3.76 [[ 9.63292910e-01 2.68255945e-01 1.02721407e-02 3.42958713e+02] [-2.68243251e-01 9.63347650e-01 -2.61985362e-03 -5.45610253e+01] [-1.05984339e-02 -2.31745998e-04 9.99943808e-01 -3.76089447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.02, Y:-54.57, Z:-3.76 [[ 9.64916125e-01 2.62357324e-01 1.02716658e-02 3.43020130e+02] [-2.62344276e-01 9.64970781e-01 -2.62171414e-03 -5.45722942e+01] [-1.05996833e-02 -1.64978477e-04 9.99943808e-01 -3.75918020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.08, Y:-54.59, Z:-3.76 [[ 9.65705526e-01 2.59436580e-01 1.02712248e-02 3.43081900e+02] [-2.59423349e-01 9.65760138e-01 -2.62344057e-03 -5.45864073e+01] [-1.06001560e-02 -1.31124490e-04 9.99943808e-01 -3.76250168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.14, Y:-54.60, Z:-3.77 [[ 9.66043772e-01 2.58174249e-01 1.02707574e-02 3.43142048e+02] [-2.58160927e-01 9.66098361e-01 -2.62526930e-03 -5.46002069e+01] [-1.06003388e-02 -1.15383197e-04 9.99943808e-01 -3.76787299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.20, Y:-54.62, Z:-3.76 [[ 9.66057071e-01 2.58124497e-01 1.02703408e-02 3.43201494e+02] [-2.58111155e-01 9.66111656e-01 -2.62689821e-03 -5.46175356e+01] [-1.06003627e-02 -1.13155933e-04 9.99943808e-01 -3.76308289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.26, Y:-54.64, Z:-3.76 [[ 9.65565667e-01 2.59956672e-01 1.02699044e-02 3.43262047e+02] [-2.59943415e-01 9.65620273e-01 -2.62860304e-03 -5.46355606e+01] [-1.06001508e-02 -1.31505182e-04 9.99943808e-01 -3.75829782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.32, Y:-54.65, Z:-3.76 [[ 9.63253184e-01 2.68398664e-01 1.02693985e-02 3.43322320e+02] [-2.68385865e-01 9.63307899e-01 -2.63057805e-03 -5.46519847e+01] [-1.05986363e-02 -2.22248716e-04 9.99943808e-01 -3.76355187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.185769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:343.38, Y:-54.67, Z:-3.77 [[ 9.60887167e-01 2.76749709e-01 1.02688943e-02 3.43382951e+02] [-2.76737364e-01 9.60941986e-01 -2.63254493e-03 -5.46650634e+01] [-1.05963677e-02 -3.12208094e-04 9.99943808e-01 -3.76803989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.44, Y:-54.68, Z:-3.77 [[ 9.58383765e-01 2.85298295e-01 1.02684417e-02 3.43442405e+02] [-2.85286420e-01 9.58438688e-01 -2.63430918e-03 -5.46774580e+01] [-1.05932357e-02 -4.04767810e-04 9.99943808e-01 -3.76699970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.51, Y:-54.68, Z:-3.77 [[ 9.55666958e-01 2.94270672e-01 1.02682181e-02 3.43505308e+02] [-2.94259303e-01 9.55721988e-01 -2.63518045e-03 -5.46797572e+01] [-1.05890181e-02 -5.03163801e-04 9.99943808e-01 -3.76662226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.57, Y:-54.69, Z:-3.77 [[ 9.55470901e-01 2.94906633e-01 1.02681562e-02 3.43566753e+02] [-2.94895298e-01 9.55525938e-01 -2.63542147e-03 -5.46869417e+01] [-1.05886929e-02 -5.09962465e-04 9.99943808e-01 -3.76863298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.63, Y:-54.69, Z:-3.77 [[ 9.55417987e-01 2.95078017e-01 1.02680946e-02 3.43626716e+02] [-2.95066689e-01 9.55473025e-01 -2.63566147e-03 -5.46905925e+01] [-1.05886132e-02 -5.11614302e-04 9.99943808e-01 -3.76719090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.69, Y:-54.69, Z:-3.77 [[ 9.56667621e-01 2.91001079e-01 1.02681860e-02 3.43686768e+02] [-2.90989520e-01 9.56722611e-01 -2.63530539e-03 -5.46915006e+01] [-1.05906824e-02 -4.66823174e-04 9.99943808e-01 -3.76531204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.75, Y:-54.70, Z:-3.77 [[ 9.58697193e-01 2.84243300e-01 1.02683064e-02 3.43745504e+02] [-2.84231359e-01 9.58752102e-01 -2.63483599e-03 -5.47012191e+01] [-1.05936948e-02 -3.92564823e-04 9.99943808e-01 -3.76578384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.80, Y:-54.71, Z:-3.77 [[ 9.62200736e-01 2.72147579e-01 1.02683678e-02 3.43803962e+02] [-2.72134950e-01 9.62255490e-01 -2.63459663e-03 -5.47081968e+01] [-1.05977924e-02 -2.59370956e-04 9.99943808e-01 -3.76897433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.86, Y:-54.72, Z:-3.77 [[ 9.64331011e-01 2.64500019e-01 1.02684597e-02 3.43861537e+02] [-2.64486959e-01 9.64385664e-01 -2.63423852e-03 -5.47159012e+01] [-1.05995115e-02 -1.75595786e-04 9.99943808e-01 -3.76796890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.92, Y:-54.73, Z:-3.77 [[ 9.64757839e-01 2.62938906e-01 1.02686121e-02 3.43918861e+02] [-2.62925765e-01 9.64812472e-01 -2.63364430e-03 -5.47261217e+01] [-1.05997726e-02 -1.59053712e-04 9.99943808e-01 -3.76896120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.98, Y:-54.74, Z:-3.77 [[ 9.64435610e-01 2.64118357e-01 1.02687632e-02 3.43977233e+02] [-2.64105288e-01 9.64490261e-01 -2.63305511e-03 -5.47355399e+01] [-1.05995603e-02 -1.72622547e-04 9.99943808e-01 -3.76531875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.04, Y:-54.74, Z:-3.77 [[ 9.64137381e-01 2.65204941e-01 1.02688826e-02 3.44035494e+02] [-2.65191939e-01 9.64192048e-01 -2.63258934e-03 -5.47448402e+01] [-1.05993506e-02 -1.85047097e-04 9.99943808e-01 -3.76720575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.09, Y:-54.75, Z:-3.77 [[ 9.63391829e-01 2.67900599e-01 1.02690057e-02 3.44094509e+02] [-2.67887755e-01 9.63446533e-01 -2.63210890e-03 -5.47507086e+01] [-1.05987815e-02 -2.15188693e-04 9.99943808e-01 -3.77103422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.16, Y:-54.75, Z:-3.77 [[ 9.61863410e-01 2.73337382e-01 1.02691324e-02 3.44155123e+02] [-2.73324853e-01 9.61918187e-01 -2.63161476e-03 -5.47521128e+01] [-1.05973839e-02 -2.75555143e-04 9.99943808e-01 -3.77379734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.21, Y:-54.76, Z:-3.78 [[ 9.60801291e-01 2.77047688e-01 1.02692633e-02 3.44213553e+02] [-2.77035375e-01 9.60856117e-01 -2.63110372e-03 -5.47582431e+01] [-1.05962257e-02 -3.16981368e-04 9.99943808e-01 -3.77738894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.27, Y:-54.76, Z:-3.77 [[ 9.60977808e-01 2.76434788e-01 1.02694250e-02 3.44274816e+02] [-2.76422447e-01 9.61032628e-01 -2.63047243e-03 -5.47569219e+01] [-1.05964066e-02 -3.10873964e-04 9.99943808e-01 -3.77228766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.33, Y:-54.76, Z:-3.77 [[ 9.61662341e-01 2.74043936e-01 1.02695447e-02 3.44333590e+02] [-2.74031464e-01 9.61717131e-01 -2.63000501e-03 -5.47613477e+01] [-1.05971340e-02 -2.85001597e-04 9.99943808e-01 -3.77391782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.39, Y:-54.76, Z:-3.77 [[ 9.62854147e-01 2.69826655e-01 1.02697264e-02 3.44393734e+02] [-2.69813951e-01 9.62908884e-01 -2.62929521e-03 -5.47635567e+01] [-1.05982648e-02 -2.39287666e-04 9.99943808e-01 -3.77319555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.45, Y:-54.77, Z:-3.77 [[ 9.63177163e-01 2.68671327e-01 1.02698525e-02 3.44450762e+02] [-2.68658562e-01 9.63231886e-01 -2.62880282e-03 -5.47699961e+01] [-1.05985333e-02 -2.27080957e-04 9.99943808e-01 -3.77267667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.51, Y:-54.77, Z:-3.77 [[ 9.63458763e-01 2.67659737e-01 1.02701944e-02 3.44509500e+02] [-2.67646928e-01 9.63513476e-01 -2.62746638e-03 -5.47742727e+01] [-1.05987377e-02 -2.17330469e-04 9.99943808e-01 -3.77388232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.57, Y:-54.78, Z:-3.78 [[ 9.63323981e-01 2.68144414e-01 1.02703797e-02 3.44566568e+02] [-2.68131641e-01 9.63378702e-01 -2.62674167e-03 -5.47846010e+01] [-1.05986112e-02 -2.23410529e-04 9.99943808e-01 -3.77539023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.63, Y:-54.79, Z:-3.78 [[ 9.62293822e-01 2.71818154e-01 1.02708722e-02 3.44625394e+02] [-2.71805610e-01 9.62348596e-01 -2.62481470e-03 -5.47894818e+01] [-1.05976317e-02 -2.65837718e-04 9.99943808e-01 -3.77719336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.68, Y:-54.80, Z:-3.78 [[ 9.62254616e-01 2.71956909e-01 1.02710241e-02 3.44682348e+02] [-2.71944380e-01 9.62309393e-01 -2.62422017e-03 -5.47992350e+01] [-1.05975778e-02 -2.67979307e-04 9.99943808e-01 -3.78127341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.74, Y:-54.81, Z:-3.78 [[ 9.63231661e-01 2.68475814e-01 1.02715034e-02 3.44740393e+02] [-2.68463107e-01 9.63286397e-01 -2.62234291e-03 -5.48106032e+01] [-1.05984351e-02 -2.31595995e-04 9.99943808e-01 -3.77892259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.80, Y:-54.82, Z:-3.78 [[ 9.63988204e-01 2.65746552e-01 1.02719233e-02 3.44796522e+02] [-2.65733707e-01 9.64042908e-01 -2.62069679e-03 -5.48210422e+01] [-1.05990160e-02 -2.03275485e-04 9.99943808e-01 -3.78018495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.85, Y:-54.83, Z:-3.78 [[ 9.64122282e-01 2.65259695e-01 1.02722500e-02 3.44854394e+02] [-2.65246836e-01 9.64176983e-01 -2.61941586e-03 -5.48333921e+01] [-1.05990924e-02 -1.99244606e-04 9.99943808e-01 -3.77998817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.91, Y:-54.84, Z:-3.79 [[ 9.64363833e-01 2.64380162e-01 1.02726608e-02 3.44912811e+02] [-2.64367271e-01 9.64418526e-01 -2.61780369e-03 -5.48441931e+01] [-1.05992398e-02 -1.91240101e-04 9.99943808e-01 -3.78886755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.97, Y:-54.85, Z:-3.79 [[ 9.65968449e-01 2.58455843e-01 1.02728752e-02 3.44969782e+02] [-2.58442625e-01 9.66023064e-01 -2.61696214e-03 -5.48548172e+01] [-1.06002035e-02 -1.27045979e-04 9.99943808e-01 -3.79027715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.02, Y:-54.87, Z:-3.79 [[ 9.67099617e-01 2.54190460e-01 1.02733394e-02 3.45024749e+02] [-2.54177020e-01 9.67154178e-01 -2.61513836e-03 -5.48712645e+01] [-1.06006464e-02 -8.21475034e-05 9.99943808e-01 -3.78575676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.08, Y:-54.89, Z:-3.79 [[ 9.68387015e-01 2.49240932e-01 1.02735921e-02 3.45082104e+02] [-2.49227225e-01 9.68441509e-01 -2.61414536e-03 -5.48854395e+01] [-1.06009251e-02 -2.89544269e-05 9.99943808e-01 -3.79379466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.14, Y:-54.90, Z:-3.80 [[ 9.69675076e-01 2.44181679e-01 1.02739911e-02 3.45137378e+02] [-2.44167703e-01 9.69729502e-01 -2.61257643e-03 -5.49035442e+01] [-1.06009356e-02 2.47734377e-05 9.99943808e-01 -3.80017883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.19, Y:-54.92, Z:-3.79 [[ 9.70863488e-01 2.39412885e-01 1.02741315e-02 3.45194291e+02] [-2.39398648e-01 9.70917846e-01 -2.61202421e-03 -5.49200352e+01] [-1.06006899e-02 7.63057474e-05 9.99943808e-01 -3.79386675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.25, Y:-54.94, Z:-3.79 [[ 9.72164758e-01 2.34072886e-01 1.02745625e-02 3.45249691e+02] [-2.34058368e-01 9.72219042e-01 -2.61032746e-03 -5.49404373e+01] [-1.06001322e-02 1.32821025e-04 9.99943808e-01 -3.78784251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.30, Y:-54.96, Z:-3.79 [[ 9.72468989e-01 2.32805705e-01 1.02746874e-02 3.45304594e+02] [-2.32791122e-01 9.72523255e-01 -2.60983588e-03 -5.49569572e+01] [-1.05999571e-02 1.46128447e-04 9.99943808e-01 -3.79147492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.36, Y:-54.97, Z:-3.80 [[ 9.71838361e-01 2.35424354e-01 1.02749027e-02 3.45360622e+02] [-2.35409926e-01 9.71892669e-01 -2.60898798e-03 -5.49735223e+01] [-1.06003219e-02 1.16700506e-04 9.99943808e-01 -3.79939790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.42, Y:-54.99, Z:-3.80 [[ 9.71010874e-01 2.38814366e-01 1.02752838e-02 3.45417188e+02] [-2.38800143e-01 9.71065236e-01 -2.60748621e-03 -5.49879863e+01] [-1.06006761e-02 7.81582221e-05 9.99943808e-01 -3.80197168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.47, Y:-55.01, Z:-3.79 [[ 9.69541634e-01 2.44710912e-01 1.02756659e-02 3.45473753e+02] [-2.44697036e-01 9.69596086e-01 -2.60597939e-03 -5.50057460e+01] [-1.06009571e-02 1.21805166e-05 9.99943808e-01 -3.78741311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.53, Y:-55.02, Z:-3.79 [[ 9.68861610e-01 2.47389548e-01 1.02757932e-02 3.45529275e+02] [-2.47375828e-01 9.68916101e-01 -2.60547752e-03 -5.50234377e+01] [-1.06009494e-02 -1.76357019e-05 9.99943808e-01 -3.78504120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.59, Y:-55.04, Z:-3.79 [[ 9.67967038e-01 2.50866932e-01 1.02759506e-02 3.45585550e+02] [-2.50853414e-01 9.68021580e-01 -2.60485655e-03 -5.50397205e+01] [-1.06008143e-02 -5.63420123e-05 9.99943808e-01 -3.79051504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.64, Y:-55.06, Z:-3.80 [[ 9.67248825e-01 2.53621990e-01 1.02760751e-02 3.45642450e+02] [-2.53608633e-01 9.67303406e-01 -2.60436552e-03 -5.50562087e+01] [-1.06006068e-02 -8.70318538e-05 9.99943808e-01 -3.79598232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:-55.07, Z:-3.79 [[ 9.65517012e-01 2.60137067e-01 1.02764811e-02 3.45698944e+02] [-2.60124095e-01 9.65571686e-01 -2.60276236e-03 -5.50688624e+01] [-1.05997541e-02 -1.60149007e-04 9.99943808e-01 -3.79395984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.76, Y:-55.08, Z:-3.79 [[ 9.64942924e-01 2.62258545e-01 1.02766347e-02 3.45756728e+02] [-2.62245700e-01 9.64997628e-01 -2.60215588e-03 -5.50821449e+01] [-1.05993657e-02 -1.84071348e-04 9.99943808e-01 -3.79427251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.81, Y:-55.10, Z:-3.80 [[ 9.66744129e-01 2.55538993e-01 1.02767580e-02 3.45812420e+02] [-2.55525773e-01 9.66798744e-01 -2.60166851e-03 -5.50982825e+01] [-1.06003845e-02 -1.10828789e-04 9.99943808e-01 -3.79528394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.87, Y:-55.12, Z:-3.79 [[ 9.68686983e-01 2.48072395e-01 1.02769106e-02 3.45869262e+02] [-2.48058760e-01 9.68741496e-01 -2.60106585e-03 -5.51152421e+01] [-1.06009224e-02 -2.96590661e-05 9.99943808e-01 -3.79386625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.92, Y:-55.13, Z:-3.80 [[ 9.70464410e-01 2.41025336e-01 1.02770320e-02 3.45923659e+02] [-2.41011310e-01 9.70518823e-01 -2.60058615e-03 -5.51349511e+01] [-1.06008601e-02 4.68953692e-05 9.99943808e-01 -3.79900417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.98, Y:-55.16, Z:-3.80 [[ 9.71049667e-01 2.38656499e-01 1.02771820e-02 3.45978333e+02] [-2.38642347e-01 9.71104047e-01 -2.59999304e-03 -5.51574478e+01] [-1.06007183e-02 7.21515417e-05 9.99943808e-01 -3.80174801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.03, Y:-55.18, Z:-3.80 [[ 9.71488589e-01 2.36863461e-01 1.02773009e-02 3.46033739e+02] [-2.36849213e-01 9.71542944e-01 -2.59952285e-03 -5.51773838e+01] [-1.06005712e-02 9.12361403e-05 9.99943808e-01 -3.80127031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.09, Y:-55.20, Z:-3.80 [[ 9.71365125e-01 2.37369265e-01 1.02774262e-02 3.46086742e+02] [-2.37355051e-01 9.71419490e-01 -2.59902751e-03 -5.51987677e+01] [-1.06006214e-02 8.52056641e-05 9.99943808e-01 -3.80408463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.14, Y:-55.22, Z:-3.80 [[ 9.70680306e-01 2.40154350e-01 1.02777262e-02 3.46141838e+02] [-2.40140305e-01 9.70734714e-01 -2.59784065e-03 -5.52162873e+01] [-1.06008283e-02 5.35764527e-05 9.99943808e-01 -3.80386102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:-55.23, Z:-3.80 [[ 9.69033492e-01 2.46715334e-01 1.02779101e-02 3.46196836e+02] [-2.46701665e-01 9.69087996e-01 -2.59711284e-03 -5.52336891e+01] [-1.06009469e-02 -1.88882096e-05 9.99943808e-01 -3.80393556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:-55.25, Z:-3.80 [[ 9.67015727e-01 2.54509222e-01 1.02781264e-02 3.46253317e+02] [-2.54496001e-01 9.67070341e-01 -2.59625676e-03 -5.52479543e+01] [-1.06004424e-02 -1.05120940e-04 9.99943808e-01 -3.79615846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.31, Y:-55.26, Z:-3.79 [[ 9.65034795e-01 2.61920219e-01 1.02782760e-02 3.46311743e+02] [-2.61907424e-01 9.65089511e-01 -2.59566427e-03 -5.52582196e+01] [-1.05993133e-02 -1.87050444e-04 9.99943808e-01 -3.79283582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.37, Y:-55.27, Z:-3.80 [[ 9.63976776e-01 2.65787755e-01 1.02783940e-02 3.46369484e+02] [-2.65775185e-01 9.64031543e-01 -2.59519676e-03 -5.52699396e+01] [-1.05984676e-02 -2.30032666e-04 9.99943808e-01 -3.79584734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.43, Y:-55.28, Z:-3.80 [[ 9.61370162e-01 2.75066836e-01 1.02785117e-02 3.46427782e+02] [-2.75054799e-01 9.61425049e-01 -2.59473058e-03 -5.52752162e+01] [-1.05957430e-02 -3.32657414e-04 9.99943808e-01 -3.80457617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.49, Y:-55.28, Z:-3.80 [[ 9.60821428e-01 2.76977496e-01 1.02786565e-02 3.46486570e+02] [-2.76965574e-01 9.60876340e-01 -2.59415692e-03 -5.52839230e+01] [-1.05950409e-02 -3.54312442e-04 9.99943808e-01 -3.79735616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.54, Y:-55.30, Z:-3.80 [[ 9.62202161e-01 2.72142136e-01 1.02790594e-02 3.46542833e+02] [-2.72129955e-01 9.62257017e-01 -2.59255925e-03 -5.52965856e+01] [-1.05966417e-02 -3.02673870e-04 9.99943808e-01 -3.79839305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.60, Y:-55.31, Z:-3.80 [[ 9.63620125e-01 2.67077876e-01 1.02792010e-02 3.46601025e+02] [-2.67065413e-01 9.63674918e-01 -2.59199771e-03 -5.53077719e+01] [-1.05980735e-02 -2.47517908e-04 9.99943808e-01 -3.80447315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.66, Y:-55.32, Z:-3.80 [[ 9.64457297e-01 2.64038733e-01 1.02795791e-02 3.46657734e+02] [-2.64026113e-01 9.64512053e-01 -2.59049752e-03 -5.53215972e+01] [-1.05987696e-02 -2.15653080e-04 9.99943808e-01 -3.80216293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.71, Y:-55.34, Z:-3.80 [[ 9.64044981e-01 2.65540196e-01 1.02800246e-02 3.46713769e+02] [-2.65527680e-01 9.64099761e-01 -2.58872831e-03 -5.53356307e+01] [-1.05983807e-02 -2.33980546e-04 9.99943808e-01 -3.80264978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.77, Y:-55.35, Z:-3.81 [[ 9.63088318e-01 2.68989228e-01 1.02804696e-02 3.46771269e+02] [-2.68976927e-01 9.63143146e-01 -2.58695983e-03 -5.53465451e+01] [-1.05974282e-02 -2.73738335e-04 9.99943808e-01 -3.80630461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.83, Y:-55.36, Z:-3.80 [[ 9.62181601e-01 2.72214751e-01 1.02808546e-02 3.46829201e+02] [-2.72202651e-01 9.62236474e-01 -2.58542897e-03 -5.53554986e+01] [-1.05964052e-02 -3.10823689e-04 9.99943808e-01 -3.80284226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.89, Y:-55.37, Z:-3.80 [[ 9.62474907e-01 2.71175875e-01 1.02809990e-02 3.46886743e+02] [-2.71163721e-01 9.62529768e-01 -2.58485454e-03 -5.53652757e+01] [-1.05967178e-02 -2.99976326e-04 9.99943808e-01 -3.80492343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.94, Y:-55.38, Z:-3.81 [[ 9.63613747e-01 2.67100801e-01 1.02814658e-02 3.46942872e+02] [-2.67088435e-01 9.63668561e-01 -2.58299654e-03 -5.53780415e+01] [-1.05978458e-02 -2.57049643e-04 9.99943808e-01 -3.80873727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.00, Y:-55.39, Z:-3.81 [[ 9.65674138e-01 2.59552977e-01 1.02816103e-02 3.46999515e+02] [-2.59540188e-01 9.65728855e-01 -2.58242124e-03 -5.53907355e+01] [-1.05995229e-02 -1.74713678e-04 9.99943808e-01 -3.80658631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.06, Y:-55.40, Z:-3.80 [[ 9.66607339e-01 2.56055731e-01 1.02817491e-02 3.47056885e+02] [-2.56042750e-01 9.66662011e-01 -2.58186861e-03 -5.54037462e+01] [-1.06000785e-02 -1.36914165e-04 9.99943808e-01 -3.80037025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.11, Y:-55.42, Z:-3.80 [[ 9.68809673e-01 2.47592600e-01 1.02821737e-02 3.47113297e+02] [-2.47579159e-01 9.68864233e-01 -2.58017671e-03 -5.54198049e+01] [-1.06008630e-02 -4.59517584e-05 9.99943808e-01 -3.80149011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.17, Y:-55.44, Z:-3.80 [[ 9.70571054e-01 2.40595310e-01 1.02822967e-02 3.47170026e+02] [-2.40581481e-01 9.70625518e-01 -2.57968610e-03 -5.54373707e+01] [-1.06009200e-02 3.00384792e-05 9.99943808e-01 -3.80493743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.23, Y:-55.46, Z:-3.81 [[ 9.72542054e-01 2.32499942e-01 1.02825321e-02 3.47225194e+02] [-2.32485671e-01 9.72596403e-01 -2.57874765e-03 -5.54572099e+01] [-1.06003124e-02 1.17399168e-04 9.99943808e-01 -3.80546605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.28, Y:-55.48, Z:-3.81 [[ 9.74037570e-01 2.26152777e-01 1.02826547e-02 3.47279234e+02] [-2.26138156e-01 9.74091827e-01 -2.57825885e-03 -5.54825193e+01] [-1.05993303e-02 1.86020417e-04 9.99943808e-01 -3.80728492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.33, Y:-55.51, Z:-3.80 [[ 9.74852380e-01 2.22614242e-01 1.02827766e-02 3.47334451e+02] [-2.22599430e-01 9.74906585e-01 -2.57777224e-03 -5.55050793e+01] [-1.05985955e-02 2.24007188e-04 9.99943808e-01 -3.80448665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.39, Y:-55.53, Z:-3.80 [[ 9.74618283e-01 2.23636903e-01 1.02828979e-02 3.47388592e+02] [-2.23622153e-01 9.74672504e-01 -2.57728853e-03 -5.55313919e+01] [-1.05988347e-02 2.12388759e-04 9.99943808e-01 -3.80077041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.44, Y:-55.55, Z:-3.81 [[ 9.73708546e-01 2.27565214e-01 1.02830203e-02 3.47442725e+02] [-2.27550687e-01 9.73762828e-01 -2.57680001e-03 -5.55520609e+01] [-1.05996130e-02 1.69143851e-04 9.99943808e-01 -3.80828878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:-55.57, Z:-3.82 [[ 9.71917373e-01 2.35097587e-01 1.02831715e-02 3.47497453e+02] [-2.35083488e-01 9.71971768e-01 -2.57619640e-03 -5.55727121e+01] [-1.06006100e-02 8.64462115e-05 9.99943808e-01 -3.82101829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:-55.59, Z:-3.82 [[ 9.70801279e-01 2.39664621e-01 1.02832875e-02 3.47553452e+02] [-2.39650782e-01 9.70855740e-01 -2.57573346e-03 -5.55922864e+01] [-1.06009009e-02 3.61274494e-05 9.99943808e-01 -3.81548236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.61, Y:-55.61, Z:-3.81 [[ 9.70013727e-01 2.42832496e-01 1.02834071e-02 3.47609566e+02] [-2.42818840e-01 9.70068234e-01 -2.57525576e-03 -5.56109528e+01] [-1.06009624e-02 1.02845071e-06 9.99943808e-01 -3.80553989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.66, Y:-55.63, Z:-3.81 [[ 9.69797621e-01 2.43694119e-01 1.02835307e-02 3.47664917e+02] [-2.43680517e-01 9.69852141e-01 -2.57476198e-03 -5.56273073e+01] [-1.06009587e-02 -8.89804371e-06 9.99943808e-01 -3.81129860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.72, Y:-55.64, Z:-3.81 [[ 9.69578093e-01 2.44566081e-01 1.02836833e-02 3.47721540e+02] [-2.44552535e-01 9.69632627e-01 -2.57415233e-03 -5.56436804e+01] [-1.06009452e-02 -1.90591199e-05 9.99943808e-01 -3.80781817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.78, Y:-55.66, Z:-3.81 [[ 9.69404894e-01 2.45251695e-01 1.02838049e-02 3.47777827e+02] [-2.45238192e-01 9.69459440e-01 -2.57366642e-03 -5.56584141e+01] [-1.06009278e-02 -2.70569099e-05 9.99943808e-01 -3.80680106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.83, Y:-55.68, Z:-3.81 [[ 9.69420288e-01 2.45190836e-01 1.02839554e-02 3.47834510e+02] [-2.45177336e-01 9.69474834e-01 -2.57306492e-03 -5.56752810e+01] [-1.06009279e-02 -2.70114631e-05 9.99943808e-01 -3.80896498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.89, Y:-55.69, Z:-3.81 [[ 9.69427428e-01 2.45162597e-01 1.02840810e-02 3.47890834e+02] [-2.45149100e-01 9.69481975e-01 -2.57256280e-03 -5.56887368e+01] [-1.06009274e-02 -2.72202827e-05 9.99943808e-01 -3.81175388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.985769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:347.95, Y:-55.70, Z:-3.81 [[ 9.69394747e-01 2.45291783e-01 1.02842361e-02 3.47946782e+02] [-2.45278300e-01 9.69449298e-01 -2.57194283e-03 -5.57017084e+01] [-1.06009219e-02 -2.92720819e-05 9.99943808e-01 -3.81329723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.00, Y:-55.71, Z:-3.81 [[ 9.68868253e-01 2.47363173e-01 1.02843882e-02 3.48004704e+02] [-2.47349814e-01 9.68922834e-01 -2.57133462e-03 -5.57134363e+01] [-1.06008320e-02 -5.25570181e-05 9.99943808e-01 -3.80869729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.06, Y:-55.72, Z:-3.81 [[ 9.68011649e-01 2.50694389e-01 1.02845091e-02 3.48062268e+02] [-2.50681223e-01 9.68066276e-01 -2.57085099e-03 -5.57223378e+01] [-1.06005843e-02 -8.95195952e-05 9.99943808e-01 -3.81001788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:-55.73, Z:-3.81 [[ 9.67998313e-01 2.50745868e-01 1.02846900e-02 3.48118529e+02] [-2.50732713e-01 9.68052943e-01 -2.57012682e-03 -5.57338327e+01] [-1.06005731e-02 -9.08298008e-05 9.99943808e-01 -3.81387681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.18, Y:-55.75, Z:-3.82 [[ 9.68246837e-01 2.49784477e-01 1.02848385e-02 3.48176225e+02] [-2.49771273e-01 9.68301455e-01 -2.56953271e-03 -5.57466114e+01] [-1.06006534e-02 -8.09152814e-05 9.99943808e-01 -3.81622894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.23, Y:-55.76, Z:-3.82 [[ 9.68458213e-01 2.48963672e-01 1.02849571e-02 3.48233650e+02] [-2.48950427e-01 9.68512821e-01 -2.56905756e-03 -5.57581271e+01] [-1.06007149e-02 -7.24195778e-05 9.99943808e-01 -3.81898469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.29, Y:-55.77, Z:-3.82 [[ 9.69080178e-01 2.46531591e-01 1.02850788e-02 3.48290629e+02] [-2.46518214e-01 9.69134755e-01 -2.56857024e-03 -5.57688601e+01] [-1.06008611e-02 -4.63087577e-05 9.99943808e-01 -3.82147104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.35, Y:-55.78, Z:-3.82 [[ 9.69620839e-01 2.44396488e-01 1.02852294e-02 3.48348390e+02] [-2.44382997e-01 9.69675387e-01 -2.56796726e-03 -5.57816896e+01] [-1.06009360e-02 -2.35806185e-05 9.99943808e-01 -3.81903942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.41, Y:-55.80, Z:-3.82 [[ 9.71215837e-01 2.37979010e-01 1.02853488e-02 3.48405197e+02] [-2.37965164e-01 9.71270296e-01 -2.56748875e-03 -5.57978716e+01] [-1.06008622e-02 4.60310144e-05 9.99943808e-01 -3.81508877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.46, Y:-55.81, Z:-3.82 [[ 9.72622939e-01 2.32161212e-01 1.02854680e-02 3.48460840e+02] [-2.32147045e-01 9.72677315e-01 -2.56701138e-03 -5.58149253e+01] [-1.06004019e-02 1.08993153e-04 9.99943808e-01 -3.81557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.51, Y:-55.84, Z:-3.82 [[ 9.74021131e-01 2.26223434e-01 1.02856167e-02 3.48514894e+02] [-2.26208942e-01 9.74075422e-01 -2.56641548e-03 -5.58355588e+01] [-1.05995497e-02 1.73044445e-04 9.99943808e-01 -3.82070900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.57, Y:-55.86, Z:-3.82 [[ 9.73863073e-01 2.26902883e-01 1.02857618e-02 3.48569811e+02] [-2.26888436e-01 9.73917376e-01 -2.56583348e-03 -5.58584186e+01] [-1.05996772e-02 1.65050065e-04 9.99943808e-01 -3.82205938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.62, Y:-55.88, Z:-3.82 [[ 9.73462073e-01 2.28617132e-01 1.02858830e-02 3.48625000e+02] [-2.28602785e-01 9.73516402e-01 -2.56534758e-03 -5.58779686e+01] [-1.05999583e-02 1.45887067e-04 9.99943808e-01 -3.82076630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.68, Y:-55.90, Z:-3.81 [[ 9.72368456e-01 2.33224747e-01 1.02860330e-02 3.48680494e+02] [-2.33210664e-01 9.72422855e-01 -2.56474617e-03 -5.59008612e+01] [-1.06005358e-02 9.50656871e-05 9.99943808e-01 -3.80914742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.73, Y:-55.92, Z:-3.81 [[ 9.71545488e-01 2.36629584e-01 1.02861263e-02 3.48734870e+02] [-2.36615695e-01 9.71599937e-01 -2.56437171e-03 -5.59198599e+01] [-1.06008059e-02 5.75448284e-05 9.99943808e-01 -3.80984572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.79, Y:-55.94, Z:-3.82 [[ 9.70445263e-01 2.41102020e-01 1.02862796e-02 3.48789908e+02] [-2.41088388e-01 9.70499776e-01 -2.56375672e-03 -5.59422545e+01] [-1.06009590e-02 8.08298688e-06 9.99943808e-01 -3.81763586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.85, Y:-55.96, Z:-3.81 [[ 9.69681930e-01 2.44153938e-01 1.02863912e-02 3.48846348e+02] [-2.44140483e-01 9.69736487e-01 -2.56330881e-03 -5.59596622e+01] [-1.06009308e-02 -2.57302966e-05 9.99943808e-01 -3.81499084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.90, Y:-55.98, Z:-3.81 [[ 9.68783349e-01 2.47695399e-01 1.02865124e-02 3.48901914e+02] [-2.47682149e-01 9.68837956e-01 -2.56282247e-03 -5.59760234e+01] [-1.06007630e-02 -6.49657688e-05 9.99943808e-01 -3.81410366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.96, Y:-55.99, Z:-3.82 [[ 9.68347857e-01 2.49392488e-01 1.02866619e-02 3.48957715e+02] [-2.49379340e-01 9.68402489e-01 -2.56222242e-03 -5.59948017e+01] [-1.06006280e-02 -8.41583549e-05 9.99943808e-01 -3.81738318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.01, Y:-56.01, Z:-3.82 [[ 9.68190336e-01 2.50003311e-01 1.02867815e-02 3.49014222e+02] [-2.49990203e-01 9.68244977e-01 -2.56174201e-03 -5.60128036e+01] [-1.06005685e-02 -9.13407376e-05 9.99943808e-01 -3.81831254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.07, Y:-56.03, Z:-3.82 [[ 9.67959657e-01 2.50894964e-01 1.02868424e-02 3.49071370e+02] [-2.50881908e-01 9.68014311e-01 -2.56149767e-03 -5.60283964e+01] [-1.06004775e-02 -1.01356239e-04 9.99943808e-01 -3.81989684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.13, Y:-56.04, Z:-3.82 [[ 9.67888288e-01 2.51170145e-01 1.02869032e-02 3.49128859e+02] [-2.51157107e-01 9.67942946e-01 -2.56125331e-03 -5.60425829e+01] [-1.06004458e-02 -1.04621772e-04 9.99943808e-01 -3.82102001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.19, Y:-56.06, Z:-3.82 [[ 9.68291748e-01 2.49610235e-01 1.02869634e-02 3.49186604e+02] [-2.49597112e-01 9.68346386e-01 -2.56101137e-03 -5.60565611e+01] [-1.06005985e-02 -8.77901856e-05 9.99943808e-01 -3.81574183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.25, Y:-56.07, Z:-3.82 [[ 9.69585501e-01 2.44536567e-01 1.02870229e-02 3.49246050e+02] [-2.44523161e-01 9.69640070e-01 -2.56077228e-03 -5.60695951e+01] [-1.06009121e-02 -3.25276893e-05 9.99943808e-01 -3.81612714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.30, Y:-56.09, Z:-3.82 [[ 9.70147482e-01 2.42297424e-01 1.02869928e-02 3.49303776e+02] [-2.42283891e-01 9.70202019e-01 -2.56089346e-03 -5.60861544e+01] [-1.06009591e-02 -7.92828999e-06 9.99943808e-01 -3.82040806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:-56.10, Z:-3.82 [[ 9.70601381e-01 2.40472738e-01 1.02869928e-02 3.49361424e+02] [-2.40459102e-01 9.70655893e-01 -2.56089346e-03 -5.61026769e+01] [-1.06009552e-02 1.20056788e-05 9.99943808e-01 -3.82494674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.42, Y:-56.12, Z:-3.83 [[ 9.70845465e-01 2.39485409e-01 1.02869628e-02 3.49418807e+02] [-2.39471716e-01 9.70899963e-01 -2.56101381e-03 -5.61181916e+01] [-1.06009373e-02 2.29120034e-05 9.99943808e-01 -3.82824665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.48, Y:-56.13, Z:-3.83 [[ 9.70740956e-01 2.39908678e-01 1.02869921e-02 3.49475667e+02] [-2.39895011e-01 9.70795460e-01 -2.56089618e-03 -5.61320127e+01] [-1.06009464e-02 1.81687279e-05 9.99943808e-01 -3.82559918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.53, Y:-56.15, Z:-3.82 [[ 9.70070937e-01 2.42603695e-01 1.02870633e-02 3.49533273e+02] [-2.42590182e-01 9.70125480e-01 -2.56061012e-03 -5.61491598e+01] [-1.06009557e-02 -1.15670970e-05 9.99943808e-01 -3.81530475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.59, Y:-56.16, Z:-3.81 [[ 9.69283917e-01 2.45729246e-01 1.02871206e-02 3.49592742e+02] [-2.45715911e-01 9.69338504e-01 -2.56037995e-03 -5.61613629e+01] [-1.06008623e-02 -4.59741003e-05 9.99943808e-01 -3.81209241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.65, Y:-56.17, Z:-3.82 [[ 9.68237574e-01 2.49820288e-01 1.02871206e-02 3.49651651e+02] [-2.49807184e-01 9.68292216e-01 -2.56037995e-03 -5.61702506e+01] [-1.06005737e-02 -9.07405498e-05 9.99943808e-01 -3.81918852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.71, Y:-56.18, Z:-3.82 [[ 9.68157081e-01 2.50132048e-01 1.02871818e-02 3.49709246e+02] [-2.50118964e-01 9.68211728e-01 -2.56013404e-03 -5.61805950e+01] [-1.06005416e-02 -9.44073485e-05 9.99943808e-01 -3.81886573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:-56.19, Z:-3.82 [[ 9.68758471e-01 2.47792649e-01 1.02872725e-02 3.49767641e+02] [-2.47779437e-01 9.68813087e-01 -2.55976948e-03 -5.61902758e+01] [-1.06007363e-02 -6.91762228e-05 9.99943808e-01 -3.81700414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.82, Y:-56.20, Z:-3.82 [[ 9.68992981e-01 2.46874002e-01 1.02873619e-02 3.49824273e+02] [-2.46860742e-01 9.69047586e-01 -2.55940997e-03 -5.62009076e+01] [-1.06007950e-02 -5.94955039e-05 9.99943808e-01 -3.81679936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.88, Y:-56.21, Z:-3.82 [[ 9.68036663e-01 2.50597659e-01 1.02875051e-02 3.49882869e+02] [-2.50584615e-01 9.68091320e-01 -2.55883435e-03 -5.62089477e+01] [-1.06004823e-02 -1.00845047e-04 9.99943808e-01 -3.82030730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.94, Y:-56.22, Z:-3.82 [[ 9.66839401e-01 2.55177855e-01 1.02876299e-02 3.49940898e+02] [-2.55165075e-01 9.66894120e-01 -2.55833255e-03 -5.62163450e+01] [-1.05998787e-02 -1.51547154e-04 9.99943808e-01 -3.82218827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.00, Y:-56.23, Z:-3.82 [[ 9.66580457e-01 2.56156947e-01 1.02877839e-02 3.49996763e+02] [-2.56144229e-01 9.66635191e-01 -2.55771316e-03 -5.62292472e+01] [-1.05997099e-02 -1.62920923e-04 9.99943808e-01 -3.82368378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.05, Y:-56.24, Z:-3.83 [[ 9.66401101e-01 2.56832767e-01 1.02879312e-02 3.50053846e+02] [-2.56820094e-01 9.66455845e-01 -2.55712063e-03 -5.62430045e+01] [-1.05995836e-02 -1.70943255e-04 9.99943808e-01 -3.82513062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.11, Y:-56.25, Z:-3.83 [[ 9.67284951e-01 2.53483686e-01 1.02880530e-02 3.50110998e+02] [-2.53470828e-01 9.67339652e-01 -2.55663054e-03 -5.62536429e+01] [-1.06001057e-02 -1.34731059e-04 9.99943808e-01 -3.82738378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.17, Y:-56.27, Z:-3.83 [[ 9.68156720e-01 2.50133403e-01 1.02882036e-02 3.50166880e+02] [-2.50120362e-01 9.68211377e-01 -2.55602429e-03 -5.62681578e+01] [-1.06005028e-02 -9.86571102e-05 9.99943808e-01 -3.82769367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.22, Y:-56.28, Z:-3.83 [[ 9.69907092e-01 2.43257853e-01 1.02883567e-02 3.50223439e+02] [-2.43244431e-01 9.69961657e-01 -2.55540764e-03 -5.62830908e+01] [-1.06009345e-02 -2.40774923e-05 9.99943808e-01 -3.82955912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.28, Y:-56.30, Z:-3.83 [[ 9.71687781e-01 2.36044493e-01 1.02884799e-02 3.50279788e+02] [-2.36030672e-01 9.71742247e-01 -2.55491163e-03 -5.63016624e+01] [-1.06008234e-02 5.41795871e-05 9.99943808e-01 -3.82755973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:350.34, Y:-56.32, Z:-3.83 [[ 9.72526413e-01 2.32565091e-01 1.02885716e-02 3.50336789e+02] [-2.32551079e-01 9.72580830e-01 -2.55454235e-03 -5.63183949e+01] [-1.06005649e-02 9.17414847e-05 9.99943808e-01 -3.82601941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.39, Y:-56.34, Z:-3.83 [[ 9.72890358e-01 2.31037866e-01 1.02886338e-02 3.50392898e+02] [-2.31023771e-01 9.72944753e-01 -2.55429189e-03 -5.63401018e+01] [-1.06004104e-02 1.08126969e-04 9.99943808e-01 -3.82872926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.45, Y:-56.36, Z:-3.83 [[ 9.73055652e-01 2.30340709e-01 1.02886646e-02 3.50452216e+02] [-2.30326576e-01 9.73110037e-01 -2.55416776e-03 -5.63610768e+01] [-1.06003316e-02 1.15594484e-04 9.99943808e-01 -3.83337989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.51, Y:-56.39, Z:-3.83 [[ 9.73055169e-01 2.30342755e-01 1.02885013e-02 3.50509253e+02] [-2.30328616e-01 9.73109553e-01 -2.55482541e-03 -5.63855056e+01] [-1.06003244e-02 1.16249808e-04 9.99943808e-01 -3.83083967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.57, Y:-56.41, Z:-3.83 [[ 9.72430676e-01 2.32965096e-01 1.02880813e-02 3.50566931e+02] [-2.32951086e-01 9.72485093e-01 -2.55651575e-03 -5.64092684e+01] [-1.06005846e-02 8.94146417e-05 9.99943808e-01 -3.82660371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.63, Y:-56.43, Z:-3.83 [[ 9.71884747e-01 2.35232229e-01 1.02876783e-02 3.50626158e+02] [-2.35218328e-01 9.71939193e-01 -2.55813611e-03 -5.64277317e+01] [-1.06007538e-02 6.63629628e-05 9.99943808e-01 -3.83016648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.69, Y:-56.45, Z:-3.83 [[ 9.70944429e-01 2.39083853e-01 1.02872503e-02 3.50685341e+02] [-2.39070150e-01 9.70998924e-01 -2.55985628e-03 -5.64471712e+01] [-1.06009293e-02 2.61037272e-05 9.99943808e-01 -3.83447199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.75, Y:-56.46, Z:-3.84 [[ 9.70137144e-01 2.42338820e-01 1.02868154e-02 3.50745137e+02] [-2.42325281e-01 9.70191680e-01 -2.56160268e-03 -5.64636042e+01] [-1.06009585e-02 -7.64953556e-06 9.99943808e-01 -3.83601438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.80, Y:-56.48, Z:-3.83 [[ 9.69441717e-01 2.45105995e-01 1.02863855e-02 3.50804935e+02] [-2.45092593e-01 9.69496287e-01 -2.56332795e-03 -5.64814385e+01] [-1.06008996e-02 -3.61198422e-05 9.99943808e-01 -3.83281855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.87, Y:-56.50, Z:-3.83 [[ 9.69765220e-01 2.43822920e-01 1.02859557e-02 3.50865929e+02] [-2.43809428e-01 9.69819768e-01 -2.56505132e-03 -5.64974385e+01] [-1.06009415e-02 -2.03154293e-05 9.99943808e-01 -3.83243623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.93, Y:-56.51, Z:-3.84 [[ 9.70160025e-01 2.42247260e-01 1.02854682e-02 3.50925934e+02] [-2.42233659e-01 9.70214546e-01 -2.56700464e-03 -5.65134302e+01] [-1.06009607e-02 -1.08131767e-06 9.99943808e-01 -3.83714206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.99, Y:-56.53, Z:-3.84 [[ 9.70336788e-01 2.41538270e-01 1.02850401e-02 3.50986932e+02] [-2.41524611e-01 9.70391294e-01 -2.56871897e-03 -5.65292168e+01] [-1.06009573e-02 8.43221567e-06 9.99943808e-01 -3.83711658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.05, Y:-56.54, Z:-3.83 [[ 9.70863265e-01 2.39413344e-01 1.02845531e-02 3.51046412e+02] [-2.39399545e-01 9.70917736e-01 -2.57066714e-03 -5.65449595e+01] [-1.06009070e-02 3.36489602e-05 9.99943808e-01 -3.82887857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.11, Y:-56.56, Z:-3.83 [[ 9.70965575e-01 2.38998093e-01 1.02841625e-02 3.51107200e+02] [-2.38984254e-01 9.71020036e-01 -2.57222868e-03 -5.65616231e+01] [-1.06008856e-02 3.97925839e-05 9.99943808e-01 -3.83059968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.17, Y:-56.58, Z:-3.84 [[ 9.70641318e-01 2.40311625e-01 1.02836858e-02 3.51167109e+02] [-2.40297839e-01 9.70695793e-01 -2.57413331e-03 -5.65782593e+01] [-1.06009247e-02 2.74126730e-05 9.99943808e-01 -3.83659757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.23, Y:-56.59, Z:-3.84 [[ 9.70511019e-01 2.40837323e-01 1.02832721e-02 3.51226045e+02] [-2.40823549e-01 9.70565497e-01 -2.57578500e-03 -5.65948909e+01] [-1.06009342e-02 2.33736475e-05 9.99943808e-01 -3.83966350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.29, Y:-56.61, Z:-3.83 [[ 9.70268641e-01 2.41811965e-01 1.02828918e-02 3.51285907e+02] [-2.41798231e-01 9.70323128e-01 -2.57730209e-03 -5.66104549e+01] [-1.06009502e-02 1.42903503e-05 9.99943808e-01 -3.82947463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.34, Y:-56.62, Z:-3.83 [[ 9.69141976e-01 2.46288654e-01 1.02824891e-02 3.51344364e+02] [-2.46275154e-01 9.69196522e-01 -2.57890791e-03 -5.66240524e+01] [-1.06009084e-02 -3.29936693e-05 9.99943808e-01 -3.83292990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.40, Y:-56.64, Z:-3.83 [[ 9.68972990e-01 2.46952657e-01 1.02824891e-02 3.51404917e+02] [-2.46939194e-01 9.69027545e-01 -2.57890791e-03 -5.66420142e+01] [-1.06008833e-02 -4.02574551e-05 9.99943808e-01 -3.83367621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.46, Y:-56.66, Z:-3.84 [[ 9.68485190e-01 2.48858830e-01 1.02819981e-02 3.51464159e+02] [-2.48845454e-01 9.68539766e-01 -2.58086380e-03 -5.66625372e+01] [-1.06007948e-02 -5.91001296e-05 9.99943808e-01 -3.83697020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.52, Y:-56.68, Z:-3.84 [[ 9.65884912e-01 2.58767516e-01 1.02815120e-02 3.51523138e+02] [-2.58754679e-01 9.65939618e-01 -2.58279914e-03 -5.66814358e+01] [-1.05996642e-02 -1.65702604e-04 9.99943808e-01 -3.83573086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.58, Y:-56.69, Z:-3.84 [[ 9.63659148e-01 2.66936968e-01 1.02810927e-02 3.51582257e+02] [-2.66924577e-01 9.63713957e-01 -2.58446705e-03 -5.66940438e+01] [-1.05979223e-02 -2.53731001e-04 9.99943808e-01 -3.83877236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.64, Y:-56.70, Z:-3.84 [[ 9.61574119e-01 2.74352900e-01 1.02810631e-02 3.51639351e+02] [-2.74340931e-01 9.61629021e-01 -2.58458456e-03 -5.67022325e+01] [-1.05956569e-02 -3.35246810e-04 9.99943808e-01 -3.84253776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.70, Y:-56.71, Z:-3.84 [[ 9.61492724e-01 2.74638015e-01 1.02812148e-02 3.51698507e+02] [-2.74626068e-01 9.61547631e-01 -2.58398096e-03 -5.67131757e+01] [-1.05955372e-02 -3.39010714e-04 9.99943808e-01 -3.84154074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.76, Y:-56.72, Z:-3.84 [[ 9.63447987e-01 2.67698099e-01 1.02812730e-02 3.51757210e+02] [-2.67685759e-01 9.63502807e-01 -2.58374940e-03 -5.67210619e+01] [-1.05977002e-02 -2.62842212e-04 9.99943808e-01 -3.84254371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.82, Y:-56.73, Z:-3.84 [[ 9.64204953e-01 2.64958681e-01 1.02813595e-02 3.51817174e+02] [-2.64946189e-01 9.64259738e-01 -2.58340521e-03 -5.67339663e+01] [-1.05983967e-02 -2.33074922e-04 9.99943808e-01 -3.84151311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.88, Y:-56.74, Z:-3.84 [[ 9.65880032e-01 2.58785738e-01 1.02812984e-02 3.51877180e+02] [-2.58772893e-01 9.65934736e-01 -2.58364826e-03 -5.67449272e+01] [-1.05996746e-02 -1.65027076e-04 9.99943808e-01 -3.84320887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.93, Y:-56.76, Z:-3.84 [[ 9.66432850e-01 2.56713556e-01 1.02809050e-02 3.51933439e+02] [-2.56700577e-01 9.66487522e-01 -2.58521275e-03 -5.67568659e+01] [-1.06000256e-02 -1.40679728e-04 9.99943808e-01 -3.84240739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.99, Y:-56.77, Z:-3.84 [[ 9.67274526e-01 2.53523747e-01 1.02810465e-02 3.51992506e+02] [-2.53510594e-01 9.67329157e-01 -2.58465014e-03 -5.67684047e+01] [-1.06004262e-02 -1.06287962e-04 9.99943808e-01 -3.84216966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.05, Y:-56.78, Z:-3.84 [[ 9.67578751e-01 2.52360181e-01 1.02810465e-02 3.52051685e+02] [-2.52346962e-01 9.67633366e-01 -2.58465014e-03 -5.67822980e+01] [-1.06005464e-02 -9.35382927e-05 9.99943808e-01 -3.84334591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:-56.79, Z:-3.84 [[ 9.68031164e-01 2.50619166e-01 1.02810465e-02 3.52109806e+02] [-2.50605849e-01 9.68085754e-01 -2.58465014e-03 -5.67900985e+01] [-1.06006975e-02 -7.44685003e-05 9.99943808e-01 -3.83811893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.17, Y:-56.80, Z:-3.84 [[ 9.68387372e-01 2.49239234e-01 1.02811651e-02 3.52167085e+02] [-2.49225844e-01 9.68441945e-01 -2.58417822e-03 -5.68002668e+01] [-1.06007901e-02 -5.98464990e-05 9.99943808e-01 -3.83597168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.23, Y:-56.81, Z:-3.84 [[ 9.68393656e-01 2.49214812e-01 1.02813107e-02 3.52226181e+02] [-2.49201427e-01 9.68448230e-01 -2.58359863e-03 -5.68064382e+01] [-1.06007882e-02 -6.01767790e-05 9.99943808e-01 -3.84153191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.28, Y:-56.82, Z:-3.85 [[ 9.69713143e-01 2.44030145e-01 1.02814266e-02 3.52284456e+02] [-2.44016473e-01 9.69767647e-01 -2.58313764e-03 -5.68178974e+01] [-1.06009583e-02 -3.93492884e-06 9.99943808e-01 -3.84615115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.545769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:352.34, Y:-56.83, Z:-3.85 [[ 9.71471291e-01 2.36934213e-01 1.02814868e-02 3.52341836e+02] [-2.36920146e-01 9.71525694e-01 -2.58289776e-03 -5.68313947e+01] [-1.06007055e-02 7.33196624e-05 9.99943808e-01 -3.84639498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.40, Y:-56.85, Z:-3.84 [[ 9.73333629e-01 2.29163558e-01 1.02815763e-02 3.52399097e+02] [-2.29149060e-01 9.73387918e-01 -2.58254141e-03 -5.68474033e+01] [-1.05997866e-02 1.57660848e-04 9.99943808e-01 -3.84048447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.46, Y:-56.86, Z:-3.84 [[ 9.74090608e-01 2.25924271e-01 1.02816355e-02 3.52458550e+02] [-2.25909595e-01 9.74144849e-01 -2.58230600e-03 -5.68648143e+01] [-1.05992078e-02 1.92679916e-04 9.99943808e-01 -3.84371705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.52, Y:-56.89, Z:-3.85 [[ 9.74900789e-01 2.22402223e-01 1.02811878e-02 3.52516100e+02] [-2.22387333e-01 9.74954972e-01 -2.58408719e-03 -5.68859845e+01] [-1.05984019e-02 2.32822716e-04 9.99943808e-01 -3.85036208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.57, Y:-56.91, Z:-3.84 [[ 9.75286251e-01 2.20705763e-01 1.02807768e-02 3.52574403e+02] [-2.20690760e-01 9.75340403e-01 -2.58572111e-03 -5.69077512e+01] [-1.05979406e-02 2.52945800e-04 9.99943808e-01 -3.84270473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.63, Y:-56.93, Z:-3.84 [[ 9.75438082e-01 2.20033778e-01 1.02803498e-02 3.52633647e+02] [-2.20018720e-01 9.75492218e-01 -2.58741769e-03 -5.69277549e+01] [-1.05977205e-02 2.61996334e-04 9.99943808e-01 -3.84312266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.69, Y:-56.95, Z:-3.85 [[ 9.74861641e-01 2.22573817e-01 1.02798972e-02 3.52692591e+02] [-2.22558882e-01 9.74915812e-01 -2.58921451e-03 -5.69466990e+01] [-1.05983257e-02 2.36243474e-04 9.99943808e-01 -3.84625516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.75, Y:-56.96, Z:-3.85 [[ 9.74165304e-01 2.25602068e-01 1.02794756e-02 3.52751276e+02] [-2.25587283e-01 9.74219516e-01 -2.59088734e-03 -5.69626603e+01] [-1.05989753e-02 2.05033583e-04 9.99943808e-01 -3.84850032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.81, Y:-56.98, Z:-3.85 [[ 9.72511088e-01 2.32629571e-01 1.02794157e-02 3.52812874e+02] [-2.32615175e-01 9.72565405e-01 -2.59112486e-03 -5.69773092e+01] [-1.06001764e-02 1.28749558e-04 9.99943808e-01 -3.84728683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.87, Y:-56.99, Z:-3.85 [[ 9.71877719e-01 2.35261651e-01 1.02788999e-02 3.52872141e+02] [-2.35247381e-01 9.71932068e-01 -2.59316964e-03 -5.69931498e+01] [-1.06004658e-02 1.02159517e-04 9.99943808e-01 -3.85176862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.93, Y:-57.01, Z:-3.85 [[ 9.71945936e-01 2.34979682e-01 1.02784867e-02 3.52931422e+02] [-2.34965379e-01 9.72000277e-01 -2.59480626e-03 -5.70080054e+01] [-1.06004187e-02 1.06922864e-04 9.99943808e-01 -3.85350867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.99, Y:-57.03, Z:-3.85 [[ 9.72223482e-01 2.33828701e-01 1.02780913e-02 3.52991573e+02] [-2.33814317e-01 9.72277802e-01 -2.59637150e-03 -5.70253243e+01] [-1.06002662e-02 1.21088434e-04 9.99943808e-01 -3.85270070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.05, Y:-57.04, Z:-3.85 [[ 9.72640268e-01 2.32088947e-01 1.02776675e-02 3.53050989e+02] [-2.32074449e-01 9.72694557e-01 -2.59804800e-03 -5.70423897e+01] [-1.06000095e-02 1.41782076e-04 9.99943808e-01 -3.85029516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.11, Y:-57.06, Z:-3.85 [[ 9.72440306e-01 2.32925376e-01 1.02772170e-02 3.53110963e+02] [-2.32910905e-01 9.72494602e-01 -2.59982878e-03 -5.70586313e+01] [-1.06001042e-02 1.34502372e-04 9.99943808e-01 -3.84981885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.17, Y:-57.07, Z:-3.85 [[ 9.71323624e-01 2.37539063e-01 1.02767384e-02 3.53169733e+02] [-2.37524831e-01 9.71377983e-01 -2.60171930e-03 -5.70722395e+01] [-1.06006074e-02 8.61308680e-05 9.99943808e-01 -3.85188060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.23, Y:-57.09, Z:-3.85 [[ 9.69884719e-01 2.43347531e-01 1.02767080e-02 3.53230410e+02] [-2.43333622e-01 9.69939162e-01 -2.60183950e-03 -5.70873548e+01] [-1.06009328e-02 2.28157959e-05 9.99943808e-01 -3.85278237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.29, Y:-57.10, Z:-3.85 [[ 9.69453475e-01 2.45059909e-01 1.02762688e-02 3.53290179e+02] [-2.45046078e-01 9.69507938e-01 -2.60357286e-03 -5.71013152e+01] [-1.06009555e-02 5.88338432e-06 9.99943808e-01 -3.85241179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.35, Y:-57.11, Z:-3.85 [[ 9.69210984e-01 2.46017210e-01 1.02762067e-02 3.53350202e+02] [-2.46003430e-01 9.69265460e-01 -2.60381802e-03 -5.71147224e+01] [-1.06009563e-02 -4.33307189e-06 9.99943808e-01 -3.85374109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.41, Y:-57.13, Z:-3.85 [[ 9.69603901e-01 2.44464061e-01 1.02761446e-02 3.53409152e+02] [-2.44450191e-01 9.69658354e-01 -2.60406296e-03 -5.71274069e+01] [-1.06009493e-02 1.29040774e-05 9.99943808e-01 -3.85449227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:353.47, Y:-57.14, Z:-3.85 [[ 9.70196252e-01 2.42102531e-01 1.02760019e-02 3.53468700e+02] [-2.42088523e-01 9.70250670e-01 -2.60462615e-03 -5.71422660e+01] [-1.06008843e-02 3.92964073e-05 9.99943808e-01 -3.85335471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.53, Y:-57.16, Z:-3.86 [[ 9.72070275e-01 2.34464890e-01 1.02759418e-02 3.53528518e+02] [-2.34450452e-01 9.72124581e-01 -2.60486325e-03 -5.71598291e+01] [-1.06002446e-02 1.22910935e-04 9.99943808e-01 -3.85732398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.59, Y:-57.18, Z:-3.86 [[ 9.73179416e-01 2.29817836e-01 1.02755179e-02 3.53587326e+02] [-2.29803121e-01 9.73233647e-01 -2.60653420e-03 -5.71785194e+01] [-1.05995078e-02 1.75279336e-04 9.99943808e-01 -3.85937511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.65, Y:-57.20, Z:-3.86 [[ 9.74418662e-01 2.24505440e-01 1.02751271e-02 3.53646898e+02] [-2.24490413e-01 9.74472807e-01 -2.60807418e-03 -5.72001199e+01] [-1.05983587e-02 2.34688637e-04 9.99943808e-01 -3.85772972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.925769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:353.71, Y:-57.22, Z:-3.86 [[ 9.74749964e-01 2.23062635e-01 1.02746206e-02 3.53706236e+02] [-2.23047507e-01 9.74804081e-01 -2.61006802e-03 -5.72189041e+01] [-1.05979507e-02 2.52435209e-04 9.99943808e-01 -3.85855861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.76, Y:-57.25, Z:-3.86 [[ 9.75839892e-01 2.18245144e-01 1.02743069e-02 3.53762746e+02] [-2.18229736e-01 9.75893930e-01 -2.61130220e-03 -5.72473319e+01] [-1.05965377e-02 3.06053583e-04 9.99943808e-01 -3.85656893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.82, Y:-57.27, Z:-3.86 [[ 9.76100922e-01 2.17074727e-01 1.02738648e-02 3.53820795e+02] [-2.17059236e-01 9.76154936e-01 -2.61304045e-03 -5.72704995e+01] [-1.05961089e-02 3.20553951e-04 9.99943808e-01 -3.86189885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:-57.30, Z:-3.86 [[ 9.76058495e-01 2.17265437e-01 1.02734383e-02 3.53877643e+02] [-2.17249939e-01 9.76112508e-01 -2.61471601e-03 -5.72984905e+01] [-1.05961191e-02 3.20211932e-04 9.99943808e-01 -3.86130253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.94, Y:-57.32, Z:-3.86 [[ 9.76247855e-01 2.16413009e-01 1.02729821e-02 3.53936740e+02] [-2.16397445e-01 9.76301849e-01 -2.61650713e-03 -5.73225956e+01] [-1.05957776e-02 3.31312386e-04 9.99943808e-01 -3.85874123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:353.99, Y:-57.35, Z:-3.85 [[ 9.76709921e-01 2.14318004e-01 1.02724924e-02 3.53992258e+02] [-2.14302304e-01 9.76763874e-01 -2.61842837e-03 -5.73543382e+01] [-1.05949758e-02 3.56026177e-04 9.99943808e-01 -3.85233450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.285769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:354.05, Y:-57.38, Z:-3.85 [[ 9.75232994e-01 2.20941369e-01 1.02722599e-02 3.54049392e+02] [-2.20926025e-01 9.75287050e-01 -2.61934014e-03 -5.73840144e+01] [-1.05971227e-02 2.85057374e-04 9.99943808e-01 -3.85307222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.11, Y:-57.41, Z:-3.86 [[ 9.73009181e-01 2.30537687e-01 1.02717684e-02 3.54107327e+02] [-2.30522857e-01 9.73063380e-01 -2.62126641e-03 -5.74053106e+01] [-1.05993823e-02 1.82638895e-04 9.99943808e-01 -3.86017890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.17, Y:-57.42, Z:-3.86 [[ 9.68863045e-01 2.47384106e-01 1.02715259e-02 3.54167310e+02] [-2.47370208e-01 9.68917491e-01 -2.62221604e-03 -5.74227888e+01] [-1.06009557e-02 -3.01287463e-07 9.99943808e-01 -3.86030932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.23, Y:-57.44, Z:-3.86 [[ 9.66585609e-01 2.56138175e-01 1.02710787e-02 3.54228767e+02] [-2.56124751e-01 9.66640174e-01 -2.62396679e-03 -5.74371710e+01] [-1.06005353e-02 -9.43889250e-05 9.99943808e-01 -3.86151635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.525769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:354.29, Y:-57.45, Z:-3.86 [[ 9.64897885e-01 2.62424440e-01 1.02705707e-02 3.54291071e+02] [-2.62411351e-01 9.64952531e-01 -2.62595331e-03 -5.74493036e+01] [-1.05997276e-02 -1.61337551e-04 9.99943808e-01 -3.86289811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:354.35, Y:-57.46, Z:-3.86 [[ 9.64307790e-01 2.64584602e-01 1.02700666e-02 3.54351913e+02] [-2.64571615e-01 9.64362460e-01 -2.62792369e-03 -5.74598988e+01] [-1.05993748e-02 -1.83040809e-04 9.99943808e-01 -3.86413699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:354.41, Y:-57.47, Z:-3.86 [[ 9.63618567e-01 2.67083868e-01 1.02696026e-02 3.54413705e+02] [-2.67071003e-01 9.63673266e-01 -2.62973541e-03 -5.74662840e+01] [-1.05989014e-02 -2.08651210e-04 9.99943808e-01 -3.86186360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:354.48, Y:-57.47, Z:-3.86 [[ 9.63492342e-01 2.67538870e-01 1.02693663e-02 3.54477390e+02] [-2.67526021e-01 9.63547045e-01 -2.63065815e-03 -5.74729350e+01] [-1.05988208e-02 -2.12703703e-04 9.99943808e-01 -3.86235286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.54, Y:-57.48, Z:-3.86 [[ 9.63793998e-01 2.66450145e-01 1.02688853e-02 3.54540389e+02] [-2.66437214e-01 9.63848681e-01 -2.63253441e-03 -5.74816095e+01] [-1.05990907e-02 -1.98792320e-04 9.99943808e-01 -3.86382110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.60, Y:-57.49, Z:-3.86 [[ 9.64691103e-01 2.63183653e-01 1.02683900e-02 3.54602682e+02] [-2.63170517e-01 9.64745738e-01 -2.63446491e-03 -5.74938560e+01] [-1.05997336e-02 -1.60892637e-04 9.99943808e-01 -3.86487227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:354.67, Y:-57.50, Z:-3.87 [[ 9.65673090e-01 2.59557420e-01 1.02678924e-02 3.54665005e+02] [-2.59544058e-01 9.65727669e-01 -2.63640291e-03 -5.75017815e+01] [-1.06002857e-02 -1.19067101e-04 9.99943808e-01 -3.86578128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:354.73, Y:-57.51, Z:-3.86 [[ 9.66986986e-01 2.54618831e-01 1.02674284e-02 3.54727528e+02] [-2.54605171e-01 9.67041492e-01 -2.63820853e-03 -5.75134212e+01] [-1.06007669e-02 -6.30270514e-05 9.99943808e-01 -3.86342644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.005769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:354.79, Y:-57.53, Z:-3.86 [[ 9.69428922e-01 2.45157407e-01 1.02669474e-02 3.54787455e+02] [-2.45143195e-01 9.69483287e-01 -2.64007923e-03 -5.75308927e+01] [-1.06008689e-02 4.24968799e-05 9.99943808e-01 -3.86368951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:354.85, Y:-57.55, Z:-3.87 [[ 9.70933153e-01 2.39130534e-01 1.02665000e-02 3.54847064e+02] [-2.39115966e-01 9.70987423e-01 -2.64181773e-03 -5.75510693e+01] [-1.06003817e-02 1.10144352e-04 9.99943808e-01 -3.86581161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:354.90, Y:-57.57, Z:-3.87 [[ 9.72334358e-01 2.33367749e-01 1.02660086e-02 3.54904619e+02] [-2.33352839e-01 9.72388535e-01 -2.64372615e-03 -5.75730798e+01] [-1.05995094e-02 1.74983524e-04 9.99943808e-01 -3.87227521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.185769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:354.96, Y:-57.60, Z:-3.87 [[ 9.72677621e-01 2.31932885e-01 1.02656131e-02 3.54961499e+02] [-2.31917880e-01 9.72731772e-01 -2.64526086e-03 -5.75995944e+01] [-1.05992110e-02 1.92206816e-04 9.99943808e-01 -3.87489169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.02, Y:-57.62, Z:-3.87 [[ 9.71775491e-01 2.35684156e-01 1.02652032e-02 3.55020210e+02] [-2.35669342e-01 9.71829695e-01 -2.64685043e-03 -5.76248219e+01] [-1.05998500e-02 1.52950685e-04 9.99943808e-01 -3.87401341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:355.08, Y:-57.65, Z:-3.87 [[ 9.70245719e-01 2.41904693e-01 1.02647359e-02 3.55078677e+02] [-2.41890208e-01 9.70300011e-01 -2.64866156e-03 -5.76473113e+01] [-1.06005970e-02 8.69134478e-05 9.99943808e-01 -3.87377962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.365769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:355.14, Y:-57.67, Z:-3.87 [[ 9.69577828e-01 2.44567944e-01 1.02643020e-02 3.55137191e+02] [-2.44553590e-01 9.69632156e-01 -2.65034187e-03 -5.76682595e+01] [-1.06007860e-02 5.95408083e-05 9.99943808e-01 -3.87332965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.425769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:355.20, Y:-57.69, Z:-3.88 [[ 9.67897582e-01 2.51135273e-01 1.02638430e-02 3.55195417e+02] [-2.51121269e-01 9.67952000e-01 -2.65211822e-03 -5.76880797e+01] [-1.06009478e-02 -1.04904703e-05 9.99943808e-01 -3.87680528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.26, Y:-57.71, Z:-3.87 [[ 9.65411191e-01 2.60530025e-01 1.02634621e-02 3.55255477e+02] [-2.60516535e-01 9.65465739e-01 -2.65359157e-03 -5.77077819e+01] [-1.06003613e-02 -1.11994586e-04 9.99943808e-01 -3.87498409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.32, Y:-57.72, Z:-3.87 [[ 9.63794597e-01 2.66448205e-01 1.02629734e-02 3.55315156e+02] [-2.66435029e-01 9.63849222e-01 -2.65548036e-03 -5.77249147e+01] [-1.05995069e-02 -1.75077986e-04 9.99943808e-01 -3.86896811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.605769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:355.37, Y:-57.74, Z:-3.87 [[ 9.61632942e-01 2.74147343e-01 1.02625285e-02 3.55374886e+02] [-2.74134587e-01 9.61687666e-01 -2.65719849e-03 -5.77413496e+01] [-1.05978110e-02 -2.58064414e-04 9.99943808e-01 -3.87054959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:355.44, Y:-57.75, Z:-3.87 [[ 9.59676765e-01 2.80918488e-01 1.02620619e-02 3.55436983e+02] [-2.80906098e-01 9.59731574e-01 -2.65899917e-03 -5.77538773e+01] [-1.05957869e-02 -3.30896051e-04 9.99943808e-01 -3.87061259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.725769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:355.50, Y:-57.76, Z:-3.87 [[ 9.56275368e-01 2.92287736e-01 1.02615753e-02 3.55499280e+02] [-2.92275977e-01 9.56330316e-01 -2.66087573e-03 -5.77611499e+01] [-1.05911969e-02 -4.54682046e-04 9.99943808e-01 -3.86899026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.56, Y:-57.77, Z:-3.87 [[ 9.54697470e-01 2.97401159e-01 1.02611247e-02 3.55561811e+02] [-2.97389676e-01 9.54752476e-01 -2.66261234e-03 -5.77710199e+01] [-1.05886982e-02 -5.09563286e-04 9.99943808e-01 -3.87092515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.845769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:355.62, Y:-57.78, Z:-3.87 [[ 9.54004338e-01 2.99617161e-01 1.02606457e-02 3.55623788e+02] [-2.99605786e-01 9.54059366e-01 -2.66445694e-03 -5.77835429e+01] [-1.05875822e-02 -5.32245345e-04 9.99943808e-01 -3.87257698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:355.69, Y:-57.79, Z:-3.88 [[ 9.51994691e-01 3.05942540e-01 1.02601624e-02 3.55686734e+02] [-3.05931511e-01 9.52049789e-01 -2.66631670e-03 -5.77871262e+01] [-1.05839252e-02 -6.00587649e-04 9.99943808e-01 -3.87670913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.75, Y:-57.79, Z:-3.87 [[ 9.51341192e-01 3.07968625e-01 1.02597339e-02 3.55748381e+02] [-3.07957695e-01 9.51396311e-01 -2.66796461e-03 -5.77946446e+01] [-1.05827224e-02 -6.21419371e-04 9.99943808e-01 -3.87344497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:355.81, Y:-57.80, Z:-3.87 [[ 9.51499508e-01 3.07479157e-01 1.02593394e-02 3.55810346e+02] [-3.07468183e-01 9.51554618e-01 -2.66948086e-03 -5.77986012e+01] [-1.05831315e-02 -6.14410703e-04 9.99943808e-01 -3.87443954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.87, Y:-57.81, Z:-3.88 [[ 9.52728562e-01 3.03649527e-01 1.02592799e-02 3.55870381e+02] [-3.03638328e-01 9.52783626e-01 -2.66970930e-03 -5.78101133e+01] [-1.05855299e-02 -5.71602302e-04 9.99943808e-01 -3.88381590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.93, Y:-57.82, Z:-3.89 [[ 9.55107987e-01 2.96080193e-01 1.02592204e-02 3.55932451e+02] [-2.96068556e-01 9.55162961e-01 -2.66993795e-03 -5.78181951e+01] [-1.05897431e-02 -4.87353511e-04 9.99943808e-01 -3.88532946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:355.99, Y:-57.83, Z:-3.88 [[ 9.56464470e-01 2.91668432e-01 1.02587943e-02 3.55993326e+02] [-2.91656523e-01 9.56519386e-01 -2.67157423e-03 -5.78295463e+01] [-1.05919495e-02 -4.36778442e-04 9.99943808e-01 -3.87828469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.05, Y:-57.84, Z:-3.87 [[ 9.56777685e-01 2.90639329e-01 1.02587335e-02 3.56053163e+02] [-2.90627359e-01 9.56832587e-01 -2.67180770e-03 -5.78351050e+01] [-1.05924229e-02 -4.25142633e-04 9.99943808e-01 -3.87477050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:-57.84, Z:-3.88 [[ 9.56368533e-01 2.91982851e-01 1.02588549e-02 3.56112196e+02] [-2.91970963e-01 9.56423453e-01 -2.67134158e-03 -5.78425781e+01] [-1.05917953e-02 -4.40500710e-04 9.99943808e-01 -3.87847699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:-57.85, Z:-3.88 [[ 9.56589300e-01 2.91258760e-01 1.02589768e-02 3.56171544e+02] [-2.91246836e-01 9.56644211e-01 -2.67087332e-03 -5.78466317e+01] [-1.05921060e-02 -4.32965684e-04 9.99943808e-01 -3.88433779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:-57.86, Z:-3.88 [[ 9.57208717e-01 2.89216568e-01 1.02590979e-02 3.56230239e+02] [-2.89204531e-01 9.57263604e-01 -2.67040799e-03 -5.78566139e+01] [-1.05929873e-02 -4.10839792e-04 9.99943808e-01 -3.88207136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.505769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:356.29, Y:-57.86, Z:-3.88 [[ 9.58054851e-01 2.86401207e-01 1.02592235e-02 3.56288387e+02] [-2.86389014e-01 9.58109704e-01 -2.66992539e-03 -5.78631072e+01] [-1.05941314e-02 -3.80193930e-04 9.99943808e-01 -3.88212069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.34, Y:-57.87, Z:-3.88 [[ 9.58002334e-01 2.86576819e-01 1.02593797e-02 3.56344998e+02] [-2.86564642e-01 9.58057191e-01 -2.66932483e-03 -5.78733652e+01] [-1.05940392e-02 -3.82756065e-04 9.99943808e-01 -3.88294089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.40, Y:-57.88, Z:-3.88 [[ 9.57560588e-01 2.88049410e-01 1.02595311e-02 3.56403756e+02] [-2.88037324e-01 9.57615464e-01 -2.66874300e-03 -5.78805850e+01] [-1.05934155e-02 -3.99644765e-04 9.99943808e-01 -3.88334301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.46, Y:-57.89, Z:-3.88 [[ 9.57361086e-01 2.88711776e-01 1.02596533e-02 3.56461967e+02] [-2.88699733e-01 9.57415972e-01 -2.66827292e-03 -5.78897195e+01] [-1.05931178e-02 -4.07458524e-04 9.99943808e-01 -3.88268588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.52, Y:-57.90, Z:-3.88 [[ 9.57817912e-01 2.87192591e-01 1.02597751e-02 3.56520300e+02] [-2.87180466e-01 9.57872780e-01 -2.66780472e-03 -5.78982710e+01] [-1.05937330e-02 -3.91135844e-04 9.99943808e-01 -3.88083367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:-57.91, Z:-3.88 [[ 9.58443230e-01 2.85098772e-01 1.02598960e-02 3.56578020e+02] [-2.85086533e-01 9.58498072e-01 -2.66733964e-03 -5.79073573e+01] [-1.05945458e-02 -3.68464559e-04 9.99943808e-01 -3.88319545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.63, Y:-57.92, Z:-3.88 [[ 9.59063035e-01 2.83006758e-01 1.02600842e-02 3.56634269e+02] [-2.82994406e-01 9.59117853e-01 -2.66661570e-03 -5.79182503e+01] [-1.05953001e-02 -3.46093871e-04 9.99943808e-01 -3.88348861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.69, Y:-57.93, Z:-3.88 [[ 9.58784488e-01 2.83948993e-01 1.02603776e-02 3.56692505e+02] [-2.83936708e-01 9.58839320e-01 -2.66548626e-03 -5.79283870e+01] [-1.05949156e-02 -3.57670949e-04 9.99943808e-01 -3.88047840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.75, Y:-57.94, Z:-3.88 [[ 9.57603405e-01 2.87907002e-01 1.02605030e-02 3.56749060e+02] [-2.87894948e-01 9.57658288e-01 -2.66500330e-03 -5.79356271e+01] [-1.05933289e-02 -4.01930746e-04 9.99943808e-01 -3.88136762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.81, Y:-57.94, Z:-3.88 [[ 9.57234043e-01 2.89132675e-01 1.02607200e-02 3.56806853e+02] [-2.89120701e-01 9.57288944e-01 -2.66416762e-03 -5.79414191e+01] [-1.05927717e-02 -4.16354609e-04 9.99943808e-01 -3.88340073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.86, Y:-57.95, Z:-3.88 [[ 9.58096265e-01 2.86262572e-01 1.02609330e-02 3.56863747e+02] [-2.86250442e-01 9.58151132e-01 -2.66334697e-03 -5.79518517e+01] [-1.05939411e-02 -3.85453824e-04 9.99943808e-01 -3.88160939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.92, Y:-57.96, Z:-3.88 [[ 9.59244050e-01 2.82392567e-01 1.02611207e-02 3.56920726e+02] [-2.82380223e-01 9.59298869e-01 -2.66262376e-03 -5.79618981e+01] [-1.05953866e-02 -3.43431542e-04 9.99943808e-01 -3.88356801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.98, Y:-57.97, Z:-3.88 [[ 9.60234572e-01 2.79005864e-01 1.02613074e-02 3.56978817e+02] [-2.78993334e-01 9.60289349e-01 -2.66190381e-03 -5.79703012e+01] [-1.05965110e-02 -3.06784303e-04 9.99943808e-01 -3.88461040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.03, Y:-57.98, Z:-3.89 [[ 9.60459071e-01 2.78232053e-01 1.02614943e-02 3.57034759e+02] [-2.78219487e-01 9.60513839e-01 -2.66118341e-03 -5.79812468e+01] [-1.05967338e-02 -2.98989915e-04 9.99943808e-01 -3.88631762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.09, Y:-57.99, Z:-3.89 [[ 9.61137724e-01 2.75878548e-01 1.02617102e-02 3.57092689e+02] [-2.75865857e-01 9.61192463e-01 -2.66035062e-03 -5.79920643e+01] [-1.05974121e-02 -2.73892126e-04 9.99943808e-01 -3.88919240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.15, Y:-58.01, Z:-3.89 [[ 9.60821504e-01 2.76977855e-01 1.02618321e-02 3.57148592e+02] [-2.76965231e-01 9.60876259e-01 -2.65988028e-03 -5.80053865e+01] [-1.05970787e-02 -2.86500518e-04 9.99943808e-01 -3.89351382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.21, Y:-58.02, Z:-3.89 [[ 9.60186040e-01 2.79172815e-01 1.02619838e-02 3.57205643e+02] [-2.79160323e-01 9.60240825e-01 -2.65929491e-03 -5.80170763e+01] [-1.05963786e-02 -3.11320846e-04 9.99943808e-01 -3.89312950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.26, Y:-58.03, Z:-3.89 [[ 9.59267110e-01 2.82314185e-01 1.02621645e-02 3.57262167e+02] [-2.82301880e-01 9.59321938e-01 -2.65859730e-03 -5.80305978e+01] [-1.05952793e-02 -3.46723377e-04 9.99943808e-01 -3.89142194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:-58.04, Z:-3.89 [[ 9.58259549e-01 2.85715444e-01 1.02626456e-02 3.57317501e+02] [-2.85703352e-01 9.58314424e-01 -2.65673877e-03 -5.80425640e+01] [-1.05939126e-02 -3.86226963e-04 9.99943808e-01 -3.89284401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.38, Y:-58.05, Z:-3.89 [[ 9.56973342e-01 2.89994306e-01 1.02628536e-02 3.57376124e+02] [-2.89982468e-01 9.57028272e-01 -2.65593506e-03 -5.80523952e+01] [-1.05920471e-02 -4.34388567e-04 9.99943808e-01 -3.89347763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.43, Y:-58.06, Z:-3.90 [[ 9.55314920e-01 2.95411704e-01 1.02629837e-02 3.57433718e+02] [-2.95400184e-01 9.55369918e-01 -2.65543227e-03 -5.80571025e+01] [-1.05893917e-02 -4.94913205e-04 9.99943808e-01 -3.89699962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.49, Y:-58.07, Z:-3.90 [[ 9.55052536e-01 2.96258874e-01 1.02632077e-02 3.57491109e+02] [-2.96247412e-01 9.55107546e-01 -2.65456637e-03 -5.80677892e+01] [-1.05889059e-02 -5.05198361e-04 9.99943808e-01 -3.89694656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.55, Y:-58.07, Z:-3.90 [[ 9.55233239e-01 2.95675695e-01 1.02636634e-02 3.57549852e+02] [-2.95664218e-01 9.55288246e-01 -2.65280315e-03 -5.80708062e+01] [-1.05891264e-02 -5.00552264e-04 9.99943808e-01 -3.89505905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.61, Y:-58.07, Z:-3.90 [[ 9.56242341e-01 2.92395679e-01 1.02641512e-02 3.57609406e+02] [-2.92384033e-01 9.56297312e-01 -2.65091435e-03 -5.80732045e+01] [-1.05906961e-02 -4.66157389e-04 9.99943808e-01 -3.89563621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.67, Y:-58.08, Z:-3.90 [[ 9.56403037e-01 2.91869609e-01 1.02646482e-02 3.57668130e+02] [-2.91857954e-01 9.56458006e-01 -2.64898854e-03 -5.80783807e+01] [-1.05908642e-02 -4.62318543e-04 9.99943808e-01 -3.89524528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.73, Y:-58.08, Z:-3.90 [[ 9.56571214e-01 2.91317936e-01 1.02651449e-02 3.57726987e+02] [-2.91306270e-01 9.56626181e-01 -2.64706232e-03 -5.80764709e+01] [-1.05910431e-02 -4.58197457e-04 9.99943808e-01 -3.89680666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.79, Y:-58.08, Z:-3.90 [[ 9.56918165e-01 2.90176235e-01 1.02653595e-02 3.57786168e+02] [-2.90164512e-01 9.56973121e-01 -2.64622996e-03 -5.80808770e+01] [-1.05915461e-02 -4.46417501e-04 9.99943808e-01 -3.89607880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.84, Y:-58.09, Z:-3.89 [[ 9.57510118e-01 2.88216910e-01 1.02658465e-02 3.57844702e+02] [-2.88205095e-01 9.57565053e-01 -2.64433919e-03 -5.80863336e+01] [-1.05923591e-02 -4.26687744e-04 9.99943808e-01 -3.89493214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.90, Y:-58.09, Z:-3.90 [[ 9.59547007e-01 2.81361233e-01 1.02663437e-02 3.57903085e+02] [-2.81349046e-01 9.59601861e-01 -2.64240755e-03 -5.80917168e+01] [-1.05950736e-02 -3.52911747e-04 9.99943808e-01 -3.89720944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.96, Y:-58.10, Z:-3.90 [[ 9.61988625e-01 2.72896458e-01 1.02668570e-02 3.57959073e+02] [-2.72883809e-01 9.62043375e-01 -2.64041160e-03 -5.81035817e+01] [-1.05977207e-02 -2.61613129e-04 9.99943808e-01 -3.89858375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.01, Y:-58.12, Z:-3.90 [[ 9.65692131e-01 2.59486598e-01 1.02670794e-02 3.58014805e+02] [-2.59473198e-01 9.65746702e-01 -2.63954642e-03 -5.81168246e+01] [-1.06003250e-02 -1.15042733e-04 9.99943808e-01 -3.89891996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.07, Y:-58.13, Z:-3.90 [[ 9.68551176e-01 2.48602497e-01 1.02672879e-02 3.58070587e+02] [-2.48588493e-01 9.68605595e-01 -2.63873543e-03 -5.81326548e+01] [-1.06009487e-02 3.42069368e-06 9.99943808e-01 -3.89972296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.13, Y:-58.15, Z:-3.90 [[ 9.69955654e-01 2.43065015e-01 1.02677710e-02 3.58126549e+02] [-2.43050720e-01 9.70009997e-01 -2.63685423e-03 -5.81492548e+01] [-1.06007675e-02 6.20425402e-05 9.99943808e-01 -3.89962269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.18, Y:-58.17, Z:-3.90 [[ 9.71322544e-01 2.37543847e-01 1.02682588e-02 3.58181142e+02] [-2.37529263e-01 9.71376810e-01 -2.63495329e-03 -5.81698687e+01] [-1.06002654e-02 1.20377588e-04 9.99943808e-01 -3.89977436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.24, Y:-58.19, Z:-3.90 [[ 9.71571683e-01 2.36522761e-01 1.02687608e-02 3.58235603e+02] [-2.36508141e-01 9.71625940e-01 -2.63299546e-03 -5.81890844e+01] [-1.06001577e-02 1.29498312e-04 9.99943808e-01 -3.90361905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.29, Y:-58.21, Z:-3.90 [[ 9.71502486e-01 2.36806813e-01 1.02689943e-02 3.58288482e+02] [-2.36792218e-01 9.71556749e-01 -2.63208453e-03 -5.82145791e+01] [-1.06002062e-02 1.25458738e-04 9.99943808e-01 -3.90237923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.34, Y:-58.24, Z:-3.90 [[ 9.71183685e-01 2.38110871e-01 1.02695109e-02 3.58341687e+02] [-2.38096370e-01 9.71237974e-01 -2.63006712e-03 -5.82381566e+01] [-1.06003866e-02 1.09144999e-04 9.99943808e-01 -3.90058504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.39, Y:-58.27, Z:-3.91 [[ 9.69979607e-01 2.42969333e-01 1.02696706e-02 3.58394064e+02] [-2.42955111e-01 9.70033969e-01 -2.62944362e-03 -5.82654727e+01] [-1.06008035e-02 5.54377334e-05 9.99943808e-01 -3.90805276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.45, Y:-58.29, Z:-3.91 [[ 9.68583832e-01 2.48475132e-01 1.02698251e-02 3.58448769e+02] [-2.48461225e-01 9.68638276e-01 -2.62884008e-03 -5.82880677e+01] [-1.06009470e-02 -5.40131404e-06 9.99943808e-01 -3.90530422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.50, Y:-58.31, Z:-3.90 [[ 9.65541755e-01 2.60045473e-01 1.02699498e-02 3.58503253e+02] [-2.60032224e-01 9.65596362e-01 -2.62835276e-03 -5.83073834e+01] [-1.06001174e-02 -1.32733544e-04 9.99943808e-01 -3.90441392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.56, Y:-58.32, Z:-3.91 [[ 9.62893135e-01 2.69687466e-01 1.02704501e-02 3.58559349e+02] [-2.69674784e-01 9.62947876e-01 -2.62639640e-03 -5.83220559e+01] [-1.05982143e-02 -2.40742351e-04 9.99943808e-01 -3.90714682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.62, Y:-58.33, Z:-3.90 [[ 9.60159511e-01 2.79263713e-01 1.02709483e-02 3.58616220e+02] [-2.79251598e-01 9.60214381e-01 -2.62444637e-03 -5.83324184e+01] [-1.05952249e-02 -3.48291594e-04 9.99943808e-01 -3.90429489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.67, Y:-58.34, Z:-3.90 [[ 9.60254657e-01 2.78936369e-01 1.02711015e-02 3.58673857e+02] [-2.78924241e-01 9.60309525e-01 -2.62384674e-03 -5.83407703e+01] [-1.05953229e-02 -3.45298148e-04 9.99943808e-01 -3.90422453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.73, Y:-58.35, Z:-3.91 [[ 9.61563565e-01 2.74390240e-01 1.02715897e-02 3.58731232e+02] [-2.74377874e-01 9.61618379e-01 -2.62193442e-03 -5.83502609e+01] [-1.05967826e-02 -2.97140330e-04 9.99943808e-01 -3.90571240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.79, Y:-58.36, Z:-3.91 [[ 9.64056539e-01 2.65498538e-01 1.02720782e-02 3.58788479e+02] [-2.65485687e-01 9.64111241e-01 -2.62001923e-03 -5.83601094e+01] [-1.05990373e-02 -2.01243060e-04 9.99943808e-01 -3.90562069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.84, Y:-58.37, Z:-3.91 [[ 9.65618004e-01 2.59762094e-01 1.02725726e-02 3.58844354e+02] [-2.59748938e-01 9.65672633e-01 -2.61807913e-03 -5.83740103e+01] [-1.06000200e-02 -1.40225486e-04 9.99943808e-01 -3.90541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.90, Y:-58.39, Z:-3.90 [[ 9.67304559e-01 2.53409459e-01 1.02730694e-02 3.58900144e+02] [-2.53395965e-01 9.67359106e-01 -2.61612838e-03 -5.83889466e+01] [-1.06006989e-02 -7.25614244e-05 9.99943808e-01 -3.90499435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.96, Y:-58.41, Z:-3.91 [[ 9.68333200e-01 2.49449928e-01 1.02735778e-02 3.58955596e+02] [-2.49436232e-01 9.68387697e-01 -2.61413043e-03 -5.84050333e+01] [-1.06009010e-02 -3.12532370e-05 9.99943808e-01 -3.90896384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.01, Y:-58.42, Z:-3.91 [[ 9.69275757e-01 2.45761994e-01 1.02737038e-02 3.59010909e+02] [-2.45748096e-01 9.69330203e-01 -2.61363499e-03 -5.84219146e+01] [-1.06009436e-02 8.58988422e-06 9.99943808e-01 -3.91091962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.07, Y:-58.44, Z:-3.91 [[ 9.69509496e-01 2.44838281e-01 1.02738929e-02 3.59068167e+02] [-2.44824339e-01 9.69563931e-01 -2.61289154e-03 -5.84372257e+01] [-1.06009319e-02 1.79241280e-05 9.99943808e-01 -3.91245975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.12, Y:-58.46, Z:-3.91 [[ 9.70089016e-01 2.42531946e-01 1.02740184e-02 3.59123116e+02] [-2.42517880e-01 9.70143419e-01 -2.61239808e-03 -5.84556512e+01] [-1.06008613e-02 4.26255313e-05 9.99943808e-01 -3.91294163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.18, Y:-58.47, Z:-3.91 [[ 9.70522122e-01 2.40792964e-01 1.02741730e-02 3.59178628e+02] [-2.40778807e-01 9.70576501e-01 -2.61178975e-03 -5.84721719e+01] [-1.06007715e-02 6.09966106e-05 9.99943808e-01 -3.90976297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.23, Y:-58.49, Z:-3.91 [[ 9.70656271e-01 2.40251622e-01 1.02743237e-02 3.59234752e+02] [-2.40237441e-01 9.70710644e-01 -2.61119677e-03 -5.84874332e+01] [-1.06007396e-02 6.62972773e-05 9.99943808e-01 -3.90981096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.29, Y:-58.51, Z:-3.91 [[ 9.69864641e-01 2.43427633e-01 1.02745081e-02 3.59289919e+02] [-2.43413637e-01 9.69919062e-01 -2.61047111e-03 -5.85050959e+01] [-1.06009020e-02 3.08482431e-05 9.99943808e-01 -3.91310991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.35, Y:-58.52, Z:-3.91 [[ 9.68490226e-01 2.48839535e-01 1.02746602e-02 3.59347070e+02] [-2.48825850e-01 9.68544725e-01 -2.60987230e-03 -5.85187133e+01] [-1.06009073e-02 -2.89652401e-05 9.99943808e-01 -3.90821675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.40, Y:-58.53, Z:-3.91 [[ 9.67922291e-01 2.51039572e-01 1.02747808e-02 3.59403585e+02] [-2.51026016e-01 9.67976823e-01 -2.60939737e-03 -5.85335566e+01] [-1.06008117e-02 -5.35434142e-05 9.99943808e-01 -3.91078022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.46, Y:-58.55, Z:-3.91 [[ 9.68361674e-01 2.49339301e-01 1.02752636e-02 3.59459461e+02] [-2.49325669e-01 9.68416187e-01 -2.60749482e-03 -5.85511830e+01] [-1.06008825e-02 -3.68889219e-05 9.99943808e-01 -3.91345249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.51, Y:-58.57, Z:-3.91 [[ 9.68881539e-01 2.47311502e-01 1.02753872e-02 3.59514894e+02] [-2.47297762e-01 9.68936025e-01 -2.60700782e-03 -5.85667445e+01] [-1.06009358e-02 -1.51984948e-05 9.99943808e-01 -3.91312040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.57, Y:-58.58, Z:-3.91 [[ 9.69504253e-01 2.44858973e-01 1.02755753e-02 3.59569652e+02] [-2.44845102e-01 9.69558705e-01 -2.60626587e-03 -5.85817057e+01] [-1.06009411e-02 1.08615504e-05 9.99943808e-01 -3.91494721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.63, Y:-58.60, Z:-3.91 [[ 9.69771594e-01 2.43797991e-01 1.02759152e-02 3.59626141e+02] [-2.43784075e-01 9.69826036e-01 -2.60492539e-03 -5.85997541e+01] [-1.06009256e-02 2.10781791e-05 9.99943808e-01 -3.91426135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.68, Y:-58.62, Z:-3.91 [[ 9.70077062e-01 2.42579670e-01 1.02760382e-02 3.59682413e+02] [-2.42565690e-01 9.70131487e-01 -2.60443995e-03 -5.86190339e+01] [-1.06008924e-02 3.38931582e-05 9.99943808e-01 -3.91374773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.74, Y:-58.64, Z:-3.92 [[ 9.70228058e-01 2.41975033e-01 1.02761622e-02 3.59737006e+02] [-2.41961025e-01 9.70282475e-01 -2.60395053e-03 -5.86401200e+01] [-1.06008711e-02 3.99951246e-05 9.99943808e-01 -3.91850118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.79, Y:-58.66, Z:-3.92 [[ 9.69403238e-01 2.45258556e-01 1.02763155e-02 3.59792305e+02] [-2.45244738e-01 9.69457705e-01 -2.60334553e-03 -5.86567375e+01] [-1.06009460e-02 3.47928656e-06 9.99943808e-01 -3.91751765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.85, Y:-58.67, Z:-3.92 [[ 9.67319029e-01 2.53354078e-01 1.02765038e-02 3.59848186e+02] [-2.53340724e-01 9.67373611e-01 -2.60260194e-03 -5.86739524e+01] [-1.06005984e-02 -8.59105362e-05 9.99943808e-01 -3.91859692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.90, Y:-58.69, Z:-3.92 [[ 9.66138426e-01 2.57819571e-01 1.02766902e-02 3.59903541e+02] [-2.57806477e-01 9.66193071e-01 -2.60186553e-03 -5.86882317e+01] [-1.06000788e-02 -1.35635037e-04 9.99943808e-01 -3.91999599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.96, Y:-58.70, Z:-3.92 [[ 9.64930927e-01 2.62302673e-01 1.02769039e-02 3.59961002e+02] [-2.62289842e-01 9.64985634e-01 -2.60102126e-03 -5.87009641e+01] [-1.05993195e-02 -1.85721650e-04 9.99943808e-01 -3.91877868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.02, Y:-58.71, Z:-3.92 [[ 9.64794155e-01 2.62805292e-01 1.02770229e-02 3.60017311e+02] [-2.62792495e-01 9.64848870e-01 -2.60055092e-03 -5.87129056e+01] [-1.05992125e-02 -1.91728167e-04 9.99943808e-01 -3.91930122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.08, Y:-58.72, Z:-3.92 [[ 9.64900666e-01 2.62413955e-01 1.02771993e-02 3.60075442e+02] [-2.62401143e-01 9.64955378e-01 -2.59985373e-03 -5.87217019e+01] [-1.05992766e-02 -1.88148251e-04 9.99943808e-01 -3.91632410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.13, Y:-58.73, Z:-3.92 [[ 9.64945151e-01 2.62250313e-01 1.02776077e-02 3.60131848e+02] [-2.62237509e-01 9.64999864e-01 -2.59823847e-03 -5.87304410e+01] [-1.05992788e-02 -1.88016611e-04 9.99943808e-01 -3.91675595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.19, Y:-58.74, Z:-3.91 [[ 9.65702279e-01 2.59448404e-01 1.02778099e-02 3.60189732e+02] [-2.59435450e-01 9.65756957e-01 -2.59743834e-03 -5.87391799e+01] [-1.05997676e-02 -1.58076106e-04 9.99943808e-01 -3.91476421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.25, Y:-58.75, Z:-3.92 [[ 9.66800919e-01 2.55323990e-01 1.02782857e-02 3.60246638e+02] [-2.55310822e-01 9.66855546e-01 -2.59555386e-03 -5.87497792e+01] [-1.06003247e-02 -1.14773728e-04 9.99943808e-01 -3.91637585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.30, Y:-58.76, Z:-3.92 [[ 9.68485831e-01 2.48856480e-01 1.02784734e-02 3.60302939e+02] [-2.48842955e-01 9.68540371e-01 -2.59481060e-03 -5.87606440e+01] [-1.06008519e-02 -4.46883969e-05 9.99943808e-01 -3.91787105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.36, Y:-58.77, Z:-3.92 [[ 9.68643519e-01 2.48241981e-01 1.02786914e-02 3.60359954e+02] [-2.48228432e-01 9.68698053e-01 -2.59394658e-03 -5.87734225e+01] [-1.06008748e-02 -3.88539149e-05 9.99943808e-01 -3.91672599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.42, Y:-58.78, Z:-3.92 [[ 9.67952130e-01 2.50924330e-01 1.02788753e-02 3.60417555e+02] [-2.50910940e-01 9.68006702e-01 -2.59321758e-03 -5.87829934e+01] [-1.06007216e-02 -6.89717868e-05 9.99943808e-01 -3.92309652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.47, Y:-58.79, Z:-3.92 [[ 9.68015422e-01 2.50680045e-01 1.02790264e-02 3.60474596e+02] [-2.50666647e-01 9.68069993e-01 -2.59261856e-03 -5.87935996e+01] [-1.06007348e-02 -6.69143397e-05 9.99943808e-01 -3.92269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.53, Y:-58.80, Z:-3.92 [[ 9.68940125e-01 2.47081700e-01 1.02795053e-02 3.60530942e+02] [-2.47068119e-01 9.68994651e-01 -2.59071858e-03 -5.88049753e+01] [-1.06009048e-02 -2.94868434e-05 9.99943808e-01 -3.91790267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.59, Y:-58.82, Z:-3.92 [[ 9.70336297e-01 2.41540467e-01 1.02797268e-02 3.60586164e+02] [-2.41526584e-01 9.70390747e-01 -2.58983947e-03 -5.88219410e+01] [-1.06009028e-02 3.01879528e-05 9.99943808e-01 -3.91759054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.64, Y:-58.84, Z:-3.92 [[ 9.72477130e-01 2.32771466e-01 1.02799017e-02 3.60643015e+02] [-2.32757099e-01 9.72531454e-01 -2.58914472e-03 -5.88385569e+01] [-1.06002068e-02 1.25163913e-04 9.99943808e-01 -3.92378407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.70, Y:-58.86, Z:-3.92 [[ 9.73359251e-01 2.29054774e-01 1.02800240e-02 3.60698838e+02] [-2.29040205e-01 9.73413521e-01 -2.58865926e-03 -5.88559170e+01] [-1.05996591e-02 1.65156633e-04 9.99943808e-01 -3.92316988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.75, Y:-58.87, Z:-3.92 [[ 9.73849931e-01 2.26959531e-01 1.02802163e-02 3.60754828e+02] [-2.26944853e-01 9.73904172e-01 -2.58789548e-03 -5.88738519e+01] [-1.05992930e-02 1.87179660e-04 9.99943808e-01 -3.92191792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.81, Y:-58.89, Z:-3.93 [[ 9.73786080e-01 2.27233327e-01 1.02803443e-02 3.60810212e+02] [-2.27218670e-01 9.73840326e-01 -2.58738659e-03 -5.88909019e+01] [-1.05993544e-02 1.83674878e-04 9.99943808e-01 -3.92597048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.86, Y:-58.91, Z:-3.92 [[ 9.73535884e-01 2.28302857e-01 1.02805019e-02 3.60864137e+02] [-2.28288267e-01 9.73590148e-01 -2.58676033e-03 -5.89084595e+01] [-1.05995602e-02 1.71386036e-04 9.99943808e-01 -3.92378534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.92, Y:-58.93, Z:-3.92 [[ 9.73917096e-01 2.26671123e-01 1.02807130e-02 3.60920154e+02] [-2.26656450e-01 9.73971338e-01 -2.58592125e-03 -5.89260678e+01] [-1.05992734e-02 1.88283003e-04 9.99943808e-01 -3.91896858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.98, Y:-58.95, Z:-3.92 [[ 9.74492682e-01 2.24183670e-01 1.02808345e-02 3.60975098e+02] [-2.24168864e-01 9.74546888e-01 -2.58543819e-03 -5.89470465e+01] [-1.05987682e-02 2.14847622e-04 9.99943808e-01 -3.92281501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.03, Y:-58.97, Z:-3.92 [[ 9.75132999e-01 2.21381878e-01 1.02810163e-02 3.61028298e+02] [-2.21366924e-01 9.75187164e-01 -2.58471493e-03 -5.89680115e+01] [-1.05981242e-02 2.44563874e-04 9.99943808e-01 -3.92448066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.08, Y:-58.99, Z:-3.92 [[ 9.75345190e-01 2.20445132e-01 1.02812267e-02 3.61083365e+02] [-2.20430134e-01 9.75399344e-01 -2.58387758e-03 -5.89900988e+01] [-1.05979050e-02 2.53880386e-04 9.99943808e-01 -3.92250062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.665769231 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:361.14, Y:-59.01, Z:-3.92 [[ 9.74716509e-01 2.23208468e-01 1.02813468e-02 3.61137986e+02] [-2.23193629e-01 9.74770706e-01 -2.58339969e-03 -5.90102904e+01] [-1.05985924e-02 2.23351221e-04 9.99943808e-01 -3.92115892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.19, Y:-59.03, Z:-3.93 [[ 9.72401927e-01 2.33085355e-01 1.02815357e-02 3.61193487e+02] [-2.33071075e-01 9.72456274e-01 -2.58264784e-03 -5.90267888e+01] [-1.06003213e-02 1.15043171e-04 9.99943808e-01 -3.92813325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.25, Y:-59.04, Z:-3.93 [[ 9.71048907e-01 2.38659395e-01 1.02817456e-02 3.61249755e+02] [-2.38645436e-01 9.71103337e-01 -2.58181195e-03 -5.90427141e+01] [-1.06008111e-02 5.33740181e-05 9.99943808e-01 -3.92593576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.31, Y:-59.06, Z:-3.93 [[ 9.69910677e-01 2.43243832e-01 1.02818669e-02 3.61306910e+02] [-2.43230135e-01 9.69965174e-01 -2.58132875e-03 -5.90550820e+01] [-1.06009451e-02 2.79844301e-06 9.99943808e-01 -3.92579477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.36, Y:-59.07, Z:-3.92 [[ 9.69599414e-01 2.44481608e-01 1.02819890e-02 3.61362669e+02] [-2.44467986e-01 9.69653930e-01 -2.58084231e-03 -5.90663533e+01] [-1.06009395e-02 -1.12339370e-05 9.99943808e-01 -3.92466125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.42, Y:-59.07, Z:-3.93 [[ 9.70410337e-01 2.41242727e-01 1.02822003e-02 3.61420486e+02] [-2.41228932e-01 9.70464809e-01 -2.58000011e-03 -5.90741696e+01] [-1.06009198e-02 2.32945821e-05 9.99943808e-01 -3.92779848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.48, Y:-59.09, Z:-3.93 [[ 9.70711899e-01 2.40026418e-01 1.02823812e-02 3.61477574e+02] [-2.40012562e-01 9.70766356e-01 -2.57927889e-03 -5.90856968e+01] [-1.06008848e-02 3.58360488e-05 9.99943808e-01 -3.93047921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.54, Y:-59.09, Z:-3.94 [[ 9.70433230e-01 2.41150608e-01 1.02825621e-02 3.61536237e+02] [-2.41136823e-01 9.70487704e-01 -2.57855765e-03 -5.90913348e+01] [-1.06009208e-02 2.28136809e-05 9.99943808e-01 -3.93637711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.59, Y:-59.10, Z:-3.94 [[ 9.70482805e-01 2.40951016e-01 1.02826814e-02 3.61594336e+02] [-2.40937225e-01 9.70537278e-01 -2.57808177e-03 -5.90995594e+01] [-1.06009170e-02 2.45033134e-05 9.99943808e-01 -3.93992322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:-59.11, Z:-3.94 [[ 9.70624750e-01 2.40378574e-01 1.02827998e-02 3.61653022e+02] [-2.40364756e-01 9.70679216e-01 -2.57760952e-03 -5.91083126e+01] [-1.06009021e-02 3.02689361e-05 9.99943808e-01 -3.93704048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.71, Y:-59.11, Z:-3.94 [[ 9.69964963e-01 2.43027224e-01 1.02829229e-02 3.61711947e+02] [-2.43013560e-01 9.70019468e-01 -2.57711830e-03 -5.91141567e+01] [-1.06009453e-02 8.24763478e-07 9.99943808e-01 -3.93593791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.77, Y:-59.12, Z:-3.93 [[ 9.69841227e-01 2.43520540e-01 1.02830442e-02 3.61770378e+02] [-2.43506908e-01 9.69895740e-01 -2.57663427e-03 -5.91182808e+01] [-1.06009441e-02 -5.06614042e-06 9.99943808e-01 -3.93468975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.83, Y:-59.13, Z:-3.93 [[ 9.70936095e-01 2.39117869e-01 1.02831944e-02 3.61826951e+02] [-2.39103996e-01 9.70990547e-01 -2.57603447e-03 -5.91309367e+01] [-1.06008605e-02 4.24119693e-05 9.99943808e-01 -3.93269043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.88, Y:-59.15, Z:-3.93 [[ 9.73784588e-01 2.27239585e-01 1.02833699e-02 3.61882375e+02] [-2.27225056e-01 9.73838868e-01 -2.57533383e-03 -5.91506282e+01] [-1.05995631e-02 1.71181093e-04 9.99943808e-01 -3.92829608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:-59.17, Z:-3.93 [[ 9.76201657e-01 2.16620810e-01 1.02834933e-02 3.61938503e+02] [-2.16605695e-01 9.76255777e-01 -2.57484109e-03 -5.91705192e+01] [-1.05970839e-02 2.86100935e-04 9.99943808e-01 -3.92784875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.99, Y:-59.20, Z:-3.93 [[ 9.78819641e-01 2.04466032e-01 1.02836172e-02 3.61990859e+02] [-2.04450251e-01 9.78873571e-01 -2.57434595e-03 -5.92006527e+01] [-1.05927274e-02 4.17332259e-04 9.99943808e-01 -3.93128325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.04, Y:-59.22, Z:-3.93 [[ 9.79142106e-01 2.02916188e-01 1.02837839e-02 3.62044419e+02] [-2.02900328e-01 9.79196014e-01 -2.57368007e-03 -5.92237390e+01] [-1.05920815e-02 4.33415399e-04 9.99943808e-01 -3.93358923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.10, Y:-59.26, Z:-3.94 [[ 9.78421336e-01 2.06363588e-01 1.02839325e-02 3.62096764e+02] [-2.06347925e-01 9.78475300e-01 -2.57308604e-03 -5.92557359e+01] [-1.05935652e-02 3.95494152e-04 9.99943808e-01 -3.94149169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.745769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:362.15, Y:-59.29, Z:-3.94 [[ 9.78136651e-01 2.07708765e-01 1.02840469e-02 3.62150106e+02] [-2.07693181e-01 9.78190638e-01 -2.57262861e-03 -5.92850532e+01] [-1.05941159e-02 3.80455906e-04 9.99943808e-01 -3.94027297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.21, Y:-59.31, Z:-3.94 [[ 9.77903400e-01 2.08804159e-01 1.02841609e-02 3.62205154e+02] [-2.08788640e-01 9.77957406e-01 -2.57217307e-03 -5.93096996e+01] [-1.05945517e-02 3.68120833e-04 9.99943808e-01 -3.93563712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.865769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:362.26, Y:-59.33, Z:-3.94 [[ 9.77424109e-01 2.11036360e-01 1.02842203e-02 3.62260778e+02] [-2.11020967e-01 9.77478152e-01 -2.57193546e-03 -5.93329181e+01] [-1.05953725e-02 3.43685617e-04 9.99943808e-01 -3.93975521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.925769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:362.32, Y:-59.36, Z:-3.95 [[ 9.76226508e-01 2.16508752e-01 1.02842817e-02 3.62316212e+02] [-2.16493664e-01 9.76280636e-01 -2.57168982e-03 -5.93570416e+01] [-1.05971384e-02 2.84069944e-04 9.99943808e-01 -3.94961662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.985769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:362.37, Y:-59.37, Z:-3.94 [[ 9.74686444e-01 2.23339581e-01 1.02843122e-02 3.62371612e+02] [-2.23324874e-01 9.74740677e-01 -2.57156800e-03 -5.93744842e+01] [-1.05988703e-02 2.09729747e-04 9.99943808e-01 -3.94208272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.045769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:362.43, Y:-59.39, Z:-3.94 [[ 9.72342239e-01 2.33334096e-01 1.02844578e-02 3.62428644e+02] [-2.33319953e-01 9.72396622e-01 -2.57098541e-03 -5.93905919e+01] [-1.06004706e-02 1.00308506e-04 9.99943808e-01 -3.93771146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.105769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:362.49, Y:-59.41, Z:-3.94 [[ 9.71351972e-01 2.37422776e-01 1.02845785e-02 3.62485353e+02] [-2.37408867e-01 9.71406415e-01 -2.57050248e-03 -5.94071071e+01] [-1.06008014e-02 5.52125296e-05 9.99943808e-01 -3.93751784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.165769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:362.54, Y:-59.43, Z:-3.94 [[ 9.71013093e-01 2.38804938e-01 1.02847008e-02 3.62541213e+02] [-2.38791112e-01 9.71067557e-01 -2.57001300e-03 -5.94251189e+01] [-1.06008711e-02 3.96211264e-05 9.99943808e-01 -3.93778301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.225769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:362.60, Y:-59.44, Z:-3.94 [[ 9.71234860e-01 2.37901386e-01 1.02848224e-02 3.62598687e+02] [-2.37887514e-01 9.71289312e-01 -2.56952627e-03 -5.94419912e+01] [-1.06008320e-02 4.89826401e-05 9.99943808e-01 -3.93935653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.285769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:362.66, Y:-59.46, Z:-3.95 [[ 9.72027611e-01 2.34641309e-01 1.02848832e-02 3.62655670e+02] [-2.34627257e-01 9.72082018e-01 -2.56928306e-03 -5.94609636e+01] [-1.06006099e-02 8.43001438e-05 9.99943808e-01 -3.94616079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.345769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:362.71, Y:-59.48, Z:-3.95 [[ 9.72416070e-01 2.33026193e-01 1.02849433e-02 3.62713903e+02] [-2.33012053e-01 9.72470454e-01 -2.56904226e-03 -5.94822987e+01] [-1.06004576e-02 1.01662212e-04 9.99943808e-01 -3.94675968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.405769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:362.77, Y:-59.51, Z:-3.94 [[ 9.71897517e-01 2.35179587e-01 1.02848820e-02 3.62771585e+02] [-2.35165565e-01 9.71951931e-01 -2.56928792e-03 -5.95064880e+01] [-1.06006549e-02 7.84344676e-05 9.99943808e-01 -3.94198109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.465769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:362.83, Y:-59.52, Z:-3.94 [[ 9.71439033e-01 2.37066295e-01 1.02848208e-02 3.62831636e+02] [-2.37052376e-01 9.71493473e-01 -2.56953268e-03 -5.95240690e+01] [-1.06007859e-02 5.81031339e-05 9.99943808e-01 -3.94457765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.525769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:362.89, Y:-59.55, Z:-3.95 [[ 9.69652684e-01 2.44270148e-01 1.02843121e-02 3.62889231e+02] [-2.44256612e-01 9.69707221e-01 -2.57156730e-03 -5.95453070e+01] [-1.06009288e-02 -1.84840851e-05 9.99943808e-01 -3.94786310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:362.95, Y:-59.56, Z:-3.94 [[ 9.68054846e-01 2.50527550e-01 1.02840600e-02 3.62946748e+02] [-2.50514356e-01 9.68109466e-01 -2.57257489e-03 -5.95615987e+01] [-1.06005967e-02 -8.59110868e-05 9.99943808e-01 -3.94441221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:363.01, Y:-59.57, Z:-3.95 [[ 9.65781760e-01 2.59152134e-01 1.02841186e-02 3.63006011e+02] [-2.59139430e-01 9.65836497e-01 -2.57234046e-03 -5.95749131e+01] [-1.05994046e-02 -1.80701149e-04 9.99943808e-01 -3.94776539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.06, Y:-59.59, Z:-3.94 [[ 9.64613267e-01 2.63468180e-01 1.02841186e-02 3.63063281e+02] [-2.63455721e-01 9.64668060e-01 -2.57234046e-03 -5.95881433e+01] [-1.05984906e-02 -2.28096157e-04 9.99943808e-01 -3.94342462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:363.12, Y:-59.60, Z:-3.94 [[ 9.62712516e-01 2.70330995e-01 1.02841882e-02 3.63122669e+02] [-2.70318929e-01 9.62767397e-01 -2.57206233e-03 -5.95974156e+01] [-1.05965893e-02 -3.03854146e-04 9.99943808e-01 -3.94085326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:363.18, Y:-59.61, Z:-3.94 [[ 9.61567020e-01 2.74377660e-01 1.02842495e-02 3.63179881e+02] [-2.74365828e-01 9.61621952e-01 -2.57181721e-03 -5.96068828e+01] [-1.05952093e-02 -3.48672018e-04 9.99943808e-01 -3.94254510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:363.24, Y:-59.61, Z:-3.94 [[ 9.60249261e-01 2.78954455e-01 1.02844004e-02 3.63238545e+02] [-2.78942891e-01 9.60304250e-01 -2.57121374e-03 -5.96118918e+01] [-1.05934049e-02 -3.99754280e-04 9.99943808e-01 -3.94226448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:363.30, Y:-59.62, Z:-3.94 [[ 9.59688247e-01 2.80878437e-01 1.02845520e-02 3.63296289e+02] [-2.80866990e-01 9.59743260e-01 -2.57060717e-03 -5.96219398e+01] [-1.05925576e-02 -4.21609671e-04 9.99943808e-01 -3.94397727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.005769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:363.35, Y:-59.63, Z:-3.95 [[ 9.60009383e-01 2.79778859e-01 1.02846709e-02 3.63353930e+02] [-2.79767355e-01 9.60064384e-01 -2.57013120e-03 -5.96307824e+01] [-1.05930146e-02 -4.09965112e-04 9.99943808e-01 -3.95311368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.065769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:363.41, Y:-59.64, Z:-3.95 [[ 9.60291122e-01 2.78810300e-01 1.02848187e-02 3.63412598e+02] [-2.78798746e-01 9.60346113e-01 -2.56953990e-03 -5.96389877e+01] [-1.05933998e-02 -3.99888190e-04 9.99943808e-01 -3.95408804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.125769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:363.47, Y:-59.65, Z:-3.95 [[ 9.60525554e-01 2.78001582e-01 1.02849444e-02 3.63470679e+02] [-2.77989987e-01 9.60580536e-01 -2.56903668e-03 -5.96471155e+01] [-1.05937136e-02 -3.91486175e-04 9.99943808e-01 -3.94863845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.185769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:363.53, Y:-59.66, Z:-3.95 [[ 9.61467728e-01 2.74725362e-01 1.02851090e-02 3.63528241e+02] [-2.74713587e-01 9.61522672e-01 -2.56837746e-03 -5.96575585e+01] [-1.05949639e-02 -3.56047139e-04 9.99943808e-01 -3.95077750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.245769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:363.59, Y:-59.67, Z:-3.96 [[ 9.62973126e-01 2.69401133e-01 1.02852804e-02 3.63586604e+02] [-2.69389062e-01 9.63028006e-01 -2.56769062e-03 -5.96674284e+01] [-1.05967519e-02 -2.98124984e-04 9.99943808e-01 -3.95861796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.305769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:363.64, Y:-59.68, Z:-3.95 [[ 9.64049662e-01 2.65522992e-01 1.02853990e-02 3.63643796e+02] [-2.65510705e-01 9.64104494e-01 -2.56721562e-03 -5.96810382e+01] [-1.05978542e-02 -2.55960190e-04 9.99943808e-01 -3.95456543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.365769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:363.70, Y:-59.69, Z:-3.95 [[ 9.64862136e-01 2.62555263e-01 1.02855218e-02 3.63700425e+02] [-2.62542813e-01 9.64916931e-01 -2.56672355e-03 -5.96946617e+01] [-1.05985809e-02 -2.23855458e-04 9.99943808e-01 -3.95432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.425769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:363.76, Y:-59.71, Z:-3.96 [[ 9.65029151e-01 2.61940725e-01 1.02856828e-02 3.63756858e+02] [-2.61928246e-01 9.65083939e-01 -2.56607815e-03 -5.97080119e+01] [-1.05987077e-02 -2.17770634e-04 9.99943808e-01 -3.95627988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.485769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:363.81, Y:-59.72, Z:-3.95 [[ 9.65149591e-01 2.61496596e-01 1.02858337e-02 3.63814341e+02] [-2.61484098e-01 9.65204375e-01 -2.56547334e-03 -5.97219387e+01] [-1.05987942e-02 -2.13516387e-04 9.99943808e-01 -3.95282146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.545769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:363.87, Y:-59.74, Z:-3.95 [[ 9.65675896e-01 2.59546262e-01 1.02859531e-02 3.63870325e+02] [-2.59533659e-01 9.65730656e-01 -2.56499438e-03 -5.97355005e+01] [-1.05991949e-02 -1.92597795e-04 9.99943808e-01 -3.95085080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.93, Y:-59.75, Z:-3.95 [[ 9.65637186e-01 2.59690240e-01 1.02861307e-02 3.63925436e+02] [-2.59677652e-01 9.65691950e-01 -2.56428181e-03 -5.97480476e+01] [-1.05991526e-02 -1.94912413e-04 9.99943808e-01 -3.95078833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.665769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:363.98, Y:-59.76, Z:-3.95 [[ 9.65047298e-01 2.61873828e-01 1.02863907e-02 3.63982882e+02] [-2.61861376e-01 9.65102093e-01 -2.56323869e-03 -5.97591699e+01] [-1.05986623e-02 -2.19961839e-04 9.99943808e-01 -3.94931372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.725769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:364.04, Y:-59.77, Z:-3.95 [[ 9.64727120e-01 2.63050889e-01 1.02865652e-02 3.64039483e+02] [-2.63038511e-01 9.64781931e-01 -2.56253806e-03 -5.97684691e+01] [-1.05983702e-02 -2.33612829e-04 9.99943808e-01 -3.95362345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.10, Y:-59.78, Z:-3.96 [[ 9.64843617e-01 2.62623262e-01 1.02867661e-02 3.64097665e+02] [-2.62610868e-01 9.64898425e-01 -2.56173132e-03 -5.97791355e+01] [-1.05984547e-02 -2.29746463e-04 9.99943808e-01 -3.96174621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:364.15, Y:-59.79, Z:-3.96 [[ 9.64759422e-01 2.62932382e-01 1.02868862e-02 3.64153308e+02] [-2.62920010e-01 9.64814235e-01 -2.56124885e-03 -5.97918765e+01] [-1.05983695e-02 -2.33639276e-04 9.99943808e-01 -3.96187116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.905769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:364.21, Y:-59.80, Z:-3.96 [[ 9.63329075e-01 2.68125472e-01 1.02870943e-02 3.64212080e+02] [-2.68113405e-01 9.63383956e-01 -2.56041274e-03 -5.98010216e+01] [-1.05969335e-02 -2.91587856e-04 9.99943808e-01 -3.95515437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.27, Y:-59.81, Z:-3.96 [[ 9.61644868e-01 2.74104581e-01 1.02872149e-02 3.64269428e+02] [-2.74092861e-01 9.61699823e-01 -2.55992842e-03 -5.98099883e+01] [-1.05949008e-02 -3.57910127e-04 9.99943808e-01 -3.95678155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.33, Y:-59.82, Z:-3.96 [[ 9.59848502e-01 2.80330203e-01 1.02873963e-02 3.64328925e+02] [-2.80318847e-01 9.59903534e-01 -2.55919928e-03 -5.98151025e+01] [-1.05923289e-02 -4.27307460e-04 9.99943808e-01 -3.96402875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.39, Y:-59.82, Z:-3.96 [[ 9.59419545e-01 2.81794790e-01 1.02875177e-02 3.64386242e+02] [-2.81783523e-01 9.59474595e-01 -2.55871099e-03 -5.98223207e+01] [-1.05916433e-02 -4.43975648e-04 9.99943808e-01 -3.96014601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:364.44, Y:-59.83, Z:-3.95 [[ 9.59600865e-01 2.81176708e-01 1.02877830e-02 3.64443353e+02] [-2.81165417e-01 9.59655911e-01 -2.55764399e-03 -5.98309760e+01] [-1.05918817e-02 -4.38251405e-04 9.99943808e-01 -3.95440772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:364.50, Y:-59.84, Z:-3.96 [[ 9.59607909e-01 2.81152662e-01 1.02879306e-02 3.64501105e+02] [-2.81141375e-01 9.59662956e-01 -2.55705006e-03 -5.98383002e+01] [-1.05918673e-02 -4.38597497e-04 9.99943808e-01 -3.95724471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:364.56, Y:-59.85, Z:-3.96 [[ 9.60156647e-01 2.79272926e-01 1.02881097e-02 3.64557030e+02] [-2.79261540e-01 9.60211673e-01 -2.55632932e-03 -5.98486584e+01] [-1.05926766e-02 -4.18596758e-04 9.99943808e-01 -3.95616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:-59.86, Z:-3.96 [[ 9.62009872e-01 2.72820738e-01 1.02884342e-02 3.64614049e+02] [-2.72808996e-01 9.62064823e-01 -2.55502272e-03 -5.98589036e+01] [-1.05952038e-02 -3.48820317e-04 9.99943808e-01 -3.95635362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:364.67, Y:-59.87, Z:-3.96 [[ 9.62576438e-01 2.70814964e-01 1.02886110e-02 3.64670640e+02] [-2.70803116e-01 9.62631367e-01 -2.55431041e-03 -5.98718883e+01] [-1.05958851e-02 -3.27468899e-04 9.99943808e-01 -3.95946010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:364.73, Y:-59.88, Z:-3.96 [[ 9.63521291e-01 2.67433847e-01 1.02887890e-02 3.64726568e+02] [-2.67421813e-01 9.63576179e-01 -2.55359302e-03 -5.98834362e+01] [-1.05969492e-02 -2.91005379e-04 9.99943808e-01 -3.96430311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.78, Y:-59.90, Z:-3.96 [[ 9.64333788e-01 2.64489096e-01 1.02889944e-02 3.64783668e+02] [-2.64476904e-01 9.64388641e-01 -2.55276529e-03 -5.98954133e+01] [-1.05977679e-02 -2.59483563e-04 9.99943808e-01 -3.95938224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.84, Y:-59.91, Z:-3.96 [[ 9.64269780e-01 2.64722353e-01 1.02891742e-02 3.64840856e+02] [-2.64710182e-01 9.64324638e-01 -2.55204055e-03 -5.99062433e+01] [-1.05976863e-02 -2.62793583e-04 9.99943808e-01 -3.95924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.90, Y:-59.92, Z:-3.96 [[ 9.64215148e-01 2.64921266e-01 1.02893526e-02 3.64897355e+02] [-2.64909114e-01 9.64270010e-01 -2.55132102e-03 -5.99165691e+01] [-1.05976133e-02 -2.65720908e-04 9.99943808e-01 -3.96254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.95, Y:-59.93, Z:-3.97 [[ 9.65158675e-01 2.61462916e-01 1.02895588e-02 3.64953667e+02] [-2.61450576e-01 9.65213495e-01 -2.55048891e-03 -5.99252150e+01] [-1.05984793e-02 -2.28584589e-04 9.99943808e-01 -3.96737618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:365.01, Y:-59.94, Z:-3.97 [[ 9.66265678e-01 2.57341718e-01 1.02897626e-02 3.65010508e+02] [-2.57329153e-01 9.66320447e-01 -2.54966666e-03 -5.99374501e+01] [-1.05993436e-02 -1.84200498e-04 9.99943808e-01 -3.96693918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.07, Y:-59.95, Z:-3.96 [[ 9.68098712e-01 2.50357747e-01 1.02899361e-02 3.65065553e+02] [-2.50344794e-01 9.68153390e-01 -2.54896618e-03 -5.99520403e+01] [-1.06003900e-02 -1.08381055e-04 9.99943808e-01 -3.96411675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.12, Y:-59.96, Z:-3.96 [[ 9.68741516e-01 2.47858807e-01 1.02901365e-02 3.65122052e+02] [-2.47845722e-01 9.68796163e-01 -2.54815683e-03 -5.99640443e+01] [-1.06006279e-02 -8.18609993e-05 9.99943808e-01 -3.96405887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.18, Y:-59.97, Z:-3.97 [[ 9.67772738e-01 2.51614859e-01 1.02903085e-02 3.65180254e+02] [-2.51601993e-01 9.67827437e-01 -2.54746212e-03 -5.99716806e+01] [-1.06002222e-02 -1.23697744e-04 9.99943808e-01 -3.96820030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.24, Y:-59.98, Z:-3.97 [[ 9.66530622e-01 2.56344802e-01 1.02907658e-02 3.65237257e+02] [-2.56332223e-01 9.66585387e-01 -2.54561330e-03 -5.99815830e+01] [-1.05994586e-02 -1.77441678e-04 9.99943808e-01 -3.96648923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.29, Y:-59.99, Z:-3.96 [[ 9.65420404e-01 2.60494788e-01 1.02912480e-02 3.65294713e+02] [-2.60482466e-01 9.65475227e-01 -2.54366264e-03 -5.99869611e+01] [-1.05985558e-02 -2.24985839e-04 9.99943808e-01 -3.96385905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.35, Y:-59.99, Z:-3.97 [[ 9.65345487e-01 2.60772271e-01 1.02914558e-02 3.65352542e+02] [-2.60759973e-01 9.65400316e-01 -2.54282142e-03 -5.99949018e+01] [-1.05984720e-02 -2.28898571e-04 9.99943808e-01 -3.96709170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.41, Y:-60.00, Z:-3.97 [[ 9.65550071e-01 2.60013726e-01 1.02919294e-02 3.65411750e+02] [-2.60001405e-01 9.65604895e-01 -2.54090329e-03 -5.99964105e+01] [-1.05986071e-02 -2.22546756e-04 9.99943808e-01 -3.97079872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.47, Y:-60.00, Z:-3.97 [[ 9.65857730e-01 2.58868520e-01 1.02924058e-02 3.65471217e+02] [-2.58856156e-01 9.65912545e-01 -2.53897195e-03 -5.99992299e+01] [-1.05988238e-02 -2.11966914e-04 9.99943808e-01 -3.97235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.53, Y:-60.00, Z:-3.98 [[ 9.66427567e-01 2.56732964e-01 1.02928882e-02 3.65529548e+02] [-2.56720499e-01 9.66482358e-01 -2.53701487e-03 -6.00049860e+01] [-1.05992302e-02 -1.90554286e-04 9.99943808e-01 -3.97656518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.59, Y:-60.01, Z:-3.98 [[ 9.67614271e-01 2.52223450e-01 1.02933727e-02 3.65587513e+02] [-2.52210750e-01 9.67669009e-01 -2.53504778e-03 -6.00114657e+01] [-1.05999762e-02 -1.43150828e-04 9.99943808e-01 -3.97864972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.64, Y:-60.02, Z:-3.98 [[ 9.68796745e-01 2.47642694e-01 1.02938580e-02 3.65643992e+02] [-2.47629757e-01 9.68851427e-01 -2.53307553e-03 -6.00228945e+01] [-1.06005166e-02 -9.50302213e-05 9.99943808e-01 -3.97778879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.70, Y:-60.03, Z:-3.98 [[ 9.69591293e-01 2.44513295e-01 1.02943406e-02 3.65701582e+02] [-2.44500202e-01 9.69645938e-01 -2.53111283e-03 -6.00309070e+01] [-1.06007562e-02 -6.28233838e-05 9.99943808e-01 -3.97751002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.76, Y:-60.04, Z:-3.98 [[ 9.69427104e-01 2.45163428e-01 1.02948286e-02 3.65758671e+02] [-2.45150392e-01 9.69481763e-01 -2.52912619e-03 -6.00400501e+01] [-1.06006978e-02 -7.19778011e-05 9.99943808e-01 -3.97829807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.82, Y:-60.05, Z:-3.97 [[ 9.69264424e-01 2.45805781e-01 1.02953261e-02 3.65816492e+02] [-2.45792803e-01 9.69319097e-01 -2.52709955e-03 -6.00490054e+01] [-1.06006319e-02 -8.10893667e-05 9.99943808e-01 -3.97481314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.87, Y:-60.06, Z:-3.97 [[ 9.69014485e-01 2.46789229e-01 1.02958249e-02 3.65873997e+02] [-2.46776329e-01 9.69069176e-01 -2.52506552e-03 -6.00593123e+01] [-1.06005255e-02 -9.39408147e-05 9.99943808e-01 -3.97491655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.93, Y:-60.07, Z:-3.98 [[ 9.68905833e-01 2.47215439e-01 1.02963205e-02 3.65931442e+02] [-2.47202584e-01 9.68960534e-01 -2.52304319e-03 -6.00650550e+01] [-1.06004634e-02 -1.00685774e-04 9.99943808e-01 -3.97544300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.99, Y:-60.07, Z:-3.97 [[ 9.69081097e-01 2.46527500e-01 1.02965351e-02 3.65989134e+02] [-2.46514615e-01 9.69135792e-01 -2.52216691e-03 -6.00721449e+01] [-1.06005242e-02 -9.40621215e-05 9.99943808e-01 -3.97179105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.05, Y:-60.08, Z:-3.97 [[ 9.69643912e-01 2.44304430e-01 1.02970192e-02 3.66047006e+02] [-2.44291441e-01 9.69698582e-01 -2.52018929e-03 -6.00803646e+01] [-1.06006983e-02 -7.17874479e-05 9.99943808e-01 -3.97205267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.10, Y:-60.09, Z:-3.98 [[ 9.70152205e-01 2.42278065e-01 1.02974985e-02 3.66103748e+02] [-2.42264983e-01 9.70206852e-01 -2.51822922e-03 -6.00918107e+01] [-1.06008153e-02 -5.16576644e-05 9.99943808e-01 -3.98039442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.16, Y:-60.10, Z:-3.98 [[ 9.70619776e-01 2.40398005e-01 1.02979909e-02 3.66159557e+02] [-2.40384839e-01 9.70674404e-01 -2.51621378e-03 -6.01028086e+01] [-1.06008890e-02 -3.31940377e-05 9.99943808e-01 -3.98385733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.22, Y:-60.12, Z:-3.98 [[ 9.70862645e-01 2.39415268e-01 1.02982026e-02 3.66215640e+02] [-2.39402056e-01 9.70917262e-01 -2.51534726e-03 -6.01173919e+01] [-1.06009152e-02 -2.33541705e-05 9.99943808e-01 -3.98160111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.27, Y:-60.14, Z:-3.98 [[ 9.71586806e-01 2.36459330e-01 1.02986788e-02 3.66270664e+02] [-2.36445972e-01 9.71641387e-01 -2.51339584e-03 -6.01352308e+01] [-1.06009385e-02 6.90110617e-06 9.99943808e-01 -3.97941229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.33, Y:-60.16, Z:-3.98 [[ 9.72370062e-01 2.33217473e-01 1.02991531e-02 3.66325837e+02] [-2.33203953e-01 9.72424603e-01 -2.51145072e-03 -6.01552119e+01] [-1.06008641e-02 4.02562637e-05 9.99943808e-01 -3.98080664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.38, Y:-60.17, Z:-3.99 [[ 9.72946562e-01 2.30800573e-01 1.02996229e-02 3.66379930e+02] [-2.30786938e-01 9.73001075e-01 -2.50952258e-03 -6.01741174e+01] [-1.06007434e-02 6.46129246e-05 9.99943808e-01 -3.98529653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.44, Y:-60.19, Z:-3.99 [[ 9.73278587e-01 2.29396393e-01 1.02998254e-02 3.66435261e+02] [-2.29382688e-01 9.73333082e-01 -2.50869133e-03 -6.01906101e+01] [-1.06006456e-02 7.90539158e-05 9.99943808e-01 -3.98628678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.49, Y:-60.21, Z:-3.98 [[ 9.73660683e-01 2.27769136e-01 1.03002862e-02 3.66490108e+02] [-2.27755360e-01 9.73715159e-01 -2.50679816e-03 -6.02102091e+01] [-1.06005160e-02 9.48254203e-05 9.99943808e-01 -3.98035551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:-60.23, Z:-3.98 [[ 9.74145118e-01 2.25688247e-01 1.03007416e-02 3.66545360e+02] [-2.25674375e-01 9.74199570e-01 -2.50492536e-03 -6.02291868e+01] [-1.06003102e-02 1.15547389e-04 9.99943808e-01 -3.98355657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.60, Y:-60.25, Z:-3.99 [[ 9.75404595e-01 2.20181203e-01 1.03011943e-02 3.66598501e+02] [-2.20167043e-01 9.75458973e-01 -2.50306218e-03 -6.02532114e+01] [-1.05995197e-02 1.73514854e-04 9.99943808e-01 -3.98812946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.65, Y:-60.28, Z:-3.99 [[ 9.76263682e-01 2.16340251e-01 1.03013897e-02 3.66652262e+02] [-2.16325885e-01 9.76318007e-01 -2.50225794e-03 -6.02766916e+01] [-1.05987713e-02 2.14406314e-04 9.99943808e-01 -3.99065746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.71, Y:-60.30, Z:-3.99 [[ 9.76844076e-01 2.13704287e-01 1.03018792e-02 3.66705657e+02] [-2.13689797e-01 9.76898367e-01 -2.50024104e-03 -6.02965454e+01] [-1.05982012e-02 2.40939189e-04 9.99943808e-01 -3.99294156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.76, Y:-60.32, Z:-3.99 [[ 9.77193433e-01 2.12101064e-01 1.03020897e-02 3.66759194e+02] [-2.12086494e-01 9.77247703e-01 -2.49937316e-03 -6.03207044e+01] [-1.05978132e-02 2.57436951e-04 9.99943808e-01 -3.98944300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.81, Y:-60.34, Z:-3.99 [[ 9.77602719e-01 2.10206534e-01 1.03022353e-02 3.66813817e+02] [-2.10191865e-01 9.77656962e-01 -2.49877295e-03 -6.03428945e+01] [-1.05973105e-02 2.77361180e-04 9.99943808e-01 -3.98696538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.87, Y:-60.37, Z:-3.99 [[ 9.77866197e-01 2.08977418e-01 1.03024107e-02 3.66865922e+02] [-2.08962688e-01 9.77920423e-01 -2.49804967e-03 -6.03699869e+01] [-1.05969738e-02 2.89938904e-04 9.99943808e-01 -3.98526602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.92, Y:-60.40, Z:-3.99 [[ 9.76894360e-01 2.13474274e-01 1.03026126e-02 3.66919144e+02] [-2.13459802e-01 9.76948656e-01 -2.49721645e-03 -6.03950529e+01] [-1.05982150e-02 2.40323015e-04 9.99943808e-01 -3.98994904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.97, Y:-60.41, Z:-3.99 [[ 9.75842866e-01 2.18230507e-01 1.03027851e-02 3.66973041e+02] [-2.18216308e-01 9.75897233e-01 -2.49650480e-03 -6.04142324e+01] [-1.05992730e-02 1.87960676e-04 9.99943808e-01 -3.99178732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.03, Y:-60.43, Z:-3.99 [[ 9.74722798e-01 2.23180006e-01 1.03029862e-02 3.67027854e+02] [-2.23166091e-01 9.74777240e-01 -2.49567454e-03 -6.04310644e+01] [-1.06001011e-02 1.33313713e-04 9.99943808e-01 -3.99026013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.08, Y:-60.45, Z:-3.99 [[ 9.73715471e-01 2.27534667e-01 1.03032894e-02 3.67083649e+02] [-2.27521009e-01 9.73769977e-01 -2.49442217e-03 -6.04468313e+01] [-1.06006014e-02 8.46426635e-05 9.99943808e-01 -3.98783930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.14, Y:-60.47, Z:-3.99 [[ 9.74233467e-01 2.25306438e-01 1.03034572e-02 3.67137491e+02] [-2.25292663e-01 9.74287944e-01 -2.49372881e-03 -6.04650549e+01] [-1.06003873e-02 1.08180751e-04 9.99943808e-01 -3.99316647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.19, Y:-60.48, Z:-3.99 [[ 9.74666101e-01 2.23427453e-01 1.03036517e-02 3.67193690e+02] [-2.23413582e-01 9.74720553e-01 -2.49292508e-03 -6.04800530e+01] [-1.06001689e-02 1.27793851e-04 9.99943808e-01 -3.99242555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.25, Y:-60.50, Z:-3.99 [[ 9.74643942e-01 2.23524088e-01 1.03038211e-02 3.67249910e+02] [-2.23510229e-01 9.74698398e-01 -2.49222464e-03 -6.04962626e+01] [-1.06001901e-02 1.26022240e-04 9.99943808e-01 -3.99230945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.31, Y:-60.51, Z:-4.00 [[ 9.72747767e-01 2.31636805e-01 1.03039920e-02 3.67306937e+02] [-2.31623408e-01 9.72802338e-01 -2.49151769e-03 -6.05080700e+01] [-1.06008747e-02 3.69725186e-05 9.99943808e-01 -3.99577596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.36, Y:-60.52, Z:-4.00 [[ 9.70968594e-01 2.38984967e-01 1.03041647e-02 3.67363677e+02] [-2.38971991e-01 9.71023266e-01 -2.49080342e-03 -6.05169385e+01] [-1.06008482e-02 -4.39148482e-05 9.99943808e-01 -3.99812509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.42, Y:-60.53, Z:-4.00 [[ 9.69165578e-01 2.46194846e-01 1.03043652e-02 3.67420201e+02] [-2.46182285e-01 9.69220348e-01 -2.48997373e-03 -6.05255484e+01] [-1.06002191e-02 -1.23555336e-04 9.99943808e-01 -3.99668948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.48, Y:-60.53, Z:-3.99 [[ 9.68686975e-01 2.48071280e-01 1.03045566e-02 3.67478529e+02] [-2.48058834e-01 9.68741771e-01 -2.48918119e-03 -6.05322010e+01] [-1.05999488e-02 -1.44898896e-04 9.99943808e-01 -3.99272858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.54, Y:-60.54, Z:-4.00 [[ 9.69327544e-01 2.45556346e-01 1.03049889e-02 3.67535680e+02] [-2.45543776e-01 9.69382312e-01 -2.48739030e-03 -6.05417246e+01] [-1.06002684e-02 -1.19229954e-04 9.99943808e-01 -3.99563014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.59, Y:-60.55, Z:-4.00 [[ 9.70822248e-01 2.39578726e-01 1.03051724e-02 3.67592791e+02] [-2.39565828e-01 9.70876939e-01 -2.48662992e-03 -6.05501708e+01] [-1.06007978e-02 -5.46914979e-05 9.99943808e-01 -4.00457401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.65, Y:-60.56, Z:-4.00 [[ 9.71849415e-01 2.35377388e-01 1.03053240e-02 3.67649750e+02] [-2.35364260e-01 9.71904051e-01 -2.48600133e-03 -6.05633969e+01] [-1.06009346e-02 -9.48601305e-06 9.99943808e-01 -4.00086367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.71, Y:-60.58, Z:-4.00 [[ 9.73309043e-01 2.29266885e-01 1.03054454e-02 3.67705563e+02] [-2.29253419e-01 9.73363597e-01 -2.48549816e-03 -6.05759039e+01] [-1.06007878e-02 5.65992520e-05 9.99943808e-01 -3.99763450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.76, Y:-60.59, Z:-4.00 [[ 9.73856669e-01 2.26929463e-01 1.03056558e-02 3.67762208e+02] [-2.26915875e-01 9.73911193e-01 -2.48462541e-03 -6.05903589e+01] [-1.06006282e-02 8.11521258e-05 9.99943808e-01 -4.00410647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.82, Y:-60.60, Z:-4.00 [[ 9.73995980e-01 2.26330780e-01 1.03057723e-02 3.67819989e+02] [-2.26317163e-01 9.74050497e-01 -2.48414206e-03 -6.06019397e+01] [-1.06005804e-02 8.71712273e-05 9.99943808e-01 -4.00065547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.88, Y:-60.61, Z:-4.00 [[ 9.74281207e-01 2.25099796e-01 1.03058882e-02 3.67875877e+02] [-2.25086116e-01 9.74335708e-01 -2.48366101e-03 -6.06146248e+01] [-1.06004665e-02 1.00071907e-04 9.99943808e-01 -3.99815217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:-60.63, Z:-4.00 [[ 9.75021418e-01 2.21871623e-01 1.03062022e-02 3.67931082e+02] [-2.21857776e-01 9.75075877e-01 -2.48235739e-03 -6.06276626e+01] [-1.06000938e-02 1.33840514e-04 9.99943808e-01 -4.00363356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.99, Y:-60.64, Z:-4.00 [[ 9.75986387e-01 2.17587569e-01 1.03063998e-02 3.67986348e+02] [-2.17573492e-01 9.76040787e-01 -2.48153668e-03 -6.06415343e+01] [-1.05994181e-02 1.79546623e-04 9.99943808e-01 -4.00314322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:-60.66, Z:-4.00 [[ 9.76489585e-01 2.15318055e-01 1.03065956e-02 3.68042436e+02] [-2.15303860e-01 9.76543954e-01 -2.48072324e-03 -6.06571751e+01] [-1.05989881e-02 2.03350587e-04 9.99943808e-01 -4.00309642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.10, Y:-60.67, Z:-4.01 [[ 9.76394347e-01 2.15749506e-01 1.03067698e-02 3.68098125e+02] [-2.15735343e-01 9.76448725e-01 -2.47999926e-03 -6.06716107e+01] [-1.05990908e-02 1.97922745e-04 9.99943808e-01 -4.01155516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.16, Y:-60.69, Z:-4.01 [[ 9.76109551e-01 2.17034358e-01 1.03069134e-02 3.68155071e+02] [-2.17020272e-01 9.76163948e-01 -2.47940249e-03 -6.06851409e+01] [-1.05993528e-02 1.83359308e-04 9.99943808e-01 -4.00932045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.21, Y:-60.70, Z:-4.01 [[ 9.76005137e-01 2.17503420e-01 1.03070290e-02 3.68212212e+02] [-2.17489366e-01 9.76059542e-01 -2.47892153e-03 -6.06985910e+01] [-1.05994480e-02 1.77770933e-04 9.99943808e-01 -4.00713229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.225769231 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:368.27, Y:-60.71, Z:-4.01 [[ 9.76277877e-01 2.16275909e-01 1.03071440e-02 3.68267783e+02] [-2.16261792e-01 9.76332267e-01 -2.47844341e-03 -6.07140396e+01] [-1.05992249e-02 1.90608042e-04 9.99943808e-01 -4.00933642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.32, Y:-60.73, Z:-4.02 [[ 9.76804298e-01 2.13885768e-01 1.03073190e-02 3.68323438e+02] [-2.13871525e-01 9.76858655e-01 -2.47771549e-03 -6.07310738e+01] [-1.05987418e-02 2.15801111e-04 9.99943808e-01 -4.01575995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.38, Y:-60.75, Z:-4.01 [[ 9.76695011e-01 2.14384260e-01 1.03074630e-02 3.68379836e+02] [-2.14370052e-01 9.76749377e-01 -2.47711604e-03 -6.07472225e+01] [-1.05988628e-02 2.09775492e-04 9.99943808e-01 -4.01309256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.44, Y:-60.77, Z:-4.01 [[ 9.75502814e-01 2.19745339e-01 1.03075802e-02 3.68436224e+02] [-2.19731434e-01 9.75557258e-01 -2.47662853e-03 -6.07650079e+01] [-1.05998622e-02 1.51058729e-04 9.99943808e-01 -4.01276405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.49, Y:-60.78, Z:-4.01 [[ 9.75068073e-01 2.21666428e-01 1.03076963e-02 3.68492010e+02] [-2.21652636e-01 9.75122545e-01 -2.47614512e-03 -6.07821066e+01] [-1.06001453e-02 1.29681995e-04 9.99943808e-01 -4.01196633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.55, Y:-60.80, Z:-4.01 [[ 9.75076457e-01 2.21629535e-01 1.03078410e-02 3.68546766e+02] [-2.21615747e-01 9.75130931e-01 -2.47554260e-03 -6.08020315e+01] [-1.06001480e-02 1.29463418e-04 9.99943808e-01 -4.00917977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.60, Y:-60.82, Z:-4.01 [[ 9.75038844e-01 2.21794948e-01 1.03079794e-02 3.68601393e+02] [-2.21781175e-01 9.75093321e-01 -2.47496632e-03 -6.08225755e+01] [-1.06001769e-02 1.27072518e-04 9.99943808e-01 -4.00900709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.66, Y:-60.84, Z:-4.01 [[ 9.74537827e-01 2.23986082e-01 1.03081457e-02 3.68656277e+02] [-2.23972439e-01 9.74592338e-01 -2.47427324e-03 -6.08412229e+01] [-1.06004426e-02 1.02532319e-04 9.99943808e-01 -4.00897667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.71, Y:-60.86, Z:-4.01 [[ 9.73823615e-01 2.27071145e-01 1.03083203e-02 3.68710409e+02] [-2.27057682e-01 9.73878170e-01 -2.47354585e-03 -6.08591702e+01] [-1.06007190e-02 6.82140499e-05 9.99943808e-01 -4.01279242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:368.77, Y:-60.88, Z:-4.02 [[ 9.72357184e-01 2.33270745e-01 1.03085217e-02 3.68766136e+02] [-2.33257640e-01 9.72411826e-01 -2.47270628e-03 -6.08770597e+01] [-1.06009384e-02 -1.87716788e-07 9.99943808e-01 -4.01585203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:368.82, Y:-60.89, Z:-4.02 [[ 9.71006140e-01 2.38832177e-01 1.03086388e-02 3.68820999e+02] [-2.38819389e-01 9.71060857e-01 -2.47221784e-03 -6.08928396e+01] [-1.06007608e-02 -6.13641185e-05 9.99943808e-01 -4.01801054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:368.88, Y:-60.91, Z:-4.02 [[ 9.70502855e-01 2.40869122e-01 1.03089196e-02 3.68877264e+02] [-2.40856462e-01 9.70557602e-01 -2.47104618e-03 -6.09082159e+01] [-1.06005991e-02 -8.48125435e-05 9.99943808e-01 -4.01909772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.945769231 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:368.93, Y:-60.92, Z:-4.02 [[ 9.69823323e-01 2.43590733e-01 1.03090867e-02 3.68934116e+02] [-2.43578234e-01 9.69878107e-01 -2.47034899e-03 -6.09196732e+01] [-1.06003116e-02 -1.15267063e-04 9.99943808e-01 -4.02047729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.005769231 meters Centerline goodness : 0.997763 with order 1 Centerline is valid? [True, True] Translation: X:368.99, Y:-60.93, Z:-4.02 [[ 9.69145701e-01 2.46272878e-01 1.03092540e-02 3.68990719e+02] [-2.46260537e-01 9.69200520e-01 -2.46965064e-03 -6.09323059e+01] [-1.05999423e-02 -1.45311133e-04 9.99943808e-01 -4.01970887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.065769231 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:369.05, Y:-60.94, Z:-4.02 [[ 9.68129366e-01 2.50238378e-01 1.03094216e-02 3.69049033e+02] [-2.50226269e-01 9.68184238e-01 -2.46895084e-03 -6.09394827e+01] [-1.05992457e-02 -1.89424294e-04 9.99943808e-01 -4.01569830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.125769231 meters Centerline goodness : 0.997534 with order 1 Centerline is valid? [True, True] Translation: X:369.11, Y:-60.95, Z:-4.01 [[ 9.67745570e-01 2.51718544e-01 1.03095599e-02 3.69107840e+02] [-2.51706526e-01 9.67800461e-01 -2.46837314e-03 -6.09483152e+01] [-1.05989321e-02 -2.06226334e-04 9.99943808e-01 -4.01267962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.185769231 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:369.17, Y:-60.96, Z:-4.01 [[ 9.67640716e-01 2.52121313e-01 1.03096719e-02 3.69165330e+02] [-2.52109322e-01 9.67695613e-01 -2.46790527e-03 -6.09561936e+01] [-1.05988358e-02 -2.11118777e-04 9.99943808e-01 -4.01233523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.245769231 meters Centerline goodness : 0.997561 with order 1 Centerline is valid? [True, True] Translation: X:369.22, Y:-60.96, Z:-4.01 [[ 9.67530748e-01 2.52542986e-01 1.03098398e-02 3.69223044e+02] [-2.52531027e-01 9.67585652e-01 -2.46720381e-03 -6.09644959e+01] [-1.05987281e-02 -2.16458881e-04 9.99943808e-01 -4.01279598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.305769231 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:369.28, Y:-60.98, Z:-4.01 [[ 9.67875567e-01 2.51218214e-01 1.03100234e-02 3.69278837e+02] [-2.51206188e-01 9.67930456e-01 -2.46643636e-03 -6.09754549e+01] [-1.05989994e-02 -2.02738178e-04 9.99943808e-01 -4.01201580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.365769231 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:369.34, Y:-60.99, Z:-4.01 [[ 9.69301057e-01 2.45660656e-01 1.03103463e-02 3.69335345e+02] [-2.45648329e-01 9.69355880e-01 -2.46508575e-03 -6.09874522e+01] [-1.05999694e-02 -1.43309118e-04 9.99943808e-01 -4.01313646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.425769231 meters Centerline goodness : 0.997600 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:-61.00, Z:-4.01 [[ 9.70057618e-01 2.42655952e-01 1.03105126e-02 3.69390899e+02] [-2.42643463e-01 9.70112404e-01 -2.46439013e-03 -6.10016229e+01] [-1.06003551e-02 -1.11178054e-04 9.99943808e-01 -4.01401969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.485769231 meters Centerline goodness : 0.997637 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:-61.02, Z:-4.02 [[ 9.70076574e-01 2.42580150e-01 1.03107048e-02 3.69447408e+02] [-2.42567665e-01 9.70131361e-01 -2.46358543e-03 -6.10162068e+01] [-1.06003550e-02 -1.11177088e-04 9.99943808e-01 -4.01928158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.545769231 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:369.50, Y:-61.03, Z:-4.02 [[ 9.68952555e-01 2.47031640e-01 1.03108685e-02 3.69504654e+02] [-2.47019414e-01 9.69007401e-01 -2.46290033e-03 -6.10292274e+01] [-1.05997222e-02 -1.60551124e-04 9.99943808e-01 -4.02343925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.605769231 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:369.56, Y:-61.04, Z:-4.03 [[ 9.67607334e-01 2.52249342e-01 1.03109850e-02 3.69561860e+02] [-2.52237417e-01 9.67662246e-01 -2.46241253e-03 -6.10415163e+01] [-1.05986928e-02 -2.18167792e-04 9.99943808e-01 -4.02798391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.665769231 meters Centerline goodness : 0.997458 with order 1 Centerline is valid? [True, True] Translation: X:369.62, Y:-61.05, Z:-4.02 [[ 9.65563897e-01 2.59961615e-01 1.03111007e-02 3.69618473e+02] [-2.59950134e-01 9.65618903e-01 -2.46192765e-03 -6.10518493e+01] [-1.05966005e-02 -3.03223561e-04 9.99943808e-01 -4.02376228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.725769231 meters Centerline goodness : 0.997604 with order 1 Centerline is valid? [True, True] Translation: X:369.68, Y:-61.06, Z:-4.02 [[ 9.64099619e-01 2.65340541e-01 1.03112438e-02 3.69676230e+02] [-2.65329373e-01 9.64154690e-01 -2.46132835e-03 -6.10589773e+01] [-1.05947243e-02 -3.62910132e-04 9.99943808e-01 -4.02225784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.785769231 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:369.73, Y:-61.06, Z:-4.02 [[ 9.62666906e-01 2.70492325e-01 1.03116943e-02 3.69734843e+02] [-2.70481472e-01 9.62722039e-01 -2.45943970e-03 -6.10613478e+01] [-1.05925549e-02 -4.21501027e-04 9.99943808e-01 -4.02316532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.845769231 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:369.79, Y:-61.07, Z:-4.02 [[ 9.62855158e-01 2.69821430e-01 1.03121512e-02 3.69793033e+02] [-2.69810560e-01 9.62910288e-01 -2.45752247e-03 -6.10673427e+01] [-1.05927687e-02 -4.16089086e-04 9.99943808e-01 -4.02019773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.905769231 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:369.85, Y:-61.07, Z:-4.02 [[ 9.64578307e-01 2.63595044e-01 1.03122928e-02 3.69851044e+02] [-2.63583824e-01 9.64633366e-01 -2.45692802e-03 -6.10690434e+01] [-1.05952158e-02 -3.48254092e-04 9.99943808e-01 -4.02161328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.965769231 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:369.91, Y:-61.07, Z:-4.02 [[ 9.65863506e-01 2.58846172e-01 1.03124832e-02 3.69909251e+02] [-2.58834689e-01 9.65918512e-01 -2.45612858e-03 -6.10747677e+01] [-1.05967779e-02 -2.96943421e-04 9.99943808e-01 -4.01777679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.025769231 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:369.97, Y:-61.08, Z:-4.02 [[ 9.68068537e-01 2.50473456e-01 1.03129266e-02 3.69967024e+02] [-2.50461517e-01 9.68123445e-01 -2.45426518e-03 -6.10778181e+01] [-1.05989143e-02 -2.07094348e-04 9.99943808e-01 -4.02017910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:370.02, Y:-61.09, Z:-4.02 [[ 9.68884513e-01 2.47298281e-01 1.03131194e-02 3.70024119e+02] [-2.47286171e-01 9.68939384e-01 -2.45345472e-03 -6.10874952e+01] [-1.05995227e-02 -1.73177538e-04 9.99943808e-01 -4.02260525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters Centerline goodness : 0.997828 with order 1 Centerline is valid? [True, True] Translation: X:370.08, Y:-61.09, Z:-4.02 [[ 9.71484994e-01 2.36876628e-01 1.03135582e-02 3.70081251e+02] [-2.36863949e-01 9.71539736e-01 -2.45160873e-03 -6.10946795e+01] [-1.06007605e-02 -6.12090453e-05 9.99943808e-01 -4.02298014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters Centerline goodness : 0.997524 with order 1 Centerline is valid? [True, True] Translation: X:370.14, Y:-61.11, Z:-4.02 [[ 9.73399829e-01 2.28880754e-01 1.03137481e-02 3.70138078e+02] [-2.28867634e-01 9.73454467e-01 -2.45080987e-03 -6.11064861e+01] [-1.06009074e-02 2.51347892e-05 9.99943808e-01 -4.01951143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:370.19, Y:-61.12, Z:-4.02 [[ 9.75380120e-01 2.20288991e-01 1.03141807e-02 3.70193848e+02] [-2.20275409e-01 9.75434645e-01 -2.44898769e-03 -6.11184537e+01] [-1.06002943e-02 1.16733537e-04 9.99943808e-01 -4.02203355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters Centerline goodness : 0.997849 with order 1 Centerline is valid? [True, True] Translation: X:370.25, Y:-61.13, Z:-4.03 [[ 9.75922007e-01 2.17875770e-01 1.03143663e-02 3.70250325e+02] [-2.17862061e-01 9.75976500e-01 -2.44820577e-03 -6.11325266e+01] [-1.05999839e-02 1.42148779e-04 9.99943808e-01 -4.02523722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters Centerline goodness : 0.998059 with order 1 Centerline is valid? [True, True] Translation: X:370.31, Y:-61.15, Z:-4.02 [[ 9.75789070e-01 2.18470356e-01 1.03147828e-02 3.70306027e+02] [-2.18456699e-01 9.75843576e-01 -2.44644987e-03 -6.11471887e+01] [-1.06000913e-02 1.33885642e-04 9.99943808e-01 -4.02299760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.445769231 meters Centerline goodness : 0.997975 with order 1 Centerline is valid? [True, True] Translation: X:370.36, Y:-61.16, Z:-4.03 [[ 9.76109672e-01 2.17033419e-01 1.03151983e-02 3.70361747e+02] [-2.17019700e-01 9.76164163e-01 -2.44469675e-03 -6.11630638e+01] [-1.05999078e-02 1.47690900e-04 9.99943808e-01 -4.03065963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.505769231 meters Centerline goodness : 0.997971 with order 1 Centerline is valid? [True, True] Translation: X:370.42, Y:-61.18, Z:-4.03 [[ 9.76587540e-01 2.14872915e-01 1.03153590e-02 3.70417202e+02] [-2.14859083e-01 9.76642003e-01 -2.44401846e-03 -6.11805400e+01] [-1.05995662e-02 1.70449400e-04 9.99943808e-01 -4.03043326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.565769231 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:370.47, Y:-61.20, Z:-4.03 [[ 9.77178552e-01 2.12168959e-01 1.03155311e-02 3.70471578e+02] [-2.12154983e-01 9.77232978e-01 -2.44329166e-03 -6.11988927e+01] [-1.05990679e-02 1.99040874e-04 9.99943808e-01 -4.02672235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.625769231 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:370.53, Y:-61.21, Z:-4.03 [[ 9.76886818e-01 2.13508151e-01 1.03157290e-02 3.70528400e+02] [-2.13494260e-01 9.76941265e-01 -2.44245596e-03 -6.12146686e+01] [-1.05993456e-02 1.83654110e-04 9.99943808e-01 -4.03155244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.685769231 meters Centerline goodness : 0.997901 with order 1 Centerline is valid? [True, True] Translation: X:370.58, Y:-61.23, Z:-4.03 [[ 9.75803713e-01 2.18404894e-01 1.03158442e-02 3.70583124e+02] [-2.18391280e-01 9.75858230e-01 -2.44196942e-03 -6.12323931e+01] [-1.06001395e-02 1.29992409e-04 9.99943808e-01 -4.03342614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.745769231 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:370.64, Y:-61.25, Z:-4.03 [[ 9.75291088e-01 2.20682742e-01 1.03160447e-02 3.70639914e+02] [-2.20669264e-01 9.75345640e-01 -2.44112217e-03 -6.12491771e+01] [-1.06004227e-02 1.04370711e-04 9.99943808e-01 -4.03048126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.805769231 meters Centerline goodness : 0.997989 with order 1 Centerline is valid? [True, True] Translation: X:370.70, Y:-61.27, Z:-4.04 [[ 9.74817935e-01 2.22763487e-01 1.03161591e-02 3.70695615e+02] [-2.22750132e-01 9.74872516e-01 -2.44063866e-03 -6.12683549e+01] [-1.06006251e-02 8.12525469e-05 9.99943808e-01 -4.03694763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.865769231 meters Centerline goodness : 0.998222 with order 1 Centerline is valid? [True, True] Translation: X:370.75, Y:-61.28, Z:-4.04 [[ 9.74235109e-01 2.25298752e-01 1.03162777e-02 3.70751118e+02] [-2.25285544e-01 9.74289726e-01 -2.44013686e-03 -6.12833762e+01] [-1.06008032e-02 5.31587621e-05 9.99943808e-01 -4.03692324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.925769231 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:370.81, Y:-61.30, Z:-4.03 [[ 9.73778919e-01 2.27262379e-01 1.03164254e-02 3.70807464e+02] [-2.27249287e-01 9.73833564e-01 -2.43951230e-03 -6.12995508e+01] [-1.06008907e-02 3.11453214e-05 9.99943808e-01 -4.03447984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.985769231 meters Centerline goodness : 0.998227 with order 1 Centerline is valid? [True, True] Translation: X:370.86, Y:-61.31, Z:-4.04 [[ 9.73850656e-01 2.26954772e-01 1.03165404e-02 3.70863726e+02] [-2.26941668e-01 9.73905298e-01 -2.43902586e-03 -6.13138090e+01] [-1.06008820e-02 3.39940347e-05 9.99943808e-01 -4.03637688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.045769231 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:370.92, Y:-61.33, Z:-4.04 [[ 9.74584858e-01 2.23780964e-01 1.03167127e-02 3.70919848e+02] [-2.23767690e-01 9.74639459e-01 -2.43829702e-03 -6.13300750e+01] [-1.06007197e-02 6.77803857e-05 9.99943808e-01 -4.03529311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.105769231 meters Centerline goodness : 0.998420 with order 1 Centerline is valid? [True, True] Translation: X:370.98, Y:-61.35, Z:-4.03 [[ 9.75495035e-01 2.19779436e-01 1.03168286e-02 3.70975217e+02] [-2.19765943e-01 9.75549582e-01 -2.43780656e-03 -6.13478270e+01] [-1.06003576e-02 1.10780626e-04 9.99943808e-01 -4.03135088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.165769231 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:371.03, Y:-61.37, Z:-4.04 [[ 9.75819425e-01 2.18334629e-01 1.03170029e-02 3.71030636e+02] [-2.18321063e-01 9.75873954e-01 -2.43706866e-03 -6.13651905e+01] [-1.06001909e-02 1.25719896e-04 9.99943808e-01 -4.03596879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.225769231 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:371.08, Y:-61.38, Z:-4.04 [[ 9.75978231e-01 2.17623641e-01 1.03171787e-02 3.71084857e+02] [-2.17610043e-01 9.76032752e-01 -2.43632439e-03 -6.13826079e+01] [-1.06001061e-02 1.32677874e-04 9.99943808e-01 -4.03777131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.285769231 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:371.14, Y:-61.40, Z:-4.03 [[ 9.75085173e-01 2.21590742e-01 1.03173812e-02 3.71141229e+02] [-2.21577375e-01 9.75139752e-01 -2.43546626e-03 -6.13989912e+01] [-1.06005653e-02 8.86887973e-05 9.99943808e-01 -4.03192743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.345769231 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:371.20, Y:-61.41, Z:-4.04 [[ 9.74079759e-01 2.25969406e-01 1.03174990e-02 3.71196653e+02] [-2.25956290e-01 9.74134398e-01 -2.43496702e-03 -6.14137783e+01] [-1.06008588e-02 4.05482808e-05 9.99943808e-01 -4.03736172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.405769231 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:371.25, Y:-61.43, Z:-4.04 [[ 9.73902013e-01 2.26734236e-01 1.03177030e-02 3.71253631e+02] [-2.26721172e-01 9.73956665e-01 -2.43410234e-03 -6.14294042e+01] [-1.06008900e-02 3.13354505e-05 9.99943808e-01 -4.04258370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.465769231 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:371.31, Y:-61.44, Z:-4.04 [[ 9.73441028e-01 2.28705287e-01 1.03178179e-02 3.71310174e+02] [-2.28692339e-01 9.73495707e-01 -2.43361526e-03 -6.14449685e+01] [-1.06009321e-02 9.37502800e-06 9.99943808e-01 -4.04200860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.525769231 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:371.37, Y:-61.46, Z:-4.04 [[ 9.73042972e-01 2.30392957e-01 1.03179345e-02 3.71366909e+02] [-2.30380109e-01 9.73097675e-01 -2.43312102e-03 -6.14570131e+01] [-1.06009320e-02 -9.51556459e-06 9.99943808e-01 -4.04015594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:371.42, Y:-61.47, Z:-4.04 [[ 9.71941022e-01 2.34998271e-01 1.03180782e-02 3.71423977e+02] [-2.34985688e-01 9.71995787e-01 -2.43251154e-03 -6.14666380e+01] [-1.06007645e-02 -6.03429504e-05 9.99943808e-01 -4.04338891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:371.48, Y:-61.48, Z:-4.04 [[ 9.71067163e-01 2.38583527e-01 1.03182184e-02 3.71482410e+02] [-2.38571153e-01 9.71121975e-01 -2.43191654e-03 -6.14765876e+01] [-1.06004638e-02 -1.00074957e-04 9.99943808e-01 -4.04114526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:371.54, Y:-61.49, Z:-4.04 [[ 9.70987185e-01 2.38908808e-01 1.03183297e-02 3.71539476e+02] [-2.38896457e-01 9.71042003e-01 -2.43144431e-03 -6.14882546e+01] [-1.06004250e-02 -1.04111132e-04 9.99943808e-01 -4.04289782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:371.60, Y:-61.50, Z:-4.04 [[ 9.71206214e-01 2.38016845e-01 1.03185015e-02 3.71597751e+02] [-2.38004452e-01 9.71261022e-01 -2.43071469e-03 -6.14976089e+01] [-1.06005094e-02 -9.51240931e-05 9.99943808e-01 -4.03909284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:371.66, Y:-61.51, Z:-4.04 [[ 9.71079707e-01 2.38532447e-01 1.03186156e-02 3.71655275e+02] [-2.38520088e-01 9.71134523e-01 -2.43023047e-03 -6.15080131e+01] [-1.06004526e-02 -1.01249613e-04 9.99943808e-01 -4.04281190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:371.71, Y:-61.52, Z:-4.05 [[ 9.71303487e-01 2.37619567e-01 1.03187851e-02 3.71711912e+02] [-2.37607164e-01 9.71358293e-01 -2.42951030e-03 -6.15177198e+01] [-1.06005367e-02 -9.20254459e-05 9.99943808e-01 -4.04804317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.945769231 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:371.77, Y:-61.53, Z:-4.05 [[ 9.71532793e-01 2.36680275e-01 1.03189250e-02 3.71769148e+02] [-2.36667826e-01 9.71587588e-01 -2.42891632e-03 -6.15304545e+01] [-1.06006160e-02 -8.23856852e-05 9.99943808e-01 -4.04804321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.005769231 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:371.82, Y:-61.55, Z:-4.04 [[ 9.72726458e-01 2.31725602e-01 1.03190357e-02 3.71824799e+02] [-2.31712879e-01 9.72781190e-01 -2.42844570e-03 -6.15461186e+01] [-1.06008969e-02 -2.88400889e-05 9.99943808e-01 -4.04312138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.065769231 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:371.88, Y:-61.56, Z:-4.05 [[ 9.73901970e-01 2.26734356e-01 1.03191725e-02 3.71881347e+02] [-2.26721358e-01 9.73956637e-01 -2.42786417e-03 -6.15605898e+01] [-1.06009068e-02 2.49248874e-05 9.99943808e-01 -4.04504369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.125769231 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:371.94, Y:-61.58, Z:-4.05 [[ 9.75048323e-01 2.21752745e-01 1.03193349e-02 3.71936025e+02] [-2.21739475e-01 9.75102925e-01 -2.42717384e-03 -6.15802455e+01] [-1.06006461e-02 7.84078733e-05 9.99943808e-01 -4.04634008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.185769231 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:371.99, Y:-61.60, Z:-4.05 [[ 9.75262161e-01 2.20810384e-01 1.03194958e-02 3.71991846e+02] [-2.20797068e-01 9.75316752e-01 -2.42648950e-03 -6.15961744e+01] [-1.06005712e-02 8.79489738e-05 9.99943808e-01 -4.04867490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.245769231 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:372.05, Y:-61.61, Z:-4.05 [[ 9.75728284e-01 2.18741445e-01 1.03196576e-02 3.72047207e+02] [-2.18728021e-01 9.75782849e-01 -2.42580113e-03 -6.16141040e+01] [-1.06003682e-02 1.09724488e-04 9.99943808e-01 -4.05445051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.305769231 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:372.10, Y:-61.63, Z:-4.05 [[ 9.76355729e-01 2.15923578e-01 1.03198553e-02 3.72103265e+02] [-2.15910006e-01 9.76410256e-01 -2.42495974e-03 -6.16320214e+01] [-1.06000186e-02 1.39463311e-04 9.99943808e-01 -4.05159612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.365769231 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:372.16, Y:-61.66, Z:-4.05 [[ 9.77697145e-01 2.09766039e-01 1.03199603e-02 3.72156422e+02] [-2.09752128e-01 9.77751587e-01 -2.42451294e-03 -6.16555704e+01] [-1.05989380e-02 2.05805752e-04 9.99943808e-01 -4.05403678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.425769231 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:372.21, Y:-61.68, Z:-4.06 [[ 9.79112480e-01 2.03057250e-01 1.03201422e-02 3.72210030e+02] [-2.03042974e-01 9.79166828e-01 -2.42373851e-03 -6.16826582e+01] [-1.05972986e-02 2.77680259e-04 9.99943808e-01 -4.05554813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.485769231 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:372.27, Y:-61.71, Z:-4.05 [[ 9.79231418e-01 2.02482892e-01 1.03202964e-02 3.72265173e+02] [-2.02468591e-01 9.79285759e-01 -2.42308172e-03 -6.17057066e+01] [-1.05971519e-02 2.83221878e-04 9.99943808e-01 -4.05143587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.545769231 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:372.32, Y:-61.73, Z:-4.05 [[ 9.78501382e-01 2.05981880e-01 1.03204056e-02 3.72320780e+02] [-2.05967778e-01 9.78555775e-01 -2.42261634e-03 -6.17271965e+01] [-1.05981076e-02 2.44862420e-04 9.99943808e-01 -4.05240600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.605769231 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:372.38, Y:-61.75, Z:-4.05 [[ 9.76818563e-01 2.13819976e-01 1.03205152e-02 3.72375466e+02] [-2.13806316e-01 9.76873069e-01 -2.42214935e-03 -6.17533855e+01] [-1.05997373e-02 1.59409100e-04 9.99943808e-01 -4.05366058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.665769231 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:372.43, Y:-61.77, Z:-4.06 [[ 9.76024372e-01 2.17416445e-01 1.03205746e-02 3.72430858e+02] [-2.17402989e-01 9.76078929e-01 -2.42189640e-03 -6.17746703e+01] [-1.06002555e-02 1.20106153e-04 9.99943808e-01 -4.05584258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.725769231 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:372.49, Y:-61.80, Z:-4.06 [[ 9.74662294e-01 2.23443273e-01 1.03206629e-02 3.72486057e+02] [-2.23430158e-01 9.74716934e-01 -2.42151999e-03 -6.17971251e+01] [-1.06007973e-02 5.42168877e-05 9.99943808e-01 -4.06010414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.785769231 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:372.54, Y:-61.81, Z:-4.06 [[ 9.73632999e-01 2.27886519e-01 1.03207749e-02 3.72542394e+02] [-2.27873658e-01 9.73687699e-01 -2.42104251e-03 -6.18149815e+01] [-1.06009345e-02 5.37414821e-06 9.99943809e-01 -4.05637470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.845769231 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:372.60, Y:-61.84, Z:-4.06 [[ 9.72586433e-01 2.32312527e-01 1.03208876e-02 3.72597177e+02] [-2.32299920e-01 9.72641192e-01 -2.42056192e-03 -6.18375941e+01] [-1.06008473e-02 -4.33356847e-05 9.99943809e-01 -4.05569625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.905769231 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:372.65, Y:-61.86, Z:-4.06 [[ 9.72447279e-01 2.32894326e-01 1.03209992e-02 3.72652829e+02] [-2.32881757e-01 9.72502047e-01 -2.42008611e-03 -6.18587699e+01] [-1.06008172e-02 -5.01662689e-05 9.99943809e-01 -4.05917223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.965769231 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:372.71, Y:-61.88, Z:-4.06 [[ 9.70787966e-01 2.39716916e-01 1.03210816e-02 3.72707771e+02] [-2.39704735e-01 9.70842822e-01 -2.41973472e-03 -6.18777823e+01] [-1.06001993e-02 -1.24962783e-04 9.99943809e-01 -4.05961949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.025769231 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:372.76, Y:-61.89, Z:-4.06 [[ 9.68388580e-01 2.49232885e-01 1.03212167e-02 3.72764957e+02] [-2.49221250e-01 9.68443554e-01 -2.41915819e-03 -6.18925150e+01] [-1.05984496e-02 -2.29581363e-04 9.99943809e-01 -4.05752663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:372.82, Y:-61.91, Z:-4.06 [[ 9.65255598e-01 2.61103621e-01 1.03213276e-02 3.72821284e+02] [-2.61092667e-01 9.65310711e-01 -2.41868500e-03 -6.19053942e+01] [-1.05948155e-02 -3.60173717e-04 9.99943809e-01 -4.06089251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:372.88, Y:-61.91, Z:-4.06 [[ 9.64120892e-01 2.65262837e-01 1.03214647e-02 3.72879912e+02] [-2.65252127e-01 9.64176053e-01 -2.41809981e-03 -6.19124072e+01] [-1.05931411e-02 -4.06449916e-04 9.99943809e-01 -4.05511169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:372.94, Y:-61.92, Z:-4.05 [[ 9.64267248e-01 2.64730313e-01 1.03215767e-02 3.72937954e+02] [-2.64719577e-01 9.64322405e-01 -2.41762171e-03 -6.19188767e+01] [-1.05933454e-02 -4.01089986e-04 9.99943809e-01 -4.05353078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:373.00, Y:-61.92, Z:-4.06 [[ 9.65105455e-01 2.61658028e-01 1.03217152e-02 3.72996423e+02] [-2.61647123e-01 9.65160578e-01 -2.41703036e-03 -6.19224608e+01] [-1.05945480e-02 -3.67957886e-04 9.99943809e-01 -4.05782162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:373.06, Y:-61.93, Z:-4.06 [[ 9.65739004e-01 2.59309922e-01 1.03218464e-02 3.73055573e+02] [-2.59298888e-01 9.65794102e-01 -2.41646991e-03 -6.19298548e+01] [-1.05953930e-02 -3.42764042e-04 9.99943809e-01 -4.05553856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:373.11, Y:-61.93, Z:-4.06 [[ 9.66989504e-01 2.54607064e-01 1.03219590e-02 3.73114295e+02] [-2.54595768e-01 9.67044548e-01 -2.41598871e-03 -6.19339703e+01] [-1.05969220e-02 -2.91691348e-04 9.99943809e-01 -4.05749014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.445769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:373.17, Y:-61.94, Z:-4.06 [[ 9.68598059e-01 2.48417500e-01 1.03221064e-02 3.73172306e+02] [-2.48405859e-01 9.68653031e-01 -2.41535885e-03 -6.19441361e+01] [-1.05985570e-02 -2.24559813e-04 9.99943809e-01 -4.06358658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.505769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:373.23, Y:-61.95, Z:-4.07 [[ 9.69314685e-01 2.45606379e-01 1.03222137e-02 3.73230503e+02] [-2.45594583e-01 9.69369625e-01 -2.41490023e-03 -6.19532390e+01] [-1.05991553e-02 -1.94281514e-04 9.99943809e-01 -4.06721919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.565769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:373.29, Y:-61.96, Z:-4.06 [[ 9.70025689e-01 2.42783058e-01 1.03223254e-02 3.73288210e+02] [-2.42771107e-01 9.70080595e-01 -2.41442238e-03 -6.19629014e+01] [-1.05996685e-02 -1.63910644e-04 9.99943809e-01 -4.06486101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.625769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:373.35, Y:-61.97, Z:-4.06 [[ 9.70646049e-01 2.40290853e-01 1.03224639e-02 3.73346034e+02] [-2.40278768e-01 9.70700926e-01 -2.41383011e-03 -6.19744843e+01] [-1.06000466e-02 -1.37294252e-04 9.99943809e-01 -4.06036951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.685769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:373.40, Y:-61.99, Z:-4.06 [[ 9.71883795e-01 2.35234636e-01 1.03225739e-02 3.73402279e+02] [-2.35222270e-01 9.71938609e-01 -2.41335990e-03 -6.19888914e+01] [-1.06006139e-02 -8.25938810e-05 9.99943809e-01 -4.06336369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.745769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:373.46, Y:-62.00, Z:-4.06 [[ 9.72811225e-01 2.31369321e-01 1.03227338e-02 3.73458320e+02] [-2.31356744e-01 9.72865991e-01 -2.41267565e-03 -6.20033000e+01] [-1.06008558e-02 -4.11561359e-05 9.99943809e-01 -4.06489602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.805769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:373.52, Y:-62.02, Z:-4.07 [[ 9.72931468e-01 2.30863153e-01 1.03228954e-02 3.73515263e+02] [-2.30850556e-01 9.72986230e-01 -2.41198394e-03 -6.20192901e+01] [-1.06008733e-02 -3.63510670e-05 9.99943809e-01 -4.06744236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.865769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:373.57, Y:-62.03, Z:-4.07 [[ 9.72867563e-01 2.31132299e-01 1.03230115e-02 3.73572594e+02] [-2.31119722e-01 9.72922329e-01 -2.41148722e-03 -6.20343390e+01] [-1.06008609e-02 -3.97938482e-05 9.99943809e-01 -4.06796228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.63, Y:-62.06, Z:-4.07 [[ 9.73011766e-01 2.30524483e-01 1.03231273e-02 3.73627172e+02] [-2.30511877e-01 9.73066525e-01 -2.41099108e-03 -6.20556858e+01] [-1.06008821e-02 -3.36807732e-05 9.99943809e-01 -4.06557467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.985769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:373.68, Y:-62.08, Z:-4.07 [[ 9.73222131e-01 2.29634740e-01 1.03232711e-02 3.73683765e+02] [-2.29622090e-01 9.73276880e-01 -2.41037517e-03 -6.20766688e+01] [-1.06009070e-02 -2.46206339e-05 9.99943809e-01 -4.06623254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.045769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:373.74, Y:-62.10, Z:-4.07 [[ 9.72902911e-01 2.30983450e-01 1.03233280e-02 3.73739374e+02] [-2.30970880e-01 9.72957678e-01 -2.41013150e-03 -6.20959014e+01] [-1.06008618e-02 -3.95642058e-05 9.99943809e-01 -4.07046211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:373.80, Y:-62.11, Z:-4.07 [[ 9.72131519e-01 2.34208747e-01 1.03234125e-02 3.73796085e+02] [-2.34196361e-01 9.72186328e-01 -2.40976945e-03 -6.21136747e+01] [-1.06006696e-02 -7.50928235e-05 9.99943809e-01 -4.07223520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.165769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:373.85, Y:-62.13, Z:-4.07 [[ 9.70607106e-01 2.40448066e-01 1.03234690e-02 3.73852991e+02] [-2.40436036e-01 9.70661994e-01 -2.40952751e-03 -6.21291956e+01] [-1.05999653e-02 -1.43429442e-04 9.99943809e-01 -4.07172494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.225769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:373.91, Y:-62.14, Z:-4.07 [[ 9.67832372e-01 2.51384016e-01 1.03235824e-02 3.73909431e+02] [-2.51372610e-01 9.67887394e-01 -2.40904158e-03 -6.21416665e+01] [-1.05976598e-02 -2.63517433e-04 9.99943809e-01 -4.06844099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.285769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:373.97, Y:-62.15, Z:-4.07 [[ 9.64838245e-01 2.62641546e-01 1.03237224e-02 3.73966847e+02] [-2.62630789e-01 9.64893397e-01 -2.40844155e-03 -6.21459740e+01] [-1.05938484e-02 -3.87570834e-04 9.99943809e-01 -4.06897705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.345769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:374.02, Y:-62.15, Z:-4.07 [[ 9.63463454e-01 2.67640783e-01 1.03239143e-02 3.74024539e+02] [-2.67630321e-01 9.63518663e-01 -2.40761873e-03 -6.21546591e+01] [-1.05916610e-02 -4.43339836e-04 9.99943809e-01 -4.07083015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.08, Y:-62.16, Z:-4.07 [[ 9.63098613e-01 2.68950691e-01 1.03240746e-02 3.74082505e+02] [-2.68940312e-01 9.63153838e-01 -2.40693101e-03 -6.21568312e+01] [-1.05910178e-02 -4.58447925e-04 9.99943809e-01 -4.07076246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.14, Y:-62.16, Z:-4.07 [[ 9.63433544e-01 2.67748420e-01 1.03242589e-02 3.74141193e+02] [-2.67737980e-01 9.63488757e-01 -2.40614028e-03 -6.21630893e+01] [-1.05915476e-02 -4.46039968e-04 9.99943809e-01 -4.06972014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.20, Y:-62.17, Z:-4.07 [[ 9.64004545e-01 2.65685236e-01 1.03243632e-02 3.74200407e+02] [-2.65674683e-01 9.64059737e-01 -2.40569258e-03 -6.21653146e+01] [-1.05924599e-02 -4.23823344e-04 9.99943809e-01 -4.06898048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.26, Y:-62.17, Z:-4.07 [[ 9.64492676e-01 2.63907713e-01 1.03245232e-02 3.74259251e+02] [-2.63897066e-01 9.64547850e-01 -2.40500563e-03 -6.21705940e+01] [-1.05931962e-02 -4.05001067e-04 9.99943809e-01 -4.06762195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.32, Y:-62.17, Z:-4.07 [[ 9.64936571e-01 2.62280030e-01 1.03246852e-02 3.74319831e+02] [-2.62269296e-01 9.64991728e-01 -2.40431020e-03 -6.21715691e+01] [-1.05938383e-02 -3.87841070e-04 9.99943809e-01 -4.07227026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.38, Y:-62.18, Z:-4.08 [[ 9.65206689e-01 2.61284226e-01 1.03248023e-02 3.74377861e+02] [-2.61273441e-01 9.65261835e-01 -2.40380706e-03 -6.21774563e+01] [-1.05942145e-02 -3.77425981e-04 9.99943809e-01 -4.07506436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.44, Y:-62.18, Z:-4.07 [[ 9.65369555e-01 2.60681833e-01 1.03249480e-02 3.74437172e+02] [-2.60671020e-01 9.65424696e-01 -2.40318100e-03 -6.21766001e+01] [-1.05944255e-02 -3.71456962e-04 9.99943809e-01 -4.06909488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.50, Y:-62.18, Z:-4.07 [[ 9.65935768e-01 2.58575878e-01 1.03250790e-02 3.74496092e+02] [-2.58564951e-01 9.65990887e-01 -2.40261819e-03 -6.21773718e+01] [-1.05951913e-02 -3.48928708e-04 9.99943809e-01 -4.06782498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.55, Y:-62.18, Z:-4.07 [[ 9.67619769e-01 2.52201046e-01 1.03254935e-02 3.74554115e+02] [-2.52189775e-01 9.67674818e-01 -2.40083557e-03 -6.21829226e+01] [-1.05972133e-02 -2.80887920e-04 9.99943809e-01 -4.07052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.61, Y:-62.19, Z:-4.07 [[ 9.69597996e-01 2.44485383e-01 1.03259086e-02 3.74612151e+02] [-2.44473693e-01 9.69652958e-01 -2.39904873e-03 -6.21918586e+01] [-1.05990802e-02 -1.98300179e-04 9.99943809e-01 -4.07472030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.67, Y:-62.20, Z:-4.07 [[ 9.72106821e-01 2.34311123e-01 1.03260227e-02 3.74668987e+02] [-2.34298862e-01 9.72161658e-01 -2.39855783e-03 -6.22011104e+01] [-1.06005721e-02 -8.77209369e-05 9.99943809e-01 -4.07306025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.73, Y:-62.21, Z:-4.07 [[ 9.73014016e-01 2.30514846e-01 1.03261640e-02 3.74726100e+02] [-2.30502378e-01 9.73068807e-01 -2.39794900e-03 -6.22121544e+01] [-1.06008310e-02 -4.69673789e-05 9.99943809e-01 -4.07160812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.78, Y:-62.22, Z:-4.08 [[ 9.73266668e-01 2.29445757e-01 1.03265693e-02 3.74782965e+02] [-2.29433247e-01 9.73321449e-01 -2.39620246e-03 -6.22245875e+01] [-1.06008699e-02 -3.71143475e-05 9.99943809e-01 -4.07731880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.84, Y:-62.24, Z:-4.08 [[ 9.73013253e-01 2.30518030e-01 1.03269736e-02 3.74839633e+02] [-2.30505599e-01 9.73068053e-01 -2.39445866e-03 -6.22377302e+01] [-1.06008140e-02 -5.05852406e-05 9.99943809e-01 -4.07777751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.90, Y:-62.25, Z:-4.07 [[ 9.72291808e-01 2.33542267e-01 1.03271427e-02 3.74896761e+02] [-2.33530014e-01 9.72346647e-01 -2.39372949e-03 -6.22527636e+01] [-1.06005995e-02 -8.42942022e-05 9.99943809e-01 -4.07413700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.95, Y:-62.27, Z:-4.07 [[ 9.71431861e-01 2.37093838e-01 1.03272583e-02 3.74952282e+02] [-2.37081791e-01 9.71486746e-01 -2.39323037e-03 -6.22662928e+01] [-1.06002147e-02 -1.23544668e-04 9.99943809e-01 -4.07403214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.01, Y:-62.28, Z:-4.07 [[ 9.70973955e-01 2.38962178e-01 1.03274581e-02 3.75008619e+02] [-2.38950246e-01 9.71028865e-01 -2.39236773e-03 -6.22811972e+01] [-1.05999454e-02 -1.44821910e-04 9.99943809e-01 -4.07308439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.06, Y:-62.30, Z:-4.07 [[ 9.70910181e-01 2.39221155e-01 1.03276266e-02 3.75064858e+02] [-2.39209245e-01 9.70965096e-01 -2.39164054e-03 -6.22958937e+01] [-1.05998959e-02 -1.48395609e-04 9.99943809e-01 -4.07299430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.12, Y:-62.31, Z:-4.08 [[ 9.71179483e-01 2.38125489e-01 1.03277941e-02 3.75119612e+02] [-2.38113526e-01 9.71234386e-01 -2.39091678e-03 -6.23109896e+01] [-1.06000470e-02 -1.37178147e-04 9.99943809e-01 -4.07590768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.18, Y:-62.33, Z:-4.08 [[ 9.71532820e-01 2.36679766e-01 1.03279871e-02 3.75175583e+02] [-2.36667729e-01 9.71587708e-01 -2.39008275e-03 -6.23264501e+01] [-1.06002295e-02 -1.22257421e-04 9.99943809e-01 -4.07790879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.23, Y:-62.34, Z:-4.08 [[ 9.71520149e-01 2.36731768e-01 1.03281519e-02 3.75232235e+02] [-2.36719741e-01 9.71575038e-01 -2.38937060e-03 -6.23397230e+01] [-1.06002145e-02 -1.23555759e-04 9.99943809e-01 -4.07881676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.29, Y:-62.35, Z:-4.08 [[ 9.71362281e-01 2.37378695e-01 1.03283148e-02 3.75287910e+02] [-2.37366713e-01 9.71417180e-01 -2.38866590e-03 -6.23544017e+01] [-1.06001209e-02 -1.31338184e-04 9.99943809e-01 -4.08186610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.34, Y:-62.37, Z:-4.08 [[ 9.71910129e-01 2.35125547e-01 1.03284789e-02 3.75344318e+02] [-2.35113445e-01 9.71965002e-01 -2.38795627e-03 -6.23697846e+01] [-1.06003896e-02 -1.07485379e-04 9.99943809e-01 -4.08327154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.40, Y:-62.39, Z:-4.09 [[ 9.72739271e-01 2.31671384e-01 1.03286416e-02 3.75400323e+02] [-2.31659094e-01 9.72794102e-01 -2.38725254e-03 -6.23875460e+01] [-1.06006997e-02 -7.05494558e-05 9.99943809e-01 -4.08744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.46, Y:-62.40, Z:-4.09 [[ 9.72986663e-01 2.30630162e-01 1.03287499e-02 3.75455032e+02] [-2.30617819e-01 9.73041482e-01 -2.38678380e-03 -6.24048854e+01] [-1.06007664e-02 -5.96849592e-05 9.99943809e-01 -4.08893498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.51, Y:-62.42, Z:-4.09 [[ 9.71920198e-01 2.35083905e-01 1.03289371e-02 3.75510638e+02] [-2.35071822e-01 9.71975075e-01 -2.38597349e-03 -6.24226823e+01] [-1.06003733e-02 -1.09066227e-04 9.99943809e-01 -4.08562303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.57, Y:-62.44, Z:-4.09 [[ 9.70414126e-01 2.41225485e-01 1.03290697e-02 3.75567133e+02] [-2.41213755e-01 9.70469079e-01 -2.38539897e-03 -6.24356724e+01] [-1.05994618e-02 -1.76688843e-04 9.99943809e-01 -4.08789695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.62, Y:-62.45, Z:-4.09 [[ 9.70304709e-01 2.41665219e-01 1.03292413e-02 3.75623125e+02] [-2.41653522e-01 9.70359670e-01 -2.38465567e-03 -6.24457649e+01] [-1.05993676e-02 -1.82254917e-04 9.99943809e-01 -4.08744329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.68, Y:-62.45, Z:-4.09 [[ 9.71742441e-01 2.35817577e-01 1.03295411e-02 3.75679791e+02] [-2.35805563e-01 9.71797333e-01 -2.38335648e-03 -6.24549150e+01] [-1.06002578e-02 -1.19754621e-04 9.99943809e-01 -4.08793464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.74, Y:-62.47, Z:-4.09 [[ 9.73561572e-01 2.28191062e-01 1.03298206e-02 3.75737331e+02] [-2.28178630e-01 9.73616371e-01 -2.38214470e-03 -6.24664443e+01] [-1.06008665e-02 -3.78797684e-05 9.99943809e-01 -4.09167141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.79, Y:-62.48, Z:-4.09 [[ 9.76586337e-01 2.14877684e-01 1.03299223e-02 3.75792961e+02] [-2.14864511e-01 9.76640962e-01 -2.38170320e-03 -6.24836420e+01] [-1.06004002e-02 1.06405090e-04 9.99943809e-01 -4.09212850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.85, Y:-62.50, Z:-4.09 [[ 9.77644459e-01 2.10010955e-01 1.03300923e-02 3.75847038e+02] [-2.09997518e-01 9.77699020e-01 -2.38096586e-03 -6.25010286e+01] [-1.05997500e-02 1.58444344e-04 9.99943809e-01 -4.09124785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.90, Y:-62.52, Z:-4.09 [[ 9.77445583e-01 2.10934626e-01 1.03302872e-02 3.75902374e+02] [-2.10921249e-01 9.77500159e-01 -2.38011972e-03 -6.25214685e+01] [-1.05999071e-02 1.47560419e-04 9.99943809e-01 -4.08953182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.96, Y:-62.54, Z:-4.09 [[ 9.76892913e-01 2.13479549e-01 1.03304574e-02 3.75957054e+02] [-2.13466322e-01 9.76947526e-01 -2.37938081e-03 -6.25403047e+01] [-1.06002640e-02 1.19195505e-04 9.99943809e-01 -4.09049439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.01, Y:-62.56, Z:-4.09 [[ 9.75886629e-01 2.18033405e-01 1.03306265e-02 3.76011272e+02] [-2.18020441e-01 9.75941304e-01 -2.37864637e-03 -6.25630600e+01] [-1.06007095e-02 6.90014299e-05 9.99943809e-01 -4.08902770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.07, Y:-62.58, Z:-4.09 [[ 9.75410204e-01 2.20154965e-01 1.03307655e-02 3.76066892e+02] [-2.20142126e-01 9.75464909e-01 -2.37804251e-03 -6.25805258e+01] [-1.06008371e-02 4.53302327e-05 9.99943809e-01 -4.08865814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.12, Y:-62.59, Z:-4.09 [[ 9.74124683e-01 2.25775052e-01 1.03309285e-02 3.76122698e+02] [-2.25762536e-01 9.74179463e-01 -2.37733451e-03 -6.25943548e+01] [-1.06009212e-02 -1.65163804e-05 9.99943809e-01 -4.09141520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.18, Y:-62.61, Z:-4.09 [[ 9.73688010e-01 2.27650892e-01 1.03310900e-02 3.76180510e+02] [-2.27638489e-01 9.73742815e-01 -2.37663226e-03 -6.26075119e+01] [-1.06008671e-02 -3.76553880e-05 9.99943809e-01 -4.09323420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.24, Y:-62.62, Z:-4.09 [[ 9.74607344e-01 2.23682346e-01 1.03312023e-02 3.76237350e+02] [-2.23669725e-01 9.74662099e-01 -2.37614425e-03 -6.26229336e+01] [-1.06009328e-02 5.03046369e-06 9.99943809e-01 -4.09195362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.29, Y:-62.64, Z:-4.09 [[ 9.76962202e-01 2.13162192e-01 1.03313147e-02 3.76293707e+02] [-2.13148986e-01 9.77016820e-01 -2.37565518e-03 -6.26419579e+01] [-1.06002681e-02 1.18816053e-04 9.99943809e-01 -4.09113842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.35, Y:-62.66, Z:-4.09 [[ 9.78140147e-01 2.07689947e-01 1.03314267e-02 3.76348783e+02] [-2.07676441e-01 9.78194691e-01 -2.37516790e-03 -6.26586103e+01] [-1.05994453e-02 1.77653138e-04 9.99943809e-01 -4.09396578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.40, Y:-62.68, Z:-4.09 [[ 9.78913020e-01 2.04016074e-01 1.03315691e-02 3.76404472e+02] [-2.04002370e-01 9.78967515e-01 -2.37454868e-03 -6.26782199e+01] [-1.05987166e-02 2.16812048e-04 9.99943809e-01 -4.09403206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.46, Y:-62.70, Z:-4.09 [[ 9.79119769e-01 2.03021513e-01 1.03316513e-02 3.76459992e+02] [-2.03007758e-01 9.79174251e-01 -2.37419082e-03 -6.27015395e+01] [-1.05984987e-02 2.27211797e-04 9.99943809e-01 -4.09486789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.52, Y:-62.72, Z:-4.10 [[ 9.79040576e-01 2.03403065e-01 1.03317053e-02 3.76516213e+02] [-2.03389333e-01 9.79095064e-01 -2.37395584e-03 -6.27221927e+01] [-1.05985915e-02 2.22840439e-04 9.99943809e-01 -4.10087744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.57, Y:-62.74, Z:-4.10 [[ 9.78590845e-01 2.05555861e-01 1.03317591e-02 3.76573257e+02] [-2.05542251e-01 9.78645364e-01 -2.37372181e-03 -6.27416866e+01] [-1.05990605e-02 1.99289418e-04 9.99943809e-01 -4.10316466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.63, Y:-62.76, Z:-4.10 [[ 9.77000282e-01 2.12987566e-01 1.03318124e-02 3.76629571e+02] [-2.12974374e-01 9.77054903e-01 -2.37348972e-03 -6.27604412e+01] [-1.06002717e-02 1.18488850e-04 9.99943809e-01 -4.09706462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.68, Y:-62.78, Z:-4.10 [[ 9.75381287e-01 2.20282994e-01 1.03318917e-02 3.76684127e+02] [-2.20270214e-01 9.75436006e-01 -2.37314454e-03 -6.27790140e+01] [-1.06008625e-02 3.89127874e-05 9.99943809e-01 -4.10205137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.74, Y:-62.80, Z:-4.11 [[ 9.74579360e-01 2.23804202e-01 1.03320225e-02 3.76739883e+02] [-2.23791626e-01 9.74634126e-01 -2.37257485e-03 -6.27953268e+01] [-1.06009339e-02 4.23685105e-08 9.99943809e-01 -4.10895169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.80, Y:-62.81, Z:-4.11 [[ 9.72694886e-01 2.31857511e-01 1.03321511e-02 3.76797140e+02] [-2.31845394e-01 9.72749756e-01 -2.37201445e-03 -6.28091212e+01] [-1.06005669e-02 -8.82153212e-05 9.99943809e-01 -4.11183774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.85, Y:-62.82, Z:-4.11 [[ 9.71197499e-01 2.38051806e-01 1.03322533e-02 3.76854709e+02] [-2.38040044e-01 9.71252446e-01 -2.37156922e-03 -6.28189966e+01] [-1.05997827e-02 -1.56227944e-04 9.99943809e-01 -4.11313892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.405769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:376.91, Y:-62.83, Z:-4.11 [[ 9.69579786e-01 2.44557318e-01 1.03323545e-02 3.76912160e+02] [-2.44545929e-01 9.69634811e-01 -2.37112844e-03 -6.28255429e+01] [-1.05984874e-02 -2.27737024e-04 9.99943809e-01 -4.10886253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.97, Y:-62.84, Z:-4.10 [[ 9.70642140e-01 2.40306214e-01 1.03324785e-02 3.76969814e+02] [-2.40294590e-01 9.70697116e-01 -2.37058774e-03 -6.28361265e+01] [-1.05993741e-02 -1.81846333e-04 9.99943809e-01 -4.09985628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.525769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:377.03, Y:-62.85, Z:-4.10 [[ 9.72379229e-01 2.33177772e-01 1.03325854e-02 3.77027648e+02] [-2.33165750e-01 9.72434119e-01 -2.37012193e-03 -6.28498146e+01] [-1.06004183e-02 -1.04547682e-04 9.99943809e-01 -4.10017125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:377.09, Y:-62.87, Z:-4.10 [[ 9.74466995e-01 2.24292915e-01 1.03326403e-02 3.77085990e+02] [-2.24280395e-01 9.74521774e-01 -2.36988258e-03 -6.28679987e+01] [-1.06009308e-02 -8.03628150e-06 9.99943809e-01 -4.10047633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:377.14, Y:-62.89, Z:-4.11 [[ 9.74696032e-01 2.23295505e-01 1.03325848e-02 3.77144883e+02] [-2.23282926e-01 9.74750798e-01 -2.37012438e-03 -6.28852319e+01] [-1.06009334e-02 3.06105841e-06 9.99943809e-01 -4.10520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:377.20, Y:-62.90, Z:-4.11 [[ 9.74523123e-01 2.24048927e-01 1.03325282e-02 3.77203183e+02] [-2.24036387e-01 9.74577898e-01 -2.37037109e-03 -6.29000261e+01] [-1.06009327e-02 -4.88085708e-06 9.99943809e-01 -4.10810553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:377.26, Y:-62.92, Z:-4.10 [[ 9.73101266e-01 2.30145964e-01 1.03325002e-02 3.77261188e+02] [-2.30133767e-01 9.73156118e-01 -2.37049336e-03 -6.29164517e+01] [-1.06006952e-02 -7.11270911e-05 9.99943809e-01 -4.10410511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:377.32, Y:-62.93, Z:-4.10 [[ 9.71656160e-01 2.36172706e-01 1.03325002e-02 3.77319863e+02] [-2.36160849e-01 9.71711086e-01 -2.37049336e-03 -6.29338667e+01] [-1.06000508e-02 -1.36827536e-04 9.99943809e-01 -4.10241561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:377.38, Y:-62.95, Z:-4.11 [[ 9.71922807e-01 2.35072961e-01 1.03324421e-02 3.77379041e+02] [-2.35061039e-01 9.71977720e-01 -2.37074663e-03 -6.29549169e+01] [-1.06002019e-02 -1.24571851e-04 9.99943809e-01 -4.10519861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.945769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:377.44, Y:-62.98, Z:-4.10 [[ 9.72870226e-01 2.31120684e-01 1.03321550e-02 3.77438743e+02] [-2.31108526e-01 9.72925086e-01 -2.37199694e-03 -6.29763836e+01] [-1.06006304e-02 -8.02039198e-05 9.99943809e-01 -4.10339386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.005769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:377.50, Y:-63.00, Z:-4.11 [[ 9.73611622e-01 2.27977336e-01 1.03317175e-02 3.77496035e+02] [-2.27964980e-01 9.73666438e-01 -2.37390128e-03 -6.30021544e+01] [-1.06008422e-02 -4.40118918e-05 9.99943809e-01 -4.11078047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.065769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:377.55, Y:-63.03, Z:-4.12 [[ 9.72554617e-01 2.32445219e-01 1.03313339e-02 3.77553648e+02] [-2.32433098e-01 9.72609486e-01 -2.37556947e-03 -6.30268754e+01] [-1.06005431e-02 -9.09728858e-05 9.99943809e-01 -4.11709096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.125769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:377.61, Y:-63.04, Z:-4.12 [[ 9.70806532e-01 2.39641294e-01 1.03309379e-02 3.77612260e+02] [-2.39629561e-01 9.70861484e-01 -2.37729041e-03 -6.30448345e+01] [-1.05996066e-02 -1.67709054e-04 9.99943809e-01 -4.11616626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.185769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:377.67, Y:-63.06, Z:-4.11 [[ 9.68111753e-01 2.50305640e-01 1.03305746e-02 3.77672742e+02] [-2.50294495e-01 9.68166828e-01 -2.37886809e-03 -6.30609889e+01] [-1.05971637e-02 -2.82675787e-04 9.99943809e-01 -4.11166727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.245769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:377.73, Y:-63.07, Z:-4.11 [[ 9.67171358e-01 2.53915047e-01 1.03301844e-02 3.77734976e+02] [-2.53904089e-01 9.67226471e-01 -2.38056120e-03 -6.30734971e+01] [-1.05960881e-02 -3.20465449e-04 9.99943809e-01 -4.11250145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.305769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:377.80, Y:-63.08, Z:-4.11 [[ 9.67180774e-01 2.53879197e-01 1.03297413e-02 3.77797437e+02] [-2.53868217e-01 9.67235882e-01 -2.38248254e-03 -6.30849071e+01] [-1.05961592e-02 -3.18101686e-04 9.99943809e-01 -4.11156751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.365769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:377.86, Y:-63.10, Z:-4.11 [[ 9.67792604e-01 2.51536841e-01 1.03292766e-02 3.77857220e+02] [-2.51525707e-01 9.67847681e-01 -2.38449529e-03 -6.30963335e+01] [-1.05969548e-02 -2.90381695e-04 9.99943809e-01 -4.11025505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.425769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:377.92, Y:-63.11, Z:-4.11 [[ 9.67334407e-01 2.53293222e-01 1.03290545e-02 3.77917886e+02] [-2.53282177e-01 9.67389502e-01 -2.38545721e-03 -6.31088811e+01] [-1.05964390e-02 -3.08630566e-04 9.99943809e-01 -4.10794313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.485769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:-63.12, Z:-4.11 [[ 9.65221372e-01 2.61229823e-01 1.03286739e-02 3.77978233e+02] [-2.61219214e-01 9.65276553e-01 -2.38710392e-03 -6.31174095e+01] [-1.05936095e-02 -3.93964350e-04 9.99943809e-01 -4.10900077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.545769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:378.04, Y:-63.12, Z:-4.11 [[ 9.63633157e-01 2.67028944e-01 1.03286739e-02 3.78037327e+02] [-2.67018667e-01 9.63688401e-01 -2.38710392e-03 -6.31236148e+01] [-1.05910491e-02 -4.57656245e-04 9.99943809e-01 -4.11446603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.605769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:378.10, Y:-63.13, Z:-4.11 [[ 9.63183892e-01 2.68644948e-01 1.03287537e-02 3.78097609e+02] [-2.68634766e-01 9.63239153e-01 -2.38675873e-03 -6.31305255e+01] [-1.05902506e-02 -4.75774763e-04 9.99943809e-01 -4.11189038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.16, Y:-63.13, Z:-4.12 [[ 9.62988531e-01 2.69344399e-01 1.03287537e-02 3.78158025e+02] [-2.69334258e-01 9.63043800e-01 -2.38675873e-03 -6.31316179e+01] [-1.05899023e-02 -4.83465915e-04 9.99943809e-01 -4.11541967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.22, Y:-63.14, Z:-4.12 [[ 9.63416748e-01 2.67808671e-01 1.03288121e-02 3.78217436e+02] [-2.67798445e-01 9.63472002e-01 -2.38650590e-03 -6.31370269e+01] [-1.05906482e-02 -4.66840049e-04 9.99943809e-01 -4.11555187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.28, Y:-63.14, Z:-4.11 [[ 9.65583269e-01 2.59888946e-01 1.03289253e-02 3.78276022e+02] [-2.59878272e-01 9.65638437e-01 -2.38601565e-03 -6.31384915e+01] [-1.05941064e-02 -3.80366470e-04 9.99943809e-01 -4.11497383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:378.33, Y:-63.15, Z:-4.12 [[ 9.68568893e-01 2.48530903e-01 1.03290832e-02 3.78334851e+02] [-2.48519588e-01 9.68623934e-01 -2.38533187e-03 -6.31462236e+01] [-1.05978259e-02 -2.56621258e-04 9.99943809e-01 -4.11700551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.39, Y:-63.16, Z:-4.12 [[ 9.69674459e-01 2.44181801e-01 1.03291928e-02 3.78392708e+02] [-2.44170244e-01 9.69729449e-01 -2.38485710e-03 -6.31565350e+01] [-1.05988612e-02 -2.09546523e-04 9.99943809e-01 -4.11730269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.45, Y:-63.16, Z:-4.11 [[ 9.69844563e-01 2.43505296e-01 1.03293070e-02 3.78451425e+02] [-2.43493706e-01 9.69899546e-01 -2.38436245e-03 -6.31638822e+01] [-1.05989951e-02 -2.02660292e-04 9.99943809e-01 -4.11465093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.51, Y:-63.17, Z:-4.11 [[ 9.69897870e-01 2.43292877e-01 1.03294208e-02 3.78508970e+02] [-2.43281281e-01 9.69952852e-01 -2.38386963e-03 -6.31744298e+01] [-1.05990296e-02 -2.00844635e-04 9.99943809e-01 -4.11427573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.57, Y:-63.18, Z:-4.12 [[ 9.69909076e-01 2.43248197e-01 1.03295367e-02 3.78566161e+02] [-2.43236604e-01 9.69964058e-01 -2.38336733e-03 -6.31832583e+01] [-1.05990291e-02 -2.00871805e-04 9.99943809e-01 -4.11794876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.62, Y:-63.19, Z:-4.12 [[ 9.70216035e-01 2.42020957e-01 1.03296799e-02 3.78624248e+02] [-2.42009300e-01 9.70271004e-01 -2.38274634e-03 -6.31938267e+01] [-1.05992634e-02 -1.88099895e-04 9.99943809e-01 -4.11864850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.68, Y:-63.20, Z:-4.11 [[ 9.69992736e-01 2.42914361e-01 1.03297916e-02 3.78682973e+02] [-2.42902760e-01 9.70047717e-01 -2.38226219e-03 -6.32031171e+01] [-1.05990764e-02 -1.98357856e-04 9.99943809e-01 -4.11375070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.74, Y:-63.21, Z:-4.11 [[ 9.68920250e-01 2.47157526e-01 1.03299022e-02 3.78740278e+02] [-2.47146171e-01 9.68975282e-01 -2.38178217e-03 -6.32108447e+01] [-1.05980953e-02 -2.45238814e-04 9.99943809e-01 -4.11180895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:378.80, Y:-63.21, Z:-4.12 [[ 9.68434637e-01 2.49053494e-01 1.03300683e-02 3.78798326e+02] [-2.49042254e-01 9.68489693e-01 -2.38106186e-03 -6.32143276e+01] [-1.05975764e-02 -2.66720709e-04 9.99943809e-01 -4.12127582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:378.86, Y:-63.22, Z:-4.13 [[ 9.70481864e-01 2.40952770e-01 1.03302599e-02 3.78856521e+02] [-2.40941080e-01 9.70536826e-01 -2.38023008e-03 -6.32238615e+01] [-1.05994207e-02 -1.79013856e-04 9.99943809e-01 -4.12927169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.445769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:378.91, Y:-63.24, Z:-4.13 [[ 9.72830610e-01 2.31287459e-01 1.03303680e-02 3.78914048e+02] [-2.31275227e-01 9.72885454e-01 -2.37976101e-03 -6.32360008e+01] [-1.06006736e-02 -7.40538439e-05 9.99943809e-01 -4.12804576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.505769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:378.97, Y:-63.25, Z:-4.12 [[ 9.76371694e-01 2.15850867e-01 1.03304760e-02 3.78970862e+02] [-2.15837773e-01 9.76426339e-01 -2.37929192e-03 -6.32521946e+01] [-1.06005211e-02 9.33663381e-05 9.99943809e-01 -4.12373677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.565769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:379.03, Y:-63.27, Z:-4.13 [[ 9.77175880e-01 2.12180534e-01 1.03305919e-02 3.79027838e+02] [-2.12167240e-01 9.77230476e-01 -2.37878846e-03 -6.32680000e+01] [-1.06001019e-02 1.32681521e-04 9.99943809e-01 -4.12507304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.625769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:379.08, Y:-63.29, Z:-4.13 [[ 9.78128618e-01 2.07744276e-01 1.03307079e-02 3.79082710e+02] [-2.07730740e-01 9.78183154e-01 -2.37828499e-03 -6.32909661e+01] [-1.05993995e-02 1.80263025e-04 9.99943809e-01 -4.13072194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.685769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:379.14, Y:-63.31, Z:-4.13 [[ 9.78160752e-01 2.07592916e-01 1.03307934e-02 3.79138052e+02] [-2.07579375e-01 9.78215287e-01 -2.37791318e-03 -6.33112167e+01] [-1.05993780e-02 1.81521692e-04 9.99943809e-01 -4.13210692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.745769231 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:379.19, Y:-63.33, Z:-4.13 [[ 9.77076202e-01 2.12639055e-01 1.03308767e-02 3.79193105e+02] [-2.12625801e-01 9.77130808e-01 -2.37755131e-03 -6.33326072e+01] [-1.06001782e-02 1.26437875e-04 9.99943809e-01 -4.12860557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.805769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:379.25, Y:-63.35, Z:-4.13 [[ 9.76207255e-01 2.16593318e-01 1.03309887e-02 3.79249105e+02] [-2.16580290e-01 9.76261915e-01 -2.37706476e-03 -6.33518211e+01] [-1.06006071e-02 8.30193467e-05 9.99943809e-01 -4.12573196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.865769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:379.31, Y:-63.37, Z:-4.13 [[ 9.75911567e-01 2.17921736e-01 1.03310546e-02 3.79306406e+02] [-2.17908785e-01 9.75966246e-01 -2.37677820e-03 -6.33693540e+01] [-1.06007122e-02 6.82977871e-05 9.99943809e-01 -4.12782369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.925769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:379.36, Y:-63.39, Z:-4.13 [[ 9.75863645e-01 2.18136231e-01 1.03311103e-02 3.79363359e+02] [-2.18123294e-01 9.75918327e-01 -2.37653602e-03 -6.33885229e+01] [-1.06007285e-02 6.57192884e-05 9.99943809e-01 -4.13395954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.985769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:379.42, Y:-63.40, Z:-4.13 [[ 9.76115195e-01 2.17007818e-01 1.03311379e-02 3.79420185e+02] [-2.16994820e-01 9.76169863e-01 -2.37641604e-03 -6.34049822e+01] [-1.06006463e-02 7.78523956e-05 9.99943809e-01 -4.13229611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.045769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:379.48, Y:-63.42, Z:-4.13 [[ 9.76899394e-01 2.13449852e-01 1.03312188e-02 3.79478065e+02] [-2.13436658e-01 9.76954015e-01 -2.37606420e-03 -6.34224335e+01] [-1.06002963e-02 1.16114863e-04 9.99943809e-01 -4.12643160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.105769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:379.53, Y:-63.44, Z:-4.13 [[ 9.77099015e-01 2.12534186e-01 1.03312188e-02 3.79534658e+02] [-2.12520942e-01 9.77153623e-01 -2.37606420e-03 -6.34395869e+01] [-1.06001828e-02 1.26049641e-04 9.99943809e-01 -4.13086778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.165769231 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:379.59, Y:-63.46, Z:-4.13 [[ 9.76932393e-01 2.13298771e-01 1.03312453e-02 3.79594650e+02] [-2.13285570e-01 9.76987011e-01 -2.37594892e-03 -6.34551907e+01] [-1.06002795e-02 1.17635911e-04 9.99943809e-01 -4.13159906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.225769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:379.65, Y:-63.47, Z:-4.14 [[ 9.76978643e-01 2.13086847e-01 1.03308545e-02 3.79652696e+02] [-2.13073617e-01 9.77033255e-01 -2.37764720e-03 -6.34741551e+01] [-1.06002337e-02 1.21678005e-04 9.99943809e-01 -4.13516587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.285769231 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:379.71, Y:-63.49, Z:-4.14 [[ 9.76822121e-01 2.13803239e-01 1.03304951e-02 3.79710593e+02] [-2.13790032e-01 9.76876738e-01 -2.37920742e-03 -6.34912840e+01] [-1.06003026e-02 1.15505554e-04 9.99943809e-01 -4.13841673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.345769231 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:379.77, Y:-63.51, Z:-4.14 [[ 9.76074681e-01 2.17190006e-01 1.03304951e-02 3.79766950e+02] [-2.17176988e-01 9.76129343e-01 -2.37920742e-03 -6.35072681e+01] [-1.06006395e-02 7.87382979e-05 9.99943809e-01 -4.13868736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.405769231 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:379.83, Y:-63.52, Z:-4.14 [[ 9.75088072e-01 2.21577370e-01 1.03305719e-02 3.79827007e+02] [-2.21564602e-01 9.75142794e-01 -2.37887428e-03 -6.35185774e+01] [-1.06008874e-02 3.07228912e-05 9.99943809e-01 -4.13695393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.465769231 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:379.89, Y:-63.53, Z:-4.14 [[ 9.72986428e-01 2.30631073e-01 1.03305172e-02 3.79888284e+02] [-2.30618811e-01 9.73041265e-01 -2.37911142e-03 -6.35265627e+01] [-1.06007166e-02 -6.75684831e-05 9.99943809e-01 -4.13921564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.525769231 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:379.95, Y:-63.54, Z:-4.14 [[ 9.72541941e-01 2.32498291e-01 1.03304600e-02 3.79947288e+02] [-2.32486132e-01 9.72596801e-01 -2.37935999e-03 -6.35352584e+01] [-1.06005695e-02 -8.76613075e-05 9.99943809e-01 -4.14141603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:380.01, Y:-63.54, Z:-4.13 [[ 9.74459368e-01 2.24326148e-01 1.03304882e-02 3.80007998e+02] [-2.24313531e-01 9.74514125e-01 -2.37923750e-03 -6.35444930e+01] [-1.06009319e-02 1.20199088e-06 9.99943809e-01 -4.13363959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:380.07, Y:-63.56, Z:-4.14 [[ 9.75833920e-01 2.18269200e-01 1.03304318e-02 3.80067180e+02] [-2.18256240e-01 9.75888596e-01 -2.37948231e-03 -6.35554914e+01] [-1.06007183e-02 6.72983488e-05 9.99943809e-01 -4.13504444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:380.13, Y:-63.57, Z:-4.13 [[ 9.76918687e-01 2.13361577e-01 1.03304039e-02 3.80127037e+02] [-2.13348341e-01 9.76973297e-01 -2.37960367e-03 -6.35680962e+01] [-1.06002447e-02 1.20704769e-04 9.99943809e-01 -4.13279948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:380.19, Y:-63.58, Z:-4.13 [[ 9.75937292e-01 2.17806532e-01 1.03303479e-02 3.80186963e+02] [-2.17793543e-01 9.75991962e-01 -2.37984656e-03 -6.35758204e+01] [-1.06006826e-02 7.26979481e-05 9.99943809e-01 -4.13245193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:380.24, Y:-63.58, Z:-4.14 [[ 9.74794977e-01 2.22863266e-01 1.03304035e-02 3.80244594e+02] [-2.22850562e-01 9.74849714e-01 -2.37960505e-03 -6.35822961e+01] [-1.06009175e-02 1.74908163e-05 9.99943809e-01 -4.13562332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:380.30, Y:-63.59, Z:-4.14 [[ 9.73886295e-01 2.26801157e-01 1.03305410e-02 3.80302994e+02] [-2.26788681e-01 9.73941084e-01 -2.37900829e-03 -6.35851519e+01] [-1.06009001e-02 -2.59661891e-05 9.99943809e-01 -4.13884161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.945769231 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:380.36, Y:-63.59, Z:-4.14 [[ 9.73206628e-01 2.29700101e-01 1.03306755e-02 3.80361516e+02] [-2.29687794e-01 9.73261455e-01 -2.37842410e-03 -6.35910880e+01] [-1.06007725e-02 -5.81319551e-05 9.99943809e-01 -4.13866278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.005769231 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:380.42, Y:-63.59, Z:-4.14 [[ 9.72057722e-01 2.34514519e-01 1.03308374e-02 3.80421321e+02] [-2.34502491e-01 9.72112611e-01 -2.37772060e-03 -6.35899076e+01] [-1.06003473e-02 -1.11325425e-04 9.99943809e-01 -4.14264976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.065769231 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:380.48, Y:-63.59, Z:-4.15 [[ 9.71453787e-01 2.37003822e-01 1.03309707e-02 3.80481386e+02] [-2.36991941e-01 9.71508708e-01 -2.37714106e-03 -6.35897347e+01] [-1.06000195e-02 -1.39074122e-04 9.99943809e-01 -4.14527118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.125769231 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:380.54, Y:-63.60, Z:-4.15 [[ 9.71500200e-01 2.36813495e-01 1.03310744e-02 3.80540851e+02] [-2.36801608e-01 9.71555119e-01 -2.37669057e-03 -6.35955812e+01] [-1.06000406e-02 -1.37459659e-04 9.99943809e-01 -4.14767960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.185769231 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:380.60, Y:-63.60, Z:-4.14 [[ 9.71877092e-01 2.35261948e-01 1.03311801e-02 3.80599164e+02] [-2.35249978e-01 9.71931994e-01 -2.37623073e-03 -6.36030260e+01] [-1.06002412e-02 -1.21005683e-04 9.99943809e-01 -4.14224940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.245769231 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:380.66, Y:-63.61, Z:-4.14 [[ 9.72357149e-01 2.33269884e-01 1.03312979e-02 3.80657456e+02] [-2.33257808e-01 9.72412027e-01 -2.37571836e-03 -6.36070075e+01] [-1.06004619e-02 -9.98091765e-05 9.99943809e-01 -4.13702638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.305769231 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:380.71, Y:-63.61, Z:-4.14 [[ 9.72146027e-01 2.34148167e-01 1.03314437e-02 3.80714739e+02] [-2.34136147e-01 9.72200917e-01 -2.37508427e-03 -6.36138061e+01] [-1.06003607e-02 -1.10035690e-04 9.99943809e-01 -4.14105037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.365769231 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:380.77, Y:-63.62, Z:-4.14 [[ 9.71797814e-01 2.35589192e-01 1.03315732e-02 3.80772758e+02] [-2.35577259e-01 9.71852724e-01 -2.37452078e-03 -6.36221199e+01] [-1.06001790e-02 -1.26329600e-04 9.99943809e-01 -4.14131380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.425769231 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:380.83, Y:-63.63, Z:-4.14 [[ 9.71436855e-01 2.37073180e-01 1.03316879e-02 3.80829855e+02] [-2.37061336e-01 9.71491784e-01 -2.37402180e-03 -6.36303123e+01] [-1.05999668e-02 -1.43031461e-04 9.99943809e-01 -4.13965722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.485769231 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:380.89, Y:-63.64, Z:-4.14 [[ 9.71591617e-01 2.36438115e-01 1.03319007e-02 3.80886598e+02] [-2.36426245e-01 9.71646540e-01 -2.37309517e-03 -6.36425139e+01] [-1.06000457e-02 -1.37053112e-04 9.99943809e-01 -4.14059164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.545769231 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:-63.65, Z:-4.15 [[ 9.72973314e-01 2.30686322e-01 1.03320689e-02 3.80943552e+02] [-2.30674135e-01 9.73028168e-01 -2.37236282e-03 -6.36549148e+01] [-1.06006657e-02 -7.50953401e-05 9.99943809e-01 -4.14699391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.605769231 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:381.00, Y:-63.67, Z:-4.15 [[ 9.74466491e-01 2.24295128e-01 1.03321804e-02 3.81000244e+02] [-2.24282587e-01 9.74521265e-01 -2.37187695e-03 -6.36708374e+01] [-1.06009300e-02 -6.01353804e-06 9.99943809e-01 -4.14527122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.665769231 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:381.05, Y:-63.69, Z:-4.15 [[ 9.75983452e-01 2.17599506e-01 1.03322950e-02 3.81054979e+02] [-2.17586594e-01 9.76038140e-01 -2.37137763e-03 -6.36890944e+01] [-1.06007246e-02 6.62564396e-05 9.99943809e-01 -4.14589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.725769231 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:381.11, Y:-63.70, Z:-4.15 [[ 9.76381555e-01 2.15806160e-01 1.03324937e-02 3.81110206e+02] [-2.15793157e-01 9.76436221e-01 -2.37051147e-03 -6.37048801e+01] [-1.06005921e-02 8.48422351e-05 9.99943809e-01 -4.14945410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.785769231 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:381.17, Y:-63.72, Z:-4.15 [[ 9.76514166e-01 2.15205298e-01 1.03326330e-02 3.81166064e+02] [-2.15192268e-01 9.76568826e-01 -2.36990445e-03 -6.37222270e+01] [-1.06005432e-02 9.07425535e-05 9.99943809e-01 -4.14839498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.845769231 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:381.22, Y:-63.74, Z:-4.15 [[ 9.76226616e-01 2.16505954e-01 1.03328035e-02 3.81222223e+02] [-2.16493004e-01 9.76281295e-01 -2.36916084e-03 -6.37360806e+01] [-1.06006602e-02 7.58582134e-05 9.99943809e-01 -4.14743839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.905769231 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:381.28, Y:-63.75, Z:-4.14 [[ 9.75135692e-01 2.21367596e-01 1.03329437e-02 3.81279464e+02] [-2.21354925e-01 9.75190436e-01 -2.36854883e-03 -6.37482741e+01] [-1.06009079e-02 2.24085070e-05 9.99943809e-01 -4.14377921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.965769231 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:381.34, Y:-63.76, Z:-4.15 [[ 9.74495089e-01 2.24170806e-01 1.03330597e-02 3.81336402e+02] [-2.24158298e-01 9.74549870e-01 -2.36804293e-03 -6.37605631e+01] [-1.06009281e-02 -8.59487215e-06 9.99943809e-01 -4.14515482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.025769231 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:381.39, Y:-63.77, Z:-4.15 [[ 9.74693505e-01 2.23306507e-01 1.03332358e-02 3.81392215e+02] [-2.23293959e-01 9.74748277e-01 -2.36727420e-03 -6.37737147e+01] [-1.06009315e-02 1.76558088e-08 9.99943809e-01 -4.15223102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:381.45, Y:-63.79, Z:-4.16 [[ 9.74653898e-01 2.23479306e-01 1.03333812e-02 3.81448952e+02] [-2.23466774e-01 9.74708674e-01 -2.36663939e-03 -6.37890151e+01] [-1.06009312e-02 -2.51304739e-06 9.99943809e-01 -4.15510720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:381.51, Y:-63.80, Z:-4.15 [[ 9.74015534e-01 2.26245348e-01 1.03334927e-02 3.81506790e+02] [-2.26232977e-01 9.74070347e-01 -2.36615245e-03 -6.38012687e+01] [-1.06008798e-02 -3.31075677e-05 9.99943809e-01 -4.15136324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:381.56, Y:-63.81, Z:-4.15 [[ 9.73216856e-01 2.29656630e-01 1.03336050e-02 3.81563258e+02] [-2.29644456e-01 9.73271713e-01 -2.36566167e-03 -6.38129266e+01] [-1.06006954e-02 -7.07532925e-05 9.99943809e-01 -4.14711443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:-63.82, Z:-4.15 [[ 9.73216927e-01 2.29656322e-01 1.03337437e-02 3.81620389e+02] [-2.29644155e-01 9.73271786e-01 -2.36505585e-03 -6.38242541e+01] [-1.06006912e-02 -7.13714517e-05 9.99943809e-01 -4.14522001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:381.68, Y:-63.83, Z:-4.15 [[ 9.73753192e-01 2.27371790e-01 1.03339142e-02 3.81677824e+02] [-2.27359502e-01 9.73808024e-01 -2.36431063e-03 -6.38332396e+01] [-1.06008261e-02 -4.72585564e-05 9.99943809e-01 -4.15099059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:381.74, Y:-63.84, Z:-4.15 [[ 9.74358046e-01 2.24765669e-01 1.03340549e-02 3.81735334e+02] [-2.24753241e-01 9.74412846e-01 -2.36369525e-03 -6.38435194e+01] [-1.06009134e-02 -1.95268600e-05 9.99943809e-01 -4.15298379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.445769231 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:381.79, Y:-63.85, Z:-4.15 [[ 9.75478575e-01 2.19851664e-01 1.03342147e-02 3.81792772e+02] [-2.19838967e-01 9.75533313e-01 -2.36299660e-03 -6.38534445e+01] [-1.06008794e-02 3.31894692e-05 9.99943809e-01 -4.15350181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.505769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:381.85, Y:-63.87, Z:-4.15 [[ 9.76000905e-01 2.17521113e-01 1.03343737e-02 3.81848230e+02] [-2.17508293e-01 9.76055614e-01 -2.36230093e-03 -6.38658697e+01] [-1.06007738e-02 5.77958604e-05 9.99943809e-01 -4.15457825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.565769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:381.91, Y:-63.88, Z:-4.15 [[ 9.75881864e-01 2.18054546e-01 1.03345569e-02 3.81905990e+02] [-2.18041764e-01 9.75936582e-01 -2.36149936e-03 -6.38769974e+01] [-1.06008078e-02 5.11793784e-05 9.99943809e-01 -4.15410173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.625769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:381.96, Y:-63.89, Z:-4.15 [[ 9.74943621e-01 2.22211904e-01 1.03346645e-02 3.81963571e+02] [-2.22199360e-01 9.74998395e-01 -2.36102818e-03 -6.38882945e+01] [-1.06009299e-02 5.51352306e-06 9.99943809e-01 -4.14788279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.685769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:382.02, Y:-63.89, Z:-4.15 [[ 9.73393344e-01 2.28907382e-01 1.03347772e-02 3.82021779e+02] [-2.28895220e-01 9.73448204e-01 -2.36053493e-03 -6.38927749e+01] [-1.06007142e-02 -6.78521030e-05 9.99943809e-01 -4.15164104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.745769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:382.08, Y:-63.90, Z:-4.15 [[ 9.71786538e-01 2.35635551e-01 1.03349169e-02 3.82079647e+02] [-2.35623776e-01 9.71841482e-01 -2.35992301e-03 -6.38989572e+01] [-1.05999827e-02 -1.41810735e-04 9.99943809e-01 -4.15279808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.805769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:382.14, Y:-63.90, Z:-4.15 [[ 9.70591242e-01 2.40511595e-01 1.03350838e-02 3.82137572e+02] [-2.40500104e-01 9.70646246e-01 -2.35919197e-03 -6.39036566e+01] [-1.05991233e-02 -1.95777663e-04 9.99943809e-01 -4.15287459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.865769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:382.20, Y:-63.91, Z:-4.16 [[ 9.71100197e-01 2.38448296e-01 1.03352494e-02 3.82197253e+02] [-2.38436696e-01 9.71155178e-01 -2.35846619e-03 -6.39061467e+01] [-1.05995032e-02 -1.73995738e-04 9.99943809e-01 -4.15640561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.925769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:382.26, Y:-63.91, Z:-4.16 [[ 9.73681730e-01 2.27677554e-01 1.03353604e-02 3.82255172e+02] [-2.27665351e-01 9.73736580e-01 -2.35797960e-03 -6.39127318e+01] [-1.06007775e-02 -5.70817967e-05 9.99943809e-01 -4.15715609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.985769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:382.31, Y:-63.92, Z:-4.16 [[ 9.75355075e-01 2.20398854e-01 1.03355258e-02 3.82312218e+02] [-2.20386249e-01 9.75409834e-01 -2.35725465e-03 -6.39229086e+01] [-1.06009097e-02 2.13525341e-05 9.99943809e-01 -4.15741743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:382.37, Y:-63.94, Z:-4.16 [[ 9.76501932e-01 2.15260656e-01 1.03356920e-02 3.82369738e+02] [-2.15247770e-01 9.76556626e-01 -2.35652538e-03 -6.39362760e+01] [-1.06006557e-02 7.64169191e-05 9.99943809e-01 -4.15624994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.105769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:382.43, Y:-63.95, Z:-4.15 [[ 9.76223128e-01 2.16521534e-01 1.03358036e-02 3.82426797e+02] [-2.16508725e-01 9.76277840e-01 -2.35603613e-03 -6.39488703e+01] [-1.06007485e-02 6.22253123e-05 9.99943809e-01 -4.15322462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.165769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:382.48, Y:-63.96, Z:-4.15 [[ 9.75847844e-01 2.18206680e-01 1.03359154e-02 3.82481722e+02] [-2.18193970e-01 9.75902579e-01 -2.35554523e-03 -6.39626218e+01] [-1.06008422e-02 4.34193213e-05 9.99943809e-01 -4.14906575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.225769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:382.54, Y:-63.98, Z:-4.15 [[ 9.76356649e-01 2.15918639e-01 1.03361096e-02 3.82537522e+02] [-2.15905810e-01 9.76411356e-01 -2.35469281e-03 -6.39783909e+01] [-1.06007169e-02 6.73938606e-05 9.99943809e-01 -4.15337160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.285769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:382.59, Y:-63.99, Z:-4.16 [[ 9.76748230e-01 2.14140272e-01 1.03362723e-02 3.82592892e+02] [-2.14127351e-01 9.76802916e-01 -2.35397865e-03 -6.39929864e+01] [-1.06005825e-02 8.59658853e-05 9.99943809e-01 -4.15573390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.65, Y:-64.01, Z:-4.16 [[ 9.76858727e-01 2.13635638e-01 1.03364594e-02 3.82649048e+02] [-2.13622697e-01 9.76913408e-01 -2.35315676e-03 -6.40110472e+01] [-1.06005439e-02 9.05993789e-05 9.99943809e-01 -4.16176303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.70, Y:-64.03, Z:-4.16 [[ 9.76883097e-01 2.13524168e-01 1.03365684e-02 3.82703689e+02] [-2.13511226e-01 9.76937778e-01 -2.35267786e-03 -6.40256022e+01] [-1.06005377e-02 9.13178492e-05 9.99943809e-01 -4.16333033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.76, Y:-64.04, Z:-4.16 [[ 9.76826993e-01 2.13780672e-01 1.03368641e-02 3.82760484e+02] [-2.13767758e-01 9.76881680e-01 -2.35137762e-03 -6.40416361e+01] [-1.06005723e-02 8.72008574e-05 9.99943809e-01 -4.16119182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:-64.06, Z:-4.16 [[ 9.76369470e-01 2.15860614e-01 1.03369715e-02 3.82816992e+02] [-2.15847821e-01 9.76424186e-01 -2.35090577e-03 -6.40583874e+01] [-1.06007369e-02 6.41398544e-05 9.99943809e-01 -4.15645353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.58576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:382.87, Y:-64.07, Z:-4.16 [[ 9.75372367e-01 2.20322245e-01 1.03370777e-02 3.82874192e+02] [-2.20309707e-01 9.75427141e-01 -2.35043856e-03 -6.40733232e+01] [-1.06009200e-02 1.51942566e-05 9.99943809e-01 -4.16232676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:382.93, Y:-64.09, Z:-4.16 [[ 9.74819330e-01 2.22756406e-01 1.03371894e-02 3.82931684e+02] [-2.22744010e-01 9.74874137e-01 -2.34994716e-03 -6.40872298e+01] [-1.06009244e-02 -1.17731105e-05 9.99943809e-01 -4.16030087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.99, Y:-64.10, Z:-4.16 [[ 9.74300556e-01 2.25014594e-01 1.03373022e-02 3.82987646e+02] [-2.25002331e-01 9.74355393e-01 -2.34945076e-03 -6.41001378e+01] [-1.06008669e-02 -3.68459179e-05 9.99943809e-01 -4.15643691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.05, Y:-64.11, Z:-4.16 [[ 9.73305559e-01 2.29280233e-01 1.03374977e-02 3.83045320e+02] [-2.29268220e-01 9.73360451e-01 -2.34859018e-03 -6.41075768e+01] [-1.06005968e-02 -8.41638234e-05 9.99943809e-01 -4.16000785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.10, Y:-64.11, Z:-4.16 [[ 9.72054083e-01 2.34529300e-01 1.03376621e-02 3.83102885e+02] [-2.34517590e-01 9.72109041e-01 -2.34786637e-03 -6.41126124e+01] [-1.05999783e-02 -1.42110518e-04 9.99943809e-01 -4.15830607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.16, Y:-64.12, Z:-4.16 [[ 9.71044619e-01 2.38674416e-01 1.03378522e-02 3.83159896e+02] [-2.38662950e-01 9.71099628e-01 -2.34702911e-03 -6.41175851e+01] [-1.05992602e-02 -1.88192312e-04 9.99943809e-01 -4.15832323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.945769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:383.22, Y:-64.12, Z:-4.16 [[ 9.71249495e-01 2.37839322e-01 1.03380394e-02 3.83218445e+02] [-2.37827817e-01 9.71304496e-01 -2.34620445e-03 -6.41195708e+01] [-1.05994038e-02 -1.79923453e-04 9.99943809e-01 -4.16289538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.28, Y:-64.13, Z:-4.16 [[ 9.72378977e-01 2.33178560e-01 1.03384865e-02 3.83275535e+02] [-2.33166812e-01 9.72433927e-01 -2.34423267e-03 -6.41268035e+01] [-1.06001198e-02 -1.31109372e-04 9.99943809e-01 -4.15928668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.065769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:383.33, Y:-64.13, Z:-4.16 [[ 9.74167288e-01 2.25590795e-01 1.03386802e-02 3.83333716e+02] [-2.25578629e-01 9.74222147e-01 -2.34337772e-03 -6.41338475e+01] [-1.06008157e-02 -4.93433929e-05 9.99943809e-01 -4.15940032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.39, Y:-64.14, Z:-4.17 [[ 9.75421832e-01 2.20103060e-01 1.03388493e-02 3.83392270e+02] [-2.20090593e-01 9.75476623e-01 -2.34263168e-03 -6.41419489e+01] [-1.06009262e-02 9.57061104e-06 9.99943809e-01 -4.16816738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.45, Y:-64.15, Z:-4.17 [[ 9.75757106e-01 2.18611931e-01 1.03389629e-02 3.83449258e+02] [-2.18599386e-01 9.75811879e-01 -2.34213004e-03 -6.41532403e+01] [-1.06009004e-02 2.52590771e-05 9.99943809e-01 -4.16608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.51, Y:-64.16, Z:-4.16 [[ 9.76455555e-01 2.15470764e-01 1.03391759e-02 3.83506927e+02] [-2.15458052e-01 9.76510290e-01 -2.34118970e-03 -6.41631918e+01] [-1.06007696e-02 5.84090003e-05 9.99943809e-01 -4.16386718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.56, Y:-64.18, Z:-4.17 [[ 9.77042383e-01 2.12793988e-01 1.03392858e-02 3.83562547e+02] [-2.12781131e-01 9.77097084e-01 -2.34070421e-03 -6.41775012e+01] [-1.06005738e-02 8.69622946e-05 9.99943809e-01 -4.16737856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.365769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:383.62, Y:-64.19, Z:-4.17 [[ 9.77958380e-01 2.08543767e-01 1.03394754e-02 3.83618160e+02] [-2.08530682e-01 9.78013026e-01 -2.33986630e-03 -6.41921438e+01] [-1.06001062e-02 1.32194006e-04 9.99943809e-01 -4.16717681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.67, Y:-64.21, Z:-4.17 [[ 9.79005234e-01 2.03572693e-01 1.03397663e-02 3.83672431e+02] [-2.03559344e-01 9.79059817e-01 -2.33857999e-03 -6.42103959e+01] [-1.05993207e-02 1.84726004e-04 9.99943809e-01 -4.16781288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.73, Y:-64.23, Z:-4.17 [[ 9.79971999e-01 1.98866706e-01 1.03399496e-02 3.83727613e+02] [-1.98853103e-01 9.80026519e-01 -2.33776956e-03 -6.42275572e+01] [-1.05983293e-02 2.34817657e-04 9.99943809e-01 -4.16853098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.545769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:383.78, Y:-64.25, Z:-4.16 [[ 9.81003357e-01 1.93714988e-01 1.03401085e-02 3.83781429e+02] [-1.93701106e-01 9.81057806e-01 -2.33706646e-03 -6.42521209e+01] [-1.05969689e-02 2.89779592e-04 9.99943809e-01 -4.16350002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.84, Y:-64.27, Z:-4.17 [[ 9.81476906e-01 1.91301232e-01 1.03402663e-02 3.83836176e+02] [-1.91287224e-01 9.81531324e-01 -2.33636782e-03 -6.42749150e+01] [-1.05962453e-02 3.15130210e-04 9.99943809e-01 -4.16657978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.89, Y:-64.30, Z:-4.17 [[ 9.81393559e-01 1.91728346e-01 1.03403704e-02 3.83889122e+02] [-1.91714366e-01 9.81447984e-01 -2.33590706e-03 -6.43032111e+01] [-1.05963953e-02 3.10046586e-04 9.99943809e-01 -4.16819346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.94, Y:-64.33, Z:-4.17 [[ 9.80172184e-01 1.97877646e-01 1.03405280e-02 3.83941100e+02] [-1.97864016e-01 9.80226697e-01 -2.33520937e-03 -6.43320249e+01] [-1.05981473e-02 2.42888879e-04 9.99943809e-01 -4.17283366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.00, Y:-64.35, Z:-4.17 [[ 9.78675426e-01 2.05152329e-01 1.03407857e-02 3.83996051e+02] [-2.05139116e-01 9.78730042e-01 -2.33406765e-03 -6.43538219e+01] [-1.05996770e-02 1.62995017e-04 9.99943809e-01 -4.17440500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.05, Y:-64.38, Z:-4.18 [[ 9.76171962e-01 2.16751851e-01 1.03409411e-02 3.84050588e+02] [-2.16739294e-01 9.76226733e-01 -2.33337898e-03 -6.43769720e+01] [-1.06008673e-02 3.64908736e-05 9.99943809e-01 -4.17831596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.11, Y:-64.40, Z:-4.18 [[ 9.74488348e-01 2.24199739e-01 1.03410442e-02 3.84106112e+02] [-2.24187606e-01 9.74543213e-01 -2.33292170e-03 -6.43990637e+01] [-1.06008349e-02 -4.49289307e-05 9.99943809e-01 -4.17579822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.965769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:384.16, Y:-64.41, Z:-4.17 [[ 9.73531448e-01 2.28319033e-01 1.03411502e-02 3.84162670e+02] [-2.28307137e-01 9.73586365e-01 -2.33245187e-03 -6.44146374e+01] [-1.06005460e-02 -9.02431472e-05 9.99943809e-01 -4.17191879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.22, Y:-64.43, Z:-4.17 [[ 9.71006494e-01 2.38829324e-01 1.03412551e-02 3.84219351e+02] [-2.38818027e-01 9.71061539e-01 -2.33198687e-03 -6.44254564e+01] [-1.05989419e-02 -2.05303732e-04 9.99943809e-01 -4.17271940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.28, Y:-64.43, Z:-4.17 [[ 9.68166267e-01 2.50094251e-01 1.03414253e-02 3.84276688e+02] [-2.50083602e-01 9.68221440e-01 -2.33123157e-03 -6.44304711e+01] [-1.05958173e-02 -3.29201127e-04 9.99943809e-01 -4.17490318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.33, Y:-64.44, Z:-4.18 [[ 9.67375904e-01 2.53134175e-01 1.03416209e-02 3.84334127e+02] [-2.53123708e-01 9.67431113e-01 -2.33036380e-03 -6.44394369e+01] [-1.05947005e-02 -3.63371641e-04 9.99943809e-01 -4.17762687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.39, Y:-64.45, Z:-4.18 [[ 9.67841189e-01 2.51349319e-01 1.03417717e-02 3.84391795e+02] [-2.51338758e-01 9.67896379e-01 -2.32969442e-03 -6.44450124e+01] [-1.05953304e-02 -3.44513833e-04 9.99943809e-01 -4.17551680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.45, Y:-64.45, Z:-4.18 [[ 9.67900601e-01 2.51120432e-01 1.03419457e-02 3.84450505e+02] [-2.51109867e-01 9.67955790e-01 -2.32892171e-03 -6.44474889e+01] [-1.05953860e-02 -3.42799880e-04 9.99943809e-01 -4.17528050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.51, Y:-64.46, Z:-4.17 [[ 9.67877368e-01 2.51209956e-01 1.03421082e-02 3.84507202e+02] [-2.51199403e-01 9.67932559e-01 -2.32819952e-03 -6.44556263e+01] [-1.05953302e-02 -3.44519792e-04 9.99943809e-01 -4.17482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.57, Y:-64.46, Z:-4.18 [[ 9.68224006e-01 2.49870590e-01 1.03422955e-02 3.84566174e+02] [-2.49859969e-01 9.68279184e-01 -2.32736727e-03 -6.44579452e+01] [-1.05957701e-02 -3.30712781e-04 9.99943809e-01 -4.17599733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.62, Y:-64.46, Z:-4.18 [[ 9.68746118e-01 2.47838632e-01 1.03427178e-02 3.84624625e+02] [-2.47827916e-01 9.68801278e-01 -2.32548937e-03 -6.44634055e+01] [-1.05963843e-02 -3.10405392e-04 9.99943809e-01 -4.17528268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.68, Y:-64.47, Z:-4.18 [[ 9.70059142e-01 2.42648469e-01 1.03431456e-02 3.84683000e+02] [-2.42637479e-01 9.70114248e-01 -2.32358497e-03 -6.44658387e+01] [-1.05978472e-02 -2.55619922e-04 9.99943809e-01 -4.17538070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.74, Y:-64.47, Z:-4.18 [[ 9.70848586e-01 2.39470331e-01 1.03433310e-02 3.84742208e+02] [-2.39459168e-01 9.70903657e-01 -2.32275917e-03 -6.44663537e+01] [-1.05986098e-02 -2.21757996e-04 9.99943809e-01 -4.17996170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.80, Y:-64.47, Z:-4.18 [[ 9.71174049e-01 2.38146957e-01 1.03437587e-02 3.84800493e+02] [-2.38135739e-01 9.71229110e-01 -2.32085298e-03 -6.44716693e+01] [-1.05988637e-02 -2.09266447e-04 9.99943809e-01 -4.18172074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.86, Y:-64.47, Z:-4.18 [[ 9.72491391e-01 2.32709030e-01 1.03441889e-02 3.84859789e+02] [-2.32697525e-01 9.72546392e-01 -2.31893428e-03 -6.44718353e+01] [-1.05998405e-02 -1.51923528e-04 9.99943809e-01 -4.17787638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.92, Y:-64.48, Z:-4.18 [[ 9.73618715e-01 2.27946454e-01 1.03446328e-02 3.84916271e+02] [-2.27934701e-01 9.73673664e-01 -2.31695197e-03 -6.44787879e+01] [-1.06004376e-02 -1.02073003e-04 9.99943809e-01 -4.17718399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.97, Y:-64.49, Z:-4.18 [[ 9.75512127e-01 2.19702235e-01 1.03449342e-02 3.84974490e+02] [-2.19690032e-01 9.75566978e-01 -2.31560581e-03 -6.44852749e+01] [-1.06009199e-02 -1.37773749e-05 9.99943809e-01 -4.17881087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.03, Y:-64.50, Z:-4.18 [[ 9.77846170e-01 2.09068988e-01 1.03453527e-02 3.85031686e+02] [-2.09056209e-01 9.77900889e-01 -2.31373464e-03 -6.44962241e+01] [-1.06004597e-02 9.97163535e-05 9.99943809e-01 -4.18159355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.09, Y:-64.51, Z:-4.18 [[ 9.79287847e-01 2.02208515e-01 1.03455183e-02 3.85086838e+02] [-2.02195360e-01 9.79342477e-01 -2.31299356e-03 -6.45124587e+01] [-1.05995125e-02 1.73270686e-04 9.99943809e-01 -4.18223343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.985769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:385.14, Y:-64.53, Z:-4.18 [[ 9.81166870e-01 1.92884782e-01 1.03457085e-02 3.85141319e+02] [-1.92871117e-01 9.81221375e-01 -2.31214265e-03 -6.45336420e+01] [-1.05974075e-02 2.73209405e-04 9.99943809e-01 -4.18447490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.045769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:-64.56, Z:-4.18 [[ 9.81634667e-01 1.90489744e-01 1.03458731e-02 3.85194374e+02] [-1.90475954e-01 9.81689140e-01 -2.31140599e-03 -6.45557559e+01] [-1.05967304e-02 2.98316200e-04 9.99943809e-01 -4.18448412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.25, Y:-64.58, Z:-4.18 [[ 9.80595497e-01 1.95768818e-01 1.03460618e-02 3.85249012e+02] [-1.95755330e-01 9.80650046e-01 -2.31056111e-03 -6.45760533e+01] [-1.05982018e-02 2.40429078e-04 9.99943809e-01 -4.18424144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.31, Y:-64.59, Z:-4.19 [[ 9.79766055e-01 1.99878544e-01 1.03462204e-02 3.85305349e+02] [-1.99865292e-01 9.79820662e-01 -2.30985044e-03 -6.45938926e+01] [-1.05991301e-02 1.95262686e-04 9.99943809e-01 -4.18998035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.225769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:385.36, Y:-64.61, Z:-4.19 [[ 9.78498209e-01 2.05995653e-01 1.03463256e-02 3.85360315e+02] [-2.05982748e-01 9.78552898e-01 -2.30937915e-03 -6.46112845e+01] [-1.06001490e-02 1.28558776e-04 9.99943809e-01 -4.18730680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:385.42, Y:-64.62, Z:-4.19 [[ 9.76865747e-01 2.13603051e-01 1.03464567e-02 3.85417590e+02] [-2.13590578e-01 9.76920536e-01 -2.30879184e-03 -6.46242721e+01] [-1.06008310e-02 4.54740027e-05 9.99943809e-01 -4.19029028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.47, Y:-64.64, Z:-4.19 [[ 9.75176698e-01 2.21186249e-01 1.03465652e-02 3.85474615e+02] [-2.21174207e-01 9.75231584e-01 -2.30830560e-03 -6.46356468e+01] [-1.06008626e-02 -3.73875160e-05 9.99943809e-01 -4.18965401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:385.53, Y:-64.64, Z:-4.19 [[ 9.74104609e-01 2.25860923e-01 1.03466999e-02 3.85532219e+02] [-2.25849151e-01 9.74159553e-01 -2.30770156e-03 -6.46439414e+01] [-1.06005562e-02 -8.88506621e-05 9.99943809e-01 -4.18619414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.59, Y:-64.65, Z:-4.19 [[ 9.73554982e-01 2.28218390e-01 1.03471373e-02 3.85589666e+02] [-2.28206771e-01 9.73609959e-01 -2.30573885e-03 -6.46535980e+01] [-1.06002879e-02 -1.16523243e-04 9.99943809e-01 -4.18787081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.65, Y:-64.66, Z:-4.19 [[ 9.73409403e-01 2.28838517e-01 1.03473023e-02 3.85646423e+02] [-2.28826941e-01 9.73464390e-01 -2.30499785e-03 -6.46630957e+01] [-1.06002026e-02 -1.24034958e-04 9.99943809e-01 -4.18903447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.70, Y:-64.67, Z:-4.19 [[ 9.74292421e-01 2.25049346e-01 1.03474933e-02 3.85703213e+02] [-2.25037566e-01 9.74347363e-01 -2.30414033e-03 -6.46715423e+01] [-1.06005981e-02 -8.36682408e-05 9.99943809e-01 -4.18691861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.76, Y:-64.68, Z:-4.19 [[ 9.75309709e-01 2.20598944e-01 1.03477867e-02 3.85761083e+02] [-2.20586927e-01 9.75364601e-01 -2.30282197e-03 -6.46820995e+01] [-1.06008649e-02 -3.66218379e-05 9.99943809e-01 -4.19160337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.82, Y:-64.69, Z:-4.19 [[ 9.76262326e-01 2.16344150e-01 1.03478941e-02 3.85817264e+02] [-2.16331899e-01 9.76317166e-01 -2.30233926e-03 -6.46946014e+01] [-1.06009242e-02 9.10751025e-06 9.99943809e-01 -4.19001525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.87, Y:-64.71, Z:-4.19 [[ 9.76942007e-01 2.13253916e-01 1.03480271e-02 3.85873225e+02] [-2.13241498e-01 9.76996809e-01 -2.30174134e-03 -6.47089502e+01] [-1.06008448e-02 4.20390052e-05 9.99943809e-01 -4.18992149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.93, Y:-64.72, Z:-4.19 [[ 9.77825036e-01 2.09167669e-01 1.03481867e-02 3.85929305e+02] [-2.09155030e-01 9.77879788e-01 -2.30102363e-03 -6.47239831e+01] [-1.06005823e-02 8.56232317e-05 9.99943809e-01 -4.19128521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.98, Y:-64.74, Z:-4.19 [[ 9.78141460e-01 2.07682924e-01 1.03483487e-02 3.85984466e+02] [-2.07670209e-01 9.78196194e-01 -2.30029473e-03 -6.47405913e+01] [-1.06004472e-02 1.00969915e-04 9.99943809e-01 -4.19200619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.04, Y:-64.75, Z:-4.20 [[ 9.78255851e-01 2.07143425e-01 1.03485348e-02 3.86040457e+02] [-2.07130689e-01 9.78310580e-01 -2.29945706e-03 -6.47542093e+01] [-1.06003985e-02 1.05958176e-04 9.99943809e-01 -4.19509717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.10, Y:-64.77, Z:-4.20 [[ 9.78303911e-01 2.06916316e-01 1.03486979e-02 3.86097416e+02] [-2.06903575e-01 9.78358639e-01 -2.29872291e-03 -6.47692234e+01] [-1.06003813e-02 1.07667025e-04 9.99943809e-01 -4.20022140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.16, Y:-64.78, Z:-4.20 [[ 9.77580029e-01 2.10309744e-01 1.03488066e-02 3.86155623e+02] [-2.10297198e-01 9.77634802e-01 -2.29823359e-03 -6.47787181e+01] [-1.06006944e-02 7.03822473e-05 9.99943809e-01 -4.19901369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.21, Y:-64.79, Z:-4.20 [[ 9.77115370e-01 2.12458122e-01 1.03489150e-02 3.86214083e+02] [-2.12445702e-01 9.77170172e-01 -2.29774515e-03 -6.47892560e+01] [-1.06008257e-02 4.65795957e-05 9.99943809e-01 -4.19539412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.27, Y:-64.80, Z:-4.20 [[ 9.77246327e-01 2.11854938e-01 1.03490230e-02 3.86270617e+02] [-2.11842489e-01 9.77301122e-01 -2.29725876e-03 -6.48010802e+01] [-1.06007974e-02 5.26248971e-05 9.99943809e-01 -4.19509885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.33, Y:-64.81, Z:-4.20 [[ 9.77828190e-01 2.09152874e-01 1.03491863e-02 3.86327590e+02] [-2.09140282e-01 9.77882952e-01 -2.29652279e-03 -6.48142842e+01] [-1.06006172e-02 8.11729904e-05 9.99943809e-01 -4.19787637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.38, Y:-64.83, Z:-4.20 [[ 9.77809747e-01 2.09239075e-01 1.03492948e-02 3.86384967e+02] [-2.09226492e-01 9.77864512e-01 -2.29603345e-03 -6.48253919e+01] [-1.06006281e-02 7.97372288e-05 9.99943809e-01 -4.19728247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.44, Y:-64.84, Z:-4.19 [[ 9.77860420e-01 2.09002126e-01 1.03494552e-02 3.86441383e+02] [-2.08989538e-01 9.77915183e-01 -2.29531035e-03 -6.48366842e+01] [-1.06006141e-02 8.15652843e-05 9.99943809e-01 -4.19458669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.50, Y:-64.85, Z:-4.20 [[ 9.78454463e-01 2.06203176e-01 1.03495878e-02 3.86497770e+02] [-2.06190437e-01 9.78509192e-01 -2.29471217e-03 -6.48512745e+01] [-1.06003438e-02 1.11285323e-04 9.99943809e-01 -4.19762473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.55, Y:-64.87, Z:-4.20 [[ 9.79397076e-01 2.01678580e-01 1.03497448e-02 3.86554592e+02] [-2.01665597e-01 9.79451747e-01 -2.29400417e-03 -6.48676850e+01] [-1.05997271e-02 1.59553524e-04 9.99943809e-01 -4.20230155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.61, Y:-64.88, Z:-4.20 [[ 9.79896011e-01 1.99240276e-01 1.03498483e-02 3.86611546e+02] [-1.99227161e-01 9.79950651e-01 -2.29353691e-03 -6.48833194e+01] [-1.05993055e-02 1.85456770e-04 9.99943809e-01 -4.19568024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.67, Y:-64.90, Z:-4.20 [[ 9.79345540e-01 2.01928680e-01 1.03499541e-02 3.86666816e+02] [-2.01915720e-01 9.79400216e-01 -2.29305921e-03 -6.48965420e+01] [-1.05997818e-02 1.55878868e-04 9.99943809e-01 -4.19606265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.72, Y:-64.91, Z:-4.20 [[ 9.78029566e-01 2.08209130e-01 1.03501373e-02 3.86723571e+02] [-2.08196530e-01 9.78084327e-01 -2.29223214e-03 -6.49086899e+01] [-1.06005708e-02 8.70081330e-05 9.99943809e-01 -4.20421211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.78, Y:-64.92, Z:-4.20 [[ 9.77009076e-01 2.12946326e-01 1.03502625e-02 3.86780542e+02] [-2.12933997e-01 9.77063898e-01 -2.29166654e-03 -6.49187999e+01] [-1.06008698e-02 3.50562397e-05 9.99943809e-01 -4.20467859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.84, Y:-64.93, Z:-4.20 [[ 9.75619082e-01 2.19226541e-01 1.03504180e-02 3.86837383e+02] [-2.19214573e-01 9.75673984e-01 -2.29096438e-03 -6.49277920e+01] [-1.06008737e-02 -3.38538923e-05 9.99943809e-01 -4.20393364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.90, Y:-64.94, Z:-4.21 [[ 9.75629536e-01 2.19180003e-01 1.03505463e-02 3.86895047e+02] [-2.19168038e-01 9.75684439e-01 -2.29038439e-03 -6.49372093e+01] [-1.06008734e-02 -3.39422734e-05 9.99943809e-01 -4.21034587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.95, Y:-64.95, Z:-4.21 [[ 9.75747208e-01 2.18655541e-01 1.03508894e-02 3.86952395e+02] [-2.18643563e-01 9.75802108e-01 -2.28883259e-03 -6.49492580e+01] [-1.06008857e-02 -2.98333428e-05 9.99943809e-01 -4.20807635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.01, Y:-64.96, Z:-4.21 [[ 9.75703467e-01 2.18850637e-01 1.03509944e-02 3.87009465e+02] [-2.18838676e-01 9.75758370e-01 -2.28835775e-03 -6.49620602e+01] [-1.06008780e-02 -3.24393229e-05 9.99943809e-01 -4.20595940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.06, Y:-64.98, Z:-4.21 [[ 9.75821884e-01 2.18322021e-01 1.03510994e-02 3.87064446e+02] [-2.18310035e-01 9.75876782e-01 -2.28788293e-03 -6.49750109e+01] [-1.06008928e-02 -2.71826328e-05 9.99943809e-01 -4.20782799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.12, Y:-64.99, Z:-4.20 [[ 9.75803284e-01 2.18405127e-01 1.03513838e-02 3.87122153e+02] [-2.18393159e-01 9.75858186e-01 -2.28659518e-03 -6.49879136e+01] [-1.06008868e-02 -2.94043310e-05 9.99943809e-01 -4.20385660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.18, Y:-65.00, Z:-4.21 [[ 9.76091419e-01 2.17113767e-01 1.03514907e-02 3.87177486e+02] [-2.17101732e-01 9.76146307e-01 -2.28611141e-03 -6.50007628e+01] [-1.06009156e-02 -1.58728154e-05 9.99943809e-01 -4.20743769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.23, Y:-65.01, Z:-4.21 [[ 9.76957473e-01 2.13182875e-01 1.03516747e-02 3.87234594e+02] [-2.13170628e-01 9.77012314e-01 -2.28527796e-03 -6.50129955e+01] [-1.06008957e-02 2.59463940e-05 9.99943809e-01 -4.21191835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.29, Y:-65.03, Z:-4.22 [[ 9.78134768e-01 2.07714266e-01 1.03517829e-02 3.87290287e+02] [-2.07701717e-01 9.78189540e-01 -2.28478762e-03 -6.50272604e+01] [-1.06005887e-02 8.47471236e-05 9.99943809e-01 -4.21594363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.35, Y:-65.04, Z:-4.21 [[ 9.79923511e-01 1.99104871e-01 1.03519166e-02 3.87346954e+02] [-1.99091847e-01 9.79978173e-01 -2.28418164e-03 -6.50434895e+01] [-1.05994440e-02 1.77341101e-04 9.99943809e-01 -4.21458962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.40, Y:-65.06, Z:-4.21 [[ 9.80538436e-01 1.96054101e-01 1.03520218e-02 3.87401125e+02] [-1.96040912e-01 9.80593058e-01 -2.28370482e-03 -6.50644762e+01] [-1.05988504e-02 2.09840565e-04 9.99943809e-01 -4.21309802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.46, Y:-65.08, Z:-4.22 [[ 9.80433410e-01 1.96578641e-01 1.03521512e-02 3.87456557e+02] [-1.96565487e-01 9.80488040e-01 -2.28311821e-03 -6.50845694e+01] [-1.05989727e-02 2.03569735e-04 9.99943809e-01 -4.21779151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.51, Y:-65.11, Z:-4.22 [[ 9.79639471e-01 2.00497724e-01 1.03522538e-02 3.87511449e+02] [-2.00484794e-01 9.79694155e-01 -2.28265260e-03 -6.51089874e+01] [-1.05997092e-02 1.60707106e-04 9.99943809e-01 -4.21926989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.57, Y:-65.13, Z:-4.22 [[ 9.78679604e-01 2.05131814e-01 1.03523578e-02 3.87566455e+02] [-2.05119148e-01 9.78734349e-01 -2.28218100e-03 -6.51281656e+01] [-1.06003561e-02 1.10057186e-04 9.99943809e-01 -4.21725716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.62, Y:-65.15, Z:-4.22 [[ 9.76816403e-01 2.13828294e-01 1.03525426e-02 3.87621604e+02] [-2.13816124e-01 9.76871261e-01 -2.28134261e-03 -6.51501602e+01] [-1.06009169e-02 1.49123571e-05 9.99943809e-01 -4.21961614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.68, Y:-65.17, Z:-4.22 [[ 9.75065122e-01 2.21677310e-01 1.03526447e-02 3.87676895e+02] [-2.21665587e-01 9.75120077e-01 -2.28087897e-03 -6.51691707e+01] [-1.06006908e-02 -7.08195337e-05 9.99943809e-01 -4.21899536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.73, Y:-65.18, Z:-4.22 [[ 9.73696866e-01 2.27612022e-01 1.03527971e-02 3.87734159e+02] [-2.27600641e-01 9.73751893e-01 -2.28018717e-03 -6.51830376e+01] [-1.06000538e-02 -1.36092150e-04 9.99943809e-01 -4.21597218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.79, Y:-65.20, Z:-4.22 [[ 9.72569477e-01 2.32382080e-01 1.03528984e-02 3.87791036e+02] [-2.32370973e-01 9.72624559e-01 -2.27972691e-03 -6.51955126e+01] [-1.05992509e-02 -1.88520276e-04 9.99943809e-01 -4.21527880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.85, Y:-65.21, Z:-4.22 [[ 9.72021733e-01 2.34662662e-01 1.03530582e-02 3.87847206e+02] [-2.34651692e-01 9.72076843e-01 -2.27900118e-03 -6.52076916e+01] [-1.05987646e-02 -2.14123948e-04 9.99943809e-01 -4.22150199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:-65.22, Z:-4.22 [[ 9.72558464e-01 2.32428151e-01 1.03531900e-02 3.87903474e+02] [-2.32417061e-01 9.72613550e-01 -2.27840206e-03 -6.52218215e+01] [-1.05992177e-02 -1.90378796e-04 9.99943809e-01 -4.22240024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.96, Y:-65.24, Z:-4.22 [[ 9.73376328e-01 2.28978892e-01 1.03533354e-02 3.87960095e+02] [-2.28967614e-01 9.73431376e-01 -2.27774102e-03 -6.52376685e+01] [-1.05998162e-02 -1.53479323e-04 9.99943809e-01 -4.22406070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.02, Y:-65.25, Z:-4.22 [[ 9.72554574e-01 2.32444417e-01 1.03534321e-02 3.88017543e+02] [-2.32433340e-01 9.72609663e-01 -2.27730150e-03 -6.52489960e+01] [-1.05991941e-02 -1.91682827e-04 9.99943809e-01 -4.21804434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.07, Y:-65.26, Z:-4.22 [[ 9.72058143e-01 2.34511772e-01 1.03535371e-02 3.88072974e+02] [-2.34500817e-01 9.72113256e-01 -2.27682406e-03 -6.52609182e+01] [-1.05987527e-02 -2.14707549e-04 9.99943809e-01 -4.21907520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.13, Y:-65.27, Z:-4.22 [[ 9.71091133e-01 2.38484408e-01 1.03537181e-02 3.88130629e+02] [-2.38473688e-01 9.71146292e-01 -2.27600079e-03 -6.52727560e+01] [-1.05977656e-02 -2.58885149e-04 9.99943809e-01 -4.22433784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.19, Y:-65.29, Z:-4.22 [[ 9.71174118e-01 2.38146241e-01 1.03538131e-02 3.88188489e+02] [-2.38135506e-01 9.71229274e-01 -2.27556853e-03 -6.52850889e+01] [-1.05978445e-02 -2.55637263e-04 9.99943809e-01 -4.22242016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.25, Y:-65.30, Z:-4.22 [[ 9.72063094e-01 2.34491233e-01 1.03539209e-02 3.88246386e+02] [-2.34480295e-01 9.72118210e-01 -2.27507811e-03 -6.52979223e+01] [-1.05987209e-02 -2.16270953e-04 9.99943809e-01 -4.22016364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.30, Y:-65.31, Z:-4.22 [[ 9.72301785e-01 2.33499537e-01 1.03540283e-02 3.88302207e+02] [-2.33488549e-01 9.72356891e-01 -2.27458902e-03 -6.53107795e+01] [-1.05989262e-02 -2.05960078e-04 9.99943809e-01 -4.22051866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.36, Y:-65.32, Z:-4.22 [[ 9.72782261e-01 2.31489661e-01 1.03542151e-02 3.88357920e+02] [-2.31478568e-01 9.72837346e-01 -2.27373817e-03 -6.53216375e+01] [-1.05993141e-02 -1.84926740e-04 9.99943809e-01 -4.22427397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.41, Y:-65.34, Z:-4.23 [[ 9.74565145e-01 2.23865060e-01 1.03543942e-02 3.88413606e+02] [-2.23853544e-01 9.74620144e-01 -2.27292263e-03 -6.53361971e+01] [-1.06004291e-02 -1.02756659e-04 9.99943809e-01 -4.22586126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.47, Y:-65.35, Z:-4.23 [[ 9.76260165e-01 2.16353586e-01 1.03545552e-02 3.88469503e+02] [-2.16341656e-01 9.76315075e-01 -2.27218873e-03 -6.53535248e+01] [-1.06009045e-02 -2.18742725e-05 9.99943809e-01 -4.22909020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.53, Y:-65.37, Z:-4.23 [[ 9.77553107e-01 2.10434558e-01 1.03546618e-02 3.88525386e+02] [-2.10422300e-01 9.77607945e-01 -2.27170281e-03 -6.53715339e+01] [-1.06008444e-02 4.18583879e-05 9.99943809e-01 -4.22556857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.58, Y:-65.39, Z:-4.23 [[ 9.77568411e-01 2.10363448e-01 1.03547684e-02 3.88581297e+02] [-2.10351191e-01 9.77623250e-01 -2.27121706e-03 -6.53879353e+01] [-1.06008433e-02 4.21321986e-05 9.99943809e-01 -4.22554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.64, Y:-65.41, Z:-4.23 [[ 9.77417258e-01 2.11064634e-01 1.03549001e-02 3.88637204e+02] [-2.11052423e-01 9.77472107e-01 -2.27061608e-03 -6.54085253e+01] [-1.06008728e-02 3.39125837e-05 9.99943809e-01 -4.23074093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.69, Y:-65.43, Z:-4.23 [[ 9.76924110e-01 2.13335551e-01 1.03550039e-02 3.88692617e+02] [-2.13323473e-01 9.76978988e-01 -2.27014287e-03 -6.54282539e+01] [-1.06009234e-02 8.79191629e-06 9.99943809e-01 -4.22847484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.75, Y:-65.44, Z:-4.23 [[ 9.75953317e-01 2.17733540e-01 1.03551327e-02 3.88749648e+02] [-2.17721715e-01 9.76008250e-01 -2.26955507e-03 -6.54449647e+01] [-1.06008532e-02 -3.95574482e-05 9.99943809e-01 -4.22576570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.80, Y:-65.46, Z:-4.23 [[ 9.73333895e-01 2.29159113e-01 1.03552348e-02 3.88804781e+02] [-2.29147937e-01 9.73388963e-01 -2.26908917e-03 -6.54590499e+01] [-1.05996537e-02 -1.64299294e-04 9.99943809e-01 -4.22547932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.86, Y:-65.47, Z:-4.23 [[ 9.71413834e-01 2.37166456e-01 1.03554105e-02 3.88860997e+02] [-2.37155743e-01 9.71468995e-01 -2.26828708e-03 -6.54711453e+01] [-1.05979218e-02 -2.52399624e-04 9.99943809e-01 -4.22744606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.92, Y:-65.48, Z:-4.23 [[ 9.70177194e-01 2.42175505e-01 1.03555598e-02 3.88917497e+02] [-2.42165084e-01 9.70232410e-01 -2.26760540e-03 -6.54821928e+01] [-1.05964582e-02 -3.07775952e-04 9.99943809e-01 -4.22568079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.98, Y:-65.49, Z:-4.22 [[ 9.69175528e-01 2.46153522e-01 1.03556820e-02 3.88975034e+02] [-2.46143333e-01 9.69230788e-01 -2.26704714e-03 -6.54901627e+01] [-1.05950874e-02 -3.51815472e-04 9.99943809e-01 -4.22280054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.03, Y:-65.50, Z:-4.23 [[ 9.68184047e-01 2.50024816e-01 1.03558275e-02 3.89034231e+02] [-2.50014856e-01 9.68239348e-01 -2.26638229e-03 -6.54951857e+01] [-1.05935715e-02 -3.94835537e-04 9.99943809e-01 -4.22889935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.09, Y:-65.50, Z:-4.23 [[ 9.67698796e-01 2.51896396e-01 1.03559322e-02 3.89092269e+02] [-2.51886547e-01 9.67754118e-01 -2.26590348e-03 -6.55018588e+01] [-1.05927690e-02 -4.15807949e-04 9.99943809e-01 -4.23212826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.15, Y:-65.51, Z:-4.23 [[ 9.67819238e-01 2.51433241e-01 1.03560615e-02 3.89151067e+02] [-2.51423372e-01 9.67874556e-01 -2.26531259e-03 -6.55061811e+01] [-1.05929433e-02 -4.11342802e-04 9.99943809e-01 -4.23320674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.21, Y:-65.51, Z:-4.23 [[ 9.68855292e-01 2.47410936e-01 1.03562161e-02 3.89209148e+02] [-2.47400846e-01 9.68910570e-01 -2.26460557e-03 -6.55127617e+01] [-1.05945354e-02 -3.68061533e-04 9.99943809e-01 -4.23125056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.27, Y:-65.52, Z:-4.23 [[ 9.71022086e-01 2.38765270e-01 1.03564067e-02 3.89266623e+02] [-2.38754696e-01 9.71077273e-01 -2.26373358e-03 -6.55189845e+01] [-1.05973721e-02 -2.74505432e-04 9.99943809e-01 -4.22738755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.32, Y:-65.53, Z:-4.23 [[ 9.72477027e-01 2.32768497e-01 1.03565323e-02 3.89323735e+02] [-2.32757589e-01 9.72532150e-01 -2.26315867e-03 -6.55293732e+01] [-1.05988527e-02 -2.09691686e-04 9.99943809e-01 -4.22985631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.38, Y:-65.54, Z:-4.23 [[ 9.73636406e-01 2.27870331e-01 1.03566833e-02 3.89381456e+02] [-2.27859154e-01 9.73691474e-01 -2.26246765e-03 -6.55410064e+01] [-1.05997635e-02 -1.57044222e-04 9.99943809e-01 -4.23383531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.44, Y:-65.55, Z:-4.23 [[ 9.73212089e-01 2.29675785e-01 1.03567903e-02 3.89437465e+02] [-2.29664714e-01 9.73267179e-01 -2.26197785e-03 -6.55508704e+01] [-1.05994456e-02 -1.77205091e-04 9.99943809e-01 -4.23356888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.50, Y:-65.56, Z:-4.23 [[ 9.71996435e-01 2.34767253e-01 1.03569759e-02 3.89496128e+02] [-2.34756480e-01 9.72051584e-01 -2.26112747e-03 -6.55591236e+01] [-1.05983535e-02 -2.33559372e-04 9.99943809e-01 -4.23486222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.55, Y:-65.56, Z:-4.23 [[ 9.69487755e-01 2.44920853e-01 1.03570845e-02 3.89554613e+02] [-2.44910663e-01 9.69543014e-01 -2.26063002e-03 -6.55629180e+01] [-1.05953144e-02 -3.44907312e-04 9.99943809e-01 -4.23451813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.61, Y:-65.57, Z:-4.24 [[ 9.68374612e-01 2.49285655e-01 1.03572446e-02 3.89611643e+02] [-2.49275722e-01 9.68429919e-01 -2.25989608e-03 -6.55667263e+01] [-1.05936253e-02 -3.93383642e-04 9.99943809e-01 -4.23764582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.67, Y:-65.57, Z:-4.23 [[ 9.68657318e-01 2.48184859e-01 1.03574296e-02 3.89672564e+02] [-2.48174872e-01 9.68712615e-01 -2.25904795e-03 -6.55653192e+01] [-1.05940342e-02 -3.82210438e-04 9.99943809e-01 -4.23429348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.73, Y:-65.57, Z:-4.23 [[ 9.70023120e-01 2.42791810e-01 1.03577805e-02 3.89732366e+02] [-2.42781533e-01 9.70078363e-01 -2.25743805e-03 -6.55652114e+01] [-1.05959462e-02 -3.24910729e-04 9.99943809e-01 -4.23282326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.79, Y:-65.57, Z:-4.24 [[ 9.71279889e-01 2.37714291e-01 1.03581950e-02 3.89790626e+02] [-2.37703745e-01 9.71335082e-01 -2.25553467e-03 -6.55692298e+01] [-1.05974510e-02 -2.71426269e-04 9.99943809e-01 -4.23697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.85, Y:-65.57, Z:-4.24 [[ 9.72277126e-01 2.33601987e-01 1.03586139e-02 3.89847691e+02] [-2.33591228e-01 9.72332278e-01 -2.25360926e-03 -6.55733112e+01] [-1.05984622e-02 -2.28548602e-04 9.99943809e-01 -4.23806821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.91, Y:-65.58, Z:-4.24 [[ 9.72941214e-01 2.30820472e-01 1.03587957e-02 3.89905860e+02] [-2.30809564e-01 9.72996336e-01 -2.25277325e-03 -6.55797924e+01] [-1.05990564e-02 -1.99093170e-04 9.99943809e-01 -4.23710538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.96, Y:-65.59, Z:-4.24 [[ 9.73571080e-01 2.28149159e-01 1.03592034e-02 3.89963796e+02] [-2.28138120e-01 9.73626177e-01 -2.25089694e-03 -6.55871876e+01] [-1.05995318e-02 -1.71921018e-04 9.99943809e-01 -4.23602158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.02, Y:-65.59, Z:-4.24 [[ 9.74461930e-01 2.24313675e-01 1.03596119e-02 3.90021145e+02] [-2.24302439e-01 9.74516987e-01 -2.24901507e-03 -6.55940266e+01] [-1.06001026e-02 -1.32106661e-04 9.99943809e-01 -4.23790968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.08, Y:-65.61, Z:-4.24 [[ 9.75285520e-01 2.20705288e-01 1.03600381e-02 3.90077992e+02] [-2.20693869e-01 9.75340539e-01 -2.24705024e-03 -6.56059758e+01] [-1.06005010e-02 -9.48813246e-05 9.99943809e-01 -4.23554724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.13, Y:-65.62, Z:-4.24 [[ 9.75070795e-01 2.21651991e-01 1.03604685e-02 3.90134144e+02] [-2.21640647e-01 9.75125829e-01 -2.24506374e-03 -6.56160234e+01] [-1.06003833e-02 -1.07204860e-04 9.99943809e-01 -4.23902213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.19, Y:-65.63, Z:-4.25 [[ 9.74659109e-01 2.23455314e-01 1.03606539e-02 3.90191526e+02] [-2.23444081e-01 9.74714167e-01 -2.24420799e-03 -6.56269002e+01] [-1.06001563e-02 -1.27689022e-04 9.99943809e-01 -4.24568437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.25, Y:-65.64, Z:-4.24 [[ 9.75453806e-01 2.19960273e-01 1.03610265e-02 3.90248915e+02] [-2.19948861e-01 9.75508826e-01 -2.24248637e-03 -6.56382454e+01] [-1.06005307e-02 -9.14541153e-05 9.99943809e-01 -4.23997807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.30, Y:-65.65, Z:-4.24 [[ 9.77058410e-01 2.12719311e-01 1.03614182e-02 3.90303960e+02] [-2.12707510e-01 9.77113348e-01 -2.24067518e-03 -6.56537515e+01] [-1.06009149e-02 -1.46809369e-05 9.99943809e-01 -4.24169040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.36, Y:-65.67, Z:-4.25 [[ 9.77951467e-01 2.08575082e-01 1.03616106e-02 3.90361205e+02] [-2.08563058e-01 9.78006357e-01 -2.23978484e-03 -6.56681276e+01] [-1.06008844e-02 2.93516630e-05 9.99943809e-01 -4.24512557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.42, Y:-65.68, Z:-4.25 [[ 9.78534196e-01 2.05823863e-01 1.03617132e-02 3.90417063e+02] [-2.05811689e-01 9.78589053e-01 -2.23931008e-03 -6.56845297e+01] [-1.06007626e-02 5.86797798e-05 9.99943809e-01 -4.24542385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.47, Y:-65.70, Z:-4.25 [[ 9.78472922e-01 2.06114951e-01 1.03618712e-02 3.90472755e+02] [-2.06102801e-01 9.78527784e-01 -2.23857891e-03 -6.57021525e+01] [-1.06007835e-02 5.47781647e-05 9.99943809e-01 -4.24562425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.53, Y:-65.72, Z:-4.25 [[ 9.78151576e-01 2.07634574e-01 1.03622926e-02 3.90527557e+02] [-2.07622531e-01 9.78206462e-01 -2.23662682e-03 -6.57203854e+01] [-1.06008626e-02 3.63146467e-05 9.99943809e-01 -4.24748767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.58, Y:-65.74, Z:-4.25 [[ 9.77428809e-01 2.11010765e-01 1.03624742e-02 3.90583060e+02] [-2.10998920e-01 9.77483738e-01 -2.23578482e-03 -6.57386141e+01] [-1.06009247e-02 -1.15037655e-06 9.99943809e-01 -4.24912575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.64, Y:-65.75, Z:-4.25 [[ 9.76824292e-01 2.13791764e-01 1.03626263e-02 3.90639326e+02] [-2.13780083e-01 9.76879256e-01 -2.23507958e-03 -6.57526399e+01] [-1.06008763e-02 -3.20430897e-05 9.99943809e-01 -4.24536746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.70, Y:-65.77, Z:-4.25 [[ 9.76509321e-01 2.15225836e-01 1.03627521e-02 3.90695691e+02] [-2.15214241e-01 9.76564303e-01 -2.23449644e-03 -6.57684804e+01] [-1.06008151e-02 -4.82052260e-05 9.99943809e-01 -4.25027978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.75, Y:-65.78, Z:-4.25 [[ 9.76590501e-01 2.14857171e-01 1.03628526e-02 3.90752539e+02] [-2.14845561e-01 9.76645480e-01 -2.23403032e-03 -6.57792870e+01] [-1.06008306e-02 -4.46800861e-05 9.99943809e-01 -4.25029084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.81, Y:-65.79, Z:-4.25 [[ 9.75969950e-01 2.17658597e-01 1.03630031e-02 3.90809572e+02] [-2.17647152e-01 9.76024964e-01 -2.23333171e-03 -6.57885285e+01] [-1.06006536e-02 -7.58134735e-05 9.99943809e-01 -4.24702098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.87, Y:-65.80, Z:-4.25 [[ 9.75395753e-01 2.20217450e-01 1.03634328e-02 3.90865626e+02] [-2.20206171e-01 9.75450800e-01 -2.23133585e-03 -6.57967592e+01] [-1.06003980e-02 -1.05656353e-04 9.99943809e-01 -4.24939829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.92, Y:-65.80, Z:-4.25 [[ 9.74680625e-01 2.23361311e-01 1.03636202e-02 3.90924048e+02] [-2.23350219e-01 9.74735710e-01 -2.23046543e-03 -6.58032345e+01] [-1.05999904e-02 -1.40725397e-04 9.99943809e-01 -4.25332653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.98, Y:-65.81, Z:-4.25 [[ 9.75467620e-01 2.19898876e-01 1.03637247e-02 3.90982139e+02] [-2.19887593e-01 9.75522667e-01 -2.22997952e-03 -6.58121226e+01] [-1.06004184e-02 -1.03581669e-04 9.99943809e-01 -4.25016091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:-65.82, Z:-4.25 [[ 9.76262012e-01 2.16344806e-01 1.03638303e-02 3.91040009e+02] [-2.16333328e-01 9.76317019e-01 -2.22948877e-03 -6.58220640e+01] [-1.06007222e-02 -6.54767026e-05 9.99943809e-01 -4.25443297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.10, Y:-65.83, Z:-4.26 [[ 9.76586787e-01 2.14874002e-01 1.03639359e-02 3.91097690e+02] [-2.14862446e-01 9.76641777e-01 -2.22899785e-03 -6.58335777e+01] [-1.06008065e-02 -5.00107620e-05 9.99943809e-01 -4.25703727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.15, Y:-65.85, Z:-4.26 [[ 9.76737869e-01 2.14186184e-01 1.03640421e-02 3.91154913e+02] [-2.14174594e-01 9.76792853e-01 -2.22850380e-03 -6.58450578e+01] [-1.06008370e-02 -4.30504635e-05 9.99943809e-01 -4.25556089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.21, Y:-65.86, Z:-4.26 [[ 9.77095692e-01 2.12547859e-01 1.03641751e-02 3.91209777e+02] [-2.12536184e-01 9.77150657e-01 -2.22788528e-03 -6.58589233e+01] [-1.06008927e-02 -2.59051075e-05 9.99943809e-01 -4.25641013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.27, Y:-65.87, Z:-4.26 [[ 9.78817101e-01 2.04474115e-01 1.03643585e-02 3.91265802e+02] [-2.04461996e-01 9.78871969e-01 -2.22703177e-03 -6.58724478e+01] [-1.06007503e-02 6.07393588e-05 9.99943809e-01 -4.25759110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.32, Y:-65.89, Z:-4.26 [[ 9.80612983e-01 1.95680233e-01 1.03645173e-02 3.91321612e+02] [-1.95667630e-01 9.80667743e-01 -2.22629244e-03 -6.58900777e+01] [-1.05997892e-02 1.55130743e-04 9.99943809e-01 -4.25700673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.38, Y:-65.91, Z:-4.26 [[ 9.82629085e-01 1.85290732e-01 1.03646751e-02 3.91375210e+02] [-1.85277558e-01 9.82683710e-01 -2.22555737e-03 -6.59128295e+01] [-1.05975726e-02 2.66555708e-04 9.99943809e-01 -4.25526365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.43, Y:-65.94, Z:-4.26 [[ 9.83548068e-01 1.80349019e-01 1.03648565e-02 3.91429974e+02] [-1.80335579e-01 9.83602628e-01 -2.22471240e-03 -6.59389508e+01] [-1.05961248e-02 3.18959193e-04 9.99943809e-01 -4.26212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.49, Y:-65.96, Z:-4.26 [[ 9.83637319e-01 1.79861593e-01 1.03649591e-02 3.91485461e+02] [-1.79848131e-01 9.83691874e-01 -2.22423441e-03 -6.59628088e+01] [-1.05959803e-02 3.23721453e-04 9.99943809e-01 -4.26116256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.54, Y:-65.99, Z:-4.26 [[ 9.83268274e-01 1.81868269e-01 1.03650622e-02 3.91538610e+02] [-1.81854924e-01 9.83322857e-01 -2.22375377e-03 -6.59932522e+01] [-1.05966328e-02 3.01608937e-04 9.99943809e-01 -4.25626599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.59, Y:-66.02, Z:-4.26 [[ 9.82589564e-01 1.85500164e-01 1.03651899e-02 3.91594130e+02] [-1.85487027e-01 9.82644198e-01 -2.22315821e-03 -6.60162806e+01] [-1.05976899e-02 2.61843796e-04 9.99943809e-01 -4.25763723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.65, Y:-66.04, Z:-4.26 [[ 9.81291322e-01 1.92249581e-01 1.03652917e-02 3.91650199e+02] [-1.92236825e-01 9.81346047e-01 -2.22268357e-03 -6.60364872e+01] [-1.05992480e-02 1.88509338e-04 9.99943809e-01 -4.25565886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.71, Y:-66.05, Z:-4.26 [[ 9.79465095e-01 2.01347177e-01 1.03654000e-02 3.91705318e+02] [-2.01334934e-01 9.79519937e-01 -2.22217827e-03 -6.60539274e+01] [-1.06005453e-02 8.96289235e-05 9.99943809e-01 -4.25578421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.76, Y:-66.07, Z:-4.26 [[ 9.77231636e-01 2.11921883e-01 1.03655346e-02 3.91760438e+02] [-2.11910240e-01 9.77286608e-01 -2.22155011e-03 -6.60707128e+01] [-1.06008933e-02 -2.55938889e-05 9.99943809e-01 -4.26038643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.82, Y:-66.09, Z:-4.27 [[ 9.76590687e-01 2.14856191e-01 1.03657096e-02 3.91817438e+02] [-2.14844722e-01 9.76645695e-01 -2.22073368e-03 -6.60856801e+01] [-1.06007640e-02 -5.82701632e-05 9.99943809e-01 -4.26643123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.88, Y:-66.10, Z:-4.27 [[ 9.76365884e-01 2.15875450e-01 1.03658148e-02 3.91875083e+02] [-2.15864043e-01 9.76420906e-01 -2.22024212e-03 -6.60989432e+01] [-1.06006941e-02 -6.98380425e-05 9.99943809e-01 -4.27158949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.93, Y:-66.11, Z:-4.27 [[ 9.75937100e-01 2.17805705e-01 1.03659233e-02 3.91933195e+02] [-2.17794412e-01 9.75992145e-01 -2.21973570e-03 -6.61083519e+01] [-1.06005308e-02 -9.13177478e-05 9.99943809e-01 -4.26680315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.99, Y:-66.12, Z:-4.26 [[ 9.74638541e-01 2.23544759e-01 1.03660307e-02 3.91990778e+02] [-2.23533796e-01 9.74693653e-01 -2.21923396e-03 -6.61166892e+01] [-1.05998025e-02 -1.54207244e-04 9.99943809e-01 -4.26233589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.05, Y:-66.13, Z:-4.27 [[ 9.74343744e-01 2.24826180e-01 1.03661637e-02 3.92047689e+02] [-2.24815296e-01 9.74398871e-01 -2.21861249e-03 -6.61269390e+01] [-1.05995804e-02 -1.68780960e-04 9.99943809e-01 -4.26558042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.10, Y:-66.14, Z:-4.26 [[ 9.75545635e-01 2.19552392e-01 1.03663218e-02 3.92104980e+02] [-2.19541218e-01 9.75600704e-01 -2.21787371e-03 -6.61380155e+01] [-1.06003303e-02 -1.12197893e-04 9.99943809e-01 -4.26248520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.16, Y:-66.15, Z:-4.26 [[ 9.76510965e-01 2.15218197e-01 1.03664523e-02 3.92163602e+02] [-2.15206785e-01 9.76565985e-01 -2.21726340e-03 -6.61478891e+01] [-1.06007201e-02 -6.57488476e-05 9.99943809e-01 -4.25838972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.22, Y:-66.16, Z:-4.26 [[ 9.76925232e-01 2.13329848e-01 1.03666327e-02 3.92220923e+02] [-2.13318339e-01 9.76980232e-01 -2.21641958e-03 -6.61570229e+01] [-1.06008237e-02 -4.61166545e-05 9.99943809e-01 -4.26266061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.28, Y:-66.17, Z:-4.27 [[ 9.76796444e-01 2.13918763e-01 1.03667676e-02 3.92278938e+02] [-2.13907293e-01 9.76851452e-01 -2.21578865e-03 -6.61669352e+01] [-1.06007907e-02 -5.31527185e-05 9.99943809e-01 -4.27342474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.34, Y:-66.18, Z:-4.27 [[ 9.76004252e-01 2.17504550e-01 1.03668688e-02 3.92336817e+02] [-2.17493287e-01 9.76059303e-01 -2.21531519e-03 -6.61757556e+01] [-1.06005198e-02 -9.25673256e-05 9.99943809e-01 -4.26946890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:392.40, Y:-66.18, Z:-4.27 [[ 9.75202901e-01 2.21069734e-01 1.03669690e-02 3.92395164e+02] [-2.21058678e-01 9.75257994e-01 -2.21484618e-03 -6.61821440e+01] [-1.06001048e-02 -1.31784026e-04 9.99943809e-01 -4.26861099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.45, Y:-66.19, Z:-4.27 [[ 9.74718040e-01 2.23197815e-01 1.03671208e-02 3.92453509e+02] [-2.23186887e-01 9.74773159e-01 -2.21413533e-03 -6.61908007e+01] [-1.05997812e-02 -1.55647762e-04 9.99943809e-01 -4.27218900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.51, Y:-66.20, Z:-4.27 [[ 9.74290380e-01 2.25057273e-01 1.03672282e-02 3.92511486e+02] [-2.25046456e-01 9.74345520e-01 -2.21363199e-03 -6.61963751e+01] [-1.05994564e-02 -1.76387620e-04 9.99943809e-01 -4.26992200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.57, Y:-66.20, Z:-4.27 [[ 9.74231277e-01 2.25312975e-01 1.03673604e-02 3.92569274e+02] [-2.25302178e-01 9.74286421e-01 -2.21301289e-03 -6.62020175e+01] [-1.05993990e-02 -1.79802508e-04 9.99943809e-01 -4.27025333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.63, Y:-66.21, Z:-4.27 [[ 9.74480405e-01 2.24233036e-01 1.03675113e-02 3.92626926e+02] [-2.24222186e-01 9.74535539e-01 -2.21230567e-03 -6.62090367e+01] [-1.05995802e-02 -1.68777529e-04 9.99943809e-01 -4.27020960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.68, Y:-66.22, Z:-4.27 [[ 9.74391611e-01 2.24618566e-01 1.03676691e-02 3.92684104e+02] [-2.24607746e-01 9.74446750e-01 -2.21156617e-03 -6.62161884e+01] [-1.05995002e-02 -1.73727257e-04 9.99943809e-01 -4.27339923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.74, Y:-66.23, Z:-4.27 [[ 9.75212587e-01 2.21026960e-01 1.03678512e-02 3.92741269e+02] [-2.21015945e-01 9.75267689e-01 -2.21071189e-03 -6.62255582e+01] [-1.06000572e-02 -1.35546370e-04 9.99943809e-01 -4.27392582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.80, Y:-66.24, Z:-4.27 [[ 9.75914335e-01 2.17907585e-01 1.03680066e-02 3.92797947e+02] [-2.17896402e-01 9.75969402e-01 -2.20998271e-03 -6.62369875e+01] [-1.06004292e-02 -1.02397532e-04 9.99943809e-01 -4.27400083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.85, Y:-66.25, Z:-4.27 [[ 9.76185081e-01 2.16691461e-01 1.03681631e-02 3.92854485e+02] [-2.16680218e-01 9.76240136e-01 -2.20924851e-03 -6.62482417e+01] [-1.06005422e-02 -8.99403990e-05 9.99943809e-01 -4.26990393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.91, Y:-66.26, Z:-4.27 [[ 9.75852803e-01 2.18182960e-01 1.03683237e-02 3.92909964e+02] [-2.18171808e-01 9.75907877e-01 -2.20849459e-03 -6.62589891e+01] [-1.06003846e-02 -1.06910292e-04 9.99943809e-01 -4.27004144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.97, Y:-66.27, Z:-4.27 [[ 9.75093028e-01 2.21553789e-01 1.03685085e-02 3.92966995e+02] [-2.21542837e-01 9.75148142e-01 -2.20762645e-03 -6.62678663e+01] [-1.05999398e-02 -1.44427633e-04 9.99943809e-01 -4.27328853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.02, Y:-66.28, Z:-4.27 [[ 9.74899040e-01 2.22405830e-01 1.03686661e-02 3.93024887e+02] [-2.22394934e-01 9.74954165e-01 -2.20688620e-03 -6.62767984e+01] [-1.05997985e-02 -1.54447564e-04 9.99943809e-01 -4.27308104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.08, Y:-66.29, Z:-4.27 [[ 9.75029108e-01 2.21834906e-01 1.03688246e-02 3.93081140e+02] [-2.21823985e-01 9.75084228e-01 -2.20614095e-03 -6.62853277e+01] [-1.05998764e-02 -1.49002365e-04 9.99943809e-01 -4.27382007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.14, Y:-66.29, Z:-4.27 [[ 9.74680239e-01 2.23362742e-01 1.03690067e-02 3.93139119e+02] [-2.23351917e-01 9.74735378e-01 -2.20528474e-03 -6.62907722e+01] [-1.05996162e-02 -1.66490072e-04 9.99943809e-01 -4.27213670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.20, Y:-66.30, Z:-4.27 [[ 9.74782089e-01 2.22917831e-01 1.03691618e-02 3.93196050e+02] [-2.22906989e-01 9.74837224e-01 -2.20455528e-03 -6.63000521e+01] [-1.05996796e-02 -1.62397641e-04 9.99943809e-01 -4.27424389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.25, Y:-66.31, Z:-4.28 [[ 9.75782168e-01 2.18498601e-01 1.03693197e-02 3.93251883e+02] [-2.18487517e-01 9.75837255e-01 -2.20381224e-03 -6.63108136e+01] [-1.06002984e-02 -1.15126246e-04 9.99943809e-01 -4.27733490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.31, Y:-66.32, Z:-4.28 [[ 9.76940656e-01 2.13259062e-01 1.03695020e-02 3.93308176e+02] [-2.13247692e-01 9.76995685e-01 -2.20295445e-03 -6.63245553e+01] [-1.06007587e-02 -5.91165985e-05 9.99943809e-01 -4.27947449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.37, Y:-66.34, Z:-4.27 [[ 9.78559364e-01 2.05703771e-01 1.03696553e-02 3.93365020e+02] [-2.05691983e-01 9.78614305e-01 -2.20223271e-03 -6.63405314e+01] [-1.06009005e-02 2.20604816e-05 9.99943809e-01 -4.27453186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.42, Y:-66.35, Z:-4.27 [[ 9.79212512e-01 2.02571775e-01 1.03697622e-02 3.93420984e+02] [-2.02559818e-01 9.79267416e-01 -2.20172910e-03 -6.63527498e+01] [-1.06007784e-02 5.54635475e-05 9.99943809e-01 -4.27385693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.48, Y:-66.37, Z:-4.28 [[ 9.79918960e-01 1.99126332e-01 1.03699468e-02 3.93477161e+02] [-1.99114190e-01 9.79973824e-01 -2.20085901e-03 -6.63685365e+01] [-1.06005254e-02 9.18599003e-05 9.99943809e-01 -4.27920717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.865769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:393.53, Y:-66.39, Z:-4.28 [[ 9.80616116e-01 1.95664239e-01 1.03701026e-02 3.93533873e+02] [-1.95651911e-01 9.80670938e-01 -2.20012508e-03 -6.63863861e+01] [-1.06001440e-02 1.28547720e-04 9.99943809e-01 -4.28291356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.59, Y:-66.41, Z:-4.28 [[ 9.80517547e-01 1.96157588e-01 1.03702048e-02 3.93588671e+02] [-1.96145293e-01 9.80572377e-01 -2.19964288e-03 -6.64068875e+01] [-1.06002130e-02 1.22721582e-04 9.99943809e-01 -4.28253713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.64, Y:-66.43, Z:-4.28 [[ 9.79944209e-01 1.99002018e-01 1.03703598e-02 3.93644279e+02] [-1.98989890e-01 9.79999076e-01 -2.19891203e-03 -6.64251501e+01] [-1.06005310e-02 9.12143463e-05 9.99943809e-01 -4.28008611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.70, Y:-66.44, Z:-4.29 [[ 9.78349748e-01 2.06698390e-01 1.03704874e-02 3.93701251e+02] [-2.06686700e-01 9.78404710e-01 -2.19831014e-03 -6.64415210e+01] [-1.06009209e-02 7.27436123e-06 9.99943809e-01 -4.28572634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.76, Y:-66.45, Z:-4.29 [[ 9.77174319e-01 2.12185769e-01 1.03705900e-02 3.93758004e+02] [-2.12174393e-01 9.77229347e-01 -2.19782595e-03 -6.64549645e+01] [-1.06007923e-02 -5.27145644e-05 9.99943809e-01 -4.29056209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.82, Y:-66.46, Z:-4.28 [[ 9.75831637e-01 2.18277493e-01 1.03706933e-02 3.93816026e+02] [-2.18266466e-01 9.75886736e-01 -2.19733824e-03 -6.64644101e+01] [-1.06002516e-02 -1.19342413e-04 9.99943809e-01 -4.28094184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.87, Y:-66.47, Z:-4.28 [[ 9.75694997e-01 2.18887457e-01 1.03708014e-02 3.93873348e+02] [-2.18876469e-01 9.75750104e-01 -2.19682825e-03 -6.64690390e+01] [-1.06001687e-02 -1.26490052e-04 9.99943809e-01 -4.28349278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.93, Y:-66.48, Z:-4.29 [[ 9.76234546e-01 2.16468369e-01 1.03709872e-02 3.93930242e+02] [-2.16457254e-01 9.76289627e-01 -2.19595084e-03 -6.64765205e+01] [-1.06004411e-02 -1.01112330e-04 9.99943809e-01 -4.28838933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.99, Y:-66.48, Z:-4.29 [[ 9.77141454e-01 2.12337039e-01 1.03711648e-02 3.93988953e+02] [-2.12325700e-01 9.77196489e-01 -2.19511134e-03 -6.64838045e+01] [-1.06007693e-02 -5.71305508e-05 9.99943809e-01 -4.28574211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.05, Y:-66.49, Z:-4.28 [[ 9.77572306e-01 2.10344533e-01 1.03712715e-02 3.94045553e+02] [-2.10333087e-01 9.77627320e-01 -2.19460730e-03 -6.64896580e+01] [-1.06008620e-02 -3.60342286e-05 9.99943809e-01 -4.28283758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.10, Y:-66.50, Z:-4.28 [[ 9.77553315e-01 2.10432764e-01 1.03715559e-02 3.94104734e+02] [-2.10421337e-01 9.77608332e-01 -2.19326257e-03 -6.64968004e+01] [-1.06008537e-02 -3.83655549e-05 9.99943809e-01 -4.27890550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.16, Y:-66.50, Z:-4.28 [[ 9.77611090e-01 2.10164186e-01 1.03716343e-02 3.94163489e+02] [-2.10152748e-01 9.77666105e-01 -2.19289179e-03 -6.65011833e+01] [-1.06008626e-02 -3.58321035e-05 9.99943809e-01 -4.28303788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.22, Y:-66.51, Z:-4.29 [[ 9.78371852e-01 2.06593672e-01 1.03717384e-02 3.94221639e+02] [-2.06582039e-01 9.78426826e-01 -2.19239934e-03 -6.65075145e+01] [-1.06009229e-02 2.36694642e-06 9.99943809e-01 -4.28671617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.28, Y:-66.52, Z:-4.29 [[ 9.80516037e-01 1.96165047e-01 1.03718932e-02 3.94278416e+02] [-1.96152837e-01 9.80570885e-01 -2.19166660e-03 -6.65164741e+01] [-1.06003049e-02 1.14487977e-04 9.99943809e-01 -4.29079067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.34, Y:-66.53, Z:-4.29 [[ 9.81882850e-01 1.89204891e-01 1.03720206e-02 3.94336631e+02] [-1.89192298e-01 9.81937612e-01 -2.19106323e-03 -6.65259717e+01] [-1.05992371e-02 1.89060983e-04 9.99943809e-01 -4.29329418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.39, Y:-66.53, Z:-4.29 [[ 9.83216135e-01 1.82149531e-01 1.03721243e-02 3.94393986e+02] [-1.82136551e-01 9.83270806e-01 -2.19057253e-03 -6.65348556e+01] [-1.05976188e-02 2.64663317e-04 9.99943809e-01 -4.28877589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.45, Y:-66.55, Z:-4.29 [[ 9.83626654e-01 1.79919490e-01 1.03722517e-02 3.94451017e+02] [-1.79906392e-01 9.83681297e-01 -2.18996911e-03 -6.65476524e+01] [-1.05970081e-02 2.88077612e-04 9.99943809e-01 -4.28791301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.51, Y:-66.56, Z:-4.30 [[ 9.83791374e-01 1.79016605e-01 1.03723981e-02 3.94508498e+02] [-1.79003464e-01 9.83846008e-01 -2.18927545e-03 -6.65588622e+01] [-1.05967591e-02 2.97095115e-04 9.99943809e-01 -4.29787875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.57, Y:-66.57, Z:-4.30 [[ 9.83794829e-01 1.78997613e-01 1.03724947e-02 3.94565519e+02] [-1.78984476e-01 9.83849463e-01 -2.18881782e-03 -6.65716480e+01] [-1.05967665e-02 2.96832135e-04 9.99943809e-01 -4.29589153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.62, Y:-66.58, Z:-4.29 [[ 9.84138587e-01 1.77097855e-01 1.03725906e-02 3.94622370e+02] [-1.77084618e-01 9.84193197e-01 -2.18836313e-03 -6.65819028e+01] [-1.05961875e-02 3.16826361e-04 9.99943809e-01 -4.29301736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.68, Y:-66.59, Z:-4.30 [[ 9.84600883e-01 1.74509334e-01 1.03727094e-02 3.94679887e+02] [-1.74495959e-01 9.84655459e-01 -2.18779978e-03 -6.65944116e+01] [-1.05953364e-02 3.44113717e-04 9.99943809e-01 -4.29587163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.74, Y:-66.61, Z:-4.29 [[ 9.85420054e-01 1.69822618e-01 1.03728032e-02 3.94736379e+02] [-1.69808988e-01 9.85474567e-01 -2.18735499e-03 -6.66093767e+01] [-1.05935961e-02 3.94068260e-04 9.99943809e-01 -4.29164683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.79, Y:-66.63, Z:-4.29 [[ 9.85847338e-01 1.67324321e-01 1.03729327e-02 3.94791865e+02] [-1.67310560e-01 9.85901818e-01 -2.18674082e-03 -6.66257586e+01] [-1.05925881e-02 4.20291440e-04 9.99943809e-01 -4.29323224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.85, Y:-66.64, Z:-4.29 [[ 9.85987114e-01 1.66498682e-01 1.03730885e-02 3.94846594e+02] [-1.66484882e-01 9.86041584e-01 -2.18600134e-03 -6.66419522e+01] [-1.05922630e-02 4.28406737e-04 9.99943809e-01 -4.29239128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.90, Y:-66.66, Z:-4.29 [[ 9.85846798e-01 1.67327485e-01 1.03732689e-02 3.94902460e+02] [-1.67313740e-01 9.85901282e-01 -2.18514503e-03 -6.66600120e+01] [-1.05926539e-02 4.18627813e-04 9.99943809e-01 -4.29489144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.96, Y:-66.68, Z:-4.30 [[ 9.85889631e-01 1.67074914e-01 1.03734210e-02 3.94957419e+02] [-1.67061163e-01 9.85944114e-01 -2.18442258e-03 -6.66777501e+01] [-1.05925756e-02 4.20603794e-04 9.99943809e-01 -4.29759922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.01, Y:-66.70, Z:-4.30 [[ 9.86012643e-01 1.66347401e-01 1.03735467e-02 3.95013492e+02] [-1.66333616e-01 9.86067117e-01 -2.18382545e-03 -6.66978909e+01] [-1.05922870e-02 4.27809959e-04 9.99943809e-01 -4.29698980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.07, Y:-66.72, Z:-4.30 [[ 9.85985117e-01 1.66510469e-01 1.03736423e-02 3.95069171e+02] [-1.66496698e-01 9.86039595e-01 -2.18337147e-03 -6.67167652e+01] [-1.05923763e-02 4.25594593e-04 9.99943809e-01 -4.29646939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.12, Y:-66.74, Z:-4.30 [[ 9.85805325e-01 1.67571618e-01 1.03737439e-02 3.95123766e+02] [-1.67557910e-01 9.85859818e-01 -2.18288882e-03 -6.67403105e+01] [-1.05928474e-02 4.13700580e-04 9.99943809e-01 -4.29827419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.18, Y:-66.77, Z:-4.30 [[ 9.85167489e-01 1.71281641e-01 1.03738696e-02 3.95178641e+02] [-1.71268145e-01 9.85222036e-01 -2.18229098e-03 -6.67674530e+01] [-1.05943513e-02 3.73208725e-04 9.99943809e-01 -4.30139329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.23, Y:-66.79, Z:-4.30 [[ 9.84108743e-01 1.77263540e-01 1.03739450e-02 3.95234185e+02] [-1.77250380e-01 9.84163372e-01 -2.18193264e-03 -6.67863822e+01] [-1.05964338e-02 3.08473303e-04 9.99943809e-01 -4.30130931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.29, Y:-66.80, Z:-4.30 [[ 9.83342026e-01 1.81468559e-01 1.03740695e-02 3.95291124e+02] [-1.81455638e-01 9.83396712e-01 -2.18134053e-03 -6.67997985e+01] [-1.05976706e-02 2.62570416e-04 9.99943809e-01 -4.30020589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.35, Y:-66.81, Z:-4.30 [[ 9.80485733e-01 1.96316335e-01 1.03741685e-02 3.95346634e+02] [-1.96304247e-01 9.80540609e-01 -2.18086948e-03 -6.68134615e+01] [-1.06004338e-02 1.01818068e-04 9.99943809e-01 -4.29840414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.40, Y:-66.82, Z:-4.30 [[ 9.79065541e-01 2.03280690e-01 1.03743398e-02 3.95404214e+02] [-2.03269001e-01 9.79120504e-01 -2.18005426e-03 -6.68244581e+01] [-1.06008918e-02 2.56343093e-05 9.99943809e-01 -4.30288246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.46, Y:-66.83, Z:-4.30 [[ 9.78013923e-01 2.08281391e-01 1.03744436e-02 3.95462986e+02] [-2.08269989e-01 9.78068945e-01 -2.17956016e-03 -6.68313758e+01] [-1.06008830e-02 -2.90450831e-05 9.99943809e-01 -4.30035218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.52, Y:-66.84, Z:-4.30 [[ 9.77832190e-01 2.09132919e-01 1.03745490e-02 3.95520257e+02] [-2.09121570e-01 9.77887223e-01 -2.17905833e-03 -6.68378313e+01] [-1.06008518e-02 -3.87886044e-05 9.99943809e-01 -4.29723947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.58, Y:-66.84, Z:-4.30 [[ 9.78121191e-01 2.07777048e-01 1.03747010e-02 3.95577621e+02] [-2.07765631e-01 9.78176210e-01 -2.17833470e-03 -6.68415498e+01] [-1.06008936e-02 -2.48309555e-05 9.99943809e-01 -4.29822782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.64, Y:-66.85, Z:-4.30 [[ 9.78617185e-01 2.05428252e-01 1.03748783e-02 3.95635167e+02] [-2.05416711e-01 9.78672179e-01 -2.17748996e-03 -6.68499856e+01] [-1.06009227e-02 -2.44272244e-07 9.99943809e-01 -4.29910054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.69, Y:-66.86, Z:-4.30 [[ 9.79242546e-01 2.02426271e-01 1.03750336e-02 3.95692598e+02] [-2.02414569e-01 9.79297505e-01 -2.17674947e-03 -6.68571142e+01] [-1.06008758e-02 3.15077295e-05 9.99943809e-01 -4.29982160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.75, Y:-66.86, Z:-4.31 [[ 9.79311412e-01 2.02092833e-01 1.03751881e-02 3.95750457e+02] [-2.02081120e-01 9.79366370e-01 -2.17601278e-03 -6.68637809e+01] [-1.06008669e-02 3.43645052e-05 9.99943809e-01 -4.30543974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.81, Y:-66.87, Z:-4.31 [[ 9.79133702e-01 2.02952078e-01 1.03753414e-02 3.95808950e+02] [-2.02940422e-01 9.79188671e-01 -2.17528157e-03 -6.68727863e+01] [-1.06008947e-02 2.43153295e-05 9.99943809e-01 -4.30751042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.87, Y:-66.88, Z:-4.30 [[ 9.79540324e-01 2.00980355e-01 1.03754433e-02 3.95866901e+02] [-2.00968593e-01 9.79595271e-01 -2.17479568e-03 -6.68799220e+01] [-1.06008264e-02 4.51618303e-05 9.99943809e-01 -4.30390453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.92, Y:-66.89, Z:-4.30 [[ 9.80234632e-01 1.97566225e-01 1.03755689e-02 3.95924502e+02] [-1.97554279e-01 9.80289539e-01 -2.17419637e-03 -6.68892830e+01] [-1.06006094e-02 8.14845514e-05 9.99943809e-01 -4.30381680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.98, Y:-66.90, Z:-4.30 [[ 9.81195741e-01 1.92736251e-01 1.03757234e-02 3.95980931e+02] [-1.92724042e-01 9.81250590e-01 -2.17345846e-03 -6.68976117e+01] [-1.06000890e-02 1.32936823e-04 9.99943809e-01 -4.30439801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.04, Y:-66.91, Z:-4.30 [[ 9.81744653e-01 1.89920448e-01 1.03759014e-02 3.96037561e+02] [-1.89908090e-01 9.81799469e-01 -2.17260858e-03 -6.69087133e+01] [-1.05996773e-02 1.62479241e-04 9.99943809e-01 -4.30258857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.09, Y:-66.92, Z:-4.30 [[ 9.82191671e-01 1.87594933e-01 1.03760559e-02 3.96094712e+02] [-1.87582453e-01 9.82246459e-01 -2.17187070e-03 -6.69205524e+01] [-1.05992761e-02 1.86827297e-04 9.99943809e-01 -4.30414745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.15, Y:-66.93, Z:-4.31 [[ 9.81882818e-01 1.89204824e-01 1.03762146e-02 3.96152762e+02] [-1.89192442e-01 9.81937628e-01 -2.17111215e-03 -6.69294378e+01] [-1.05995804e-02 1.68676340e-04 9.99943809e-01 -4.30914413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:396.21, Y:-66.94, Z:-4.31 [[ 9.81700271e-01 1.90149702e-01 1.03763218e-02 3.96208579e+02] [-1.90137379e-01 9.81755095e-01 -2.17059978e-03 -6.69393727e+01] [-1.05997456e-02 1.57951780e-04 9.99943809e-01 -4.31067673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.26, Y:-66.95, Z:-4.31 [[ 9.81533927e-01 1.91006485e-01 1.03765073e-02 3.96264874e+02] [-1.90994219e-01 9.81588764e-01 -2.16971232e-03 -6.69474298e+01] [-1.05998921e-02 1.47793351e-04 9.99943809e-01 -4.31281426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.32, Y:-66.96, Z:-4.31 [[ 9.81622075e-01 1.90552948e-01 1.03766861e-02 3.96322071e+02] [-1.90540666e-01 9.81676908e-01 -2.16885679e-03 -6.69589963e+01] [-1.05998352e-02 1.51817020e-04 9.99943809e-01 -4.31345444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.38, Y:-66.97, Z:-4.31 [[ 9.82490293e-01 1.86024582e-01 1.03768386e-02 3.96378916e+02] [-1.86012054e-01 9.82545070e-01 -2.16812719e-03 -6.69740976e+01] [-1.05990365e-02 1.99946856e-04 9.99943809e-01 -4.30980198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.44, Y:-66.99, Z:-4.31 [[ 9.83224811e-01 1.82102416e-01 1.03769405e-02 3.96435625e+02] [-1.82089675e-01 9.83279539e-01 -2.16763908e-03 -6.69918239e+01] [-1.05981656e-02 2.41742801e-04 9.99943809e-01 -4.31252789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.49, Y:-67.01, Z:-4.31 [[ 9.82753557e-01 1.84628716e-01 1.03770417e-02 3.96490552e+02] [-1.84616120e-01 9.82808319e-01 -2.16715488e-03 -6.70064843e+01] [-1.05987619e-02 2.14010000e-04 9.99943809e-01 -4.31367967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.55, Y:-67.02, Z:-4.31 [[ 9.81455415e-01 1.91409463e-01 1.03772167e-02 3.96547563e+02] [-1.91397255e-01 9.81510264e-01 -2.16631637e-03 -6.70203023e+01] [-1.05999982e-02 1.39972142e-04 9.99943809e-01 -4.30627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.60, Y:-67.03, Z:-4.31 [[ 9.80336433e-01 1.97060370e-01 1.03773151e-02 3.96603960e+02] [-1.97048484e-01 9.80391353e-01 -2.16584487e-03 -6.70339690e+01] [-1.06006322e-02 7.84224240e-05 9.99943809e-01 -4.30893774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.66, Y:-67.05, Z:-4.31 [[ 9.79462894e-01 2.01357261e-01 1.03774627e-02 3.96660143e+02] [-2.01345623e-01 9.79517867e-01 -2.16513743e-03 -6.70496760e+01] [-1.06008763e-02 3.12150851e-05 9.99943809e-01 -4.31084194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.72, Y:-67.06, Z:-4.31 [[ 9.78059270e-01 2.08068186e-01 1.03776168e-02 3.96717016e+02] [-2.08056932e-01 9.78114323e-01 -2.16439872e-03 -6.70625587e+01] [-1.06008381e-02 -4.22248780e-05 9.99943809e-01 -4.30610147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.77, Y:-67.07, Z:-4.31 [[ 9.77668744e-01 2.09895517e-01 1.03777702e-02 3.96774490e+02] [-2.09884374e-01 9.77723820e-01 -2.16366272e-03 -6.70733342e+01] [-1.06007363e-02 -6.27863976e-05 9.99943809e-01 -4.30810509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.83, Y:-67.09, Z:-4.31 [[ 9.77335942e-01 2.11439718e-01 1.03779235e-02 3.96830955e+02] [-2.11428671e-01 9.77391037e-01 -2.16292732e-03 -6.70855597e+01] [-1.06006182e-02 -8.02839579e-05 9.99943809e-01 -4.31444796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.89, Y:-67.09, Z:-4.31 [[ 9.77073349e-01 2.12649868e-01 1.03780757e-02 3.96887810e+02] [-2.12638896e-01 9.77128459e-01 -2.16219657e-03 -6.70946422e+01] [-1.06005040e-02 -9.41579198e-05 9.99943809e-01 -4.31484920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.95, Y:-67.11, Z:-4.32 [[ 9.77042034e-01 2.12793696e-01 1.03782263e-02 3.96945511e+02] [-2.12782740e-01 9.77097146e-01 -2.16147359e-03 -6.71060427e+01] [-1.06004833e-02 -9.64568786e-05 9.99943809e-01 -4.31870414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.00, Y:-67.12, Z:-4.32 [[ 9.77659814e-01 2.09937084e-01 1.03783256e-02 3.97002595e+02] [-2.09925972e-01 9.77714895e-01 -2.16099666e-03 -6.71191352e+01] [-1.06007169e-02 -6.59605051e-05 9.99943809e-01 -4.32444001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.06, Y:-67.13, Z:-4.32 [[ 9.78072539e-01 2.08005761e-01 1.03784280e-02 3.97058517e+02] [-2.07994545e-01 9.78127600e-01 -2.16050505e-03 -6.71316047e+01] [-1.06008243e-02 -4.55257410e-05 9.99943809e-01 -4.32435729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.12, Y:-67.14, Z:-4.32 [[ 9.78053237e-01 2.08096495e-01 1.03786054e-02 3.97116260e+02] [-2.08085293e-01 9.78108300e-01 -2.15965220e-03 -6.71436798e+01] [-1.06008162e-02 -4.73803331e-05 9.99943809e-01 -4.32329259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.17, Y:-67.15, Z:-4.32 [[ 9.77409367e-01 2.11100002e-01 1.03787090e-02 3.97172719e+02] [-2.11088975e-01 9.77464466e-01 -2.15915430e-03 -6.71530145e+01] [-1.06006167e-02 -8.04534071e-05 9.99943809e-01 -4.32423459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.23, Y:-67.16, Z:-4.32 [[ 9.76094734e-01 2.17097558e-01 1.03788888e-02 3.97230300e+02] [-2.17086878e-01 9.76149901e-01 -2.15828979e-03 -6.71616269e+01] [-1.05999107e-02 -1.46425268e-04 9.99943809e-01 -4.32210049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.29, Y:-67.17, Z:-4.32 [[ 9.75665128e-01 2.19020168e-01 1.03790118e-02 3.97288618e+02] [-2.19009603e-01 9.75720318e-01 -2.15769807e-03 -6.71706939e+01] [-1.05995921e-02 -1.67912492e-04 9.99943809e-01 -4.31764918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.35, Y:-67.18, Z:-4.32 [[ 9.75641099e-01 2.19127176e-01 1.03791087e-02 3.97347189e+02] [-2.19116623e-01 9.75696291e-01 -2.15723202e-03 -6.71751356e+01] [-1.05995660e-02 -1.69551021e-04 9.99943809e-01 -4.31904853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.40, Y:-67.18, Z:-4.32 [[ 9.76913067e-01 2.13384934e-01 1.03792616e-02 3.97404428e+02] [-2.13374064e-01 9.76968197e-01 -2.15649586e-03 -6.71776376e+01] [-1.06003722e-02 -1.07956250e-04 9.99943809e-01 -4.31731614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.46, Y:-67.19, Z:-4.32 [[ 9.78460250e-01 2.06174215e-01 1.03794380e-02 3.97462581e+02] [-2.06162948e-01 9.78515300e-01 -2.15564645e-03 -6.71874360e+01] [-1.06008776e-02 -3.06411767e-05 9.99943809e-01 -4.32229112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.52, Y:-67.20, Z:-4.32 [[ 9.80570292e-01 1.95893254e-01 1.03795284e-02 3.97520292e+02] [-1.95881414e-01 9.80625222e-01 -2.15521111e-03 -6.71958428e+01] [-1.06006187e-02 8.01792861e-05 9.99943809e-01 -4.32111753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.58, Y:-67.21, Z:-4.32 [[ 9.80944511e-01 1.94010639e-01 1.03796782e-02 3.97576681e+02] [-1.93998702e-01 9.80999420e-01 -2.15448971e-03 -6.72057578e+01] [-1.06004522e-02 9.97907635e-05 9.99943809e-01 -4.32246279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.63, Y:-67.22, Z:-4.33 [[ 9.80779099e-01 1.94845111e-01 1.03798498e-02 3.97634512e+02] [-1.94833229e-01 9.80834020e-01 -2.15366271e-03 -6.72182430e+01] [-1.06005404e-02 8.99277240e-05 9.99943809e-01 -4.32677027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.69, Y:-67.23, Z:-4.33 [[ 9.80756022e-01 1.94961234e-01 1.03799456e-02 3.97690613e+02] [-1.94949364e-01 9.80810945e-01 -2.15320085e-03 -6.72324227e+01] [-1.06005549e-02 8.82009204e-05 9.99943809e-01 -4.32746443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.75, Y:-67.25, Z:-4.33 [[ 9.80991398e-01 1.93773402e-01 1.03800913e-02 3.97747723e+02] [-1.93761473e-01 9.81046308e-01 -2.15249789e-03 -6.72487851e+01] [-1.06004471e-02 1.00320131e-04 9.99943809e-01 -4.32600699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.80, Y:-67.26, Z:-4.33 [[ 9.81045845e-01 1.93497552e-01 1.03801875e-02 3.97804662e+02] [-1.93485612e-01 9.81100753e-01 -2.15203393e-03 -6.72622523e+01] [-1.06004231e-02 1.02827016e-04 9.99943809e-01 -4.32539023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.86, Y:-67.28, Z:-4.33 [[ 9.80296378e-01 1.97259370e-01 1.03803394e-02 3.97859845e+02] [-1.97247648e-01 9.80351334e-01 -2.15130105e-03 -6.72782067e+01] [-1.06007439e-02 6.14150976e-05 9.99943809e-01 -4.32677332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.92, Y:-67.29, Z:-4.33 [[ 9.79439036e-01 2.01473121e-01 1.03806115e-02 3.97916742e+02] [-2.01461650e-01 9.79494044e-01 -2.14998733e-03 -6.72901976e+01] [-1.06009118e-02 1.44864000e-05 9.99943809e-01 -4.32673785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.97, Y:-67.30, Z:-4.33 [[ 9.78165874e-01 2.07566287e-01 1.03807526e-02 3.97974117e+02] [-2.07555166e-01 9.78220953e-01 -2.14930566e-03 -6.73008520e+01] [-1.06007931e-02 -5.22013829e-05 9.99943809e-01 -4.32661605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.03, Y:-67.31, Z:-4.32 [[ 9.77737919e-01 2.09572897e-01 1.03808548e-02 3.98031817e+02] [-2.09561894e-01 9.77793023e-01 -2.14881215e-03 -6.73109401e+01] [-1.06006602e-02 -7.44564668e-05 9.99943809e-01 -4.32423900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.09, Y:-67.32, Z:-4.32 [[ 9.77733435e-01 2.09593813e-01 1.03809601e-02 3.98088555e+02] [-2.09582816e-01 9.77788539e-01 -2.14830310e-03 -6.73208471e+01] [-1.06006549e-02 -7.52030894e-05 9.99943809e-01 -4.32157691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.15, Y:-67.33, Z:-4.32 [[ 9.77620620e-01 2.10119384e-01 1.03810908e-02 3.98146158e+02] [-2.10108423e-01 9.77675733e-01 -2.14767166e-03 -6.73269314e+01] [-1.06006080e-02 -8.15465133e-05 9.99943809e-01 -4.32252321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.20, Y:-67.33, Z:-4.32 [[ 9.77523000e-01 2.10573061e-01 1.03812461e-02 3.98203845e+02] [-2.10562134e-01 9.77578119e-01 -2.14692044e-03 -6.73340347e+01] [-1.06005627e-02 -8.72332375e-05 9.99943809e-01 -4.32457817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.26, Y:-67.34, Z:-4.33 [[ 9.77887163e-01 2.08875377e-01 1.03814054e-02 3.98261061e+02] [-2.08864362e-01 9.77942264e-01 -2.14614981e-03 -6.73417618e+01] [-1.06006930e-02 -6.96132788e-05 9.99943809e-01 -4.32913347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.32, Y:-67.35, Z:-4.33 [[ 9.78378548e-01 2.06561468e-01 1.03815373e-02 3.98318246e+02] [-2.06550330e-01 9.78433625e-01 -2.14551163e-03 -6.73534356e+01] [-1.06008252e-02 -4.51874061e-05 9.99943809e-01 -4.33203128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.38, Y:-67.36, Z:-4.33 [[ 9.79002166e-01 2.03585313e-01 1.03816423e-02 3.98375314e+02] [-2.03574013e-01 9.79057210e-01 -2.14500383e-03 -6.73636360e+01] [-1.06009130e-02 -1.34691788e-05 9.99943809e-01 -4.33149957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.43, Y:-67.38, Z:-4.33 [[ 9.79262390e-01 2.02329903e-01 1.03817975e-02 3.98432787e+02] [-2.02318540e-01 9.79317421e-01 -2.14425214e-03 -6.73758742e+01] [-1.06009215e-02 -6.44643831e-07 9.99943809e-01 -4.32734736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.49, Y:-67.39, Z:-4.33 [[ 9.79210360e-01 2.02581556e-01 1.03819010e-02 3.98488227e+02] [-2.02570213e-01 9.79265395e-01 -2.14375084e-03 -6.73894161e+01] [-1.06009208e-02 -3.88086906e-06 9.99943809e-01 -4.32821344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.54, Y:-67.40, Z:-4.33 [[ 9.79788498e-01 1.99766641e-01 1.03820797e-02 3.98544637e+02] [-1.99755149e-01 9.79843502e-01 -2.14288498e-03 -6.74045417e+01] [-1.06008903e-02 2.57001706e-05 9.99943809e-01 -4.32736533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.60, Y:-67.42, Z:-4.33 [[ 9.80355733e-01 1.96964071e-01 1.03822320e-02 3.98600591e+02] [-1.96952430e-01 9.80410706e-01 -2.14214707e-03 -6.74192395e+01] [-1.06007774e-02 5.52603428e-05 9.99943809e-01 -4.32756705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.66, Y:-67.43, Z:-4.33 [[ 9.80718360e-01 1.95150467e-01 1.03823829e-02 3.98656493e+02] [-1.95138732e-01 9.80773312e-01 -2.14141536e-03 -6.74338621e+01] [-1.06006623e-02 7.41203291e-05 9.99943809e-01 -4.32963241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.71, Y:-67.45, Z:-4.33 [[ 9.80937281e-01 1.94047040e-01 1.03825352e-02 3.98711894e+02] [-1.94035250e-01 9.80992222e-01 -2.14067656e-03 -6.74470853e+01] [-1.06005783e-02 8.52916189e-05 9.99943809e-01 -4.33170878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.77, Y:-67.46, Z:-4.33 [[ 9.81169835e-01 1.92867710e-01 1.03827114e-02 3.98769020e+02] [-1.92855864e-01 9.81224764e-01 -2.13982183e-03 -6.74588635e+01] [-1.06004761e-02 9.71618581e-05 9.99943809e-01 -4.32882831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.82, Y:-67.47, Z:-4.33 [[ 9.81414898e-01 1.91616791e-01 1.03828618e-02 3.98824843e+02] [-1.91604882e-01 9.81469813e-01 -2.13909185e-03 -6.74739541e+01] [-1.06003513e-02 1.09929601e-04 9.99943809e-01 -4.32578676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.88, Y:-67.49, Z:-4.33 [[ 9.81429320e-01 1.91542903e-01 1.03830119e-02 3.98881233e+02] [-1.91530998e-01 9.81484235e-01 -2.13836272e-03 -6.74873091e+01] [-1.06003507e-02 1.09983230e-04 9.99943809e-01 -4.32741322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.94, Y:-67.50, Z:-4.33 [[ 9.81331002e-01 1.92045971e-01 1.03831657e-02 3.98936079e+02] [-1.92034102e-01 9.81385925e-01 -2.13761601e-03 -6.75034322e+01] [-1.06004132e-02 1.03786964e-04 9.99943809e-01 -4.33061058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.99, Y:-67.52, Z:-4.33 [[ 9.80878208e-01 1.94345381e-01 1.03833433e-02 3.98992529e+02] [-1.94333650e-01 9.80933161e-01 -2.13675270e-03 -6.75177445e+01] [-1.06006338e-02 7.80611531e-05 9.99943809e-01 -4.33229139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.05, Y:-67.53, Z:-4.34 [[ 9.80223459e-01 1.97621238e-01 1.03834959e-02 3.99049691e+02] [-1.97609698e-01 9.80278453e-01 -2.13601093e-03 -6.75324418e+01] [-1.06008384e-02 4.18885237e-05 9.99943809e-01 -4.33552090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.11, Y:-67.55, Z:-4.34 [[ 9.80194979e-01 1.97762444e-01 1.03835997e-02 3.99106158e+02] [-1.97750918e-01 9.80249975e-01 -2.13550615e-03 -6.75455884e+01] [-1.06008463e-02 3.98460240e-05 9.99943809e-01 -4.34016662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.16, Y:-67.56, Z:-4.34 [[ 9.80706651e-01 1.95209229e-01 1.03837283e-02 3.99161974e+02] [-1.95197566e-01 9.80761619e-01 -2.13488094e-03 -6.75603434e+01] [-1.06007106e-02 6.68134452e-05 9.99943809e-01 -4.33859796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.22, Y:-67.57, Z:-4.34 [[ 9.81282479e-01 1.92293712e-01 1.03838780e-02 3.99218891e+02] [-1.92281894e-01 9.81337413e-01 -2.13415235e-03 -6.75735237e+01] [-1.06004721e-02 9.75745776e-05 9.99943809e-01 -4.33513997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.27, Y:-67.59, Z:-4.33 [[ 9.81228290e-01 1.92570030e-01 1.03839785e-02 3.99274510e+02] [-1.92558233e-01 9.81283229e-01 -2.13366347e-03 -6.75856997e+01] [-1.06005036e-02 9.40904162e-05 9.99943809e-01 -4.33323199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.33, Y:-67.60, Z:-4.34 [[ 9.81279054e-01 1.92311176e-01 1.03841521e-02 3.99331440e+02] [-1.92299373e-01 9.81333991e-01 -2.13281797e-03 -6.75989261e+01] [-1.06004862e-02 9.60236599e-05 9.99943809e-01 -4.33649862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.045769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:399.39, Y:-67.61, Z:-4.34 [[ 9.81857555e-01 1.89335437e-01 1.03843057e-02 3.99386755e+02] [-1.89323475e-01 9.81912459e-01 -2.13206981e-03 -6.76126052e+01] [-1.06001555e-02 1.27396006e-04 9.99943809e-01 -4.33556533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:399.44, Y:-67.63, Z:-4.33 [[ 9.82377627e-01 1.86618222e-01 1.03844829e-02 3.99442399e+02] [-1.86606117e-01 9.82432499e-01 -2.13120635e-03 -6.76295986e+01] [-1.05997755e-02 1.55841390e-04 9.99943809e-01 -4.33499270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.165769231 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:399.50, Y:-67.64, Z:-4.34 [[ 9.82122483e-01 1.87956344e-01 1.03846326e-02 3.99499042e+02] [-1.87944322e-01 9.82177373e-01 -2.13047690e-03 -6.76449894e+01] [-1.05999878e-02 1.40656526e-04 9.99943809e-01 -4.33977257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.225769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:399.56, Y:-67.66, Z:-4.34 [[ 9.82394453e-01 1.86529614e-01 1.03847341e-02 3.99556081e+02] [-1.86517518e-01 9.82449326e-01 -2.12998189e-03 -6.76620397e+01] [-1.05997797e-02 1.55547562e-04 9.99943809e-01 -4.33858755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.285769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:399.61, Y:-67.68, Z:-4.34 [[ 9.82814018e-01 1.84306162e-01 1.03848393e-02 3.99610912e+02] [-1.84293947e-01 9.82868865e-01 -2.12946880e-03 -6.76823733e+01] [-1.05994095e-02 1.79008764e-04 9.99943809e-01 -4.33566302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.345769231 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:399.67, Y:-67.70, Z:-4.34 [[ 9.82889320e-01 1.83904150e-01 1.03849695e-02 3.99667484e+02] [-1.83891919e-01 9.82944164e-01 -2.12883363e-03 -6.77003828e+01] [-1.05993466e-02 1.82695864e-04 9.99943809e-01 -4.33930313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.405769231 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:399.72, Y:-67.72, Z:-4.34 [[ 9.82293796e-01 1.87058944e-01 1.03850692e-02 3.99723484e+02] [-1.87046894e-01 9.82348680e-01 -2.12834729e-03 -6.77186096e+01] [-1.05998854e-02 1.48167394e-04 9.99943809e-01 -4.34414502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.465769231 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:399.78, Y:-67.74, Z:-4.34 [[ 9.80989720e-01 1.93781622e-01 1.03851702e-02 3.99780364e+02] [-1.93769953e-01 9.81044687e-01 -2.12785447e-03 -6.77357587e+01] [-1.06006551e-02 7.50694212e-05 9.99943809e-01 -4.34217877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.525769231 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:399.84, Y:-67.75, Z:-4.34 [[ 9.80125232e-01 1.98107740e-01 1.03852708e-02 3.99837243e+02] [-1.98096319e-01 9.80180250e-01 -2.12736316e-03 -6.77502163e+01] [-1.06008845e-02 2.77983764e-05 9.99943809e-01 -4.34191548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.58576923100003 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:399.89, Y:-67.76, Z:-4.34 [[ 9.79407466e-01 2.01626286e-01 1.03853712e-02 3.99894298e+02] [-2.01615069e-01 9.79462526e-01 -2.12687289e-03 -6.77647857e+01] [-1.06009154e-02 -1.07721481e-05 9.99943809e-01 -4.34433942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:399.95, Y:-67.78, Z:-4.35 [[ 9.78476707e-01 2.06095795e-01 1.03854717e-02 3.99951125e+02] [-2.06084834e-01 9.78531818e-01 -2.12638231e-03 -6.77751600e+01] [-1.06007529e-02 -5.96726469e-05 9.99943809e-01 -4.34547315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:400.01, Y:-67.78, Z:-4.35 [[ 9.77144068e-01 2.12324303e-01 1.03856055e-02 4.00008536e+02] [-2.12313700e-01 9.77199250e-01 -2.12572858e-03 -6.77838302e+01] [-1.06001497e-02 -1.27863257e-04 9.99943809e-01 -4.34678668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:400.07, Y:-67.79, Z:-4.35 [[ 9.77155051e-01 2.12273743e-01 1.03857570e-02 4.00066728e+02] [-2.12263145e-01 9.77210234e-01 -2.12498800e-03 -6.77938620e+01] [-1.06001472e-02 -1.28070694e-04 9.99943809e-01 -4.34947203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:400.12, Y:-67.80, Z:-4.35 [[ 9.77538428e-01 2.10501203e-01 1.03858593e-02 4.00124238e+02] [-2.10490510e-01 9.77593592e-01 -2.12448807e-03 -6.78021770e+01] [-1.06003568e-02 -1.09356093e-04 9.99943809e-01 -4.35255770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.885769231 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:400.18, Y:-67.81, Z:-4.35 [[ 9.78160949e-01 2.07589234e-01 1.03859855e-02 4.00182518e+02] [-2.07578384e-01 9.78216082e-01 -2.12387106e-03 -6.78108440e+01] [-1.06006308e-02 -7.84183449e-05 9.99943809e-01 -4.34751964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.945769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:400.24, Y:-67.82, Z:-4.35 [[ 9.78502114e-01 2.05975101e-01 1.03860864e-02 4.00239014e+02] [-2.05964165e-01 9.78557231e-01 -2.12337720e-03 -6.78212280e+01] [-1.06007428e-02 -6.14325393e-05 9.99943809e-01 -4.34775238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.005769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:400.30, Y:-67.83, Z:-4.35 [[ 9.78909377e-01 2.04030778e-01 1.03862111e-02 4.00297187e+02] [-2.04019739e-01 9.78964473e-01 -2.12276737e-03 -6.78320881e+01] [-1.06008415e-02 -4.09951784e-05 9.99943809e-01 -4.35365062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.065769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:400.35, Y:-67.84, Z:-4.35 [[ 9.79612801e-01 2.00626231e-01 1.03863121e-02 4.00353586e+02] [-2.00615006e-01 9.79667860e-01 -2.12227271e-03 -6.78439770e+01] [-1.06009198e-02 -4.64455967e-06 9.99943809e-01 -4.34940655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.125769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:400.41, Y:-67.85, Z:-4.35 [[ 9.79924487e-01 1.99098274e-01 1.03864379e-02 4.00411240e+02] [-1.99086969e-01 9.79979529e-01 -2.12165696e-03 -6.78545475e+01] [-1.06009148e-02 1.12591643e-05 9.99943809e-01 -4.34978775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.185769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:400.47, Y:-67.87, Z:-4.35 [[ 9.80368188e-01 1.96901842e-01 1.03865389e-02 4.00467301e+02] [-1.96890419e-01 9.80423206e-01 -2.12116229e-03 -6.78682038e+01] [-1.06008646e-02 3.45100229e-05 9.99943809e-01 -4.35291751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.245769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:400.52, Y:-67.88, Z:-4.35 [[ 9.80366269e-01 1.96911389e-01 1.03866640e-02 4.00524684e+02] [-1.96899973e-01 9.80421289e-01 -2.12054969e-03 -6.78815647e+01] [-1.06008669e-02 3.37815228e-05 9.99943809e-01 -4.35204583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.305769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:400.58, Y:-67.90, Z:-4.36 [[ 9.80120460e-01 1.98131267e-01 1.03867628e-02 4.00580875e+02] [-1.98119925e-01 9.80175495e-01 -2.12006590e-03 -6.78957295e+01] [-1.06009017e-02 2.00953036e-05 9.99943809e-01 -4.35635483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.365769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:400.64, Y:-67.91, Z:-4.36 [[ 9.79116588e-01 2.03034038e-01 1.03868845e-02 4.00638644e+02] [-2.03022978e-01 9.79171680e-01 -2.11946909e-03 -6.79078876e+01] [-1.06008675e-02 -3.35688844e-05 9.99943809e-01 -4.35897235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.425769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:400.70, Y:-67.92, Z:-4.36 [[ 9.78626003e-01 2.05385629e-01 1.03869847e-02 4.00696529e+02] [-2.05374706e-01 9.78681123e-01 -2.11897800e-03 -6.79182899e+01] [-1.06007535e-02 -5.95369665e-05 9.99943809e-01 -4.35928052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.485769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:400.76, Y:-67.92, Z:-4.36 [[ 9.76758341e-01 2.14091689e-01 1.03870839e-02 4.00755470e+02] [-2.14081262e-01 9.76813557e-01 -2.11849157e-03 -6.79235742e+01] [-1.05997958e-02 -1.54425733e-04 9.99943809e-01 -4.35847198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.545769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:400.81, Y:-67.92, Z:-4.36 [[ 9.75041003e-01 2.21781760e-01 1.03871848e-02 4.00814115e+02] [-2.21771775e-01 9.75096300e-01 -2.11799672e-03 -6.79248740e+01] [-1.05982385e-02 -2.38450768e-04 9.99943809e-01 -4.35605413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.605769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:400.87, Y:-67.93, Z:-4.36 [[ 9.74072467e-01 2.25997638e-01 1.03873090e-02 4.00872061e+02] [-2.25987898e-01 9.74127808e-01 -2.11738755e-03 -6.79286857e+01] [-1.05970911e-02 -2.84917216e-04 9.99943809e-01 -4.35566803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.665769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:400.93, Y:-67.93, Z:-4.36 [[ 9.74478452e-01 2.24240602e-01 1.03874590e-02 4.00929755e+02] [-2.24230770e-01 9.74533776e-01 -2.11665152e-03 -6.79284086e+01] [-1.05975688e-02 -2.66556633e-04 9.99943809e-01 -4.35931168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.725769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:400.99, Y:-67.93, Z:-4.36 [[ 9.75262006e-01 2.20807875e-01 1.03876321e-02 4.00987354e+02] [-2.20797858e-01 9.75317297e-01 -2.11580173e-03 -6.79340244e+01] [-1.05984229e-02 -2.30105869e-04 9.99943809e-01 -4.35751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.785769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:401.05, Y:-67.94, Z:-4.35 [[ 9.75462163e-01 2.19921946e-01 1.03877811e-02 4.01046467e+02] [-2.19911886e-01 9.75517447e-01 -2.11507005e-03 -6.79357272e+01] [-1.05986120e-02 -2.21225719e-04 9.99943809e-01 -4.35302852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.845769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:401.10, Y:-67.94, Z:-4.36 [[ 9.75534845e-01 2.19599311e-01 1.03879288e-02 4.01103562e+02] [-2.19589240e-01 9.75590127e-01 -2.11434422e-03 -6.79417075e+01] [-1.05986693e-02 -2.18460934e-04 9.99943809e-01 -4.35554915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.905769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:401.16, Y:-67.95, Z:-4.36 [[ 9.75965890e-01 2.17675605e-01 1.03880992e-02 4.01160493e+02] [-2.17665435e-01 9.76021153e-01 -2.11350659e-03 -6.79468192e+01] [-1.05990634e-02 -1.98419794e-04 9.99943809e-01 -4.35876819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.965769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:401.22, Y:-67.96, Z:-4.36 [[ 9.76405962e-01 2.15693024e-01 1.03882682e-02 4.01217740e+02] [-2.15682750e-01 9.76461207e-01 -2.11267552e-03 -6.79563073e+01] [-1.05994303e-02 -1.77741285e-04 9.99943809e-01 -4.35551777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.025769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:401.27, Y:-67.97, Z:-4.36 [[ 9.77875826e-01 2.08928097e-01 1.03884123e-02 4.01273783e+02] [-2.08917448e-01 9.77930999e-01 -2.11196668e-03 -6.79660552e+01] [-1.06003996e-02 -1.05079431e-04 9.99943809e-01 -4.35591459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.08576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:401.33, Y:-67.98, Z:-4.36 [[ 9.79648541e-01 2.00451522e-01 1.03886731e-02 4.01330047e+02] [-2.00440409e-01 9.79703622e-01 -2.11068337e-03 -6.79767615e+01] [-1.06009103e-02 -1.45820044e-05 9.99943809e-01 -4.35571053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:401.39, Y:-67.99, Z:-4.36 [[ 9.80676744e-01 1.95359148e-01 1.03888369e-02 4.01386797e+02] [-1.95347758e-01 9.80731769e-01 -2.10987669e-03 -6.79893158e+01] [-1.06008461e-02 3.96710051e-05 9.99943809e-01 -4.35503897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.44, Y:-68.00, Z:-4.36 [[ 9.81767640e-01 1.89800867e-01 1.03889891e-02 4.01442487e+02] [-1.89789174e-01 9.81822602e-01 -2.10912703e-03 -6.80030537e+01] [-1.06004584e-02 9.89550088e-05 9.99943809e-01 -4.35765891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:401.50, Y:-68.02, Z:-4.36 [[ 9.82418453e-01 1.86402917e-01 1.03891633e-02 4.01499219e+02] [-1.86391043e-01 9.82473376e-01 -2.10826863e-03 -6.80173198e+01] [-1.06000637e-02 1.34755023e-04 9.99943809e-01 -4.35941785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:401.55, Y:-68.04, Z:-4.36 [[ 9.83041239e-01 1.83090098e-01 1.03893135e-02 4.01554546e+02] [-1.83078046e-01 9.83096123e-01 -2.10752800e-03 -6.80366890e+01] [-1.05995614e-02 1.69731715e-04 9.99943809e-01 -4.35888995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.61, Y:-68.05, Z:-4.36 [[ 9.83142908e-01 1.82543366e-01 1.03894629e-02 4.01609574e+02] [-1.82531292e-01 9.83197787e-01 -2.10679137e-03 -6.80532601e+01] [-1.05994777e-02 1.74874908e-04 9.99943809e-01 -4.36262874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:401.66, Y:-68.07, Z:-4.37 [[ 9.82952434e-01 1.83566250e-01 1.03896353e-02 4.01663933e+02] [-1.83554242e-01 9.83007327e-01 -2.10594089e-03 -6.80738442e+01] [-1.05996673e-02 1.62978098e-04 9.99943809e-01 -4.36954895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:401.72, Y:-68.09, Z:-4.37 [[ 9.82455332e-01 1.86208416e-01 1.03897559e-02 4.01719455e+02] [-1.86196561e-01 9.82510258e-01 -2.10534545e-03 -6.80938803e+01] [-1.06000748e-02 1.33871029e-04 9.99943809e-01 -4.36673710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.77, Y:-68.12, Z:-4.37 [[ 9.82141914e-01 1.87854496e-01 1.03898560e-02 4.01774488e+02] [-1.87842739e-01 9.82196862e-01 -2.10485141e-03 -6.81151504e+01] [-1.06002898e-02 1.15603770e-04 9.99943809e-01 -4.36688805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.83, Y:-68.13, Z:-4.36 [[ 9.81708375e-01 1.90107116e-01 1.03899803e-02 4.01830578e+02] [-1.90095491e-01 9.81763351e-01 -2.10423768e-03 -6.81332113e+01] [-1.06005325e-02 9.06593337e-05 9.99943809e-01 -4.36416150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.685769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:401.89, Y:-68.15, Z:-4.37 [[ 9.80928726e-01 1.94089881e-01 1.03900686e-02 4.01887184e+02] [-1.94078484e-01 9.80983749e-01 -2.10380179e-03 -6.81523376e+01] [-1.06008151e-02 4.71908402e-05 9.99943809e-01 -4.36574172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.745769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:401.94, Y:-68.17, Z:-4.37 [[ 9.80590699e-01 1.95790513e-01 1.03901659e-02 4.01943543e+02] [-1.95779217e-01 9.80645743e-01 -2.10332110e-03 -6.81728986e+01] [-1.06008823e-02 2.83185579e-05 9.99943809e-01 -4.36670443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.805769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:402.00, Y:-68.19, Z:-4.37 [[ 9.80282508e-01 1.97327766e-01 1.03902640e-02 4.01999423e+02] [-1.97316562e-01 9.80337571e-01 -2.10283655e-03 -6.81898638e+01] [-1.06009142e-02 1.12027270e-05 9.99943809e-01 -4.36953326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.865769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:402.06, Y:-68.21, Z:-4.37 [[ 9.79384539e-01 2.01737368e-01 1.03903858e-02 4.02055170e+02] [-2.01726418e-01 9.79439653e-01 -2.10223441e-03 -6.82081303e+01] [-1.06008551e-02 -3.71194225e-05 9.99943809e-01 -4.37005637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.925769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:402.11, Y:-68.22, Z:-4.37 [[ 9.78720885e-01 2.04932835e-01 1.03905153e-02 4.02111047e+02] [-2.04922071e-01 9.78776036e-01 -2.10159385e-03 -6.82217441e+01] [-1.06006730e-02 -7.23721313e-05 9.99943809e-01 -4.36531541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.985769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:402.17, Y:-68.24, Z:-4.36 [[ 9.78271394e-01 2.07067898e-01 1.03906435e-02 4.02168293e+02] [-2.07057261e-01 9.78326569e-01 -2.10096013e-03 -6.82374740e+01] [-1.06004840e-02 -9.61489848e-05 9.99943809e-01 -4.36207834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:402.23, Y:-68.25, Z:-4.37 [[ 9.78092463e-01 2.07911440e-01 1.03907366e-02 4.02225442e+02] [-2.07900856e-01 9.78147648e-01 -2.10049964e-03 -6.82527776e+01] [-1.06003924e-02 -1.05760171e-04 9.99943809e-01 -4.36911323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.105769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:402.28, Y:-68.27, Z:-4.38 [[ 9.77489123e-01 2.10729793e-01 1.03908288e-02 4.02282310e+02] [-2.10719373e-01 9.77544339e-01 -2.10004338e-03 -6.82657540e+01] [-1.06000376e-02 -1.36779364e-04 9.99943809e-01 -4.37565227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.165769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:-68.28, Z:-4.37 [[ 9.77101414e-01 2.12520246e-01 1.03909291e-02 4.02338671e+02] [-2.12509933e-01 9.77156651e-01 -2.09954704e-03 -6.82765550e+01] [-1.05997617e-02 -1.56705263e-04 9.99943809e-01 -4.37272941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.225769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:402.40, Y:-68.29, Z:-4.37 [[ 9.76948617e-01 2.13221538e-01 1.03910781e-02 4.02395507e+02] [-2.13211272e-01 9.77003863e-01 -2.09880918e-03 -6.82878616e+01] [-1.05996348e-02 -1.65066263e-04 9.99943809e-01 -4.36670589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.285769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:402.45, Y:-68.29, Z:-4.37 [[ 9.76630352e-01 2.14674586e-01 1.03911994e-02 4.02453892e+02] [-2.14664409e-01 9.76685614e-01 -2.09820859e-03 -6.82937323e+01] [-1.05993670e-02 -1.81446476e-04 9.99943809e-01 -4.37177740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.345769231 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:402.51, Y:-68.30, Z:-4.38 [[ 9.76619544e-01 2.14723745e-01 1.03912983e-02 4.02512090e+02] [-2.14713576e-01 9.76674808e-01 -2.09771862e-03 -6.83018399e+01] [-1.05993493e-02 -1.82479811e-04 9.99943809e-01 -4.37511667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.405769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:402.57, Y:-68.30, Z:-4.38 [[ 9.77241544e-01 2.11874924e-01 1.03913975e-02 4.02570838e+02] [-2.11864599e-01 9.77296779e-01 -2.09722688e-03 -6.83046326e+01] [-1.05998291e-02 -1.52072040e-04 9.99943809e-01 -4.37804669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.465769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:402.63, Y:-68.31, Z:-4.37 [[ 9.78531861e-01 2.05833460e-01 1.03915202e-02 4.02629870e+02] [-2.05822800e-01 9.78587032e-01 -2.09661909e-03 -6.83087864e+01] [-1.06005612e-02 -8.72031951e-05 9.99943809e-01 -4.37441305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.525769231 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:402.69, Y:-68.32, Z:-4.38 [[ 9.79966022e-01 1.98893463e-01 1.03916197e-02 4.02687844e+02] [-1.98882418e-01 9.80021117e-01 -2.09612569e-03 -6.83165170e+01] [-1.06009124e-02 -1.25784940e-05 9.99943809e-01 -4.37681513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.58576923100003 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:402.75, Y:-68.33, Z:-4.38 [[ 9.82266586e-01 1.87201405e-01 1.03917207e-02 4.02745044e+02] [-1.87189710e-01 9.82321547e-01 -2.09562474e-03 -6.83301246e+01] [-1.06003151e-02 1.13238972e-04 9.99943809e-01 -4.37910564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:402.80, Y:-68.35, Z:-4.38 [[ 9.83548949e-01 1.80342662e-01 1.03917961e-02 4.02802677e+02] [-1.80330587e-01 9.83603827e-01 -2.09525083e-03 -6.83475829e+01] [-1.05992735e-02 1.86823064e-04 9.99943809e-01 -4.37998243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:402.86, Y:-68.37, Z:-4.38 [[ 9.84606212e-01 1.74478130e-01 1.03918458e-02 4.02859355e+02] [-1.74465730e-01 9.84661018e-01 -2.09500444e-03 -6.83709046e+01] [-1.05979779e-02 2.49733428e-04 9.99943809e-01 -4.37797544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:402.92, Y:-68.39, Z:-4.38 [[ 9.84349965e-01 1.75918035e-01 1.03918458e-02 4.02916332e+02] [-1.75905716e-01 9.84404790e-01 -2.09500444e-03 -6.83895297e+01] [-1.05983318e-02 2.34232485e-04 9.99943809e-01 -4.37595268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:402.97, Y:-68.41, Z:-4.38 [[ 9.83073565e-01 1.82916306e-01 1.03918706e-02 4.02972594e+02] [-1.82904379e-01 9.83128476e-01 -2.09488139e-03 -6.84141589e+01] [-1.05997319e-02 1.58703884e-04 9.99943809e-01 -4.37669166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.885769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:403.03, Y:-68.44, Z:-4.38 [[ 9.81577368e-01 1.90782285e-01 1.03918706e-02 4.03029151e+02] [-1.90770797e-01 9.81632372e-01 -2.09488139e-03 -6.84364179e+01] [-1.06006628e-02 7.38227222e-05 9.99943809e-01 -4.38475297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.945769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:403.09, Y:-68.46, Z:-4.39 [[ 9.81086782e-01 1.93289251e-01 1.03918952e-02 4.03087846e+02] [-1.93277906e-01 9.81141816e-01 -2.09475922e-03 -6.84551828e+01] [-1.06008174e-02 4.66168337e-05 9.99943809e-01 -4.38545543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.005769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:403.15, Y:-68.48, Z:-4.39 [[ 9.80422884e-01 1.96629036e-01 1.03918460e-02 4.03146233e+02] [-1.96617875e-01 9.80477956e-01 -2.09500356e-03 -6.84758368e+01] [-1.06009144e-02 1.07667609e-05 9.99943809e-01 -4.38958796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.065769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:403.21, Y:-68.49, Z:-4.39 [[ 9.78948943e-01 2.03840585e-01 1.03915293e-02 4.03205033e+02] [-2.03829813e-01 9.79004092e-01 -2.09657300e-03 -6.84916849e+01] [-1.06007164e-02 -6.56655569e-05 9.99943809e-01 -4.38780797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.125769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:403.26, Y:-68.50, Z:-4.39 [[ 9.77627326e-01 2.10087665e-01 1.03915055e-02 4.03264162e+02] [-2.10077245e-01 9.77682543e-01 -2.09669091e-03 -6.85026205e+01] [-1.06000824e-02 -1.33236513e-04 9.99943809e-01 -4.38861359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:403.32, Y:-68.51, Z:-4.39 [[ 9.75961165e-01 2.17696626e-01 1.03915055e-02 4.03324764e+02] [-2.17686636e-01 9.76016461e-01 -2.09669091e-03 -6.85086004e+01] [-1.05987230e-02 -2.15802966e-04 9.99943809e-01 -4.38514288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:403.38, Y:-68.51, Z:-4.38 [[ 9.75558223e-01 2.19495264e-01 1.03915055e-02 4.03384320e+02] [-2.19485376e-01 9.75613537e-01 -2.09669091e-03 -6.85141414e+01] [-1.05983072e-02 -2.35339431e-04 9.99943809e-01 -4.38289819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.44, Y:-68.52, Z:-4.39 [[ 9.75795684e-01 2.18437175e-01 1.03915550e-02 4.03443865e+02] [-2.18427230e-01 9.75850988e-01 -2.09644585e-03 -6.85236195e+01] [-1.05985509e-02 -2.24095751e-04 9.99943809e-01 -4.38680584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.50, Y:-68.53, Z:-4.39 [[ 9.75789636e-01 2.18464189e-01 1.03915550e-02 4.03502725e+02] [-2.18454245e-01 9.75844940e-01 -2.09644585e-03 -6.85306095e+01] [-1.05985447e-02 -2.24389166e-04 9.99943809e-01 -4.38530243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.56, Y:-68.54, Z:-4.39 [[ 9.75417882e-01 2.20118079e-01 1.03916284e-02 4.03561806e+02] [-2.20108233e-01 9.75473204e-01 -2.09608150e-03 -6.85395529e+01] [-1.05981405e-02 -2.42727590e-04 9.99943809e-01 -4.38732688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.62, Y:-68.55, Z:-4.39 [[ 9.75901066e-01 2.17965877e-01 1.03916770e-02 4.03620627e+02] [-2.17955911e-01 9.75956366e-01 -2.09584077e-03 -6.85497484e+01] [-1.05986451e-02 -2.19594182e-04 9.99943809e-01 -4.39101755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.545769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:403.68, Y:-68.57, Z:-4.39 [[ 9.77815850e-01 2.09208451e-01 1.03917253e-02 4.03678988e+02] [-2.09197992e-01 9.77871059e-01 -2.09560103e-03 -6.85670721e+01] [-1.06001849e-02 -1.24816172e-04 9.99943809e-01 -4.39342812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.605769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:403.74, Y:-68.58, Z:-4.39 [[ 9.79531088e-01 2.01024527e-01 1.03917253e-02 4.03738084e+02] [-2.01013607e-01 9.79586208e-01 -2.09560103e-03 -6.85842249e+01] [-1.06008580e-02 -3.61718341e-05 9.99943809e-01 -4.39080704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.80, Y:-68.61, Z:-4.40 [[ 9.80936284e-01 1.94051588e-01 1.03916774e-02 4.03797130e+02] [-1.94040274e-01 9.80991325e-01 -2.09583889e-03 -6.86055875e+01] [-1.06008462e-02 3.94804915e-05 9.99943809e-01 -4.39531133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.86, Y:-68.62, Z:-4.40 [[ 9.80693581e-01 1.95274473e-01 1.03913274e-02 4.03855678e+02] [-1.95263209e-01 9.80748632e-01 -2.09757251e-03 -6.86231138e+01] [-1.06008825e-02 2.80319571e-05 9.99943809e-01 -4.39765742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.91, Y:-68.64, Z:-4.39 [[ 9.79887189e-01 1.99281513e-01 1.03911312e-02 4.03914922e+02] [-1.99270464e-01 9.79942283e-01 -2.09854420e-03 -6.86399607e+01] [-1.06009099e-02 -1.43089537e-05 9.99943809e-01 -4.39349439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.97, Y:-68.66, Z:-4.39 [[ 9.78756691e-01 2.04761735e-01 1.03909404e-02 4.03974216e+02] [-2.04750985e-01 9.78811844e-01 -2.09948842e-03 -6.86568819e+01] [-1.06006704e-02 -7.26669428e-05 9.99943809e-01 -4.39286225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.04, Y:-68.67, Z:-4.39 [[ 9.77961008e-01 2.08528886e-01 1.03908929e-02 4.04035579e+02] [-2.08518345e-01 9.78016202e-01 -2.09972360e-03 -6.86732103e+01] [-1.06003146e-02 -1.13243975e-04 9.99943809e-01 -4.39260039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.10, Y:-68.69, Z:-4.39 [[ 9.76802971e-01 2.13887806e-01 1.03904845e-02 4.04095009e+02] [-2.13877547e-01 9.76858218e-01 -2.10174264e-03 -6.86898600e+01] [-1.05995673e-02 -1.69302875e-04 9.99943809e-01 -4.39376042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.16, Y:-68.70, Z:-4.39 [[ 9.75890615e-01 2.18012736e-01 1.03901062e-02 4.04156828e+02] [-2.18002690e-01 9.75945901e-01 -2.10361087e-03 -6.87028483e+01] [-1.05987956e-02 -2.12177006e-04 9.99943809e-01 -4.39496453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.22, Y:-68.71, Z:-4.40 [[ 9.75335669e-01 2.20482169e-01 1.03897078e-02 4.04218590e+02] [-2.20472242e-01 9.75390977e-01 -2.10557686e-03 -6.87143525e+01] [-1.05982694e-02 -2.36997957e-04 9.99943809e-01 -4.39611957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.28, Y:-68.72, Z:-4.39 [[ 9.74540725e-01 2.23969724e-01 1.03893104e-02 4.04279199e+02] [-2.23959974e-01 9.74596064e-01 -2.10753602e-03 -6.87222397e+01] [-1.05974053e-02 -2.72910007e-04 9.99943809e-01 -4.39325152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.34, Y:-68.73, Z:-4.40 [[ 9.73434427e-01 2.28730156e-01 1.03889912e-02 4.04340727e+02] [-2.28720660e-01 9.73489811e-01 -2.10910830e-03 -6.87292189e+01] [-1.05959937e-02 -3.23098294e-04 9.99943809e-01 -4.40070953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.40, Y:-68.74, Z:-4.40 [[ 9.72984669e-01 2.30635867e-01 1.03889414e-02 4.04400289e+02] [-2.30626477e-01 9.73040070e-01 -2.10935369e-03 -6.87389516e+01] [-1.05953489e-02 -3.43596148e-04 9.99943809e-01 -4.40461803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.46, Y:-68.74, Z:-4.40 [[ 9.71682449e-01 2.36062044e-01 1.03889167e-02 4.04459784e+02] [-2.36052961e-01 9.71737902e-01 -2.10947501e-03 -6.87449938e+01] [-1.05932711e-02 -4.02594712e-04 9.99943809e-01 -4.40152216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.52, Y:-68.75, Z:-4.40 [[ 9.71174529e-01 2.38143034e-01 1.03889643e-02 4.04519556e+02] [-2.38134073e-01 9.71230001e-01 -2.10924078e-03 -6.87528119e+01] [-1.05923748e-02 -4.25525452e-04 9.99943809e-01 -4.39664119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.58, Y:-68.76, Z:-4.39 [[ 9.71193625e-01 2.38065140e-01 1.03890130e-02 4.04577546e+02] [-2.38056178e-01 9.71249097e-01 -2.10900062e-03 -6.87577643e+01] [-1.05923991e-02 -4.24920778e-04 9.99943809e-01 -4.39386109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.64, Y:-68.77, Z:-4.40 [[ 9.71354204e-01 2.37409092e-01 1.03891338e-02 4.04636245e+02] [-2.37400098e-01 9.71409670e-01 -2.10840577e-03 -6.87654684e+01] [-1.05926597e-02 -4.18372571e-04 9.99943809e-01 -4.39506902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.69, Y:-68.77, Z:-4.40 [[ 9.71277512e-01 2.37722652e-01 1.03892292e-02 4.04694809e+02] [-2.37713681e-01 9.71332982e-01 -2.10793535e-03 -6.87695329e+01] [-1.05925050e-02 -4.22271713e-04 9.99943809e-01 -4.39564409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.75, Y:-68.77, Z:-4.40 [[ 9.71358472e-01 2.37391619e-01 1.03893508e-02 4.04754383e+02] [-2.37382635e-01 9.71413940e-01 -2.10733589e-03 -6.87735371e+01] [-1.05926241e-02 -4.19272904e-04 9.99943809e-01 -4.39823220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.81, Y:-68.77, Z:-4.40 [[ 9.72046173e-01 2.34559794e-01 1.03894443e-02 4.04813061e+02] [-2.34550654e-01 9.72101616e-01 -2.10687491e-03 -6.87741789e+01] [-1.05937837e-02 -3.88871256e-04 9.99943809e-01 -4.39814334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.87, Y:-68.78, Z:-4.40 [[ 9.72498747e-01 2.32676263e-01 1.03895833e-02 4.04870400e+02] [-2.32667023e-01 9.72554174e-01 -2.10618904e-03 -6.87789199e+01] [-1.05944928e-02 -3.69047216e-04 9.99943809e-01 -4.39770922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.93, Y:-68.78, Z:-4.40 [[ 9.73835121e-01 2.27018083e-01 1.03897448e-02 4.04930061e+02] [-2.27008529e-01 9.73890494e-01 -2.10539217e-03 -6.87816437e+01] [-1.05964358e-02 -3.08255845e-04 9.99943809e-01 -4.40333803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.99, Y:-68.79, Z:-4.40 [[ 9.75119199e-01 2.21437574e-01 1.03898423e-02 4.04987216e+02] [-2.21427708e-01 9.75174517e-01 -2.10491080e-03 -6.87884910e+01] [-1.05980158e-02 -2.48060034e-04 9.99943809e-01 -4.40472383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.04, Y:-68.80, Z:-4.40 [[ 9.76901960e-01 2.13435258e-01 1.03899845e-02 4.05043882e+02] [-2.13424947e-01 9.76957197e-01 -2.10420868e-03 -6.87976745e+01] [-1.05996825e-02 -1.61876317e-04 9.99943809e-01 -4.40410241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.10, Y:-68.81, Z:-4.40 [[ 9.77970432e-01 2.08484722e-01 1.03901046e-02 4.05100320e+02] [-2.08474137e-01 9.78025618e-01 -2.10361533e-03 -6.88131224e+01] [-1.06003602e-02 -1.08794508e-04 9.99943809e-01 -4.40387623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.16, Y:-68.83, Z:-4.41 [[ 9.78169897e-01 2.07546852e-01 1.03902001e-02 4.05157487e+02] [-2.07536219e-01 9.78225074e-01 -2.10314352e-03 -6.88269338e+01] [-1.06004551e-02 -9.91111747e-05 9.99943809e-01 -4.40578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.22, Y:-68.84, Z:-4.41 [[ 9.77774251e-01 2.09402858e-01 1.03902951e-02 4.05215111e+02] [-2.09392335e-01 9.77829448e-01 -2.10267455e-03 -6.88396827e+01] [-1.06002425e-02 -1.19707105e-04 9.99943809e-01 -4.40587344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.27, Y:-68.85, Z:-4.40 [[ 9.77020983e-01 2.12889734e-01 1.03903958e-02 4.05272493e+02] [-2.12879413e-01 9.77076218e-01 -2.10217652e-03 -6.88497039e+01] [-1.05997404e-02 -1.58030795e-04 9.99943809e-01 -4.40341776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.33, Y:-68.86, Z:-4.41 [[ 9.76076667e-01 2.17178216e-01 1.03905206e-02 4.05330609e+02] [-2.17168145e-01 9.76131948e-01 -2.10155942e-03 -6.88582979e+01] [-1.05989321e-02 -2.05206975e-04 9.99943809e-01 -4.40830112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.39, Y:-68.87, Z:-4.41 [[ 9.75728206e-01 2.18738436e-01 1.03906203e-02 4.05387567e+02] [-2.18728458e-01 9.75783504e-01 -2.10106665e-03 -6.88668803e+01] [-1.05985799e-02 -2.22654361e-04 9.99943809e-01 -4.40933263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.345769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:405.45, Y:-68.87, Z:-4.41 [[ 9.75349609e-01 2.20420443e-01 1.03907684e-02 4.05445042e+02] [-2.20410568e-01 9.75404926e-01 -2.10033370e-03 -6.88743570e+01] [-1.05981632e-02 -2.41675522e-04 9.99943809e-01 -4.40950341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.50, Y:-68.88, Z:-4.41 [[ 9.74981101e-01 2.22044775e-01 1.03908912e-02 4.05503146e+02] [-2.22034999e-01 9.75036435e-01 -2.09972632e-03 -6.88835930e+01] [-1.05977307e-02 -2.59948028e-04 9.99943809e-01 -4.41435917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.465769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:405.56, Y:-68.89, Z:-4.41 [[ 9.75447377e-01 2.19987366e-01 1.03909895e-02 4.05559928e+02] [-2.19977479e-01 9.75502692e-01 -2.09923944e-03 -6.88928971e+01] [-1.05982444e-02 -2.38086072e-04 9.99943809e-01 -4.41393236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.525769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:405.62, Y:-68.90, Z:-4.41 [[ 9.75465785e-01 2.19905721e-01 1.03911111e-02 4.05616830e+02] [-2.19895836e-01 9.75521100e-01 -2.09863726e-03 -6.89024662e+01] [-1.05982505e-02 -2.37813223e-04 9.99943809e-01 -4.40950848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.68, Y:-68.91, Z:-4.41 [[ 9.74620514e-01 2.23622173e-01 1.03912296e-02 4.05675979e+02] [-2.23612505e-01 9.74675867e-01 -2.09805050e-03 -6.89086644e+01] [-1.05972513e-02 -2.78805819e-04 9.99943809e-01 -4.41412194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:405.73, Y:-68.91, Z:-4.41 [[ 9.74299517e-01 2.25016603e-01 1.03913317e-02 4.05733921e+02] [-2.25007019e-01 9.74354885e-01 -2.09754473e-03 -6.89124845e+01] [-1.05968272e-02 -2.94485753e-04 9.99943809e-01 -4.41190794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.79, Y:-68.92, Z:-4.41 [[ 9.75455704e-01 2.19950418e-01 1.03914580e-02 4.05790790e+02] [-2.19940553e-01 9.75511023e-01 -2.09691870e-03 -6.89207279e+01] [-1.05982000e-02 -2.40051721e-04 9.99943809e-01 -4.41471609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:405.85, Y:-68.93, Z:-4.42 [[ 9.76261317e-01 2.16346609e-01 1.03915802e-02 4.05847757e+02] [-2.16336546e-01 9.76316600e-01 -2.09631308e-03 -6.89292259e+01] [-1.05990025e-02 -2.01529205e-04 9.99943809e-01 -4.41619072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:405.91, Y:-68.93, Z:-4.41 [[ 9.75736737e-01 2.18700324e-01 1.03917163e-02 4.05906579e+02] [-2.18690402e-01 9.75792046e-01 -2.09563820e-03 -6.89325290e+01] [-1.05984709e-02 -2.27777432e-04 9.99943809e-01 -4.41027903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.885769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:405.97, Y:-68.94, Z:-4.41 [[ 9.74582182e-01 2.23789143e-01 1.03918289e-02 4.05966049e+02] [-2.23779516e-01 9.74637542e-01 -2.09507980e-03 -6.89368582e+01] [-1.05971227e-02 -2.83650993e-04 9.99943809e-01 -4.41377883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.945769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:406.02, Y:-68.94, Z:-4.41 [[ 9.74120149e-01 2.25791813e-01 1.03919229e-02 4.06024654e+02] [-2.25782305e-01 9.74175530e-01 -2.09461317e-03 -6.89381991e+01] [-1.05965035e-02 -3.05907415e-04 9.99943809e-01 -4.41286746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:406.08, Y:-68.94, Z:-4.41 [[ 9.75046920e-01 2.21755516e-01 1.03920700e-02 4.06081987e+02] [-2.21745786e-01 9.75102262e-01 -2.09388315e-03 -6.89446488e+01] [-1.05976611e-02 -2.62763421e-04 9.99943809e-01 -4.40908496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.14, Y:-68.95, Z:-4.41 [[ 9.76099178e-01 2.17076937e-01 1.03921911e-02 4.06140359e+02] [-2.17066948e-01 9.76154474e-01 -2.09328198e-03 -6.89549388e+01] [-1.05987871e-02 -2.12550395e-04 9.99943809e-01 -4.41418937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:406.20, Y:-68.97, Z:-4.41 [[ 9.76260948e-01 2.16348242e-01 1.03922937e-02 4.06196747e+02] [-2.16338217e-01 9.76316238e-01 -2.09277237e-03 -6.89664431e+01] [-1.05989328e-02 -2.05158359e-04 9.99943809e-01 -4.41302768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.185769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:406.25, Y:-68.98, Z:-4.41 [[ 9.76718544e-01 2.14272919e-01 1.03924212e-02 4.06252977e+02] [-2.14262783e-01 9.76773814e-01 -2.09213947e-03 -6.89820354e+01] [-1.05993337e-02 -1.83277660e-04 9.99943809e-01 -4.40629906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.245769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:406.31, Y:-69.00, Z:-4.41 [[ 9.76989535e-01 2.13033901e-01 1.03925711e-02 4.06308959e+02] [-2.13023703e-01 9.77044793e-01 -2.09139434e-03 -6.89978425e+01] [-1.05995454e-02 -1.70593598e-04 9.99943809e-01 -4.41122912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.305769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:406.36, Y:-69.02, Z:-4.42 [[ 9.77877606e-01 2.08919554e-01 1.03927201e-02 4.06364378e+02] [-2.08909131e-01 9.77932822e-01 -2.09065373e-03 -6.90196310e+01] [-1.06001605e-02 -1.26730663e-04 9.99943809e-01 -4.41557697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.42, Y:-69.04, Z:-4.42 [[ 9.78536568e-01 2.05811017e-01 1.03928190e-02 4.06420779e+02] [-2.05800424e-01 9.78591752e-01 -2.09016192e-03 -6.90362500e+01] [-1.06005053e-02 -9.35466890e-05 9.99943809e-01 -4.41758502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.48, Y:-69.05, Z:-4.42 [[ 9.78841350e-01 2.04356548e-01 1.03929180e-02 4.06475365e+02] [-2.04345878e-01 9.78896519e-01 -2.08966966e-03 -6.90534826e+01] [-1.06006289e-02 -7.82948856e-05 9.99943809e-01 -4.41951226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.53, Y:-69.07, Z:-4.41 [[ 9.79283779e-01 2.02225774e-01 1.03930897e-02 4.06532144e+02] [-2.02214993e-01 9.79338927e-01 -2.08881531e-03 -6.90705573e+01] [-1.06007696e-02 -5.60956045e-05 9.99943809e-01 -4.41290101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.59, Y:-69.09, Z:-4.42 [[ 9.80116088e-01 1.98152559e-01 1.03931883e-02 4.06588891e+02] [-1.98141555e-01 9.80171191e-01 -2.08832465e-03 -6.90889862e+01] [-1.06009106e-02 -1.25219006e-05 9.99943809e-01 -4.41872131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.605769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:406.64, Y:-69.10, Z:-4.42 [[ 9.80954984e-01 1.93956951e-01 1.03932637e-02 4.06644368e+02] [-1.93945715e-01 9.81010041e-01 -2.08794934e-03 -6.91043868e+01] [-1.06008683e-02 3.24553538e-05 9.99943809e-01 -4.42259925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.665769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:406.70, Y:-69.12, Z:-4.42 [[ 9.81995872e-01 1.88616236e-01 1.03933956e-02 4.06700312e+02] [-1.88604708e-01 9.82050868e-01 -2.08729230e-03 -6.91227614e+01] [-1.06005404e-02 8.94690787e-05 9.99943809e-01 -4.42124437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.76, Y:-69.14, Z:-4.42 [[ 9.82360589e-01 1.86707387e-01 1.03934968e-02 4.06756149e+02] [-1.86695757e-01 9.82415564e-01 -2.08678844e-03 -6.91397420e+01] [-1.06003518e-02 1.09556970e-04 9.99943809e-01 -4.42011763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.785769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:406.81, Y:-69.16, Z:-4.42 [[ 9.82295293e-01 1.87050609e-01 1.03936322e-02 4.06812640e+02] [-1.87039006e-01 9.82350273e-01 -2.08611383e-03 -6.91564886e+01] [-1.06003963e-02 1.05165162e-04 9.99943809e-01 -4.42137949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.87, Y:-69.17, Z:-4.42 [[ 9.82164034e-01 1.87738596e-01 1.03937311e-02 4.06870704e+02] [-1.87727036e-01 9.82219023e-01 -2.08562094e-03 -6.91720692e+01] [-1.06004720e-02 9.72375438e-05 9.99943809e-01 -4.41975633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:406.93, Y:-69.18, Z:-4.42 [[ 9.81697833e-01 1.90161335e-01 1.03937807e-02 4.06928463e+02] [-1.90149914e-01 9.81752852e-01 -2.08537375e-03 -6.91833690e+01] [-1.06006813e-02 7.08303899e-05 9.99943809e-01 -4.42033333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.99, Y:-69.20, Z:-4.42 [[ 9.81702554e-01 1.90136960e-01 1.03938797e-02 4.06987028e+02] [-1.90125542e-01 9.81757573e-01 -2.08488038e-03 -6.91965097e+01] [-1.06006829e-02 7.05903900e-05 9.99943809e-01 -4.42195160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.025769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:407.04, Y:-69.21, Z:-4.43 [[ 9.82091252e-01 1.88118951e-01 1.03939304e-02 4.07043448e+02] [-1.88107423e-01 9.82146248e-01 -2.08462753e-03 -6.92110765e+01] [-1.06005177e-02 9.21190049e-05 9.99943809e-01 -4.42573794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.08576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:407.10, Y:-69.23, Z:-4.43 [[ 9.82847578e-01 1.84126595e-01 1.03940054e-02 4.07101689e+02] [-1.84114848e-01 9.82902528e-01 -2.08425344e-03 -6.92306375e+01] [-1.06000606e-02 1.34812730e-04 9.99943809e-01 -4.42656791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:407.16, Y:-69.25, Z:-4.43 [[ 9.83172279e-01 1.82384854e-01 1.03940054e-02 4.07159440e+02] [-1.82373009e-01 9.83227207e-01 -2.08425344e-03 -6.92485548e+01] [-1.05998051e-02 1.53594173e-04 9.99943809e-01 -4.43081279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:407.22, Y:-69.27, Z:-4.43 [[ 9.82975691e-01 1.83441423e-01 1.03939805e-02 4.07217500e+02] [-1.83429636e-01 9.83030632e-01 -2.08437767e-03 -6.92697425e+01] [-1.05999624e-02 1.42328531e-04 9.99943809e-01 -4.42579538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:407.28, Y:-69.29, Z:-4.43 [[ 9.82603778e-01 1.85423250e-01 1.03939302e-02 4.07275726e+02] [-1.85411571e-01 9.82658742e-01 -2.08462838e-03 -6.92900929e+01] [-1.06002249e-02 1.21208795e-04 9.99943809e-01 -4.42692279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.34, Y:-69.31, Z:-4.43 [[ 9.82231167e-01 1.87387048e-01 1.03937358e-02 4.07335488e+02] [-1.87375469e-01 9.82286152e-01 -2.08559705e-03 -6.93064247e+01] [-1.06004366e-02 1.01007308e-04 9.99943809e-01 -4.42915700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.39, Y:-69.32, Z:-4.43 [[ 9.81499872e-01 1.91180472e-01 1.03936630e-02 4.07394225e+02] [-1.91169101e-01 9.81554901e-01 -2.08596000e-03 -6.93178903e+01] [-1.06007456e-02 6.04222731e-05 9.99943809e-01 -4.42761024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.45, Y:-69.33, Z:-4.43 [[ 9.80720391e-01 1.95139659e-01 1.03936630e-02 4.07454376e+02] [-1.95128511e-01 9.80775465e-01 -2.08596000e-03 -6.93281023e+01] [-1.06009032e-02 1.76435346e-05 9.99943809e-01 -4.42566130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.51, Y:-69.34, Z:-4.43 [[ 9.80329622e-01 1.97093391e-01 1.03936147e-02 4.07514119e+02] [-1.97082349e-01 9.80384718e-01 -2.08620045e-03 -6.93353572e+01] [-1.06009173e-02 -3.23390619e-06 9.99943809e-01 -4.42556557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.57, Y:-69.35, Z:-4.43 [[ 9.81626106e-01 1.90531258e-01 1.03936387e-02 4.07573623e+02] [-1.90519850e-01 9.81681127e-01 -2.08608087e-03 -6.93464703e+01] [-1.06007026e-02 6.75569526e-05 9.99943809e-01 -4.43126902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.63, Y:-69.36, Z:-4.43 [[ 9.82465671e-01 1.86153647e-01 1.03935151e-02 4.07633886e+02] [-1.86141987e-01 9.82520639e-01 -2.08669641e-03 -6.93587928e+01] [-1.06002893e-02 1.15438031e-04 9.99943809e-01 -4.43115091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.69, Y:-69.37, Z:-4.43 [[ 9.82682597e-01 1.85005108e-01 1.03934684e-02 4.07692944e+02] [-1.84993381e-01 9.82737551e-01 -2.08692897e-03 -6.93710529e+01] [-1.06001442e-02 1.28065913e-04 9.99943809e-01 -4.42946994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.75, Y:-69.38, Z:-4.44 [[ 9.82268926e-01 1.87189033e-01 1.03934453e-02 4.07752880e+02] [-1.87177427e-01 9.82323905e-01 -2.08704415e-03 -6.93817259e+01] [-1.06004016e-02 1.04620262e-04 9.99943809e-01 -4.43543523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.81, Y:-69.39, Z:-4.43 [[ 9.81265515e-01 1.92379743e-01 1.03934453e-02 4.07812778e+02] [-1.92368429e-01 9.81320555e-01 -2.08704415e-03 -6.93921056e+01] [-1.06008065e-02 4.85737116e-05 9.99943809e-01 -4.43468759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.87, Y:-69.40, Z:-4.43 [[ 9.80336385e-01 1.97059759e-01 1.03934453e-02 4.07871173e+02] [-1.97048707e-01 9.80391479e-01 -2.08704415e-03 -6.93994901e+01] [-1.06009176e-02 -2.00964442e-06 9.99943809e-01 -4.43389943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.93, Y:-69.40, Z:-4.43 [[ 9.79435879e-01 2.01487803e-01 1.03935190e-02 4.07930141e+02] [-2.01477004e-01 9.79491022e-01 -2.08667691e-03 -6.94044554e+01] [-1.06007985e-02 -5.02888338e-05 9.99943809e-01 -4.43211913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.99, Y:-69.41, Z:-4.43 [[ 9.80021464e-01 1.98619995e-01 1.03936128e-02 4.07990296e+02] [-1.98609040e-01 9.80076577e-01 -2.08620997e-03 -6.94133173e+01] [-1.06008994e-02 -1.97349021e-05 9.99943809e-01 -4.42903958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.05, Y:-69.43, Z:-4.43 [[ 9.80463802e-01 1.96424812e-01 1.03936128e-02 4.08048234e+02] [-1.96413733e-01 9.80518890e-01 -2.08620997e-03 -6.94254215e+01] [-1.06009170e-02 4.00507437e-06 9.99943809e-01 -4.42913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.11, Y:-69.44, Z:-4.43 [[ 9.81678500e-01 1.90261124e-01 1.03935851e-02 4.08106424e+02] [-1.90249697e-01 9.81733518e-01 -2.08634764e-03 -6.94393345e+01] [-1.06006817e-02 7.07461968e-05 9.99943809e-01 -4.43265045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.17, Y:-69.45, Z:-4.44 [[ 9.82739997e-01 1.84699948e-01 1.03936324e-02 4.08166447e+02] [-1.84688213e-01 9.82794949e-01 -2.08611228e-03 -6.94535259e+01] [-1.06001142e-02 1.30524582e-04 9.99943809e-01 -4.43535452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.23, Y:-69.47, Z:-4.44 [[ 9.82700639e-01 1.84909243e-01 1.03935829e-02 4.08225696e+02] [-1.84897517e-01 9.82755593e-01 -2.08635882e-03 -6.94677983e+01] [-1.06001387e-02 1.28518482e-04 9.99943809e-01 -4.43535237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.28, Y:-69.48, Z:-4.44 [[ 9.82564836e-01 1.85629516e-01 1.03935829e-02 4.08284381e+02] [-1.85617830e-01 9.82619798e-01 -2.08635882e-03 -6.94824357e+01] [-1.06002301e-02 1.20748507e-04 9.99943809e-01 -4.43559168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.34, Y:-69.50, Z:-4.44 [[ 9.82461579e-01 1.86175239e-01 1.03935829e-02 4.08342864e+02] [-1.86163584e-01 9.82516548e-01 -2.08635882e-03 -6.94983168e+01] [-1.06002955e-02 1.14860740e-04 9.99943809e-01 -4.44174788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.40, Y:-69.52, Z:-4.44 [[ 9.82565066e-01 1.85628296e-01 1.03935580e-02 4.08402603e+02] [-1.85616609e-01 9.82620029e-01 -2.08648270e-03 -6.95172582e+01] [-1.06002285e-02 1.20888022e-04 9.99943809e-01 -4.44136145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.46, Y:-69.53, Z:-4.44 [[ 9.82333838e-01 1.86848097e-01 1.03931968e-02 4.08463164e+02] [-1.86836459e-01 9.82388811e-01 -2.08828046e-03 -6.95322336e+01] [-1.06003515e-02 1.09560476e-04 9.99943809e-01 -4.43627734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.52, Y:-69.55, Z:-4.44 [[ 9.81728273e-01 1.90004178e-01 1.03928404e-02 4.08521649e+02] [-1.89992698e-01 9.81783279e-01 -2.09005252e-03 -6.95501181e+01] [-1.06006356e-02 7.72998548e-05 9.99943809e-01 -4.43877676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.58, Y:-69.57, Z:-4.44 [[ 9.81546212e-01 1.90942478e-01 1.03925127e-02 4.08581946e+02] [-1.90931033e-01 9.81601225e-01 -2.09168058e-03 -6.95674920e+01] [-1.06006939e-02 6.88279537e-05 9.99943809e-01 -4.44096781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.64, Y:-69.59, Z:-4.44 [[ 9.81275181e-01 1.92330507e-01 1.03921058e-02 4.08641681e+02] [-1.92319119e-01 9.81330206e-01 -2.09370027e-03 -6.95877496e+01] [-1.06007698e-02 5.58954769e-05 9.99943809e-01 -4.43771408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.70, Y:-69.61, Z:-4.44 [[ 9.81089314e-01 1.93276408e-01 1.03917003e-02 4.08701233e+02] [-1.93265052e-01 9.81144346e-01 -2.09571124e-03 -6.96083373e+01] [-1.06008095e-02 4.77274107e-05 9.99943809e-01 -4.44025753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.76, Y:-69.63, Z:-4.44 [[ 9.80688226e-01 1.95301366e-01 1.03913239e-02 4.08761190e+02] [-1.95290103e-01 9.80743277e-01 -2.09757598e-03 -6.96268541e+01] [-1.06008805e-02 2.77453552e-05 9.99943809e-01 -4.43731927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.82, Y:-69.64, Z:-4.44 [[ 9.79200108e-01 2.02630642e-01 1.03909538e-02 4.08821263e+02] [-2.02619772e-01 9.79255238e-01 -2.09940746e-03 -6.96445645e+01] [-1.06008002e-02 -4.96726821e-05 9.99943809e-01 -4.43776236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.88, Y:-69.66, Z:-4.44 [[ 9.77985092e-01 2.08415918e-01 1.03905891e-02 4.08882890e+02] [-2.08405355e-01 9.78040282e-01 -2.10121107e-03 -6.96594930e+01] [-1.06003405e-02 -1.10501299e-04 9.99943809e-01 -4.44310337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.94, Y:-69.67, Z:-4.44 [[ 9.76255713e-01 2.16371963e-01 1.03902058e-02 4.08943986e+02] [-2.16361830e-01 9.76310983e-01 -2.10310453e-03 -6.96747810e+01] [-1.05991249e-02 -1.94876129e-04 9.99943809e-01 -4.44179377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.01, Y:-69.69, Z:-4.44 [[ 9.75328082e-01 2.20515721e-01 1.03898239e-02 4.09005631e+02] [-2.20505803e-01 9.75383391e-01 -2.10498973e-03 -6.96868165e+01] [-1.05982450e-02 -2.37960864e-04 9.99943809e-01 -4.44089174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.07, Y:-69.70, Z:-4.44 [[ 9.74604261e-01 2.23693080e-01 1.03894362e-02 4.09066361e+02] [-2.23683321e-01 9.74659598e-01 -2.10690134e-03 -6.96998465e+01] [-1.05974630e-02 -2.70548572e-04 9.99943809e-01 -4.44459330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.13, Y:-69.71, Z:-4.44 [[ 9.73725872e-01 2.27486241e-01 1.03891968e-02 4.09128399e+02] [-2.27476686e-01 9.73781245e-01 -2.10808112e-03 -6.97119768e+01] [-1.05963645e-02 -3.10606937e-04 9.99943809e-01 -4.44473485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.19, Y:-69.72, Z:-4.45 [[ 9.72338882e-01 2.33343464e-01 1.03887946e-02 4.09189205e+02] [-2.33334220e-01 9.72394307e-01 -2.11006158e-03 -6.97216468e+01] [-1.05943738e-02 -3.72366373e-04 9.99943809e-01 -4.44640326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.25, Y:-69.73, Z:-4.45 [[ 9.71784332e-01 2.35642299e-01 1.03884201e-02 4.09249759e+02] [-2.35633167e-01 9.71839776e-01 -2.11190390e-03 -6.97313277e+01] [-1.05935337e-02 -3.95541193e-04 9.99943809e-01 -4.44720632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.31, Y:-69.74, Z:-4.45 [[ 9.70695357e-01 2.40088756e-01 1.03881044e-02 4.09310645e+02] [-2.40079862e-01 9.70750840e-01 -2.11345556e-03 -6.97406290e+01] [-1.05916780e-02 -4.42453161e-04 9.99943809e-01 -4.44776431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.37, Y:-69.75, Z:-4.45 [[ 9.70215832e-01 2.42019270e-01 1.03880556e-02 4.09370538e+02] [-2.42010483e-01 9.70271332e-01 -2.11369531e-03 -6.97499156e+01] [-1.05907875e-02 -4.63277702e-04 9.99943809e-01 -4.44886987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.43, Y:-69.76, Z:-4.45 [[ 9.70174567e-01 2.42184638e-01 1.03880556e-02 4.09432521e+02] [-2.42175860e-01 9.70230068e-01 -2.11369531e-03 -6.97593542e+01] [-1.05907084e-02 -4.65082873e-04 9.99943809e-01 -4.45160239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.49, Y:-69.77, Z:-4.45 [[ 9.70394559e-01 2.41301670e-01 1.03877069e-02 4.09492517e+02] [-2.41292824e-01 9.70450049e-01 -2.11540754e-03 -6.97683899e+01] [-1.05912020e-02 -4.53699164e-04 9.99943809e-01 -4.44830991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.55, Y:-69.78, Z:-4.45 [[ 9.70389771e-01 2.41320924e-01 1.03876822e-02 4.09552350e+02] [-2.41312078e-01 9.70445262e-01 -2.11552860e-03 -6.97766507e+01] [-1.05911983e-02 -4.53785875e-04 9.99943809e-01 -4.44773740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.61, Y:-69.78, Z:-4.45 [[ 9.70082782e-01 2.42552040e-01 1.03876822e-02 4.09614103e+02] [-2.42543264e-01 9.70138284e-01 -2.11552860e-03 -6.97777740e+01] [-1.05906140e-02 -4.67224485e-04 9.99943809e-01 -4.45335728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.67, Y:-69.78, Z:-4.46 [[ 9.70310292e-01 2.41640298e-01 1.03876822e-02 4.09674125e+02] [-2.41631470e-01 9.70365785e-01 -2.11552860e-03 -6.97816867e+01] [-1.05910484e-02 -4.57271755e-04 9.99943809e-01 -4.45533128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.73, Y:-69.78, Z:-4.45 [[ 9.72296043e-01 2.33521947e-01 1.03877322e-02 4.09734886e+02] [-2.33512658e-01 9.72351461e-01 -2.11528319e-03 -6.97846639e+01] [-1.05944917e-02 -3.68985484e-04 9.99943809e-01 -4.45084853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.79, Y:-69.79, Z:-4.45 [[ 9.74772640e-01 2.22958278e-01 1.03877820e-02 4.09792977e+02] [-2.22948391e-01 9.74827955e-01 -2.11503889e-03 -6.97931316e+01] [-1.05978657e-02 -2.54257225e-04 9.99943809e-01 -4.45175827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.85, Y:-69.80, Z:-4.45 [[ 9.76310657e-01 2.16124024e-01 1.03878561e-02 4.09851226e+02] [-2.16113753e-01 9.76365902e-01 -2.11467491e-03 -6.98039684e+01] [-1.05993805e-02 -1.80378915e-04 9.99943809e-01 -4.45181114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.91, Y:-69.82, Z:-4.45 [[ 9.77878835e-01 2.08914038e-01 1.03879052e-02 4.09910973e+02] [-2.08903363e-01 9.77934003e-01 -2.11443370e-03 -6.98160012e+01] [-1.06004206e-02 -1.02408352e-04 9.99943809e-01 -4.45219161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.97, Y:-69.83, Z:-4.45 [[ 9.78268811e-01 2.07080239e-01 1.03879052e-02 4.09969305e+02] [-2.07069460e-01 9.78323958e-01 -2.11443370e-03 -6.98286619e+01] [-1.06005939e-02 -8.25333721e-05 9.99943809e-01 -4.45240321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.03, Y:-69.84, Z:-4.45 [[ 9.78817967e-01 2.04468775e-01 1.03878775e-02 4.10028612e+02] [-2.04457848e-01 9.78873085e-01 -2.11456960e-03 -6.98442787e+01] [-1.06007771e-02 -5.41043569e-05 9.99943809e-01 -4.45325255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.09, Y:-69.86, Z:-4.45 [[ 9.78674026e-01 2.05156632e-01 1.03878272e-02 4.10086751e+02] [-2.05145741e-01 9.78729152e-01 -2.11481675e-03 -6.98580455e+01] [-1.06007380e-02 -6.13022812e-05 9.99943809e-01 -4.45308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.15, Y:-69.88, Z:-4.45 [[ 9.78959426e-01 2.03790420e-01 1.03878522e-02 4.10145535e+02] [-2.03779453e-01 9.79014536e-01 -2.11469382e-03 -6.98751456e+01] [-1.06008126e-02 -4.66314016e-05 9.99943809e-01 -4.45147398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.20, Y:-69.89, Z:-4.45 [[ 9.79307257e-01 2.02112317e-01 1.03878522e-02 4.10203576e+02] [-2.02101256e-01 9.79362349e-01 -2.11469381e-03 -6.98921918e+01] [-1.06008770e-02 -2.84629766e-05 9.99943809e-01 -4.45419704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.26, Y:-69.91, Z:-4.46 [[ 9.78860568e-01 2.04264732e-01 1.03878522e-02 4.10262824e+02] [-2.04253792e-01 9.78915684e-01 -2.11469381e-03 -6.99105037e+01] [-1.06007888e-02 -5.17678085e-05 9.99943809e-01 -4.45505173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.32, Y:-69.92, Z:-4.45 [[ 9.76640505e-01 2.14628556e-01 1.03878021e-02 4.10322435e+02] [-2.14618198e-01 9.76695734e-01 -2.11494005e-03 -6.99237041e+01] [-1.05996485e-02 -1.63875237e-04 9.99943809e-01 -4.45276206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.38, Y:-69.93, Z:-4.46 [[ 9.74704386e-01 2.23256475e-01 1.03877494e-02 4.10382421e+02] [-2.23246604e-01 9.74759704e-01 -2.11519855e-03 -6.99331310e+01] [-1.05977913e-02 -2.57336479e-04 9.99943809e-01 -4.45651825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.44, Y:-69.94, Z:-4.46 [[ 9.71814858e-01 2.35516403e-01 1.03877494e-02 4.10441699e+02] [-2.35507228e-01 9.71870296e-01 -2.11519855e-03 -6.99383314e+01] [-1.05937091e-02 -3.90808704e-04 9.99943809e-01 -4.45747676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.50, Y:-69.94, Z:-4.46 [[ 9.70060788e-01 2.42639981e-01 1.03878267e-02 4.10501050e+02] [-2.42631218e-01 9.70116292e-01 -2.11481912e-03 -6.99428040e+01] [-1.05905396e-02 -4.68907936e-04 9.99943809e-01 -4.45968477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.56, Y:-69.94, Z:-4.46 [[ 9.67874729e-01 2.51218232e-01 1.03879250e-02 4.10561772e+02] [-2.51209966e-01 9.67930309e-01 -2.11433623e-03 -6.99395181e+01] [-1.05859472e-02 -5.63137667e-04 9.99943809e-01 -4.46337315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.62, Y:-69.93, Z:-4.46 [[ 9.66923098e-01 2.54856454e-01 1.03880248e-02 4.10622360e+02] [-2.54848402e-01 9.66978709e-01 -2.11384581e-03 -6.99317266e+01] [-1.05837260e-02 -6.03445170e-04 9.99943809e-01 -4.45714718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.68, Y:-69.92, Z:-4.46 [[ 9.67643435e-01 2.52107653e-01 1.03881477e-02 4.10682136e+02] [-2.52099450e-01 9.67699024e-01 -2.11324146e-03 -6.99229742e+01] [-1.05853647e-02 -5.73982094e-04 9.99943809e-01 -4.45719450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.74, Y:-69.92, Z:-4.46 [[ 9.68693746e-01 2.48041346e-01 1.03883175e-02 4.10741383e+02] [-2.48032917e-01 9.68749302e-01 -2.11240647e-03 -6.99224731e+01] [-1.05876395e-02 -5.30369759e-04 9.99943809e-01 -4.45992269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.80, Y:-69.91, Z:-4.46 [[ 9.70742620e-01 2.39897572e-01 1.03884624e-02 4.10801195e+02] [-2.39888685e-01 9.70798104e-01 -2.11169353e-03 -6.99142449e+01] [-1.05916898e-02 -4.42163682e-04 9.99943809e-01 -4.45761951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.86, Y:-69.92, Z:-4.46 [[ 9.71959250e-01 2.34919752e-01 1.03887243e-02 4.10860189e+02] [-2.34910595e-01 9.72014690e-01 -2.11040417e-03 -6.99152282e+01] [-1.05937683e-02 -3.89194561e-04 9.99943809e-01 -4.45865901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.92, Y:-69.91, Z:-4.45 [[ 9.74235836e-01 2.25292271e-01 1.03888669e-02 4.10918500e+02] [-2.25282573e-01 9.74291184e-01 -2.10970201e-03 -6.99138721e+01] [-1.05970810e-02 -2.85083367e-04 9.99943809e-01 -4.45407094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.98, Y:-69.92, Z:-4.46 [[ 9.77163973e-01 2.12232511e-01 1.03890322e-02 4.10976148e+02] [-2.12222082e-01 9.77219187e-01 -2.10888795e-03 -6.99205991e+01] [-1.05999362e-02 -1.44052718e-04 9.99943809e-01 -4.45697192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.03, Y:-69.93, Z:-4.47 [[ 9.78614514e-01 2.05440253e-01 1.03891843e-02 4.11032494e+02] [-2.05429449e-01 9.78669657e-01 -2.10813848e-03 -6.99301621e+01] [-1.06006759e-02 -7.11894765e-05 9.99943809e-01 -4.46531827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.09, Y:-69.94, Z:-4.46 [[ 9.79351170e-01 2.01899343e-01 1.03894551e-02 4.11088685e+02] [-2.01888354e-01 9.79406276e-01 -2.10680276e-03 -6.99416854e+01] [-1.06008596e-02 -3.42102428e-05 9.99943809e-01 -4.46363145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.15, Y:-69.95, Z:-4.47 [[ 9.79069521e-01 2.03260742e-01 1.03896176e-02 4.11146786e+02] [-2.03249838e-01 9.79124644e-01 -2.10600120e-03 -6.99519180e+01] [-1.06007980e-02 -4.97665073e-05 9.99943809e-01 -4.46738466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.20, Y:-69.96, Z:-4.47 [[ 9.78172932e-01 2.07532574e-01 1.03897096e-02 4.11203959e+02] [-2.07521915e-01 9.78228103e-01 -2.10554713e-03 -6.99602599e+01] [-1.06004755e-02 -9.65032228e-05 9.99943809e-01 -4.46731650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.26, Y:-69.97, Z:-4.47 [[ 9.77885647e-01 2.08882053e-01 1.03898571e-02 4.11261345e+02] [-2.08871478e-01 9.77940834e-01 -2.10481922e-03 -6.99693666e+01] [-1.06003245e-02 -1.11872303e-04 9.99943809e-01 -4.46592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.32, Y:-69.98, Z:-4.47 [[ 9.78239708e-01 2.07217570e-01 1.03899793e-02 4.11319274e+02] [-2.07206907e-01 9.78294879e-01 -2.10421551e-03 -6.99780286e+01] [-1.06004940e-02 -9.44483213e-05 9.99943809e-01 -4.46933816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.38, Y:-69.99, Z:-4.47 [[ 9.78755751e-01 2.04766272e-01 1.03900749e-02 4.11377183e+02] [-2.04755476e-01 9.78810896e-01 -2.10374370e-03 -6.99896314e+01] [-1.06006942e-02 -6.83734791e-05 9.99943809e-01 -4.47348343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.44, Y:-70.00, Z:-4.47 [[ 9.78694864e-01 2.05057083e-01 1.03901743e-02 4.11435070e+02] [-2.05046309e-01 9.78750013e-01 -2.10325246e-03 -7.00001224e+01] [-1.06006701e-02 -7.20245121e-05 9.99943809e-01 -4.46735057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.49, Y:-70.01, Z:-4.46 [[ 9.78160901e-01 2.07589242e-01 1.03902738e-02 4.11492673e+02] [-2.07578616e-01 9.78216079e-01 -2.10276077e-03 -7.00106713e+01] [-1.06004434e-02 -9.99602843e-05 9.99943809e-01 -4.46162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.55, Y:-70.02, Z:-4.46 [[ 9.78293364e-01 2.06964090e-01 1.03903754e-02 4.11548290e+02] [-2.06953434e-01 9.78348535e-01 -2.10225864e-03 -7.00216036e+01] [-1.06005006e-02 -9.36982017e-05 9.99943809e-01 -4.46211895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.60, Y:-70.04, Z:-4.46 [[ 9.79213639e-01 2.02565264e-01 1.03905514e-02 4.11604143e+02] [-2.02554369e-01 9.79268764e-01 -2.10138865e-03 -7.00371734e+01] [-1.06008107e-02 -4.69431459e-05 9.99943809e-01 -4.46311953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.66, Y:-70.05, Z:-4.46 [[ 9.80193247e-01 1.97770655e-01 1.03907027e-02 4.11659236e+02] [-1.97759499e-01 9.80248320e-01 -2.10064003e-03 -7.00507455e+01] [-1.06009138e-02 4.17301421e-06 9.99943809e-01 -4.46446951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.72, Y:-70.07, Z:-4.47 [[ 9.81128553e-01 1.93077165e-01 1.03908765e-02 4.11715640e+02] [-1.93065754e-01 9.81183574e-01 -2.09977994e-03 -7.00679938e+01] [-1.06007769e-02 5.40316431e-05 9.99943809e-01 -4.47272797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.77, Y:-70.09, Z:-4.47 [[ 9.81598466e-01 1.90673753e-01 1.03909756e-02 4.11771970e+02] [-1.90662213e-01 9.81653459e-01 -2.09928954e-03 -7.00874483e+01] [-1.06006165e-02 7.94929936e-05 9.99943809e-01 -4.47049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.83, Y:-70.10, Z:-4.47 [[ 9.81676928e-01 1.90269372e-01 1.03910741e-02 4.11828437e+02] [-1.90257814e-01 9.81731918e-01 -2.09880192e-03 -7.01014084e+01] [-1.06005868e-02 8.33623800e-05 9.99943809e-01 -4.46927809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.88, Y:-70.12, Z:-4.47 [[ 9.81102523e-01 1.93209377e-01 1.03911955e-02 4.11883086e+02] [-1.93197991e-01 9.81157548e-01 -2.09820060e-03 -7.01187797e+01] [-1.06007919e-02 5.09918093e-05 9.99943809e-01 -4.47173650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.94, Y:-70.13, Z:-4.47 [[ 9.80391829e-01 1.96783842e-01 1.03913629e-02 4.11940660e+02] [-1.96772665e-01 9.80446898e-01 -2.09737118e-03 -7.01306208e+01] [-1.06009083e-02 1.15094034e-05 9.99943809e-01 -4.47078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.00, Y:-70.14, Z:-4.47 [[ 9.79081384e-01 2.03203496e-01 1.03914585e-02 4.11998591e+02] [-2.03192685e-01 9.79136526e-01 -2.09689729e-03 -7.01413880e+01] [-1.06007535e-02 -5.84352602e-05 9.99943809e-01 -4.46925732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.06, Y:-70.15, Z:-4.47 [[ 9.78182186e-01 2.07488859e-01 1.03915540e-02 4.12055966e+02] [-2.07478294e-01 9.78237375e-01 -2.09642391e-03 -7.01522038e+01] [-1.06003911e-02 -1.05337387e-04 9.99943809e-01 -4.47316454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.11, Y:-70.16, Z:-4.47 [[ 9.77665252e-01 2.09911097e-01 1.03916495e-02 4.12111975e+02] [-2.09900674e-01 9.77720468e-01 -2.09595055e-03 -7.01623206e+01] [-1.06000917e-02 -1.32076215e-04 9.99943809e-01 -4.47455412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.17, Y:-70.17, Z:-4.47 [[ 9.77389295e-01 2.11192275e-01 1.03918153e-02 4.12169578e+02] [-2.11181933e-01 9.77444526e-01 -2.09512831e-03 -7.01744037e+01] [-1.05998979e-02 -1.46807660e-04 9.99943809e-01 -4.46903389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.305769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:412.23, Y:-70.19, Z:-4.47 [[ 9.77370980e-01 2.11277010e-01 1.03919068e-02 4.12226119e+02] [-2.11266678e-01 9.77426214e-01 -2.09467441e-03 -7.01859934e+01] [-1.05998786e-02 -1.48189639e-04 9.99943809e-01 -4.47010650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.28, Y:-70.20, Z:-4.48 [[ 9.77287756e-01 2.11661632e-01 1.03920430e-02 4.12283876e+02] [-2.11651329e-01 9.77342995e-01 -2.09399840e-03 -7.01982862e+01] [-1.05998095e-02 -1.53050715e-04 9.99943809e-01 -4.47603954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.34, Y:-70.21, Z:-4.48 [[ 9.76893957e-01 2.13471777e-01 1.03921376e-02 4.12339524e+02] [-2.13461581e-01 9.76949216e-01 -2.09352854e-03 -7.02088348e+01] [-1.05995000e-02 -1.73166757e-04 9.99943809e-01 -4.47700456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.40, Y:-70.22, Z:-4.48 [[ 9.76725232e-01 2.14242437e-01 1.03923011e-02 4.12396561e+02] [-2.14232293e-01 9.76780500e-01 -2.09271673e-03 -7.02234503e+01] [-1.05993458e-02 -1.82357273e-04 9.99943809e-01 -4.47530481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.45, Y:-70.24, Z:-4.47 [[ 9.76813609e-01 2.13839123e-01 1.03923945e-02 4.12452850e+02] [-2.13828962e-01 9.76868874e-01 -2.09225287e-03 -7.02374571e+01] [-1.05994122e-02 -1.78453855e-04 9.99943809e-01 -4.47454539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.51, Y:-70.25, Z:-4.48 [[ 9.76383998e-01 2.15792224e-01 1.03925429e-02 4.12510903e+02] [-2.15782181e-01 9.76439284e-01 -2.09151561e-03 -7.02480088e+01] [-1.05990199e-02 -2.00403197e-04 9.99943809e-01 -4.47904627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.57, Y:-70.26, Z:-4.48 [[ 9.74924133e-01 2.22294686e-01 1.03926430e-02 4.12568461e+02] [-2.22285017e-01 9.74979486e-01 -2.09101778e-03 -7.02560024e+01] [-1.05974359e-02 -2.71545134e-04 9.99943809e-01 -4.48120787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.63, Y:-70.26, Z:-4.49 [[ 9.73733386e-01 2.27453914e-01 1.03927667e-02 4.12626792e+02] [-2.27444545e-01 9.73788791e-01 -2.09040282e-03 -7.02641990e+01] [-1.05958301e-02 -3.28283086e-04 9.99943809e-01 -4.48741066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.68, Y:-70.27, Z:-4.49 [[ 9.73618402e-01 2.27945600e-01 1.03928649e-02 4.12684182e+02] [-2.27936264e-01 9.73673812e-01 -2.08991481e-03 -7.02734940e+01] [-1.05956472e-02 -3.34131279e-04 9.99943809e-01 -4.48654416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.74, Y:-70.28, Z:-4.49 [[ 9.73528581e-01 2.28328901e-01 1.03930458e-02 4.12742900e+02] [-2.28319596e-01 9.73583996e-01 -2.08901450e-03 -7.02805246e+01] [-1.05954855e-02 -3.39220705e-04 9.99943809e-01 -4.48930597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.80, Y:-70.29, Z:-4.49 [[ 9.72561842e-01 2.32412234e-01 1.03931415e-02 4.12800503e+02] [-2.32403167e-01 9.72617297e-01 -2.08853872e-03 -7.02889643e+01] [-1.05939511e-02 -3.84165922e-04 9.99943809e-01 -4.49192652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.86, Y:-70.30, Z:-4.49 [[ 9.71636133e-01 2.36252419e-01 1.03932593e-02 4.12858633e+02] [-2.36243578e-01 9.71691624e-01 -2.08795200e-03 -7.02986012e+01] [-1.05923267e-02 -4.26611158e-04 9.99943809e-01 -4.48892426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.92, Y:-70.31, Z:-4.49 [[ 9.70396262e-01 2.41294569e-01 1.03935877e-02 4.12916523e+02] [-2.41286033e-01 9.70451801e-01 -2.08631619e-03 -7.03052047e+01] [-1.05898926e-02 -4.83274108e-04 9.99943809e-01 -4.48534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.98, Y:-70.31, Z:-4.48 [[ 9.69776000e-01 2.43775472e-01 1.03937032e-02 4.12975344e+02] [-2.43767084e-01 9.69831562e-01 -2.08574038e-03 -7.03078240e+01] [-1.05885938e-02 -5.10941770e-04 9.99943809e-01 -4.48478159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.03, Y:-70.31, Z:-4.48 [[ 9.69251400e-01 2.45852977e-01 1.03940784e-02 4.13033505e+02] [-2.45844729e-01 9.69306983e-01 -2.08386907e-03 -7.03110820e+01] [-1.05873782e-02 -5.35536372e-04 9.99943809e-01 -4.48380415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.09, Y:-70.31, Z:-4.48 [[ 9.69047890e-01 2.46653902e-01 1.03941940e-02 4.13093296e+02] [-2.46645705e-01 9.69103481e-01 -2.08329225e-03 -7.03103339e+01] [-1.05869018e-02 -5.44873349e-04 9.99943809e-01 -4.48275363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.15, Y:-70.31, Z:-4.48 [[ 9.70046575e-01 2.42696508e-01 1.03945860e-02 4.13152163e+02] [-2.42688106e-01 9.70102134e-01 -2.08133473e-03 -7.03109540e+01] [-1.05889427e-02 -5.03650756e-04 9.99943809e-01 -4.48432966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.21, Y:-70.31, Z:-4.49 [[ 9.71301937e-01 2.37622583e-01 1.03949796e-02 4.13209166e+02] [-2.37613911e-01 9.71357455e-01 -2.07936684e-03 -7.03139572e+01] [-1.05913455e-02 -4.50298726e-04 9.99943809e-01 -4.48764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.27, Y:-70.32, Z:-4.49 [[ 9.72923696e-01 2.30892661e-01 1.03952454e-02 4.13267579e+02] [-2.30883620e-01 9.72979155e-01 -2.07803708e-03 -7.03151908e+01] [-1.05941606e-02 -3.78320383e-04 9.99943809e-01 -4.48752847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.33, Y:-70.32, Z:-4.49 [[ 9.74505338e-01 2.24123351e-01 1.03956385e-02 4.13326285e+02] [-2.24113945e-01 9.74560737e-01 -2.07606906e-03 -7.03162776e+01] [-1.05964766e-02 -3.06667167e-04 9.99943809e-01 -4.48785235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.38, Y:-70.32, Z:-4.49 [[ 9.75769271e-01 2.18554919e-01 1.03960288e-02 4.13382744e+02] [-2.18545218e-01 9.75824618e-01 -2.07411270e-03 -7.03218645e+01] [-1.05980083e-02 -2.48146936e-04 9.99943809e-01 -4.49144462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.44, Y:-70.33, Z:-4.49 [[ 9.77582544e-01 2.10295711e-01 1.03962944e-02 4.13440616e+02] [-2.10285556e-01 9.77637810e-01 -2.07278065e-03 -7.03262776e+01] [-1.05997073e-02 -1.59876358e-04 9.99943809e-01 -4.49435138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.50, Y:-70.33, Z:-4.49 [[ 9.78772725e-01 2.04684800e-01 1.03964141e-02 4.13497916e+02] [-2.04674335e-01 9.78827933e-01 -2.07217977e-03 -7.03340855e+01] [-1.06004443e-02 -9.96861052e-05 9.99943809e-01 -4.49367141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.56, Y:-70.35, Z:-4.50 [[ 9.80588107e-01 1.95803142e-01 1.03967943e-02 4.13556026e+02] [-1.95792197e-01 9.80643222e-01 -2.07027053e-03 -7.03452601e+01] [-1.06009113e-02 -5.52853883e-06 9.99943809e-01 -4.49580498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.61, Y:-70.36, Z:-4.50 [[ 9.81634186e-01 1.90489434e-01 1.03971387e-02 4.13612057e+02] [-1.90478209e-01 9.81689245e-01 -2.06853924e-03 -7.03561421e+01] [-1.06007942e-02 5.01204637e-05 9.99943809e-01 -4.49672465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.67, Y:-70.37, Z:-4.49 [[ 9.82506285e-01 1.85938958e-01 1.03973081e-02 4.13669264e+02] [-1.85927487e-01 9.82561293e-01 -2.06768784e-03 -7.03691775e+01] [-1.06004562e-02 9.83709453e-05 9.99943809e-01 -4.49389709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.73, Y:-70.39, Z:-4.49 [[ 9.83418935e-01 1.81049959e-01 1.03976344e-02 4.13725523e+02] [-1.81038232e-01 9.83473889e-01 -2.06604528e-03 -7.03854584e+01] [-1.05998594e-02 1.49418684e-04 9.99943809e-01 -4.49353491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.78, Y:-70.40, Z:-4.50 [[ 9.83851066e-01 1.78686769e-01 1.03980342e-02 4.13780236e+02] [-1.78674931e-01 9.83905996e-01 -2.06403164e-03 -7.04045769e+01] [-1.05995033e-02 1.72831687e-04 9.99943809e-01 -4.49538025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.84, Y:-70.42, Z:-4.49 [[ 9.84183454e-01 1.76846847e-01 1.03981569e-02 4.13835810e+02] [-1.76834914e-01 9.84238363e-01 -2.06341296e-03 -7.04208876e+01] [-1.05991730e-02 1.92019710e-04 9.99943809e-01 -4.49413527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.89, Y:-70.44, Z:-4.49 [[ 9.84500272e-01 1.75074527e-01 1.03982693e-02 4.13891279e+02] [-1.75062500e-01 9.84555161e-01 -2.06284633e-03 -7.04414101e+01] [-1.05988216e-02 2.10525749e-04 9.99943809e-01 -4.49115338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.95, Y:-70.46, Z:-4.49 [[ 9.84712011e-01 1.73879641e-01 1.03983667e-02 4.13945577e+02] [-1.73867553e-01 9.84766886e-01 -2.06235559e-03 -7.04598072e+01] [-1.05985688e-02 2.22887751e-04 9.99943809e-01 -4.49170893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.00, Y:-70.48, Z:-4.50 [[ 9.84923660e-01 1.72676737e-01 1.03985350e-02 4.14001554e+02] [-1.72664590e-01 9.84978522e-01 -2.06150643e-03 -7.04766600e+01] [-1.05983079e-02 2.34967665e-04 9.99943809e-01 -4.49615334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.06, Y:-70.50, Z:-4.50 [[ 9.85647469e-01 1.68496096e-01 1.03986523e-02 4.14056293e+02] [-1.68483723e-01 9.85702281e-01 -2.06091462e-03 -7.04992036e+01] [-1.05972314e-02 2.79331622e-04 9.99943809e-01 -4.49777688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.11, Y:-70.52, Z:-4.50 [[ 9.86541776e-01 1.63178400e-01 1.03987685e-02 4.14110635e+02] [-1.63165738e-01 9.86596522e-01 -2.06032841e-03 -7.05243893e+01] [-1.05955899e-02 3.35877319e-04 9.99943809e-01 -4.50110110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.17, Y:-70.55, Z:-4.50 [[ 9.86941605e-01 1.60742438e-01 1.03988827e-02 4.14165728e+02] [-1.60729647e-01 9.86996321e-01 -2.05975167e-03 -7.05481026e+01] [-1.05947485e-02 3.61445870e-04 9.99943809e-01 -4.50199099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.22, Y:-70.57, Z:-4.50 [[ 9.86636736e-01 1.62603234e-01 1.03989785e-02 4.14220446e+02] [-1.62590551e-01 9.86691478e-01 -2.05926787e-03 -7.05677016e+01] [-1.05954271e-02 3.40973688e-04 9.99943809e-01 -4.50172864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.28, Y:-70.59, Z:-4.50 [[ 9.86206053e-01 1.65195276e-01 1.03990971e-02 4.14276250e+02] [-1.65182743e-01 9.86260829e-01 -2.05866895e-03 -7.05897363e+01] [-1.05963045e-02 3.12520397e-04 9.99943809e-01 -4.49985945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.33, Y:-70.61, Z:-4.50 [[ 9.86148900e-01 1.65536112e-01 1.03991889e-02 4.14331263e+02] [-1.65523603e-01 9.86203681e-01 -2.05820491e-03 -7.06080732e+01] [-1.05964256e-02 3.08385287e-04 9.99943809e-01 -4.49631892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.39, Y:-70.62, Z:-4.50 [[ 9.85928577e-01 1.66843326e-01 1.03993144e-02 4.14387938e+02] [-1.66830896e-01 9.85983376e-01 -2.05757055e-03 -7.06236519e+01] [-1.05968431e-02 2.93690662e-04 9.99943809e-01 -4.49820422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.44, Y:-70.64, Z:-4.50 [[ 9.85530567e-01 1.69178469e-01 1.03994073e-02 4.14444395e+02] [-1.69166175e-01 9.85585396e-01 -2.05710080e-03 -7.06409079e+01] [-1.05975212e-02 2.68107760e-04 9.99943809e-01 -4.50106754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.50, Y:-70.65, Z:-4.50 [[ 9.85287886e-01 1.70586145e-01 1.03995035e-02 4.14502042e+02] [-1.70573934e-01 9.85342734e-01 -2.05661452e-03 -7.06546742e+01] [-1.05979052e-02 2.52473151e-04 9.99943809e-01 -4.49813175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.56, Y:-70.67, Z:-4.50 [[ 9.85385022e-01 1.70024136e-01 1.03995992e-02 4.14559177e+02] [-1.70011899e-01 9.85439864e-01 -2.05613027e-03 -7.06671224e+01] [-1.05977714e-02 2.58024351e-04 9.99943809e-01 -4.49720727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.62, Y:-70.68, Z:-4.50 [[ 9.85577540e-01 1.68904585e-01 1.03996954e-02 4.14616388e+02] [-1.68892290e-01 9.85632370e-01 -2.05564371e-03 -7.06810474e+01] [-1.05974841e-02 2.69567896e-04 9.99943809e-01 -4.49869289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.67, Y:-70.69, Z:-4.50 [[ 9.85854559e-01 1.67280103e-01 1.03997939e-02 4.14673112e+02] [-1.67267723e-01 9.85909370e-01 -2.05514540e-03 -7.06913375e+01] [-1.05970392e-02 2.86524620e-04 9.99943809e-01 -4.49887135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.73, Y:-70.70, Z:-4.50 [[ 9.85873247e-01 1.67169923e-01 1.03999257e-02 4.14729962e+02] [-1.67157544e-01 9.85928058e-01 -2.05447809e-03 -7.07012705e+01] [-1.05970255e-02 2.87028943e-04 9.99943809e-01 -4.50031618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.79, Y:-70.71, Z:-4.50 [[ 9.85867242e-01 1.67205324e-01 1.04000456e-02 4.14787688e+02] [-1.67192953e-01 9.85922055e-01 -2.05387110e-03 -7.07118481e+01] [-1.05970525e-02 2.86029895e-04 9.99943809e-01 -4.50439905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.84, Y:-70.72, Z:-4.50 [[ 9.85987072e-01 1.66497243e-01 1.04001420e-02 4.14843954e+02] [-1.66484838e-01 9.86041876e-01 -2.05338288e-03 -7.07249569e+01] [-1.05968581e-02 2.93143012e-04 9.99943809e-01 -4.50251172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.90, Y:-70.74, Z:-4.50 [[ 9.86595849e-01 1.62851051e-01 1.04002608e-02 4.14900818e+02] [-1.62838450e-01 9.86650610e-01 -2.05278107e-03 -7.07417940e+01] [-1.05957212e-02 3.31702941e-04 9.99943809e-01 -4.50024246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.96, Y:-70.76, Z:-4.51 [[ 9.86768437e-01 1.61801992e-01 1.04003549e-02 4.14956283e+02] [-1.61789338e-01 9.86823185e-01 -2.05230429e-03 -7.07591991e+01] [-1.05953782e-02 3.42482561e-04 9.99943809e-01 -4.50535018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.01, Y:-70.78, Z:-4.51 [[ 9.86477703e-01 1.63565190e-01 1.04004706e-02 4.15012903e+02] [-1.63552640e-01 9.86532475e-01 -2.05171751e-03 -7.07762272e+01] [-1.05959916e-02 3.22949156e-04 9.99943809e-01 -4.50732381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.07, Y:-70.80, Z:-4.51 [[ 9.86074971e-01 1.65975843e-01 1.04005630e-02 4.15068646e+02] [-1.65963432e-01 9.86129774e-01 -2.05124905e-03 -7.07955507e+01] [-1.05967626e-02 2.96572209e-04 9.99943809e-01 -4.50667506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.13, Y:-70.81, Z:-4.51 [[ 9.84877040e-01 1.72942313e-01 1.04006320e-02 4.15125307e+02] [-1.72930293e-01 9.84931930e-01 -2.05089928e-03 -7.08119783e+01] [-1.05986018e-02 2.21299277e-04 9.99943809e-01 -4.50503210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.18, Y:-70.82, Z:-4.50 [[ 9.84008168e-01 1.77819433e-01 1.04007274e-02 4.15182055e+02] [-1.77807690e-01 9.84063118e-01 -2.05041537e-03 -7.08247079e+01] [-1.05995759e-02 1.68296162e-04 9.99943809e-01 -4.50493535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.24, Y:-70.84, Z:-4.51 [[ 9.82784706e-01 1.84461495e-01 1.04008555e-02 4.15239655e+02] [-1.84450131e-01 9.82839736e-01 -2.04976529e-03 -7.08373498e+01] [-1.06004768e-02 9.60388212e-05 9.99943809e-01 -4.50524226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.30, Y:-70.85, Z:-4.51 [[ 9.81498991e-01 1.91184601e-01 1.04009498e-02 4.15297994e+02] [-1.91173619e-01 9.81554098e-01 -2.04928638e-03 -7.08462152e+01] [-1.06008869e-02 2.29852856e-05 9.99943809e-01 -4.50867438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.36, Y:-70.85, Z:-4.50 [[ 9.80171746e-01 1.97876643e-01 1.04010439e-02 4.15356607e+02] [-1.97866043e-01 9.80226929e-01 -2.04880885e-03 -7.08540688e+01] [-1.06007947e-02 -4.98288471e-05 9.99943809e-01 -4.50168919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.42, Y:-70.86, Z:-4.51 [[ 9.79535288e-01 2.01003570e-01 1.04011418e-02 4.15415204e+02] [-2.00993151e-01 9.79590505e-01 -2.04831157e-03 -7.08618994e+01] [-1.06005777e-02 -8.41648117e-05 9.99943809e-01 -4.50730953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.47, Y:-70.87, Z:-4.52 [[ 9.79088151e-01 2.03170387e-01 1.04012400e-02 4.15472832e+02] [-2.03160096e-01 9.79143392e-01 -2.04781305e-03 -7.08710722e+01] [-1.06003604e-02 -1.08127421e-04 9.99943809e-01 -4.51560849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.53, Y:-70.88, Z:-4.51 [[ 9.78305106e-01 2.06908025e-01 1.04013380e-02 4.15531029e+02] [-2.06897950e-01 9.78360387e-01 -2.04731495e-03 -7.08755854e+01] [-1.05998630e-02 -1.49116846e-04 9.99943809e-01 -4.51253908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.845769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:415.59, Y:-70.88, Z:-4.52 [[ 9.77564982e-01 2.10377079e-01 1.04014594e-02 4.15589094e+02] [-2.10367206e-01 9.77620299e-01 -2.04669814e-03 -7.08817316e+01] [-1.05992562e-02 -1.87345523e-04 9.99943809e-01 -4.51504371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:415.65, Y:-70.88, Z:-4.52 [[ 9.76842850e-01 2.13705062e-01 1.04015539e-02 4.15647733e+02] [-2.13695383e-01 9.76898202e-01 -2.04621764e-03 -7.08830775e+01] [-1.05985464e-02 -2.23930980e-04 9.99943809e-01 -4.51688908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.71, Y:-70.88, Z:-4.51 [[ 9.76161121e-01 2.16797766e-01 1.04016959e-02 4.15707436e+02] [-2.16788270e-01 9.76216504e-01 -2.04549559e-03 -7.08815030e+01] [-1.05977661e-02 -2.58232398e-04 9.99943809e-01 -4.50723185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.77, Y:-70.88, Z:-4.51 [[ 9.76094490e-01 2.17097558e-01 1.04018124e-02 4.15765959e+02] [-2.17088085e-01 9.76149877e-01 -2.04490293e-03 -7.08836536e+01] [-1.05976714e-02 -2.62091060e-04 9.99943809e-01 -4.50961533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.82, Y:-70.89, Z:-4.51 [[ 9.78424480e-01 2.06342764e-01 1.04019595e-02 4.15824019e+02] [-2.06332690e-01 9.78479761e-01 -2.04415460e-03 -7.08854137e+01] [-1.05999033e-02 -1.46213381e-04 9.99943809e-01 -4.51077811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.88, Y:-70.90, Z:-4.51 [[ 9.82057482e-01 1.88294708e-01 1.04021294e-02 4.15880265e+02] [-1.88283627e-01 9.82112570e-01 -2.04328943e-03 -7.08958205e+01] [-1.06008027e-02 4.80770132e-05 9.99943809e-01 -4.50894698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.94, Y:-70.91, Z:-4.52 [[ 9.84281558e-01 1.76299766e-01 1.04022883e-02 4.15937085e+02] [-1.76288023e-01 9.84336508e-01 -2.04248007e-03 -7.09098253e+01] [-1.05994409e-02 1.76576627e-04 9.99943809e-01 -4.51650737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.99, Y:-70.93, Z:-4.51 [[ 9.85264259e-01 1.70722377e-01 1.04023837e-02 4.15993013e+02] [-1.70710327e-01 9.85319143e-01 -2.04199426e-03 -7.09309181e+01] [-1.05982819e-02 2.36109633e-04 9.99943809e-01 -4.51232573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.05, Y:-70.95, Z:-4.51 [[ 9.85538730e-01 1.69130720e-01 1.04024836e-02 4.16048567e+02] [-1.69118588e-01 9.85593596e-01 -2.04148544e-03 -7.09498859e+01] [-1.05978991e-02 2.52709635e-04 9.99943809e-01 -4.51058238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.10, Y:-70.97, Z:-4.51 [[ 9.85417659e-01 1.69834693e-01 1.04026168e-02 4.16104122e+02] [-1.69822607e-01 9.85472535e-01 -2.04080613e-03 -7.09723171e+01] [-1.05980929e-02 2.44446883e-04 9.99943809e-01 -4.51448563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.16, Y:-70.99, Z:-4.52 [[ 9.84515255e-01 1.74989991e-01 1.04027126e-02 4.16160696e+02] [-1.74978198e-01 9.84570194e-01 -2.04031779e-03 -7.09915791e+01] [-1.05992360e-02 1.88476082e-04 9.99943809e-01 -4.51880191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.505769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:416.22, Y:-71.01, Z:-4.52 [[ 9.82892513e-01 1.83886080e-01 1.04028132e-02 4.16216863e+02] [-1.83874789e-01 9.82947558e-01 -2.03980493e-03 -7.10058557e+01] [-1.06005115e-02 9.20939149e-05 9.99943809e-01 -4.52151434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.27, Y:-71.02, Z:-4.52 [[ 9.81824261e-01 1.89506988e-01 1.04029478e-02 4.16274283e+02] [-1.89496019e-01 9.81879372e-01 -2.03911812e-03 -7.10178959e+01] [-1.06008670e-02 3.07384427e-05 9.99943809e-01 -4.52046975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.33, Y:-71.03, Z:-4.52 [[ 9.80257587e-01 1.97450855e-01 1.04030437e-02 4.16331568e+02] [-1.97440338e-01 9.80312785e-01 -2.03862889e-03 -7.10300399e+01] [-1.06007657e-02 -5.55990294e-05 9.99943809e-01 -4.51697725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.39, Y:-71.04, Z:-4.52 [[ 9.78794424e-01 2.04580669e-01 1.04031403e-02 4.16388522e+02] [-2.04570559e-01 9.78849699e-01 -2.03813556e-03 -7.10429879e+01] [-1.06000739e-02 -1.33260514e-04 9.99943809e-01 -4.51822931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.745769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:416.45, Y:-71.05, Z:-4.52 [[ 9.77891299e-01 2.08854922e-01 1.04032877e-02 4.16446190e+02] [-2.08845062e-01 9.77946619e-01 -2.03738300e-03 -7.10539286e+01] [-1.05993775e-02 -1.80336157e-04 9.99943809e-01 -4.52288850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.50, Y:-71.06, Z:-4.52 [[ 9.77224382e-01 2.11953477e-01 1.04033852e-02 4.16502408e+02] [-2.11943797e-01 9.77279734e-01 -2.03688526e-03 -7.10644712e+01] [-1.05987424e-02 -2.14439016e-04 9.99943809e-01 -4.52389784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.56, Y:-71.07, Z:-4.52 [[ 9.77522722e-01 2.10573251e-01 1.04035542e-02 4.16560733e+02] [-2.10563503e-01 9.77578061e-01 -2.03602129e-03 -7.10749616e+01] [-1.05990180e-02 -2.00351752e-04 9.99943809e-01 -4.52155382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.62, Y:-71.08, Z:-4.52 [[ 9.77546574e-01 2.10462490e-01 1.04036503e-02 4.16618236e+02] [-2.10452741e-01 9.77601913e-01 -2.03553058e-03 -7.10833365e+01] [-1.05990312e-02 -1.99650772e-04 9.99943809e-01 -4.52005603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.68, Y:-71.09, Z:-4.52 [[ 9.77213781e-01 2.12002331e-01 1.04037690e-02 4.16677111e+02] [-2.11992676e-01 9.77269136e-01 -2.03492353e-03 -7.10913232e+01] [-1.05986909e-02 -2.16967506e-04 9.99943809e-01 -4.52291751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.045769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:416.73, Y:-71.10, Z:-4.52 [[ 9.77319439e-01 2.11514715e-01 1.04038416e-02 4.16733876e+02] [-2.11505036e-01 9.77374790e-01 -2.03455230e-03 -7.10999416e+01] [-1.05987902e-02 -2.12057379e-04 9.99943809e-01 -4.52238235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.79, Y:-71.11, Z:-4.52 [[ 9.77962033e-01 2.08523427e-01 1.04040138e-02 4.16791108e+02] [-2.08513588e-01 9.78017356e-01 -2.03367103e-03 -7.11073533e+01] [-1.05993742e-02 -1.80525202e-04 9.99943809e-01 -4.52353488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.85, Y:-71.12, Z:-4.52 [[ 9.78641423e-01 2.05311271e-01 1.04041554e-02 4.16847726e+02] [-2.05301258e-01 9.78696715e-01 -2.03294664e-03 -7.11164326e+01] [-1.05998996e-02 -1.46460398e-04 9.99943809e-01 -4.52440244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.90, Y:-71.13, Z:-4.52 [[ 9.78987767e-01 2.03653386e-01 1.04043188e-02 4.16904778e+02] [-2.03643288e-01 9.79043044e-01 -2.03211014e-03 -7.11290961e+01] [-1.06001220e-02 -1.29358724e-04 9.99943809e-01 -4.52319920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.96, Y:-71.14, Z:-4.52 [[ 9.79273596e-01 2.02274499e-01 1.04044112e-02 4.16961742e+02] [-2.02264329e-01 9.79328859e-01 -2.03163689e-03 -7.11407748e+01] [-1.06002885e-02 -1.14912878e-04 9.99943809e-01 -4.52442540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.02, Y:-71.15, Z:-4.53 [[ 9.79982846e-01 1.98809877e-01 1.04045484e-02 4.17019542e+02] [-1.98799518e-01 9.80038074e-01 -2.03093409e-03 -7.11534702e+01] [-1.06006233e-02 -7.81386348e-05 9.99943809e-01 -4.52769245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.08, Y:-71.17, Z:-4.53 [[ 9.80312211e-01 1.97179391e-01 1.04046463e-02 4.17076358e+02] [-1.97168946e-01 9.80367423e-01 -2.03043202e-03 -7.11652343e+01] [-1.06007357e-02 -6.10158573e-05 9.99943809e-01 -4.52508254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:417.13, Y:-71.17, Z:-4.52 [[ 9.79650732e-01 2.00439978e-01 1.04047681e-02 4.17134190e+02] [-2.00429723e-01 9.79705979e-01 -2.02980805e-03 -7.11746284e+01] [-1.06004682e-02 -9.69218378e-05 9.99943809e-01 -4.52317234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.19, Y:-71.18, Z:-4.53 [[ 9.78169377e-01 2.07548570e-01 1.04048645e-02 4.17191835e+02] [-2.07538722e-01 9.78224699e-01 -2.02931389e-03 -7.11803036e+01] [-1.05994766e-02 -1.74399569e-04 9.99943809e-01 -4.52732916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.25, Y:-71.19, Z:-4.53 [[ 9.77699723e-01 2.09749823e-01 1.04049838e-02 4.17249556e+02] [-2.09740106e-01 9.77755068e-01 -2.02870186e-03 -7.11897799e+01] [-1.05990455e-02 -1.98881158e-04 9.99943809e-01 -4.52787527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.31, Y:-71.20, Z:-4.53 [[ 9.76610149e-01 2.14765804e-01 1.04051274e-02 4.17308248e+02] [-2.14756379e-01 9.76665544e-01 -2.02796479e-03 -7.11959124e+01] [-1.05978669e-02 -2.54036496e-04 9.99943809e-01 -4.52667304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.37, Y:-71.20, Z:-4.53 [[ 9.76856452e-01 2.13642702e-01 1.04052229e-02 4.17365806e+02] [-2.13633219e-01 9.76911837e-01 -2.02747488e-03 -7.12013727e+01] [-1.05981406e-02 -2.42349348e-04 9.99943809e-01 -4.52618184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.42, Y:-71.21, Z:-4.53 [[ 9.78146455e-01 2.07656546e-01 1.04053654e-02 4.17422052e+02] [-2.07646731e-01 9.78201783e-01 -2.02674327e-03 -7.12085910e+01] [-1.05994135e-02 -1.78188368e-04 9.99943809e-01 -4.52696630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:417.48, Y:-71.22, Z:-4.53 [[ 9.78838305e-01 2.04370493e-01 1.04055300e-02 4.17478427e+02] [-2.04360502e-01 9.78893600e-01 -2.02589805e-03 -7.12166893e+01] [-1.05999405e-02 -1.43452710e-04 9.99943809e-01 -4.52532771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.54, Y:-71.23, Z:-4.53 [[ 9.79328200e-01 2.02009894e-01 1.04056928e-02 4.17535716e+02] [-2.01999779e-01 9.79383474e-01 -2.02506121e-03 -7.12257825e+01] [-1.06002460e-02 -1.18748092e-04 9.99943809e-01 -4.52904923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.945769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:417.59, Y:-71.23, Z:-4.53 [[ 9.79683647e-01 2.00278982e-01 1.04058309e-02 4.17592970e+02] [-2.00268777e-01 9.79738904e-01 -2.02435142e-03 -7.12332988e+01] [-1.06004324e-02 -1.00739042e-04 9.99943809e-01 -4.53241625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.65, Y:-71.24, Z:-4.53 [[ 9.80326956e-01 1.97106003e-01 1.04059450e-02 4.17652167e+02] [-1.97095624e-01 9.80382180e-01 -2.02376450e-03 -7.12394494e+01] [-1.06006992e-02 -6.70153503e-05 9.99943809e-01 -4.52668766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.71, Y:-71.25, Z:-4.53 [[ 9.80902258e-01 1.94222747e-01 1.04060364e-02 4.17708625e+02] [-1.94212212e-01 9.80957452e-01 -2.02329441e-03 -7.12483530e+01] [-1.06008488e-02 -3.63252962e-05 9.99943809e-01 -4.52973610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.77, Y:-71.26, Z:-4.53 [[ 9.82351160e-01 1.86756279e-01 1.04062766e-02 4.17765872e+02] [-1.86745337e-01 9.82406276e-01 -2.02205823e-03 -7.12596154e+01] [-1.06008236e-02 4.30476021e-05 9.99943809e-01 -4.52994999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.82, Y:-71.28, Z:-4.53 [[ 9.83550513e-01 1.80333291e-01 1.04064089e-02 4.17821384e+02] [-1.80321996e-01 9.83605557e-01 -2.02137737e-03 -7.12770742e+01] [-1.06003233e-02 1.11622327e-04 9.99943809e-01 -4.52938282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:417.88, Y:-71.29, Z:-4.53 [[ 9.83720669e-01 1.79402757e-01 1.04065394e-02 4.17877052e+02] [-1.79391418e-01 9.83775704e-01 -2.02070525e-03 -7.12934045e+01] [-1.06002207e-02 1.20965663e-04 9.99943809e-01 -4.53114631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.93, Y:-71.31, Z:-4.53 [[ 9.82724419e-01 1.84782080e-01 1.04066693e-02 4.17932264e+02] [-1.84771048e-01 9.82779517e-01 -2.02003604e-03 -7.13125418e+01] [-1.06007279e-02 6.22875513e-05 9.99943809e-01 -4.53204098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.99, Y:-71.33, Z:-4.53 [[ 9.80741868e-01 1.95030989e-01 1.04068132e-02 4.17988151e+02] [-1.95020541e-01 9.80797079e-01 -2.01929463e-03 -7.13286373e+01] [-1.06007970e-02 -4.91355479e-05 9.99943809e-01 -4.53354912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.04, Y:-71.34, Z:-4.53 [[ 9.79016108e-01 2.03516967e-01 1.04069566e-02 4.18043782e+02] [-2.03507006e-01 9.79071409e-01 -2.01855522e-03 -7.13399760e+01] [-1.05999639e-02 -1.41690498e-04 9.99943809e-01 -4.53407254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.10, Y:-71.35, Z:-4.54 [[ 9.78242971e-01 2.07201307e-01 1.04071234e-02 4.18100623e+02] [-2.07191563e-01 9.78298311e-01 -2.01769486e-03 -7.13500875e+01] [-1.05993402e-02 -1.82472350e-04 9.99943809e-01 -4.53599992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.16, Y:-71.36, Z:-4.54 [[ 9.77715303e-01 2.09677074e-01 1.04072648e-02 4.18157789e+02] [-2.09667478e-01 9.77770669e-01 -2.01696528e-03 -7.13599439e+01] [-1.05988296e-02 -2.10047140e-04 9.99943809e-01 -4.53517151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.22, Y:-71.37, Z:-4.54 [[ 9.77650988e-01 2.09976742e-01 1.04074074e-02 4.18215568e+02] [-2.09967171e-01 9.77706358e-01 -2.01622891e-03 -7.13683059e+01] [-1.05987496e-02 -2.14045708e-04 9.99943809e-01 -4.53674176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.27, Y:-71.37, Z:-4.54 [[ 9.77487314e-01 2.10737359e-01 1.04075490e-02 4.18273560e+02] [-2.10727839e-01 9.77542693e-01 -2.01549786e-03 -7.13737569e+01] [-1.05985642e-02 -2.23036729e-04 9.99943809e-01 -4.53887981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.725769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:418.33, Y:-71.38, Z:-4.54 [[ 9.77372529e-01 2.11269071e-01 1.04076940e-02 4.18330038e+02] [-2.11259589e-01 9.77427914e-01 -2.01474870e-03 -7.13807201e+01] [-1.05984248e-02 -2.29565136e-04 9.99943809e-01 -4.53900720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.39, Y:-71.39, Z:-4.54 [[ 9.77765730e-01 2.09441767e-01 1.04078609e-02 4.18386532e+02] [-2.09432190e-01 9.77821099e-01 -2.01388618e-03 -7.13874218e+01] [-1.05988179e-02 -2.10632225e-04 9.99943809e-01 -4.54016801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.845769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:418.44, Y:-71.39, Z:-4.54 [[ 9.78164402e-01 2.07571852e-01 1.04081127e-02 4.18444472e+02] [-2.07562184e-01 9.78219755e-01 -2.01258396e-03 -7.13932002e+01] [-1.05991773e-02 -1.91692623e-04 9.99943809e-01 -4.53707991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.905769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:418.50, Y:-71.40, Z:-4.54 [[ 9.77895090e-01 2.08836923e-01 1.04082517e-02 4.18502180e+02] [-2.08827334e-01 9.77950457e-01 -2.01186522e-03 -7.13993628e+01] [-1.05989062e-02 -2.06134326e-04 9.99943809e-01 -4.53547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.965769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:418.56, Y:-71.40, Z:-4.54 [[ 9.77326616e-01 2.11481326e-01 1.04083894e-02 4.18559873e+02] [-2.11471894e-01 9.77382010e-01 -2.01115259e-03 -7.14008668e+01] [-1.05982937e-02 -2.35528865e-04 9.99943809e-01 -4.53713587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.62, Y:-71.41, Z:-4.54 [[ 9.77360532e-01 2.11324519e-01 1.04085479e-02 4.18618162e+02] [-2.11315087e-01 9.77415926e-01 -2.01033159e-03 -7.14054202e+01] [-1.05983129e-02 -2.34664454e-04 9.99943809e-01 -4.53935982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.08576923100003 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:418.68, Y:-71.41, Z:-4.54 [[ 9.78126616e-01 2.07749807e-01 1.04086951e-02 4.18675433e+02] [-2.07740180e-01 9.78181976e-01 -2.00956930e-03 -7.14088671e+01] [-1.05990856e-02 -1.96690980e-04 9.99943809e-01 -4.54242675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.14576923100003 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:418.73, Y:-71.41, Z:-4.54 [[ 9.79382168e-01 2.01747918e-01 1.04089599e-02 4.18732193e+02] [-2.01737967e-01 9.79437471e-01 -2.00819677e-03 -7.14138223e+01] [-1.06000749e-02 -1.33090305e-04 9.99943809e-01 -4.54363345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.79, Y:-71.42, Z:-4.54 [[ 9.80278948e-01 1.97344457e-01 1.04091266e-02 4.18788619e+02] [-1.97334267e-01 9.80334207e-01 -2.00733234e-03 -7.14213114e+01] [-1.06005588e-02 -8.63317306e-05 9.99943809e-01 -4.54281564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:418.85, Y:-71.43, Z:-4.54 [[ 9.81532757e-01 1.91010715e-01 1.04092808e-02 4.18845651e+02] [-1.91000177e-01 9.81587951e-01 -2.00653222e-03 -7.14302301e+01] [-1.06008938e-02 -1.86973860e-05 9.99943809e-01 -4.54288189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:418.90, Y:-71.44, Z:-4.54 [[ 9.82021435e-01 1.88482216e-01 1.04094234e-02 4.18901861e+02] [-1.88471543e-01 9.82076603e-01 -2.00579263e-03 -7.14400278e+01] [-1.06009074e-02 7.85127187e-06 9.99943809e-01 -4.54403995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.385769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:418.96, Y:-71.45, Z:-4.54 [[ 9.82219964e-01 1.87444881e-01 1.04095872e-02 4.18958962e+02] [-1.87434159e-01 9.82275122e-01 -2.00494204e-03 -7.14519634e+01] [-1.06008947e-02 1.81818739e-05 9.99943809e-01 -4.54234808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.445769231 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:419.02, Y:-71.46, Z:-4.55 [[ 9.82144717e-01 1.87838743e-01 1.04097254e-02 4.19015371e+02] [-1.87828050e-01 9.82199881e-01 -2.00422426e-03 -7.14620336e+01] [-1.06009020e-02 1.31998472e-05 9.99943809e-01 -4.54502461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.505769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:419.07, Y:-71.47, Z:-4.55 [[ 9.81964626e-01 1.88777925e-01 1.04099755e-02 4.19072089e+02] [-1.88767299e-01 9.82019804e-01 -2.00292412e-03 -7.14727789e+01] [-1.06009100e-02 1.73766911e-06 9.99943809e-01 -4.54691210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.565769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:419.13, Y:-71.48, Z:-4.54 [[ 9.81263349e-01 1.92389888e-01 1.04101118e-02 4.19129975e+02] [-1.92379473e-01 9.81318567e-01 -2.00221583e-03 -7.14780293e+01] [-1.06008420e-02 -3.79907963e-05 9.99943809e-01 -4.54324653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.625769231 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:419.19, Y:-71.49, Z:-4.55 [[ 9.80817885e-01 1.94648153e-01 1.04102536e-02 4.19187418e+02] [-1.94637873e-01 9.80873128e-01 -2.00147819e-03 -7.14856227e+01] [-1.06007220e-02 -6.31440056e-05 9.99943809e-01 -4.54572481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.685769231 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:-71.49, Z:-4.55 [[ 9.80718302e-01 1.95149266e-01 1.04103967e-02 4.19244668e+02] [-1.95139022e-01 9.80773551e-01 -2.00073361e-03 -7.14908479e+01] [-1.06006834e-02 -6.93185566e-05 9.99943809e-01 -4.54739080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.745769231 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:419.30, Y:-71.50, Z:-4.54 [[ 9.81000385e-01 1.93726265e-01 1.04105625e-02 4.19302221e+02] [-1.93715950e-01 9.81055621e-01 -1.99987033e-03 -7.14963363e+01] [-1.06007683e-02 -5.48184396e-05 9.99943809e-01 -4.54439430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.805769231 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:419.36, Y:-71.50, Z:-4.55 [[ 9.81107529e-01 1.93182891e-01 1.04109561e-02 4.19359880e+02] [-1.93172567e-01 9.81162763e-01 -1.99781936e-03 -7.15045343e+01] [-1.06007870e-02 -5.10354983e-05 9.99943809e-01 -4.54561581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.865769231 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:419.42, Y:-71.51, Z:-4.55 [[ 9.81125230e-01 1.93092965e-01 1.04110773e-02 4.19417756e+02] [-1.93082643e-01 9.81180465e-01 -1.99718767e-03 -7.15127691e+01] [-1.06007885e-02 -5.07070996e-05 9.99943809e-01 -4.54913331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.925769231 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:419.47, Y:-71.52, Z:-4.55 [[ 9.81437717e-01 1.91498325e-01 1.04114635e-02 4.19474809e+02] [-1.91487935e-01 9.81492939e-01 -1.99517227e-03 -7.15222640e+01] [-1.06008500e-02 -3.55323187e-05 9.99943809e-01 -4.55114870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.985769231 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:419.53, Y:-71.53, Z:-4.56 [[ 9.81909138e-01 1.89066229e-01 1.04118451e-02 4.19531208e+02] [-1.89055723e-01 9.81964338e-01 -1.99317891e-03 -7.15320593e+01] [-1.06009034e-02 -1.12983154e-05 9.99943809e-01 -4.55733906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.045769231 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:419.59, Y:-71.54, Z:-4.56 [[ 9.82482336e-01 1.86064639e-01 1.04120105e-02 4.19587412e+02] [-1.86053974e-01 9.82537505e-01 -1.99231424e-03 -7.15449385e+01] [-1.06008901e-02 2.02176110e-05 9.99943809e-01 -4.55738289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.105769231 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:419.64, Y:-71.56, Z:-4.56 [[ 9.82903540e-01 1.83826600e-01 1.04121529e-02 4.19643327e+02] [-1.83815817e-01 9.82958686e-01 -1.99157016e-03 -7.15569551e+01] [-1.06008197e-02 4.36029768e-05 9.99943809e-01 -4.55625799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.165769231 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:419.70, Y:-71.57, Z:-4.56 [[ 9.83315532e-01 1.81609877e-01 1.04123169e-02 4.19697982e+02] [-1.81598978e-01 9.83370657e-01 -1.99071193e-03 -7.15724524e+01] [-1.06006999e-02 6.66318436e-05 9.99943809e-01 -4.56058886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.225769231 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:419.76, Y:-71.58, Z:-4.56 [[ 9.83339188e-01 1.81481740e-01 1.04124775e-02 4.19755414e+02] [-1.81470843e-01 9.83394312e-01 -1.98987182e-03 -7.15847888e+01] [-1.06006965e-02 6.71578782e-05 9.99943809e-01 -4.55571278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.285769231 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:419.81, Y:-71.60, Z:-4.55 [[ 9.83204502e-01 1.82210006e-01 1.04125703e-02 4.19811638e+02] [-1.82199155e-01 9.83259635e-01 -1.98938623e-03 -7.15979534e+01] [-1.06007461e-02 5.88119984e-05 9.99943809e-01 -4.55330365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.345769231 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:419.87, Y:-71.61, Z:-4.55 [[ 9.83236625e-01 1.82036574e-01 1.04127086e-02 4.19868185e+02] [-1.82025721e-01 9.83291758e-01 -1.98866214e-03 -7.16137077e+01] [-1.06007397e-02 5.99446645e-05 9.99943809e-01 -4.55243921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.405769231 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:419.93, Y:-71.63, Z:-4.56 [[ 9.83665644e-01 1.79703852e-01 1.04128008e-02 4.19925331e+02] [-1.79692873e-01 9.83720752e-01 -1.98817925e-03 -7.16277396e+01] [-1.06005717e-02 8.45975414e-05 9.99943809e-01 -4.55563243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.465769231 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:419.98, Y:-71.64, Z:-4.56 [[ 9.84185833e-01 1.76832741e-01 1.04128983e-02 4.19980806e+02] [-1.76821607e-01 9.84240910e-01 -1.98766816e-03 -7.16432902e+01] [-1.06002853e-02 1.15009429e-04 9.99943809e-01 -4.56151410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.525769231 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:420.04, Y:-71.66, Z:-4.57 [[ 9.85060676e-01 1.71892503e-01 1.04130672e-02 4.20036210e+02] [-1.71881103e-01 9.85115698e-01 -1.98678278e-03 -7.16649314e+01] [-1.05995891e-02 1.67292111e-04 9.99943809e-01 -4.56627269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.58576923100003 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:420.09, Y:-71.68, Z:-4.56 [[ 9.85660881e-01 1.68416727e-01 1.04131629e-02 4.20092524e+02] [-1.68405137e-01 9.85715864e-01 -1.98628140e-03 -7.16847272e+01] [-1.05989429e-02 2.04169747e-04 9.99943809e-01 -4.56226481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.64576923100003 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:420.15, Y:-71.70, Z:-4.56 [[ 9.85193343e-01 1.71130482e-01 1.04132585e-02 4.20147907e+02] [-1.71119049e-01 9.85248358e-01 -1.98577983e-03 -7.17006279e+01] [-1.05994733e-02 1.74470172e-04 9.99943809e-01 -4.56404818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:420.20, Y:-71.72, Z:-4.57 [[ 9.84411829e-01 1.75570246e-01 1.04134236e-02 4.20204262e+02] [-1.75559070e-01 9.84466898e-01 -1.98491396e-03 -7.17168849e+01] [-1.06001626e-02 1.25801826e-04 9.99943809e-01 -4.56775792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:420.26, Y:-71.73, Z:-4.57 [[ 9.84287837e-01 1.76264045e-01 1.04135179e-02 4.20261440e+02] [-1.76252913e-01 9.84342914e-01 -1.98441890e-03 -7.17321347e+01] [-1.06002543e-02 1.17826519e-04 9.99943809e-01 -4.56771524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:420.32, Y:-71.74, Z:-4.57 [[ 9.84338044e-01 1.75983442e-01 1.04136120e-02 4.20317738e+02] [-1.75972300e-01 9.84393120e-01 -1.98392518e-03 -7.17447746e+01] [-1.06002260e-02 1.20345784e-04 9.99943809e-01 -4.56740750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.885769231 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:420.37, Y:-71.75, Z:-4.56 [[ 9.83929647e-01 1.78252640e-01 1.04137575e-02 4.20374965e+02] [-1.78241633e-01 9.83984750e-01 -1.98316088e-03 -7.17511415e+01] [-1.06004823e-02 9.51256334e-05 9.99943809e-01 -4.56376339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.945769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:420.43, Y:-71.76, Z:-4.57 [[ 9.83209885e-01 1.82180877e-01 1.04139248e-02 4.20432045e+02] [-1.82170100e-01 9.83265033e-01 -1.98228213e-03 -7.17588178e+01] [-1.06007820e-02 5.18936635e-05 9.99943809e-01 -4.56755231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.005769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:420.49, Y:-71.77, Z:-4.57 [[ 9.83279180e-01 1.81806493e-01 1.04140651e-02 4.20489867e+02] [-1.81795702e-01 9.83334326e-01 -1.98154488e-03 -7.17657637e+01] [-1.06007654e-02 5.51795574e-05 9.99943809e-01 -4.56913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.065769231 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:420.55, Y:-71.78, Z:-4.57 [[ 9.83739660e-01 1.79298147e-01 1.04142056e-02 4.20545540e+02] [-1.79287224e-01 9.83794779e-01 -1.98080609e-03 -7.17765163e+01] [-1.06005960e-02 8.14635029e-05 9.99943809e-01 -4.56909347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.125769231 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:420.60, Y:-71.79, Z:-4.57 [[ 9.84740404e-01 1.73717812e-01 1.04143679e-02 4.20603171e+02] [-1.73706586e-01 9.84795462e-01 -1.97995259e-03 -7.17871542e+01] [-1.05999752e-02 1.40695027e-04 9.99943809e-01 -4.57327302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.185769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:420.66, Y:-71.80, Z:-4.58 [[ 9.85099079e-01 1.71672196e-01 1.04144597e-02 4.20660532e+02] [-1.71660860e-01 9.85154115e-01 -1.97946923e-03 -7.18006447e+01] [-1.05996677e-02 1.62218198e-04 9.99943809e-01 -4.57579485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.245769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:420.72, Y:-71.81, Z:-4.57 [[ 9.85195162e-01 1.71119929e-01 1.04145508e-02 4.20717480e+02] [-1.71108567e-01 9.85250192e-01 -1.97898979e-03 -7.18149374e+01] [-1.05995828e-02 1.67672294e-04 9.99943809e-01 -4.57099595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.305769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:420.77, Y:-71.83, Z:-4.57 [[ 9.84998965e-01 1.72245682e-01 1.04146442e-02 4.20772941e+02] [-1.72234388e-01 9.85054009e-01 -1.97849855e-03 -7.18281944e+01] [-1.05997748e-02 1.55059162e-04 9.99943809e-01 -4.57230315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.365769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:420.83, Y:-71.84, Z:-4.57 [[ 9.84923847e-01 1.72674684e-01 1.04148491e-02 4.20829356e+02] [-1.72663426e-01 9.84978899e-01 -1.97741927e-03 -7.18399410e+01] [-1.05998568e-02 1.49343870e-04 9.99943809e-01 -4.57475532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.425769231 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:420.89, Y:-71.85, Z:-4.57 [[ 9.84945162e-01 1.72553050e-01 1.04149832e-02 4.20886410e+02] [-1.72541793e-01 9.85000214e-01 -1.97671235e-03 -7.18536747e+01] [-1.05998485e-02 1.49933382e-04 9.99943809e-01 -4.56884309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.485769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:420.94, Y:-71.87, Z:-4.57 [[ 9.85517212e-01 1.69255285e-01 1.04150736e-02 4.20941438e+02] [-1.69243848e-01 9.85572227e-01 -1.97623626e-03 -7.18713855e+01] [-1.05992957e-02 1.84927722e-04 9.99943809e-01 -4.56566974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.545769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:421.00, Y:-71.89, Z:-4.57 [[ 9.85850418e-01 1.67303547e-01 1.04152306e-02 4.20997549e+02] [-1.67292010e-01 9.85905412e-01 -1.97540860e-03 -7.18859216e+01] [-1.05989250e-02 2.05072538e-04 9.99943809e-01 -4.56635831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.605769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:421.05, Y:-71.90, Z:-4.57 [[ 9.85935831e-01 1.66799452e-01 1.04153636e-02 4.21052976e+02] [-1.66787895e-01 9.85990821e-01 -1.97470688e-03 -7.19048150e+01] [-1.05988329e-02 2.09777700e-04 9.99943809e-01 -4.56680651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.665769231 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:421.11, Y:-71.93, Z:-4.57 [[ 9.85632736e-01 1.68581221e-01 1.04154730e-02 4.21108417e+02] [-1.68569769e-01 9.85687748e-01 -1.97412952e-03 -7.19251987e+01] [-1.05992053e-02 1.90032801e-04 9.99943809e-01 -4.57367463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.725769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:421.16, Y:-71.94, Z:-4.58 [[ 9.85090789e-01 1.71719693e-01 1.04155651e-02 4.21164790e+02] [-1.71708421e-01 9.85145838e-01 -1.97364379e-03 -7.19418310e+01] [-1.05997641e-02 1.55778090e-04 9.99943809e-01 -4.57586626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.785769231 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:421.22, Y:-71.96, Z:-4.58 [[ 9.83528774e-01 1.80451282e-01 1.04156578e-02 4.21220784e+02] [-1.80440504e-01 9.83583922e-01 -1.97315444e-03 -7.19551829e+01] [-1.06007318e-02 6.12476297e-05 9.99943809e-01 -4.57835433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.845769231 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:421.28, Y:-71.97, Z:-4.58 [[ 9.81729508e-01 1.89996539e-01 1.04157731e-02 4.21277817e+02] [-1.89986304e-01 9.81784759e-01 -1.97254544e-03 -7.19653009e+01] [-1.06008241e-02 -4.23481664e-05 9.99943809e-01 -4.57845452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.905769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:421.33, Y:-71.97, Z:-4.58 [[ 9.80038689e-01 1.98533817e-01 1.04159007e-02 4.21334795e+02] [-1.98524070e-01 9.80094029e-01 -1.97187165e-03 -7.19715960e+01] [-1.06000453e-02 -1.35296486e-04 9.99943809e-01 -4.58155515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.965769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:421.39, Y:-71.98, Z:-4.58 [[ 9.78921243e-01 2.03972312e-01 1.04161255e-02 4.21392654e+02] [-2.03962885e-01 9.78976638e-01 -1.97068345e-03 -7.19784612e+01] [-1.05991084e-02 -1.95359113e-04 9.99943809e-01 -4.58161259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.025769231 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:421.45, Y:-71.98, Z:-4.58 [[ 9.77455787e-01 2.10883111e-01 1.04162492e-02 4.21451889e+02] [-2.10874083e-01 9.77511248e-01 -1.97002904e-03 -7.19759194e+01] [-1.05974466e-02 -2.70900726e-04 9.99943809e-01 -4.58074218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.08576923100003 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:421.51, Y:-71.98, Z:-4.58 [[ 9.76529414e-01 2.15132060e-01 1.04163914e-02 4.21510249e+02] [-2.15123281e-01 9.76584915e-01 -1.96927714e-03 -7.19779608e+01] [-1.05961453e-02 -3.17751247e-04 9.99943809e-01 -4.57666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.14576923100003 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:421.57, Y:-71.97, Z:-4.58 [[ 9.76033441e-01 2.17371150e-01 1.04165658e-02 4.21570603e+02] [-2.17362508e-01 9.76088964e-01 -1.96835416e-03 -7.19716520e+01] [-1.05953583e-02 -3.42991386e-04 9.99943809e-01 -4.57691553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:421.63, Y:-71.97, Z:-4.58 [[ 9.76712217e-01 2.14300578e-01 1.04166990e-02 4.21629827e+02] [-2.14291770e-01 9.76767713e-01 -1.96764895e-03 -7.19669113e+01] [-1.05963636e-02 -3.10386099e-04 9.99943809e-01 -4.57591821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:-71.97, Z:-4.58 [[ 9.77334476e-01 2.11444576e-01 1.04169391e-02 4.21688322e+02] [-2.11435619e-01 9.77389949e-01 -1.96637702e-03 -7.19674481e+01] [-1.05971913e-02 -2.80703907e-04 9.99943809e-01 -4.57708659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:421.75, Y:-71.97, Z:-4.58 [[ 9.78678660e-01 2.05133044e-01 1.04170739e-02 4.21747703e+02] [-2.05123736e-01 9.78734075e-01 -1.96566255e-03 -7.19671110e+01] [-1.05987676e-02 -2.13037137e-04 9.99943809e-01 -4.57773373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:421.81, Y:-71.97, Z:-4.58 [[ 9.81159014e-01 1.92920879e-01 1.04174578e-02 4.21805468e+02] [-1.92910903e-01 9.81214313e-01 -1.96362597e-03 -7.19697323e+01] [-1.06005832e-02 -8.30118712e-05 9.99943809e-01 -4.57582594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.445769231 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:421.86, Y:-71.98, Z:-4.58 [[ 9.83071860e-01 1.82924003e-01 1.04176245e-02 4.21861974e+02] [-1.82913475e-01 9.83127056e-01 -1.96274129e-03 -7.19797940e+01] [-1.06008810e-02 2.39918346e-05 9.99943809e-01 -4.58229123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.505769231 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:421.92, Y:-71.99, Z:-4.59 [[ 9.85559747e-01 1.69007267e-01 1.04177388e-02 4.21920105e+02] [-1.68995965e-01 9.85614790e-01 -1.96213434e-03 -7.19913130e+01] [-1.05994924e-02 1.73244804e-04 9.99943809e-01 -4.58669018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.565769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:421.98, Y:-72.01, Z:-4.59 [[ 9.87243197e-01 1.58878379e-01 1.04178303e-02 4.21975669e+02] [-1.58866518e-01 9.87298122e-01 -1.96164867e-03 -7.20075484e+01] [-1.05971678e-02 2.81579886e-04 9.99943809e-01 -4.58983303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.03, Y:-72.02, Z:-4.59 [[ 9.87750637e-01 1.55692467e-01 1.04179924e-02 4.22032613e+02] [-1.55680438e-01 9.87805526e-01 -1.96078725e-03 -7.20221506e+01] [-1.05962302e-02 3.14891235e-04 9.99943809e-01 -4.58949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.685769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.09, Y:-72.04, Z:-4.58 [[ 9.87663491e-01 1.56244336e-01 1.04180826e-02 4.22088988e+02] [-1.56232343e-01 9.87718387e-01 -1.96030781e-03 -7.20378723e+01] [-1.05964187e-02 3.08483003e-04 9.99943809e-01 -4.58448800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.745769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:422.14, Y:-72.05, Z:-4.59 [[ 9.86502737e-01 1.63413007e-01 1.04181941e-02 4.22143914e+02] [-1.63401418e-01 9.86557721e-01 -1.95971489e-03 -7.20530866e+01] [-1.05983928e-02 2.30916402e-04 9.99943809e-01 -4.58599876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.805769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:422.20, Y:-72.07, Z:-4.58 [[ 9.85527618e-01 1.69194479e-01 1.04183460e-02 4.22201217e+02] [-1.69183222e-01 9.85582670e-01 -1.95890724e-03 -7.20656152e+01] [-1.05995775e-02 1.67947848e-04 9.99943809e-01 -4.58297573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.865769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:422.26, Y:-72.07, Z:-4.58 [[ 9.84235152e-01 1.76557701e-01 1.04184376e-02 4.22258361e+02] [-1.76546861e-01 9.84290288e-01 -1.95841981e-03 -7.20748789e+01] [-1.06005411e-02 8.82031549e-05 9.99943809e-01 -4.58321444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.925769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:422.32, Y:-72.09, Z:-4.59 [[ 9.83802747e-01 1.78951414e-01 1.04185768e-02 4.22315279e+02] [-1.78940716e-01 9.83857910e-01 -1.95767890e-03 -7.20887118e+01] [-1.06007286e-02 6.16622780e-05 9.99943809e-01 -4.58978792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.37, Y:-72.10, Z:-4.59 [[ 9.84038117e-01 1.77652570e-01 1.04186704e-02 4.22370371e+02] [-1.77641804e-01 9.84093267e-01 -1.95718060e-03 -7.21042609e+01] [-1.06006416e-02 7.51488992e-05 9.99943809e-01 -4.58887594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.43, Y:-72.12, Z:-4.59 [[ 9.84009933e-01 1.77808599e-01 1.04189053e-02 4.22427721e+02] [-1.77797856e-01 9.84065088e-01 -1.95592951e-03 -7.21179220e+01] [-1.06006620e-02 7.21950423e-05 9.99943809e-01 -4.58539175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.105769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.48, Y:-72.13, Z:-4.59 [[ 9.83367519e-01 1.81327788e-01 1.04189968e-02 4.22484418e+02] [-1.81317248e-01 9.83422713e-01 -1.95544188e-03 -7.21326029e+01] [-1.06008541e-02 3.37742053e-05 9.99943809e-01 -4.59251142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.165769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:422.54, Y:-72.15, Z:-4.60 [[ 9.82356356e-01 1.86728232e-01 1.04190884e-02 4.22540539e+02] [-1.86718000e-01 9.82411608e-01 -1.95495395e-03 -7.21463859e+01] [-1.06008785e-02 -2.49699050e-05 9.99943809e-01 -4.59553511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.60, Y:-72.16, Z:-4.60 [[ 9.81268396e-01 1.92363655e-01 1.04192018e-02 4.22597736e+02] [-1.92353746e-01 9.81323706e-01 -1.95434924e-03 -7.21577801e+01] [-1.06005555e-02 -8.64313573e-05 9.99943809e-01 -4.59694385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.285769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.66, Y:-72.16, Z:-4.59 [[ 9.79529161e-01 2.01032488e-01 1.04192911e-02 4.22657265e+02] [-2.01023074e-01 9.79584558e-01 -1.95387281e-03 -7.21616281e+01] [-1.05993686e-02 -1.80642542e-04 9.99943809e-01 -4.58943507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.345769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:422.71, Y:-72.17, Z:-4.59 [[ 9.78906822e-01 2.04041332e-01 1.04196057e-02 4.22714658e+02] [-2.04032106e-01 9.78962251e-01 -1.95219397e-03 -7.21681699e+01] [-1.05987289e-02 -2.14918104e-04 9.99943809e-01 -4.58771683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.405769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:422.77, Y:-72.17, Z:-4.59 [[ 9.77791277e-01 2.09321875e-01 1.04197395e-02 4.22772581e+02] [-2.09312956e-01 9.77846756e-01 -1.95147950e-03 -7.21661819e+01] [-1.05973958e-02 -2.72846836e-04 9.99943809e-01 -4.59066383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.465769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.83, Y:-72.16, Z:-4.59 [[ 9.78479480e-01 2.06080891e-01 1.04198938e-02 4.22833296e+02] [-2.06071797e-01 9.78534930e-01 -1.95065505e-03 -7.21602556e+01] [-1.05982228e-02 -2.38570313e-04 9.99943809e-01 -4.59467902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.89, Y:-72.16, Z:-4.60 [[ 9.79827902e-01 1.99571309e-01 1.04199861e-02 4.22891309e+02] [-1.99561851e-01 9.79883291e-01 -1.95016192e-03 -7.21610154e+01] [-1.05995667e-02 -1.68608665e-04 9.99943809e-01 -4.59631207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.95, Y:-72.16, Z:-4.59 [[ 9.82254400e-01 1.87263751e-01 1.04202372e-02 4.22950287e+02] [-1.87253614e-01 9.82309669e-01 -1.94881920e-03 -7.21586609e+01] [-1.06008430e-02 -3.69908523e-05 9.99943809e-01 -4.59054541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.64576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:423.01, Y:-72.16, Z:-4.59 [[ 9.83909644e-01 1.78362635e-01 1.04203491e-02 4.23008501e+02] [-1.78352004e-01 9.83964820e-01 -1.94822095e-03 -7.21643391e+01] [-1.06007467e-02 5.83832377e-05 9.99943809e-01 -4.58914452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:423.06, Y:-72.17, Z:-4.59 [[ 9.86356480e-01 1.64293357e-01 1.04204819e-02 4.23064697e+02] [-1.64281947e-01 9.86411501e-01 -1.94751035e-03 -7.21738500e+01] [-1.05988462e-02 2.09042394e-04 9.99943809e-01 -4.59185753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:423.12, Y:-72.19, Z:-4.59 [[ 9.88298186e-01 1.52177877e-01 1.04206346e-02 4.23120495e+02] [-1.52165801e-01 9.88353064e-01 -1.94669284e-03 -7.21925898e+01] [-1.05955097e-02 3.38248791e-04 9.99943809e-01 -4.58912073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:423.18, Y:-72.22, Z:-4.59 [[ 9.89345555e-01 1.45212878e-01 1.04207635e-02 4.23175273e+02] [-1.45200423e-01 9.89400349e-01 -1.94600296e-03 -7.22154128e+01] [-1.05928917e-02 4.12170116e-04 9.99943809e-01 -4.59060360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.23, Y:-72.24, Z:-4.59 [[ 9.89546566e-01 1.43836708e-01 1.04208906e-02 4.23230490e+02] [-1.43824184e-01 9.89601344e-01 -1.94532172e-03 -7.22374236e+01] [-1.05923360e-02 4.26210334e-04 9.99943809e-01 -4.59188941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.28, Y:-72.27, Z:-4.60 [[ 9.89843512e-01 1.41778787e-01 1.04210166e-02 4.23282903e+02] [-1.41766156e-01 9.89898265e-01 -1.94464644e-03 -7.22666340e+01] [-1.05914559e-02 4.47548189e-04 9.99943809e-01 -4.59717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:423.34, Y:-72.30, Z:-4.60 [[ 9.89984848e-01 1.40788491e-01 1.04211623e-02 4.23337124e+02] [-1.40775814e-01 9.90039591e-01 -1.94386571e-03 -7.22977174e+01] [-1.05910372e-02 4.57349996e-04 9.99943809e-01 -4.59927153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.065769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:423.39, Y:-72.32, Z:-4.60 [[ 9.89628971e-01 1.43268622e-01 1.04212443e-02 4.23392160e+02] [-1.43256086e-01 9.89683746e-01 -1.94342558e-03 -7.23210783e+01] [-1.05921680e-02 4.30363576e-04 9.99943809e-01 -4.59941840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.125769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:423.45, Y:-72.35, Z:-4.60 [[ 9.88333977e-01 1.51945207e-01 1.04213261e-02 4.23446769e+02] [-1.51933157e-01 9.88388861e-01 -1.94298686e-03 -7.23480802e+01] [-1.05955502e-02 3.36974954e-04 9.99943809e-01 -4.59886770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.50, Y:-72.37, Z:-4.60 [[ 9.87240293e-01 1.58896185e-01 1.04214145e-02 4.23502657e+02] [-1.58884527e-01 9.87295262e-01 -1.94251310e-03 -7.23682560e+01] [-1.05976710e-02 2.61925699e-04 9.99943809e-01 -4.59861430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.56, Y:-72.39, Z:-4.60 [[ 9.85643393e-01 1.68518527e-01 1.04215046e-02 4.23558356e+02] [-1.68507410e-01 9.85698474e-01 -1.94202909e-03 -7.23896434e+01] [-1.05997291e-02 1.58047377e-04 9.99943809e-01 -4.60050292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.62, Y:-72.41, Z:-4.60 [[ 9.84755215e-01 1.73633400e-01 1.04215969e-02 4.23615213e+02] [-1.73622575e-01 9.84810353e-01 -1.94153395e-03 -7.24082824e+01] [-1.06004117e-02 1.02511200e-04 9.99943809e-01 -4.60225646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.67, Y:-72.43, Z:-4.60 [[ 9.83683015e-01 1.79608226e-01 1.04216657e-02 4.23671557e+02] [-1.79597740e-01 9.83738219e-01 -1.94116477e-03 -7.24253300e+01] [-1.06008400e-02 3.77832176e-05 9.99943809e-01 -4.59590576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.73, Y:-72.44, Z:-4.60 [[ 9.83095345e-01 1.82797509e-01 1.04217599e-02 4.23727531e+02] [-1.82787207e-01 9.83150584e-01 -1.94065846e-03 -7.24385983e+01] [-1.06009069e-02 2.88790520e-06 9.99943809e-01 -4.59828439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.79, Y:-72.45, Z:-4.60 [[ 9.82293391e-01 1.87059026e-01 1.04218770e-02 4.23785324e+02] [-1.87048971e-01 9.82348675e-01 -1.94002980e-03 -7.24509813e+01] [-1.06008171e-02 -4.37229125e-05 9.99943809e-01 -4.60206858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.84, Y:-72.46, Z:-4.60 [[ 9.81673637e-01 1.90284661e-01 1.04219693e-02 4.23843060e+02] [-1.90274792e-01 9.81728955e-01 -1.93953360e-03 -7.24637476e+01] [-1.06006125e-02 -7.90490337e-05 9.99943809e-01 -4.60111842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.90, Y:-72.47, Z:-4.60 [[ 9.80986406e-01 1.93796418e-01 1.04220606e-02 4.23901215e+02] [-1.93786753e-01 9.81041760e-01 -1.93904293e-03 -7.24729568e+01] [-1.06002562e-02 -1.17482526e-04 9.99943809e-01 -4.60023363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.96, Y:-72.48, Z:-4.60 [[ 9.79484257e-01 2.01251011e-01 1.04221506e-02 4.23958960e+02] [-2.01241772e-01 9.79539683e-01 -1.93855879e-03 -7.24780639e+01] [-1.05990471e-02 -1.98584250e-04 9.99943809e-01 -4.60255434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.02, Y:-72.48, Z:-4.60 [[ 9.78508754e-01 2.05941727e-01 1.04222843e-02 4.24016243e+02] [-2.05932762e-01 9.78564225e-01 -1.93783975e-03 -7.24841815e+01] [-1.05979567e-02 -2.50096634e-04 9.99943809e-01 -4.60478242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.07, Y:-72.48, Z:-4.61 [[ 9.77771536e-01 2.09413936e-01 1.04224381e-02 4.24074927e+02] [-2.09405177e-01 9.77827040e-01 -1.93701219e-03 -7.24849313e+01] [-1.05969792e-02 -2.88557119e-04 9.99943809e-01 -4.60558080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.13, Y:-72.49, Z:-4.61 [[ 9.78356024e-01 2.06666061e-01 1.04225688e-02 4.24132938e+02] [-2.06657153e-01 9.78411504e-01 -1.93630900e-03 -7.24899985e+01] [-1.05977306e-02 -2.59498818e-04 9.99943809e-01 -4.60592175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.19, Y:-72.49, Z:-4.61 [[ 9.79255362e-01 2.02361811e-01 1.04226978e-02 4.24189754e+02] [-2.02352667e-01 9.79310804e-01 -1.93561435e-03 -7.24944831e+01] [-1.05987550e-02 -2.13599960e-04 9.99943809e-01 -4.60592510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.25, Y:-72.50, Z:-4.60 [[ 9.80098350e-01 1.98238716e-01 1.04228474e-02 4.24248063e+02] [-1.98229347e-01 9.80153755e-01 -1.93480840e-03 -7.25040886e+01] [-1.05995469e-02 -1.69811716e-04 9.99943809e-01 -4.60290318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.30, Y:-72.51, Z:-4.60 [[ 9.81383536e-01 1.91775177e-01 1.04229323e-02 4.24303969e+02] [-1.91765447e-01 9.81438878e-01 -1.93435112e-03 -7.25141489e+01] [-1.06004315e-02 -1.00417927e-04 9.99943809e-01 -4.60021567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.36, Y:-72.53, Z:-4.60 [[ 9.81827787e-01 1.89487612e-01 1.04231183e-02 4.24359937e+02] [-1.89477765e-01 9.81883109e-01 -1.93334805e-03 -7.25257619e+01] [-1.06006293e-02 -7.67343197e-05 9.99943809e-01 -4.60149892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.42, Y:-72.54, Z:-4.60 [[ 9.81790605e-01 1.89680163e-01 1.04232643e-02 4.24417537e+02] [-1.89670334e-01 9.81845930e-01 -1.93256047e-03 -7.25356373e+01] [-1.06006080e-02 -7.96143132e-05 9.99943809e-01 -4.60020400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.47, Y:-72.55, Z:-4.60 [[ 9.81775076e-01 1.89760516e-01 1.04233883e-02 4.24474776e+02] [-1.89750699e-01 9.81830403e-01 -1.93189166e-03 -7.25464978e+01] [-1.06005963e-02 -8.11621333e-05 9.99943809e-01 -4.59964894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.53, Y:-72.56, Z:-4.60 [[ 9.81592716e-01 1.90701574e-01 1.04235113e-02 4.24530542e+02] [-1.90691817e-01 9.81648054e-01 -1.93122773e-03 -7.25588312e+01] [-1.06005078e-02 -9.19992416e-05 9.99943809e-01 -4.60001039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.59, Y:-72.57, Z:-4.60 [[ 9.81376270e-01 1.91812313e-01 1.04236535e-02 4.24588089e+02] [-1.91802627e-01 9.81431620e-01 -1.93045999e-03 -7.25680862e+01] [-1.06003891e-02 -1.04776499e-04 9.99943809e-01 -4.60366516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.65, Y:-72.58, Z:-4.61 [[ 9.80220230e-01 1.97635134e-01 1.04237751e-02 4.24645340e+02] [-1.97625783e-01 9.80275638e-01 -1.92980300e-03 -7.25771426e+01] [-1.05995697e-02 -1.68374779e-04 9.99943809e-01 -4.60876825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.70, Y:-72.58, Z:-4.61 [[ 9.78610148e-01 2.05459290e-01 1.04238966e-02 4.24703881e+02] [-2.05450390e-01 9.78665630e-01 -1.92914670e-03 -7.25837484e+01] [-1.05978704e-02 -2.53711076e-04 9.99943809e-01 -4.61387830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.76, Y:-72.59, Z:-4.62 [[ 9.78108492e-01 2.07834356e-01 1.04239774e-02 4.24761875e+02] [-2.07825595e-01 9.78163996e-01 -1.92871020e-03 -7.25938224e+01] [-1.05972116e-02 -2.79881472e-04 9.99943809e-01 -4.61501444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.82, Y:-72.60, Z:-4.61 [[ 9.78571028e-01 2.05645524e-01 1.04240643e-02 4.24820181e+02] [-2.05636644e-01 9.78626513e-01 -1.92823999e-03 -7.26040490e+01] [-1.05977997e-02 -2.56649821e-04 9.99943809e-01 -4.60852710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.88, Y:-72.62, Z:-4.61 [[ 9.79708944e-01 2.00154246e-01 1.04241547e-02 4.24875969e+02] [-2.00145060e-01 9.79764379e-01 -1.92775111e-03 -7.26178616e+01] [-1.05990631e-02 -1.97708070e-04 9.99943809e-01 -4.61008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.93, Y:-72.63, Z:-4.61 [[ 9.80523334e-01 1.96125789e-01 1.04243114e-02 4.24932500e+02] [-1.96116385e-01 9.80578733e-01 -1.92690385e-03 -7.26323851e+01] [-1.05997736e-02 -1.55004069e-04 9.99943809e-01 -4.61015241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.99, Y:-72.65, Z:-4.61 [[ 9.81202447e-01 1.92699479e-01 1.04244320e-02 4.24988539e+02] [-1.92689887e-01 9.81257814e-01 -1.92625114e-03 -7.26485915e+01] [-1.06002429e-02 -1.18640293e-04 9.99943809e-01 -4.60667189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.04, Y:-72.66, Z:-4.61 [[ 9.81383230e-01 1.91776651e-01 1.04245692e-02 4.25044861e+02] [-1.91767016e-01 9.81438589e-01 -1.92550799e-03 -7.26640186e+01] [-1.06003420e-02 -1.09427278e-04 9.99943809e-01 -4.60693750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.10, Y:-72.68, Z:-4.61 [[ 9.81761778e-01 1.89829232e-01 1.04246918e-02 4.25101376e+02] [-1.89819494e-01 9.81817119e-01 -1.92484436e-03 -7.26841879e+01] [-1.06005326e-02 -8.90710945e-05 9.99943809e-01 -4.60655036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.16, Y:-72.70, Z:-4.61 [[ 9.82025235e-01 1.88461565e-01 1.04247820e-02 4.25158205e+02] [-1.88451755e-01 9.82080563e-01 -1.92435572e-03 -7.27021985e+01] [-1.06006428e-02 -7.48025728e-05 9.99943809e-01 -4.60570852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.21, Y:-72.72, Z:-4.61 [[ 9.81586002e-01 1.90736058e-01 1.04248713e-02 4.25213214e+02] [-1.90726381e-01 9.81641353e-01 -1.92387188e-03 -7.27201817e+01] [-1.06004365e-02 -9.98522598e-05 9.99943809e-01 -4.61261300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.27, Y:-72.74, Z:-4.62 [[ 9.81226345e-01 1.92577724e-01 1.04249905e-02 4.25270412e+02] [-1.92568158e-01 9.81281716e-01 -1.92322572e-03 -7.27352835e+01] [-1.06002230e-02 -1.20401462e-04 9.99943809e-01 -4.61642283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:-72.75, Z:-4.62 [[ 9.81535398e-01 1.90996284e-01 1.04250775e-02 4.25327047e+02] [-1.90986634e-01 9.81590754e-01 -1.92275400e-03 -7.27530270e+01] [-1.06003985e-02 -1.03799344e-04 9.99943809e-01 -4.61598034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.165769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:425.38, Y:-72.77, Z:-4.62 [[ 9.80938193e-01 1.94040142e-01 1.04251638e-02 4.25383825e+02] [-1.94030669e-01 9.80993580e-01 -1.92228551e-03 -7.27675065e+01] [-1.06000194e-02 -1.37158238e-04 9.99943809e-01 -4.61704835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.225769231 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:425.44, Y:-72.78, Z:-4.62 [[ 9.79683332e-01 2.00279511e-01 1.04252530e-02 4.25441263e+02] [-2.00270395e-01 9.79738779e-01 -1.92180162e-03 -7.27756169e+01] [-1.05989222e-02 -2.05112537e-04 9.99943809e-01 -4.61764582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.285769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:425.50, Y:-72.78, Z:-4.62 [[ 9.77347268e-01 2.11385027e-01 1.04253630e-02 4.25500937e+02] [-2.11376548e-01 9.77402816e-01 -1.92120518e-03 -7.27759976e+01] [-1.05958931e-02 -3.25992605e-04 9.99943809e-01 -4.61618975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.345769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:425.56, Y:-72.77, Z:-4.61 [[ 9.75629993e-01 2.19174422e-01 1.04254495e-02 4.25561039e+02] [-2.19166391e-01 9.75685607e-01 -1.92073556e-03 -7.27743200e+01] [-1.05929371e-02 -4.10980924e-04 9.99943809e-01 -4.61335387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.405769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:425.62, Y:-72.77, Z:-4.62 [[ 9.75259483e-01 2.20817229e-01 1.04255408e-02 4.25620304e+02] [-2.20809297e-01 9.75315112e-01 -1.92023979e-03 -7.27665495e+01] [-1.05922095e-02 -4.29324269e-04 9.99943809e-01 -4.61656755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.465769231 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:425.68, Y:-72.77, Z:-4.62 [[ 9.75614707e-01 2.19242440e-01 1.04257596e-02 4.25679530e+02] [-2.19234431e-01 9.75670324e-01 -1.91905097e-03 -7.27666419e+01] [-1.05928417e-02 -4.13431129e-04 9.99943809e-01 -4.61616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.525769231 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:425.74, Y:-72.76, Z:-4.62 [[ 9.77344397e-01 2.11398273e-01 1.04258932e-02 4.25739503e+02] [-2.11389825e-01 9.77399950e-01 -1.91832507e-03 -7.27629157e+01] [-1.05957981e-02 -3.29063476e-04 9.99943809e-01 -4.61703585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.58576923100003 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:425.80, Y:-72.77, Z:-4.62 [[ 9.79137971e-01 2.02928885e-01 1.04260265e-02 4.25796501e+02] [-2.02919964e-01 9.79193449e-01 -1.91760044e-03 -7.27672014e+01] [-1.05982333e-02 -2.38053510e-04 9.99943809e-01 -4.61772062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.64576923100003 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:425.85, Y:-72.78, Z:-4.62 [[ 9.82090648e-01 1.88120312e-01 1.04262408e-02 4.25852506e+02] [-1.88110567e-01 9.82145988e-01 -1.91643431e-03 -7.27785138e+01] [-1.06006108e-02 -7.91738591e-05 9.99943809e-01 -4.61789547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:425.91, Y:-72.80, Z:-4.62 [[ 9.84250652e-01 1.76470801e-01 1.04263939e-02 4.25908725e+02] [-1.76460409e-01 9.84305874e-01 -1.91560115e-03 -7.27954408e+01] [-1.06008084e-02 4.55859504e-05 9.99943809e-01 -4.62150354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:425.96, Y:-72.81, Z:-4.62 [[ 9.85476399e-01 1.69492053e-01 1.04264806e-02 4.25964397e+02] [-1.69481276e-01 9.85531547e-01 -1.91512879e-03 -7.28147187e+01] [-1.06002247e-02 1.20220988e-04 9.99943809e-01 -4.62431079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:426.02, Y:-72.83, Z:-4.63 [[ 9.85719958e-01 1.68069779e-01 1.04265876e-02 4.26020858e+02] [-1.68058928e-01 9.85775092e-01 -1.91454623e-03 -7.28310038e+01] [-1.06000477e-02 1.34925293e-04 9.99943809e-01 -4.62626079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.885769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:426.08, Y:-72.85, Z:-4.62 [[ 9.85750356e-01 1.67891394e-01 1.04266724e-02 4.26077628e+02] [-1.67880538e-01 9.85805488e-01 -1.91408450e-03 -7.28501821e+01] [-1.06000292e-02 1.36374105e-04 9.99943809e-01 -4.62152287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.945769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:426.13, Y:-72.87, Z:-4.62 [[ 9.85762845e-01 1.67818047e-01 1.04267563e-02 4.26134376e+02] [-1.67807192e-01 9.85817977e-01 -1.91362741e-03 -7.28662888e+01] [-1.06000250e-02 1.36698104e-04 9.99943809e-01 -4.62120177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.005769231 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:426.19, Y:-72.88, Z:-4.62 [[ 9.85597760e-01 1.68784882e-01 1.04268471e-02 4.26190774e+02] [-1.68774086e-01 9.85652904e-01 -1.91313206e-03 -7.28787341e+01] [-1.06001599e-02 1.25797071e-04 9.99943809e-01 -4.62280493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.065769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:426.25, Y:-72.89, Z:-4.62 [[ 9.85050839e-01 1.71948026e-01 1.04269599e-02 4.26248673e+02] [-1.71937414e-01 9.85106019e-01 -1.91251746e-03 -7.28921138e+01] [-1.06005145e-02 9.11424121e-05 9.99943809e-01 -4.61648592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.125769231 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:426.31, Y:-72.90, Z:-4.62 [[ 9.84921893e-01 1.72685094e-01 1.04270492e-02 4.26306088e+02] [-1.72674528e-01 9.84977082e-01 -1.91203050e-03 -7.29028435e+01] [-1.06005836e-02 8.27149037e-05 9.99943809e-01 -4.61685286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.185769231 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:426.36, Y:-72.91, Z:-4.62 [[ 9.84666760e-01 1.74133990e-01 1.04271379e-02 4.26362946e+02] [-1.74123511e-01 9.84721965e-01 -1.91154639e-03 -7.29131758e+01] [-1.06006969e-02 6.66263249e-05 9.99943809e-01 -4.62009688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.245769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:426.42, Y:-72.92, Z:-4.62 [[ 9.85002212e-01 1.72226350e-01 1.04272476e-02 4.26421220e+02] [-1.72215770e-01 9.85057398e-01 -1.91094811e-03 -7.29227771e+01] [-1.06005530e-02 8.65516478e-05 9.99943809e-01 -4.62112989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.305769231 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:426.48, Y:-72.93, Z:-4.62 [[ 9.85060784e-01 1.71891020e-01 1.04273354e-02 4.26479799e+02] [-1.71880426e-01 9.85115967e-01 -1.91046882e-03 -7.29319655e+01] [-1.06005270e-02 8.96730718e-05 9.99943809e-01 -4.62016008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.365769231 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:426.54, Y:-72.94, Z:-4.62 [[ 9.84608055e-01 1.74465605e-01 1.04274251e-02 4.26538483e+02] [-1.74455161e-01 9.84663267e-01 -1.90997888e-03 -7.29389371e+01] [-1.06007281e-02 6.14624660e-05 9.99943809e-01 -4.61982511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.425769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:426.60, Y:-72.95, Z:-4.63 [[ 9.84218709e-01 1.76648804e-01 1.04275153e-02 4.26596517e+02] [-1.76638488e-01 9.84273945e-01 -1.90948618e-03 -7.29468555e+01] [-1.06008401e-02 3.74514864e-05 9.99943809e-01 -4.62512739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.485769231 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:426.65, Y:-72.96, Z:-4.62 [[ 9.84059387e-01 1.77534190e-01 1.04276058e-02 4.26653477e+02] [-1.77523928e-01 9.84114633e-01 -1.90899183e-03 -7.29571954e+01] [-1.06008708e-02 2.74117843e-05 9.99943809e-01 -4.62285407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.545769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:426.71, Y:-72.97, Z:-4.62 [[ 9.84420127e-01 1.75522866e-01 1.04277183e-02 4.26710989e+02] [-1.75512498e-01 9.84475353e-01 -1.90837754e-03 -7.29694583e+01] [-1.06007955e-02 4.84503803e-05 9.99943809e-01 -4.62161129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.605769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:426.77, Y:-72.98, Z:-4.62 [[ 9.84158326e-01 1.76984889e-01 1.04278087e-02 4.26769008e+02] [-1.76974608e-01 9.84213568e-01 -1.90788314e-03 -7.29812044e+01] [-1.06008573e-02 3.22017229e-05 9.99943809e-01 -4.62266696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.83, Y:-72.99, Z:-4.63 [[ 9.83125300e-01 1.82635986e-01 1.04279046e-02 4.26826088e+02] [-1.82626028e-01 9.83180602e-01 -1.90735872e-03 -7.29915350e+01] [-1.06008659e-02 -2.92341940e-05 9.99943809e-01 -4.62610516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.725769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:426.88, Y:-73.00, Z:-4.62 [[ 9.82024294e-01 1.88466291e-01 1.04280233e-02 4.26884170e+02] [-1.88456669e-01 9.82079655e-01 -1.90671000e-03 -7.30012371e+01] [-1.06005000e-02 -9.27949877e-05 9.99943809e-01 -4.61938056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.785769231 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:426.94, Y:-73.01, Z:-4.62 [[ 9.81415096e-01 1.91613319e-01 1.04281185e-02 4.26941966e+02] [-1.91603879e-01 9.81470489e-01 -1.90618918e-03 -7.30083658e+01] [-1.06001418e-02 -1.27305114e-04 9.99943809e-01 -4.61791948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.00, Y:-73.01, Z:-4.63 [[ 9.80928398e-01 1.94089489e-01 1.04282359e-02 4.27000826e+02] [-1.94080196e-01 9.80983816e-01 -1.90554651e-03 -7.30133893e+01] [-1.05997772e-02 -1.54709385e-04 9.99943809e-01 -4.62532163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.905769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.06, Y:-73.02, Z:-4.63 [[ 9.81204775e-01 1.92687412e-01 1.04283295e-02 4.27057658e+02] [-1.92678045e-01 9.81260180e-01 -1.90503403e-03 -7.30202929e+01] [-1.05999806e-02 -1.40081663e-04 9.99943809e-01 -4.62642009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.965769231 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:427.12, Y:-73.03, Z:-4.63 [[ 9.81467555e-01 1.91344413e-01 1.04284914e-02 4.27115504e+02] [-1.91334980e-01 9.81522949e-01 -1.90414766e-03 -7.30290903e+01] [-1.06001516e-02 -1.26476037e-04 9.99943809e-01 -4.62749151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.025769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:427.17, Y:-73.04, Z:-4.63 [[ 9.81655131e-01 1.90379746e-01 1.04285868e-02 4.27172877e+02] [-1.90370264e-01 9.81710517e-01 -1.90362501e-03 -7.30357097e+01] [-1.06002649e-02 -1.16589556e-04 9.99943809e-01 -4.62903029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.08576923100003 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:427.23, Y:-73.04, Z:-4.63 [[ 9.81496138e-01 1.91197734e-01 1.04287048e-02 4.27229512e+02] [-1.91188306e-01 9.81551532e-01 -1.90297805e-03 -7.30413149e+01] [-1.06001563e-02 -1.26080800e-04 9.99943809e-01 -4.62983161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.14576923100003 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:427.29, Y:-73.05, Z:-4.63 [[ 9.81469764e-01 1.91333063e-01 1.04288680e-02 4.27288207e+02] [-1.91323652e-01 9.81525161e-01 -1.90208328e-03 -7.30475348e+01] [-1.06001278e-02 -1.28451877e-04 9.99943809e-01 -4.63308212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.35, Y:-73.05, Z:-4.63 [[ 9.81656065e-01 1.90374910e-01 1.04289606e-02 4.27346118e+02] [-1.90365450e-01 9.81711454e-01 -1.90157568e-03 -7.30523623e+01] [-1.06002423e-02 -1.18620467e-04 9.99943809e-01 -4.63283705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.40, Y:-73.06, Z:-4.63 [[ 9.82634205e-01 1.85259964e-01 1.04290751e-02 4.27404651e+02] [-1.85250222e-01 9.82689545e-01 -1.90094756e-03 -7.30602038e+01] [-1.06007125e-02 -6.40523718e-05 9.99943809e-01 -4.63281824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.46, Y:-73.07, Z:-4.63 [[ 9.83864633e-01 1.78610235e-01 1.04291659e-02 4.27460561e+02] [-1.78600125e-01 9.83919907e-01 -1.90044894e-03 -7.30734740e+01] [-1.06009036e-02 7.13416224e-06 9.99943809e-01 -4.63156090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.385769231 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:427.52, Y:-73.10, Z:-4.64 [[ 9.85721253e-01 1.68062019e-01 1.04292783e-02 4.27515915e+02] [-1.68051324e-01 9.85776416e-01 -1.89983216e-03 -7.30979520e+01] [-1.06002262e-02 1.20050912e-04 9.99943809e-01 -4.63543890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.445769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:427.57, Y:-73.12, Z:-4.64 [[ 9.85782003e-01 1.67705307e-01 1.04293662e-02 4.27572723e+02] [-1.67694596e-01 9.85837164e-01 -1.89934936e-03 -7.31158407e+01] [-1.06001878e-02 1.23396060e-04 9.99943809e-01 -4.63926449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.505769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.63, Y:-73.14, Z:-4.63 [[ 9.83856860e-01 1.78653031e-01 1.04294533e-02 4.27628963e+02] [-1.78642939e-01 9.83912138e-01 -1.89887095e-03 -7.31350808e+01] [-1.06009047e-02 5.06901162e-06 9.99943809e-01 -4.63433158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.69, Y:-73.14, Z:-4.64 [[ 9.80632510e-01 1.95578898e-01 1.04295398e-02 4.27687158e+02] [-1.95569766e-01 9.80687954e-01 -1.89839573e-03 -7.31443039e+01] [-1.05994102e-02 -1.78074082e-04 9.99943809e-01 -4.63721139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.74, Y:-73.15, Z:-4.64 [[ 9.78050930e-01 2.08104782e-01 1.04296343e-02 4.27743891e+02] [-2.08096365e-01 9.78106488e-01 -1.89787617e-03 -7.31496826e+01] [-1.05962501e-02 -3.14149435e-04 9.99943809e-01 -4.63880586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.685769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:427.80, Y:-73.15, Z:-4.64 [[ 9.77153602e-01 2.12278255e-01 1.04297971e-02 4.27802137e+02] [-2.12270084e-01 9.77209196e-01 -1.89698133e-03 -7.31542929e+01] [-1.05947815e-02 -3.60291770e-04 9.99943809e-01 -4.63525370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.745769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:427.86, Y:-73.15, Z:-4.64 [[ 9.76323705e-01 2.16063045e-01 1.04299088e-02 4.27862077e+02] [-2.16055097e-01 9.76379331e-01 -1.89636695e-03 -7.31526493e+01] [-1.05932822e-02 -4.01966955e-04 9.99943809e-01 -4.64004242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.805769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.92, Y:-73.15, Z:-4.64 [[ 9.75522646e-01 2.19651502e-01 1.04299974e-02 4.27921700e+02] [-2.19643763e-01 9.75578302e-01 -1.89587981e-03 -7.31481470e+01] [-1.05917120e-02 -4.41410178e-04 9.99943809e-01 -4.63981379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.865769231 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:427.98, Y:-73.15, Z:-4.64 [[ 9.75299802e-01 2.20638865e-01 1.04301325e-02 4.27979875e+02] [-2.20631191e-01 9.75355466e-01 -1.89513586e-03 -7.31483884e+01] [-1.05912274e-02 -4.52886939e-04 9.99943809e-01 -4.64069606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.925769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:428.04, Y:-73.14, Z:-4.64 [[ 9.75720645e-01 2.18770273e-01 1.04302881e-02 4.28040263e+02] [-2.18762501e-01 9.75776296e-01 -1.89427899e-03 -7.31430936e+01] [-1.05920399e-02 -4.33468806e-04 9.99943809e-01 -4.64224065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.985769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:428.10, Y:-73.15, Z:-4.64 [[ 9.76052732e-01 2.17283840e-01 1.04306208e-02 4.28098141e+02] [-2.17276003e-01 9.76108374e-01 -1.89244548e-03 -7.31482089e+01] [-1.05926141e-02 -4.19197014e-04 9.99943809e-01 -4.64243174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.16, Y:-73.15, Z:-4.64 [[ 9.77466417e-01 2.10833116e-01 1.04307524e-02 4.28156571e+02] [-2.10824919e-01 9.77522007e-01 -1.89171982e-03 -7.31465508e+01] [-1.05951272e-02 -3.49969940e-04 9.99943809e-01 -4.64357909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.21, Y:-73.15, Z:-4.64 [[ 9.79021920e-01 2.03487779e-01 1.04309048e-02 4.28214628e+02] [-2.03479174e-01 9.79077449e-01 -1.89087925e-03 -7.31493295e+01] [-1.05974345e-02 -2.71259660e-04 9.99943809e-01 -4.64390865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.27, Y:-73.16, Z:-4.64 [[ 9.79960802e-01 1.98917120e-01 1.04310357e-02 4.28272552e+02] [-1.98908264e-01 9.80016291e-01 -1.89015688e-03 -7.31563866e+01] [-1.05985695e-02 -2.22539554e-04 9.99943809e-01 -4.64057673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.33, Y:-73.16, Z:-4.64 [[ 9.80423556e-01 1.96623594e-01 1.04313971e-02 4.28330170e+02] [-1.96614629e-01 9.80479027e-01 -1.88816044e-03 -7.31625363e+01] [-1.05990229e-02 -1.99768296e-04 9.99943809e-01 -4.64123102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.285769231 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.39, Y:-73.17, Z:-4.65 [[ 9.79638282e-01 2.00499412e-01 1.04317557e-02 4.28387958e+02] [-2.00490688e-01 9.79693792e-01 -1.88617662e-03 -7.31698918e+01] [-1.05981037e-02 -2.43699065e-04 9.99943809e-01 -4.64790042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.45, Y:-73.18, Z:-4.65 [[ 9.79308321e-01 2.02104882e-01 1.04321147e-02 4.28445019e+02] [-2.02096270e-01 9.79363848e-01 -1.88418912e-03 -7.31786500e+01] [-1.05976398e-02 -2.63089389e-04 9.99943809e-01 -4.64954456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.50, Y:-73.19, Z:-4.65 [[ 9.80083998e-01 1.98309151e-01 1.04324715e-02 4.28502166e+02] [-1.98300345e-01 9.80139495e-01 -1.88221136e-03 -7.31878567e+01] [-1.05985371e-02 -2.24037470e-04 9.99943809e-01 -4.65348579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.465769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:428.56, Y:-73.20, Z:-4.65 [[ 9.80518985e-01 1.96147090e-01 1.04325818e-02 4.28560064e+02] [-1.96138168e-01 9.80574464e-01 -1.88160012e-03 -7.31969762e+01] [-1.05989937e-02 -2.01282832e-04 9.99943809e-01 -4.64765528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.62, Y:-73.20, Z:-4.65 [[ 9.79612499e-01 2.00625287e-01 1.04328903e-02 4.28618706e+02] [-2.00616637e-01 9.79668021e-01 -1.87988778e-03 -7.32009933e+01] [-1.05979220e-02 -2.51449805e-04 9.99943809e-01 -4.64705246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.68, Y:-73.21, Z:-4.65 [[ 9.79565987e-01 2.00852246e-01 1.04332485e-02 4.28675834e+02] [-2.00843630e-01 9.79621513e-01 -1.87789759e-03 -7.32051390e+01] [-1.05978147e-02 -2.55926908e-04 9.99943809e-01 -4.64993533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.64576923100003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.73, Y:-73.21, Z:-4.64 [[ 9.80600060e-01 1.95741328e-01 1.04334029e-02 4.28733375e+02] [-1.95732431e-01 9.80655542e-01 -1.87703940e-03 -7.32123634e+01] [-1.05989886e-02 -2.01530375e-04 9.99943809e-01 -4.64494241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:428.79, Y:-73.22, Z:-4.65 [[ 9.82237619e-01 1.87350996e-01 1.04337530e-02 4.28790480e+02] [-1.87341647e-01 9.82293027e-01 -1.87509138e-03 -7.32241549e+01] [-1.06003031e-02 -1.12891183e-04 9.99943809e-01 -4.65375536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:428.85, Y:-73.23, Z:-4.65 [[ 9.83058572e-01 1.82994463e-01 1.04340665e-02 4.28847509e+02] [-1.82984886e-01 9.83113942e-01 -1.87334521e-03 -7.32346527e+01] [-1.06006881e-02 -6.76684055e-05 9.99943809e-01 -4.64834210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.90, Y:-73.25, Z:-4.65 [[ 9.82571051e-01 1.85594336e-01 1.04341765e-02 4.28903278e+02] [-1.85584912e-01 9.82626446e-01 -1.87273274e-03 -7.32495365e+01] [-1.06004663e-02 -9.63327480e-05 9.99943809e-01 -4.64755216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.96, Y:-73.26, Z:-4.65 [[ 9.82447475e-01 1.86247360e-01 1.04345270e-02 4.28959078e+02] [-1.86237994e-01 9.82502880e-01 -1.87077760e-03 -7.32637437e+01] [-1.06003802e-02 -1.05364653e-04 9.99943809e-01 -4.65474443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.02, Y:-73.28, Z:-4.65 [[ 9.83318214e-01 1.81594077e-01 1.04346353e-02 4.29015508e+02] [-1.81584455e-01 9.83373575e-01 -1.87017307e-03 -7.32799909e+01] [-1.06007570e-02 -5.57923339e-05 9.99943809e-01 -4.64647673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.005769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:429.07, Y:-73.29, Z:-4.65 [[ 9.83892510e-01 1.78456282e-01 1.04347973e-02 4.29070787e+02] [-1.78446493e-01 9.83947842e-01 -1.86926915e-03 -7.32937046e+01] [-1.06008791e-02 -2.28930663e-05 9.99943809e-01 -4.64898727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:-73.31, Z:-4.65 [[ 9.84407854e-01 1.75591256e-01 1.04349457e-02 4.29126928e+02] [-1.75581315e-01 9.84463159e-01 -1.86843992e-03 -7.33093228e+01] [-1.06009014e-02 7.12543223e-06 9.99943809e-01 -4.65343135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.125769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:429.18, Y:-73.32, Z:-4.65 [[ 9.84093741e-01 1.77343224e-01 1.04350779e-02 4.29184341e+02] [-1.77333389e-01 9.84149064e-01 -1.86770165e-03 -7.33214858e+01] [-1.06008964e-02 -1.24942249e-05 9.99943809e-01 -4.65087044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.185769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:429.24, Y:-73.33, Z:-4.65 [[ 9.83761705e-01 1.79175934e-01 1.04351660e-02 4.29240925e+02] [-1.79166207e-01 9.83817048e-01 -1.86720917e-03 -7.33329987e+01] [-1.06008532e-02 -3.27402439e-05 9.99943809e-01 -4.65180946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.245769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:429.30, Y:-73.34, Z:-4.65 [[ 9.84000629e-01 1.77859122e-01 1.04352981e-02 4.29297945e+02] [-1.77849329e-01 9.84055960e-01 -1.86647042e-03 -7.33442292e+01] [-1.06008861e-02 -1.93027107e-05 9.99943809e-01 -4.65323623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.35, Y:-73.36, Z:-4.66 [[ 9.84150000e-01 1.77030728e-01 1.04354294e-02 4.29354382e+02] [-1.77020897e-01 9.84205325e-01 -1.86573624e-03 -7.33558286e+01] [-1.06008978e-02 -1.11247466e-05 9.99943809e-01 -4.65572835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.365769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:429.41, Y:-73.37, Z:-4.66 [[ 9.84555138e-01 1.74763494e-01 1.04355636e-02 4.29411833e+02] [-1.74753543e-01 9.84610441e-01 -1.86498529e-03 -7.33654059e+01] [-1.06008962e-02 1.25291295e-05 9.99943809e-01 -4.65877263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.47, Y:-73.37, Z:-4.66 [[ 9.84711853e-01 1.73878303e-01 1.04356741e-02 4.29469866e+02] [-1.73868309e-01 9.84767148e-01 -1.86436701e-03 -7.33728676e+01] [-1.06008820e-02 2.14312972e-05 9.99943809e-01 -4.65728875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.53, Y:-73.38, Z:-4.66 [[ 9.84396253e-01 1.75656232e-01 1.04357630e-02 4.29527424e+02] [-1.75646343e-01 9.84451567e-01 -1.86386895e-03 -7.33775574e+01] [-1.06009035e-02 1.78199955e-06 9.99943809e-01 -4.65640995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.58, Y:-73.38, Z:-4.65 [[ 9.84295550e-01 1.76219644e-01 1.04359163e-02 4.29584920e+02] [-1.76209795e-01 9.84350871e-01 -1.86301008e-03 -7.33817052e+01] [-1.06009023e-02 -5.15815843e-06 9.99943809e-01 -4.65416147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.64, Y:-73.39, Z:-4.66 [[ 9.84523787e-01 1.74939989e-01 1.04361516e-02 4.29641724e+02] [-1.74930083e-01 9.84579098e-01 -1.86169106e-03 -7.33892049e+01] [-1.06009010e-02 7.28225814e-06 9.99943809e-01 -4.65645594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.70, Y:-73.39, Z:-4.66 [[ 9.84742235e-01 1.73706116e-01 1.04362968e-02 4.29699433e+02] [-1.73696149e-01 9.84797535e-01 -1.86087678e-03 -7.33930991e+01] [-1.06008851e-02 1.97393850e-05 9.99943809e-01 -4.65797825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.725769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.76, Y:-73.40, Z:-4.65 [[ 9.84606989e-01 1.74471079e-01 1.04364278e-02 4.29757910e+02] [-1.74461163e-01 9.84662299e-01 -1.86014187e-03 -7.33984427e+01] [-1.06008980e-02 1.07573518e-05 9.99943809e-01 -4.65450177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.81, Y:-73.41, Z:-4.66 [[ 9.85172724e-01 1.71247722e-01 1.04365578e-02 4.29814160e+02] [-1.71237633e-01 9.85228002e-01 -1.85941244e-03 -7.34086399e+01] [-1.06008091e-02 4.47109671e-05 9.99943809e-01 -4.65849349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.845769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.87, Y:-73.42, Z:-4.66 [[ 9.85964570e-01 1.66628151e-01 1.04367934e-02 4.29870215e+02] [-1.66617817e-01 9.86019802e-01 -1.85808912e-03 -7.34226651e+01] [-1.06004949e-02 9.30543064e-05 9.99943809e-01 -4.66113914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.93, Y:-73.44, Z:-4.66 [[ 9.87075531e-01 1.59915500e-01 1.04369223e-02 4.29927332e+02] [-1.59904798e-01 9.87130693e-01 -1.85736457e-03 -7.34393697e+01] [-1.05996278e-02 1.64445168e-04 9.99943809e-01 -4.66398826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.98, Y:-73.45, Z:-4.66 [[ 9.87229341e-01 1.58963195e-01 1.04370074e-02 4.29983696e+02] [-1.58952444e-01 9.87284494e-01 -1.85688620e-03 -7.34534761e+01] [-1.05994722e-02 1.74184703e-04 9.99943809e-01 -4.66485761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.04, Y:-73.47, Z:-4.67 [[ 9.87059939e-01 1.60011697e-01 1.04371346e-02 4.30040032e+02] [-1.60001013e-01 9.87115105e-01 -1.85617113e-03 -7.34691544e+01] [-1.05996623e-02 1.62200050e-04 9.99943809e-01 -4.66539007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.10, Y:-73.49, Z:-4.66 [[ 9.86956230e-01 1.60650129e-01 1.04372604e-02 4.30095582e+02] [-1.60639488e-01 9.87011404e-01 -1.85546349e-03 -7.34874558e+01] [-1.05997755e-02 1.54625089e-04 9.99943809e-01 -4.66359389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.15, Y:-73.51, Z:-4.66 [[ 9.87326618e-01 1.58357856e-01 1.04373644e-02 4.30151645e+02] [-1.58347093e-01 9.87381769e-01 -1.85487848e-03 -7.35054498e+01] [-1.05993979e-02 1.78644590e-04 9.99943809e-01 -4.66471275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.21, Y:-73.52, Z:-4.66 [[ 9.87303729e-01 1.58500490e-01 1.04374874e-02 4.30207785e+02] [-1.58489743e-01 9.87358883e-01 -1.85418596e-03 -7.35199879e+01] [-1.05994353e-02 1.76410023e-04 9.99943809e-01 -4.66471780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.26, Y:-73.54, Z:-4.66 [[ 9.86853906e-01 1.61277479e-01 1.04376107e-02 4.30263743e+02] [-1.61266894e-01 9.86909091e-01 -1.85349131e-03 -7.35415206e+01] [-1.05998993e-02 1.45884075e-04 9.99943809e-01 -4.66083962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.32, Y:-73.56, Z:-4.66 [[ 9.86814202e-01 1.61520232e-01 1.04376924e-02 4.30318667e+02] [-1.61509665e-01 9.86869391e-01 -1.85303119e-03 -7.35572685e+01] [-1.05999412e-02 1.42809283e-04 9.99943809e-01 -4.66345793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.385769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.37, Y:-73.58, Z:-4.67 [[ 9.86471204e-01 1.63602003e-01 1.04378338e-02 4.30373478e+02] [-1.63591562e-01 9.86526416e-01 -1.85223442e-03 -7.35797130e+01] [-1.06002281e-02 1.19634384e-04 9.99943809e-01 -4.66566307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.445769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.43, Y:-73.60, Z:-4.67 [[ 9.85270644e-01 1.70683355e-01 1.04379545e-02 4.30429122e+02] [-1.70673317e-01 9.85325931e-01 -1.85155433e-03 -7.35990412e+01] [-1.06008167e-02 4.28018175e-05 9.99943809e-01 -4.66882153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.49, Y:-73.61, Z:-4.67 [[ 9.83451378e-01 1.80871320e-01 1.04380545e-02 4.30485149e+02] [-1.80861862e-01 9.83506767e-01 -1.85099024e-03 -7.36149758e+01] [-1.06006883e-02 -6.74870639e-05 9.99943809e-01 -4.66913391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.54, Y:-73.63, Z:-4.67 [[ 9.81873924e-01 1.89247566e-01 1.04381869e-02 4.30541528e+02] [-1.89238588e-01 9.81929393e-01 -1.85024316e-03 -7.36276186e+01] [-1.05997166e-02 -1.58602244e-04 9.99943809e-01 -4.67200778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.625769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.60, Y:-73.64, Z:-4.67 [[ 9.80426073e-01 1.96610675e-01 1.04382965e-02 4.30599424e+02] [-1.96602120e-01 9.80481609e-01 -1.84962490e-03 -7.36382154e+01] [-1.05982137e-02 -2.38770738e-04 9.99943809e-01 -4.67079121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.66, Y:-73.64, Z:-4.67 [[ 9.79241143e-01 2.02429799e-01 1.04383786e-02 4.30656228e+02] [-2.02421578e-01 9.79296730e-01 -1.84916147e-03 -7.36417308e+01] [-1.05965954e-02 -3.02178068e-04 9.99943809e-01 -4.67110540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.71, Y:-73.65, Z:-4.67 [[ 9.79166758e-01 2.02789292e-01 1.04385204e-02 4.30714932e+02] [-2.02781101e-01 9.79222349e-01 -1.84836045e-03 -7.36493722e+01] [-1.05964602e-02 -3.06881553e-04 9.99943809e-01 -4.67077700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.77, Y:-73.66, Z:-4.67 [[ 9.79800202e-01 1.99706282e-01 1.04386002e-02 4.30771976e+02] [-1.99697921e-01 9.79855768e-01 -1.84790963e-03 -7.36564651e+01] [-1.05973618e-02 -2.73984530e-04 9.99943809e-01 -4.67031553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.83, Y:-73.67, Z:-4.67 [[ 9.81243421e-01 1.92489951e-01 1.04386994e-02 4.30829291e+02] [-1.92481187e-01 9.81298925e-01 -1.84734920e-03 -7.36650755e+01] [-1.05990806e-02 -1.96553997e-04 9.99943809e-01 -4.67160551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.89, Y:-73.67, Z:-4.67 [[ 9.82146681e-01 1.87826858e-01 1.04388240e-02 4.30886639e+02] [-1.87817837e-01 9.82202143e-01 -1.84664450e-03 -7.36742692e+01] [-1.05998848e-02 -1.46921587e-04 9.99943809e-01 -4.67099492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.94, Y:-73.68, Z:-4.67 [[ 9.83212236e-01 1.82166758e-01 1.04389489e-02 4.30944556e+02] [-1.82157426e-01 9.83267647e-01 -1.84593858e-03 -7.36829954e+01] [-1.06005493e-02 -8.65826538e-05 9.99943809e-01 -4.66762086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.00, Y:-73.69, Z:-4.67 [[ 9.83770267e-01 1.79128690e-01 1.04390336e-02 4.31000629e+02] [-1.79119192e-01 9.83825650e-01 -1.84545944e-03 -7.36944421e+01] [-1.06007637e-02 -5.43231301e-05 9.99943809e-01 -4.67147544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.06, Y:-73.71, Z:-4.67 [[ 9.84450660e-01 1.75350852e-01 1.04391794e-02 4.31058060e+02] [-1.75341150e-01 9.84506007e-01 -1.84463439e-03 -7.37099903e+01] [-1.06008930e-02 -1.44661739e-05 9.99943809e-01 -4.67417026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.11, Y:-73.72, Z:-4.68 [[ 9.85148917e-01 1.71384458e-01 1.04392712e-02 4.31114636e+02] [-1.71374538e-01 9.85204226e-01 -1.84411435e-03 -7.37242397e+01] [-1.06008667e-02 2.77019659e-05 9.99943809e-01 -4.67816488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.17, Y:-73.74, Z:-4.68 [[ 9.85587002e-01 1.68846912e-01 1.04393846e-02 4.31171551e+02] [-1.68836857e-01 9.85642287e-01 -1.84347243e-03 -7.37402504e+01] [-1.06007635e-02 5.43495813e-05 9.99943809e-01 -4.67569798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.23, Y:-73.75, Z:-4.67 [[ 9.84415764e-01 1.75546636e-01 1.04394699e-02 4.31228073e+02] [-1.75536962e-01 9.84471116e-01 -1.84298933e-03 -7.37526616e+01] [-1.06008871e-02 -1.82450824e-05 9.99943809e-01 -4.67266646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.29, Y:-73.76, Z:-4.67 [[ 9.82996624e-01 1.83326628e-01 1.04395972e-02 4.31285093e+02] [-1.83317400e-01 9.83052052e-01 -1.84226760e-03 -7.37616264e+01] [-1.06004042e-02 -1.02816992e-04 9.99943809e-01 -4.67209386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.34, Y:-73.77, Z:-4.67 [[ 9.82701659e-01 1.84901220e-01 1.04397223e-02 4.31342467e+02] [-1.84892088e-01 9.82757103e-01 -1.84155876e-03 -7.37699446e+01] [-1.06002177e-02 -1.20519202e-04 9.99943809e-01 -4.67143772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.40, Y:-73.78, Z:-4.67 [[ 9.83431527e-01 1.80979117e-01 1.04398541e-02 4.31398990e+02] [-1.80969772e-01 9.83486936e-01 -1.84081114e-03 -7.37801421e+01] [-1.06006085e-02 -7.89863082e-05 9.99943809e-01 -4.67313907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.46, Y:-73.79, Z:-4.67 [[ 9.84383906e-01 1.75725156e-01 1.04400421e-02 4.31456196e+02] [-1.75715527e-01 9.84439266e-01 -1.83974454e-03 -7.37901310e+01] [-1.06008767e-02 -2.34625778e-05 9.99943809e-01 -4.67309397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.51, Y:-73.80, Z:-4.67 [[ 9.84234380e-01 1.76560724e-01 1.04401486e-02 4.31513596e+02] [-1.76551148e-01 9.84289749e-01 -1.83913969e-03 -7.37986785e+01] [-1.06008511e-02 -3.30757199e-05 9.99943809e-01 -4.67315038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.57, Y:-73.81, Z:-4.68 [[ 9.83499987e-01 1.80606690e-01 1.04402783e-02 4.31571609e+02] [-1.80597350e-01 9.83555396e-01 -1.83840299e-03 -7.38057759e+01] [-1.06006200e-02 -7.74172840e-05 9.99943809e-01 -4.67565621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.63, Y:-73.81, Z:-4.68 [[ 9.83225028e-01 1.82097621e-01 1.04403678e-02 4.31629108e+02] [-1.82088370e-01 9.83280452e-01 -1.83789468e-03 -7.38145824e+01] [-1.06004858e-02 -9.40055046e-05 9.99943809e-01 -4.67718455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:431.69, Y:-73.82, Z:-4.68 [[ 9.83049080e-01 1.83045081e-01 1.04405047e-02 4.31685995e+02] [-1.83035892e-01 9.83104515e-01 -1.83711696e-03 -7.38218676e+01] [-1.06003825e-02 -1.05010950e-04 9.99943809e-01 -4.67800915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.74, Y:-73.83, Z:-4.68 [[ 9.82658978e-01 1.85127865e-01 1.04406621e-02 4.31743505e+02] [-1.85118803e-01 9.82714433e-01 -1.83622176e-03 -7.38281422e+01] [-1.06001252e-02 -1.28383075e-04 9.99943809e-01 -4.67960781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.80, Y:-73.83, Z:-4.68 [[ 9.81731817e-01 1.89983235e-01 1.04407954e-02 4.31802177e+02] [-1.89974455e-01 9.81787318e-01 -1.83546348e-03 -7.38313767e+01] [-1.05993478e-02 -1.81551516e-04 9.99943809e-01 -4.67967625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.86, Y:-73.84, Z:-4.68 [[ 9.81284949e-01 1.92278017e-01 1.04409275e-02 4.31860584e+02] [-1.92269375e-01 9.81340472e-01 -1.83471188e-03 -7.38370765e+01] [-1.05988795e-02 -2.07095446e-04 9.99943809e-01 -4.67837087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.92, Y:-73.84, Z:-4.68 [[ 9.81970286e-01 1.88746767e-01 1.04410147e-02 4.31919224e+02] [-1.88737930e-01 9.82025778e-01 -1.83421569e-03 -7.38422739e+01] [-1.05995478e-02 -1.69470193e-04 9.99943809e-01 -4.68318908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.98, Y:-73.85, Z:-4.68 [[ 9.83298271e-01 1.81701661e-01 1.04411008e-02 4.31976737e+02] [-1.81692432e-01 9.83353699e-01 -1.83372544e-03 -7.38498111e+01] [-1.06004860e-02 -9.39699299e-05 9.99943809e-01 -4.68134535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.03, Y:-73.86, Z:-4.68 [[ 9.84008711e-01 1.77814053e-01 1.04412536e-02 4.32034888e+02] [-1.77804614e-01 9.84064104e-01 -1.83285466e-03 -7.38604483e+01] [-1.06007702e-02 -5.29581192e-05 9.99943809e-01 -4.67923452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.09, Y:-73.87, Z:-4.68 [[ 9.84519681e-01 1.74962784e-01 1.04413381e-02 4.32091386e+02] [-1.74953190e-01 9.84575047e-01 -1.83237343e-03 -7.38721945e+01] [-1.06008781e-02 -2.27376982e-05 9.99943809e-01 -4.68203329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.15, Y:-73.89, Z:-4.68 [[ 9.84701376e-01 1.73937278e-01 1.04414637e-02 4.32148325e+02] [-1.73927634e-01 9.84756733e-01 -1.83165729e-03 -7.38851029e+01] [-1.06008952e-02 -1.24236280e-05 9.99943809e-01 -4.67874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.21, Y:-73.90, Z:-4.68 [[ 9.84866797e-01 1.72998166e-01 1.04415675e-02 4.32205020e+02] [-1.72988475e-01 9.84922146e-01 -1.83106529e-03 -7.38987686e+01] [-1.06009020e-02 -2.91543351e-06 9.99943809e-01 -4.68290142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.26, Y:-73.91, Z:-4.69 [[ 9.85077156e-01 1.71796300e-01 1.04416700e-02 4.32261486e+02] [-1.71786548e-01 9.85132494e-01 -1.83048073e-03 -7.39137059e+01] [-1.06008982e-02 9.42631020e-06 9.99943809e-01 -4.68858934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.32, Y:-73.93, Z:-4.68 [[ 9.84817815e-01 1.73276773e-01 1.04417712e-02 4.32319201e+02] [-1.73267111e-01 9.84873169e-01 -1.82990289e-03 -7.39266441e+01] [-1.06009000e-02 -7.09456659e-06 9.99943809e-01 -4.68041344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.485769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.38, Y:-73.94, Z:-4.69 [[ 9.84046281e-01 1.77605983e-01 1.04418512e-02 4.32376458e+02] [-1.77596568e-01 9.84101678e-01 -1.82944658e-03 -7.39377502e+01] [-1.06007639e-02 -5.41768411e-05 9.99943809e-01 -4.68881563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.545769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.43, Y:-73.94, Z:-4.69 [[ 9.83218742e-01 1.82131465e-01 1.04419306e-02 4.32434537e+02] [-1.82122311e-01 9.83274183e-01 -1.82899325e-03 -7.39445829e+01] [-1.06003980e-02 -1.03408084e-04 9.99943809e-01 -4.68724698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.605769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.49, Y:-73.95, Z:-4.68 [[ 9.82627112e-01 1.85296852e-01 1.04420094e-02 4.32492629e+02] [-1.85287881e-01 9.82682582e-01 -1.82854343e-03 -7.39507543e+01] [-1.06000041e-02 -1.38001444e-04 9.99943809e-01 -4.68162998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.665769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.55, Y:-73.95, Z:-4.69 [[ 9.82559398e-01 1.85655575e-01 1.04421068e-02 4.32551421e+02] [-1.85646630e-01 9.82614872e-01 -1.82798693e-03 -7.39537014e+01] [-1.05999454e-02 -1.42436201e-04 9.99943809e-01 -4.68828262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.725769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:432.61, Y:-73.96, Z:-4.69 [[ 9.83070335e-01 1.82930801e-01 1.04421931e-02 4.32608257e+02] [-1.82921708e-01 9.83125785e-01 -1.82749398e-03 -7.39569679e+01] [-1.06002942e-02 -1.13548668e-04 9.99943809e-01 -4.68971665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.785769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.67, Y:-73.97, Z:-4.69 [[ 9.84579247e-01 1.74627211e-01 1.04423428e-02 4.32666122e+02] [-1.74617659e-01 9.84634621e-01 -1.82663813e-03 -7.39666455e+01] [-1.06008729e-02 -2.49474570e-05 9.99943809e-01 -4.68804321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.845769231 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:432.72, Y:-73.98, Z:-4.69 [[ 9.85284598e-01 1.70602511e-01 1.04424297e-02 4.32721946e+02] [-1.70592738e-01 9.85339933e-01 -1.82614079e-03 -7.39756033e+01] [-1.06008872e-02 1.78657111e-05 9.99943809e-01 -4.68707559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.905769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.78, Y:-73.98, Z:-4.69 [[ 9.85195148e-01 1.71118298e-01 1.04425799e-02 4.32778934e+02] [-1.71108563e-01 9.85250490e-01 -1.82528185e-03 -7.39845338e+01] [-1.06008961e-02 1.14439835e-05 9.99943809e-01 -4.68881684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.965769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.84, Y:-73.99, Z:-4.69 [[ 9.85227711e-01 1.70930710e-01 1.04427077e-02 4.32837149e+02] [-1.70920973e-01 9.85283052e-01 -1.82455028e-03 -7.39925747e+01] [-1.06008946e-02 1.27197420e-05 9.99943809e-01 -4.68773394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.025769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.89, Y:-74.00, Z:-4.69 [[ 9.85531535e-01 1.69170156e-01 1.04427927e-02 4.32893033e+02] [-1.69160325e-01 9.85586859e-01 -1.82406385e-03 -7.40031569e+01] [-1.06008564e-02 3.11662501e-05 9.99943809e-01 -4.68855491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.08576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.95, Y:-74.01, Z:-4.69 [[ 9.85925817e-01 1.66856911e-01 1.04429397e-02 4.32951051e+02] [-1.66846959e-01 9.85981120e-01 -1.82322152e-03 -7.40115750e+01] [-1.06007585e-02 5.51884315e-05 9.99943809e-01 -4.69260245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.14576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.01, Y:-74.02, Z:-4.69 [[ 9.85946360e-01 1.66735476e-01 1.04430222e-02 4.33008613e+02] [-1.66725522e-01 9.86001662e-01 -1.82274895e-03 -7.40204827e+01] [-1.06007542e-02 5.60143650e-05 9.99943809e-01 -4.69369363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.07, Y:-74.03, Z:-4.69 [[ 9.85824891e-01 1.67452159e-01 1.04431453e-02 4.33067203e+02] [-1.67442252e-01 9.85880202e-01 -1.82204331e-03 -7.40297411e+01] [-1.06007953e-02 4.75918717e-05 9.99943809e-01 -4.68909338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.13, Y:-74.04, Z:-4.69 [[ 9.85849853e-01 1.67305127e-01 1.04432316e-02 4.33125046e+02] [-1.67295218e-01 9.85905164e-01 -1.82154863e-03 -7.40380189e+01] [-1.06007904e-02 4.86707416e-05 9.99943809e-01 -4.68953975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.18, Y:-74.04, Z:-4.69 [[ 9.85883103e-01 1.67109079e-01 1.04433191e-02 4.33183258e+02] [-1.67099164e-01 9.85938412e-01 -1.82104669e-03 -7.40413157e+01] [-1.06007829e-02 5.02692577e-05 9.99943809e-01 -4.69311130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.385769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:433.24, Y:-74.05, Z:-4.69 [[ 9.85777053e-01 1.67733528e-01 1.04434275e-02 4.33240823e+02] [-1.67723654e-01 9.85832370e-01 -1.82042479e-03 -7.40453109e+01] [-1.06008152e-02 4.29231511e-05 9.99943809e-01 -4.69468746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.445769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:433.30, Y:-74.05, Z:-4.70 [[ 9.86096485e-01 1.65845269e-01 1.04436406e-02 4.33298755e+02] [-1.65835303e-01 9.86151785e-01 -1.81920186e-03 -7.40526155e+01] [-1.06007208e-02 6.19842591e-05 9.99943809e-01 -4.69504190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.505769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.36, Y:-74.06, Z:-4.70 [[ 9.86988570e-01 1.60450898e-01 1.04437576e-02 4.33355753e+02] [-1.60440637e-01 9.87043816e-01 -1.81852959e-03 -7.40588134e+01] [-1.06002311e-02 1.19264792e-04 9.99943809e-01 -4.69639381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.565769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.41, Y:-74.07, Z:-4.69 [[ 9.88186179e-01 1.52901935e-01 1.04438924e-02 4.33412557e+02] [-1.52891259e-01 9.88241346e-01 -1.81775514e-03 -7.40700337e+01] [-1.05990246e-02 1.99500639e-04 9.99943809e-01 -4.69357611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.625769231 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:433.47, Y:-74.09, Z:-4.69 [[ 9.89407625e-01 1.44787691e-01 1.04439875e-02 4.33469160e+02] [-1.44776569e-01 9.89462704e-01 -1.81720877e-03 -7.40853875e+01] [-1.05970456e-02 2.85915539e-04 9.99943809e-01 -4.69427742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.685769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.53, Y:-74.10, Z:-4.70 [[ 9.90274027e-01 1.38738146e-01 1.04440725e-02 4.33525565e+02] [-1.38726693e-01 9.90329038e-01 -1.81672014e-03 -7.41021942e+01] [-1.05951166e-02 3.50179126e-04 9.99943809e-01 -4.70030971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.745769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.58, Y:-74.11, Z:-4.70 [[ 9.90465996e-01 1.37360952e-01 1.04441566e-02 4.33583041e+02] [-1.37349427e-01 9.90520992e-01 -1.81623623e-03 -7.41148079e+01] [-1.05946363e-02 3.64421289e-04 9.99943809e-01 -4.70024949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.805769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.64, Y:-74.13, Z:-4.70 [[ 9.90718600e-01 1.35527023e-01 1.04442420e-02 4.33639075e+02] [-1.35515402e-01 9.90773576e-01 -1.81574506e-03 -7.41320031e+01] [-1.05939615e-02 3.83536742e-04 9.99943809e-01 -4.69586538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.865769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.70, Y:-74.15, Z:-4.69 [[ 9.90832134e-01 1.34694463e-01 1.04443478e-02 4.33695608e+02] [-1.34682802e-01 9.90887102e-01 -1.81513639e-03 -7.41510531e+01] [-1.05936583e-02 3.91821443e-04 9.99943809e-01 -4.69334210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.925769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.75, Y:-74.17, Z:-4.70 [[ 9.90565547e-01 1.36641177e-01 1.04444330e-02 4.33752674e+02] [-1.36629629e-01 9.90620539e-01 -1.81464582e-03 -7.41658619e+01] [-1.05944252e-02 3.70506626e-04 9.99943809e-01 -4.69645099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.985769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.81, Y:-74.18, Z:-4.70 [[ 9.89416206e-01 1.44729002e-01 1.04445173e-02 4.33810288e+02] [-1.44717909e-01 9.89471291e-01 -1.81416048e-03 -7.41799011e+01] [-1.05971117e-02 2.83451065e-04 9.99943809e-01 -4.69864849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.045769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:-74.19, Z:-4.70 [[ 9.88758014e-01 1.49159308e-01 1.04446014e-02 4.33866122e+02] [-1.49148467e-01 9.88813150e-01 -1.81367625e-03 -7.41942532e+01] [-1.05982859e-02 2.35490635e-04 9.99943809e-01 -4.70091052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.105769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.92, Y:-74.21, Z:-4.70 [[ 9.88916089e-01 1.48107655e-01 1.04447062e-02 4.33924048e+02] [-1.48096761e-01 9.88971214e-01 -1.81307237e-03 -7.42074461e+01] [-1.05980437e-02 2.46149264e-04 9.99943809e-01 -4.70063581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.165769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.98, Y:-74.22, Z:-4.70 [[ 9.89328039e-01 1.45330443e-01 1.04447940e-02 4.33981272e+02] [-1.45319400e-01 9.89383134e-01 -1.81256663e-03 -7.42224588e+01] [-1.05973241e-02 2.75391792e-04 9.99943809e-01 -4.70340040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.225769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.04, Y:-74.23, Z:-4.70 [[ 9.89250444e-01 1.45857687e-01 1.04448388e-02 4.34038845e+02] [-1.45846676e-01 9.89305546e-01 -1.81230877e-03 -7.42343814e+01] [-1.05974761e-02 2.69482239e-04 9.99943809e-01 -4.70024437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.285769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.10, Y:-74.25, Z:-4.70 [[ 9.88572768e-01 1.50382131e-01 1.04449239e-02 4.34095430e+02] [-1.50371378e-01 9.88627921e-01 -1.81181791e-03 -7.42455347e+01] [-1.05986084e-02 2.20496243e-04 9.99943809e-01 -4.69823323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.345769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.15, Y:-74.26, Z:-4.70 [[ 9.88073067e-01 1.53631101e-01 1.04450398e-02 4.34153093e+02] [-1.53620537e-01 9.88128256e-01 -1.81114977e-03 -7.42564011e+01] [-1.05992879e-02 1.84975701e-04 9.99943809e-01 -4.69992197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.405769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.21, Y:-74.27, Z:-4.70 [[ 9.87574909e-01 1.56801462e-01 1.04451280e-02 4.34209422e+02] [-1.56791080e-01 9.87630133e-01 -1.81064044e-03 -7.42697082e+01] [-1.05998343e-02 1.50440159e-04 9.99943809e-01 -4.70381900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.465769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.27, Y:-74.28, Z:-4.70 [[ 9.87137249e-01 1.59533532e-01 1.04452372e-02 4.34265737e+02] [-1.59523309e-01 9.87192503e-01 -1.81001059e-03 -7.42819834e+01] [-1.06002172e-02 1.20470069e-04 9.99943809e-01 -4.70302103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.525769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.32, Y:-74.30, Z:-4.71 [[ 9.86559163e-01 1.63070270e-01 1.04453417e-02 4.34323313e+02] [-1.63060251e-01 9.86614454e-01 -1.80940724e-03 -7.42957894e+01] [-1.06005856e-02 8.18672485e-05 9.99943809e-01 -4.70521443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.58576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.38, Y:-74.31, Z:-4.71 [[ 9.85869147e-01 1.67191262e-01 1.04454236e-02 4.34379916e+02] [-1.67181480e-01 9.85924480e-01 -1.80893428e-03 -7.43058822e+01] [-1.06008369e-02 3.70911229e-05 9.99943809e-01 -4.70647269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.64576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.44, Y:-74.31, Z:-4.71 [[ 9.84513313e-01 1.74998362e-01 1.04455250e-02 4.34437798e+02] [-1.74989025e-01 9.84568723e-01 -1.80834881e-03 -7.43146528e+01] [-1.06007953e-02 -4.75087455e-05 9.99943809e-01 -4.70570678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.50, Y:-74.32, Z:-4.70 [[ 9.83645969e-01 1.79809614e-01 1.04456112e-02 4.34496213e+02] [-1.79800553e-01 9.83701425e-01 -1.80785059e-03 -7.43207597e+01] [-1.06004315e-02 -9.98417268e-05 9.99943809e-01 -4.70430027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.56, Y:-74.32, Z:-4.70 [[ 9.82881164e-01 1.83944298e-01 1.04456968e-02 4.34555350e+02] [-1.83935476e-01 9.82936658e-01 -1.80735597e-03 -7.43233558e+01] [-1.05999111e-02 -1.44918073e-04 9.99943809e-01 -4.70005116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.61, Y:-74.33, Z:-4.70 [[ 9.82718083e-01 1.84813569e-01 1.04457837e-02 4.34613049e+02] [-1.84804801e-01 9.82773586e-01 -1.80685330e-03 -7.43257339e+01] [-1.05997713e-02 -1.54803579e-04 9.99943809e-01 -4.70413251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.885769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.67, Y:-74.32, Z:-4.70 [[ 9.82619971e-01 1.85334494e-01 1.04459339e-02 4.34671656e+02] [-1.85325765e-01 9.82675480e-01 -1.80598448e-03 -7.43247889e+01] [-1.05996744e-02 -1.61304277e-04 9.99943809e-01 -4.70226069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.945769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.73, Y:-74.32, Z:-4.70 [[ 9.82605341e-01 1.85412038e-01 1.04460619e-02 4.34730734e+02] [-1.85403321e-01 9.82660852e-01 -1.80524384e-03 -7.43232260e+01] [-1.05996501e-02 -1.62892334e-04 9.99943809e-01 -4.70370109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.005769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.79, Y:-74.33, Z:-4.71 [[ 9.83257157e-01 1.81923721e-01 1.04461893e-02 4.34788961e+02] [-1.81914815e-01 9.83312638e-01 -1.80450677e-03 -7.43288807e+01] [-1.06001525e-02 -1.26022387e-04 9.99943809e-01 -4.70571569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.065769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.85, Y:-74.33, Z:-4.71 [[ 9.85050626e-01 1.71948073e-01 1.04463151e-02 4.34846077e+02] [-1.71938612e-01 9.85106015e-01 -1.80377795e-03 -7.43339294e+01] [-1.06008840e-02 -1.93123208e-05 9.99943809e-01 -4.70682778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.125769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.90, Y:-74.34, Z:-4.71 [[ 9.86344660e-01 1.64362658e-01 1.04464609e-02 4.34903631e+02] [-1.64352781e-01 9.86399976e-01 -1.80293316e-03 -7.43434061e+01] [-1.06007237e-02 6.14085882e-05 9.99943809e-01 -4.70714978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.185769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.96, Y:-74.35, Z:-4.72 [[ 9.86520647e-01 1.63303038e-01 1.04465838e-02 4.34961579e+02] [-1.63293109e-01 9.86575954e-01 -1.80222078e-03 -7.43540682e+01] [-1.06006565e-02 7.20728590e-05 9.99943809e-01 -4.71607866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.245769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.02, Y:-74.37, Z:-4.72 [[ 9.86624443e-01 1.62674753e-01 1.04466644e-02 4.35018904e+02] [-1.62664793e-01 9.86679745e-01 -1.80175369e-03 -7.43675003e+01] [-1.06006120e-02 7.83497355e-05 9.99943809e-01 -4.71736348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.305769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.07, Y:-74.38, Z:-4.71 [[ 9.86873861e-01 1.61154735e-01 1.04467442e-02 4.35074525e+02] [-1.61144695e-01 9.86929148e-01 -1.80129057e-03 -7.43833559e+01] [-1.06004829e-02 9.42091593e-05 9.99943809e-01 -4.70980646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.365769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.13, Y:-74.40, Z:-4.71 [[ 9.86057994e-01 1.66073768e-01 1.04468430e-02 4.35130683e+02] [-1.66064011e-01 9.86113331e-01 -1.80071744e-03 -7.43964978e+01] [-1.06008231e-02 4.07671829e-05 9.99943809e-01 -4.71166244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.425769231 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.19, Y:-74.41, Z:-4.71 [[ 9.85186721e-01 1.71166546e-01 1.04469406e-02 4.35189156e+02] [-1.71157080e-01 9.85242109e-01 -1.80015096e-03 -7.44059061e+01] [-1.06008914e-02 -1.45830281e-05 9.99943809e-01 -4.71341715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.485769231 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:435.25, Y:-74.41, Z:-4.71 [[ 9.84059884e-01 1.77530292e-01 1.04470179e-02 4.35247026e+02] [-1.77521189e-01 9.84115333e-01 -1.79970251e-03 -7.44108266e+01] [-1.06005722e-02 -8.35519851e-05 9.99943809e-01 -4.71480479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.545769231 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:435.30, Y:-74.42, Z:-4.72 [[ 9.84506714e-01 1.75035391e-01 1.04471334e-02 4.35303882e+02] [-1.75026155e-01 9.84562141e-01 -1.79903146e-03 -7.44193735e+01] [-1.06007462e-02 -5.73630370e-05 9.99943809e-01 -4.71571825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.605769231 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:435.36, Y:-74.43, Z:-4.72 [[ 9.85313199e-01 1.70436950e-01 1.04472673e-02 4.35361408e+02] [-1.70427463e-01 9.85368584e-01 -1.79825386e-03 -7.44295902e+01] [-1.06008979e-02 -8.65799471e-06 9.99943809e-01 -4.71749648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.665769231 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:435.42, Y:-74.44, Z:-4.71 [[ 9.86299605e-01 1.64632749e-01 1.04473429e-02 4.35418878e+02] [-1.64622941e-01 9.86354934e-01 -1.79781451e-03 -7.44418372e+01] [-1.06007673e-02 5.33114339e-05 9.99943809e-01 -4.71487668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.725769231 meters Centerline goodness : 0.997469 with order 1 Centerline is valid? [True, True] Translation: X:435.48, Y:-74.45, Z:-4.72 [[ 9.86842945e-01 1.61343900e-01 1.04474299e-02 4.35475037e+02] [-1.61333913e-01 9.86898241e-01 -1.79730854e-03 -7.44546898e+01] [-1.06005350e-02 8.81365050e-05 9.99943809e-01 -4.71540918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.785769231 meters Centerline goodness : 0.995218 with order 1 Centerline is valid? [True, True] Translation: X:435.53, Y:-74.47, Z:-4.71 [[ 9.86904012e-01 1.60969934e-01 1.04475371e-02 4.35531590e+02] [-1.60959933e-01 9.86959306e-01 -1.79668544e-03 -7.44738135e+01] [-1.06005063e-02 9.15212057e-05 9.99943809e-01 -4.71091922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.845769231 meters Centerline goodness : 0.991954 with order 1 Centerline is valid? [True, True] Translation: X:435.59, Y:-74.49, Z:-4.72 [[ 9.86276744e-01 1.64769632e-01 1.04476183e-02 4.35588604e+02] [-1.64759849e-01 9.86332077e-01 -1.79621310e-03 -7.44907840e+01] [-1.06007824e-02 5.02151992e-05 9.99943809e-01 -4.71616679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.905769231 meters Centerline goodness : 0.987574 with order 1 Centerline is valid? [True, True] Translation: X:435.64, Y:-74.51, Z:-4.72 [[ 9.85138019e-01 1.71446575e-01 1.04477102e-02 4.35644973e+02] [-1.71437173e-01 9.85193418e-01 -1.79567860e-03 -7.45069453e+01] [-1.06008782e-02 -2.21346338e-05 9.99943809e-01 -4.71745011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.965769231 meters Centerline goodness : 0.983940 with order 1 Centerline is valid? [True, True] Translation: X:435.70, Y:-74.52, Z:-4.76 [[ 9.84740691e-01 1.73714173e-01 1.04478257e-02 4.35704359e+02] [-1.73704905e-01 9.84796113e-01 -1.79500623e-03 -7.45161420e+01] [-1.06007961e-02 -4.72228949e-05 9.99943809e-01 -4.75722528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.025769231 meters Centerline goodness : 0.977698 with order 1 Centerline is valid? [True, True] Translation: X:435.76, Y:-74.53, Z:-4.77 [[ 9.84475082e-01 1.75213171e-01 1.04478343e-02 4.35763377e+02] [-1.75203988e-01 9.84530518e-01 -1.79495620e-03 -7.45290112e+01] [-1.06007116e-02 -6.34125820e-05 9.99943809e-01 -4.77165451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.08576923100003 meters Centerline goodness : 0.970426 with order 1 Centerline is valid? [True, True] Translation: X:435.82, Y:-74.54, Z:-4.79 [[ 9.84993936e-01 1.72272423e-01 1.04478422e-02 4.35821604e+02] [-1.72263075e-01 9.85049345e-01 -1.79491012e-03 -7.45393395e+01] [-1.06008536e-02 -3.18018378e-05 9.99943809e-01 -4.78791771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.14576923100003 meters Centerline goodness : 0.172418 with order 1 Centerline is valid? [True, False] Translation: X:435.82, Y:-74.54, Z:-4.79 [[ 9.86406546e-01 1.64036504e-01 9.70320427e-03 4.35821642e+02] [-1.63931633e-01 9.86412922e-01 -1.07687644e-02 -7.45367051e+01] [-1.13378365e-02 9.03171761e-03 9.99894935e-01 -4.78980341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters Centerline goodness : 0.916974 with order 2 Centerline is valid? [False, False] Translation: X:435.82, Y:-74.53, Z:-4.79 [[ 9.87563866e-01 1.56888703e-01 1.01757587e-02 4.35819699e+02] [-1.56669017e-01 9.87455629e-01 -1.96519462e-02 -7.45315879e+01] [-1.31312786e-02 1.78133259e-02 9.99755097e-01 -4.79171166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters Centerline goodness : 0.905707 with order 2 Centerline is valid? [False, False] Translation: X:435.82, Y:-74.53, Z:-4.79 [[ 9.88046161e-01 1.53774377e-01 1.08730988e-02 4.35818318e+02] [-1.53472300e-01 9.87846162e-01 -2.46214121e-02 -7.45254451e+01] [-1.45270912e-02 2.26583723e-02 9.99637715e-01 -4.79279454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters Centerline goodness : 0.088622 with order 1 Centerline is valid? [False, False] Translation: X:435.82, Y:-74.52, Z:-4.80 [[ 9.88152027e-01 1.53020273e-01 1.18477234e-02 4.35822133e+02] [-1.52667719e-01 9.87923487e-01 -2.64528163e-02 -7.45192318e+01] [-1.57524614e-02 2.43306391e-02 9.99579852e-01 -4.79864262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.385769231 meters Centerline goodness : 0.087102 with order 1 Centerline is valid? [False, False] Translation: X:435.83, Y:-74.52, Z:-4.80 [[ 9.88305444e-01 1.52008060e-01 1.20788844e-02 4.35826486e+02] [-1.51625635e-01 9.88042027e-01 -2.79753497e-02 -7.45159450e+01] [-1.61869241e-02 2.58167219e-02 9.99535632e-01 -4.80401104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.445769231 meters Centerline goodness : 0.086429 with order 1 Centerline is valid? [False, False] Translation: X:435.87, Y:-74.51, Z:-4.81 [[ 9.88577380e-01 1.50122746e-01 1.33388632e-02 4.35870466e+02] [-1.49610130e-01 9.88177646e-01 -3.34925238e-02 -7.45105041e+01] [-1.82091561e-02 3.11143224e-02 9.99349952e-01 -4.80815846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.505769231 meters Centerline goodness : 0.088579 with order 1 Centerline is valid? [False, False] Translation: X:435.87, Y:-74.50, Z:-4.81 [[ 9.88663134e-01 1.49476643e-01 1.42105734e-02 4.35873207e+02] [-1.48897464e-01 9.88213036e-01 -3.55603748e-02 -7.44998995e+01] [-1.93585193e-02 3.30413132e-02 9.99266491e-01 -4.81121610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.565769231 meters Centerline goodness : 0.137494 with order 2 Centerline is valid? [False, False] Translation: X:435.88, Y:-74.49, Z:-4.82 [[ 9.88962663e-01 1.47283315e-01 1.61392621e-02 4.35876635e+02] [-1.46573484e-01 9.88441060e-01 -3.87361002e-02 -7.44873497e+01] [-2.16578905e-02 3.59429689e-02 9.99119131e-01 -4.81758666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.625769231 meters Centerline goodness : 0.071805 with order 1 Centerline is valid? [False, False] Translation: X:435.91, Y:-74.48, Z:-4.83 [[ 9.90354148e-01 1.37408178e-01 1.78228349e-02 4.35908019e+02] [-1.36625520e-01 9.89835349e-01 -3.94898509e-02 -7.44849854e+01] [-2.30679005e-02 3.66738836e-02 9.99061008e-01 -4.82755162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.685769231 meters Centerline goodness : 0.087330 with order 1 Centerline is valid? [False, False] Translation: X:435.93, Y:-74.49, Z:-4.84 [[ 9.91877310e-01 1.25093726e-01 2.30426178e-02 4.35934973e+02] [-1.24062530e-01 9.91394888e-01 -4.17691898e-02 -7.44894657e+01] [-2.80693970e-02 3.85711862e-02 9.98861538e-01 -4.83855975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.745769231 meters Centerline goodness : 0.086652 with order 1 Centerline is valid? [False, False] Translation: X:435.96, Y:-74.50, Z:-4.85 [[ 9.92833208e-01 1.16251515e-01 2.77093225e-02 4.35958361e+02] [-1.15087092e-01 9.92531288e-01 -4.04549561e-02 -7.44976426e+01] [-3.22053195e-02 3.69760385e-02 9.98797071e-01 -4.84636241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.805769231 meters Centerline goodness : 0.066135 with order 1 Centerline is valid? [False, False] Translation: X:436.01, Y:-74.52, Z:-4.85 [[ 9.93988293e-01 1.04800075e-01 3.16893887e-02 4.36005537e+02] [-1.03630530e-01 9.93944448e-01 -3.65396608e-02 -7.45166687e+01] [-3.53268511e-02 3.30360069e-02 9.98829633e-01 -4.85275830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.865769231 meters Centerline goodness : 0.070597 with order 1 Centerline is valid? [False, False] Translation: X:436.04, Y:-74.54, Z:-4.86 [[ 9.94192974e-01 1.01079476e-01 3.69224917e-02 4.36044742e+02] [-9.96711978e-02 9.94287683e-01 -3.81792601e-02 -7.45384629e+01] [-4.05707184e-02 3.42774431e-02 9.98588541e-01 -4.85898166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.925769231 meters Centerline goodness : 0.070921 with order 1 Centerline is valid? [False, False] Translation: X:436.08, Y:-74.56, Z:-4.88 [[ 9.94333203e-01 9.72169883e-02 4.30155531e-02 4.36078360e+02] [-9.57489456e-02 9.94791068e-01 -3.49695779e-02 -7.45634280e+01] [-4.61911250e-02 3.06527185e-02 9.98462213e-01 -4.87532056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.985769231 meters Centerline goodness : 0.759598 with order 3 Centerline is valid? [False, False] Translation: X:436.12, Y:-74.59, Z:-4.87 [[ 9.94641087e-01 9.58901597e-02 3.86546914e-02 4.36123958e+02] [-9.46333410e-02 9.94960684e-01 -3.31325826e-02 -7.45850090e+01] [-4.16369868e-02 2.92970054e-02 9.98703183e-01 -4.87370963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.045769231 meters SLAMing on 448.105769231 meters SLAMing on 448.165769231 meters Centerline goodness : 0.766233 with order 3 Centerline is valid? [False, False] Translation: X:436.27, Y:-74.64, Z:-4.89 [[ 9.91527851e-01 1.23164352e-01 4.12681765e-02 4.36271955e+02] [-1.21776743e-01 9.91953888e-01 -3.46108106e-02 -7.46369238e+01] [-4.51989462e-02 2.92920785e-02 9.98548461e-01 -4.88932842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.225769231 meters Centerline goodness : 0.767054 with order 1 Centerline is valid? [False, False] Translation: X:436.32, Y:-74.65, Z:-4.90 [[ 9.91006602e-01 1.25555186e-01 4.62796911e-02 4.36319658e+02] [-1.24000063e-01 9.91661979e-01 -3.50785292e-02 -7.46513466e+01] [-5.02981013e-02 2.90243694e-02 9.98312420e-01 -4.89887167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.285769231 meters SLAMing on 448.345769231 meters SLAMing on 448.405769231 meters Centerline goodness : 0.756838 with order 1 Centerline is valid? [False, False] Translation: X:436.47, Y:-74.70, Z:-4.91 [[ 9.89529585e-01 1.36839908e-01 4.58916025e-02 4.36473744e+02] [-1.35420414e-01 9.90246926e-01 -3.27465684e-02 -7.46956462e+01] [-4.99250557e-02 2.61890385e-02 9.98409547e-01 -4.91397155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.465769231 meters Centerline goodness : 0.757009 with order 1 Centerline is valid? [False, False] Translation: X:436.52, Y:-74.71, Z:-4.92 [[ 9.88989997e-01 1.39161748e-01 5.03268679e-02 4.36520480e+02] [-1.37575248e-01 9.89916532e-01 -3.37388522e-02 -7.47052829e+01] [-5.45145562e-02 2.64436560e-02 9.98162760e-01 -4.92378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.525769231 meters Centerline goodness : 0.607912 with order 2 Centerline is valid? [False, False] Translation: X:436.56, Y:-74.71, Z:-4.93 [[ 9.88449692e-01 1.40775994e-01 5.61188482e-02 4.36558138e+02] [-1.39035680e-01 9.89709893e-01 -3.38143034e-02 -7.47147043e+01] [-6.03016214e-02 2.56212156e-02 9.97851325e-01 -4.92820694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.58576923100003 meters Centerline goodness : 0.596054 with order 1 Centerline is valid? [False, False] Translation: X:436.60, Y:-74.72, Z:-4.93 [[ 9.87712700e-01 1.43860499e-01 6.10555378e-02 4.36598784e+02] [-1.42022928e-01 9.89297642e-01 -3.34613760e-02 -7.47188292e+01] [-6.52158699e-02 2.43789398e-02 9.97573334e-01 -4.93380833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.64576923100003 meters Centerline goodness : 0.639117 with order 1 Centerline is valid? [False, False] Translation: X:436.66, Y:-74.72, Z:-4.94 [[ 9.86127792e-01 1.54621548e-01 6.03668272e-02 4.36664415e+02] [-1.52741873e-01 9.87659256e-01 -3.46282443e-02 -7.47244787e+01] [-6.49761283e-02 2.49273319e-02 9.97575426e-01 -4.93775242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.70576923100003 meters Centerline goodness : 0.086156 with order 1 Centerline is valid? [False, False] Translation: X:436.71, Y:-74.73, Z:-4.93 [[ 9.85942838e-01 1.57778289e-01 5.49793801e-02 4.36708634e+02] [-1.56064351e-01 9.87154210e-01 -3.42123242e-02 -7.47255893e+01] [-5.96710885e-02 2.51510747e-02 9.97901190e-01 -4.93151615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters Centerline goodness : 0.614784 with order 2 Centerline is valid? [False, False] Translation: X:436.73, Y:-74.72, Z:-4.93 [[ 9.86217535e-01 1.56666001e-01 5.32046758e-02 4.36730184e+02] [-1.55240057e-01 9.87421821e-01 -2.99778459e-02 -7.47232593e+01] [-5.72319671e-02 2.13051804e-02 9.98133554e-01 -4.92969850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters Centerline goodness : 0.681913 with order 3 Centerline is valid? [False, False] Translation: X:436.76, Y:-74.72, Z:-4.94 [[ 9.86727781e-01 1.54172728e-01 5.09809348e-02 4.36763223e+02] [-1.53019186e-01 9.87885640e-01 -2.58281156e-02 -7.47192689e+01] [-5.43453244e-02 1.76842581e-02 9.98365591e-01 -4.93536336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.885769231 meters Centerline goodness : 0.069885 with order 1 Centerline is valid? [False, False] Translation: X:436.80, Y:-74.71, Z:-4.94 [[ 9.87758937e-01 1.48525389e-01 4.76706589e-02 4.36797910e+02] [-1.47434427e-01 9.88738956e-01 -2.56586515e-02 -7.47119759e+01] [-5.09447987e-02 1.83162661e-02 9.98533496e-01 -4.94266277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.945769231 meters SLAMing on 449.005769231 meters Centerline goodness : 0.079048 with order 1 Centerline is valid? [False, False] Translation: X:436.87, Y:-74.70, Z:-4.95 [[ 9.88223014e-01 1.44312963e-01 5.08826394e-02 4.36873684e+02] [-1.43151512e-01 9.89364576e-01 -2.57949521e-02 -7.47041555e+01] [-5.40640269e-02 1.82072385e-02 9.98371463e-01 -4.95420085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.065769231 meters Centerline goodness : 0.089184 with order 1 Centerline is valid? [False, False] Translation: X:436.94, Y:-74.71, Z:-4.96 [[ 9.88647454e-01 1.40618031e-01 5.29412953e-02 4.36937657e+02] [-1.39605633e-01 9.89954309e-01 -2.23770926e-02 -7.47075471e+01] [-5.55560861e-02 1.47321526e-02 9.98346876e-01 -4.95933366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.125769231 meters Centerline goodness : 0.085391 with order 1 Centerline is valid? [False, False] Translation: X:436.99, Y:-74.71, Z:-4.97 [[ 9.90071879e-01 1.28546636e-01 5.68633239e-02 4.36988811e+02] [-1.27606320e-01 9.91625551e-01 -1.98845203e-02 -7.47114460e+01] [-5.89432131e-02 1.24309849e-02 9.98183935e-01 -4.97052207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.185769231 meters Centerline goodness : 0.775224 with order 1 Centerline is valid? [False, False] Translation: X:437.04, Y:-74.72, Z:-4.98 [[ 9.91540836e-01 1.14895327e-01 6.03807515e-02 4.37037049e+02] [-1.14012822e-01 9.93318466e-01 -1.78745979e-02 -7.47181250e+01] [-6.20310232e-02 1.08392139e-02 9.98015362e-01 -4.97958455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.245769231 meters Centerline goodness : 0.065755 with order 1 Centerline is valid? [False, False] Translation: X:437.09, Y:-74.73, Z:-4.98 [[ 9.92448933e-01 1.04870158e-01 6.36189080e-02 4.37094444e+02] [-1.03883898e-01 9.94414999e-01 -1.86264595e-02 -7.47321346e+01] [-6.52169561e-02 1.18768297e-02 9.97800426e-01 -4.97999158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.305769231 meters Centerline goodness : 0.096560 with order 2 Centerline is valid? [False, False] Translation: X:437.16, Y:-74.75, Z:-4.98 [[ 9.92971620e-01 9.87285897e-02 6.52688927e-02 4.37155971e+02] [-9.79329637e-02 9.95075598e-01 -1.52868675e-02 -7.47493988e+01] [-6.64567333e-02 8.78744948e-03 9.97750612e-01 -4.98494010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.365769231 meters Centerline goodness : 0.100357 with order 3 Centerline is valid? [False, False] Translation: X:437.20, Y:-74.76, Z:-4.98 [[ 9.93641387e-01 9.57631775e-02 5.92132354e-02 4.37200003e+02] [-9.48910268e-02 9.95336008e-01 -1.73759680e-02 -7.47595044e+01] [-6.06010433e-02 1.16466762e-02 9.98094118e-01 -4.98336537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.425769231 meters Centerline goodness : 0.069444 with order 1 Centerline is valid? [False, False] Translation: X:437.26, Y:-74.77, Z:-4.99 [[ 9.93359631e-01 9.91068475e-02 5.84335246e-02 4.37264600e+02] [-9.80339151e-02 9.94962368e-01 -2.09580020e-02 -7.47741669e+01] [-6.02162395e-02 1.50903659e-02 9.98071283e-01 -4.99098929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.485769231 meters Centerline goodness : 0.674713 with order 3 Centerline is valid? [False, False] Translation: X:437.29, Y:-74.78, Z:-4.99 [[ 9.93484402e-01 9.89209076e-02 5.65985665e-02 4.37291822e+02] [-9.83055928e-02 9.95063869e-01 -1.35612620e-02 -7.47820225e+01] [-5.76606809e-02 7.90894659e-03 9.98304911e-01 -4.99378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.545769231 meters Centerline goodness : 0.102192 with order 1 Centerline is valid? [False, False] Translation: X:437.35, Y:-74.79, Z:-5.00 [[ 9.92415053e-01 1.08307450e-01 5.81537478e-02 4.37354490e+02] [-1.07610162e-01 9.94079999e-01 -1.50003166e-02 -7.47903188e+01] [-5.94341236e-02 8.62860578e-03 9.98194937e-01 -4.99750893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.605769231 meters Centerline goodness : 0.102718 with order 1 Centerline is valid? [False, False] Translation: X:437.39, Y:-74.79, Z:-5.01 [[ 9.90874695e-01 1.18333336e-01 6.45334031e-02 4.37385309e+02] [-1.17543807e-01 9.92940237e-01 -1.59103250e-02 -7.47891823e+01] [-6.59605345e-02 8.17963660e-03 9.97788706e-01 -5.01166605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.665769231 meters Centerline goodness : 0.067715 with order 1 Centerline is valid? [False, False] Translation: X:437.43, Y:-74.79, Z:-5.01 [[ 9.90463415e-01 1.24851399e-01 5.82610568e-02 4.37428423e+02] [-1.24316693e-01 9.92160953e-01 -1.27280100e-02 -7.47902007e+01] [-5.93934555e-02 5.36380636e-03 9.98220240e-01 -5.01309164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.725769231 meters Centerline goodness : 0.185623 with order 2 Centerline is valid? [False, False] Translation: X:437.45, Y:-74.78, Z:-5.02 [[ 9.90625290e-01 1.23745842e-01 5.78662453e-02 4.37454407e+02] [-1.23555368e-01 9.92313887e-01 -6.87180109e-03 -7.47848598e+01] [-5.82718355e-02 -3.42305267e-04 9.98300694e-01 -5.01503483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.785769231 meters Centerline goodness : 0.185843 with order 2 Centerline is valid? [False, False] Translation: X:437.48, Y:-74.78, Z:-5.02 [[ 9.90957852e-01 1.22522884e-01 5.46870957e-02 4.37477000e+02] [-1.22501224e-01 9.92461237e-01 -3.76072851e-03 -7.47774613e+01] [-5.47355980e-02 -2.97251271e-03 9.98496459e-01 -5.01819731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.845769231 meters Centerline goodness : 0.067170 with order 1 Centerline is valid? [False, False] Translation: X:437.50, Y:-74.76, Z:-5.02 [[ 9.90435422e-01 1.23434551e-01 6.16570022e-02 4.37496419e+02] [-1.22856067e-01 9.92338016e-01 -1.31014681e-02 -7.47641212e+01] [-6.28017611e-02 5.40122130e-03 9.98011406e-01 -5.02347517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.905769231 meters Centerline goodness : 0.106256 with order 3 Centerline is valid? [False, False] Translation: X:437.50, Y:-74.76, Z:-5.03 [[ 9.90487813e-01 1.23155952e-01 6.13718566e-02 4.37499538e+02] [-1.22505826e-01 9.92365342e-01 -1.42601330e-02 -7.47569251e+01] [-6.26595237e-02 6.60607800e-03 9.98013098e-01 -5.02596163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.965769231 meters Centerline goodness : 0.067230 with order 1 Centerline is valid? [False, False] Translation: X:437.51, Y:-74.75, Z:-5.04 [[ 9.90465932e-01 1.23783515e-01 6.04555950e-02 4.37510983e+02] [-1.23131378e-01 9.92285749e-01 -1.44102950e-02 -7.47481319e+01] [-6.17729823e-02 6.82892556e-03 9.98066864e-01 -5.03523267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4930.33 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%| | 0/15000 [00:00