+ python -m lidar_slam --result /working/result.json --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.16 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters Centerline goodness : 0.237221 with order 3 Centerline is valid? [0, False] SLAMing on 0.075898227 meters Centerline goodness : 0.246704 with order 3 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99989635e-01 2.75816638e-03 -3.62253548e-03 3.26749581e-02] [-2.76217685e-03 9.99995577e-01 -1.10255156e-03 -9.89304613e-04] [ 3.61947844e-03 1.11254621e-03 9.99992831e-01 -1.47219980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13589822699999998 meters Centerline goodness : 0.152935 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.01 [[ 9.99984326e-01 3.46687201e-03 -4.39634329e-03 4.56167801e-02] [-3.47185946e-03 9.99993338e-01 -1.12732848e-03 -8.46732782e-04] [ 4.39240570e-03 1.14257430e-03 9.99989701e-01 -7.75125871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19589822699999998 meters Centerline goodness : 0.240996 with order 3 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.01 [[ 9.99948019e-01 6.72460328e-03 -7.66409699e-03 8.02528127e-02] [-6.74554469e-03 9.99973577e-01 -2.70983746e-03 -9.19260047e-04] [ 7.64567190e-03 2.76139511e-03 9.99966959e-01 -9.23871526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.255898227 meters Centerline goodness : 0.283642 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 0.9998817 0.00936579 -0.01220105 0.12065544] [-0.00942165 0.99994536 -0.0045294 -0.00264524] [ 0.01215796 0.00464382 0.99991531 -0.0104 ] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters Centerline goodness : 0.314442 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 0.99979722 0.01292215 -0.01544439 0.14846718] [-0.01300766 0.99990055 -0.0054491 -0.00527808] [ 0.01537244 0.00564889 0.99986588 -0.00646705] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters Centerline goodness : 0.309468 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.01 [[ 0.99987127 0.01196424 -0.01069107 0.20265759] [-0.012011 0.99991853 -0.00432038 -0.00692094] [ 0.01063851 0.00444824 0.99993352 -0.00691244] [ 0. 0. 0. 1. ]] SLAMing on 0.43589822699999997 meters Centerline goodness : 0.288477 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.00, Z:-0.01 [[ 0.99982946 0.01616724 -0.00892565 0.27698756] [-0.01618585 0.99986697 -0.00201607 -0.00468437] [ 0.00889186 0.00216019 0.99995813 -0.00830592] [ 0. 0. 0. 1. ]] SLAMing on 0.49589822699999997 meters Centerline goodness : 0.304594 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.00, Z:-0.01 [[ 9.99704912e-01 2.04737972e-02 -1.30733188e-02 3.12148342e-01] [-2.05258375e-02 9.99781875e-01 -3.85894211e-03 -4.65568948e-04] [ 1.29914600e-02 4.12614420e-03 9.99907094e-01 -5.98447989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.555898227 meters SLAMing on 0.615898227 meters Centerline goodness : 0.311105 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.00, Z:-0.01 [[ 0.99944733 0.03017675 -0.01394281 0.41441882] [-0.03019565 0.99954335 -0.00114663 0.00283002] [ 0.01390184 0.001567 0.99990214 -0.00618716] [ 0. 0. 0. 1. ]] SLAMing on 0.6758982269999999 meters Centerline goodness : 0.299305 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:0.01 [[ 0.99926549 0.03098859 -0.02254284 0.47279833] [-0.03104185 0.99951605 -0.00201635 0.00727623] [ 0.02246945 0.00271464 0.99974384 0.00643788] [ 0. 0. 0. 1. ]] SLAMing on 0.735898227 meters Centerline goodness : 0.095012 with order 2 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:0.00 [[ 9.99002561e-01 3.64501795e-02 -2.57927711e-02 5.02582931e-01] [-3.64616472e-02 9.99335053e-01 2.57075131e-05 7.58722767e-03] [ 2.57765573e-02 9.14765047e-04 9.99667311e-01 4.60390774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.795898227 meters Centerline goodness : 0.105195 with order 2 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:0.01 [[ 0.998816 0.03861498 -0.02958856 0.53433036] [-0.03869811 0.99924843 -0.00224185 0.00995068] [ 0.02947976 0.00338422 0.99955965 0.00680645] [ 0. 0. 0. 1. ]] SLAMing on 0.855898227 meters Centerline goodness : 0.314793 with order 2 Centerline is valid? [False, False] Translation: X:0.60, Y:0.01, Z:0.00 [[ 0.99887938 0.03894233 -0.02689755 0.60284226] [-0.03899901 0.99923799 -0.00158597 0.01492226] [ 0.02681529 0.00263317 0.99963694 0.00392954] [ 0. 0. 0. 1. ]] SLAMing on 0.9158982269999999 meters Centerline goodness : 0.154320 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.02, Z:0.02 [[ 0.99865048 0.03894075 -0.03436338 0.64934599] [-0.03905986 0.99923295 -0.00280157 0.022633 ] [ 0.03422792 0.00414002 0.99940548 0.01563062] [ 0. 0. 0. 1. ]] SLAMing on 0.975898227 meters SLAMing on 1.0358982270000001 meters Centerline goodness : 0.150342 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:0.02 [[ 0.99842228 0.04274696 -0.03640945 0.75190004] [-0.04299116 0.99905773 -0.00595037 0.03129908] [ 0.03612078 0.00750627 0.99931924 0.01656785] [ 0. 0. 0. 1. ]] SLAMing on 1.0958982270000002 meters Centerline goodness : 0.156289 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.02 [[ 0.99807795 0.04497269 -0.04263629 0.79221433] [-0.04514837 0.99897528 -0.00316587 0.03509397] [ 0.04245022 0.00508474 0.99908564 0.02476273] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters Centerline goodness : 0.149857 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.03 [[ 9.97697465e-01 4.75963139e-02 -4.83151978e-02 8.29051783e-01] [-4.76749940e-02 9.98862787e-01 -4.76744128e-04 3.78953641e-02] [ 4.82375618e-02 2.77907317e-03 9.98832025e-01 3.30746256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.215898227 meters Centerline goodness : 0.148195 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:0.03 [[ 9.97919022e-01 4.64865241e-02 -4.46836513e-02 8.89555671e-01] [-4.64429739e-02 9.98918915e-01 2.01284250e-03 3.88495941e-02] [ 4.47289145e-02 6.65878277e-05 9.98999159e-01 2.58041120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.275898227 meters Centerline goodness : 0.150775 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:0.02 [[ 0.99839626 0.04168944 -0.03830004 0.93125145] [-0.04158241 0.99912864 0.00358737 0.03872559] [ 0.03841622 -0.00198901 0.99925984 0.0183812 ] [ 0. 0. 0. 1. ]] SLAMing on 1.335898227 meters Centerline goodness : 0.149643 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.04, Z:0.01 [[ 0.99881454 0.03709983 -0.03151393 0.97166956] [-0.03695837 0.999304 0.0050597 0.0387361 ] [ 0.03167971 -0.003889 0.99949051 0.01237052] [ 0. 0. 0. 1. ]] SLAMing on 1.395898227 meters Centerline goodness : 0.146031 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:0.00 [[ 0.99906664 0.03329053 -0.02752436 1.02748589] [-0.0331197 0.99942934 0.00663943 0.03949403] [ 0.02772969 -0.00572164 0.99959908 0.00404042] [ 0. 0. 0. 1. ]] SLAMing on 1.455898227 meters Centerline goodness : 0.144330 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.04, Z:-0.00 [[ 9.99349887e-01 2.31572975e-02 -2.76322969e-02 1.05197550e+00] [-2.28738063e-02 9.99682885e-01 1.05318130e-02 4.06730805e-02] [ 2.78674226e-02 -9.89291035e-03 9.99562673e-01 -1.77251668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters Centerline goodness : 0.145950 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:-0.01 [[ 0.99950069 0.01144789 -0.02945009 1.0893898 ] [-0.01108582 0.99986131 0.01242836 0.04519897] [ 0.02958828 -0.01209567 0.99948898 -0.00997953] [ 0. 0. 0. 1. ]] SLAMing on 1.5758982270000002 meters Centerline goodness : 0.144858 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.01 [[ 0.99941843 0.00927416 -0.0328144 1.11723624] [-0.00904075 0.99993282 0.00725428 0.04880066] [ 0.03287948 -0.0069534 0.99943514 -0.01218988] [ 0. 0. 0. 1. ]] SLAMing on 1.635898227 meters Centerline goodness : 0.338365 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:-0.02 [[ 0.99962947 0.00205939 -0.0271417 1.16119049] [-0.00187713 0.99997553 0.00673887 0.05274041] [ 0.02715492 -0.00668543 0.99960888 -0.01941868] [ 0. 0. 0. 1. ]] SLAMing on 1.695898227 meters Centerline goodness : 0.143278 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.03 [[ 0.99975935 -0.00531105 -0.02128453 1.2040121 ] [ 0.00544428 0.99996592 0.00620645 0.0553807 ] [ 0.02125085 -0.00632084 0.99975419 -0.02688059] [ 0. 0. 0. 1. ]] SLAMing on 1.755898227 meters Centerline goodness : 0.140608 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.02 [[ 9.99690485e-01 -7.33507969e-03 -2.37724902e-02 1.22268064e+00] [ 7.36070704e-03 9.99972419e-01 9.90700219e-04 5.76149550e-02] [ 2.37645677e-02 -1.16537592e-03 9.99716904e-01 -2.21180020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.815898227 meters Centerline goodness : 0.141376 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.04 [[ 0.99984829 -0.00559666 -0.01649488 1.24939447] [ 0.00555821 0.99998173 -0.00237553 0.06051461] [ 0.01650787 0.00228349 0.99986113 -0.03552231] [ 0. 0. 0. 1. ]] SLAMing on 1.875898227 meters Centerline goodness : 0.140753 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.06, Z:-0.04 [[ 0.99981414 -0.00967875 -0.0166737 1.25712809] [ 0.00957276 0.99993354 -0.00642504 0.06095338] [ 0.01673478 0.00626424 0.99984034 -0.03633485] [ 0. 0. 0. 1. ]] SLAMing on 1.935898227 meters Centerline goodness : 0.140372 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.05 [[ 0.99982569 -0.01531469 -0.01067965 1.29415866] [ 0.01527699 0.99987681 -0.00360262 0.05907174] [ 0.01073351 0.00343884 0.99993648 -0.04607177] [ 0. 0. 0. 1. ]] SLAMing on 1.995898227 meters Centerline goodness : 0.136752 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99978631 -0.01465414 -0.0145807 1.32703635] [ 0.01458605 0.99988226 -0.00476512 0.05954887] [ 0.01464882 0.00455143 0.99988234 -0.05226224] [ 0. 0. 0. 1. ]] SLAMing on 2.055898227 meters Centerline goodness : 0.136855 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.06, Z:-0.05 [[ 0.99978263 -0.01155258 -0.01735611 1.35121025] [ 0.01146162 0.9999201 -0.00533096 0.06033377] [ 0.01741631 0.00513087 0.99983516 -0.05277103] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters Centerline goodness : 0.134112 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:-0.05 [[ 0.9997726 -0.01181496 -0.01775238 1.35957983] [ 0.01172086 0.99991675 -0.00539522 0.06221428] [ 0.01781464 0.00518592 0.99982786 -0.05489971] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters Centerline goodness : 0.133417 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.06 [[ 0.99969052 -0.01439794 -0.02028726 1.38356262] [ 0.0141808 0.99984105 -0.01080687 0.06150464] [ 0.02043964 0.01051584 0.99973578 -0.05650057] [ 0. 0. 0. 1. ]] SLAMing on 2.235898227 meters Centerline goodness : 0.133565 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:-0.06 [[ 0.9996038 -0.01859673 -0.02112833 1.39014659] [ 0.0182916 0.9997269 -0.01454431 0.06043233] [ 0.02139304 0.01415207 0.99967097 -0.05822211] [ 0. 0. 0. 1. ]] SLAMing on 2.295898227 meters Centerline goodness : 0.132437 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:-0.07 [[ 0.99940996 -0.02933886 -0.01785942 1.41580272] [ 0.0291461 0.99951508 -0.01095945 0.05547819] [ 0.0181723 0.01043245 0.99978044 -0.06516484] [ 0. 0. 0. 1. ]] SLAMing on 2.355898227 meters Centerline goodness : 0.131210 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.07 [[ 0.99938481 -0.02830652 -0.0207062 1.44297615] [ 0.028057 0.99953134 -0.0122435 0.05086712] [ 0.02104306 0.01165501 0.99971063 -0.06837122] [ 0. 0. 0. 1. ]] SLAMing on 2.415898227 meters Centerline goodness : 0.132093 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.07 [[ 0.99938873 -0.02745746 -0.02163898 1.45094951] [ 0.02721254 0.99956314 -0.01153259 0.05067652] [ 0.02194618 0.01093669 0.99969933 -0.07175308] [ 0. 0. 0. 1. ]] SLAMing on 2.475898227 meters Centerline goodness : 0.131227 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.05, Z:-0.08 [[ 0.99939851 -0.02631338 -0.02258812 1.45937191] [ 0.02607475 0.99960171 -0.01079493 0.05086237] [ 0.02286318 0.01019946 0.99968657 -0.07569271] [ 0. 0. 0. 1. ]] SLAMing on 2.535898227 meters Centerline goodness : 0.133453 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:0.05, Z:-0.08 [[ 0.99950955 -0.02072593 -0.02347546 1.46878119] [ 0.02059471 0.99977098 -0.00581753 0.05158789] [ 0.02359065 0.00533121 0.99970749 -0.0813825 ] [ 0. 0. 0. 1. ]] SLAMing on 2.595898227 meters Centerline goodness : 0.130679 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.05, Z:-0.08 [[ 0.99957327 -0.01416446 -0.02554676 1.49303893] [ 0.01407728 0.99989447 -0.00358924 0.05168017] [ 0.02559491 0.00322808 0.99966718 -0.08401537] [ 0. 0. 0. 1. ]] SLAMing on 2.655898227 meters Centerline goodness : 0.133006 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.09 [[ 9.99615975e-01 -8.96473348e-03 -2.62208990e-02 1.50041506e+00] [ 8.99980762e-03 9.99958757e-01 1.21993271e-03 5.21841944e-02] [ 2.62088812e-02 -1.45544728e-03 9.99655429e-01 -8.81324200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.715898227 meters Centerline goodness : 0.132759 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.09 [[ 0.99960589 -0.00783001 -0.02695835 1.50684495] [ 0.00787649 0.99996767 0.00161846 0.05597436] [ 0.02694481 -0.00183016 0.99963525 -0.09093456] [ 0. 0. 0. 1. ]] SLAMing on 2.775898227 meters Centerline goodness : 0.134579 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.10 [[ 0.99962068 -0.00261791 -0.02741617 1.51409311] [ 0.00278802 0.99997709 0.00616828 0.05916528] [ 0.0273994 -0.00624237 0.99960507 -0.09581505] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters Centerline goodness : 0.132937 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:-0.10 [[ 0.999602 -0.00170876 -0.02815887 1.51953426] [ 0.00188867 0.99997797 0.00636409 0.06408434] [ 0.02814738 -0.00641474 0.9995832 -0.09754301] [ 0. 0. 0. 1. ]] SLAMing on 2.895898227 meters Centerline goodness : 0.132506 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.10 [[ 0.99971685 -0.00980585 -0.02168083 1.54413691] [ 0.0099426 0.9999313 0.00620867 0.06223555] [ 0.02161846 -0.00642247 0.99974566 -0.09656821] [ 0. 0. 0. 1. ]] SLAMing on 2.955898227 meters Centerline goodness : 0.130775 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.10 [[ 0.99965341 -0.01400523 -0.02229135 1.54747266] [ 0.01405451 0.99989912 0.00205582 0.0626417 ] [ 0.02226031 -0.0023684 0.9997494 -0.09715892] [ 0. 0. 0. 1. ]] SLAMing on 3.015898227 meters Centerline goodness : 0.130180 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.10 [[ 0.99964747 -0.01325108 -0.02300729 1.55234914] [ 0.01331391 0.99990804 0.00257994 0.06334169] [ 0.02297099 -0.00288535 0.99973197 -0.09960213] [ 0. 0. 0. 1. ]] SLAMing on 3.075898227 meters Centerline goodness : 0.123000 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:-0.10 [[ 9.99832092e-01 -9.00336563e-03 -1.59601639e-02 1.56311517e+00] [ 9.00075429e-03 9.99959465e-01 -2.35441233e-04 6.26182245e-02] [ 1.59616367e-02 9.17481864e-05 9.99872601e-01 -9.67512179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.135898227 meters Centerline goodness : 0.121422 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.06, Z:-0.10 [[ 9.99832005e-01 -8.64674745e-03 -1.61615302e-02 1.56531745e+00] [ 8.65509112e-03 9.99962444e-01 4.46393252e-04 5.92993636e-02] [ 1.61570634e-02 -5.86197776e-04 9.99869294e-01 -9.86831534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.195898227 meters Centerline goodness : 0.094575 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.06, Z:-0.10 [[ 0.99985174 -0.00357199 -0.01684472 1.57010675] [ 0.00367076 0.99997623 0.005836 0.05580486] [ 0.01682347 -0.00589697 0.99984109 -0.10201775] [ 0. 0. 0. 1. ]] SLAMing on 3.255898227 meters Centerline goodness : 0.089894 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.05, Z:-0.10 [[ 9.99855831e-01 1.12179777e-03 -1.69427947e-02 1.57161766e+00] [-9.42499301e-04 9.99943513e-01 1.05868589e-02 5.39506810e-02] [ 1.69537140e-02 -1.05693640e-02 9.99800410e-01 -1.03239648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.315898227 meters Centerline goodness : 0.090358 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.11 [[ 0.99992785 0.00920231 -0.0077207 1.55166823] [-0.00914617 0.9999317 0.0072764 0.05163017] [ 0.00778713 -0.00720526 0.99994372 -0.10838723] [ 0. 0. 0. 1. ]] SLAMing on 3.375898227 meters Centerline goodness : 0.089757 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:-0.11 [[ 0.99984686 0.01527256 -0.0085443 1.5582859 ] [-0.01515868 0.99979747 0.01323746 0.0493283 ] [ 0.00874474 -0.01310591 0.99987587 -0.1137081 ] [ 0. 0. 0. 1. ]] SLAMing on 3.435898227 meters Centerline goodness : 0.251720 with order 3 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:-0.11 [[ 0.99983994 0.01568788 -0.00860129 1.55913428] [-0.01556604 0.99978006 0.0140545 0.04532516] [ 0.00881988 -0.01391836 0.99986424 -0.11402574] [ 0. 0. 0. 1. ]] SLAMing on 3.495898227 meters Centerline goodness : 0.262698 with order 3 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:-0.11 [[ 0.99985332 0.01489827 -0.00844905 1.56013136] [-0.01476303 0.9997654 0.01584913 0.04022051] [ 0.00868319 -0.01572207 0.9998387 -0.11332285] [ 0. 0. 0. 1. ]] SLAMing on 3.555898227 meters Centerline goodness : 0.267618 with order 3 Centerline is valid? [False, False] Translation: X:1.57, Y:0.04, Z:-0.11 [[ 0.99991048 0.01273482 -0.00410478 1.57047926] [-0.01270888 0.99989949 0.00628436 0.03832119] [ 0.0041844 -0.00623163 0.99997183 -0.10702833] [ 0. 0. 0. 1. ]] SLAMing on 3.6158982269999997 meters Centerline goodness : 0.494962 with order 3 Centerline is valid? [False, False] Translation: X:1.57, Y:0.03, Z:-0.11 [[ 0.99992978 0.01113403 -0.00405872 1.57407729] [-0.01109596 0.99989534 0.00928341 0.02745401] [ 0.00416166 -0.00923772 0.99994867 -0.10826349] [ 0. 0. 0. 1. ]] SLAMing on 3.675898227 meters Centerline goodness : 0.514418 with order 3 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.11 [[ 0.99992418 0.01179662 -0.00353262 1.57320613] [-0.01175954 0.99987738 0.01034136 0.02288185] [ 0.00365418 -0.01029903 0.99994029 -0.10881939] [ 0. 0. 0. 1. ]] SLAMing on 3.735898227 meters Centerline goodness : 0.516739 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.11 [[ 9.99846446e-01 1.74903830e-02 -1.08220414e-03 1.56533909e+00] [-1.74758138e-02 9.99772127e-01 1.22593064e-02 1.78337242e-02] [ 1.29637750e-03 -1.22385115e-02 9.99924266e-01 -1.10095950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.795898227 meters Centerline goodness : 0.106183 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.11 [[ 9.99795442e-01 2.02253654e-02 9.85849481e-05 1.56124370e+00] [-2.02250228e-02 9.99717751e-01 1.24646566e-02 1.64126622e-02] [ 1.53545112e-04 -1.24641007e-02 9.99922308e-01 -1.11139642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.855898227 meters Centerline goodness : 0.537411 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.12 [[ 0.99981547 0.01742574 0.00808562 1.57684702] [-0.01755967 0.99970468 0.01679914 0.01403621] [-0.0077905 -0.01693803 0.99982619 -0.12104979] [ 0. 0. 0. 1. ]] SLAMing on 3.915898227 meters Centerline goodness : 0.109977 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.12 [[ 0.99986816 0.01425385 0.00777723 1.57589688] [-0.0143712 0.99978046 0.01524807 0.01249415] [-0.00755818 -0.01535783 0.99985349 -0.11705384] [ 0. 0. 0. 1. ]] SLAMing on 3.975898227 meters Centerline goodness : 0.109603 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.12 [[ 0.99995242 0.00621509 0.00751885 1.57587476] [-0.0062664 0.99995711 0.00682018 0.01250977] [-0.00747614 -0.00686697 0.99994847 -0.11565337] [ 0. 0. 0. 1. ]] SLAMing on 4.035898227 meters Centerline goodness : 0.107804 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.12 [[ 0.9999737 0.00187899 0.00700475 1.57677743] [-0.00190145 0.99999307 0.00320118 0.00826171] [-0.00699868 -0.00321442 0.99997034 -0.11501413] [ 0. 0. 0. 1. ]] SLAMing on 4.095898227 meters Centerline goodness : 0.990591 with order 1 Centerline is valid? [False, True] Translation: X:1.58, Y:0.00, Z:-0.11 [[ 9.99975315e-01 -1.67144409e-03 6.82467088e-03 1.57707226e+00] [ 1.67050102e-03 9.99998594e-01 1.43883312e-04 2.85644706e-03] [-6.82490178e-03 -1.32479140e-04 9.99976701e-01 -1.14292559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.155898227 meters Centerline goodness : 0.992163 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:0.00, Z:-0.11 [[ 9.99976715e-01 3.24112089e-04 6.81643738e-03 1.63964245e+00] [-3.26297702e-04 9.99999896e-01 3.19528858e-04 9.53566003e-04] [-6.81633311e-03 -3.21745606e-04 9.99976717e-01 -1.13085569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.215898227 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.00, Z:-0.11 [[ 9.99940609e-01 8.50382011e-03 6.81645548e-03 1.70154504e+00] [-8.50619264e-03 9.99963771e-01 3.19142275e-04 -3.18471061e-03] [-6.81349460e-03 -3.77105404e-04 9.99976717e-01 -1.11632057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.275898227 meters Centerline goodness : 0.998501 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.00, Z:-0.11 [[ 9.99887900e-01 1.33313148e-02 6.81646887e-03 1.75977306e+00] [-1.33337972e-02 9.99911050e-01 3.18855946e-04 -2.21564199e-03] [-6.81161178e-03 -4.09709616e-04 9.99976717e-01 -1.10240066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.00, Z:-0.11 [[ 9.99803003e-01 1.86411302e-02 6.81641184e-03 1.81633213e+00] [-1.86437437e-02 9.99826139e-01 3.20070573e-04 -4.59033883e-04] [-6.80926026e-03 -4.47090956e-04 9.99976717e-01 -1.08728518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:0.00, Z:-0.11 [[ 9.99679479e-01 2.43818703e-02 6.81638936e-03 1.87459642e+00] [-2.43846199e-02 9.99702600e-01 3.20548538e-04 5.97561729e-04] [-6.80654659e-03 -4.86660859e-04 9.99976717e-01 -1.06418761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:1.93, Y:0.00, Z:-0.10 [[ 9.99647403e-01 2.56633394e-02 6.81633491e-03 1.93266874e+00] [-2.56661264e-02 9.99670519e-01 3.21702399e-04 4.60070413e-03] [-6.80583310e-03 -4.96537881e-04 9.99976717e-01 -1.02197578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:1.99, Y:0.00, Z:-0.11 [[ 9.99678210e-01 2.44338900e-02 6.81631557e-03 1.99175842e+00] [-2.44366513e-02 9.99701329e-01 3.22111671e-04 4.73695393e-03] [-6.80640929e-03 -4.88575945e-04 9.99976717e-01 -1.09968821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:2.05, Y:0.00, Z:-0.11 [[ 9.99739118e-01 2.17998770e-02 6.81625968e-03 2.04945869e+00] [-2.18025854e-02 9.99762243e-01 3.23290013e-04 4.99818002e-03] [-6.80759138e-03 -4.71817757e-04 9.99976717e-01 -1.12874078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.635898227 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:2.11, Y:0.00, Z:-0.11 [[ 9.99833131e-01 1.69484113e-02 6.81619593e-03 2.10766045e+00] [-1.69510166e-02 9.99856268e-01 3.24628530e-04 1.83514064e-03] [-6.80971429e-03 -4.40115810e-04 9.99976717e-01 -1.14626839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.695898227 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:2.17, Y:0.00, Z:-0.11 [[ 9.99856543e-01 1.55058798e-02 6.81617085e-03 2.16613812e+00] [-1.55084553e-02 9.99879684e-01 3.25154170e-04 1.55661637e-04] [-6.81030896e-03 -4.30815805e-04 9.99976717e-01 -1.11792872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.01, Z:-0.11 [[ 9.99897831e-01 1.25645315e-02 6.81614562e-03 2.22376676e+00] [-1.25670425e-02 9.99920979e-01 3.25682240e-04 -7.46348958e-03] [-6.81151496e-03 -4.11307757e-04 9.99976717e-01 -1.10633573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.01, Z:-0.11 [[ 9.99923697e-01 1.03024886e-02 6.81610594e-03 2.28285031e+00] [-1.03049528e-02 9.99946849e-01 3.26510557e-04 -1.03629384e-02] [-6.81237979e-03 -3.96725293e-04 9.99976717e-01 -1.09169014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.01, Z:-0.11 [[ 9.99931598e-01 9.50474310e-03 6.81608931e-03 2.34114909e+00] [-9.50719123e-03 9.99954752e-01 3.26857353e-04 -1.10773577e-02] [-6.81267421e-03 -3.91636860e-04 9.99976717e-01 -1.07546893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.02, Z:-0.11 [[ 9.99960136e-01 5.76784738e-03 6.81606441e-03 2.40058961e+00] [-5.77021249e-03 9.99983299e-01 3.27375857e-04 -2.42094858e-02] [-6.81406232e-03 -3.66692946e-04 9.99976717e-01 -1.06763819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.03, Z:-0.11 [[ 9.99969139e-01 3.90668217e-03 6.81604796e-03 2.45990098e+00] [-3.90900649e-03 9.99992306e-01 3.27718097e-04 -3.07958354e-02] [-6.81471522e-03 -3.54351959e-04 9.99976717e-01 -1.07845955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.04, Z:-0.11 [[ 9.99976742e-01 2.40368439e-04 6.81603160e-03 2.52021875e+00] [-2.42610115e-04 9.99999917e-01 3.28057831e-04 -4.31810659e-02] [-6.81595218e-03 -3.29703840e-04 9.99976717e-01 -1.12558928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.06, Z:-0.12 [[ 9.99975328e-01 -1.69834023e-03 6.81602349e-03 2.58345648e+00] [ 1.69614234e-03 9.99998508e-01 3.28226250e-04 -5.55855429e-02] [-6.81657076e-03 -3.16657206e-04 9.99976717e-01 -1.15448689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.06, Z:-0.12 [[ 9.99971379e-01 -3.28362670e-03 6.81606371e-03 2.64725644e+00] [ 3.28147126e-03 9.99994562e-01 3.27389072e-04 -6.14280688e-02] [-6.81710167e-03 -3.05012985e-04 9.99976717e-01 -1.17574398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.07, Z:-0.12 [[ 9.99957913e-01 -6.14108995e-03 6.81612690e-03 2.71102074e+00] [ 6.13900976e-03 9.99981103e-01 3.26068086e-04 -6.72947351e-02] [-6.81800051e-03 -2.84210093e-04 9.99976717e-01 -1.17588300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.07, Z:-0.11 [[ 9.99954422e-01 -6.68524940e-03 6.81618910e-03 2.77419106e+00] [ 6.68319071e-03 9.99977614e-01 3.24762572e-04 -7.12025542e-02] [-6.81820764e-03 -2.79193878e-04 9.99976717e-01 -1.12928139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.12 [[ 9.99955558e-01 -6.51315367e-03 6.81621222e-03 2.83686907e+00] [ 6.51109429e-03 9.99978750e-01 3.24276689e-04 -7.18657133e-02] [-6.81817944e-03 -2.79881277e-04 9.99976717e-01 -1.16206805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.07, Z:-0.12 [[ 9.99939626e-01 -8.61882478e-03 6.81623511e-03 2.89958506e+00] [ 8.61681753e-03 9.99962822e-01 3.23794742e-04 -7.22514046e-02] [-6.81877243e-03 -2.65040939e-04 9.99976717e-01 -1.17790242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.12 [[ 9.99815919e-01 -1.79350604e-02 6.81625805e-03 2.96149126e+00] [ 1.79332727e-02 9.99839134e-01 3.23311087e-04 -7.58031006e-02] [-6.82096015e-03 -2.01013757e-04 9.99976717e-01 -1.21363582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.08, Z:-0.12 [[ 9.99551204e-01 -2.91706845e-02 6.81631431e-03 3.02541158e+00] [ 2.91691659e-02 9.99574437e-01 3.22120573e-04 -8.16415848e-02] [-6.82281002e-03 -1.23149804e-04 9.99976717e-01 -1.22365666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.08, Z:-0.12 [[ 9.99439678e-01 -3.27698997e-02 6.81637912e-03 3.08783360e+00] [ 3.27684741e-02 9.99462918e-01 3.20743224e-04 -8.42805225e-02] [-6.82322889e-03 -9.72011611e-05 9.99976717e-01 -1.17506077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.09, Z:-0.12 [[ 9.99374000e-01 -3.47151994e-02 6.81641901e-03 3.15102294e+00] [ 3.47138249e-02 9.99397242e-01 3.19893241e-04 -8.88861214e-02] [-6.82341552e-03 -8.30690114e-05 9.99976717e-01 -1.19604717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.09, Z:-0.12 [[ 9.99311701e-01 -3.64644901e-02 6.81648331e-03 3.21332587e+00] [ 3.64631656e-02 9.99334947e-01 3.18517197e-04 -8.98107586e-02] [-6.82356455e-03 -6.97474023e-05 9.99976717e-01 -1.21072913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:-0.12 [[ 9.99241820e-01 -3.83317148e-02 6.81654283e-03 3.27518370e+00] [ 3.83304425e-02 9.99265068e-01 3.17238306e-04 -8.86505818e-02] [-6.82369342e-03 -5.57166791e-05 9.99976717e-01 -1.18239830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.09, Z:-0.12 [[ 9.99210455e-01 -3.91407816e-02 6.81660080e-03 3.33731071e+00] [ 3.91395367e-02 9.99233705e-01 3.15987667e-04 -8.76435533e-02] [-6.82374528e-03 -4.89395834e-05 9.99976717e-01 -1.24690898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.09, Z:-0.13 [[ 9.99089028e-01 -4.21265606e-02 6.81665594e-03 3.40001411e+00] [ 4.21253933e-02 9.99112282e-01 3.14793722e-04 -8.58300578e-02] [-6.82386585e-03 -2.73526416e-05 9.99976717e-01 -1.28014644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.08, Z:-0.12 [[ 9.98768055e-01 -4.91518553e-02 6.81671750e-03 3.46187015e+00] [ 4.91508607e-02 9.98791317e-01 3.13455051e-04 -8.47526496e-02] [-6.82388514e-03 2.19786401e-05 9.99976717e-01 -1.21232198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.08, Z:-0.12 [[ 9.98489878e-01 -5.45114196e-02 6.81677436e-03 3.52517597e+00] [ 5.45105583e-02 9.98513145e-01 3.12213459e-04 -8.33931163e-02] [-6.82365801e-03 5.98441976e-05 9.99976717e-01 -1.24554136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.08, Z:-0.13 [[ 9.98435152e-01 -5.55047583e-02 6.81682643e-03 3.58794117e+00] [ 5.55039279e-02 9.98458420e-01 3.11072497e-04 -8.06317854e-02] [-6.82358375e-03 6.77749273e-05 9.99976717e-01 -1.28937919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.08, Z:-0.13 [[ 9.98505066e-01 -5.42324939e-02 6.81687776e-03 3.65062126e+00] [ 5.42316417e-02 9.98528334e-01 3.09943422e-04 -7.66797752e-02] [-6.82365460e-03 6.02103955e-05 9.99976717e-01 -1.27242963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.07, Z:-0.13 [[ 9.98491949e-01 -5.44734552e-02 6.81692833e-03 3.71310567e+00] [ 5.44726162e-02 9.98515217e-01 3.08827183e-04 -7.28048616e-02] [-6.82362956e-03 6.29744645e-05 9.99976717e-01 -1.32020829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.07, Z:-0.13 [[ 9.98279938e-01 -5.82296741e-02 6.81698218e-03 3.77557479e+00] [ 5.82289308e-02 9.98303209e-01 3.07633975e-04 -6.90677938e-02] [-6.82332861e-03 8.98407583e-05 9.99976717e-01 -1.34011144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.06, Z:-0.13 [[ 9.97929537e-01 -6.39544089e-02 6.81703907e-03 3.83853952e+00] [ 6.39538077e-02 9.97952813e-01 3.06368085e-04 -6.35449146e-02] [-6.82267691e-03 1.30241844e-04 9.99976717e-01 -1.28525121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.06, Z:-0.13 [[ 9.97764442e-01 -6.64804208e-02 6.81709940e-03 3.90165395e+00] [ 6.64798877e-02 9.97787719e-01 3.05019688e-04 -6.14939912e-02] [-6.82229590e-03 1.48862204e-04 9.99976717e-01 -1.29556958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.06, Z:-0.13 [[ 9.97749458e-01 -6.67049164e-02 6.81715854e-03 3.96333821e+00] [ 6.67043976e-02 9.97772735e-01 3.03692134e-04 -5.65077316e-02] [-6.82223268e-03 1.51725792e-04 9.99976717e-01 -1.30301892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.05, Z:-0.13 [[ 9.97830630e-01 -6.54794644e-02 6.81721312e-03 4.02680890e+00] [ 6.54789254e-02 9.97853907e-01 3.02462073e-04 -5.34767358e-02] [-6.82238780e-03 1.44577869e-04 9.99976717e-01 -1.30347835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.05, Z:-0.13 [[ 9.97822421e-01 -6.56044330e-02 6.81727007e-03 4.08910049e+00] [ 6.56039058e-02 9.97845698e-01 3.01172858e-04 -4.93820791e-02] [-6.82234189e-03 1.46722514e-04 9.99976717e-01 -1.30138423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.05, Z:-0.13 [[ 9.97680912e-01 -6.77223977e-02 6.81730528e-03 4.15250822e+00] [ 6.77219254e-02 9.97704190e-01 3.00373768e-04 -4.60396501e-02] [-6.82199607e-03 1.62003865e-04 9.99976717e-01 -1.34425228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.04, Z:-0.14 [[ 9.97472303e-01 -7.07285570e-02 6.81736081e-03 4.21527416e+00] [ 7.07281635e-02 9.97495583e-01 2.99108024e-04 -3.96749669e-02] [-6.82144278e-03 1.83827441e-04 9.99976717e-01 -1.37104732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.03, Z:-0.14 [[ 9.97479866e-01 -7.06218017e-02 6.81741581e-03 4.27827330e+00] [ 7.06214143e-02 9.97503146e-01 2.97849262e-04 -3.46566017e-02] [-6.82142837e-03 1.84356904e-04 9.99976717e-01 -1.37433857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.03, Z:-0.14 [[ 9.97492376e-01 -7.04448824e-02 6.81747030e-03 4.34087086e+00] [ 7.04444993e-02 9.97515656e-01 2.96596821e-04 -3.15150526e-02] [-6.82142709e-03 1.84400214e-04 9.99976717e-01 -1.36421646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.03, Z:-0.14 [[ 9.97564201e-01 -6.94203606e-02 6.81752338e-03 4.40305860e+00] [ 6.94199620e-02 9.97587481e-01 2.95371601e-04 -2.91243690e-02] [-6.82158078e-03 1.78620079e-04 9.99976717e-01 -1.35249080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.03, Z:-0.13 [[ 9.97590844e-01 -6.90364363e-02 6.81757568e-03 4.46576074e+00] [ 6.90360371e-02 9.97614123e-01 2.94159492e-04 -2.78708680e-02] [-6.82161751e-03 1.77207592e-04 9.99976717e-01 -1.34875301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.03, Z:-0.13 [[ 9.97485337e-01 -7.05444657e-02 6.81762831e-03 4.52880005e+00] [ 7.05441100e-02 9.97508618e-01 2.92934565e-04 -2.85555338e-02] [-6.82130791e-03 1.88745589e-04 9.99976717e-01 -1.32933342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.03, Z:-0.13 [[ 9.97550628e-01 -6.96151169e-02 6.81768288e-03 4.59154449e+00] [ 6.96147482e-02 9.97573908e-01 2.91658883e-04 -3.19828209e-02] [-6.82144643e-03 1.83666775e-04 9.99976717e-01 -1.31917522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:-0.13 [[ 9.97700176e-01 -6.74379511e-02 6.81773335e-03 4.65414897e+00] [ 6.74375397e-02 9.97723456e-01 2.90474444e-04 -3.20311699e-02] [-6.82180148e-03 1.69964759e-04 9.99976717e-01 -1.30589771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.03, Z:-0.13 [[ 9.97986603e-01 -6.30575796e-02 6.81778294e-03 4.71638306e+00] [ 6.30570740e-02 9.98009881e-01 2.89305868e-04 -3.31163904e-02] [-6.82245766e-03 1.41186062e-04 9.99976717e-01 -1.31995959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.03, Z:-0.13 [[ 9.98654437e-01 -5.14084965e-02 6.81783245e-03 4.77973613e+00] [ 5.14077273e-02 9.98677707e-01 2.88134356e-04 -3.13599475e-02] [-6.82362983e-03 6.27426181e-05 9.99976717e-01 -1.31282024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.03, Z:-0.13 [[ 9.99115695e-01 -4.14890838e-02 6.81788414e-03 4.84237985e+00] [ 4.14880920e-02 9.99138957e-01 2.86906029e-04 -2.69799426e-02] [-6.82391711e-03 -3.79131207e-06 9.99976717e-01 -1.33939493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.02, Z:-0.14 [[ 9.99580676e-01 -2.81422723e-02 6.81793577e-03 4.90565534e+00] [ 2.81409783e-02 9.99603923e-01 2.85673645e-04 -2.04694221e-02] [-6.82327485e-03 -9.36904730e-05 9.99976717e-01 -1.37895590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.01, Z:-0.14 [[ 9.99761564e-01 -2.07444239e-02 6.81799042e-03 4.96780617e+00] [ 2.07429668e-02 9.99784801e-01 2.84363433e-04 -1.32869033e-02] [-6.82242215e-03 -1.42870281e-04 9.99976717e-01 -1.38591984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:0.00, Z:-0.14 [[ 9.99870237e-01 -1.45953155e-02 6.81804132e-03 5.03095485e+00] [ 1.45937239e-02 9.99893466e-01 2.83137727e-04 1.21909014e-04] [-6.82144745e-03 -1.83600374e-04 9.99976717e-01 -1.38719652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.09, Y:0.01, Z:-0.14 [[ 9.99888504e-01 -1.32850625e-02 6.81809715e-03 5.09334006e+00] [ 1.32834497e-02 9.99911731e-01 2.81786815e-04 1.03270479e-02] [-6.82123888e-03 -1.91187547e-04 9.99976717e-01 -1.38758640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:5.15, Y:0.02, Z:-0.14 [[ 9.99908252e-01 -1.17047754e-02 6.81811844e-03 5.15480929e+00] [ 1.17031293e-02 9.99931476e-01 2.81270824e-04 1.99389884e-02] [-6.82094345e-03 -2.01451696e-04 9.99976717e-01 -1.36904457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.04, Z:-0.14 [[ 9.99926491e-01 -1.00261849e-02 6.81817030e-03 5.21715455e+00] [ 1.00245085e-02 9.99949714e-01 2.80007889e-04 3.52334943e-02] [-6.82063486e-03 -2.11638500e-04 9.99976717e-01 -1.38352452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.05, Z:-0.14 [[ 9.99923579e-01 -1.03125723e-02 6.81819106e-03 5.27875184e+00] [ 1.03109060e-02 9.99946802e-01 2.79501648e-04 4.94541488e-02] [-6.82071072e-03 -2.09178561e-04 9.99976717e-01 -1.36189078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.06, Z:-0.14 [[ 9.99927096e-01 -9.96569057e-03 6.81824196e-03 5.34133540e+00] [ 9.96402469e-03 9.99950319e-01 2.78254409e-04 5.75751795e-02] [-6.82067622e-03 -2.10296991e-04 9.99976717e-01 -1.38503571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.06, Z:-0.14 [[ 9.99941262e-01 -8.42523716e-03 6.81826151e-03 5.40396480e+00] [ 8.42353876e-03 9.99964483e-01 2.77774478e-04 6.41235223e-02] [-6.82035966e-03 -2.20324272e-04 9.99976717e-01 -1.42152073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:0.07, Z:-0.14 [[ 9.99951999e-01 -7.03633180e-03 6.81828145e-03 5.46641098e+00] [ 7.03460449e-03 9.99975218e-01 2.77284033e-04 6.84481326e-02] [-6.82006355e-03 -2.29306810e-04 9.99976717e-01 -1.41736529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:0.08, Z:-0.14 [[ 9.99976211e-01 -1.04316896e-03 6.81831404e-03 5.52922529e+00] [ 1.04130800e-03 9.99999420e-01 2.76480508e-04 7.56795001e-02] [-6.81859850e-03 -2.69373965e-04 9.99976717e-01 -1.39010913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:0.08, Z:-0.14 [[ 9.99972031e-01 3.07372290e-03 6.81833409e-03 5.59106653e+00] [-3.07567603e-03 9.99995232e-01 2.75985067e-04 8.12631433e-02] [-6.81745328e-03 -2.96948334e-04 9.99976717e-01 -1.36872465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:0.08, Z:-0.14 [[ 9.99969800e-01 3.72954832e-03 6.81834767e-03 5.65192542e+00] [-3.73151438e-03 9.99993000e-01 2.75649198e-04 8.34208743e-02] [-6.81727189e-03 -3.01083636e-04 9.99976717e-01 -1.40402758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:0.08, Z:-0.14 [[ 9.99973404e-01 -2.58870893e-03 6.81834767e-03 5.71111653e+00] [ 2.58688950e-03 9.99996616e-01 2.75649198e-04 8.49539112e-02] [-6.81903817e-03 -2.58003555e-04 9.99976717e-01 -1.44793937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:0.08, Z:-0.14 [[ 9.99920955e-01 -1.05638310e-02 6.81834995e-03 5.77418870e+00] [ 1.05621972e-02 9.99944180e-01 2.75592811e-04 8.49356889e-02] [-6.82088067e-03 -2.03554270e-04 9.99976717e-01 -1.44367506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:5.84, Y:0.09, Z:-0.14 [[ 9.99921616e-01 -1.05010394e-02 6.81840291e-03 5.83713213e+00] [ 1.04994131e-02 9.99944842e-01 2.74276257e-04 8.84197162e-02] [-6.82090700e-03 -2.02665530e-04 9.99976717e-01 -1.40907342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:0.09, Z:-0.14 [[ 9.99928864e-01 -9.78649315e-03 6.81842301e-03 5.89895393e+00] [ 9.78485361e-03 9.99952090e-01 2.73775716e-04 8.91216792e-02] [-6.82077564e-03 -2.07038970e-04 9.99976717e-01 -1.42975196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:5.96, Y:0.09, Z:-0.14 [[ 9.99903391e-01 -1.21126761e-02 6.81847219e-03 5.96109093e+00] [ 1.21110990e-02 9.99926621e-01 2.72545229e-04 9.09266881e-02] [-6.82127311e-03 -1.89939707e-04 9.99976717e-01 -1.43430246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:6.02, Y:0.09, Z:-0.14 [[ 9.99876480e-01 -1.41609484e-02 6.81848519e-03 6.02299161e+00] [ 1.41594211e-02 9.99899713e-01 2.72219673e-04 9.38969691e-02] [-6.82165627e-03 -1.75640246e-04 9.99976717e-01 -1.43224623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.09, Y:0.10, Z:-0.14 [[ 9.99892792e-01 -1.29580833e-02 6.81849801e-03 6.08500236e+00] [ 1.29565302e-02 9.99916024e-01 2.71898221e-04 9.58420499e-02] [-6.82144869e-03 -1.83524996e-04 9.99976717e-01 -1.40067351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:0.10, Z:-0.14 [[ 9.99916204e-01 -1.10042263e-02 6.81851070e-03 6.14703268e+00] [ 1.10026300e-02 9.99939432e-01 2.71579439e-04 9.74415786e-02] [-6.82108624e-03 -1.96535131e-04 9.99976717e-01 -1.40154690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:0.10, Z:-0.14 [[ 9.99948568e-01 -7.50798942e-03 6.81852375e-03 6.20919056e+00] [ 7.50631415e-03 9.99971790e-01 2.71251396e-04 9.82384304e-02] [-6.82036796e-03 -2.20055463e-04 9.99976717e-01 -1.41006378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:0.10, Z:-0.14 [[ 9.99954249e-01 -6.70871610e-03 6.81855597e-03 6.27185658e+00] [ 6.70702781e-03 9.99977471e-01 2.70439066e-04 9.95123650e-02] [-6.82021666e-03 -2.24694448e-04 9.99976717e-01 -1.40812090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:6.33, Y:0.10, Z:-0.14 [[ 9.99959185e-01 -5.92755234e-03 6.81856868e-03 6.33447614e+00] [ 5.92584809e-03 9.99982406e-01 2.70118187e-04 9.92527677e-02] [-6.82004985e-03 -2.29701360e-04 9.99976717e-01 -1.43715016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:0.10, Z:-0.15 [[ 9.99946387e-01 -7.79298485e-03 6.81858824e-03 6.39629867e+00] [ 7.79132730e-03 9.99969611e-01 2.69623643e-04 1.02699099e-01] [-6.82048220e-03 -2.16483335e-04 9.99976717e-01 -1.49739666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:0.11, Z:-0.15 [[ 9.99878477e-01 -1.40192333e-02 6.81860136e-03 6.45844233e+00] [ 1.40177227e-02 9.99901711e-01 2.69291512e-04 1.05839268e-01] [-6.82170642e-03 -1.73677523e-04 9.99976717e-01 -1.47926253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:0.11, Z:-0.14 [[ 9.99774324e-01 -2.01198349e-02 6.81864977e-03 6.52147446e+00] [ 2.01184745e-02 9.99797567e-01 2.68060059e-04 1.08779203e-01] [-6.82266277e-03 -1.30818733e-04 9.99976717e-01 -1.44646190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:0.11, Z:-0.15 [[ 9.99657374e-01 -2.52713288e-02 6.81870037e-03 6.58434925e+00] [ 2.52700970e-02 9.99680625e-01 2.66766544e-04 1.12323768e-01] [-6.82326419e-03 -9.43659234e-05 9.99976717e-01 -1.46701773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:6.65, Y:0.12, Z:-0.15 [[ 9.99562349e-01 -2.87856920e-02 6.81875072e-03 6.64742702e+00] [ 2.87845507e-02 9.99585604e-01 2.65473332e-04 1.19555191e-01] [-6.82356689e-03 -6.90824713e-05 9.99976717e-01 -1.48546339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:6.71, Y:0.13, Z:-0.15 [[ 9.99491797e-01 -3.11392339e-02 6.81880100e-03 6.71054953e+00] [ 3.11381562e-02 9.99515055e-01 2.64175625e-04 1.25886159e-01] [-6.82372048e-03 -5.17164795e-05 9.99976717e-01 -1.51461199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:6.77, Y:0.13, Z:-0.15 [[ 9.99141804e-01 -4.08553314e-02 6.81884969e-03 6.77261960e+00] [ 4.08544886e-02 9.99165072e-01 2.62912758e-04 1.34172159e-01] [-6.82389783e-03 1.58934898e-05 9.99976717e-01 -1.47031658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:0.14, Z:-0.15 [[ 9.98879470e-01 -4.68327606e-02 6.81889479e-03 6.83513282e+00] [ 4.68320650e-02 9.98902743e-01 2.61737837e-04 1.40860312e-01] [-6.82367061e-03 5.78983719e-05 9.99976717e-01 -1.46456747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:0.15, Z:-0.15 [[ 9.98707748e-01 -5.03620589e-02 6.81891017e-03 6.89674008e+00] [ 5.03614483e-02 9.98731023e-01 2.61336505e-04 1.48817861e-01] [-6.82341857e-03 8.24114000e-05 9.99976717e-01 -1.48373986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:0.15, Z:-0.15 [[ 9.98797784e-01 -4.85436807e-02 6.81895557e-03 6.95973078e+00] [ 4.85430359e-02 9.98821058e-01 2.60146403e-04 1.53821483e-01] [-6.82354488e-03 7.11791537e-05 9.99976717e-01 -1.46233087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:0.16, Z:-0.15 [[ 9.99058347e-01 -4.28476338e-02 6.81900325e-03 7.02254313e+00] [ 4.28468648e-02 9.99081618e-01 2.58890670e-04 1.58573218e-01] [-6.82383365e-03 3.35260254e-05 9.99976717e-01 -1.46050137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:0.16, Z:-0.14 [[ 9.99368827e-01 -3.48632758e-02 6.81905265e-03 7.08489430e+00] [ 3.48623298e-02 9.99392091e-01 2.57582873e-04 1.64732481e-01] [-6.82388747e-03 -1.96922311e-05 9.99976717e-01 -1.43262473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:0.17, Z:-0.14 [[ 9.99491744e-01 -3.11408526e-02 6.81909826e-03 7.14832803e+00] [ 3.11398282e-02 9.99515005e-01 2.56369587e-04 1.67558612e-01] [-6.82377460e-03 -4.38937370e-05 9.99976717e-01 -1.42102857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:0.17, Z:-0.14 [[ 9.99621106e-01 -2.66672776e-02 6.81914642e-03 7.21060234e+00] [ 2.66661579e-02 9.99644362e-01 2.55082342e-04 1.68269559e-01] [-6.82352362e-03 -7.31452572e-05 9.99976717e-01 -1.41479526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:0.17, Z:-0.14 [[ 9.99680266e-01 -2.43487914e-02 6.81918885e-03 7.27300092e+00] [ 2.43476256e-02 9.99703520e-01 2.53942808e-04 1.69725738e-01] [-6.82335030e-03 -8.78305568e-05 9.99976717e-01 -1.40114945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:0.17, Z:-0.14 [[ 9.99701102e-01 -2.34777388e-02 6.81923363e-03 7.33622312e+00] [ 2.34765609e-02 9.99724356e-01 2.52734588e-04 1.69743449e-01] [-6.82328758e-03 -9.25668929e-05 9.99976717e-01 -1.42257981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:0.17, Z:-0.14 [[ 9.99703771e-01 -2.33638199e-02 6.81928101e-03 7.39722356e+00] [ 2.33626481e-02 9.99727024e-01 2.51449634e-04 1.69689100e-01] [-6.82329434e-03 -9.20586847e-05 9.99976717e-01 -1.44955088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:0.17, Z:-0.15 [[ 9.99693262e-01 -2.38092296e-02 6.81930333e-03 7.45866469e+00] [ 2.38080724e-02 9.99716516e-01 2.50842914e-04 1.70321476e-01] [-6.82334254e-03 -8.84115042e-05 9.99976717e-01 -1.48993882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:0.17, Z:-0.15 [[ 9.99689386e-01 -2.39713876e-02 6.81934048e-03 7.52184002e+00] [ 2.39702410e-02 9.99712641e-01 2.49828938e-04 1.70726195e-01] [-6.82336963e-03 -8.62901031e-05 9.99976717e-01 -1.50793618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:0.17, Z:-0.15 [[ 9.99754893e-01 -2.10630013e-02 6.81938737e-03 7.58461769e+00] [ 2.10617959e-02 9.99778145e-01 2.48542286e-04 1.73262918e-01] [-6.82310950e-03 -1.04852821e-04 9.99976717e-01 -1.51041953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:0.17, Z:-0.15 [[ 9.99796144e-01 -1.90043496e-02 6.81943445e-03 7.64654442e+00] [ 1.90031052e-02 9.99819394e-01 2.47243711e-04 1.74562281e-01] [-6.82290153e-03 -1.17602879e-04 9.99976717e-01 -1.53358554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:0.18, Z:-0.15 [[ 9.99835484e-01 -1.68077280e-02 6.81947785e-03 7.70936785e+00] [ 1.68064407e-02 9.99858732e-01 2.46040686e-04 1.75284227e-01] [-6.82264986e-03 -1.31389059e-04 9.99976717e-01 -1.51271321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:0.18, Z:-0.15 [[ 9.99888481e-01 -1.32860384e-02 6.81952393e-03 7.77154585e+00] [ 1.32846779e-02 9.99911725e-01 2.44756842e-04 1.76597619e-01] [-6.82217379e-03 -1.54134368e-04 9.99976717e-01 -1.48249553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:0.18, Z:-0.15 [[ 9.99917946e-01 -1.08441047e-02 6.81954166e-03 7.83404656e+00] [ 1.08426908e-02 9.99941186e-01 2.44261911e-04 1.77272350e-01] [-6.82178938e-03 -1.70299687e-04 9.99976717e-01 -1.49282847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:7.90, Y:0.18, Z:-0.15 [[ 9.99958460e-01 -6.04735833e-03 6.81958519e-03 7.89607273e+00] [ 6.04584134e-03 9.99981694e-01 2.43040402e-04 1.80297036e-01] [-6.82093011e-03 -2.01800176e-04 9.99976717e-01 -1.47232750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:0.18, Z:-0.15 [[ 9.99970406e-01 -3.56104745e-03 6.81959670e-03 7.95867085e+00] [ 3.55947490e-03 9.99993636e-01 2.42717039e-04 1.82507431e-01] [-6.82041763e-03 -2.18435672e-04 9.99976717e-01 -1.46476549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:0.18, Z:-0.15 [[ 9.99961646e-01 -5.49538855e-03 6.81961437e-03 8.02097601e+00] [ 5.49386432e-03 9.99984879e-01 2.42219485e-04 1.82273735e-01] [-6.82084235e-03 -2.04744159e-04 9.99976717e-01 -1.47674742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:0.18, Z:-0.15 [[ 9.99961675e-01 -5.49008504e-03 6.81965790e-03 8.08304649e+00] [ 5.48856908e-03 9.99984909e-01 2.40987652e-04 1.81585243e-01] [-6.82087803e-03 -2.03548253e-04 9.99976717e-01 -1.46986500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:8.14, Y:0.18, Z:-0.15 [[ 9.99976596e-01 5.46467779e-04 6.81966943e-03 8.14430458e+00] [-5.48121737e-04 9.99999821e-01 2.40660939e-04 1.79696026e-01] [-6.81953670e-03 -2.44393316e-04 9.99976717e-01 -1.46852122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:0.18, Z:-0.15 [[ 9.99945067e-01 7.95953641e-03 6.81968745e-03 8.20687122e+00] [-7.96135900e-03 9.99968279e-01 2.40149234e-04 1.80177672e-01] [-6.81755965e-03 -2.94430022e-04 9.99976717e-01 -1.51456524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:0.18, Z:-0.15 [[ 9.99912796e-01 1.13089541e-02 6.81969911e-03 8.26460106e+00] [-1.13108522e-02 9.99936002e-01 2.39817690e-04 1.82043373e-01] [-6.81655057e-03 -3.16933385e-04 9.99976717e-01 -1.52333576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:0.19, Z:-0.15 [[ 9.99782703e-01 1.96987043e-02 6.81965087e-03 8.32155445e+00] [-1.97008063e-02 9.99805891e-01 2.41181653e-04 1.85168316e-01] [-6.81357615e-03 -3.75481866e-04 9.99976717e-01 -1.51059977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:0.19, Z:-0.15 [[ 9.99746874e-01 2.14401685e-02 6.81962991e-03 8.37939004e+00] [-2.14423149e-02 9.99770058e-01 2.41772998e-04 1.86374387e-01] [-6.81287814e-03 -3.87940451e-04 9.99976717e-01 -1.53124547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:0.19, Z:-0.15 [[ 9.99776862e-01 1.99929797e-02 6.81961224e-03 8.43750506e+00] [-1.99950959e-02 9.99800049e-01 2.42270423e-04 1.85574659e-01] [-6.81340494e-03 -3.78575164e-04 9.99976717e-01 -1.51449404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:0.18, Z:-0.15 [[ 9.99808739e-01 1.83297401e-02 6.81959762e-03 8.49575783e+00] [-1.83318205e-02 9.99831929e-01 2.42681255e-04 1.83492529e-01] [-6.81400315e-03 -3.67650479e-04 9.99976717e-01 -1.51207407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:0.18, Z:-0.16 [[ 9.99852436e-01 1.57670382e-02 6.81957940e-03 8.55525709e+00] [-1.57690627e-02 9.99875631e-01 2.43192145e-04 1.75946874e-01] [-6.81489684e-03 -3.50694634e-04 9.99976717e-01 -1.56470054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:0.17, Z:-0.15 [[ 9.99877921e-01 1.40583007e-02 6.81956718e-03 8.61315691e+00] [-1.40602879e-02 9.99901120e-01 2.43534335e-04 1.71834515e-01] [-6.81546918e-03 -3.39389683e-04 9.99976717e-01 -1.54846813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:0.17, Z:-0.15 [[ 9.99877866e-01 1.40622279e-02 6.81955207e-03 8.67104106e+00] [-1.40642181e-02 9.99901064e-01 2.43956555e-04 1.70146689e-01] [-6.81544680e-03 -3.39838427e-04 9.99976717e-01 -1.53391548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:0.16, Z:-0.16 [[ 9.99850209e-01 1.59076833e-02 6.81953410e-03 8.72950381e+00] [-1.59097196e-02 9.99873403e-01 2.44458023e-04 1.62597787e-01] [-6.81478200e-03 -3.52918280e-04 9.99976717e-01 -1.57208093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:0.16, Z:-0.16 [[ 9.99835061e-01 1.68328723e-02 6.81951925e-03 8.78775807e+00] [-1.68349329e-02 9.99858252e-01 2.44871514e-04 1.57279253e-01] [-6.81443071e-03 -3.59637274e-04 9.99976717e-01 -1.56000744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:0.15, Z:-0.16 [[ 9.99842504e-01 1.63848093e-02 6.81950129e-03 8.84721926e+00] [-1.63868630e-02 9.99865696e-01 2.45370642e-04 1.53742713e-01] [-6.81456506e-03 -3.57082230e-04 9.99976717e-01 -1.57042168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:0.15, Z:-0.16 [[ 9.99850017e-01 1.59197510e-02 6.81949234e-03 8.90529136e+00] [-1.59217955e-02 9.99873210e-01 2.45619162e-04 1.50270297e-01] [-6.81471750e-03 -3.54160885e-04 9.99976717e-01 -1.55263164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:0.14, Z:-0.16 [[ 9.99841440e-01 1.64496219e-02 6.81947428e-03 8.96358508e+00] [-1.64516821e-02 9.99864632e-01 2.46119687e-04 1.42766891e-01] [-6.81450256e-03 -3.58272485e-04 9.99976717e-01 -1.56988448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:0.14, Z:-0.15 [[ 9.99843633e-01 1.63157858e-02 6.81945623e-03 9.02230652e+00] [-1.63178463e-02 9.99866825e-01 2.46618669e-04 1.39852957e-01] [-6.81452427e-03 -3.57858944e-04 9.99976717e-01 -1.54762303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:0.14, Z:-0.15 [[ 9.99836218e-01 1.67639940e-02 6.81944398e-03 9.08059962e+00] [-1.67660672e-02 9.99859409e-01 2.46957061e-04 1.38728899e-01] [-6.81434524e-03 -3.61251870e-04 9.99976717e-01 -1.52150190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.14, Z:-0.16 [[ 9.99799339e-01 1.88355461e-02 6.81942885e-03 9.13914840e+00] [-1.88376702e-02 9.99822525e-01 2.47374173e-04 1.36859470e-01] [-6.81355914e-03 -3.75786686e-04 9.99976717e-01 -1.55864794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:0.14, Z:-0.16 [[ 9.99843433e-01 1.63280263e-02 6.81941699e-03 9.19646144e+00] [-1.63300945e-02 9.99866624e-01 2.47700617e-04 1.36914012e-01] [-6.81446298e-03 -3.59023559e-04 9.99976717e-01 -1.62778570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:0.14, Z:-0.16 [[ 9.99899297e-01 1.24455357e-02 6.81940226e-03 9.25448870e+00] [-1.24475165e-02 9.99922496e-01 2.48105588e-04 1.40040991e-01] [-6.81578592e-03 -3.32965225e-04 9.99976717e-01 -1.60973341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.31, Y:0.14, Z:-0.16 [[ 9.99958012e-01 6.12122240e-03 6.81938481e-03 9.31299796e+00] [-6.12305975e-03 9.99981223e-01 2.48584190e-04 1.40551792e-01] [-6.81773512e-03 -2.90329253e-04 9.99976717e-01 -1.59177772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:0.14, Z:-0.15 [[ 9.99956193e-01 -6.41154139e-03 6.81937241e-03 9.37224201e+00] [ 6.40999277e-03 9.99979425e-01 2.48923891e-04 1.43168383e-01] [-6.82082809e-03 -2.05200858e-04 9.99976717e-01 -1.53652256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:0.14, Z:-0.16 [[ 9.99898512e-01 -1.25084788e-02 6.81936632e-03 9.43468520e+00] [ 1.25070707e-02 9.99921753e-01 2.49090564e-04 1.44253057e-01] [-6.82194847e-03 -1.63774988e-04 9.99976717e-01 -1.57450370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:0.15, Z:-0.16 [[ 9.99796629e-01 -1.89788600e-02 6.81940821e-03 9.49764546e+00] [ 1.89776102e-02 9.99819878e-01 2.47938386e-04 1.49740393e-01] [-6.82288548e-03 -1.18471891e-04 9.99976717e-01 -1.58516259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:9.56, Y:0.15, Z:-0.16 [[ 9.99728228e-01 -2.22927118e-02 6.81945574e-03 9.56048858e+00] [ 2.22915480e-02 9.99751482e-01 2.46624052e-04 1.54102339e-01] [-6.82325891e-03 -9.45408016e-05 9.99976717e-01 -1.58832418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:9.62, Y:0.16, Z:-0.16 [[ 9.99561949e-01 -2.87993825e-02 6.81950313e-03 9.62354697e+00] [ 2.87983791e-02 9.99585211e-01 2.45306841e-04 1.58956978e-01] [-6.82373915e-03 -4.88087472e-05 9.99976717e-01 -1.58998366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:0.16, Z:-0.16 [[ 9.99436473e-01 -3.28668437e-02 6.81955053e-03 9.68620108e+00] [ 3.28659440e-02 9.99459739e-01 2.43981963e-04 1.63830318e-01] [-6.82388511e-03 -1.97135064e-05 9.99976717e-01 -1.60430679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:0.17, Z:-0.16 [[ 9.99173089e-01 -4.00828061e-02 6.81959718e-03 9.74863774e+00] [ 4.00820834e-02 9.99196361e-01 2.42670779e-04 1.67760335e-01] [-6.82384362e-03 3.08735512e-05 9.99976717e-01 -1.64160086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:0.17, Z:-0.16 [[ 9.99079607e-01 -4.23489175e-02 6.81963992e-03 9.81208973e+00] [ 4.23482558e-02 9.99102881e-01 2.41463768e-04 1.72514923e-01] [-6.82374762e-03 4.75583298e-05 9.99976717e-01 -1.64889729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:0.18, Z:-0.16 [[ 9.98932363e-01 -4.56905416e-02 6.81968471e-03 9.87484860e+00] [ 4.56899665e-02 9.98955639e-01 2.40191954e-04 1.76942062e-01] [-6.82353700e-03 7.16556495e-05 9.99976717e-01 -1.61335837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:0.18, Z:-0.16 [[ 9.98677335e-01 -5.09614696e-02 6.81973000e-03 9.93669129e+00] [ 5.09610261e-02 9.98700614e-01 2.38899201e-04 1.78703437e-01] [-6.82304319e-03 1.08957222e-04 9.99976717e-01 -1.59687723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:0.17, Z:-0.16 [[ 9.98090422e-01 -6.13921871e-02 6.81977159e-03 1.00004325e+01] [ 6.13919950e-02 9.98113704e-01 2.37705961e-04 1.73295157e-01] [-6.82150077e-03 1.81427341e-04 9.99976717e-01 -1.63927786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:0.17, Z:-0.16 [[ 9.97724272e-01 -6.70803025e-02 6.81981491e-03 1.00634743e+01] [ 6.70802517e-02 9.97747555e-01 2.36456668e-04 1.70483927e-01] [-6.82031524e-03 2.21556343e-04 9.99976717e-01 -1.64845714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:0.16, Z:-0.17 [[ 9.97601156e-01 -6.88870382e-02 6.81985740e-03 1.01267829e+01] [ 6.88870379e-02 9.97624439e-01 2.35224611e-04 1.63700050e-01] [-6.81986034e-03 2.35139432e-04 9.99976717e-01 -1.65405330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:0.16, Z:-0.16 [[ 9.97711879e-01 -6.72643670e-02 6.81990094e-03 1.01887002e+01] [ 6.72643375e-02 9.97735162e-01 2.33955319e-04 1.63347434e-01] [-6.82019183e-03 2.25316118e-04 9.99976717e-01 -1.64744934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:0.16, Z:-0.16 [[ 9.97965077e-01 -6.33971048e-02 6.81994117e-03 1.02515837e+01] [ 6.33969931e-02 9.97988360e-01 2.32776753e-04 1.62431106e-01] [-6.82097928e-03 2.00060693e-04 9.99976717e-01 -1.62080599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:10.32, Y:0.16, Z:-0.16 [[ 9.98219931e-01 -5.92491050e-02 6.81998471e-03 1.03150282e+01] [ 5.92489053e-02 9.98243214e-01 2.31494186e-04 1.60655936e-01] [-6.82171927e-03 1.72994518e-04 9.99976717e-01 -1.64835965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:0.16, Z:-0.16 [[ 9.98296577e-01 -5.79433401e-02 6.82002800e-03 1.03767834e+01] [ 5.79431188e-02 9.98319860e-01 2.30211611e-04 1.64987861e-01] [-6.82190862e-03 1.65354229e-04 9.99976717e-01 -1.63605044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:0.17, Z:-0.17 [[ 9.98299488e-01 -5.78931611e-02 6.82006790e-03 1.04393160e+01] [ 5.78929466e-02 9.98322771e-01 2.29023428e-04 1.72454661e-01] [-6.82188797e-03 1.66199856e-04 9.99976717e-01 -1.66364469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:0.18, Z:-0.17 [[ 9.97853599e-01 -6.51281911e-02 6.82010920e-03 1.05014597e+01] [ 6.51281539e-02 9.97876882e-01 2.27786774e-04 1.78478933e-01] [-6.82046465e-03 2.16883269e-04 9.99976717e-01 -1.68837028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:0.18, Z:-0.17 [[ 9.97349995e-01 -7.24325366e-02 6.82014739e-03 1.05645933e+01] [ 7.24326777e-02 9.97373278e-01 2.26637507e-04 1.81566306e-01] [-6.81864869e-03 2.67964621e-04 9.99976717e-01 -1.70097422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:0.18, Z:-0.17 [[ 9.96923212e-01 -7.80870956e-02 6.82018826e-03 1.06269948e+01] [ 7.80873772e-02 9.96946493e-01 2.25400839e-04 1.84837542e-01] [-6.81696367e-03 3.07863285e-04 9.99976717e-01 -1.68801557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:0.19, Z:-0.17 [[ 9.96661291e-01 -8.13618794e-02 6.82021347e-03 1.06905253e+01] [ 8.13622427e-02 9.96684571e-01 2.24635669e-04 1.89704148e-01] [-6.81587832e-03 3.31022188e-04 9.99976717e-01 -1.68419421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:0.19, Z:-0.17 [[ 9.96510155e-01 -8.31925212e-02 6.82025495e-03 1.07538686e+01] [ 8.31929359e-02 9.96533434e-01 2.23368975e-04 1.91434953e-01] [-6.81519472e-03 3.44807581e-04 9.99976717e-01 -1.73509641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:0.19, Z:-0.17 [[ 9.96249521e-01 -8.62576070e-02 6.82029601e-03 1.08156231e+01] [ 8.62581019e-02 9.96272799e-01 2.22108070e-04 1.92366909e-01] [-6.81403391e-03 3.67030730e-04 9.99976717e-01 -1.74284401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:0.19, Z:-0.17 [[ 9.96133461e-01 -8.75877338e-02 6.82033387e-03 1.08787193e+01] [ 8.75882677e-02 9.96156738e-01 2.20939541e-04 1.93137320e-01] [-6.81347313e-03 3.77295959e-04 9.99976717e-01 -1.74802327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:10.94, Y:0.19, Z:-0.18 [[ 9.96192925e-01 -8.69087908e-02 6.82037266e-03 1.09414977e+01] [ 8.69093171e-02 9.96216203e-01 2.19735435e-04 1.92397855e-01] [-6.81366269e-03 3.73855045e-04 9.99976717e-01 -1.76589423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:0.19, Z:-0.18 [[ 9.96394258e-01 -8.45692916e-02 6.82039110e-03 1.10050403e+01] [ 8.45697672e-02 9.96417536e-01 2.19161487e-04 1.92086108e-01] [-6.81449163e-03 3.58427641e-04 9.99976717e-01 -1.76301252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:0.20, Z:-0.17 [[ 9.96843872e-01 -7.90934670e-02 6.82042986e-03 1.10680006e+01] [ 7.90938230e-02 9.96867152e-01 2.17948732e-04 1.95446054e-01] [-6.81630081e-03 3.22193014e-04 9.99976717e-01 -1.71479989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:0.20, Z:-0.17 [[ 9.97141068e-01 -7.52540412e-02 6.82046990e-03 1.11295471e+01] [ 7.52543161e-02 9.97164350e-01 2.16688499e-04 1.99673405e-01] [-6.81743612e-03 2.97200796e-04 9.99976717e-01 -1.74154579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:0.20, Z:-0.17 [[ 9.96954406e-01 -7.76877880e-02 6.82050695e-03 1.11919720e+01] [ 7.76881277e-02 9.96977687e-01 2.15515847e-04 2.04190819e-01] [-6.81663619e-03 3.15012941e-04 9.99976717e-01 -1.74497192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:0.21, Z:-0.17 [[ 9.96664293e-01 -8.13250777e-02 6.82054174e-03 1.12546395e+01] [ 8.13255099e-02 9.96687572e-01 2.14409092e-04 2.07982829e-01] [-6.81538602e-03 3.40990149e-04 9.99976717e-01 -1.70920501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:0.21, Z:-0.17 [[ 9.96561351e-01 -8.25769621e-02 6.82055419e-03 1.13170429e+01] [ 8.25774263e-02 9.96584629e-01 2.14012519e-04 2.12608844e-01] [-6.81493197e-03 3.49947206e-04 9.99976717e-01 -1.72086800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:0.22, Z:-0.17 [[ 9.96727731e-01 -8.05438398e-02 6.82059084e-03 1.13794521e+01] [ 8.05442645e-02 9.96751010e-01 2.12837796e-04 2.23618105e-01] [-6.81557359e-03 3.37218140e-04 9.99976717e-01 -1.73830298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:0.23, Z:-0.18 [[ 9.96574239e-01 -8.24212697e-02 6.82062901e-03 1.14425069e+01] [ 8.24217467e-02 9.96597517e-01 2.11607439e-04 2.33651552e-01] [-6.81486289e-03 3.51285634e-04 9.99976717e-01 -1.76463099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:0.24, Z:-0.18 [[ 9.96369912e-01 -8.48556237e-02 6.82066754e-03 1.15040404e+01] [ 8.48561661e-02 9.96393189e-01 2.10358191e-04 2.41164132e-01] [-6.81391676e-03 3.69181126e-04 9.99976717e-01 -1.84526494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:0.25, Z:-0.18 [[ 9.95750951e-01 -9.18342045e-02 6.82070057e-03 1.15669275e+01] [ 9.18349173e-02 9.95774223e-01 2.09281718e-04 2.50016676e-01] [-6.81109704e-03 4.17986003e-04 9.99976717e-01 -1.82260555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:0.25, Z:-0.18 [[ 9.95305780e-01 -9.65395357e-02 6.82073792e-03 1.16290339e+01] [ 9.65403668e-02 9.95329048e-01 2.08057475e-04 2.53439306e-01] [-6.80896435e-03 4.51395733e-04 9.99976717e-01 -1.81417423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:0.26, Z:-0.18 [[ 9.94909075e-01 -1.00545561e-01 6.82077226e-03 1.16916624e+01] [ 1.00546494e-01 9.94932339e-01 2.06925422e-04 2.58601738e-01] [-6.80701233e-03 4.79932755e-04 9.99976717e-01 -1.79882207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:11.75, Y:0.26, Z:-0.18 [[ 9.94456786e-01 -1.04924624e-01 6.82081022e-03 1.17540244e+01] [ 1.04925667e-01 9.94480046e-01 2.05666440e-04 2.61242359e-01] [-6.80473914e-03 5.11151675e-04 9.99976717e-01 -1.77433261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:0.26, Z:-0.18 [[ 9.94329537e-01 -1.06123738e-01 6.82084516e-03 1.18171902e+01] [ 1.06124817e-01 9.94352795e-01 2.04501053e-04 2.61952653e-01] [-6.80402887e-03 5.20519508e-04 9.99976717e-01 -1.78298245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:0.27, Z:-0.18 [[ 9.94889024e-01 -1.00743762e-01 6.82088096e-03 1.18803438e+01] [ 1.00744724e-01 9.94912287e-01 2.03300080e-04 2.65057668e-01] [-6.80665949e-03 4.84906753e-04 9.99976717e-01 -1.82959172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:0.27, Z:-0.18 [[ 9.95228162e-01 -9.73364289e-02 6.82091736e-03 1.19424982e+01] [ 9.73373195e-02 9.95251428e-01 2.02071202e-04 2.66915858e-01] [-6.80819664e-03 4.62822862e-04 9.99976717e-01 -1.80854214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:0.27, Z:-0.18 [[ 9.95516098e-01 -9.43460261e-02 6.82093995e-03 1.20040596e+01] [ 9.43468520e-02 9.95539367e-01 2.01305950e-04 2.70717196e-01] [-6.80950665e-03 4.43130898e-04 9.99976717e-01 -1.80017683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:12.07, Y:0.27, Z:-0.18 [[ 9.95630085e-01 -9.31354312e-02 6.82096216e-03 1.20670336e+01] [ 9.31362339e-02 9.95653354e-01 2.00550409e-04 2.74428158e-01] [-6.80999221e-03 4.35604707e-04 9.99976717e-01 -1.79856179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:12.13, Y:0.28, Z:-0.18 [[ 9.95729391e-01 -9.20676551e-02 6.82099854e-03 1.21304581e+01] [ 9.20684414e-02 9.95752661e-01 1.99305456e-04 2.78020639e-01] [-6.81037703e-03 4.29544404e-04 9.99976717e-01 -1.77948544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:0.28, Z:-0.18 [[ 9.95811864e-01 -9.11712970e-02 6.82103516e-03 1.21926122e+01] [ 9.11720709e-02 9.95835134e-01 1.98044210e-04 2.78994109e-01] [-6.81068241e-03 4.24673128e-04 9.99976717e-01 -1.80688106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:0.28, Z:-0.18 [[ 9.96188648e-01 -8.69577535e-02 6.82106898e-03 1.22562289e+01] [ 8.69584370e-02 9.96211921e-01 1.96872487e-04 2.80193354e-01] [-6.81234982e-03 3.97027360e-04 9.99976717e-01 -1.83464464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:0.28, Z:-0.18 [[ 9.96393538e-01 -8.45777130e-02 6.82110422e-03 1.23190472e+01] [ 8.45783493e-02 9.96416813e-01 1.95643773e-04 2.84497130e-01] [-6.81321003e-03 3.81979544e-04 9.99976717e-01 -1.77698802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:0.29, Z:-0.18 [[ 9.96709235e-01 -8.07723573e-02 6.82114003e-03 1.23813284e+01] [ 8.07729133e-02 9.96732511e-01 1.94387149e-04 2.86177268e-01] [-6.81455314e-03 3.57215885e-04 9.99976717e-01 -1.78540521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:0.29, Z:-0.18 [[ 9.97284579e-01 -7.33276216e-02 6.82116209e-03 1.24429664e+01] [ 7.33280091e-02 9.97307859e-01 1.93609881e-04 2.91618774e-01] [-6.81699551e-03 3.07098087e-04 9.99976717e-01 -1.79833035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:0.30, Z:-0.18 [[ 9.97881709e-01 -6.46959460e-02 6.82118393e-03 1.25056063e+01] [ 6.46961373e-02 9.97904992e-01 1.92837317e-04 3.01698450e-01] [-6.81936929e-03 2.48875420e-04 9.99976717e-01 -1.76399624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:0.31, Z:-0.17 [[ 9.98234909e-01 -5.89960829e-02 6.82121866e-03 1.25683376e+01] [ 5.89961496e-02 9.98258192e-01 1.91601140e-04 3.10690561e-01] [-6.82064112e-03 2.11162690e-04 9.99976717e-01 -1.73857084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:0.32, Z:-0.18 [[ 9.98432991e-01 -5.55430807e-02 6.82125346e-03 1.26311052e+01] [ 5.55430755e-02 9.98456274e-01 1.90353966e-04 3.22315637e-01] [-6.82129616e-03 1.88817716e-04 9.99976717e-01 -1.79233046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:0.33, Z:-0.18 [[ 9.98404000e-01 -5.60617704e-02 6.82128775e-03 1.26935046e+01] [ 5.60617856e-02 9.98427283e-01 1.89117099e-04 3.29433408e-01] [-6.82116204e-03 1.93598304e-04 9.99976717e-01 -1.81396812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:0.34, Z:-0.18 [[ 9.98327479e-01 -5.74083123e-02 6.82131936e-03 1.27558492e+01] [ 5.74083668e-02 9.98350762e-01 1.87969948e-04 3.36362155e-01] [-6.82086042e-03 2.03945239e-04 9.99976717e-01 -1.78897348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:0.35, Z:-0.18 [[ 9.98414727e-01 -5.58704003e-02 6.82135045e-03 1.28186645e+01] [ 5.58704267e-02 9.98438010e-01 1.86834920e-04 3.45872812e-01] [-6.82113411e-03 1.94573024e-04 9.99976717e-01 -1.80576618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:0.35, Z:-0.18 [[ 9.98544847e-01 -5.34944580e-02 6.82138476e-03 1.28820242e+01] [ 5.34944377e-02 9.98568130e-01 1.85573610e-04 3.52098277e-01] [-6.82154459e-03 1.79602570e-04 9.99976717e-01 -1.81321873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:0.36, Z:-0.18 [[ 9.98485695e-01 -5.45874016e-02 6.82141924e-03 1.29439981e+01] [ 5.45874154e-02 9.98508978e-01 1.84297438e-04 3.56281818e-01] [-6.82130868e-03 1.88345290e-04 9.99976717e-01 -1.84260319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:0.36, Z:-0.18 [[ 9.98447579e-01 -5.52801996e-02 6.82145094e-03 1.30073196e+01] [ 5.52802376e-02 9.98470862e-01 1.83116715e-04 3.58511378e-01] [-6.82114273e-03 1.94258988e-04 9.99976717e-01 -1.84887549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:0.36, Z:-0.19 [[ 9.98749186e-01 -4.95331191e-02 6.82148432e-03 1.30707552e+01] [ 4.95330317e-02 9.98772469e-01 1.81864635e-04 3.58091709e-01] [-6.82211906e-03 1.56251642e-04 9.99976717e-01 -1.85385574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.36, Z:-0.18 [[ 9.99066812e-01 -4.26494134e-02 6.82151847e-03 1.31333666e+01] [ 4.26491743e-02 9.99090094e-01 1.80574617e-04 3.59286733e-01] [-6.82301293e-03 1.10526024e-04 9.99976717e-01 -1.82550487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:0.36, Z:-0.18 [[ 9.99317475e-01 -3.63049768e-02 6.82154991e-03 1.31959481e+01] [ 3.63045981e-02 9.99340755e-01 1.79379122e-04 3.60767496e-01] [-6.82356519e-03 6.83969366e-05 9.99976717e-01 -1.80847779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:0.36, Z:-0.18 [[ 9.99565276e-01 -2.86831980e-02 6.82157054e-03 1.32582517e+01] [ 2.86826471e-02 9.99588552e-01 1.78590827e-04 3.57887764e-01] [-6.82388638e-03 1.71475115e-05 9.99976717e-01 -1.79096621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:0.35, Z:-0.17 [[ 9.99597896e-01 -2.75229344e-02 6.82159846e-03 1.33209980e+01] [ 2.75223639e-02 9.99621172e-01 1.77518218e-04 3.54086642e-01] [-6.82390007e-03 1.02996776e-05 9.99976717e-01 -1.72572275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:13.38, Y:0.35, Z:-0.18 [[ 9.99572082e-01 -2.84450029e-02 6.82162622e-03 1.33832511e+01] [ 2.84444611e-02 9.99595359e-01 1.76444837e-04 3.47575495e-01] [-6.82388488e-03 1.76681490e-05 9.99976717e-01 -1.78682469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:0.34, Z:-0.18 [[ 9.99591557e-01 -2.77522022e-02 6.82165357e-03 1.34451990e+01] [ 2.77516516e-02 9.99614833e-01 1.75380890e-04 3.41124804e-01] [-6.82389331e-03 1.40028964e-05 9.99976717e-01 -1.82001520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:0.33, Z:-0.18 [[ 9.99783282e-01 -1.96686158e-02 6.82167906e-03 1.35082175e+01] [ 1.96678838e-02 9.99806553e-01 1.74383856e-04 3.30510728e-01] [-6.82378932e-03 -4.01780724e-05 9.99976717e-01 -1.81824697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:0.33, Z:-0.18 [[ 9.99912021e-01 -1.13760742e-02 6.82171087e-03 1.35701943e+01] [ 1.13751577e-02 9.99935286e-01 1.73130434e-04 3.27665055e-01] [-6.82323895e-03 -9.55171651e-05 9.99976717e-01 -1.79757012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:0.33, Z:-0.18 [[ 9.99974461e-01 2.13091515e-03 6.82174281e-03 1.36329814e+01] [-2.13213714e-03 9.99997712e-01 1.71862752e-04 3.26174457e-01] [-6.82136098e-03 -1.86403254e-04 9.99976717e-01 -1.77751254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:0.33, Z:-0.18 [[ 9.99948593e-01 7.50162706e-03 6.82175300e-03 1.36942384e+01] [-7.50297114e-03 9.99971838e-01 1.71457213e-04 3.26332577e-01] [-6.82027468e-03 -2.22631815e-04 9.99976717e-01 -1.81219065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:0.33, Z:-0.19 [[ 9.99938783e-01 8.71167470e-03 6.82175710e-03 1.37525661e+01] [-8.71304579e-03 9.99962026e-01 1.71293783e-04 3.29063548e-01] [-6.82000580e-03 -2.30721579e-04 9.99976717e-01 -1.88061335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:0.33, Z:-0.19 [[ 9.99947373e-01 7.66252523e-03 6.82174885e-03 1.38107784e+01] [-7.66387417e-03 9.99970617e-01 1.71621838e-04 3.32785264e-01] [-6.82023335e-03 -2.23893831e-04 9.99976717e-01 -1.85386914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:0.34, Z:-0.18 [[ 9.99952638e-01 6.94153093e-03 6.82173856e-03 1.38695866e+01] [-6.94286589e-03 9.99975883e-01 1.72029795e-04 3.38111081e-01] [-6.82037990e-03 -2.19384063e-04 9.99976717e-01 -1.84171173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:0.35, Z:-0.19 [[ 9.99951826e-01 7.05754939e-03 6.82173031e-03 1.39272213e+01] [-7.05888927e-03 9.99975071e-01 1.72356349e-04 3.46202144e-01] [-6.82034384e-03 -2.20501885e-04 9.99976717e-01 -1.87077283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:0.35, Z:-0.18 [[ 9.99954935e-01 6.60248972e-03 6.82172007e-03 1.39851033e+01] [-6.60382178e-03 9.99978180e-01 1.72760977e-04 3.52761787e-01] [-6.82043056e-03 -2.17802615e-04 9.99976717e-01 -1.83875831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:0.35, Z:-0.18 [[ 9.99975174e-01 1.76535289e-03 6.82170998e-03 1.40437941e+01] [-1.76657520e-03 9.99998425e-01 1.73158401e-04 3.53985759e-01] [-6.82139355e-03 -1.85205166e-04 9.99976717e-01 -1.83290718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:0.35, Z:-0.18 [[ 9.99976396e-01 -8.19855503e-04 6.82170198e-03 1.41055958e+01] [ 8.18691159e-04 9.99999650e-01 1.73473049e-04 3.52338454e-01] [-6.82184181e-03 -1.67884087e-04 9.99976717e-01 -1.84331838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:0.35, Z:-0.19 [[ 9.99965507e-01 -4.73809330e-03 6.82170595e-03 1.41676549e+01] [ 4.73702115e-03 9.99988765e-01 1.73316772e-04 3.46945550e-01] [-6.82245050e-03 -1.40996228e-04 9.99976717e-01 -1.88694402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:0.34, Z:-0.19 [[ 9.99976685e-01 3.04880557e-04 6.82173525e-03 1.42311139e+01] [-3.06062074e-04 9.99999938e-01 1.72155628e-04 3.44091117e-01] [-6.82168234e-03 -1.74239488e-04 9.99976717e-01 -1.85234385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:0.34, Z:-0.19 [[ 9.99902728e-01 1.21654547e-02 6.82174745e-03 1.42913830e+01] [-1.21669086e-02 9.99925966e-01 1.71670706e-04 3.35998987e-01] [-6.81915396e-03 -2.54653586e-04 9.99976717e-01 -1.88001579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:0.33, Z:-0.18 [[ 9.99815491e-01 1.79568290e-02 6.82175427e-03 1.43506783e+01] [-1.79584157e-02 9.99838720e-01 1.71399515e-04 3.31950516e-01] [-6.81757626e-03 -2.93875790e-04 9.99976717e-01 -1.83360822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:14.41, Y:0.33, Z:-0.18 [[ 9.99783095e-01 1.96780755e-02 6.82174668e-03 1.44080876e+01] [-1.96797042e-02 9.99806321e-01 1.71700988e-04 3.29372958e-01] [-6.81704671e-03 -3.05913702e-04 9.99976717e-01 -1.80349473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.47, Y:0.32, Z:-0.19 [[ 9.99854348e-01 1.56444034e-02 6.82173722e-03 1.44674380e+01] [-1.56459410e-02 9.99877580e-01 1.72076165e-04 3.23761030e-01] [-6.81821007e-03 -2.78783599e-04 9.99976717e-01 -1.87125013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:0.32, Z:-0.19 [[ 9.99926947e-01 9.97816546e-03 6.82172973e-03 1.45258545e+01] [-9.97957334e-03 9.99950188e-01 1.72372216e-04 3.20836630e-01] [-6.81966997e-03 -2.40437576e-04 9.99976717e-01 -1.88741038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:0.31, Z:-0.19 [[ 9.99972525e-01 -2.90059481e-03 6.82172231e-03 1.45840923e+01] [ 2.89948437e-03 9.99995782e-01 1.72665593e-04 3.09652043e-01] [-6.82219436e-03 -1.52881371e-04 9.99976717e-01 -1.87287515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:0.30, Z:-0.19 [[ 9.99892757e-01 -1.29591308e-02 6.82171311e-03 1.46473442e+01] [ 1.29582519e-02 9.99916023e-01 1.73028251e-04 3.02667018e-01] [-6.82338254e-03 -8.46122178e-05 9.99976717e-01 -1.86494181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:0.30, Z:-0.19 [[ 9.99773183e-01 -2.01753761e-02 6.82174207e-03 1.47108436e+01] [ 2.01746730e-02 9.99796456e-01 1.71878872e-04 2.95518834e-01] [-6.82382126e-03 -3.42134721e-05 9.99976717e-01 -1.89280934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.77, Y:0.29, Z:-0.19 [[ 9.99759334e-01 -2.08503451e-02 6.82177462e-03 1.47735308e+01] [ 2.08496665e-02 9.99782608e-01 1.70577051e-04 2.88149238e-01] [-6.82384821e-03 -2.83042727e-05 9.99976717e-01 -1.86257762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.84, Y:0.29, Z:-0.19 [[ 9.99791694e-01 -1.92362121e-02 6.82180445e-03 1.48370221e+01] [ 1.92355042e-02 9.99814966e-01 1.69375774e-04 2.86862192e-01] [-6.82380033e-03 -3.81196441e-05 9.99976717e-01 -1.87415805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:0.28, Z:-0.19 [[ 9.99728095e-01 -2.22979509e-02 6.82181478e-03 1.49002865e+01] [ 2.22973171e-02 9.99751370e-01 1.68958757e-04 2.82721714e-01] [-6.82388610e-03 -1.68046498e-05 9.99976717e-01 -1.87687618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:0.28, Z:-0.19 [[ 9.99569519e-01 -2.85348615e-02 6.82184567e-03 1.49633806e+01] [ 2.85343815e-02 9.99592798e-01 1.67702003e-04 2.79859738e-01] [-6.82385315e-03 2.70273359e-05 9.99976717e-01 -1.89630352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:0.28, Z:-0.19 [[ 9.99467023e-01 -3.19238379e-02 6.82187776e-03 1.50253697e+01] [ 3.19234458e-02 9.99490303e-01 1.66386436e-04 2.77174323e-01] [-6.82371236e-03 5.14800884e-05 9.99976717e-01 -1.88808487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:0.28, Z:-0.19 [[ 9.99450594e-01 -3.24341108e-02 6.82189739e-03 1.50880584e+01] [ 3.24337361e-02 9.99473874e-01 1.65577390e-04 2.78021293e-01] [-6.82367857e-03 5.57731991e-05 9.99976717e-01 -1.86963762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:15.15, Y:0.28, Z:-0.20 [[ 9.99509443e-01 -3.05668914e-02 6.82192786e-03 1.51508549e+01] [ 3.05664818e-02 9.99532722e-01 1.64312424e-04 2.79049903e-01] [-6.82376265e-03 4.42905152e-05 9.99976717e-01 -1.97289081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:0.29, Z:-0.20 [[ 9.99476993e-01 -3.16101375e-02 6.82195924e-03 1.52129791e+01] [ 3.16097613e-02 9.99500273e-01 1.62999038e-04 2.85323547e-01] [-6.82370255e-03 5.27267147e-05 9.99976717e-01 -1.96998385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:15.28, Y:0.29, Z:-0.20 [[ 9.99401324e-01 -3.39183472e-02 6.82198817e-03 1.52755325e+01] [ 3.39180330e-02 9.99424605e-01 1.61779324e-04 2.91680439e-01] [-6.82355012e-03 6.97059494e-05 9.99976717e-01 -1.95996010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:15.34, Y:0.30, Z:-0.20 [[ 9.99051128e-01 -4.30151619e-02 6.82201903e-03 1.53371640e+01] [ 4.30150687e-02 9.99074411e-01 1.60467133e-04 2.96637581e-01] [-6.82260717e-03 1.33134747e-04 9.99976717e-01 -1.99519887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.40, Y:0.31, Z:-0.20 [[ 9.98809633e-01 -4.82988272e-02 6.82203799e-03 1.54005091e+01] [ 4.82988626e-02 9.98832916e-01 1.59657336e-04 3.10816958e-01] [-6.82178736e-03 1.70029390e-04 9.99976717e-01 -1.96700621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:0.32, Z:-0.20 [[ 9.98723387e-01 -5.00505283e-02 6.82206733e-03 1.54638689e+01] [ 5.00506132e-02 9.98746670e-01 1.58393257e-04 3.17335012e-01] [-6.82144470e-03 1.83257603e-04 9.99976717e-01 -2.00778951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:0.32, Z:-0.20 [[ 9.98571571e-01 -5.29931700e-02 6.82209624e-03 1.55270002e+01] [ 5.29933320e-02 9.98594854e-01 1.57138462e-04 3.22585125e-01] [-6.82083746e-03 2.04611610e-04 9.99976717e-01 -1.98902397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:0.33, Z:-0.20 [[ 9.98175898e-01 -5.99861225e-02 6.82212437e-03 1.55895483e+01] [ 5.99864560e-02 9.98199179e-01 1.55907252e-04 3.26207760e-01] [-6.81919122e-03 2.53612202e-04 9.99976717e-01 -1.96424945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:0.33, Z:-0.20 [[ 9.97880958e-01 -6.47074359e-02 6.82215033e-03 1.56522234e+01] [ 6.47078873e-02 9.97904237e-01 1.54762903e-04 3.26463816e-01] [-6.81786703e-03 2.87011982e-04 9.99976717e-01 -2.02457749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:0.33, Z:-0.20 [[ 9.97943762e-01 -6.37315191e-02 6.82217760e-03 1.57131893e+01] [ 6.37319561e-02 9.97967041e-01 1.53551517e-04 3.30432387e-01] [-6.81809446e-03 2.81554945e-04 9.99976717e-01 -2.02471665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.33, Z:-0.20 [[ 9.98220561e-01 -5.92382395e-02 6.82219935e-03 1.57754788e+01] [ 5.92385783e-02 9.98243842e-01 1.52579019e-04 3.33664032e-01] [-6.81925700e-03 2.51829876e-04 9.99976717e-01 -1.96187828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.34, Z:-0.20 [[ 9.98308748e-01 -5.77330079e-02 6.82222255e-03 1.58374520e+01] [ 5.77333187e-02 9.98332029e-01 1.51534685e-04 3.39702679e-01] [-6.81959183e-03 2.42591147e-04 9.99976717e-01 -1.96389083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:0.34, Z:-0.20 [[ 9.98067495e-01 -6.17635139e-02 6.82223896e-03 1.59001479e+01] [ 6.17639238e-02 9.98090775e-01 1.50792198e-04 3.43756207e-01] [-6.81852722e-03 2.70867456e-04 9.99976717e-01 -1.98783508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:0.35, Z:-0.20 [[ 9.97666997e-01 -6.79265696e-02 6.82226451e-03 1.59633750e+01] [ 6.79271312e-02 9.97690274e-01 1.49627220e-04 3.50415973e-01] [-6.81667061e-03 3.14138717e-04 9.99976717e-01 -2.00856376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:0.36, Z:-0.20 [[ 9.97224697e-01 -7.41374392e-02 6.82228972e-03 1.60267370e+01] [ 7.41381536e-02 9.97247969e-01 1.48468677e-04 3.56494185e-01] [-6.81452166e-03 3.57735331e-04 9.99976717e-01 -2.00998895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:0.36, Z:-0.20 [[ 9.97133181e-01 -7.53583067e-02 6.82231446e-03 1.60901680e+01] [ 7.53590574e-02 9.97156453e-01 1.47322890e-04 3.60423992e-01] [-6.81401689e-03 3.67222645e-04 9.99976717e-01 -1.97895473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:0.37, Z:-0.20 [[ 9.96905935e-01 -7.83071637e-02 6.82233875e-03 1.61523730e+01] [ 7.83079910e-02 9.96929204e-01 1.46189654e-04 3.65045442e-01] [-6.81283643e-03 3.88506307e-04 9.99976717e-01 -1.96621400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:0.37, Z:-0.20 [[ 9.96934664e-01 -7.79405579e-02 6.82236121e-03 1.62147331e+01] [ 7.79413839e-02 9.96957933e-01 1.45133681e-04 3.69597692e-01] [-6.81291893e-03 3.87055477e-04 9.99976717e-01 -1.96512870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:0.37, Z:-0.20 [[ 9.96957210e-01 -7.76516326e-02 6.82237580e-03 1.62773859e+01] [ 7.76524565e-02 9.96980479e-01 1.44444472e-04 3.72679658e-01] [-6.81299184e-03 3.85769282e-04 9.99976717e-01 -2.01574067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:0.38, Z:-0.21 [[ 9.97041955e-01 -7.65558272e-02 6.82239902e-03 1.63392446e+01] [ 7.65566331e-02 9.97065224e-01 1.43339277e-04 3.75385820e-01] [-6.81335027e-03 3.79384626e-04 9.99976717e-01 -2.05319494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:0.38, Z:-0.20 [[ 9.97036467e-01 -7.66272655e-02 6.82242047e-03 1.64024757e+01] [ 7.66280800e-02 9.97059736e-01 1.42310859e-04 3.78656503e-01] [-6.81326565e-03 3.80899866e-04 9.99976717e-01 -1.97920200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:0.38, Z:-0.20 [[ 9.96883770e-01 -7.85888235e-02 6.82244588e-03 1.64653381e+01] [ 7.85896922e-02 9.96907037e-01 1.41082097e-04 3.80752488e-01] [-6.81243179e-03 3.95531469e-04 9.99976717e-01 -1.99733348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:0.38, Z:-0.21 [[ 9.96627262e-01 -8.17774637e-02 6.82247093e-03 1.65289318e+01] [ 8.17784152e-02 9.96650526e-01 1.39860108e-04 3.82969346e-01] [-6.81105665e-03 4.18542464e-04 9.99976717e-01 -2.05661496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:0.38, Z:-0.20 [[ 9.96541753e-01 -8.28129693e-02 6.82249547e-03 1.65925267e+01] [ 8.28139531e-02 9.96565015e-01 1.38652948e-04 3.84220545e-01] [-6.81054256e-03 4.26824368e-04 9.99976717e-01 -2.04248834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:0.38, Z:-0.20 [[ 9.96540541e-01 -8.28275576e-02 6.82251982e-03 1.66552927e+01] [ 8.28285500e-02 9.96563802e-01 1.37444388e-04 3.84331728e-01] [-6.81046047e-03 4.28130519e-04 9.99976717e-01 -2.04583511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:0.39, Z:-0.20 [[ 9.96780482e-01 -7.98881948e-02 6.82254370e-03 1.67173448e+01] [ 7.98891268e-02 9.96803746e-01 1.36248334e-04 3.86827884e-01] [-6.81162175e-03 4.09237378e-04 9.99976717e-01 -2.03940626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:0.39, Z:-0.20 [[ 9.96863663e-01 -7.88434472e-02 6.82256573e-03 1.67799706e+01] [ 7.88443624e-02 9.96886929e-01 1.35136219e-04 3.85109500e-01] [-6.81198120e-03 4.03208459e-04 9.99976717e-01 -2.04543089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.84, Y:0.38, Z:-0.21 [[ 9.96849875e-01 -7.90175805e-02 6.82258746e-03 1.68427240e+01] [ 7.90185073e-02 9.96873140e-01 1.34030206e-04 3.83332474e-01] [-6.81184492e-03 4.05502682e-04 9.99976717e-01 -2.07812358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:0.38, Z:-0.20 [[ 9.96741909e-01 -8.03680197e-02 6.82261004e-03 1.69059803e+01] [ 8.03689859e-02 9.96765172e-01 1.32870841e-04 3.79928075e-01] [-6.81121863e-03 4.15888314e-04 9.99976717e-01 -2.04928404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:16.97, Y:0.38, Z:-0.21 [[ 9.96685900e-01 -8.10596618e-02 6.82263378e-03 1.69683616e+01] [ 8.10606526e-02 9.96709162e-01 1.31640405e-04 3.76175570e-01] [-6.81085232e-03 4.21843011e-04 9.99976717e-01 -2.07510936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:0.37, Z:-0.21 [[ 9.97100572e-01 -7.57885217e-02 6.82264835e-03 1.70319832e+01] [ 7.57893946e-02 9.97123839e-01 1.30880821e-04 3.73201102e-01] [-6.81294458e-03 3.86583046e-04 9.99976717e-01 -2.11466437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:0.37, Z:-0.21 [[ 9.97413564e-01 -7.15516133e-02 6.82267124e-03 1.70956536e+01] [ 7.15523956e-02 9.97436834e-01 1.29676309e-04 3.73877147e-01] [-6.81446215e-03 3.58837562e-04 9.99976717e-01 -2.08107196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:0.38, Z:-0.21 [[ 9.97663299e-01 -6.79808320e-02 6.82269388e-03 1.71583605e+01] [ 6.79815392e-02 9.97686571e-01 1.28474006e-04 3.76850219e-01] [-6.81564383e-03 3.35643431e-04 9.99976717e-01 -2.09204156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:0.38, Z:-0.20 [[ 9.97434248e-01 -7.12626888e-02 6.82271703e-03 1.72204971e+01] [ 7.12634810e-02 9.97457518e-01 1.27232867e-04 3.78126395e-01] [-6.81443735e-03 3.59304146e-04 9.99976717e-01 -2.04920324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:0.38, Z:-0.20 [[ 9.96723288e-01 -8.05986207e-02 6.82273121e-03 1.72832237e+01] [ 8.05996360e-02 9.96746549e-01 1.26467414e-04 3.77644552e-01] [-6.81072689e-03 4.23856635e-04 9.99976717e-01 -2.02730766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:0.38, Z:-0.21 [[ 9.95716921e-01 -9.22022954e-02 6.82273816e-03 1.73452723e+01] [ 9.22035841e-02 9.95740169e-01 1.26091862e-04 3.76939824e-01] [-6.80530040e-03 5.03529111e-04 9.99976717e-01 -2.07003723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:0.38, Z:-0.21 [[ 9.95664595e-01 -9.27656413e-02 6.82275748e-03 1.74073828e+01] [ 9.27669504e-02 9.95687841e-01 1.25037170e-04 3.78791682e-01] [-6.80493582e-03 5.08431321e-04 9.99976717e-01 -2.06505496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:0.38, Z:-0.21 [[ 9.96275464e-01 -8.59572519e-02 6.82277108e-03 1.74695847e+01] [ 8.59584071e-02 9.96298719e-01 1.24290902e-04 3.82646294e-01] [-6.80820179e-03 4.62646558e-04 9.99976717e-01 -2.06576941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:17.53, Y:0.39, Z:-0.21 [[ 9.96826414e-01 -7.93129858e-02 6.82279095e-03 1.75331045e+01] [ 7.93139934e-02 9.96849675e-01 1.23190150e-04 3.86053557e-01] [-6.81106753e-03 4.18343601e-04 9.99976717e-01 -2.08348920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:0.39, Z:-0.21 [[ 9.97765625e-01 -6.64620743e-02 6.82281196e-03 1.75958735e+01] [ 6.64627901e-02 9.97788897e-01 1.22015679e-04 3.91831351e-01] [-6.81583543e-03 3.31720069e-04 9.99976717e-01 -2.08181896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:0.40, Z:-0.21 [[ 9.98586592e-01 -5.27092629e-02 6.82283393e-03 1.76577543e+01] [ 5.27096665e-02 9.98609872e-01 1.20774231e-04 3.97848189e-01] [-6.81971524e-03 2.39025773e-04 9.99976717e-01 -2.10047289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:0.40, Z:-0.21 [[ 9.99046147e-01 -4.31305630e-02 6.82285433e-03 1.77203521e+01] [ 4.31307513e-02 9.99069429e-01 1.19610526e-04 4.03830638e-01] [-6.82166405e-03 1.74778399e-04 9.99976717e-01 -2.06734572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:17.78, Y:0.41, Z:-0.20 [[ 9.99306924e-01 -3.65939817e-02 6.82287310e-03 1.77813834e+01] [ 3.65940251e-02 9.99330207e-01 1.18530302e-04 4.09545937e-01] [-6.82264069e-03 1.31228238e-04 9.99976717e-01 -2.02887734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:17.84, Y:0.41, Z:-0.21 [[ 9.99464887e-01 -3.19904206e-02 6.82289016e-03 1.78435994e+01] [ 3.19903634e-02 9.99488170e-01 1.17540027e-04 4.13313173e-01] [-6.82315816e-03 1.00789606e-04 9.99976717e-01 -2.06798367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:0.42, Z:-0.21 [[ 9.99606969e-01 -2.71910837e-02 6.82289708e-03 1.79050705e+01] [ 2.71909175e-02 9.99630252e-01 1.17137010e-04 4.17076155e-01] [-6.82355941e-03 6.84298603e-05 9.99976717e-01 -2.11512078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:0.42, Z:-0.20 [[ 9.99806950e-01 -1.84257991e-02 6.82291489e-03 1.79671904e+01] [ 1.84254359e-02 9.99830231e-01 1.16090350e-04 4.24356481e-01] [-6.82389562e-03 9.64724258e-06 9.99976717e-01 -2.04390361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:0.43, Z:-0.21 [[ 9.99849649e-01 -1.59413863e-02 6.82293351e-03 1.80300502e+01] [ 1.59409728e-02 9.99872928e-01 1.14985293e-04 4.25902631e-01] [-6.82389953e-03 -6.20380707e-06 9.99976717e-01 -2.07146761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:0.43, Z:-0.21 [[ 9.99804348e-01 -1.85664342e-02 6.82294301e-03 1.80909869e+01] [ 1.85660857e-02 9.99827629e-01 1.14418863e-04 4.25065186e-01] [-6.82389128e-03 1.22788686e-05 9.99976717e-01 -2.14578316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:18.15, Y:0.42, Z:-0.21 [[ 9.99653993e-01 -2.54035631e-02 6.82296044e-03 1.81537399e+01] [ 2.54033810e-02 9.99677276e-01 1.13369798e-04 4.22876268e-01] [-6.82363850e-03 5.99956929e-05 9.99976717e-01 -2.12345189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:0.42, Z:-0.21 [[ 9.99541068e-01 -2.95144107e-02 6.82298107e-03 1.82159233e+01] [ 2.95143328e-02 9.99564351e-01 1.12114637e-04 4.19800609e-01] [-6.82331764e-03 8.93125498e-05 9.99976717e-01 -2.05221927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:0.42, Z:-0.21 [[ 9.99596147e-01 -2.75860257e-02 6.82299900e-03 1.82784733e+01] [ 2.75859105e-02 9.99619430e-01 1.11012492e-04 4.17888411e-01] [-6.82346476e-03 7.72509806e-05 9.99976717e-01 -2.05637898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:0.41, Z:-0.21 [[ 9.99765054e-01 -2.05738446e-02 6.82301778e-03 1.83414739e+01] [ 2.05735741e-02 9.99788336e-01 1.09845718e-04 4.14296457e-01] [-6.82383354e-03 3.05539516e-05 9.99976717e-01 -2.08721433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:0.41, Z:-0.20 [[ 9.99916882e-01 -1.09396601e-02 6.82303748e-03 1.84036796e+01] [ 1.09391737e-02 9.99940160e-01 1.08607943e-04 4.13345079e-01] [-6.82381733e-03 -3.39605241e-05 9.99976717e-01 -2.04358452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:0.41, Z:-0.21 [[ 9.99955591e-01 -6.50093379e-03 6.82304242e-03 1.84654078e+01] [ 6.50034616e-03 9.99978867e-01 1.08297293e-04 4.13482438e-01] [-6.82360226e-03 -6.39403461e-05 9.99976717e-01 -2.07368242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:0.41, Z:-0.21 [[ 9.99976366e-01 -8.44693915e-04 6.82304741e-03 1.85289041e+01] [ 8.43976794e-04 9.99999638e-01 1.07981402e-04 4.14748010e-01] [-6.82313616e-03 -1.02220356e-04 9.99976717e-01 -2.08790691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:0.42, Z:-0.21 [[ 9.99976000e-01 1.20224439e-03 6.82305530e-03 1.85906891e+01] [-1.20300573e-03 9.99999271e-01 1.07481132e-04 4.15670584e-01] [-6.82292110e-03 -1.15686727e-04 9.99976717e-01 -2.08748583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:0.42, Z:-0.21 [[ 9.99976613e-01 -4.69181692e-04 6.82306048e-03 1.86530456e+01] [ 4.68461496e-04 9.99999885e-01 1.07151027e-04 4.15517474e-01] [-6.82310996e-03 -1.03952180e-04 9.99976717e-01 -2.09555288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:0.42, Z:-0.21 [[ 9.99973961e-01 -2.35017839e-03 6.82307819e-03 1.87165133e+01] [ 2.34950975e-03 9.99997234e-01 1.06011188e-04 4.15480946e-01] [-6.82330846e-03 -8.99775388e-05 9.99976717e-01 -2.11292368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:0.41, Z:-0.22 [[ 9.99975746e-01 -1.39749118e-03 6.82309817e-03 1.87786792e+01] [ 1.39680925e-03 9.99999019e-01 1.04709201e-04 4.13701770e-01] [-6.82323781e-03 -9.51760945e-05 9.99976717e-01 -2.17534859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:0.41, Z:-0.22 [[ 9.99975141e-01 1.77864391e-03 6.82310315e-03 1.88404858e+01] [-1.77939754e-03 9.99998411e-01 1.04383835e-04 4.12583215e-01] [-6.82290665e-03 -1.16522253e-04 9.99976717e-01 -2.16031002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:0.41, Z:-0.21 [[ 9.99960061e-01 5.77248117e-03 6.82310817e-03 1.89016529e+01] [-5.77332550e-03 9.99983329e-01 1.04054547e-04 4.11963176e-01] [-6.82239377e-03 -1.43442416e-04 9.99976717e-01 -2.09991751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:0.41, Z:-0.22 [[ 9.99944083e-01 8.07941863e-03 6.82311071e-03 1.89598510e+01] [-8.08031549e-03 9.99967348e-01 1.03887403e-04 4.05566681e-01] [-6.82204858e-03 -1.59014481e-04 9.99976717e-01 -2.16190986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:0.41, Z:-0.22 [[ 9.99942530e-01 8.26931803e-03 6.82310542e-03 1.90190326e+01] [-8.27022167e-03 9.99965796e-01 1.04234090e-04 4.08599697e-01] [-6.82201009e-03 -1.60656694e-04 9.99976717e-01 -2.17050740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:0.41, Z:-0.21 [[ 9.99917726e-01 1.08621832e-02 6.82309985e-03 1.90771862e+01] [-1.08631497e-02 9.99940989e-01 1.04597232e-04 4.07907219e-01] [-6.82156106e-03 -1.78708981e-04 9.99976717e-01 -2.12824600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:0.40, Z:-0.22 [[ 9.99782894e-01 1.96878259e-02 6.82309450e-03 1.91356576e+01] [-1.96890000e-02 9.99806147e-01 1.04945165e-04 4.02211876e-01] [-6.81970568e-03 -2.39262288e-04 9.99976717e-01 -2.16439645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:0.40, Z:-0.22 [[ 9.99772635e-01 2.02020549e-02 6.82307611e-03 1.91936775e+01] [-2.02032490e-02 9.99795888e-01 1.06127657e-04 4.02700595e-01] [-6.81953944e-03 -2.43951833e-04 9.99976717e-01 -2.16840374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:0.40, Z:-0.21 [[ 9.99756633e-01 2.09790686e-02 6.82306952e-03 1.92520213e+01] [-2.09802837e-02 9.99779884e-01 1.06549163e-04 4.04798767e-01] [-6.81933236e-03 -2.49673167e-04 9.99976717e-01 -2.11172068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:0.40, Z:-0.21 [[ 9.99774169e-01 2.01260202e-02 6.82306543e-03 1.93091644e+01] [-2.01272172e-02 9.99797421e-01 1.06810597e-04 4.03279751e-01] [-6.81953355e-03 -2.44115796e-04 9.99976717e-01 -2.14848241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:0.40, Z:-0.22 [[ 9.99824511e-01 1.74468527e-02 6.82305582e-03 1.93680204e+01] [-1.74479916e-02 9.99847766e-01 1.07420899e-04 4.04565001e-01] [-6.82014297e-03 -2.26450668e-04 9.99976717e-01 -2.19005225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:0.41, Z:-0.22 [[ 9.99827481e-01 1.72758358e-02 6.82303787e-03 1.94257931e+01] [-1.72769783e-02 9.99850736e-01 1.08549251e-04 4.12394262e-01] [-6.82014416e-03 -2.26412002e-04 9.99976717e-01 -2.15497892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:0.41, Z:-0.22 [[ 9.99789497e-01 1.93496065e-02 6.82303200e-03 1.94846528e+01] [-1.93507998e-02 9.99812750e-01 1.08917019e-04 4.12444664e-01] [-6.81964689e-03 -2.40925218e-04 9.99976717e-01 -2.23650519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:0.41, Z:-0.23 [[ 9.99835816e-01 1.67865468e-02 6.82302623e-03 1.95429543e+01] [-1.67876830e-02 9.99859071e-01 1.09277479e-04 4.10872233e-01] [-6.82023027e-03 -2.23802338e-04 9.99976717e-01 -2.27431353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:0.41, Z:-0.23 [[ 9.99927950e-01 9.87634714e-03 6.82301757e-03 1.96003539e+01] [-9.87732624e-03 9.99951212e-01 1.09815471e-04 4.10400532e-01] [-6.82160011e-03 -1.77200729e-04 9.99976717e-01 -2.27389962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:0.42, Z:-0.22 [[ 9.99971798e-01 -3.13835304e-03 6.82300781e-03 1.96585226e+01] [ 3.13767268e-03 9.99995071e-01 1.10418568e-04 4.20502767e-01] [-6.82332071e-03 -8.90070889e-05 9.99976717e-01 -2.22300844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:0.42, Z:-0.22 [[ 9.99961963e-01 -5.43319879e-03 6.82300052e-03 1.97218407e+01] [ 5.43256878e-03 9.99985237e-01 1.10866872e-04 4.21090975e-01] [-6.82350216e-03 -7.37962349e-05 9.99976717e-01 -2.22923813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:0.43, Z:-0.22 [[ 9.99933633e-01 -9.28309170e-03 6.82302470e-03 1.97836780e+01] [ 9.28256159e-03 9.99956910e-01 1.09358670e-04 4.26240218e-01] [-6.82374588e-03 -4.60162649e-05 9.99976717e-01 -2.21732533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:0.43, Z:-0.22 [[ 9.99898409e-01 -1.25147236e-02 6.82304768e-03 1.98468554e+01] [ 1.25142786e-02 9.99921688e-01 1.07905401e-04 4.28450234e-01] [-6.82386376e-03 -2.25089188e-05 9.99976717e-01 -2.22581943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:19.91, Y:0.42, Z:-0.23 [[ 9.99768909e-01 -2.03856361e-02 6.82305605e-03 1.99090858e+01] [ 2.03853780e-02 9.99792191e-01 1.07373707e-04 4.22603029e-01] [-6.82382704e-03 3.17416830e-05 9.99976717e-01 -2.25453301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.975898227000002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:19.97, Y:0.42, Z:-0.22 [[ 9.99584930e-01 -2.79895130e-02 6.82307512e-03 1.99702901e+01] [ 2.79894404e-02 9.99608213e-01 1.06147817e-04 4.24076882e-01] [-6.82337296e-03 8.48702963e-05 9.99976717e-01 -2.20986701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:20.03, Y:0.42, Z:-0.22 [[ 9.99597034e-01 -2.75538500e-02 6.82309250e-03 2.00325634e+01] [ 2.75537750e-02 9.99620317e-01 1.05018846e-04 4.24150114e-01] [-6.82339556e-03 8.30254282e-05 9.99976717e-01 -2.23073270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095898227 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:0.42, Z:-0.23 [[ 9.99724876e-01 -2.24414088e-02 6.82310896e-03 2.00953460e+01] [ 2.24412220e-02 9.99748159e-01 1.03937805e-04 4.18720813e-01] [-6.82372313e-03 4.92096935e-05 9.99976717e-01 -2.29786978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.155898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:0.43, Z:-0.22 [[ 9.99694861e-01 -2.37409074e-02 6.82311969e-03 2.01564715e+01] [ 2.37407557e-02 9.99718143e-01 1.03229126e-04 4.29571037e-01] [-6.82364730e-03 5.87883913e-05 9.99976717e-01 -2.22561433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:0.43, Z:-0.22 [[ 9.99541111e-01 -2.95129136e-02 6.82312823e-03 2.02182761e+01] [ 2.95129002e-02 9.99564394e-01 1.02661151e-04 4.29889777e-01] [-6.82318587e-03 9.87562623e-05 9.99976717e-01 -2.24547872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:0.42, Z:-0.23 [[ 9.99472830e-01 -3.17412374e-02 6.82314635e-03 2.02807591e+01] [ 3.17412843e-02 9.99496113e-01 1.01442550e-04 4.22118881e-01] [-6.82292817e-03 1.15186355e-04 9.99976717e-01 -2.29011743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.335898227 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:0.43, Z:-0.23 [[ 9.99330573e-01 -3.59423306e-02 6.82315257e-03 2.03421191e+01] [ 3.59424782e-02 9.99353855e-01 1.01022700e-04 4.32555023e-01] [-6.82237481e-03 1.44285940e-04 9.99976717e-01 -2.32673972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:0.44, Z:-0.23 [[ 9.99422119e-01 -3.32997491e-02 6.82316854e-03 2.04047534e+01] [ 3.32998426e-02 9.99445401e-01 9.99320595e-05 4.38703841e-01] [-6.82271213e-03 1.27336128e-04 9.99976717e-01 -2.34637268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:0.45, Z:-0.23 [[ 9.99373663e-01 -3.47235571e-02 6.82318650e-03 2.04661423e+01] [ 3.47236923e-02 9.99396946e-01 9.86903502e-05 4.49196352e-01] [-6.82249863e-03 1.38297692e-04 9.99976717e-01 -2.29080123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.515898227 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:0.46, Z:-0.23 [[ 9.99119874e-01 -4.13874473e-02 6.82320233e-03 2.05290897e+01] [ 4.13877453e-02 9.99143155e-01 9.75837803e-05 4.55099871e-01] [-6.82139464e-03 1.84899066e-04 9.99976717e-01 -2.32761616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:0.46, Z:-0.24 [[ 9.98882034e-01 -4.67774027e-02 6.82322013e-03 2.05926815e+01] [ 4.67778349e-02 9.98905313e-01 9.63225387e-05 4.57505093e-01] [-6.82025656e-03 2.22960612e-04 9.99976717e-01 -2.36073161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635898227 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:0.46, Z:-0.23 [[ 9.98746944e-01 -4.95780821e-02 6.82323750e-03 2.06544055e+01] [ 4.95785880e-02 9.98770221e-01 9.50760903e-05 4.62858345e-01] [-6.81956012e-03 2.43329526e-04 9.99976717e-01 -2.29081389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:0.47, Z:-0.23 [[ 9.98883933e-01 -4.67368306e-02 6.82325253e-03 2.07172002e+01] [ 4.67372778e-02 9.98907212e-01 9.39849627e-05 4.69023052e-01] [-6.82018872e-03 2.25020180e-04 9.99976717e-01 -2.29415316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:0.47, Z:-0.24 [[ 9.98939514e-01 -4.55333929e-02 6.82326954e-03 2.07805407e+01] [ 4.55338206e-02 9.98962793e-01 9.27328472e-05 4.73150931e-01] [-6.82041485e-03 2.18055026e-04 9.99976717e-01 -2.35977769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:0.48, Z:-0.23 [[ 9.98656262e-01 -5.13722960e-02 6.82328577e-03 2.08420402e+01] [ 5.13728681e-02 9.98679538e-01 9.15228553e-05 4.77489773e-01] [-6.81897763e-03 2.59131887e-04 9.99976717e-01 -2.32357424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:0.48, Z:-0.23 [[ 9.98276805e-01 -5.82826072e-02 6.82329876e-03 2.09050364e+01] [ 5.82833470e-02 9.98300077e-01 9.05440798e-05 4.76218493e-01] [-6.81697682e-03 3.07296635e-04 9.99976717e-01 -2.34940482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:0.47, Z:-0.24 [[ 9.97415459e-01 -7.15251372e-02 6.82331529e-03 2.09678372e+01] [ 7.15261944e-02 9.97438718e-01 8.92812972e-05 4.72005452e-01] [-6.81222471e-03 3.98995229e-04 9.99976717e-01 -2.37361315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:0.47, Z:-0.24 [[ 9.96876388e-01 -7.86823283e-02 6.82332437e-03 2.10302763e+01] [ 7.86835571e-02 9.96899639e-01 8.85815575e-05 4.69191548e-01] [-6.80913940e-03 4.48578570e-04 9.99976717e-01 -2.36908004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:0.46, Z:-0.23 [[ 9.96732878e-01 -8.04798874e-02 6.82333491e-03 2.10913799e+01] [ 8.04811638e-02 9.96756126e-01 8.77619443e-05 4.63266538e-01] [-6.80826394e-03 4.61674719e-04 9.99976717e-01 -2.30892912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:0.46, Z:-0.24 [[ 9.97322994e-01 -7.28030802e-02 6.82334764e-03 2.11535274e+01] [ 7.28041844e-02 9.97346250e-01 8.67612280e-05 4.59275427e-01] [-6.81155667e-03 4.10239292e-04 9.99976717e-01 -2.36536844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:0.46, Z:-0.24 [[ 9.98171186e-01 -6.00643396e-02 6.82335252e-03 2.12167150e+01] [ 6.00651493e-02 9.98194455e-01 8.63757919e-05 4.55857492e-01] [-6.81622075e-03 3.23627861e-04 9.99976717e-01 -2.37353450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:0.46, Z:-0.23 [[ 9.98615412e-01 -5.21603414e-02 6.82336868e-03 2.12779902e+01] [ 5.21609758e-02 9.98638686e-01 8.50793558e-05 4.56523693e-01] [-6.81851770e-03 2.70952013e-04 9.99976717e-01 -2.28549679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:0.46, Z:-0.23 [[ 9.98619942e-01 -5.20735372e-02 6.82338236e-03 2.13401769e+01] [ 5.20741772e-02 9.98643216e-01 8.39680021e-05 4.58920185e-01] [-6.81849701e-03 2.71469900e-04 9.99976717e-01 -2.34033898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:0.46, Z:-0.24 [[ 9.98610762e-01 -5.22492808e-02 6.82339564e-03 2.14029873e+01] [ 5.22499323e-02 9.98634036e-01 8.28741463e-05 4.59290324e-01] [-6.81840524e-03 2.73762946e-04 9.99976717e-01 -2.39641223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:0.46, Z:-0.24 [[ 9.98473594e-01 -5.48080517e-02 6.82341071e-03 2.14664378e+01] [ 5.48087714e-02 9.98496866e-01 8.16146848e-05 4.61568729e-01] [-6.81762735e-03 2.92492650e-04 9.99976717e-01 -2.39614793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.475898227000002 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:0.45, Z:-0.24 [[ 9.98504808e-01 -5.42364242e-02 6.82342562e-03 2.15279270e+01] [ 5.42371392e-02 9.98528080e-01 8.03483193e-05 4.54828826e-01] [-6.81773989e-03 2.89854902e-04 9.99976717e-01 -2.42879128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535898227 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:0.46, Z:-0.24 [[ 9.98132020e-01 -6.07117012e-02 6.82343743e-03 2.15903595e+01] [ 6.07125740e-02 9.98155287e-01 7.93327090e-05 4.63432409e-01] [-6.81566657e-03 3.35083933e-04 9.99976717e-01 -2.39641228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:21.65, Y:0.46, Z:-0.24 [[ 9.97741659e-01 -6.68208274e-02 6.82344190e-03 2.16528852e+01] [ 6.68218453e-02 9.97764920e-01 7.89460357e-05 4.64056862e-01] [-6.81346620e-03 3.77187231e-04 9.99976717e-01 -2.44969096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.655898227 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:21.72, Y:0.46, Z:-0.25 [[ 9.97646229e-01 -6.82308080e-02 6.82345512e-03 2.17154624e+01] [ 6.82318667e-02 9.97669488e-01 7.77865820e-05 4.61128427e-01] [-6.81286041e-03 3.87973590e-04 9.99976717e-01 -2.46186616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:21.78, Y:0.46, Z:-0.25 [[ 9.97755061e-01 -6.66204128e-02 6.82346878e-03 2.17789587e+01] [ 6.66214422e-02 9.97778321e-01 7.65690146e-05 4.59065526e-01] [-6.81341028e-03 3.78192209e-04 9.99976717e-01 -2.46545060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:0.46, Z:-0.25 [[ 9.97896708e-01 -6.44639449e-02 6.82348305e-03 2.18411374e+01] [ 6.44649329e-02 9.97919970e-01 7.52757641e-05 4.55789648e-01] [-6.81414257e-03 3.64757940e-04 9.99976717e-01 -2.46708602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.835898227 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:0.44, Z:-0.25 [[ 9.98037402e-01 -6.22477589e-02 6.82349683e-03 2.19022684e+01] [ 6.22487040e-02 9.98060666e-01 7.40048805e-05 4.40585440e-01] [-6.81487043e-03 3.50894195e-04 9.99976717e-01 -2.54217773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:21.96, Y:0.45, Z:-0.25 [[ 9.98026881e-01 -6.24162278e-02 6.82350778e-03 2.19644949e+01] [ 6.24171837e-02 9.98050144e-01 7.29813407e-05 4.46099844e-01] [-6.81475814e-03 3.53066799e-04 9.99976717e-01 -2.49472471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:0.43, Z:-0.26 [[ 9.98106506e-01 -6.11297145e-02 6.82351201e-03 2.20264566e+01] [ 6.11306431e-02 9.98129771e-01 7.25840250e-05 4.34617311e-01] [-6.81518751e-03 3.44679090e-04 9.99976717e-01 -2.57549629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:0.44, Z:-0.25 [[ 9.98083073e-01 -6.15111303e-02 6.82352448e-03 2.20889602e+01] [ 6.15120759e-02 9.98106337e-01 7.13920668e-05 4.38920220e-01] [-6.81499443e-03 3.48473942e-04 9.99976717e-01 -2.51424196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:0.44, Z:-0.25 [[ 9.97867932e-01 -6.49078594e-02 6.82353725e-03 2.21520333e+01] [ 6.49088927e-02 9.97891192e-01 7.01494119e-05 4.37347287e-01] [-6.81370097e-03 3.72908398e-04 9.99976717e-01 -2.48983785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135898227 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:0.44, Z:-0.25 [[ 9.97593213e-01 -6.90015952e-02 6.82354980e-03 2.22145469e+01] [ 6.90027324e-02 9.97616468e-01 6.89065565e-05 4.35753749e-01] [-6.81204032e-03 4.02102868e-04 9.99976717e-01 -2.53387909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:0.43, Z:-0.26 [[ 9.97315508e-01 -7.29055286e-02 6.82355736e-03 2.22781056e+01] [ 7.29067620e-02 9.97338759e-01 6.81500883e-05 4.28860461e-01] [-6.81036674e-03 4.29516332e-04 9.99976717e-01 -2.60310045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:0.43, Z:-0.26 [[ 9.97110469e-01 -7.56581286e-02 6.82356923e-03 2.23403053e+01] [ 7.56594344e-02 9.97133715e-01 6.69394820e-05 4.26109924e-01] [-6.80907546e-03 4.49521331e-04 9.99976717e-01 -2.58227781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.315898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:0.43, Z:-0.26 [[ 9.96903717e-01 -7.83352951e-02 6.82357996e-03 2.24031231e+01] [ 7.83366709e-02 9.96926959e-01 6.58276394e-05 4.27225734e-01] [-6.80776745e-03 4.68912719e-04 9.99976717e-01 -2.60804059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:22.47, Y:0.42, Z:-0.26 [[ 9.96807007e-01 -7.95564577e-02 6.82359213e-03 2.24654233e+01] [ 7.95578707e-02 9.96830247e-01 6.45405026e-05 4.18668683e-01] [-6.80709765e-03 4.78536036e-04 9.99976717e-01 -2.64396581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435898227 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:22.53, Y:0.42, Z:-0.26 [[ 9.97234532e-01 -7.40049074e-02 6.82360333e-03 2.25272023e+01] [ 7.40061992e-02 9.97257779e-01 6.33338772e-05 4.19035856e-01] [-6.80957853e-03 4.41830218e-04 9.99976717e-01 -2.62157870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:0.41, Z:-0.26 [[ 9.97642044e-01 -6.82919505e-02 6.82360710e-03 2.25884667e+01] [ 6.82931120e-02 9.97665298e-01 6.29252583e-05 4.12268963e-01] [-6.81197330e-03 4.03228481e-04 9.99976717e-01 -2.64904003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:22.65, Y:0.41, Z:-0.26 [[ 9.97918596e-01 -6.41242091e-02 6.82361673e-03 2.26514740e+01] [ 6.41252806e-02 9.97941854e-01 6.18636217e-05 4.05291790e-01] [-6.81353968e-03 3.75831479e-04 9.99976717e-01 -2.63854491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615898227 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:0.40, Z:-0.27 [[ 9.97864223e-01 -6.49648448e-02 6.82362762e-03 2.27139440e+01] [ 6.49659443e-02 9.97887480e-01 6.06372307e-05 4.00251682e-01] [-6.81315186e-03 3.82795689e-04 9.99976717e-01 -2.66835345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:0.39, Z:-0.27 [[ 9.97819538e-01 -6.56476044e-02 6.82363432e-03 2.27770572e+01] [ 6.56487250e-02 9.97842794e-01 5.98742922e-05 3.91741015e-01] [-6.81284494e-03 3.88219155e-04 9.99976717e-01 -2.67814529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.84, Y:0.39, Z:-0.26 [[ 9.97900502e-01 -6.44051706e-02 6.82364492e-03 2.28405813e+01] [ 6.44062707e-02 9.97923759e-01 5.86410723e-05 3.87327657e-01] [-6.81325417e-03 3.80967566e-04 9.99976717e-01 -2.64897288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:0.38, Z:-0.26 [[ 9.97803072e-01 -6.58974014e-02 6.82364974e-03 2.29023956e+01] [ 6.58985401e-02 9.97826327e-01 5.80746245e-05 3.76577067e-01] [-6.81264432e-03 3.91721517e-04 9.99976717e-01 -2.61016098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.97, Y:0.37, Z:-0.26 [[ 9.97644831e-01 -6.82512205e-02 6.82365983e-03 2.29654315e+01] [ 6.82524223e-02 9.97668083e-01 5.68632430e-05 3.72320422e-01] [-6.81162861e-03 4.09001992e-04 9.99976717e-01 -2.62728322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:23.03, Y:0.36, Z:-0.27 [[ 9.97196099e-01 -7.45209896e-02 6.82367025e-03 2.30279245e+01] [ 7.45223462e-02 9.97219342e-01 5.55845756e-05 3.61653993e-01] [-6.80883818e-03 4.53087195e-04 9.99976717e-01 -2.66823488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:0.36, Z:-0.27 [[ 9.96894226e-01 -7.84559767e-02 6.82367972e-03 2.30915050e+01] [ 7.84574331e-02 9.96917463e-01 5.43968173e-05 3.55372950e-01] [-6.80691323e-03 4.81140522e-04 9.99976717e-01 -2.69261377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:0.35, Z:-0.27 [[ 9.97221954e-01 -7.41741925e-02 6.82368907e-03 2.31534809e+01] [ 7.41755573e-02 9.97245197e-01 5.31977361e-05 3.48079886e-01] [-6.80883705e-03 4.53100989e-04 9.99976717e-01 -2.71250538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:0.35, Z:-0.27 [[ 9.98083217e-01 -6.15087660e-02 6.82369756e-03 2.32166872e+01] [ 6.15098432e-02 9.98106476e-01 5.20841880e-05 3.46430511e-01] [-6.81398036e-03 3.67740214e-04 9.99976717e-01 -2.68424579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:0.35, Z:-0.27 [[ 9.98694908e-01 -5.06153891e-02 6.82370667e-03 2.32796541e+01] [ 5.06162209e-02 9.98718176e-01 5.08619782e-05 3.48172833e-01] [-6.81753428e-03 2.94594646e-04 9.99976717e-01 -2.69663155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:0.35, Z:-0.27 [[ 9.99125710e-01 -4.12462523e-02 6.82371576e-03 2.33420770e+01] [ 4.12468743e-02 9.99148984e-01 4.96130639e-05 3.53710385e-01] [-6.81995502e-03 2.31887258e-04 9.99976717e-01 -2.68238693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:0.36, Z:-0.27 [[ 9.99140834e-01 -4.08782380e-02 6.82372132e-03 2.34047847e+01] [ 4.08788568e-02 9.99164109e-01 4.88355037e-05 3.57933883e-01] [-6.82001374e-03 2.30152381e-04 9.99976717e-01 -2.65361738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:0.36, Z:-0.27 [[ 9.99039997e-01 -4.32726464e-02 6.82373011e-03 2.34679489e+01] [ 4.32733295e-02 9.99063270e-01 4.75750762e-05 3.61402701e-01] [-6.81939681e-03 2.47756117e-04 9.99976717e-01 -2.66274901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:0.36, Z:-0.27 [[ 9.99032893e-01 -4.34363422e-02 6.82373874e-03 2.35296718e+01] [ 4.34370378e-02 9.99056165e-01 4.63028085e-05 3.62317614e-01] [-6.81930948e-03 2.50144969e-04 9.99976717e-01 -2.67166684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.36, Z:-0.27 [[ 9.99237035e-01 -3.84549606e-02 6.82374656e-03 2.35920907e+01] [ 3.84555482e-02 9.99260311e-01 4.51208285e-05 3.61803925e-01] [-6.82043422e-03 2.17324512e-04 9.99976717e-01 -2.65210855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:23.65, Y:0.36, Z:-0.26 [[ 9.99602907e-01 -2.73397933e-02 6.82375399e-03 2.36548645e+01] [ 2.73401299e-02 9.99626188e-01 4.39678119e-05 3.63071307e-01] [-6.82240525e-03 1.42611968e-04 9.99976717e-01 -2.64815824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:23.72, Y:0.37, Z:-0.27 [[ 9.99805527e-01 -1.85025739e-02 6.82376163e-03 2.37179613e+01] [ 1.85027130e-02 9.99828809e-01 4.27476793e-05 3.66515488e-01] [-6.82338441e-03 8.35187371e-05 9.99976717e-01 -2.68076095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:0.37, Z:-0.27 [[ 9.99935870e-01 -9.03841208e-03 6.82376931e-03 2.37795413e+01] [ 9.03833944e-03 9.99959153e-01 4.14839007e-05 3.73861434e-01] [-6.82386553e-03 2.01943030e-05 9.99976717e-01 -2.65296207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:0.38, Z:-0.27 [[ 9.99942878e-01 -8.22662054e-03 6.82377074e-03 2.38428889e+01] [ 8.22653061e-03 9.99966161e-01 4.12480048e-05 3.76902101e-01] [-6.82387916e-03 1.48903102e-05 9.99976717e-01 -2.65769154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:23.91, Y:0.38, Z:-0.27 [[ 9.99910691e-01 -1.14911438e-02 6.82377354e-03 2.39050573e+01] [ 1.14911331e-02 9.99933974e-01 4.07791937e-05 3.76609266e-01] [-6.82379159e-03 3.76373379e-05 9.99976717e-01 -2.66176382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:0.37, Z:-0.27 [[ 9.99857835e-01 -1.54189931e-02 6.82378026e-03 2.39677206e+01] [ 1.54190818e-02 9.99881118e-01 3.96221899e-05 3.74215027e-01] [-6.82357997e-03 6.55998688e-05 9.99976717e-01 -2.65792953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:24.03, Y:0.37, Z:-0.26 [[ 9.99818961e-01 -1.77618039e-02 6.82378668e-03 2.40306889e+01] [ 1.77619549e-02 9.99842243e-01 3.84834033e-05 3.71423965e-01] [-6.82339372e-03 8.27273548e-05 9.99976717e-01 -2.61870594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:0.37, Z:-0.26 [[ 9.99845016e-01 -1.62289854e-02 6.82378920e-03 2.40923906e+01] [ 1.62291037e-02 9.99868299e-01 3.80305887e-05 3.65900866e-01] [-6.82350770e-03 7.27192883e-05 9.99976717e-01 -2.64053447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:0.36, Z:-0.27 [[ 9.99927048e-01 -9.96664047e-03 6.82379524e-03 2.41555676e+01] [ 9.96662063e-03 9.99950331e-01 3.69140782e-05 3.57185384e-01] [-6.82382422e-03 3.10987932e-05 9.99976717e-01 -2.65697509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:0.35, Z:-0.27 [[ 9.99971946e-01 -3.08925421e-03 6.82379763e-03 2.42185855e+01] [ 3.08907728e-03 9.99995228e-01 3.64685311e-05 3.53402924e-01] [-6.82387772e-03 -1.53882698e-05 9.99976717e-01 -2.65000520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:0.35, Z:-0.26 [[ 9.99967245e-01 4.35257994e-03 6.82379997e-03 2.42794767e+01] [-4.35292710e-03 9.99990525e-01 3.60238366e-05 3.46099305e-01] [-6.82357852e-03 -6.57261605e-05 9.99976717e-01 -2.63223505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:0.34, Z:-0.27 [[ 9.99975772e-01 1.37496153e-03 6.82380113e-03 2.43396890e+01] [-1.37523786e-03 9.99999054e-01 3.58026064e-05 3.38226191e-01] [-6.82374545e-03 -4.51860887e-05 9.99976717e-01 -2.65257674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:0.33, Z:-0.27 [[ 9.99968486e-01 -4.05752884e-03 6.82380113e-03 2.44020923e+01] [ 4.05737900e-03 9.99991768e-01 3.58026064e-05 3.31343760e-01] [-6.82389023e-03 -8.11473072e-06 9.99976717e-01 -2.70104527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:0.32, Z:-0.27 [[ 9.99911252e-01 -1.14422140e-02 6.82380665e-03 2.44654620e+01] [ 1.14422435e-02 9.99934535e-01 3.47180443e-05 3.21962642e-01] [-6.82375718e-03 4.33646943e-05 9.99976717e-01 -2.74717614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:0.31, Z:-0.27 [[ 9.99809080e-01 -1.83095140e-02 6.82381243e-03 2.45268064e+01] [ 1.83097114e-02 9.99832363e-01 3.35416438e-05 3.08759468e-01] [-6.82328264e-03 9.14067965e-05 9.99976717e-01 -2.72085434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:24.59, Y:0.30, Z:-0.28 [[ 9.99841976e-01 -1.64151946e-02 6.82381728e-03 2.45895605e+01] [ 1.64153548e-02 9.99865258e-01 3.25238498e-05 2.97591430e-01] [-6.82343172e-03 7.94966718e-05 9.99976717e-01 -2.77741024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:0.29, Z:-0.28 [[ 9.99918159e-01 -1.08217836e-02 6.82381953e-03 2.46513899e+01] [ 1.08218169e-02 9.99941442e-01 3.20454095e-05 2.92302608e-01] [-6.82376673e-03 4.18033385e-05 9.99976717e-01 -2.80903628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:0.29, Z:-0.28 [[ 9.99974452e-01 -2.12872956e-03 6.82382098e-03 2.47131552e+01] [ 2.12856257e-03 9.99997734e-01 3.17345366e-05 2.88069815e-01] [-6.82387307e-03 -1.72087959e-05 9.99976717e-01 -2.76792213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:0.29, Z:-0.27 [[ 9.99974926e-01 1.89296161e-03 6.82382206e-03 2.47758438e+01] [-1.89322064e-03 9.99998207e-01 3.14996566e-05 2.88352674e-01] [-6.82375020e-03 -4.44178675e-05 9.99976717e-01 -2.66250410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:0.29, Z:-0.27 [[ 9.99948910e-01 7.45736621e-03 6.82382397e-03 2.48370751e+01] [-7.45775192e-03 9.99972190e-01 3.10798861e-05 2.86525012e-01] [-6.82340243e-03 -8.19686846e-05 9.99976717e-01 -2.72940520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:24.89, Y:0.29, Z:-0.28 [[ 9.99901556e-01 1.22602824e-02 6.82382511e-03 2.48948745e+01] [-1.22607782e-02 9.99924833e-01 3.08275312e-05 2.89595084e-01] [-6.82293424e-03 -1.14489903e-04 9.99976717e-01 -2.75118858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.95, Y:0.29, Z:-0.27 [[ 9.99848959e-01 1.59842098e-02 6.82382333e-03 2.49532343e+01] [-1.59847949e-02 9.99872235e-01 3.12182295e-05 2.92454118e-01] [-6.82245248e-03 -1.40290931e-04 9.99976717e-01 -2.67626187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:0.30, Z:-0.27 [[ 9.99847106e-01 1.60996665e-02 6.82382102e-03 2.50118528e+01] [-1.61002577e-02 9.99870382e-01 3.17151811e-05 2.95682298e-01] [-6.82242592e-03 -1.41575609e-04 9.99976717e-01 -2.66454799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:25.07, Y:0.30, Z:-0.27 [[ 9.99908535e-01 1.16771643e-02 6.82381946e-03 2.50710177e+01] [-1.16776548e-02 9.99931813e-01 3.20461882e-05 2.97599085e-01] [-6.82297996e-03 -1.11729465e-04 9.99976717e-01 -2.73137134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:25.13, Y:0.30, Z:-0.27 [[ 9.99943828e-01 8.11026272e-03 6.82381788e-03 2.51302115e+01] [-8.11067249e-03 9.99967107e-01 3.23787357e-05 2.95146170e-01] [-6.82333083e-03 -8.77226689e-05 9.99976717e-01 -2.72393114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.19, Y:0.29, Z:-0.27 [[ 9.99969874e-01 3.69958332e-03 6.82381630e-03 2.51886077e+01] [-3.69989265e-03 9.99993155e-01 3.27082163e-05 2.89646357e-01] [-6.82364859e-03 -5.79546188e-05 9.99976717e-01 -2.72347790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.25, Y:0.28, Z:-0.28 [[ 9.99964464e-01 4.95029361e-03 6.82381513e-03 2.52496856e+01] [-4.95063373e-03 9.99987745e-01 3.29520143e-05 2.82275347e-01] [-6.82356838e-03 -6.67330527e-05 9.99976717e-01 -2.76415362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:0.28, Z:-0.28 [[ 9.99907766e-01 1.17428492e-02 6.82381591e-03 2.53099033e+01] [-1.17433464e-02 9.99931044e-01 3.27885815e-05 2.80409733e-01] [-6.82296034e-03 -1.12919991e-04 9.99976717e-01 -2.76811836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:25.37, Y:0.28, Z:-0.28 [[ 9.99672136e-01 2.46790515e-02 6.82381591e-03 2.53682211e+01] [-2.46798497e-02 9.99695406e-01 3.27885815e-05 2.80784205e-01] [-6.82092823e-03 -2.01188583e-04 9.99976717e-01 -2.78209718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:0.28, Z:-0.28 [[ 9.99586298e-01 2.79404477e-02 6.82380937e-03 2.54253623e+01] [-2.79413308e-02 9.99609564e-01 3.40987816e-05 2.82560169e-01] [-6.82019237e-03 -2.24750990e-04 9.99976717e-01 -2.79440550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:0.29, Z:-0.27 [[ 9.99683971e-01 2.41949053e-02 6.82380647e-03 2.54838563e+01] [-2.41957052e-02 9.99707240e-01 3.46692657e-05 2.87650056e-01] [-6.82096991e-03 -1.99765119e-04 9.99976717e-01 -2.70940811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:0.28, Z:-0.28 [[ 9.99817284e-01 1.78559481e-02 6.82380514e-03 2.55410650e+01] [-1.78566021e-02 9.99840558e-01 3.49290316e-05 2.82121504e-01] [-6.82209344e-03 -1.56772623e-04 9.99976717e-01 -2.80807627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:0.28, Z:-0.28 [[ 9.99900677e-01 1.23317709e-02 6.82380198e-03 2.55997230e+01] [-1.23323005e-02 9.99923954e-01 3.55354395e-05 2.80332581e-01] [-6.82284484e-03 -1.19685087e-04 9.99976717e-01 -2.75273854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:0.27, Z:-0.27 [[ 9.99958254e-01 6.07674761e-03 6.82380018e-03 2.56579192e+01] [-6.07713391e-03 9.99981533e-01 3.58771874e-05 2.68248284e-01] [-6.82345615e-03 -7.73448371e-05 9.99976717e-01 -2.73771095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:0.26, Z:-0.28 [[ 9.99970826e-01 3.43264761e-03 6.82379793e-03 2.57176462e+01] [-3.43297525e-03 9.99994107e-01 3.63011507e-05 2.57410395e-01] [-6.82363310e-03 -5.97260210e-05 9.99976717e-01 -2.75724311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.78, Y:0.25, Z:-0.28 [[ 9.99912171e-01 1.13615926e-02 6.82379751e-03 2.57787871e+01] [-1.13621054e-02 9.99935449e-01 3.63797273e-05 2.45695955e-01] [-6.82294369e-03 -1.13909239e-04 9.99976717e-01 -2.75098419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:0.24, Z:-0.28 [[ 9.99613163e-01 2.69621914e-02 6.82379836e-03 2.58362164e+01] [-2.69630662e-02 9.99636430e-01 3.62196187e-05 2.42617594e-01] [-6.82034087e-03 -2.20196135e-04 9.99976717e-01 -2.77014848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:0.24, Z:-0.28 [[ 9.99468859e-01 3.18659028e-02 6.82379536e-03 2.58944841e+01] [-3.18668956e-02 9.99492121e-01 3.67766918e-05 2.43557634e-01] [-6.81915777e-03 -2.54210332e-04 9.99976717e-01 -2.78390738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:0.25, Z:-0.28 [[ 9.99232546e-01 3.85714130e-02 6.82379268e-03 2.59529783e+01] [-3.85725652e-02 9.99255801e-01 3.72668569e-05 2.45288394e-01] [-6.81727698e-03 -3.00449444e-04 9.99976717e-01 -2.82182211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:0.25, Z:-0.29 [[ 9.99261505e-01 3.78137480e-02 6.82379088e-03 2.60109896e+01] [-3.78148847e-02 9.99284761e-01 3.75932116e-05 2.49756492e-01] [-6.81748870e-03 -2.95606315e-04 9.99976717e-01 -2.85590137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:0.25, Z:-0.28 [[ 9.99438443e-01 3.28060083e-02 6.82378862e-03 2.60702866e+01] [-3.28070312e-02 9.99461704e-01 3.79989519e-05 2.51014841e-01] [-6.81886881e-03 -2.61845860e-04 9.99976717e-01 -2.82538663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:0.25, Z:-0.27 [[ 9.99750413e-01 2.12731513e-02 6.82378673e-03 2.61277743e+01] [-2.12739082e-02 9.99773684e-01 3.83349147e-05 2.50265080e-01] [-6.82142690e-03 -1.83493959e-04 9.99976717e-01 -2.74528085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.19, Y:0.24, Z:-0.29 [[ 9.99873835e-01 1.43439656e-02 6.82378481e-03 2.61860459e+01] [-1.43445635e-02 9.99897111e-01 3.86741659e-05 2.43950798e-01] [-6.82252798e-03 -1.36553501e-04 9.99976717e-01 -2.87747152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:0.24, Z:-0.28 [[ 9.99948527e-01 7.50860319e-03 6.82378288e-03 2.62437563e+01] [-7.50904421e-03 9.99971806e-01 3.90113969e-05 2.35287710e-01] [-6.82329757e-03 -9.02494762e-05 9.99976717e-01 -2.84326601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:0.23, Z:-0.27 [[ 9.99912001e-01 1.13765505e-02 6.82378059e-03 2.63029887e+01] [-1.13770843e-02 9.99935278e-01 3.94088319e-05 2.28194724e-01] [-6.82289060e-03 -1.17040091e-04 9.99976717e-01 -2.71756658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:0.22, Z:-0.29 [[ 9.99797916e-01 1.89093426e-02 6.82377375e-03 2.63612907e+01] [-1.89100596e-02 9.99821188e-01 4.05595243e-05 2.24436508e-01] [-6.82178662e-03 -1.69589296e-04 9.99976717e-01 -2.88717857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:0.22, Z:-0.29 [[ 9.99622440e-01 2.66160318e-02 6.82376670e-03 2.64201477e+01] [-2.66169361e-02 9.99645706e-01 4.17134009e-05 2.19624724e-01] [-6.82023883e-03 -2.23325413e-04 9.99976717e-01 -2.87599975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:0.21, Z:-0.26 [[ 9.99586926e-01 2.79179772e-02 6.82376467e-03 2.64782044e+01] [-2.79189139e-02 9.99610190e-01 4.20422724e-05 2.14049601e-01] [-6.81993096e-03 -2.32537004e-04 9.99976717e-01 -2.63644200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:0.21, Z:-0.29 [[ 9.99558461e-01 2.89191852e-02 6.82376213e-03 2.65356041e+01] [-2.89201480e-02 9.99581724e-01 4.24497205e-05 2.10581474e-01] [-6.81968031e-03 -2.39775188e-04 9.99976717e-01 -2.86420329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:0.21, Z:-0.29 [[ 9.99478105e-01 3.15745847e-02 6.82375960e-03 2.65947883e+01] [-3.15756121e-02 9.99501365e-01 4.28533719e-05 2.10398271e-01] [-6.81900396e-03 -2.58295393e-04 9.99976717e-01 -2.88716443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:0.21, Z:-0.28 [[ 9.99398575e-01 3.39988993e-02 6.82375761e-03 2.66540152e+01] [-3.39999853e-02 9.99421832e-01 4.31673056e-05 2.07059012e-01] [-6.81834470e-03 -2.75149002e-04 9.99976717e-01 -2.76572631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:0.20, Z:-0.29 [[ 9.99324903e-01 3.60995133e-02 6.82375548e-03 2.67129283e+01] [-3.61006504e-02 9.99348158e-01 4.35021047e-05 2.00239534e-01] [-6.81773706e-03 -2.89814747e-04 9.99976717e-01 -2.86490354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:0.20, Z:-0.30 [[ 9.99340379e-01 3.56685168e-02 6.82375333e-03 2.67712122e+01] [-3.56696461e-02 9.99363635e-01 4.38362039e-05 2.01831042e-01] [-6.81784736e-03 -2.87208155e-04 9.99976717e-01 -2.96216221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.83, Y:0.20, Z:-0.28 [[ 9.99470435e-01 3.18164459e-02 6.82375118e-03 2.68289349e+01] [-3.18174879e-02 9.99493695e-01 4.41681075e-05 2.04616210e-01] [-6.81889101e-03 -2.61259339e-04 9.99976717e-01 -2.77056776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:0.20, Z:-0.29 [[ 9.99695144e-01 2.37287747e-02 6.82374851e-03 2.68874735e+01] [-2.37296312e-02 9.99718412e-01 4.45770471e-05 1.95211301e-01] [-6.82076927e-03 -2.06488493e-04 9.99976717e-01 -2.88916169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:0.19, Z:-0.28 [[ 9.99805291e-01 1.85152884e-02 6.82374630e-03 2.69446957e+01] [-1.85160259e-02 9.99828563e-01 4.49134451e-05 1.93419227e-01] [-6.82174487e-03 -1.71253363e-04 9.99976717e-01 -2.84619902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:0.19, Z:-0.30 [[ 9.99804173e-01 1.85755925e-02 6.82374243e-03 2.70036046e+01] [-1.85763354e-02 9.99827444e-01 4.54934498e-05 1.86126880e-01] [-6.82171989e-03 -1.72244669e-04 9.99976717e-01 -2.97191157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:0.18, Z:-0.30 [[ 9.99736703e-01 2.19080386e-02 6.82374022e-03 2.70612002e+01] [-2.19088613e-02 9.99759971e-01 4.58235356e-05 1.83562458e-01] [-6.82109842e-03 -1.95311848e-04 9.99976717e-01 -2.96160577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:0.18, Z:-0.28 [[ 9.99512392e-01 3.04699144e-02 6.82373745e-03 2.71203315e+01] [-3.04709391e-02 9.99535652e-01 4.62317545e-05 1.75827584e-01] [-6.81916018e-03 -2.54134900e-04 9.99976717e-01 -2.75264335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:0.17, Z:-0.29 [[ 9.99423174e-01 3.32679478e-02 6.82373524e-03 2.71779083e+01] [-3.32690399e-02 9.99446431e-01 4.65560330e-05 1.71352545e-01] [-6.81840901e-03 -2.73548298e-04 9.99976717e-01 -2.92005290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:0.17, Z:-0.30 [[ 9.99314655e-01 3.63821040e-02 6.82373182e-03 2.72352342e+01] [-3.63832719e-02 9.99337908e-01 4.70522338e-05 1.71588473e-01] [-6.81750202e-03 -2.95289677e-04 9.99976717e-01 -2.99045308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:0.17, Z:-0.29 [[ 9.99329101e-01 3.59831246e-02 6.82372751e-03 2.72944394e+01] [-3.59842875e-02 9.99352355e-01 4.76690867e-05 1.66653495e-01] [-6.81759287e-03 -2.93184078e-04 9.99976717e-01 -2.88934748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.35, Y:0.17, Z:-0.29 [[ 9.99536001e-01 2.96853433e-02 6.82372522e-03 2.73537454e+01] [-2.96863618e-02 9.99559262e-01 4.79938633e-05 1.65410609e-01] [-6.81929303e-03 -2.50543170e-04 9.99976717e-01 -2.93475024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:0.16, Z:-0.29 [[ 9.99563989e-01 2.87274812e-02 6.82372349e-03 2.74114084e+01] [-2.87284790e-02 9.99587251e-01 4.82392778e-05 1.63277016e-01] [-6.81952121e-03 -2.44253442e-04 9.99976717e-01 -2.91209593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:0.16, Z:-0.29 [[ 9.99304991e-01 3.66465716e-02 6.82372060e-03 2.74700607e+01] [-3.66477565e-02 9.99328244e-01 4.86437710e-05 1.60431882e-01] [-6.81735410e-03 -2.98684015e-04 9.99976717e-01 -2.88421489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.16, Z:-0.30 [[ 9.99113894e-01 4.15314855e-02 6.82371824e-03 2.75275846e+01] [-4.15327863e-02 9.99137140e-01 4.89729434e-05 1.59467972e-01] [-6.81579641e-03 -3.32337580e-04 9.99976717e-01 -2.98095928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:0.16, Z:-0.29 [[ 9.99151701e-01 4.06117702e-02 6.82371379e-03 2.75865973e+01] [-4.06130537e-02 9.99174948e-01 4.95860336e-05 1.58780316e-01] [-6.81607009e-03 -3.26675825e-04 9.99976717e-01 -2.86678808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:27.64, Y:0.15, Z:-0.30 [[ 9.99301149e-01 3.67511904e-02 6.82371136e-03 2.76443777e+01] [-3.67523864e-02 9.99324402e-01 4.99181485e-05 1.54087650e-01] [-6.81726672e-03 -3.00670940e-04 9.99976717e-01 -2.98072896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.70, Y:0.15, Z:-0.30 [[ 9.99320160e-01 3.62305676e-02 6.82370834e-03 2.77027645e+01] [-3.62317543e-02 9.99343413e-01 5.03276041e-05 1.52502169e-01] [-6.81740458e-03 -2.97528313e-04 9.99976717e-01 -2.96979461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:0.15, Z:-0.29 [[ 9.99299116e-01 3.68064388e-02 6.82370587e-03 2.77613399e+01] [-3.68076412e-02 9.99322368e-01 5.06604331e-05 1.51717989e-01] [-6.81721727e-03 -3.01789443e-04 9.99976717e-01 -2.94054420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:0.15, Z:-0.29 [[ 9.99321885e-01 3.61829773e-02 6.82370341e-03 2.78186842e+01] [-3.61841674e-02 9.99345137e-01 5.09896760e-05 1.47698174e-01] [-6.81738986e-03 -2.97865125e-04 9.99976717e-01 -2.93322647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:0.15, Z:-0.31 [[ 9.99338520e-01 3.57205794e-02 6.82369907e-03 2.78779365e+01] [-3.57217627e-02 9.99361773e-01 5.15630902e-05 1.47431941e-01] [-6.81750214e-03 -2.95283541e-04 9.99976717e-01 -3.05224615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:0.15, Z:-0.30 [[ 9.99375101e-01 3.46820487e-02 6.82369720e-03 2.79356477e+01] [-3.46832095e-02 9.99398355e-01 5.18094761e-05 1.46738673e-01] [-6.81779490e-03 -2.88444820e-04 9.99976717e-01 -2.97390801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:0.14, Z:-0.29 [[ 9.99466992e-01 3.19244346e-02 6.82369409e-03 2.79949190e+01] [-3.19255339e-02 9.99490249e-01 5.22156938e-05 1.43032165e-01] [-6.81854875e-03 -2.70037940e-04 9.99976717e-01 -2.92383811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:0.14, Z:-0.31 [[ 9.99465532e-01 3.19700992e-02 6.82369141e-03 2.80524285e+01] [-3.19712020e-02 9.99488789e-01 5.25638669e-05 1.41903867e-01] [-6.81852259e-03 -2.70697390e-04 9.99976717e-01 -3.06630991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:0.15, Z:-0.31 [[ 9.99242072e-01 3.83238598e-02 6.82368804e-03 2.81097198e+01] [-3.83251134e-02 9.99265322e-01 5.29977079e-05 1.47294668e-01] [-6.81664375e-03 -3.14476157e-04 9.99976717e-01 -3.05587494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:0.15, Z:-0.30 [[ 9.98753557e-01 4.94446030e-02 6.82368125e-03 2.81685028e+01] [-4.94461212e-02 9.98776791e-01 5.38576535e-05 1.50010251e-01] [-6.81267150e-03 -3.91195094e-04 9.99976717e-01 -3.02019348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:0.15, Z:-0.30 [[ 9.98711839e-01 5.02802208e-02 6.82367863e-03 2.82268112e+01] [-5.02817606e-02 9.98735071e-01 5.41881134e-05 1.54758649e-01] [-6.81232257e-03 -3.97224886e-04 9.99976717e-01 -3.04517752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.28, Y:0.16, Z:-0.30 [[ 9.98925088e-01 4.58487334e-02 6.82367596e-03 2.82844798e+01] [-4.58501724e-02 9.98948326e-01 5.45224019e-05 1.58452310e-01] [-6.81399990e-03 -3.67330514e-04 9.99976717e-01 -3.01110396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:0.16, Z:-0.30 [[ 9.99094231e-01 4.20018491e-02 6.82367262e-03 2.83433032e+01] [-4.20032014e-02 9.99117475e-01 5.49376841e-05 1.57177778e-01] [-6.81534307e-03 -3.41504019e-04 9.99976717e-01 -2.98669445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:0.16, Z:-0.30 [[ 9.99176399e-01 3.99995211e-02 6.82367004e-03 2.84022063e+01] [-4.00008291e-02 9.99199645e-01 5.52553284e-05 1.60132290e-01] [-6.81599850e-03 -3.28162279e-04 9.99976717e-01 -3.04201259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:0.16, Z:-0.30 [[ 9.99481323e-01 3.14725667e-02 6.82366737e-03 2.84597873e+01] [-3.14736785e-02 9.99504580e-01 5.55840796e-05 1.60059439e-01] [-6.81853741e-03 -2.70321162e-04 9.99976717e-01 -2.95984420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:0.15, Z:-0.30 [[ 9.99687962e-01 2.40294842e-02 6.82366303e-03 2.85171609e+01] [-2.40304264e-02 9.99711226e-01 5.61108145e-05 1.52708150e-01] [-6.82034422e-03 -2.20068838e-04 9.99976717e-01 -2.97352789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:0.15, Z:-0.30 [[ 9.99771046e-01 2.02803852e-02 6.82365799e-03 2.85759470e+01] [-2.02812443e-02 9.99794313e-01 5.67174347e-05 1.47208423e-01] [-6.82110420e-03 -1.95096724e-04 9.99976717e-01 -2.98412954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:0.14, Z:-0.30 [[ 9.99821394e-01 1.76243447e-02 6.82365530e-03 2.86348859e+01] [-1.76251442e-02 9.99844663e-01 5.70398417e-05 1.40115854e-01] [-6.82159004e-03 -1.77297563e-04 9.99976717e-01 -2.97543227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:0.12, Z:-0.30 [[ 9.99788453e-01 1.94032632e-02 6.82365252e-03 2.86932960e+01] [-1.94041063e-02 9.99811721e-01 5.73706288e-05 1.23393992e-01] [-6.82125459e-03 -1.89765371e-04 9.99976717e-01 -2.98879077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:0.12, Z:-0.30 [[ 9.99727339e-01 2.23312556e-02 6.82364973e-03 2.87518754e+01] [-2.23321691e-02 9.99750604e-01 5.77004056e-05 1.17341510e-01] [-6.82065942e-03 -2.10071573e-04 9.99976717e-01 -3.02553609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:0.10, Z:-0.30 [[ 9.99635509e-01 2.61206417e-02 6.82364688e-03 2.88085910e+01] [-2.61216457e-02 9.99658770e-01 5.80348858e-05 1.04617647e-01] [-6.81980254e-03 -2.36258619e-04 9.99976717e-01 -3.01582102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:0.10, Z:-0.30 [[ 9.99629798e-01 2.63382716e-02 6.82364198e-03 2.88668614e+01] [-2.63392846e-02 9.99653059e-01 5.86058387e-05 9.59211650e-02] [-6.81973100e-03 -2.38313990e-04 9.99976717e-01 -3.04594607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.08, Z:-0.30 [[ 9.99801308e-01 1.87291967e-02 6.82363766e-03 2.89246431e+01] [-1.87300359e-02 9.99824576e-01 5.91040202e-05 7.96559754e-02] [-6.82133366e-03 -1.86899255e-04 9.99976717e-01 -3.03051863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:0.06, Z:-0.30 [[ 9.99941127e-01 8.43687128e-03 6.82363333e-03 2.89835319e+01] [-8.43747438e-03 9.99964402e-01 5.96003558e-05 6.42766076e-02] [-6.82288758e-03 -1.17171078e-04 9.99976717e-01 -2.97984858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:0.05, Z:-0.30 [[ 9.99966402e-01 4.54226565e-03 6.82363043e-03 2.90443920e+01] [-4.54278034e-03 9.99989680e-01 5.99307415e-05 5.28771704e-02] [-6.82328778e-03 -9.09269821e-05 9.99976717e-01 -3.02989071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:0.04, Z:-0.30 [[ 9.99972208e-01 3.00342973e-03 6.82363043e-03 2.91054389e+01] [-3.00390860e-03 9.99995486e-01 5.99307415e-05 3.93261512e-02] [-6.82341963e-03 -8.04266381e-05 9.99976717e-01 -3.02965287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:0.03, Z:-0.30 [[ 9.99970911e-01 3.40797594e-03 6.82363953e-03 2.91677334e+01] [-3.40845703e-03 9.99994189e-01 5.88755560e-05 3.42791555e-02] [-6.82339924e-03 -8.21319255e-05 9.99976717e-01 -2.98704705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:0.03, Z:-0.31 [[ 9.99967410e-01 4.31470329e-03 6.82364903e-03 2.92302348e+01] [-4.31519783e-03 9.99990688e-01 5.77531856e-05 2.90633112e-02] [-6.82333630e-03 -8.71966988e-05 9.99976717e-01 -3.05572181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:0.03, Z:-0.30 [[ 9.99971494e-01 3.23248071e-03 6.82365874e-03 2.92913281e+01] [-3.23294207e-03 9.99994772e-01 5.65822945e-05 2.87062282e-02] [-6.82344017e-03 -7.86411750e-05 9.99976717e-01 -3.03601682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:0.03, Z:-0.31 [[ 9.99976561e-01 -5.61808963e-04 6.82366749e-03 2.93534369e+01] [ 5.61443274e-04 9.99999841e-01 5.55067299e-05 2.94548452e-02] [-6.82369759e-03 -5.16743267e-05 9.99976717e-01 -3.05028385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:0.03, Z:-0.31 [[ 9.99962063e-01 -5.41386423e-03 6.82367661e-03 2.94146345e+01] [ 5.41361932e-03 9.99985345e-01 5.43615712e-05 3.42647060e-02] [-6.82387092e-03 -1.74187213e-05 9.99976717e-01 -3.13653692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:0.04, Z:-0.30 [[ 9.99917539e-01 -1.08790239e-02 6.82368482e-03 2.94769600e+01] [ 1.08789134e-02 9.99940821e-01 5.33111516e-05 3.86902209e-02] [-6.82386098e-03 2.09275209e-05 9.99976717e-01 -3.03861995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:0.04, Z:-0.31 [[ 9.99709959e-01 -2.30962011e-02 6.82369343e-03 2.95395317e+01] [ 2.30963828e-02 9.99733242e-01 5.21850710e-05 3.85629257e-02] [-6.82307843e-03 1.05432700e-04 9.99976717e-01 -3.10083036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:0.04, Z:-0.32 [[ 9.99607650e-01 -2.71658449e-02 6.82370320e-03 2.96016570e+01] [ 2.71661303e-02 9.99630931e-01 5.08749626e-05 3.73479744e-02] [-6.82256684e-03 1.34518608e-04 9.99976717e-01 -3.16971096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:0.03, Z:-0.32 [[ 9.99338358e-01 -3.57251119e-02 6.82370560e-03 2.96633528e+01] [ 3.57255989e-02 9.99361636e-01 5.05514043e-05 3.33010937e-02] [-6.82115554e-03 1.93263011e-04 9.99976717e-01 -3.22190860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:0.03, Z:-0.31 [[ 9.99130780e-01 -4.11232409e-02 6.82371311e-03 2.97253793e+01] [ 4.11238607e-02 9.99154055e-01 4.95159677e-05 3.32416546e-02] [-6.81997688e-03 2.31144500e-04 9.99976717e-01 -3.14229224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:0.04, Z:-0.31 [[ 9.99536596e-01 -2.96653061e-02 6.82371539e-03 2.97874768e+01] [ 2.96656612e-02 9.99559876e-01 4.92000674e-05 3.98419772e-02] [-6.82217164e-03 1.53252761e-04 9.99976717e-01 -3.13395191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:0.05, Z:-0.32 [[ 9.99749901e-01 -2.12972343e-02 6.82371764e-03 2.98489930e+01] [ 2.12973966e-02 9.99773184e-01 4.88860888e-05 4.51362802e-02] [-6.82321104e-03 9.64535582e-05 9.99976717e-01 -3.17401408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.91, Y:0.05, Z:-0.31 [[ 9.99770505e-01 -2.03070188e-02 6.82371931e-03 2.99108406e+01] [ 2.03071596e-02 9.99793787e-01 4.86514342e-05 4.98009172e-02] [-6.82330014e-03 8.99300885e-05 9.99976717e-01 -3.10752148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:0.05, Z:-0.32 [[ 9.99620669e-01 -2.66824825e-02 6.82372153e-03 2.99730983e+01] [ 2.66827740e-02 9.99643950e-01 4.83374554e-05 4.90553174e-02] [-6.82258171e-03 1.33756700e-04 9.99976717e-01 -3.15602768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:0.05, Z:-0.31 [[ 9.99369832e-01 -3.48335457e-02 6.82372376e-03 3.00355963e+01] [ 3.48340292e-02 9.99393110e-01 4.80209734e-05 4.74718025e-02] [-6.82125525e-03 1.89707081e-04 9.99976717e-01 -3.07426887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:0.05, Z:-0.31 [[ 9.99238476e-01 -3.84175146e-02 6.82372598e-03 3.00973716e+01] [ 3.84180838e-02 9.99261752e-01 4.77038431e-05 4.51284152e-02] [-6.82052104e-03 2.14486961e-04 9.99976717e-01 -3.09487624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:0.04, Z:-0.31 [[ 9.99281923e-01 -3.72702852e-02 6.82373396e-03 3.01592053e+01] [ 3.72708356e-02 9.99305200e-01 4.65337106e-05 4.43236323e-02] [-6.82072715e-03 2.07825970e-04 9.99976717e-01 -3.13834666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:0.04, Z:-0.31 [[ 9.99434987e-01 -3.29111332e-02 6.82373610e-03 3.02223127e+01] [ 3.29115842e-02 9.99458266e-01 4.62170338e-05 4.44521748e-02] [-6.82156051e-03 1.78389045e-04 9.99976717e-01 -3.12263352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:0.05, Z:-0.31 [[ 9.99566665e-01 -2.86342268e-02 6.82373926e-03 3.02848655e+01] [ 2.86345814e-02 9.99589945e-01 4.57452095e-05 4.82996887e-02] [-6.82225104e-03 1.49669531e-04 9.99976717e-01 -3.10244161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:0.05, Z:-0.31 [[ 9.99470941e-01 -3.18005322e-02 6.82374240e-03 3.03472520e+01] [ 3.18009638e-02 9.99494220e-01 4.52729691e-05 4.87587444e-02] [-6.82173079e-03 1.71752568e-04 9.99976717e-01 -3.08599206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:0.05, Z:-0.31 [[ 9.99348292e-01 -3.54461380e-02 6.82374497e-03 3.04107459e+01] [ 3.54466572e-02 9.99371569e-01 4.48826912e-05 4.89803230e-02] [-6.82104763e-03 1.97025508e-04 9.99976717e-01 -3.10565780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:0.05, Z:-0.31 [[ 9.99290057e-01 -3.70515664e-02 6.82374803e-03 3.04728111e+01] [ 3.70521262e-02 9.99313333e-01 4.44112479e-05 5.03641834e-02] [-6.82070790e-03 2.08454655e-04 9.99976717e-01 -3.10763703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.05, Z:-0.31 [[ 9.99365731e-01 -3.49509981e-02 6.82375005e-03 3.05343879e+01] [ 3.49515111e-02 9.99389008e-01 4.40998153e-05 4.94713911e-02] [-6.82112212e-03 1.94428531e-04 9.99976717e-01 -3.10666902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:0.05, Z:-0.31 [[ 9.99426765e-01 -3.31598709e-02 6.82375577e-03 3.05978144e+01] [ 3.31603483e-02 9.99450043e-01 4.31954562e-05 4.97338850e-02] [-6.82143536e-03 1.83107423e-04 9.99976717e-01 -3.12714596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:0.05, Z:-0.31 [[ 9.99337778e-01 -3.57413252e-02 6.82375873e-03 3.06603195e+01] [ 3.57418659e-02 9.99361054e-01 4.27233423e-05 5.29116105e-02] [-6.82092571e-03 2.01198820e-04 9.99976717e-01 -3.07557542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:0.05, Z:-0.31 [[ 9.99294574e-01 -3.69295330e-02 6.82376579e-03 3.07225285e+01] [ 3.69301093e-02 9.99317850e-01 4.15633356e-05 5.39363886e-02] [-6.82064587e-03 2.10468401e-04 9.99976717e-01 -3.09145529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:0.06, Z:-0.31 [[ 9.99268237e-01 -3.76354551e-02 6.82376810e-03 3.07859989e+01] [ 3.76360505e-02 9.99291512e-01 4.11805198e-05 5.77757353e-02] [-6.82048339e-03 2.15669296e-04 9.99976717e-01 -3.10094478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.85, Y:0.07, Z:-0.31 [[ 9.99089509e-01 -4.21140120e-02 6.82377083e-03 3.08477791e+01] [ 4.21147148e-02 9.99112781e-01 4.07243247e-05 6.50497695e-02] [-6.81943171e-03 2.46693917e-04 9.99976717e-01 -3.14024102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:0.07, Z:-0.32 [[ 9.98859503e-01 -4.72559995e-02 6.82377268e-03 3.09098985e+01] [ 4.72568243e-02 9.98882771e-01 4.04105346e-05 6.82639895e-02] [-6.81805861e-03 2.82105380e-04 9.99976717e-01 -3.19985245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:0.08, Z:-0.32 [[ 9.98510129e-01 -5.41383227e-02 6.82377451e-03 3.09725711e+01] [ 5.41393099e-02 9.98533391e-01 4.00996637e-05 7.50538940e-02] [-6.81593763e-03 3.29394523e-04 9.99976717e-01 -3.19084150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:0.08, Z:-0.32 [[ 9.98395939e-01 -5.62048503e-02 6.82378173e-03 3.10355299e+01] [ 5.62058943e-02 9.98419199e-01 3.88309836e-05 7.96771962e-02] [-6.81517717e-03 3.44768059e-04 9.99976717e-01 -3.20761328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:0.09, Z:-0.33 [[ 9.98152650e-01 -6.03715362e-02 6.82378866e-03 3.10964988e+01] [ 6.03726859e-02 9.98175905e-01 3.75714524e-05 8.55809589e-02] [-6.81360967e-03 3.74468405e-04 9.99976717e-01 -3.26512774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:0.09, Z:-0.32 [[ 9.97825387e-01 -6.55586251e-02 6.82379204e-03 3.11591663e+01] [ 6.55598999e-02 9.97848635e-01 3.69489205e-05 8.90015333e-02] [-6.81153389e-03 4.10498552e-04 9.99976717e-01 -3.21191213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:0.09, Z:-0.32 [[ 9.97474540e-01 -7.06963759e-02 6.82379773e-03 3.12203796e+01] [ 7.06977777e-02 9.97497781e-01 3.58658981e-05 9.44889105e-02] [-6.80925868e-03 4.46652015e-04 9.99976717e-01 -3.16564207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:0.10, Z:-0.32 [[ 9.97570225e-01 -6.93331255e-02 6.82380280e-03 3.12827112e+01] [ 6.93345023e-02 9.97593467e-01 3.48728184e-05 9.64718560e-02] [-6.80979894e-03 4.38336886e-04 9.99976717e-01 -3.22386335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:0.10, Z:-0.32 [[ 9.97651473e-01 -6.81540515e-02 6.82380819e-03 3.13434095e+01] [ 6.81554083e-02 9.97674716e-01 3.37853977e-05 9.99628784e-02] [-6.81024351e-03 4.31373382e-04 9.99976717e-01 -3.17011563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:0.10, Z:-0.32 [[ 9.97523579e-01 -7.00010329e-02 6.82381082e-03 3.14063439e+01] [ 7.00024364e-02 9.97546820e-01 3.32459551e-05 1.03898253e-01] [-6.80939803e-03 4.44519759e-04 9.99976717e-01 -3.15152675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:0.10, Z:-0.32 [[ 9.97265836e-01 -7.35818497e-02 6.82381656e-03 3.14695643e+01] [ 7.35833449e-02 9.97289071e-01 3.20224006e-05 1.01500855e-01] [-6.80767394e-03 4.70184401e-04 9.99976717e-01 -3.20298574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:0.09, Z:-0.32 [[ 9.97052138e-01 -7.64229664e-02 6.82382218e-03 3.15326426e+01] [ 7.64245363e-02 9.97075368e-01 3.07751566e-05 9.38070521e-02] [-6.80621694e-03 4.90823011e-04 9.99976717e-01 -3.17052171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.60, Y:0.09, Z:-0.32 [[ 9.97228343e-01 -7.40882447e-02 6.82382754e-03 3.15959554e+01] [ 7.40897687e-02 9.97251576e-01 2.95378286e-05 8.81053021e-02] [-6.80726117e-03 4.76119844e-04 9.99976717e-01 -3.19310783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.66, Y:0.09, Z:-0.32 [[ 9.97363037e-01 -7.22523859e-02 6.82383263e-03 3.16589808e+01] [ 7.22538755e-02 9.97386273e-01 2.83115937e-05 8.68313215e-02] [-6.80804257e-03 4.64811416e-04 9.99976717e-01 -3.19364771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.72, Y:0.09, Z:-0.32 [[ 9.97620926e-01 -6.85997312e-02 6.82383748e-03 3.17211394e+01] [ 6.86011439e-02 9.97644166e-01 2.70899355e-05 8.60492589e-02] [-6.80962001e-03 4.41097570e-04 9.99976717e-01 -3.18554464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:31.78, Y:0.09, Z:-0.32 [[ 9.97902220e-01 -6.43785237e-02 6.82384180e-03 3.17846766e+01] [ 6.43798458e-02 9.97925466e-01 2.59538675e-05 8.70278671e-02] [-6.81135637e-03 4.13418461e-04 9.99976717e-01 -3.22432558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.85, Y:0.09, Z:-0.33 [[ 9.98218725e-01 -5.92689768e-02 6.82384619e-03 3.18466047e+01] [ 5.92701882e-02 9.98241977e-01 2.47432120e-05 8.77913711e-02] [-6.81331621e-03 3.79751510e-04 9.99976717e-01 -3.25330063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.91, Y:0.09, Z:-0.33 [[ 9.98393964e-01 -5.62399176e-02 6.82384996e-03 3.19085696e+01] [ 5.62410659e-02 9.98417218e-01 2.36548382e-05 8.92517570e-02] [-6.81437964e-03 3.60163748e-04 9.99976717e-01 -3.26060046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.97, Y:0.10, Z:-0.32 [[ 9.98747576e-01 -4.95652572e-02 6.82385378e-03 3.19704028e+01] [ 4.95662579e-02 9.98770837e-01 2.24953440e-05 9.55320396e-02] [-6.81658114e-03 3.15765726e-04 9.99976717e-01 -3.22133868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:0.10, Z:-0.32 [[ 9.98935782e-01 -4.56151205e-02 6.82385708e-03 3.20321121e+01] [ 4.56160363e-02 9.98959047e-01 2.14446161e-05 1.01215500e-01] [-6.81773196e-03 2.89855518e-04 9.99976717e-01 -3.22040191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:0.11, Z:-0.33 [[ 9.98857900e-01 -4.72898591e-02 6.82385806e-03 3.20943258e+01] [ 4.72908162e-02 9.98881163e-01 2.11302698e-05 1.06671373e-01] [-6.81722252e-03 3.01599680e-04 9.99976717e-01 -3.25885929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:0.11, Z:-0.33 [[ 9.98328345e-01 -5.73929503e-02 6.82385901e-03 3.21575274e+01] [ 5.73941448e-02 9.98351597e-01 2.08163060e-05 1.09160779e-01] [-6.81380526e-03 3.70868044e-04 9.99976717e-01 -3.26785368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:0.11, Z:-0.32 [[ 9.97804209e-01 -6.58801654e-02 6.82386263e-03 3.22192942e+01] [ 6.58815662e-02 9.97827449e-01 1.95552420e-05 1.08287061e-01] [-6.81032574e-03 4.30054454e-04 9.99976717e-01 -3.24108977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:0.11, Z:-0.33 [[ 9.97075897e-01 -7.61123524e-02 6.82386542e-03 3.22822136e+01] [ 7.61139985e-02 9.97099122e-01 1.85269760e-05 1.05472699e-01] [-6.80548035e-03 5.00918881e-04 9.99976717e-01 -3.25415452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:32.35, Y:0.10, Z:-0.33 [[ 9.96830009e-01 -7.92677016e-02 6.82386861e-03 3.23455561e+01] [ 7.92694298e-02 9.96853228e-01 1.72652059e-05 1.03172938e-01] [-6.80376402e-03 5.23713698e-04 9.99976717e-01 -3.26818903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:32.41, Y:0.10, Z:-0.33 [[ 9.96844203e-01 -7.90889983e-02 6.82387155e-03 3.24066516e+01] [ 7.90907309e-02 9.96867421e-01 1.60120834e-05 9.87552777e-02] [-6.80376162e-03 5.23743436e-04 9.99976717e-01 -3.29339264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.47, Y:0.10, Z:-0.32 [[ 9.97326479e-01 -7.27552636e-02 6.82387293e-03 3.24696524e+01] [ 7.27568527e-02 9.97349708e-01 1.54024554e-05 9.77251698e-02] [-6.80690828e-03 4.81122241e-04 9.99976717e-01 -3.23361227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.53, Y:0.10, Z:-0.32 [[ 9.98449341e-01 -5.52480679e-02 6.82387549e-03 3.25314959e+01] [ 5.52492577e-02 9.98472593e-01 1.41691938e-05 1.02574580e-01] [-6.81423548e-03 3.62866833e-04 9.99976717e-01 -3.23763374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.59, Y:0.11, Z:-0.32 [[ 9.99261881e-01 -3.78038031e-02 6.82387781e-03 3.25946997e+01] [ 3.78045950e-02 9.99285151e-01 1.29477199e-05 1.12265242e-01] [-6.81948924e-03 2.45035774e-04 9.99976717e-01 -3.23261810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:32.66, Y:0.12, Z:-0.32 [[ 9.99569295e-01 -2.85422480e-02 6.82387864e-03 3.26574014e+01] [ 2.85428274e-02 9.99592570e-01 1.24933639e-05 1.21711029e-01] [-6.82145498e-03 1.82284807e-04 9.99976717e-01 -3.24505782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:0.14, Z:-0.33 [[ 9.99821207e-01 -1.76348760e-02 6.82387948e-03 3.27182760e+01] [ 1.76352046e-02 9.99844488e-01 1.20171752e-05 1.36601392e-01] [-6.82303020e-03 1.08325484e-04 9.99976717e-01 -3.25133920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:0.15, Z:-0.32 [[ 9.99886011e-01 -1.34684819e-02 6.82387988e-03 3.27802786e+01] [ 1.34687151e-02 9.99909293e-01 1.17814031e-05 1.45904691e-01] [-6.82341959e-03 8.01288343e-05 9.99976717e-01 -3.23673687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.84, Y:0.16, Z:-0.32 [[ 9.99904700e-01 -1.20010808e-02 6.82388041e-03 3.28437030e+01] [ 1.20012820e-02 9.99927982e-01 1.14703400e-05 1.55350510e-01] [-6.82352662e-03 7.04260661e-05 9.99976717e-01 -3.22444228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:0.16, Z:-0.33 [[ 9.99901430e-01 -1.22704686e-02 6.82388118e-03 3.29059789e+01] [ 1.22706793e-02 9.99924712e-01 1.09912055e-05 1.62560347e-01] [-6.82350229e-03 7.27435355e-05 9.99976717e-01 -3.28155824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:0.16, Z:-0.33 [[ 9.99922058e-01 -1.04552792e-02 6.82388169e-03 3.29692957e+01] [ 1.04554499e-02 9.99945340e-01 1.06672551e-05 1.62818624e-01] [-6.82362022e-03 6.06803291e-05 9.99976717e-01 -3.28148590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:0.16, Z:-0.32 [[ 9.99963993e-01 -5.04462706e-03 6.82388242e-03 3.30314611e+01] [ 5.04467507e-03 9.99987275e-01 1.01767183e-05 1.61838705e-01] [-6.82384692e-03 2.42479176e-05 9.99976717e-01 -3.19519151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.09, Y:0.16, Z:-0.33 [[ 9.99976549e-01 5.79026216e-04 6.82388302e-03 3.30923821e+01] [-5.79106243e-04 9.99999832e-01 9.75162699e-06 1.61968440e-01] [-6.82387623e-03 -1.37031516e-05 9.99976717e-01 -3.25156447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.15, Y:0.16, Z:-0.33 [[ 9.99969607e-01 3.77089584e-03 6.82388338e-03 3.31547969e+01] [-3.77104844e-03 9.99992890e-01 9.49606716e-06 1.62046744e-01] [-6.82379905e-03 -3.52289733e-05 9.99976717e-01 -3.31209236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.22, Y:0.16, Z:-0.32 [[ 9.99938120e-01 8.78581527e-03 6.82388382e-03 3.32156872e+01] [-8.78608240e-03 9.99961402e-01 9.16906049e-06 1.62141128e-01] [-6.82353987e-03 -6.91236986e-05 9.99976717e-01 -3.24751685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:0.16, Z:-0.31 [[ 9.99913570e-01 1.12377992e-02 6.82388450e-03 3.32734034e+01] [-1.12381198e-02 9.99936850e-01 8.63260617e-06 1.62855586e-01] [-6.82335656e-03 -8.53194913e-05 9.99976717e-01 -3.14514398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:0.16, Z:-0.32 [[ 9.99903057e-01 1.21371962e-02 6.82388407e-03 3.33324493e+01] [-1.21375399e-02 9.99926337e-01 8.95857561e-06 1.59315150e-01] [-6.82327267e-03 -9.17828725e-05 9.99976717e-01 -3.22202968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:0.16, Z:-0.32 [[ 9.99918272e-01 1.08112605e-02 6.82388379e-03 3.33916463e+01] [-1.08115747e-02 9.99941553e-01 9.16514394e-06 1.56328869e-01] [-6.82338587e-03 -8.29413245e-05 9.99976717e-01 -3.20634260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:0.14, Z:-0.33 [[ 9.99953933e-01 6.75023515e-03 6.82388334e-03 3.34513637e+01] [-6.75045711e-03 9.99977215e-01 9.49411476e-06 1.44834311e-01] [-6.82366377e-03 -5.55580092e-05 9.99976717e-01 -3.26496115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:0.14, Z:-0.33 [[ 9.99962832e-01 5.26958185e-03 6.82388310e-03 3.35119680e+01] [-5.26977045e-03 9.99986115e-01 9.65849084e-06 1.35914198e-01] [-6.82373745e-03 -4.56184294e-05 9.99976717e-01 -3.29058878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:0.13, Z:-0.33 [[ 9.99956422e-01 6.37095199e-03 6.82388310e-03 3.35731209e+01] [-6.37116624e-03 9.99979704e-01 9.65849084e-06 1.26765066e-01] [-6.82368307e-03 -5.31341636e-05 9.99976717e-01 -3.28751380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:0.12, Z:-0.33 [[ 9.99936200e-01 9.00164158e-03 6.82388333e-03 3.36335667e+01] [-9.00191597e-03 9.99959482e-01 9.49585727e-06 1.16623894e-01] [-6.82352136e-03 -7.09232758e-05 9.99976717e-01 -3.28655269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.69, Y:0.11, Z:-0.32 [[ 9.99854791e-01 1.56151026e-02 6.82388333e-03 3.36917841e+01] [-1.56155309e-02 9.99878070e-01 9.49585727e-06 1.05296309e-01] [-6.82290302e-03 -1.16053040e-04 9.99976717e-01 -3.24910049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:33.75, Y:0.10, Z:-0.33 [[ 9.99755109e-01 2.10512983e-02 6.82388298e-03 3.37506062e+01] [-2.10518549e-02 9.99778385e-01 9.73789595e-06 9.72486134e-02] [-6.82216571e-03 -1.53390906e-04 9.99976717e-01 -3.29400220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.81, Y:0.09, Z:-0.33 [[ 9.99625823e-01 2.64886401e-02 6.82388252e-03 3.38092767e+01] [-2.64893254e-02 9.99649096e-01 1.00514747e-05 8.73046925e-02] [-6.82122175e-03 -1.90807758e-04 9.99976717e-01 -3.32439962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:0.08, Z:-0.33 [[ 9.99537037e-01 2.96504013e-02 6.82388202e-03 3.38682450e+01] [-2.96511625e-02 9.99560308e-01 1.03786381e-05 7.61145506e-02] [-6.82057388e-03 -2.12709868e-04 9.99976717e-01 -3.28922051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:0.07, Z:-0.33 [[ 9.99473096e-01 3.17327202e-02 6.82388151e-03 3.39258670e+01] [-3.17335320e-02 9.99496365e-01 1.07078896e-05 6.89702135e-02] [-6.82010497e-03 -2.27248110e-04 9.99976717e-01 -3.29545624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:0.06, Z:-0.33 [[ 9.99329015e-01 3.59854847e-02 6.82388069e-03 3.39842538e+01] [-3.59863990e-02 9.99352280e-01 1.12063749e-05 6.22684242e-02] [-6.81905746e-03 -2.56765749e-04 9.99976717e-01 -3.30672708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:0.06, Z:-0.33 [[ 9.99183330e-01 3.98259760e-02 6.82387984e-03 3.40410543e+01] [-3.98269831e-02 9.99206591e-01 1.17025526e-05 5.55286167e-02] [-6.81799964e-03 -2.83467542e-04 9.99976717e-01 -3.28865574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:0.05, Z:-0.33 [[ 9.98920365e-01 4.59514785e-02 6.82387831e-03 3.40983869e+01] [-4.59526338e-02 9.98943620e-01 1.25349847e-05 4.75220303e-02] [-6.81609370e-03 -3.26096633e-04 9.99976717e-01 -3.27153737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:0.04, Z:-0.33 [[ 9.98619616e-01 5.20797276e-02 6.82387722e-03 3.41561391e+01] [-5.20810294e-02 9.98642862e-01 1.31004743e-05 3.65907357e-02] [-6.81393401e-03 -3.68476941e-04 9.99976717e-01 -3.27593978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:0.03, Z:-0.33 [[ 9.98507512e-01 5.41865636e-02 6.82387626e-03 3.42140239e+01] [-5.41879178e-02 9.98530755e-01 1.35860344e-05 2.92775389e-02] [-6.81311413e-03 -3.83337403e-04 9.99976717e-01 -3.29872813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.27, Y:0.02, Z:-0.33 [[ 9.98403252e-01 5.60747809e-02 6.82387520e-03 3.42713226e+01] [-5.60761825e-02 9.98426493e-01 1.40978492e-05 1.71750152e-02] [-6.81234725e-03 -3.96732210e-04 9.99976717e-01 -3.33984691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:0.01, Z:-0.34 [[ 9.98344055e-01 5.71190272e-02 6.82387393e-03 3.43286622e+01] [-5.71204572e-02 9.98367294e-01 1.46893475e-05 7.76248314e-03] [-6.81189350e-03 -4.04447821e-04 9.99976717e-01 -3.35964028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:0.00, Z:-0.33 [[ 9.98431786e-01 5.55644114e-02 6.82387196e-03 3.43869312e+01] [-5.55658110e-02 9.98455027e-01 1.55518524e-05 1.49926099e-03] [-6.81246513e-03 -3.94701444e-04 9.99976717e-01 -3.33863336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.01, Z:-0.34 [[ 9.98535205e-01 5.36738178e-02 6.82387080e-03 3.44445130e+01] [-5.36751768e-02 9.98558449e-01 1.60471461e-05 -7.00844692e-03] [-6.81317252e-03 -3.82296112e-04 9.99976717e-01 -3.36871357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.01, Z:-0.34 [[ 9.98587413e-01 5.26935839e-02 6.82386961e-03 3.45029279e+01] [-5.26949235e-02 9.98610657e-01 1.65377324e-05 -1.30693887e-02] [-6.81351748e-03 -3.76097658e-04 9.99976717e-01 -3.39413593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.02, Z:-0.34 [[ 9.98740205e-01 4.97135653e-02 6.82386832e-03 3.45600301e+01] [-4.97148390e-02 9.98763453e-01 1.70515093e-05 -2.03739676e-02] [-6.81458260e-03 -3.56277543e-04 9.99976717e-01 -3.38537430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.03, Z:-0.34 [[ 9.98759350e-01 4.93274360e-02 6.82386679e-03 3.46181985e+01] [-4.93287048e-02 9.98782598e-01 1.76458599e-05 -3.04693797e-02] [-6.81468897e-03 -3.54236478e-04 9.99976717e-01 -3.38451811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.04, Z:-0.34 [[ 9.98665867e-01 5.11851710e-02 6.82386546e-03 3.46763802e+01] [-5.11864865e-02 9.98689112e-01 1.81443442e-05 -3.62048863e-02] [-6.81399142e-03 -3.67409834e-04 9.99976717e-01 -3.35699019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.05, Z:-0.33 [[ 9.98427974e-01 5.56328579e-02 6.82386409e-03 3.47330661e+01] [-5.56342803e-02 9.98451214e-01 1.86469258e-05 -4.89020384e-02] [-6.81225800e-03 -3.98258380e-04 9.99976717e-01 -3.32104298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.05, Z:-0.33 [[ 9.98268762e-01 5.84201522e-02 6.82386245e-03 3.47924249e+01] [-5.84216434e-02 9.98291997e-01 1.92283524e-05 -5.40335126e-02] [-6.81108395e-03 -4.17856322e-04 9.99976717e-01 -3.28672096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.06, Z:-0.33 [[ 9.98216545e-01 5.93056848e-02 6.82386172e-03 3.48506669e+01] [-5.93071983e-02 9.98239779e-01 1.94851514e-05 -6.10610388e-02] [-6.81069463e-03 -4.24154521e-04 9.99976717e-01 -3.32375304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.07, Z:-0.33 [[ 9.98013218e-01 6.26342699e-02 6.82385987e-03 3.49084512e+01] [-6.26358652e-02 9.98036446e-01 2.01112848e-05 -6.97139981e-02] [-6.80920120e-03 -4.47489695e-04 9.99976717e-01 -3.34452096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.07, Z:-0.34 [[ 9.97939935e-01 6.37912254e-02 6.82385835e-03 3.49657606e+01] [-6.37928510e-02 9.97963162e-01 2.06144835e-05 -7.44942829e-02] [-6.80864423e-03 -4.55885396e-04 9.99976717e-01 -3.38507690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.08, Z:-0.34 [[ 9.98088041e-01 6.14304222e-02 6.82385708e-03 3.50224369e+01] [-6.14319957e-02 9.98111271e-01 2.10270912e-05 -8.03443507e-02] [-6.80967696e-03 -4.40190047e-04 9.99976717e-01 -3.43606484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.09, Z:-0.34 [[ 9.98524623e-01 5.38703232e-02 6.82385533e-03 3.50808353e+01] [-5.38717245e-02 9.98547864e-01 2.15784620e-05 -8.88034878e-02] [-6.81278373e-03 -3.89159480e-04 9.99976717e-01 -3.36265783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.10, Z:-0.34 [[ 9.98752861e-01 4.94586548e-02 6.82385374e-03 3.51395329e+01] [-4.94599568e-02 9.98776107e-01 2.20709897e-05 -9.98140121e-02] [-6.81441047e-03 -3.59550975e-04 9.99976717e-01 -3.39627244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.12, Z:-0.34 [[ 9.98785392e-01 4.87972966e-02 6.82385265e-03 3.51969409e+01] [-4.87985854e-02 9.98808639e-01 2.24028031e-05 -1.17306006e-01] [-6.81462979e-03 -3.55369949e-04 9.99976717e-01 -3.37690900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.13, Z:-0.34 [[ 9.98531143e-01 5.37493304e-02 6.82385122e-03 3.52562506e+01] [-5.37507374e-02 9.98554384e-01 2.28323452e-05 -1.34356608e-01] [-6.81275932e-03 -3.89585843e-04 9.99976717e-01 -3.42869198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.14, Z:-0.34 [[ 9.98097791e-01 6.12718131e-02 6.82385012e-03 3.53143987e+01] [-6.12733974e-02 9.98121020e-01 2.31558390e-05 -1.40793688e-01] [-6.80960944e-03 -4.41232272e-04 9.99976717e-01 -3.40812838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.15, Z:-0.34 [[ 9.97488016e-01 7.05059821e-02 6.82384838e-03 3.53729989e+01] [-7.05077847e-02 9.97511229e-01 2.36557513e-05 -1.49935230e-01] [-6.80519752e-03 -5.04730761e-04 9.99976717e-01 -3.39190142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.15, Z:-0.34 [[ 9.97376269e-01 7.20695018e-02 6.82384723e-03 3.54307621e+01] [-7.20713431e-02 9.97399479e-01 2.39853273e-05 -1.53791882e-01] [-6.80437306e-03 -5.15726231e-04 9.99976717e-01 -3.37735752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.16, Z:-0.34 [[ 9.97405742e-01 7.16604612e-02 6.82384547e-03 3.54887631e+01] [-7.16622962e-02 9.97428952e-01 2.44756346e-05 -1.62246722e-01] [-6.80454710e-03 -5.13424574e-04 9.99976717e-01 -3.39499715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.17, Z:-0.34 [[ 9.97549202e-01 6.96349373e-02 6.82384368e-03 3.55461701e+01] [-6.96367286e-02 9.97572416e-01 2.49650134e-05 -1.69114662e-01] [-6.80553979e-03 -5.00093979e-04 9.99976717e-01 -3.40122068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.18, Z:-0.34 [[ 9.97842704e-01 6.52945104e-02 6.82384187e-03 3.56035252e+01] [-6.52962039e-02 9.97865925e-01 2.54492783e-05 -1.78623846e-01] [-6.80761759e-03 -4.70965347e-04 9.99976717e-01 -3.40866335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:-0.19, Z:-0.34 [[ 9.98048333e-01 6.20722239e-02 6.82384038e-03 3.56625701e+01] [-6.20738451e-02 9.98071559e-01 2.58434258e-05 -1.86676858e-01] [-6.80907685e-03 -4.49374999e-04 9.99976717e-01 -3.39872550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.20, Z:-0.34 [[ 9.98582080e-01 5.27945527e-02 6.82383917e-03 3.57218196e+01] [-5.27959602e-02 9.98605320e-01 2.61576393e-05 -2.01559784e-01] [-6.81294112e-03 -3.86391691e-04 9.99976717e-01 -3.38876931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.22, Z:-0.34 [[ 9.98901367e-01 4.63626437e-02 6.82383788e-03 3.57801434e+01] [-4.63639037e-02 9.98924616e-01 2.64910961e-05 -2.17744003e-01] [-6.81527143e-03 -3.42841754e-04 9.99976717e-01 -3.38660912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.23, Z:-0.34 [[ 9.98813935e-01 4.82095221e-02 6.82383722e-03 3.58397726e+01] [-4.82108263e-02 9.98837182e-01 2.66598087e-05 -2.28615515e-01] [-6.81461708e-03 -3.55611019e-04 9.99976717e-01 -3.41036756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.24, Z:-0.34 [[ 9.98175674e-01 5.99896515e-02 6.82383657e-03 3.58977795e+01] [-5.99912309e-02 9.98198904e-01 2.68263767e-05 -2.40883799e-01] [-6.80993687e-03 -4.36147792e-04 9.99976717e-01 -3.44104475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.25, Z:-0.34 [[ 9.97593831e-01 6.89926288e-02 6.82383480e-03 3.59564535e+01] [-6.89944207e-02 9.97617045e-01 2.72688829e-05 -2.47065997e-01] [-6.80569256e-03 -4.98009798e-04 9.99976717e-01 -3.42982685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.26, Z:-0.34 [[ 9.96880702e-01 7.86276176e-02 6.82383346e-03 3.60143832e+01] [-7.86296360e-02 9.96903897e-01 2.75986685e-05 -2.55616506e-01] [-6.80053615e-03 -5.64068121e-04 9.99976717e-01 -3.44102896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.26, Z:-0.35 [[ 9.96613491e-01 8.19450155e-02 6.82383180e-03 3.60728888e+01] [-8.19471139e-02 9.96636679e-01 2.80050358e-05 -2.58685796e-01] [-6.79858619e-03 -5.87103518e-04 9.99976717e-01 -3.45032459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.27, Z:-0.35 [[ 9.96425272e-01 8.42028065e-02 6.82383045e-03 3.61304698e+01] [-8.42049596e-02 9.96448455e-01 2.83280340e-05 -2.66721768e-01] [-6.79721002e-03 -6.02827137e-04 9.99976717e-01 -3.46895472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.28, Z:-0.35 [[ 9.96571462e-01 8.24545712e-02 6.82382877e-03 3.61883214e+01] [-8.24566864e-02 9.96594649e-01 2.87274687e-05 -2.75920926e-01] [-6.79822253e-03 -5.91299284e-04 9.99976717e-01 -3.47854022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.28, Z:-0.34 [[ 9.96695648e-01 8.09396067e-02 6.82382704e-03 3.62484454e+01] [-8.09416894e-02 9.96718838e-01 2.91329121e-05 -2.79883185e-01] [-6.79907895e-03 -5.81368735e-04 9.99976717e-01 -3.42213628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.29, Z:-0.35 [[ 9.96823357e-01 7.93513087e-02 6.82382637e-03 3.63077212e+01] [-7.93533555e-02 9.96846550e-01 2.92896008e-05 -2.85605777e-01] [-6.79998361e-03 -5.70690078e-04 9.99976717e-01 -3.48901040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.29, Z:-0.35 [[ 9.96721081e-01 8.06258142e-02 6.82382569e-03 3.63677198e+01] [-8.06278917e-02 9.96744271e-01 2.94459729e-05 -2.89679487e-01] [-6.79923506e-03 -5.79540101e-04 9.99976717e-01 -3.48247830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.30, Z:-0.35 [[ 9.97151922e-01 7.51097920e-02 6.82382502e-03 3.64271738e+01] [-7.51117421e-02 9.97175123e-01 2.96017994e-05 -2.95770519e-01] [-6.80232517e-03 -5.42066876e-04 9.99976717e-01 -3.45183555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.31, Z:-0.35 [[ 9.97833653e-01 6.54326785e-02 6.82382468e-03 3.64881048e+01] [-6.54344040e-02 9.97856872e-01 2.96790177e-05 -3.08242090e-01] [-6.80725838e-03 -4.76127624e-04 9.99976717e-01 -3.50397765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.32, Z:-0.35 [[ 9.98006971e-01 6.27337377e-02 6.82382536e-03 3.65499033e+01] [-6.27353993e-02 9.98030194e-01 2.95214076e-05 -3.16549870e-01] [-6.80853177e-03 -4.57557980e-04 9.99976717e-01 -3.52441991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.33, Z:-0.36 [[ 9.98028338e-01 6.23928815e-02 6.82382604e-03 3.66114944e+01] [-6.23945342e-02 9.98051562e-01 2.93651236e-05 -3.28725501e-01] [-6.80869806e-03 -4.55076673e-04 9.99976717e-01 -3.57142448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.34, Z:-0.36 [[ 9.97870237e-01 6.48723834e-02 6.82382670e-03 3.66737212e+01] [-6.48740927e-02 9.97893457e-01 2.92104120e-05 -3.39609546e-01] [-6.80755707e-03 -4.71837767e-04 9.99976717e-01 -3.58225168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.34, Z:-0.35 [[ 9.97783264e-01 6.61966283e-02 6.82383142e-03 3.67345984e+01] [-6.61983606e-02 9.97806482e-01 2.80615474e-05 -3.43697182e-01] [-6.80700565e-03 -4.79725796e-04 9.99976717e-01 -3.54198566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.35, Z:-0.36 [[ 9.97962834e-01 6.34319889e-02 6.82383395e-03 3.67962593e+01] [-6.34336526e-02 9.97986058e-01 2.74337076e-05 -3.54469801e-01] [-6.80835096e-03 -4.60238533e-04 9.99976717e-01 -3.57040368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.36, Z:-0.35 [[ 9.98287814e-01 5.80936881e-02 6.82383845e-03 3.68589410e+01] [-5.80952197e-02 9.98311046e-01 2.62639151e-05 -3.63326330e-01] [-6.81078753e-03 -4.22651340e-04 9.99976717e-01 -3.48675543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.38, Z:-0.35 [[ 9.98696229e-01 5.05893024e-02 6.82384297e-03 3.69213485e+01] [-5.05906509e-02 9.98719473e-01 2.50323949e-05 -3.82728889e-01] [-6.81383848e-03 -3.70222416e-04 9.99976717e-01 -3.48370161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.40, Z:-0.35 [[ 9.98684805e-01 5.08143285e-02 6.82384700e-03 3.69836935e+01] [-5.08156744e-02 9.98708049e-01 2.38798189e-05 -4.02392542e-01] [-6.81381749e-03 -3.70606800e-04 9.99976717e-01 -3.47862979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-0.41, Z:-0.34 [[ 9.98355318e-01 5.69218280e-02 6.82385106e-03 3.70465663e+01] [-5.69233077e-02 9.98378554e-01 2.26568205e-05 -4.14341501e-01] [-6.81149689e-03 -4.11055731e-04 9.99976717e-01 -3.44401868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-0.43, Z:-0.35 [[ 9.97840614e-01 6.53264431e-02 6.82385501e-03 3.71099392e+01] [-6.53281098e-02 9.97863837e-01 2.13992904e-05 -4.31496407e-01] [-6.80788020e-03 -4.67142630e-04 9.99976717e-01 -3.48556217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-0.44, Z:-0.35 [[ 9.97450064e-01 7.10408608e-02 6.82385887e-03 3.71723448e+01] [-7.10426516e-02 9.97473278e-01 2.00860819e-05 -4.42011995e-01] [-6.80518995e-03 -5.04819892e-04 9.99976717e-01 -3.49108063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.45, Z:-0.36 [[ 9.97126874e-01 7.54415843e-02 6.82386222e-03 3.72348301e+01] [-7.54434693e-02 9.97150080e-01 1.88768513e-05 -4.52788011e-01] [-6.80299066e-03 -5.33638455e-04 9.99976717e-01 -3.56077908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.45, Z:-0.36 [[ 9.97070470e-01 7.61834089e-02 6.82386541e-03 3.72977870e+01] [-7.61853027e-02 9.97093676e-01 1.76399978e-05 -4.54880520e-01] [-6.80268918e-03 -5.37466573e-04 9.99976717e-01 -3.56429084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.47, Z:-0.35 [[ 9.96872612e-01 7.87301056e-02 6.82386839e-03 3.73605308e+01] [-7.87320503e-02 9.96895814e-01 1.63997268e-05 -4.65161602e-01] [-6.80139469e-03 -5.53605588e-04 9.99976717e-01 -3.51038950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.47, Z:-0.35 [[ 9.96737165e-01 8.04267293e-02 6.82387117e-03 3.74232709e+01] [-8.04287049e-02 9.96760364e-01 1.51502930e-05 -4.69006908e-01] [-6.80054582e-03 -5.63935981e-04 9.99976717e-01 -3.54562912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.47, Z:-0.36 [[ 9.96487274e-01 8.34658509e-02 6.82387375e-03 3.74863278e+01] [-8.34678886e-02 9.96510467e-01 1.38791318e-05 -4.69831765e-01] [-6.79890319e-03 -5.83404713e-04 9.99976717e-01 -3.58248704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.47, Z:-0.36 [[ 9.96208702e-01 8.67274817e-02 6.82387608e-03 3.75479104e+01] [-8.67295868e-02 9.96231890e-01 1.26222064e-05 -4.71644144e-01] [-6.79706827e-03 -6.04406305e-04 9.99976717e-01 -3.60265380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.47, Z:-0.36 [[ 9.96654328e-01 8.14468192e-02 6.82387804e-03 3.76107114e+01] [-8.14487935e-02 9.96677528e-01 1.14554632e-05 -4.73614734e-01] [-6.80027288e-03 -5.67213770e-04 9.99976717e-01 -3.59583811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.48, Z:-0.36 [[ 9.97642824e-01 6.82805286e-02 6.82387993e-03 3.76741217e+01] [-6.82821878e-02 9.97666048e-01 1.01849228e-05 -4.82408078e-01] [-6.80725789e-03 -4.76110366e-04 9.99976717e-01 -3.56416837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.49, Z:-0.35 [[ 9.97926479e-01 6.40013892e-02 6.82388158e-03 3.77356528e+01] [-6.40029402e-02 9.97949710e-01 8.92315034e-06 -4.89009321e-01] [-6.80931955e-03 -4.45653133e-04 9.99976717e-01 -3.53863892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.50, Z:-0.36 [[ 9.97927242e-01 6.39894910e-02 6.82388292e-03 3.77988327e+01] [-6.39910336e-02 9.97950473e-01 7.74682810e-06 -4.99400084e-01] [-6.80940147e-03 -4.44398092e-04 9.99976717e-01 -3.61548401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.51, Z:-0.36 [[ 9.97859574e-01 6.50361796e-02 6.82388415e-03 3.78611388e+01] [-6.50377378e-02 9.97882805e-01 6.44288117e-06 -5.08048203e-01] [-6.80901764e-03 -4.50239079e-04 9.99976717e-01 -3.57091866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.52, Z:-0.35 [[ 9.97579990e-01 6.91924778e-02 6.82388508e-03 3.79240157e+01] [-6.91941245e-02 9.97603214e-01 5.23837563e-06 -5.20562648e-01] [-6.80716723e-03 -4.77398452e-04 9.99976717e-01 -3.54295135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.53, Z:-0.36 [[ 9.97204541e-01 7.44079221e-02 6.82388581e-03 3.79857227e+01] [-7.44096816e-02 9.97227757e-01 3.96967615e-06 -5.31234403e-01] [-6.80467297e-03 -5.11721750e-04 9.99976717e-01 -3.60311804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.54, Z:-0.37 [[ 9.96966978e-01 7.75259881e-02 6.82388602e-03 3.80477298e+01] [-7.75278175e-02 9.96990189e-01 3.57149396e-06 -5.35146934e-01] [-6.80307053e-03 -5.32601651e-04 9.99976717e-01 -3.65601418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.54, Z:-0.37 [[ 9.97181675e-01 7.47137325e-02 6.82388644e-03 3.81111665e+01] [-7.47154883e-02 9.97204892e-01 2.37665577e-06 -5.41232615e-01] [-6.80463537e-03 -5.12219965e-04 9.99976717e-01 -3.67850284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.55, Z:-0.36 [[ 9.98009785e-01 6.26889373e-02 6.82388664e-03 3.81742377e+01] [-6.26904045e-02 9.98033022e-01 1.11841886e-06 -5.54366754e-01] [-6.81039410e-03 -4.28908407e-04 9.99976717e-01 -3.62800763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.56, Z:-0.36 [[ 9.98559927e-01 5.32118961e-02 6.82388662e-03 3.82364732e+01] [-5.32131340e-02 9.98583177e-01 -1.50074213e-07 -5.64801551e-01] [-6.81422637e-03 -3.62970535e-04 9.99976717e-01 -3.63508679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.58, Z:-0.37 [[ 9.99051423e-01 4.30080026e-02 6.82388638e-03 3.82998032e+01] [-4.30089949e-02 9.99074685e-01 -1.33416776e-06 -5.78100086e-01] [-6.81762952e-03 -2.92155592e-04 9.99976717e-01 -3.67801248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.59, Z:-0.36 [[ 9.99181620e-01 3.98688565e-02 6.82388590e-03 3.83632915e+01] [-3.98697671e-02 9.99204885e-01 -2.60112359e-06 -5.87201402e-01] [-6.81856383e-03 -2.69467746e-04 9.99976717e-01 -3.59941413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.60, Z:-0.36 [[ 9.99012563e-01 4.39014103e-02 6.82388517e-03 3.84259265e+01] [-4.39024060e-02 9.99035825e-01 -3.88905018e-06 -5.98131955e-01] [-6.81747648e-03 -2.95699767e-04 9.99976717e-01 -3.56141322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.61, Z:-0.36 [[ 9.98662747e-01 5.12460011e-02 6.82388420e-03 3.84885955e+01] [-5.12471591e-02 9.98686001e-01 -5.17109485e-06 -6.05314533e-01] [-6.81518262e-03 -3.44540499e-04 9.99976717e-01 -3.58980606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.61, Z:-0.36 [[ 9.98437782e-01 5.54565555e-02 6.82388299e-03 3.85494553e+01] [-5.54578028e-02 9.98461032e-01 -6.44658769e-06 -6.11532824e-01] [-6.81373876e-03 -3.72001040e-04 9.99976717e-01 -3.57284296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.62, Z:-0.37 [[ 9.98034010e-01 6.23020890e-02 6.82388235e-03 3.86125897e+01] [-6.23034915e-02 9.98057250e-01 -7.06641245e-06 -6.17169650e-01] [-6.81106551e-03 -4.18099176e-04 9.99976717e-01 -3.65255024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.62, Z:-0.37 [[ 9.97315874e-01 7.29004919e-02 6.82388075e-03 3.86746797e+01] [-7.29021324e-02 9.97339099e-01 -8.36798360e-06 -6.18903143e-01] [-6.80633311e-03 -4.89129935e-04 9.99976717e-01 -3.66143152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.62, Z:-0.37 [[ 9.96854622e-01 7.89575640e-02 6.82387906e-03 3.87376635e+01] [-7.89593373e-02 9.96877838e-01 -9.57555485e-06 -6.18319092e-01] [-6.80332986e-03 -5.29263532e-04 9.99976717e-01 -3.71649951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.62, Z:-0.37 [[ 9.96759104e-01 8.01543758e-02 6.82387707e-03 3.88010784e+01] [-8.01561684e-02 9.96782318e-01 -1.08306776e-05 -6.21953837e-01] [-6.80278812e-03 -5.36180263e-04 9.99976717e-01 -3.68106419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.63, Z:-0.37 [[ 9.97022371e-01 7.68103268e-02 6.82387486e-03 3.88635512e+01] [-7.68120330e-02 9.97045591e-01 -1.20785305e-05 -6.26984542e-01] [-6.80464210e-03 -5.12113136e-04 9.99976717e-01 -3.65065236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.93, Y:-0.64, Z:-0.36 [[ 9.97399083e-01 7.17530753e-02 6.82387245e-03 3.89269609e+01] [-7.17546554e-02 9.97422312e-01 -1.33109232e-05 -6.39083132e-01] [-6.80723774e-03 -4.76368314e-04 9.99976717e-01 -3.64200149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.65, Z:-0.37 [[ 9.97547764e-01 6.96555334e-02 6.82386982e-03 3.89889043e+01] [-6.96570562e-02 9.97570997e-01 -1.45445743e-05 -6.50149210e-01] [-6.80830774e-03 -4.60821776e-04 9.99976717e-01 -3.69543876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.66, Z:-0.37 [[ 9.97491313e-01 7.04593141e-02 6.82386719e-03 3.90511971e+01] [-7.04608478e-02 9.97514546e-01 -1.56897259e-05 -6.57509310e-01] [-6.80801227e-03 -4.65165102e-04 9.99976717e-01 -3.72771075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.67, Z:-0.37 [[ 9.97153091e-01 7.50942555e-02 6.82386442e-03 3.91138127e+01] [-7.50958895e-02 9.97176317e-01 -1.68134111e-05 -6.67351583e-01] [-6.80585858e-03 -4.95678624e-04 9.99976717e-01 -3.67242350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:-0.67, Z:-0.37 [[ 9.96671635e-01 8.12347614e-02 6.82386131e-03 3.91769192e+01] [-8.12365304e-02 9.96694851e-01 -1.79940641e-05 -6.73258707e-01] [-6.80276917e-03 -5.36412643e-04 9.99976717e-01 -3.72840513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:-0.68, Z:-0.37 [[ 9.96303941e-01 8.56264738e-02 6.82385776e-03 3.92401956e+01] [-8.56283365e-02 9.96327149e-01 -1.92532009e-05 -6.79110624e-01] [-6.80044333e-03 -5.65133549e-04 9.99976717e-01 -3.68891455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.68, Z:-0.37 [[ 9.96274219e-01 8.59715936e-02 6.82385402e-03 3.93032031e+01] [-8.59734559e-02 9.96297428e-01 -2.04986755e-05 -6.82259078e-01] [-6.80035051e-03 -5.66248010e-04 9.99976717e-01 -3.67420326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.69, Z:-0.37 [[ 9.96440114e-01 8.40269838e-02 6.82384996e-03 3.93651005e+01] [-8.40287922e-02 9.96463327e-01 -2.17687026e-05 -6.88561115e-01] [-6.80154539e-03 -5.51708662e-04 9.99976717e-01 -3.71025103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.70, Z:-0.37 [[ 9.96727462e-01 8.05468869e-02 6.82384600e-03 3.94278960e+01] [-8.05486062e-02 9.96750682e-01 -2.29469062e-05 -6.98077254e-01] [-6.80352146e-03 -5.26779473e-04 9.99976717e-01 -3.71889915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.70, Z:-0.37 [[ 9.96618524e-01 8.18837793e-02 6.82384162e-03 3.94910734e+01] [-8.18855213e-02 9.96641741e-01 -2.41837553e-05 -7.04324205e-01] [-6.80290565e-03 -5.34671850e-04 9.99976717e-01 -3.68165228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.71, Z:-0.37 [[ 9.96108693e-01 8.78686955e-02 6.82383697e-03 3.95537039e+01] [-8.78705684e-02 9.96131900e-01 -2.54322915e-05 -7.10210570e-01] [-6.79967639e-03 -5.74281106e-04 9.99976717e-01 -3.69686870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.72, Z:-0.38 [[ 9.95616256e-01 9.32829371e-02 6.82383210e-03 3.96166156e+01] [-9.32849277e-02 9.95639454e-01 -2.66768765e-05 -7.15392186e-01] [-6.79656496e-03 -6.10000752e-04 9.99976717e-01 -3.75963003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.72, Z:-0.38 [[ 9.95548613e-01 9.40021026e-02 6.82382704e-03 3.96793589e+01] [-9.40041016e-02 9.95571810e-01 -2.79137229e-05 -7.16670291e-01] [-6.79623378e-03 -6.13678262e-04 9.99976717e-01 -3.75333772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.72, Z:-0.38 [[ 9.95701196e-01 9.23718730e-02 6.82382143e-03 3.97408383e+01] [-9.23738251e-02 9.95724397e-01 -2.92240743e-05 -7.20296559e-01] [-6.79734496e-03 -6.01244042e-04 9.99976717e-01 -3.77133524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.72, Z:-0.38 [[ 9.95673341e-01 9.26716448e-02 6.82381600e-03 3.98031312e+01] [-9.26735956e-02 9.95696542e-01 -3.04415099e-05 -7.18687444e-01] [-6.79727106e-03 -6.02077764e-04 9.99976717e-01 -3.79995963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.72, Z:-0.38 [[ 9.95425530e-01 9.52966397e-02 6.82381071e-03 3.98659612e+01] [-9.52986439e-02 9.95448727e-01 -3.15841855e-05 -7.15032599e-01] [-6.79576355e-03 -6.18860202e-04 9.99976717e-01 -3.81781724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.71, Z:-0.38 [[ 9.95369073e-01 9.58845352e-02 6.82380490e-03 3.99285217e+01] [-9.58865449e-02 9.95392269e-01 -3.27927860e-05 -7.12448618e-01] [-6.79550696e-03 -6.21670150e-04 9.99976717e-01 -3.76624378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.71, Z:-0.38 [[ 9.96390596e-01 8.46121450e-02 6.82379866e-03 3.99906357e+01] [-8.46138835e-02 9.96413814e-01 -3.40437014e-05 -7.12177974e-01] [-6.80220776e-03 -5.43467281e-04 9.99976717e-01 -3.75838339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.72, Z:-0.37 [[ 9.97216047e-01 7.42535615e-02 6.82379266e-03 4.00526040e+01] [-7.42550507e-02 9.97239282e-01 -3.52057248e-05 -7.15333891e-01] [-6.80756825e-03 -4.71593357e-04 9.99976717e-01 -3.71381586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.72, Z:-0.37 [[ 9.97498569e-01 7.03565289e-02 6.82378679e-03 4.01148810e+01] [-7.03579198e-02 9.97521810e-01 -3.63102678e-05 -7.15947322e-01] [-6.80943081e-03 -4.43888003e-04 9.99976717e-01 -3.69644936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.71, Z:-0.38 [[ 9.97299769e-01 7.31204918e-02 6.82378075e-03 4.01774044e+01] [-7.31219396e-02 9.97323007e-01 -3.74107044e-05 -7.14710593e-01] [-6.80824903e-03 -4.61658397e-04 9.99976717e-01 -3.75705083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.71, Z:-0.38 [[ 9.97060228e-01 7.63173534e-02 6.82377372e-03 4.02403696e+01] [-7.63188672e-02 9.97083461e-01 -3.86529166e-05 -7.12853172e-01] [-6.80682181e-03 -4.82243395e-04 9.99976717e-01 -3.75941172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.71, Z:-0.38 [[ 9.97097658e-01 7.58267509e-02 6.82376641e-03 4.03028080e+01] [-7.58282448e-02 9.97120893e-01 -3.99023312e-05 -7.13340275e-01] [-6.80714572e-03 -4.77647709e-04 9.99976717e-01 -3.77786400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.71, Z:-0.38 [[ 9.97094143e-01 7.58729558e-02 6.82375891e-03 4.03662310e+01] [-7.58744422e-02 9.97117379e-01 -4.11461080e-05 -7.08489784e-01] [-6.80721048e-03 -4.76722358e-04 9.99976717e-01 -3.76964154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.70, Z:-0.38 [[ 9.96997116e-01 7.71374616e-02 6.82375122e-03 4.04288997e+01] [-7.71389691e-02 9.97020350e-01 -4.23850853e-05 -6.99184479e-01] [-6.80668830e-03 -4.84119327e-04 9.99976717e-01 -3.79078326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:-0.69, Z:-0.38 [[ 9.97385460e-01 7.19421981e-02 6.82374303e-03 4.04910531e+01] [-7.19435758e-02 9.97408703e-01 -4.36644911e-05 -6.94127308e-01] [-6.80920200e-03 -4.47374145e-04 9.99976717e-01 -3.82395890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.69, Z:-0.38 [[ 9.97987540e-01 6.30421095e-02 6.82373521e-03 4.05537388e+01] [-6.30432717e-02 9.98010793e-01 -4.48538139e-05 -6.94767352e-01] [-6.81298907e-03 -3.85427046e-04 9.99976717e-01 -3.84064139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:-0.70, Z:-0.38 [[ 9.98528300e-01 5.38021407e-02 6.82372645e-03 4.06156347e+01] [-5.38030788e-02 9.98551564e-01 -4.61491429e-05 -6.99767478e-01] [-6.81632564e-03 -3.21056267e-04 9.99976717e-01 -3.79592562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:-0.70, Z:-0.38 [[ 9.98240987e-01 5.88928602e-02 6.82371807e-03 4.06780014e+01] [-5.88939087e-02 9.98264246e-01 -4.73566856e-05 -6.96995335e-01] [-6.81466275e-03 -3.54602045e-04 9.99976717e-01 -3.80935690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.70, Z:-0.38 [[ 9.97195086e-01 7.45345374e-02 6.82371254e-03 4.07412068e+01] [-7.45359451e-02 9.97218326e-01 -4.81410733e-05 -6.96830401e-01] [-6.80831937e-03 -4.60605821e-04 9.99976717e-01 -3.76769876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.69, Z:-0.37 [[ 9.96807066e-01 7.95557068e-02 6.82370331e-03 4.08027540e+01] [-7.95572228e-02 9.96830299e-01 -4.94149785e-05 -6.92866367e-01] [-6.80600546e-03 -4.93617685e-04 9.99976717e-01 -3.73565102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.69, Z:-0.38 [[ 9.96923941e-01 7.80774854e-02 6.82369583e-03 4.08661073e+01] [-7.80789600e-02 9.96947177e-01 -5.04279690e-05 -6.89551768e-01] [-6.80680158e-03 -4.82514224e-04 9.99976717e-01 -3.77083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.93, Y:-0.69, Z:-0.38 [[ 9.97360595e-01 7.22860979e-02 6.82368679e-03 4.09292524e+01] [-7.22874294e-02 9.97383840e-01 -5.16218574e-05 -6.88066716e-01] [-6.80956648e-03 -4.41781171e-04 9.99976717e-01 -3.81187620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:-0.68, Z:-0.38 [[ 9.97904271e-01 6.43467392e-02 6.82367704e-03 4.09909853e+01] [-6.43478771e-02 9.97927526e-01 -5.28809609e-05 -6.83931881e-01] [-6.81293786e-03 -3.86318995e-04 9.99976717e-01 -3.80594742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.68, Z:-0.38 [[ 9.98073203e-01 6.16710494e-02 6.82366772e-03 4.10539259e+01] [-6.16721170e-02 9.98096462e-01 -5.40572460e-05 -6.81407922e-01] [-6.81401237e-03 -3.66876945e-04 9.99976717e-01 -3.80294268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.68, Z:-0.38 [[ 9.97923770e-01 6.40436266e-02 6.82365742e-03 4.11164523e+01] [-6.40447408e-02 9.97947027e-01 -5.53270303e-05 -6.76019261e-01] [-6.81319198e-03 -3.81807212e-04 9.99976717e-01 -3.82682700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.67, Z:-0.38 [[ 9.97659841e-01 6.80314652e-02 6.82364660e-03 4.11783637e+01] [-6.80326634e-02 9.97683093e-01 -5.66315868e-05 -6.73392034e-01] [-6.81168957e-03 -4.07731792e-04 9.99976717e-01 -3.84564693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.67, Z:-0.38 [[ 9.97399196e-01 7.17515278e-02 6.82363641e-03 4.12399686e+01] [-7.17528046e-02 9.97422444e-01 -5.78338866e-05 -6.68878130e-01] [-6.81019777e-03 -4.31931577e-04 9.99976717e-01 -3.82245328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.67, Z:-0.38 [[ 9.97299851e-01 7.31193957e-02 6.82362664e-03 4.13027611e+01] [-7.31206966e-02 9.97323097e-01 -5.89640014e-05 -6.67661801e-01] [-6.80967187e-03 -4.40143543e-04 9.99976717e-01 -3.81241085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.67, Z:-0.38 [[ 9.96989848e-01 7.72313453e-02 6.82361578e-03 4.13661310e+01] [-7.72327337e-02 9.97013090e-01 -6.01948968e-05 -6.65089007e-01] [-6.80788319e-03 -4.66992800e-04 9.99976717e-01 -3.80129504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.66, Z:-0.38 [[ 9.96824379e-01 7.93384871e-02 6.82360445e-03 4.14278170e+01] [-7.93399160e-02 9.96847618e-01 -6.14532849e-05 -6.62909116e-01] [-6.80696945e-03 -4.80126071e-04 9.99976717e-01 -3.81269694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.66, Z:-0.38 [[ 9.96563795e-01 8.25472089e-02 6.82359371e-03 4.14895812e+01] [-8.25487047e-02 9.96587030e-01 -6.26233933e-05 -6.61409423e-01] [-6.80547437e-03 -5.00870616e-04 9.99976717e-01 -3.80033789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.66, Z:-0.38 [[ 9.96430761e-01 8.41378492e-02 6.82358305e-03 4.15528576e+01] [-8.41393744e-02 9.96453994e-01 -6.37642552e-05 -6.59817210e-01] [-6.80475157e-03 -5.10595343e-04 9.99976717e-01 -3.83880308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.66, Z:-0.38 [[ 9.96407880e-01 8.44083901e-02 6.82357186e-03 4.16154298e+01] [-8.44099135e-02 9.96431113e-01 -6.49401790e-05 -6.60408866e-01] [-6.80470079e-03 -5.11270204e-04 9.99976717e-01 -3.84627001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.66, Z:-0.38 [[ 9.96478044e-01 8.35759993e-02 6.82355984e-03 4.16773292e+01] [-8.35774949e-02 9.96501278e-01 -6.61796047e-05 -6.60869769e-01] [-6.80521713e-03 -5.04349514e-04 9.99976717e-01 -3.82028612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.66, Z:-0.38 [[ 9.96551135e-01 8.26999098e-02 6.82354852e-03 4.17398071e+01] [-8.27013771e-02 9.96574371e-01 -6.73263197e-05 -6.62165468e-01] [-6.80574146e-03 -4.97222739e-04 9.99976717e-01 -3.84365791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.67, Z:-0.38 [[ 9.96561486e-01 8.25750778e-02 6.82353711e-03 4.18029637e+01] [-8.25765344e-02 9.96584724e-01 -6.84635275e-05 -6.67181747e-01] [-6.80588623e-03 -4.95235933e-04 9.99976717e-01 -3.81735506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.68, Z:-0.38 [[ 9.96841379e-01 7.91246106e-02 6.82352456e-03 4.18650548e+01] [-7.91259785e-02 9.96864622e-01 -6.96920086e-05 -6.75176998e-01] [-6.80764459e-03 -4.70446180e-04 9.99976717e-01 -3.83040225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.69, Z:-0.39 [[ 9.96852939e-01 7.89788410e-02 6.82351274e-03 4.19277980e+01] [-7.89801977e-02 9.96876183e-01 -7.08310886e-05 -6.86197809e-01] [-6.80779149e-03 -4.68314206e-04 9.99976717e-01 -3.86828527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.69, Z:-0.39 [[ 9.96604105e-01 8.20591134e-02 6.82350006e-03 4.19897575e+01] [-8.20605338e-02 9.96627344e-01 -7.20323374e-05 -6.94909205e-01] [-6.80639765e-03 -4.88152334e-04 9.99976717e-01 -3.86509858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.70, Z:-0.39 [[ 9.95730592e-01 9.20544810e-02 6.82348810e-03 4.20530877e+01] [-9.20561269e-02 9.95753817e-01 -7.31478680e-05 -7.00641014e-01] [-6.80124791e-03 -5.55308316e-04 9.99976717e-01 -3.88214324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.70, Z:-0.39 [[ 9.94399677e-01 1.05464315e-01 6.82347536e-03 4.21159408e+01] [-1.05466266e-01 9.94422878e-01 -7.43176465e-05 -6.99565542e-01] [-6.79325787e-03 -6.45745023e-04 9.99976717e-01 -3.93446819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.18, Y:-0.70, Z:-0.39 [[ 9.93868380e-01 1.10358886e-01 6.82346168e-03 4.21784597e+01] [-1.10360942e-01 9.93891572e-01 -7.55527695e-05 -6.96996997e-01] [-6.79011898e-03 -6.77954153e-04 9.99976717e-01 -3.94360758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.69, Z:-0.39 [[ 9.94021196e-01 1.08973860e-01 6.82344800e-03 4.22409611e+01] [-1.08975876e-01 9.94044392e-01 -7.67686935e-05 -6.91485254e-01] [-6.79117600e-03 -6.67281514e-04 9.99976717e-01 -3.93081215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.30, Y:-0.69, Z:-0.39 [[ 9.94346102e-01 1.05968249e-01 6.82343947e-03 4.23032790e+01] [-1.05970190e-01 9.94369304e-01 -7.75200577e-05 -6.87649638e-01] [-6.79323342e-03 -6.45999406e-04 9.99976717e-01 -3.87342907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.68, Z:-0.39 [[ 9.95069188e-01 9.89482311e-02 6.82342722e-03 4.23659426e+01] [-9.89500008e-02 9.95092403e-01 -7.85832262e-05 -6.82031131e-01] [-6.79771627e-03 -5.96982382e-04 9.99976717e-01 -3.86990218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.68, Z:-0.39 [[ 9.95468933e-01 9.48422030e-02 6.82341313e-03 4.24289966e+01] [-9.48438687e-02 9.95492157e-01 -7.97886988e-05 -6.79676974e-01] [-6.80022159e-03 -5.67731728e-04 9.99976717e-01 -3.91778950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.68, Z:-0.39 [[ 9.95574152e-01 9.37312565e-02 6.82339841e-03 4.24917915e+01] [-9.37328878e-02 9.95597378e-01 -8.10278091e-05 -6.79039655e-01] [-6.80095241e-03 -5.58907645e-04 9.99976717e-01 -3.90230607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.68, Z:-0.39 [[ 9.95608364e-01 9.33671651e-02 6.82338322e-03 4.25535768e+01] [-9.33687793e-02 9.95631591e-01 -8.22876729e-05 -6.77862079e-01] [-6.80125886e-03 -5.55164667e-04 9.99976717e-01 -3.89980533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.68, Z:-0.39 [[ 9.95462959e-01 9.49048935e-02 6.82336880e-03 4.26163716e+01] [-9.49065355e-02 9.95486184e-01 -8.34664676e-05 -6.77885371e-01] [-6.80049075e-03 -5.64494517e-04 9.99976717e-01 -3.92105603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.68, Z:-0.40 [[ 9.95125585e-01 9.83794320e-02 6.82336206e-03 4.26781875e+01] [-9.83811514e-02 9.95148804e-01 -8.40142254e-05 -6.76888699e-01] [-6.79852586e-03 -5.87685511e-04 9.99976717e-01 -4.03639004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.67, Z:-0.40 [[ 9.94722490e-01 1.02374852e-01 6.82334831e-03 4.27416341e+01] [-1.02376657e-01 9.94745703e-01 -8.51161049e-05 -6.74016533e-01] [-6.79621016e-03 -6.13884684e-04 9.99976717e-01 -3.95610229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.67, Z:-0.40 [[ 9.94398515e-01 1.05475285e-01 6.82333228e-03 4.28030950e+01] [-1.05477154e-01 9.94421723e-01 -8.63822473e-05 -6.68178119e-01] [-6.79438103e-03 -6.33807293e-04 9.99976717e-01 -3.95168956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.66, Z:-0.40 [[ 9.94477752e-01 1.04725564e-01 6.82332460e-03 4.28665919e+01] [-1.04727411e-01 9.94500961e-01 -8.69850999e-05 -6.59741737e-01] [-6.79491243e-03 -6.28084375e-04 9.99976717e-01 -3.95040510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.93, Y:-0.65, Z:-0.39 [[ 9.94989810e-01 9.97432766e-02 6.82330865e-03 4.29299097e+01] [-9.97449992e-02 9.95013029e-01 -8.82186496e-05 -6.54037845e-01] [-6.79808022e-03 -5.92814258e-04 9.99976717e-01 -3.92923953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.99, Y:-0.65, Z:-0.39 [[ 9.95351163e-01 9.60703140e-02 6.82329221e-03 4.29921729e+01] [-9.60719424e-02 9.95374389e-01 -8.94721600e-05 -6.54332304e-01] [-6.80032593e-03 -5.66470718e-04 9.99976717e-01 -3.91939130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.66, Z:-0.39 [[ 9.95791039e-01 9.13982988e-02 6.82327671e-03 4.30553480e+01] [-9.13998102e-02 9.95814273e-01 -9.06389783e-05 -6.58985408e-01] [-6.80300059e-03 -5.33388714e-04 9.99976717e-01 -3.93591138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:-0.66, Z:-0.40 [[ 9.95865557e-01 9.05827576e-02 6.82326013e-03 4.31180077e+01] [-9.05842416e-02 9.95888792e-01 -9.18705880e-05 -6.60783870e-01] [-6.80353018e-03 -5.26589090e-04 9.99976717e-01 -3.96493706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.67, Z:-0.40 [[ 9.95769850e-01 9.16288667e-02 6.82324337e-03 4.31801837e+01] [-9.16303668e-02 9.95793085e-01 -9.30986311e-05 -6.65109626e-01] [-6.80306909e-03 -5.32511483e-04 9.99976717e-01 -4.01505282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:-0.67, Z:-0.40 [[ 9.95191245e-01 9.77130002e-02 6.82322760e-03 4.32429111e+01] [-9.77146345e-02 9.95214470e-01 -9.42404058e-05 -6.67639979e-01] [-6.79978336e-03 -5.72941964e-04 9.99976717e-01 -4.01411714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.67, Z:-0.40 [[ 9.94986205e-01 9.97792359e-02 6.82321004e-03 4.33062152e+01] [-9.97809099e-02 9.95009428e-01 -9.54950016e-05 -6.68279453e-01] [-6.79868674e-03 -5.85809897e-04 9.99976717e-01 -4.01522189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.66, Z:-0.40 [[ 9.94834101e-01 1.01284524e-01 6.82319215e-03 4.33688055e+01] [-1.01286224e-01 9.94857322e-01 -9.67570554e-05 -6.62983055e-01] [-6.79790266e-03 -5.94838151e-04 9.99976717e-01 -4.02988664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.66, Z:-0.40 [[ 9.94903846e-01 1.00597122e-01 6.82317422e-03 4.34320578e+01] [-1.00598798e-01 9.94927069e-01 -9.80050703e-05 -6.60006330e-01] [-6.79841976e-03 -5.88897504e-04 9.99976717e-01 -3.96994418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.66, Z:-0.40 [[ 9.95442199e-01 9.51224083e-02 6.82316169e-03 4.34937956e+01] [-9.51239506e-02 9.95465431e-01 -9.88701166e-05 -6.58228551e-01] [-6.80162635e-03 -5.50626609e-04 9.99976717e-01 -3.98435409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.66, Z:-0.39 [[ 9.95844797e-01 9.08107096e-02 6.82315020e-03 4.35564072e+01] [-9.08121459e-02 9.95868036e-01 -9.96565114e-05 -6.57529170e-01] [-6.80400707e-03 -5.20382493e-04 9.99976717e-01 -3.94368743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.66, Z:-0.39 [[ 9.95920940e-01 8.99718127e-02 6.82313394e-03 4.36171437e+01] [-8.99732220e-02 9.95944180e-01 -1.00757386e-04 -6.58397134e-01] [-6.80452586e-03 -5.13552954e-04 9.99976717e-01 -3.93971962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.66, Z:-0.40 [[ 9.95784733e-01 9.14669965e-02 6.82312478e-03 4.36787908e+01] [-9.14684364e-02 9.95807971e-01 -1.01374084e-04 -6.61566191e-01] [-6.80379443e-03 -5.23153791e-04 9.99976717e-01 -3.98130516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.66, Z:-0.40 [[ 9.95546009e-01 9.40297199e-02 6.82310858e-03 4.37415623e+01] [-9.40312123e-02 9.95569245e-01 -1.02453104e-04 -6.61478368e-01] [-6.80251069e-03 -5.39588393e-04 9.99976717e-01 -4.00047877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.66, Z:-0.40 [[ 9.94964654e-01 9.99939130e-02 6.82308902e-03 4.38038816e+01] [-9.99955358e-02 9.94987880e-01 -1.03739720e-04 -6.64308236e-01] [-6.79926422e-03 -5.79061087e-04 9.99976717e-01 -4.04583432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.67, Z:-0.41 [[ 9.94747337e-01 1.02133152e-01 6.82307069e-03 4.38654700e+01] [-1.02134817e-01 9.94770561e-01 -1.04931599e-04 -6.66262164e-01] [-6.79810685e-03 -5.92492646e-04 9.99976717e-01 -4.07849022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.67, Z:-0.42 [[ 9.94770182e-01 1.01910405e-01 6.82305254e-03 4.39272954e+01] [-1.01912056e-01 9.94793406e-01 -1.06098379e-04 -6.67776120e-01] [-6.79834021e-03 -5.89807811e-04 9.99976717e-01 -4.15052655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.67, Z:-0.41 [[ 9.94513186e-01 1.04388550e-01 6.82303552e-03 4.39896128e+01] [-1.04390252e-01 9.94536406e-01 -1.07182064e-04 -6.66455771e-01] [-6.79694581e-03 -6.05664422e-04 9.99976717e-01 -4.11680806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.66, Z:-0.41 [[ 9.93709147e-01 1.11783616e-01 6.82301819e-03 4.40522786e+01] [-1.11785483e-01 9.93732355e-01 -1.08274265e-04 -6.61410679e-01] [-6.79235722e-03 -6.55121259e-04 9.99976717e-01 -4.08090436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.65, Z:-0.41 [[ 9.92580275e-01 1.21399524e-01 6.82299822e-03 4.41146793e+01] [-1.21401608e-01 9.92603464e-01 -1.09518102e-04 -6.49266047e-01] [-6.78582712e-03 -7.19617447e-04 9.99976717e-01 -4.09181184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.63, Z:-0.41 [[ 9.92625981e-01 1.21025237e-01 6.82297962e-03 4.41781922e+01] [-1.21027304e-01 9.92649172e-01 -1.10664893e-04 -6.33225268e-01] [-6.78621832e-03 -7.15917981e-04 9.99976717e-01 -4.09007232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.62, Z:-0.41 [[ 9.93790233e-01 1.11060431e-01 6.82295923e-03 4.42407732e+01] [-1.11062256e-01 9.93813445e-01 -1.11908038e-04 -6.23157722e-01] [-6.79317717e-03 -6.46560133e-04 9.99976717e-01 -4.05587036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.62, Z:-0.41 [[ 9.94652954e-01 1.03048282e-01 6.82294647e-03 4.43040120e+01] [-1.03049915e-01 9.94676180e-01 -1.12680800e-04 -6.17679608e-01] [-6.79823389e-03 -5.91025765e-04 9.99976717e-01 -4.07131277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:-0.61, Z:-0.41 [[ 9.95471262e-01 9.48177981e-02 6.82292570e-03 4.43666442e+01] [-9.48192308e-02 9.95494500e-01 -1.13924624e-04 -6.13534190e-01] [-6.80298710e-03 -5.33535878e-04 9.99976717e-01 -4.05789025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.61, Z:-0.41 [[ 9.95459275e-01 9.49435575e-02 6.82290463e-03 4.44294922e+01] [-9.49449846e-02 9.95482514e-01 -1.15173190e-04 -6.09640289e-01] [-6.80301721e-03 -5.33150355e-04 9.99976717e-01 -4.07631728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.60, Z:-0.41 [[ 9.94588194e-01 1.03671467e-01 6.82288315e-03 4.44929228e+01] [-1.03673089e-01 9.94611420e-01 -1.16431851e-04 -5.99861312e-01] [-6.79818816e-03 -5.91547627e-04 9.99976717e-01 -4.11480295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.59, Z:-0.41 [[ 9.93719085e-01 1.11695247e-01 6.82286156e-03 4.45550422e+01] [-1.11697048e-01 9.93742298e-01 -1.17683691e-04 -5.89434675e-01] [-6.79331083e-03 -6.45148968e-04 9.99976717e-01 -4.12562496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.58, Z:-0.41 [[ 9.93479161e-01 1.13809510e-01 6.82284141e-03 4.46180699e+01] [-1.13811353e-01 9.93502371e-01 -1.18840535e-04 -5.81516905e-01] [-6.79203430e-03 -6.58451216e-04 9.99976717e-01 -4.07087494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-0.57, Z:-0.41 [[ 9.93109116e-01 1.16994585e-01 6.82281963e-03 4.46813339e+01] [-1.16996494e-01 9.93132320e-01 -1.20078074e-04 -5.69483837e-01] [-6.79001117e-03 -6.78995346e-04 9.99976717e-01 -4.09929924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-0.56, Z:-0.41 [[ 9.92909898e-01 1.18673435e-01 6.82279743e-03 4.47437412e+01] [-1.18675374e-01 9.92933100e-01 -1.21326020e-04 -5.62204687e-01] [-6.78897958e-03 -6.89232234e-04 9.99976717e-01 -4.10392938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:-0.55, Z:-0.41 [[ 9.93267326e-01 1.15643714e-01 6.82277662e-03 4.48066160e+01] [-1.15645575e-01 9.93290535e-01 -1.22485331e-04 -5.52100527e-01] [-6.79116410e-03 -6.67363250e-04 9.99976717e-01 -4.05249745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.55, Z:-0.41 [[ 9.93963092e-01 1.09502615e-01 6.82275384e-03 4.48692991e+01] [-1.09504324e-01 9.93986312e-01 -1.23741553e-04 -5.45228995e-01] [-6.79527395e-03 -6.24126509e-04 9.99976717e-01 -4.08564570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.93, Y:-0.54, Z:-0.41 [[ 9.94112071e-01 1.08141763e-01 6.82273043e-03 4.49327163e+01] [-1.08143431e-01 9.94135294e-01 -1.25018901e-04 -5.41969168e-01] [-6.79623689e-03 -6.13550681e-04 9.99976717e-01 -4.08051282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.54, Z:-0.41 [[ 9.93890642e-01 1.10158257e-01 6.82270646e-03 4.49949390e+01] [-1.10159963e-01 9.93913863e-01 -1.26313606e-04 -5.35015749e-01] [-6.79509702e-03 -6.26047181e-04 9.99976717e-01 -4.05115364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:-0.53, Z:-0.40 [[ 9.93882335e-01 1.10233182e-01 6.82268403e-03 4.50576947e+01] [-1.10234882e-01 9.93905556e-01 -1.27513773e-04 -5.31943378e-01] [-6.79515982e-03 -6.25364084e-04 9.99976717e-01 -4.02709360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:-0.53, Z:-0.40 [[ 9.93994973e-01 1.09212841e-01 6.82267706e-03 4.51198271e+01] [-1.09214515e-01 9.94018196e-01 -1.27885784e-04 -5.31624282e-01] [-6.79583191e-03 -6.18017538e-04 9.99976717e-01 -4.01830484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:-0.53, Z:-0.41 [[ 9.94137562e-01 1.07907175e-01 6.82265756e-03 4.51822177e+01] [-1.07908811e-01 9.94160788e-01 -1.28917683e-04 -5.33940913e-01] [-6.79672976e-03 -6.08062957e-04 9.99976717e-01 -4.10757055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:-0.53, Z:-0.41 [[ 9.94154189e-01 1.07753890e-01 6.82263630e-03 4.52439201e+01] [-1.07755515e-01 9.94177415e-01 -1.30033375e-04 -5.34767435e-01] [-6.79692252e-03 -6.05903464e-04 9.99976717e-01 -4.14391202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.54, Z:-0.41 [[ 9.94024849e-01 1.08940591e-01 6.82261352e-03 4.53069947e+01] [-1.08942236e-01 9.94048073e-01 -1.31217798e-04 -5.36713499e-01] [-6.79630077e-03 -6.12837020e-04 9.99976717e-01 -4.12187488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:-0.54, Z:-0.42 [[ 9.93532765e-01 1.13340625e-01 6.82258909e-03 4.53679343e+01] [-1.13342364e-01 9.93555983e-01 -1.32475795e-04 -5.37562504e-01] [-6.79363910e-03 -6.41669336e-04 9.99976717e-01 -4.20508511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:-0.54, Z:-0.42 [[ 9.93177683e-01 1.16411090e-01 6.82256947e-03 4.54305995e+01] [-1.16412894e-01 9.93200896e-01 -1.33478857e-04 -5.36483936e-01] [-6.79172053e-03 -6.61666833e-04 9.99976717e-01 -4.23877338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:-0.54, Z:-0.42 [[ 9.93053598e-01 1.17464909e-01 6.82256193e-03 4.54923821e+01] [-1.17466735e-01 9.93076809e-01 -1.33863126e-04 -5.35295424e-01] [-6.79105225e-03 -6.68490815e-04 9.99976717e-01 -4.19435319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:-0.53, Z:-0.43 [[ 9.93004878e-01 1.17876062e-01 6.82253970e-03 4.55533027e+01] [-1.17877890e-01 9.93028089e-01 -1.34986490e-04 -5.30907675e-01] [-6.79088523e-03 -6.70184343e-04 9.99976717e-01 -4.25011475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.53, Z:-0.43 [[ 9.93245446e-01 1.15831508e-01 6.82251913e-03 4.56161270e+01] [-1.15833281e-01 9.93268661e-01 -1.36018066e-04 -5.27468987e-01] [-6.79234962e-03 -6.55175452e-04 9.99976717e-01 -4.27425672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.52, Z:-0.42 [[ 9.93620931e-01 1.12565090e-01 6.82249401e-03 4.56796604e+01] [-1.12566778e-01 9.93644152e-01 -1.37266756e-04 -5.22987050e-01] [-6.79458272e-03 -6.31595047e-04 9.99976717e-01 -4.17163766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.52, Z:-0.42 [[ 9.93702744e-01 1.11840557e-01 6.82246883e-03 4.57414363e+01] [-1.11842219e-01 9.93725968e-01 -1.38507257e-04 -5.15728693e-01] [-6.79515516e-03 -6.25405014e-04 9.99976717e-01 -4.20657478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-0.51, Z:-0.42 [[ 9.94037902e-01 1.08821432e-01 6.82244523e-03 4.58044327e+01] [-1.08823017e-01 9.94061131e-01 -1.39660052e-04 -5.09602641e-01] [-6.79712562e-03 -6.03611685e-04 9.99976717e-01 -4.17175453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.51, Z:-0.42 [[ 9.94125705e-01 1.08016372e-01 6.82241889e-03 4.58669991e+01] [-1.08017929e-01 9.94148936e-01 -1.40934854e-04 -5.06917803e-01] [-6.79772376e-03 -5.96836598e-04 9.99976717e-01 -4.15470989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:-0.50, Z:-0.42 [[ 9.94299036e-01 1.06409029e-01 6.82239427e-03 4.59295526e+01] [-1.06410540e-01 9.94322270e-01 -1.42116965e-04 -5.00344863e-01] [-6.79878109e-03 -5.84667895e-04 9.99976717e-01 -4.18574202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.50, Z:-0.42 [[ 9.94663947e-01 1.02942161e-01 6.82237003e-03 4.59922584e+01] [-1.02943584e-01 9.94687186e-01 -1.43271213e-04 -4.98910155e-01] [-6.80087269e-03 -5.59812510e-04 9.99976717e-01 -4.22082103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:-0.50, Z:-0.42 [[ 9.94953529e-01 1.00104594e-01 6.82234395e-03 4.60552327e+01] [-1.00105942e-01 9.94976773e-01 -1.44502462e-04 -4.96573728e-01] [-6.80253913e-03 -5.39183933e-04 9.99976717e-01 -4.22137644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:-0.50, Z:-0.42 [[ 9.94910575e-01 1.00530611e-01 6.82231707e-03 4.61187424e+01] [-1.00531960e-01 9.94933819e-01 -1.45760410e-04 -4.97596861e-01] [-6.80240736e-03 -5.40842336e-04 9.99976717e-01 -4.18551721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:-0.50, Z:-0.42 [[ 9.94774302e-01 1.01870235e-01 6.82228859e-03 4.61806778e+01] [-1.01871607e-01 9.94797544e-01 -1.47081592e-04 -4.99722095e-01] [-6.80177917e-03 -5.48684514e-04 9.99976717e-01 -4.19718354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:-0.50, Z:-0.42 [[ 9.94685028e-01 1.02738266e-01 6.82226196e-03 4.62429849e+01] [-1.02739650e-01 9.94708270e-01 -1.48306542e-04 -5.01684444e-01] [-6.80139715e-03 -5.53398507e-04 9.99976717e-01 -4.22196642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.50, Z:-0.43 [[ 9.94690940e-01 1.02681019e-01 6.82223582e-03 4.63059360e+01] [-1.02682393e-01 9.94714182e-01 -1.49499336e-04 -4.99436650e-01] [-6.80152547e-03 -5.51817867e-04 9.99976717e-01 -4.26024719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.50, Z:-0.42 [[ 9.94225668e-01 1.07092386e-01 6.82220879e-03 4.63687088e+01] [-1.07093855e-01 9.94248904e-01 -1.50722794e-04 -4.95468175e-01] [-6.79911488e-03 -5.80764169e-04 9.99976717e-01 -4.22829802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.50, Z:-0.42 [[ 9.94082251e-01 1.08415575e-01 6.82218457e-03 4.64317352e+01] [-1.08417068e-01 9.94105486e-01 -1.51811217e-04 -4.95070670e-01] [-6.79842981e-03 -5.88728410e-04 9.99976717e-01 -4.21445038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.49, Z:-0.43 [[ 9.94603852e-01 1.03521183e-01 6.82215599e-03 4.64946838e+01] [-1.03522552e-01 9.94627095e-01 -1.53085250e-04 -4.94478681e-01] [-6.80134875e-03 -5.53987818e-04 9.99976717e-01 -4.25750031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.56, Y:-0.50, Z:-0.43 [[ 9.94955018e-01 1.00089817e-01 6.82212678e-03 4.65570844e+01] [-1.00091097e-01 9.94978265e-01 -1.54375907e-04 -4.95798109e-01] [-6.80331932e-03 -5.29237073e-04 9.99976717e-01 -4.26399272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:-0.49, Z:-0.43 [[ 9.94548351e-01 1.04053047e-01 6.82210854e-03 4.66187184e+01] [-1.04054414e-01 9.94571594e-01 -1.55177714e-04 -4.90437650e-01] [-6.80122208e-03 -5.55538769e-04 9.99976717e-01 -4.27143187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:-0.48, Z:-0.43 [[ 9.93591602e-01 1.12823701e-01 6.82208556e-03 4.66792899e+01] [-1.12825267e-01 9.93614832e-01 -1.56181706e-04 -4.82751921e-01] [-6.79614639e-03 -6.14522791e-04 9.99976717e-01 -4.27861662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:-0.48, Z:-0.43 [[ 9.93055791e-01 1.17446394e-01 6.82208556e-03 4.67391306e+01] [-1.17448067e-01 9.93079014e-01 -1.56181706e-04 -4.76103760e-01] [-6.79321297e-03 -6.46143614e-04 9.99976717e-01 -4.29875310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:-0.47, Z:-0.43 [[ 9.93162645e-01 1.16539348e-01 6.82208737e-03 4.67995836e+01] [-1.16541000e-01 9.93185869e-01 -1.56102452e-04 -4.72926863e-01] [-6.79379285e-03 -6.40017763e-04 9.99976717e-01 -4.31587566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:-0.47, Z:-0.43 [[ 9.93758857e-01 1.11340885e-01 6.82208737e-03 4.68611228e+01] [-1.11342416e-01 9.93782090e-01 -1.56102452e-04 -4.67230467e-01] [-6.79704883e-03 -6.04459495e-04 9.99976717e-01 -4.27317478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:-0.47, Z:-0.43 [[ 9.94188589e-01 1.07436069e-01 6.82208367e-03 4.69223775e+01] [-1.07437508e-01 9.94211827e-01 -1.56263867e-04 -4.66896846e-01] [-6.79938465e-03 -5.77591918e-04 9.99976717e-01 -4.32203552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.46, Z:-0.43 [[ 9.94574102e-01 1.03806619e-01 6.82207998e-03 4.69843048e+01] [-1.03807972e-01 9.94597346e-01 -1.56424756e-04 -4.62933729e-01] [-6.80146057e-03 -5.52610278e-04 9.99976717e-01 -4.31854638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.45, Z:-0.43 [[ 9.94003547e-01 1.09134813e-01 6.82207625e-03 4.70434336e+01] [-1.09136289e-01 9.94026783e-01 -1.56587597e-04 -4.52931294e-01] [-6.79841566e-03 -5.88887458e-04 9.99976717e-01 -4.29166424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.44, Z:-0.43 [[ 9.93298878e-01 1.15372437e-01 6.82208179e-03 4.71023275e+01] [-1.15374060e-01 9.93322104e-01 -1.56345758e-04 -4.43915455e-01] [-6.79456262e-03 -6.31793211e-04 9.99976717e-01 -4.32962061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.43, Z:-0.43 [[ 9.92856666e-01 1.19118009e-01 6.82208917e-03 4.71607861e+01] [-1.19119722e-01 9.92879886e-01 -1.56023022e-04 -4.30815155e-01] [-6.79210027e-03 -6.57736871e-04 9.99976717e-01 -4.33145814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.43, Z:-0.43 [[ 9.93033194e-01 1.17637303e-01 6.82209828e-03 4.72191954e+01] [-1.17638985e-01 9.93056416e-01 -1.55623441e-04 -4.28155531e-01] [-6.79303559e-03 -6.48005472e-04 9.99976717e-01 -4.32969367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:-0.42, Z:-0.43 [[ 9.93765122e-01 1.11284958e-01 6.82210559e-03 4.72770299e+01] [-1.11286493e-01 9.93788354e-01 -1.55302623e-04 -4.18133083e-01] [-6.79701193e-03 -6.04873876e-04 9.99976717e-01 -4.34062242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:-0.41, Z:-0.43 [[ 9.94018968e-01 1.08994263e-01 6.82211464e-03 4.73354018e+01] [-1.08995747e-01 9.94042204e-01 -1.54903756e-04 -4.10575046e-01] [-6.79835350e-03 -5.89604212e-04 9.99976717e-01 -4.33691960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.39, Y:-0.40, Z:-0.44 [[ 9.93640080e-01 1.12395954e-01 6.82212360e-03 4.73930284e+01] [-1.12397521e-01 9.93663310e-01 -1.54508286e-04 -3.98542364e-01] [-6.79626002e-03 -6.13264157e-04 9.99976717e-01 -4.35178180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.45, Y:-0.38, Z:-0.44 [[ 9.93174373e-01 1.16439355e-01 6.82213239e-03 4.74518083e+01] [-1.16441019e-01 9.93197596e-01 -1.54119021e-04 -3.84033850e-01] [-6.79367102e-03 -6.41308987e-04 9.99976717e-01 -4.39523573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.51, Y:-0.37, Z:-0.43 [[ 9.93378278e-01 1.14686767e-01 6.82213936e-03 4.75113669e+01] [-1.14688393e-01 9.93401504e-01 -1.53809884e-04 -3.73994802e-01] [-6.79476347e-03 -6.29628801e-04 9.99976717e-01 -4.34533019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.57, Y:-0.37, Z:-0.43 [[ 9.94757558e-01 1.02033620e-01 6.82214666e-03 4.75692065e+01] [-1.02034951e-01 9.94780803e-01 -1.53485477e-04 -3.66111252e-01] [-6.80220121e-03 -5.43416565e-04 9.99976717e-01 -4.28364483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.63, Y:-0.36, Z:-0.44 [[ 9.95501306e-01 9.45018895e-02 6.82215569e-03 4.76268637e+01] [-9.45030479e-02 9.95524560e-01 -1.53083263e-04 -3.63612308e-01] [-6.80609020e-03 -4.92319918e-04 9.99976717e-01 -4.36097104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.36, Z:-0.44 [[ 9.95810331e-01 9.11879577e-02 6.82216653e-03 4.76847839e+01] [-9.11890421e-02 9.95833588e-01 -1.52598431e-04 -3.62356365e-01] [-6.80765772e-03 -4.70147737e-04 9.99976717e-01 -4.38249673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.36, Z:-0.44 [[ 9.95588641e-01 9.35773252e-02 6.82217764e-03 4.77423387e+01] [-9.35784687e-02 9.95611896e-01 -1.52100070e-04 -3.62180566e-01] [-6.80647434e-03 -4.86979835e-04 9.99976717e-01 -4.39320821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.36, Z:-0.44 [[ 9.95416481e-01 9.53912289e-02 6.82218823e-03 4.77999305e+01] [-9.53924181e-02 9.95439734e-01 -1.51623881e-04 -3.60730729e-01] [-6.80554082e-03 -4.99856121e-04 9.99976717e-01 -4.38359988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:-0.36, Z:-0.44 [[ 9.95113670e-01 9.84999579e-02 6.82219695e-03 4.78582589e+01] [-9.85012223e-02 9.95136918e-01 -1.51230498e-04 -3.56515645e-01] [-6.80391624e-03 -5.21503203e-04 9.99976717e-01 -4.39203228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.92, Y:-0.35, Z:-0.44 [[ 9.95029875e-01 9.93428695e-02 6.82220761e-03 4.79174498e+01] [-9.93441569e-02 9.95053122e-01 -1.50747949e-04 -3.51557192e-01] [-6.80343472e-03 -5.27747750e-04 9.99976717e-01 -4.42138731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.35, Z:-0.44 [[ 9.95182629e-01 9.78007805e-02 6.82221483e-03 4.79749726e+01] [-9.78020341e-02 9.95205878e-01 -1.50420381e-04 -3.45920521e-01] [-6.80421953e-03 -5.17530738e-04 9.99976717e-01 -4.42497775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.34, Z:-0.44 [[ 9.95833773e-01 9.09315833e-02 6.82222376e-03 4.80322756e+01] [-9.09326792e-02 9.95857031e-01 -1.50014506e-04 -3.41958904e-01] [-6.80760055e-03 -4.70973573e-04 9.99976717e-01 -4.41096113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.34, Z:-0.44 [[ 9.96142373e-01 8.74861725e-02 6.82223597e-03 4.80903681e+01] [-8.74871918e-02 9.96165633e-01 -1.49456873e-04 -3.37283505e-01] [-6.80915243e-03 -4.47977943e-04 9.99976717e-01 -4.36970422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.33, Z:-0.44 [[ 9.96066075e-01 8.83506107e-02 6.82224561e-03 4.81486063e+01] [-8.83516532e-02 9.96089335e-01 -1.49015852e-04 -3.32656846e-01] [-6.80873173e-03 -4.54327043e-04 9.99976717e-01 -4.37871686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.21, Y:-0.32, Z:-0.44 [[ 9.95806137e-01 9.12337365e-02 6.82225522e-03 4.82057654e+01] [-9.12348493e-02 9.95829393e-01 -1.48574652e-04 -3.24658629e-01] [-6.80735729e-03 -4.74475876e-04 9.99976717e-01 -4.41294310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.32, Z:-0.45 [[ 9.95807849e-01 9.12150442e-02 6.82227152e-03 4.82649386e+01] [-9.12161617e-02 9.95831105e-01 -1.47822312e-04 -3.18398301e-01] [-6.80731380e-03 -4.75098803e-04 9.99976717e-01 -4.46360958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.32, Y:-0.31, Z:-0.45 [[ 9.96093701e-01 8.80385960e-02 6.82227833e-03 4.83226751e+01] [-8.80396415e-02 9.96116961e-01 -1.47507425e-04 -3.07535659e-01] [-6.80877350e-03 -4.53699721e-04 9.99976717e-01 -4.45504540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.38, Y:-0.30, Z:-0.44 [[ 9.96279838e-01 8.59065792e-02 6.82229085e-03 4.83810702e+01] [-8.59075789e-02 9.96303100e-01 -1.46925966e-04 -3.01247180e-01] [-6.80969143e-03 -4.39707112e-04 9.99976717e-01 -4.43337826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.44, Y:-0.30, Z:-0.44 [[ 9.96412232e-01 8.43570980e-02 6.82229971e-03 4.84400704e+01] [-8.43580643e-02 9.96435495e-01 -1.46513335e-04 -2.99240388e-01] [-6.81034103e-03 -4.29528319e-04 9.99976717e-01 -4.39016187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.50, Y:-0.30, Z:-0.44 [[ 9.96639350e-01 8.16300276e-02 6.82230676e-03 4.84966103e+01] [-8.16309325e-02 9.96662616e-01 -1.46184230e-04 -3.00347130e-01] [-6.81147112e-03 -4.11218306e-04 9.99976717e-01 -4.37097068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.55, Y:-0.31, Z:-0.44 [[ 9.96641790e-01 8.16002362e-02 6.82231894e-03 4.85548545e+01] [-8.16011442e-02 9.96665055e-01 -1.45613710e-04 -3.07696792e-01] [-6.81144899e-03 -4.11584323e-04 9.99976717e-01 -4.44161775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.31, Z:-0.44 [[ 9.96150139e-01 8.73976947e-02 6.82232585e-03 4.86130736e+01] [-8.73987403e-02 9.96173398e-01 -1.45289022e-04 -3.11968306e-01] [-6.80891745e-03 -4.51533006e-04 9.99976717e-01 -4.43280388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.32, Z:-0.44 [[ 9.95421941e-01 9.53342324e-02 6.82233620e-03 4.86704773e+01] [-9.53354667e-02 9.95445191e-01 -1.44801668e-04 -3.15529933e-01] [-6.80506631e-03 -5.06271848e-04 9.99976717e-01 -4.39960650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.32, Z:-0.45 [[ 9.94456102e-01 1.04931014e-01 6.82234468e-03 4.87270814e+01] [-1.04932476e-01 9.94479338e-01 -1.44400998e-04 -3.18921583e-01] [-6.79983296e-03 -5.72285063e-04 9.99976717e-01 -4.46510846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.32, Z:-0.45 [[ 9.94526927e-01 1.04257597e-01 6.82236270e-03 4.87861372e+01] [-1.04259048e-01 9.94550165e-01 -1.43544350e-04 -3.23573330e-01] [-6.80014754e-03 -5.68534319e-04 9.99976717e-01 -4.52736677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-0.33, Z:-0.45 [[ 9.95104126e-01 9.85963140e-02 6.82236927e-03 4.88453085e+01] [-9.85976352e-02 9.95127372e-01 -1.43231664e-04 -3.27653670e-01] [-6.80324851e-03 -5.30139056e-04 9.99976717e-01 -4.48003443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.33, Z:-0.44 [[ 9.95641140e-01 9.30170739e-02 6.82237610e-03 4.89035276e+01] [-9.30182670e-02 9.95664392e-01 -1.42905469e-04 -3.33370341e-01] [-6.80608960e-03 -4.92323037e-04 9.99976717e-01 -4.40199585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:-0.34, Z:-0.44 [[ 9.95342158e-01 9.61636258e-02 6.82238456e-03 4.89615592e+01] [-9.61648952e-02 9.95365407e-01 -1.42500435e-04 -3.36609488e-01] [-6.80446894e-03 -5.14237206e-04 9.99976717e-01 -4.44521105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:-0.34, Z:-0.45 [[ 9.94836270e-01 1.01263273e-01 6.82239480e-03 4.90205363e+01] [-1.01264664e-01 9.94859511e-01 -1.42008570e-04 -3.35540774e-01] [-6.80170461e-03 -5.49592244e-04 9.99976717e-01 -4.47071617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.33, Z:-0.45 [[ 9.94461426e-01 1.04880537e-01 6.82240152e-03 4.90781322e+01] [-1.04882015e-01 9.94484662e-01 -1.41684649e-04 -3.33368928e-01] [-6.79963363e-03 -5.74647303e-04 9.99976717e-01 -4.46691960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:-0.33, Z:-0.45 [[ 9.94227980e-01 1.07070905e-01 6.82240982e-03 4.91367769e+01] [-1.07072438e-01 9.94251212e-01 -1.41283975e-04 -3.29909004e-01] [-6.79831664e-03 -5.90023569e-04 9.99976717e-01 -4.49754987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.32, Z:-0.45 [[ 9.94122031e-01 1.08050179e-01 6.82241641e-03 4.91953670e+01] [-1.08051737e-01 9.94145262e-01 -1.40964862e-04 -3.20217585e-01] [-6.79770423e-03 -5.97037666e-04 9.99976717e-01 -4.51665273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.31, Z:-0.45 [[ 9.94444492e-01 1.05040981e-01 6.82242309e-03 4.92532032e+01] [-1.05042470e-01 9.94467727e-01 -1.40640940e-04 -3.09522810e-01] [-6.79945265e-03 -5.76784567e-04 9.99976717e-01 -4.50097147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.30, Z:-0.45 [[ 9.94808025e-01 1.01540378e-01 6.82243135e-03 4.93111175e+01] [-1.01541789e-01 9.94831265e-01 -1.40239432e-04 -3.03593642e-01] [-6.80140797e-03 -5.53250569e-04 9.99976717e-01 -4.53186720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.30, Z:-0.45 [[ 9.95394621e-01 9.56190469e-02 6.82243954e-03 4.93705562e+01] [-9.56203217e-02 9.95417869e-01 -1.39839695e-04 -2.96426253e-01] [-6.80454957e-03 -5.13168183e-04 9.99976717e-01 -4.50509037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.29, Z:-0.45 [[ 9.95828207e-01 9.09925032e-02 6.82244612e-03 4.94281124e+01] [-9.09936721e-02 9.95851461e-01 -1.39517815e-04 -2.92768149e-01] [-6.80683801e-03 -4.81863650e-04 9.99976717e-01 -4.49237048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.29, Z:-0.45 [[ 9.95977299e-01 8.93458099e-02 6.82245825e-03 4.94856843e+01] [-8.93469445e-02 9.96000554e-01 -1.38921967e-04 -2.91713733e-01] [-6.80758430e-03 -4.71202673e-04 9.99976717e-01 -4.49397313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.29, Z:-0.45 [[ 9.96002077e-01 8.90691665e-02 6.82246806e-03 4.95442808e+01] [-8.90702978e-02 9.96025332e-01 -1.38438863e-04 -2.91423900e-01] [-6.80768165e-03 -4.69793867e-04 9.99976717e-01 -4.52455626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:-0.29, Z:-0.45 [[ 9.95930449e-01 8.98665400e-02 6.82247478e-03 4.96015760e+01] [-8.98676922e-02 9.95953703e-01 -1.38106618e-04 -2.92059113e-01] [-6.80728019e-03 -4.75575478e-04 9.99976717e-01 -4.53972517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:-0.29, Z:-0.45 [[ 9.95887096e-01 9.03457024e-02 6.82248638e-03 4.96606655e+01] [-9.03468698e-02 9.95910349e-01 -1.37531560e-04 -2.94365097e-01] [-6.80701018e-03 -4.79424382e-04 9.99976717e-01 -4.50441407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.30, Z:-0.45 [[ 9.95871511e-01 9.05173319e-02 6.82249308e-03 4.97175329e+01] [-9.05185056e-02 9.95894764e-01 -1.37198169e-04 -2.97950546e-01] [-6.80690395e-03 -4.80930130e-04 9.99976717e-01 -4.50768244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.30, Z:-0.45 [[ 9.95998266e-01 8.91117699e-02 6.82250466e-03 4.97753318e+01] [-8.91129146e-02 9.96021521e-01 -1.36619879e-04 -3.01045825e-01] [-6.80753591e-03 -4.71900113e-04 9.99976717e-01 -4.51049184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.31, Z:-0.45 [[ 9.96387377e-01 8.46501518e-02 6.82251456e-03 4.98327559e+01] [-8.46511958e-02 9.96410636e-01 -1.36123801e-04 -3.06170990e-01] [-6.80954897e-03 -4.41901979e-04 9.99976717e-01 -4.51873374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.31, Z:-0.45 [[ 9.96492761e-01 8.34004226e-02 6.82252439e-03 4.98912226e+01] [-8.34014408e-02 9.96516022e-01 -1.35629237e-04 -3.10427644e-01] [-6.81006640e-03 -4.33854811e-04 9.99976717e-01 -4.53846319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.32, Z:-0.46 [[ 9.96539314e-01 8.28423129e-02 6.82253094e-03 4.99499369e+01] [-8.28433204e-02 9.96562575e-01 -1.35299021e-04 -3.17323896e-01] [-6.81028748e-03 -4.30370323e-04 9.99976717e-01 -4.55470292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.32, Z:-0.45 [[ 9.96479315e-01 8.35609214e-02 6.82253741e-03 5.00073635e+01] [-8.35619478e-02 9.96502575e-01 -1.34971715e-04 -3.21283410e-01] [-6.80995446e-03 -4.35607993e-04 9.99976717e-01 -4.52234997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.32, Z:-0.46 [[ 9.96008012e-01 8.90027657e-02 6.82254540e-03 5.00661592e+01] [-8.90039219e-02 9.96031266e-01 -1.34566925e-04 -3.22954898e-01] [-6.80744536e-03 -4.73203562e-04 9.99976717e-01 -4.56448062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.32, Z:-0.46 [[ 9.95321566e-01 9.63765146e-02 6.82255186e-03 5.01245679e+01] [-9.63778452e-02 9.95344811e-01 -1.34238414e-04 -3.21772825e-01] [-6.80372902e-03 -5.23932459e-04 9.99976717e-01 -4.59574208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:-0.32, Z:-0.46 [[ 9.94974027e-01 9.99006385e-02 6.82255858e-03 5.01821697e+01] [-9.99020537e-02 9.94997267e-01 -1.33895948e-04 -3.19854387e-01] [-6.80180343e-03 -5.48364624e-04 9.99976717e-01 -4.57844853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:-0.32, Z:-0.46 [[ 9.94787573e-01 1.01740539e-01 6.82257100e-03 5.02413798e+01] [-1.01742002e-01 9.94810810e-01 -1.33260075e-04 -3.20376732e-01] [-6.80072534e-03 -5.61576563e-04 9.99976717e-01 -4.56041582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:-0.32, Z:-0.45 [[ 9.95363947e-01 9.59378177e-02 6.82257740e-03 5.03001573e+01] [-9.59391470e-02 9.95387192e-01 -1.32931887e-04 -3.22990518e-01] [-6.80385935e-03 -5.22236648e-04 9.99976717e-01 -4.50904423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:-0.33, Z:-0.45 [[ 9.95765756e-01 9.16733985e-02 6.82258391e-03 5.03568854e+01] [-9.16746305e-02 9.95789006e-01 -1.32596929e-04 -3.28595058e-01] [-6.80600966e-03 -4.93422378e-04 9.99976717e-01 -4.53127761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:-0.34, Z:-0.45 [[ 9.95862691e-01 9.06143111e-02 6.82259514e-03 5.04139379e+01] [-9.06155223e-02 9.95885942e-01 -1.32016317e-04 -3.35976366e-01] [-6.80648916e-03 -4.86762898e-04 9.99976717e-01 -4.53339754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.47, Y:-0.34, Z:-0.46 [[ 9.95539411e-01 9.40995969e-02 6.82260941e-03 5.04728088e+01] [-9.41008946e-02 9.95562657e-01 -1.31274512e-04 -3.40463063e-01] [-6.80468804e-03 -5.11324699e-04 9.99976717e-01 -4.57708246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.35, Z:-0.46 [[ 9.95488488e-01 9.46367927e-02 6.82261545e-03 5.05305174e+01] [-9.46381050e-02 9.95511734e-01 -1.30960184e-04 -3.45282825e-01] [-6.80438738e-03 -5.15310042e-04 9.99976717e-01 -4.58966630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.35, Z:-0.45 [[ 9.95897022e-01 9.02362142e-02 6.82262444e-03 5.05893672e+01] [-9.02374270e-02 9.95920273e-01 -1.30490175e-04 -3.50017264e-01] [-6.80656493e-03 -4.85701298e-04 9.99976717e-01 -4.54417681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.36, Z:-0.46 [[ 9.97015805e-01 7.68956151e-02 6.82263059e-03 5.06462434e+01] [-7.68965188e-02 9.97039071e-01 -1.30167884e-04 -3.58772945e-01] [-6.81243860e-03 -3.94857103e-04 9.99976717e-01 -4.56157085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.37, Z:-0.45 [[ 9.97981018e-01 6.31453848e-02 6.82264124e-03 5.07047134e+01] [-6.31459714e-02 9.98004293e-01 -1.29607218e-04 -3.69449907e-01] [-6.81720934e-03 -3.01476766e-04 9.99976717e-01 -4.51412302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.38, Z:-0.45 [[ 9.98893620e-01 4.65294275e-02 6.82264753e-03 5.07630332e+01] [-4.65296290e-02 9.98916902e-01 -1.29274845e-04 -3.84448757e-01] [-6.82127302e-03 -1.88323440e-04 9.99976717e-01 -4.53994261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.39, Z:-0.46 [[ 9.99005802e-01 4.40551793e-02 6.82265385e-03 5.08206207e+01] [-4.40553255e-02 9.99029084e-01 -1.28940800e-04 -3.93832431e-01] [-6.82171014e-03 -1.71761628e-04 9.99976717e-01 -4.55673967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.88, Y:-0.40, Z:-0.45 [[ 9.98660522e-01 5.12895070e-02 6.82266166e-03 5.08792704e+01] [-5.12898246e-02 9.98683803e-01 -1.28526231e-04 -4.01560480e-01] [-6.82027373e-03 -2.21579046e-04 9.99976717e-01 -4.50429387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.94, Y:-0.41, Z:-0.45 [[ 9.98476410e-01 5.47568178e-02 6.82266791e-03 5.09370969e+01] [-5.47572185e-02 9.98499690e-01 -1.28193453e-04 -4.05251781e-01] [-6.81945126e-03 -2.45592179e-04 9.99976717e-01 -4.51456719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.42, Z:-0.46 [[ 9.98254157e-01 5.86693253e-02 6.82267562e-03 5.09953078e+01] [-5.86698200e-02 9.98277434e-01 -1.27781912e-04 -4.16728702e-01] [-6.81841999e-03 -2.72726326e-04 9.99976717e-01 -4.57056104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.43, Z:-0.46 [[ 9.98364270e-01 5.67647366e-02 6.82268191e-03 5.10539410e+01] [-5.67651892e-02 9.98387549e-01 -1.27445030e-04 -4.29857366e-01] [-6.81891505e-03 -2.60054265e-04 9.99976717e-01 -4.60469425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.44, Z:-0.46 [[ 9.98239964e-01 5.89103179e-02 6.82268655e-03 5.11124369e+01] [-5.89108223e-02 9.98263241e-01 -1.27196045e-04 -4.36878353e-01] [-6.81833035e-03 -2.74957900e-04 9.99976717e-01 -4.61502809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.43, Z:-0.46 [[ 9.97361759e-01 7.22701409e-02 6.82269270e-03 5.11706018e+01] [-7.22709591e-02 9.97385027e-01 -1.26865422e-04 -4.33444765e-01] [-6.81402013e-03 -3.66551825e-04 9.99976717e-01 -4.64185413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.42, Z:-0.47 [[ 9.96217954e-01 8.66212332e-02 6.82270028e-03 5.12286973e+01] [-8.66223891e-02 9.96241209e-01 -1.26456545e-04 -4.22443664e-01] [-6.80800899e-03 -4.65020318e-04 9.99976717e-01 -4.68865202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.41, Z:-0.47 [[ 9.95905964e-01 9.01374635e-02 6.82270769e-03 5.12878631e+01] [-9.01387043e-02 9.95929213e-01 -1.26055355e-04 -4.12033393e-01] [-6.80629621e-03 -4.89450751e-04 9.99976717e-01 -4.67170119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.40, Z:-0.46 [[ 9.96499222e-01 8.33231768e-02 6.82271352e-03 5.13469597e+01] [-8.33242606e-02 9.96522479e-01 -1.25738968e-04 -3.97386295e-01] [-6.80946436e-03 -4.43198776e-04 9.99976717e-01 -4.59508394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.39, Z:-0.46 [[ 9.97227886e-01 7.40944965e-02 6.82271949e-03 5.14050024e+01] [-7.40953672e-02 9.97251152e-01 -1.25414555e-04 -3.89216017e-01] [-6.81325740e-03 -3.80465014e-04 9.99976717e-01 -4.58020602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.39, Z:-0.46 [[ 9.97753341e-01 6.66462446e-02 6.82272689e-03 5.14638909e+01] [-6.66469443e-02 9.97776613e-01 -1.25010600e-04 -3.87572601e-01] [-6.81588881e-03 -3.29984155e-04 9.99976717e-01 -4.62882770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.39, Z:-0.46 [[ 9.97963327e-01 6.34243549e-02 6.82273281e-03 5.15224988e+01] [-6.34249817e-02 9.97986601e-01 -1.24686257e-04 -3.90130185e-01] [-6.81690408e-03 -3.08299392e-04 9.99976717e-01 -4.62264941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.39, Z:-0.46 [[ 9.97800189e-01 6.59411391e-02 6.82273889e-03 5.15805037e+01] [-6.59418268e-02 9.97823461e-01 -1.24352734e-04 -3.93839510e-01] [-6.81608890e-03 -3.25824685e-04 9.99976717e-01 -4.57768100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.40, Z:-0.46 [[ 9.97379744e-01 7.20214996e-02 6.82274709e-03 5.16390305e+01] [-7.20223322e-02 9.97403012e-01 -1.23901619e-04 -3.96064053e-01] [-6.81395207e-03 -3.67813192e-04 9.99976717e-01 -4.62685325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.40, Z:-0.47 [[ 9.96956992e-01 7.76543981e-02 6.82275294e-03 5.16982446e+01] [-7.76553644e-02 9.96980255e-01 -1.23578560e-04 -3.97060378e-01] [-6.81174638e-03 -4.06620856e-04 9.99976717e-01 -4.66348421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.76, Y:-0.40, Z:-0.47 [[ 9.96816998e-01 7.94312452e-02 6.82275903e-03 5.17559128e+01] [-7.94322553e-02 9.96840259e-01 -1.23241478e-04 -3.99533927e-01] [-6.81099010e-03 -4.19097937e-04 9.99976717e-01 -4.69830217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:-0.40, Z:-0.47 [[ 9.96861791e-01 7.88671009e-02 6.82276652e-03 5.18149983e+01] [-7.88681006e-02 9.96885052e-01 -1.22825089e-04 -4.03683374e-01] [-6.81120082e-03 -4.15658998e-04 9.99976717e-01 -4.65276603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:-0.41, Z:-0.47 [[ 9.96931170e-01 7.79851987e-02 6.82277236e-03 5.18739253e+01] [-7.79861800e-02 9.96954433e-01 -1.22499675e-04 -4.05527846e-01] [-6.81154631e-03 -4.09958210e-04 9.99976717e-01 -4.67531932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:-0.41, Z:-0.47 [[ 9.97027898e-01 7.67386440e-02 6.82277833e-03 5.19319773e+01] [-7.67395985e-02 9.97051162e-01 -1.22166270e-04 -4.10155805e-01] [-6.81203394e-03 -4.01774091e-04 9.99976717e-01 -4.69333344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:-0.41, Z:-0.46 [[ 9.97155541e-01 7.50618159e-02 6.82278571e-03 5.19906723e+01] [-7.50627341e-02 9.97178806e-01 -1.21752817e-04 -4.12318342e-01] [-6.81267630e-03 -3.90730454e-04 9.99976717e-01 -4.62619988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.42, Z:-0.47 [[ 9.97447894e-01 7.10714357e-02 6.82279160e-03 5.20492581e+01] [-7.10722631e-02 9.97471162e-01 -1.21421882e-04 -4.16621739e-01] [-6.81416749e-03 -3.63799239e-04 9.99976717e-01 -4.65289593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.42, Z:-0.46 [[ 9.97961845e-01 6.34476532e-02 6.82279745e-03 5.21066450e+01] [-6.34483050e-02 9.97985119e-01 -1.21092567e-04 -4.19805787e-01] [-6.81673336e-03 -3.12049172e-04 9.99976717e-01 -4.62008015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.42, Z:-0.46 [[ 9.98299918e-01 5.78854334e-02 6.82280468e-03 5.21656760e+01] [-5.78859583e-02 9.98323195e-01 -1.20683656e-04 -4.23550478e-01] [-6.81834999e-03 -2.74466103e-04 9.99976717e-01 -4.57135621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.43, Z:-0.46 [[ 9.98306171e-01 5.77774890e-02 6.82281040e-03 5.22241528e+01] [-5.77780135e-02 9.98329448e-01 -1.20359422e-04 -4.25233843e-01] [-6.81836660e-03 -2.74052878e-04 9.99976717e-01 -4.59457514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.28, Y:-0.43, Z:-0.46 [[ 9.97920063e-01 6.41014600e-02 6.82281612e-03 5.22833495e+01] [-6.41021342e-02 9.97943336e-01 -1.20034506e-04 -4.29024774e-01] [-6.81647826e-03 -3.17572233e-04 9.99976717e-01 -4.61025598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:-0.43, Z:-0.46 [[ 9.97460605e-01 7.08928169e-02 6.82282179e-03 5.23421835e+01] [-7.08936518e-02 9.97483872e-01 -1.19711242e-04 -4.30086144e-01] [-6.81414136e-03 -3.64287504e-04 9.99976717e-01 -4.62119199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:-0.44, Z:-0.47 [[ 9.97231411e-01 7.40470206e-02 6.82282767e-03 5.23997497e+01] [-7.40479313e-02 9.97254676e-01 -1.19374987e-04 -4.35340227e-01] [-6.81293616e-03 -3.86171788e-04 9.99976717e-01 -4.66872434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.46, Y:-0.44, Z:-0.47 [[ 9.97017440e-01 7.68743980e-02 6.82283490e-03 5.24586624e+01] [-7.68753775e-02 9.97040702e-01 -1.18960408e-04 -4.36181872e-01] [-6.81178911e-03 -4.05902408e-04 9.99976717e-01 -4.66992971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:-0.44, Z:-0.47 [[ 9.96739098e-01 8.04028569e-02 6.82284040e-03 5.25179197e+01] [-8.04039210e-02 9.96762357e-01 -1.18644315e-04 -4.35980654e-01] [-6.81028981e-03 -4.30325693e-04 9.99976717e-01 -4.73728013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.44, Z:-0.47 [[ 9.96707207e-01 8.07972296e-02 6.82284869e-03 5.25761134e+01] [-8.07983061e-02 9.96730465e-01 -1.18165417e-04 -4.39276516e-01] [-6.81008858e-03 -4.33498294e-04 9.99976717e-01 -4.74545227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.44, Z:-0.47 [[ 9.96670594e-01 8.12476143e-02 6.82285542e-03 5.26353407e+01] [-8.12487040e-02 9.96693852e-01 -1.17775561e-04 -4.40633829e-01] [-6.80986703e-03 -4.36964722e-04 9.99976717e-01 -4.69866014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.44, Z:-0.47 [[ 9.96515627e-01 8.31267314e-02 6.82286128e-03 5.26932639e+01] [-8.31278672e-02 9.96538882e-01 -1.17435139e-04 -4.36428470e-01] [-6.80900855e-03 -4.50143956e-04 9.99976717e-01 -4.68156669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:-0.44, Z:-0.47 [[ 9.96518490e-01 8.30924087e-02 6.82286850e-03 5.27524781e+01] [-8.30935466e-02 9.96541745e-01 -1.17013880e-04 -4.37140865e-01] [-6.80899625e-03 -4.50329847e-04 9.99976717e-01 -4.68899935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.81, Y:-0.44, Z:-0.47 [[ 9.96999852e-01 7.71021582e-02 6.82287387e-03 5.28108781e+01] [-7.71031585e-02 9.97023114e-01 -1.16700072e-04 -4.38875351e-01] [-6.81156078e-03 -4.09715171e-04 9.99976717e-01 -4.67903340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.87, Y:-0.44, Z:-0.47 [[ 9.97272210e-01 7.34954873e-02 6.82287951e-03 5.28684057e+01] [-7.34964057e-02 9.97295475e-01 -1.16369228e-04 -4.40819337e-01] [-6.81297948e-03 -3.85405324e-04 9.99976717e-01 -4.69507608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:-0.44, Z:-0.46 [[ 9.97216070e-01 7.42533329e-02 6.82288649e-03 5.29276032e+01] [-7.42542717e-02 9.97239334e-01 -1.15958576e-04 -4.43340672e-01] [-6.81266109e-03 -3.90992713e-04 9.99976717e-01 -4.64886027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:-0.45, Z:-0.46 [[ 9.97202799e-01 7.44313434e-02 6.82289200e-03 5.29858069e+01] [-7.44322886e-02 9.97226063e-01 -1.15633839e-04 -4.47749098e-01] [-6.81257251e-03 -3.92533079e-04 9.99976717e-01 -4.64494018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:-0.45, Z:-0.47 [[ 9.97185414e-01 7.46639029e-02 6.82289878e-03 5.30446193e+01] [-7.46648563e-02 9.97208677e-01 -1.15231942e-04 -4.53781111e-01] [-6.81245754e-03 -3.94523145e-04 9.99976717e-01 -4.68243913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:-0.46, Z:-0.47 [[ 9.96701402e-01 8.08688049e-02 6.82290421e-03 5.31029066e+01] [-8.08699053e-02 9.96724659e-01 -1.14909750e-04 -4.57362786e-01] [-6.80984948e-03 -4.37236908e-04 9.99976717e-01 -4.69495044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.46, Z:-0.47 [[ 9.96088073e-01 8.81022034e-02 6.82290977e-03 5.31614732e+01] [-8.81034748e-02 9.96111321e-01 -1.14578693e-04 -4.59021583e-01] [-6.80647230e-03 -4.86991590e-04 9.99976717e-01 -4.71333767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.46, Z:-0.47 [[ 9.96019540e-01 8.88736431e-02 6.82291524e-03 5.32205328e+01] [-8.88749348e-02 9.96042787e-01 -1.14252196e-04 -4.58215032e-01] [-6.80606952e-03 -4.92588727e-04 9.99976717e-01 -4.73723323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.46, Z:-0.47 [[ 9.96254914e-01 8.61950929e-02 6.82292064e-03 5.32797180e+01] [-8.61963243e-02 9.96278164e-01 -1.13928431e-04 -4.57347168e-01] [-6.80734693e-03 -4.74608921e-04 9.99976717e-01 -4.72107831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.46, Z:-0.47 [[ 9.96259787e-01 8.61387571e-02 6.82292600e-03 5.33381985e+01] [-8.61399893e-02 9.96283037e-01 -1.13606529e-04 -4.55757532e-01] [-6.80735136e-03 -4.74545157e-04 9.99976717e-01 -4.68616798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:-0.45, Z:-0.47 [[ 9.95930977e-01 8.98606475e-02 6.82293139e-03 5.33974225e+01] [-8.98619688e-02 9.95954223e-01 -1.13281881e-04 -4.50450514e-01] [-6.80550692e-03 -5.00301114e-04 9.99976717e-01 -4.73930773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:-0.44, Z:-0.47 [[ 9.95609390e-01 9.33562558e-02 6.82293680e-03 5.34559860e+01] [-9.33576609e-02 9.95632630e-01 -1.12955475e-04 -4.41554404e-01] [-6.80368361e-03 -5.24513888e-04 9.99976717e-01 -4.73248764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.43, Z:-0.47 [[ 9.95572299e-01 9.37509731e-02 6.82294215e-03 5.35140500e+01] [-9.37523896e-02 9.95595539e-01 -1.12631031e-04 -4.34680247e-01] [-6.80345004e-03 -5.27534797e-04 9.99976717e-01 -4.72453516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.43, Z:-0.48 [[ 9.96076653e-01 8.82312279e-02 6.82294876e-03 5.35728287e+01] [-8.82325184e-02 9.96099900e-01 -1.12229131e-04 -4.25672485e-01] [-6.80624069e-03 -4.90217135e-04 9.99976717e-01 -4.77095414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.42, Z:-0.48 [[ 9.96621472e-01 8.18479646e-02 6.82295417e-03 5.36310133e+01] [-8.18491083e-02 9.96644727e-01 -1.11899715e-04 -4.20351760e-01] [-6.80922005e-03 -4.46931056e-04 9.99976717e-01 -4.77104377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.42, Z:-0.48 [[ 9.97254946e-01 7.37293690e-02 6.82296085e-03 5.36900917e+01] [-7.37303261e-02 9.97278209e-01 -1.11490679e-04 -4.16349200e-01] [-6.81261032e-03 -3.91874498e-04 9.99976717e-01 -4.75110222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.75, Y:-0.42, Z:-0.48 [[ 9.97759621e-01 6.65521251e-02 6.82296618e-03 5.37479699e+01] [-6.65529170e-02 9.97782891e-01 -1.11163652e-04 -4.16118166e-01] [-6.81523709e-03 -3.43173699e-04 9.99976717e-01 -4.75676484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.81, Y:-0.42, Z:-0.47 [[ 9.98490724e-01 5.44951502e-02 6.82297277e-03 5.38068025e+01] [-5.44956637e-02 9.98514001e-01 -1.10757336e-04 -4.24267249e-01] [-6.81886958e-03 -2.61232257e-04 9.99976717e-01 -4.73244231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:-0.44, Z:-0.47 [[ 9.98894487e-01 4.65107574e-02 6.82297797e-03 5.38652144e+01] [-4.65110871e-02 9.98917768e-01 -1.10436209e-04 -4.36945086e-01] [-6.82073040e-03 -2.07030002e-04 9.99976717e-01 -4.74558437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.45, Z:-0.47 [[ 9.98613460e-01 5.21977432e-02 6.82298329e-03 5.39234370e+01] [-5.21982077e-02 9.98636738e-01 -1.10106885e-04 -4.47965875e-01] [-6.81942911e-03 -2.46193281e-04 9.99976717e-01 -4.69282827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.46, Z:-0.47 [[ 9.98197232e-01 5.96299589e-02 6.82299063e-03 5.39825477e+01] [-5.96305998e-02 9.98220506e-01 -1.09649899e-04 -4.57447971e-01] [-6.81738758e-03 -2.97406798e-04 9.99976717e-01 -4.71989694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.04, Y:-0.46, Z:-0.47 [[ 9.97992282e-01 6.29670654e-02 6.82299595e-03 5.40411771e+01] [-6.29677864e-02 9.98015554e-01 -1.09318009e-04 -4.60380259e-01] [-6.81633951e-03 -3.20530422e-04 9.99976717e-01 -4.73965418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.10, Y:-0.46, Z:-0.47 [[ 9.97932981e-01 6.39000090e-02 6.82300116e-03 5.40999054e+01] [-6.39007539e-02 9.97956252e-01 -1.08991600e-04 -4.62841010e-01] [-6.81602123e-03 -3.27228605e-04 9.99976717e-01 -4.69139846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.46, Z:-0.47 [[ 9.98275186e-01 5.83103678e-02 6.82300667e-03 5.41579375e+01] [-5.83109847e-02 9.98298461e-01 -1.08645821e-04 -4.64235627e-01] [-6.81773223e-03 -2.89397811e-04 9.99976717e-01 -4.71338368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.47, Z:-0.47 [[ 9.99016907e-01 4.38025703e-02 6.82301344e-03 5.42159870e+01] [-4.38028520e-02 9.99040189e-01 -1.08218914e-04 -4.72504313e-01] [-6.82120490e-03 -1.90754923e-04 9.99976717e-01 -4.71925833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.48, Z:-0.47 [[ 9.99537609e-01 2.96313182e-02 6.82301731e-03 5.42760031e+01] [-2.96312714e-02 9.99560892e-01 -1.07974392e-04 -4.84082551e-01] [-6.82322069e-03 -9.42502117e-05 9.99976717e-01 -4.66885217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:-0.49, Z:-0.47 [[ 9.99592975e-01 2.77007192e-02 6.82301731e-03 5.43365984e+01] [-2.77006274e-02 9.99616258e-01 -1.07974392e-04 -4.90629172e-01] [-6.82339000e-03 -8.10714160e-05 9.99976717e-01 -4.66703327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:-0.50, Z:-0.47 [[ 9.99391318e-01 3.42116981e-02 6.82301128e-03 5.43964844e+01] [-3.42117554e-02 9.99414601e-01 -1.08354182e-04 -4.98724958e-01] [-6.82272407e-03 -1.25138964e-04 9.99976717e-01 -4.69837837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:-0.50, Z:-0.47 [[ 9.99059267e-01 4.28255418e-02 6.82301128e-03 5.44565962e+01] [-4.28257997e-02 9.99082549e-01 -1.08354182e-04 -5.01300284e-01] [-6.82139182e-03 -1.83948665e-04 9.99976717e-01 -4.73236044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-0.50, Z:-0.48 [[ 9.98491417e-01 5.44824347e-02 6.82301258e-03 5.45154674e+01] [-5.44829650e-02 9.98514694e-01 -1.08272095e-04 -5.02130236e-01] [-6.81877725e-03 -2.63629198e-04 9.99976717e-01 -4.75794817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:-0.50, Z:-0.47 [[ 9.98134790e-01 6.06661895e-02 6.82301643e-03 5.45744937e+01] [-6.06668656e-02 9.98158064e-01 -1.08029209e-04 -5.03230170e-01] [-6.81700258e-03 -3.06103308e-04 9.99976717e-01 -4.69403488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:-0.50, Z:-0.47 [[ 9.98032023e-01 6.23340045e-02 6.82302017e-03 5.46337077e+01] [-6.23347210e-02 9.98055295e-01 -1.07792321e-04 -5.04453953e-01] [-6.81647053e-03 -3.17730871e-04 9.99976717e-01 -4.71686391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:-0.51, Z:-0.47 [[ 9.97905311e-01 6.43306825e-02 6.82302517e-03 5.46929439e+01] [-6.43314478e-02 9.97928581e-01 -1.07474794e-04 -5.05993152e-01] [-6.81580575e-03 -3.31685420e-04 9.99976717e-01 -4.72892207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.51, Z:-0.47 [[ 9.97616379e-01 6.86659095e-02 6.82303039e-03 5.47508489e+01] [-6.86667781e-02 9.97639645e-01 -1.07142307e-04 -5.05808936e-01] [-6.81428264e-03 -3.61628593e-04 9.99976717e-01 -4.70404673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:-0.50, Z:-0.47 [[ 9.97054875e-01 7.63873186e-02 6.82303682e-03 5.48088138e+01] [-7.63883702e-02 9.97078134e-01 -1.06731268e-04 -5.03721209e-01] [-6.81125374e-03 -4.14783731e-04 9.99976717e-01 -4.74702623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:-0.50, Z:-0.48 [[ 9.97050525e-01 7.64440789e-02 6.82304342e-03 5.48664731e+01] [-7.64451347e-02 9.97073784e-01 -1.06307691e-04 -4.98677752e-01] [-6.81120431e-03 -4.15594334e-04 9.99976717e-01 -4.75196728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.93, Y:-0.50, Z:-0.47 [[ 9.97511631e-01 7.01711645e-02 6.82304955e-03 5.49255337e+01] [-7.01720767e-02 9.97534896e-01 -1.05912651e-04 -4.95259098e-01] [-6.81366204e-03 -3.73138456e-04 9.99976717e-01 -4.70107158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.50, Z:-0.47 [[ 9.98278734e-01 5.82495920e-02 6.82305441e-03 5.49845323e+01] [-5.82502283e-02 9.98302008e-01 -1.05598494e-04 -4.98250445e-01] [-6.81761999e-03 -2.92027747e-04 9.99976717e-01 -4.72629401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.50, Z:-0.47 [[ 9.98652913e-01 5.14374001e-02 6.82305802e-03 5.50442970e+01] [-5.14378792e-02 9.98676191e-01 -1.05364923e-04 -4.98566217e-01] [-6.81944529e-03 -2.45740647e-04 9.99976717e-01 -4.71471412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.50, Z:-0.47 [[ 9.98295716e-01 5.79578157e-02 6.82306050e-03 5.51031947e+01] [-5.79584478e-02 9.98318991e-01 -1.05204363e-04 -5.01607494e-01] [-6.81768828e-03 -2.90428931e-04 9.99976717e-01 -4.67832645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:55.16, Y:-0.50, Z:-0.47 [[ 9.97623787e-01 6.85581896e-02 6.82306557e-03 5.51605375e+01] [-6.85590712e-02 9.97647053e-01 -1.04874542e-04 -5.00969083e-01] [-6.81420126e-03 -3.63157700e-04 9.99976717e-01 -4.69154099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.50, Z:-0.48 [[ 9.96595095e-01 8.21684983e-02 6.82307177e-03 5.52181018e+01] [-8.21697002e-02 9.96618347e-01 -1.04469467e-04 -4.96405573e-01] [-6.80858261e-03 -4.56536003e-04 9.99976717e-01 -4.83490373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:-0.49, Z:-0.48 [[ 9.96203386e-01 8.67885910e-02 6.82307784e-03 5.52758669e+01] [-8.67899034e-02 9.96226632e-01 -1.04071255e-04 -4.90686161e-01] [-6.80636405e-03 -4.88498130e-04 9.99976717e-01 -4.78860838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.49, Z:-0.47 [[ 9.96064652e-01 8.83665939e-02 6.82308373e-03 5.53342783e+01] [-8.83679458e-02 9.96087895e-01 -1.03683522e-04 -4.88225336e-01] [-6.80555328e-03 -4.99666402e-04 9.99976717e-01 -4.71950148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.49, Z:-0.47 [[ 9.95969446e-01 8.94332614e-02 6.82308990e-03 5.53919692e+01] [-8.94346409e-02 9.95992688e-01 -1.03276458e-04 -4.85004065e-01] [-6.80498400e-03 -5.07360398e-04 9.99976717e-01 -4.69972477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:-0.48, Z:-0.47 [[ 9.96057518e-01 8.84469627e-02 6.82309596e-03 5.54501533e+01] [-8.84483220e-02 9.96080762e-01 -1.02874161e-04 -4.81930205e-01] [-6.80545353e-03 -5.01022807e-04 9.99976717e-01 -4.69258861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:-0.48, Z:-0.47 [[ 9.96221806e-01 8.65768952e-02 6.82310307e-03 5.55083923e+01] [-8.65782140e-02 9.96245051e-01 -1.02400379e-04 -4.78735555e-01] [-6.80634818e-03 -4.88718588e-04 9.99976717e-01 -4.69827764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:-0.48, Z:-0.47 [[ 9.96273075e-01 8.59849176e-02 6.82311016e-03 5.55668689e+01] [-8.59862258e-02 9.96296321e-01 -1.01926176e-04 -4.75318883e-01] [-6.80660366e-03 -4.85147185e-04 9.99976717e-01 -4.72934453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.62, Y:-0.47, Z:-0.47 [[ 9.96352905e-01 8.50548861e-02 6.82311499e-03 5.56248146e+01] [-8.50561748e-02 9.96376152e-01 -1.01601837e-04 -4.68573065e-01] [-6.80703079e-03 -4.79116776e-04 9.99976717e-01 -4.70283054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:-0.47, Z:-0.47 [[ 9.96360636e-01 8.49642713e-02 6.82312097e-03 5.56840307e+01] [-8.49655607e-02 9.96383883e-01 -1.01198587e-04 -4.67055259e-01] [-6.80704603e-03 -4.78900010e-04 9.99976717e-01 -4.74240847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:-0.47, Z:-0.48 [[ 9.96488728e-01 8.34485484e-02 6.82312584e-03 5.57416998e+01] [-8.34498046e-02 9.96511977e-01 -1.00869140e-04 -4.66556421e-01] [-6.80774400e-03 -4.68873557e-04 9.99976717e-01 -4.79451620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:-0.47, Z:-0.48 [[ 9.96492879e-01 8.33989686e-02 6.82313185e-03 5.58002830e+01] [-8.34002265e-02 9.96516127e-01 -1.00460842e-04 -4.67314591e-01] [-6.80773926e-03 -4.68942228e-04 9.99976717e-01 -4.77687694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:-0.46, Z:-0.48 [[ 9.96190419e-01 8.69372950e-02 6.82313653e-03 5.58590587e+01] [-8.69386376e-02 9.96213663e-01 -1.00142177e-04 -4.62051708e-01] [-6.80600792e-03 -4.93433516e-04 9.99976717e-01 -4.81118583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:-0.46, Z:-0.48 [[ 9.96000849e-01 8.90828421e-02 6.82314126e-03 5.59175408e+01] [-8.90842370e-02 9.96024090e-01 -9.98187167e-05 -4.59548910e-01] [-6.80490520e-03 -5.08414806e-04 9.99976717e-01 -4.81626978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:-0.45, Z:-0.48 [[ 9.96101061e-01 8.79552162e-02 6.82314827e-03 5.59757610e+01] [-8.79565881e-02 9.96124304e-01 -9.93368679e-05 -4.53151208e-01] [-6.80544102e-03 -5.01191282e-04 9.99976717e-01 -4.78161873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.45, Z:-0.48 [[ 9.96801684e-01 7.96231540e-02 6.82315403e-03 5.60343027e+01] [-7.96243342e-02 9.96824937e-01 -9.89394693e-05 -4.53583321e-01] [-6.80936797e-03 -4.44666067e-04 9.99976717e-01 -4.75678697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.46, Z:-0.48 [[ 9.97500120e-01 7.03345936e-02 6.82315866e-03 5.60920548e+01] [-7.03355593e-02 9.97523383e-01 -9.86194851e-05 -4.58339938e-01] [-6.81319667e-03 -3.81537733e-04 9.99976717e-01 -4.75122543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.46, Z:-0.47 [[ 9.97790149e-01 6.60928392e-02 6.82316574e-03 5.61498606e+01] [-6.60937093e-02 9.97813415e-01 -9.81274258e-05 -4.62920485e-01] [-6.81473183e-03 -3.53057754e-04 9.99976717e-01 -4.73175611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.47, Z:-0.47 [[ 9.97805217e-01 6.58649674e-02 6.82317155e-03 5.62076527e+01] [-6.58658350e-02 9.97828483e-01 -9.77212392e-05 -4.68334812e-01] [-6.81479133e-03 -3.51907130e-04 9.99976717e-01 -4.72875763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:-0.47, Z:-0.47 [[ 9.97580640e-01 6.91831661e-02 6.82317773e-03 5.62664240e+01] [-6.91841140e-02 9.97603904e-01 -9.72882733e-05 -4.74323836e-01] [-6.81355945e-03 -3.75002608e-04 9.99976717e-01 -4.74463656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.48, Z:-0.48 [[ 9.96884778e-01 7.85759791e-02 6.82318236e-03 5.63239561e+01] [-7.85771484e-02 9.96908031e-01 -9.69622455e-05 -4.78637404e-01] [-6.80970420e-03 -4.39486026e-04 9.99976717e-01 -4.76646354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:-0.48, Z:-0.48 [[ 9.96069824e-01 8.83082651e-02 6.82318804e-03 5.63823546e+01] [-8.83096641e-02 9.96093065e-01 -9.65606668e-05 -4.79071078e-01] [-6.80505740e-03 -5.06372278e-04 9.99976717e-01 -4.76275278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:-0.48, Z:-0.48 [[ 9.95770263e-01 9.16243826e-02 6.82319242e-03 5.64409486e+01] [-9.16258610e-02 9.95793499e-01 -9.62504907e-05 -4.78643084e-01] [-6.80330954e-03 -5.29337504e-04 9.99976717e-01 -4.79266659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:-0.48, Z:-0.48 [[ 9.95870028e-01 9.05335916e-02 6.82319697e-03 5.64997717e+01] [-9.05350469e-02 9.95893265e-01 -9.59267348e-05 -4.78273343e-01] [-6.80386050e-03 -5.22207898e-04 9.99976717e-01 -4.76153301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:-0.48, Z:-0.48 [[ 9.96760082e-01 8.01422685e-02 6.82320154e-03 5.65590070e+01] [-8.01434835e-02 9.96783333e-01 -9.56005003e-05 -4.83346461e-01] [-6.80891522e-03 -4.51544378e-04 9.99976717e-01 -4.77978683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.49, Z:-0.48 [[ 9.97410009e-01 7.16010953e-02 6.82320613e-03 5.66162797e+01] [-7.16021134e-02 9.97433270e-01 -9.52719580e-05 -4.89153162e-01] [-6.81251438e-03 -3.93530774e-04 9.99976717e-01 -4.82666456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.50, Z:-0.48 [[ 9.97915261e-01 6.41761349e-02 6.82321180e-03 5.66751819e+01] [-6.41769826e-02 9.97938528e-01 -9.48637981e-05 -4.96601668e-01] [-6.81523394e-03 -3.43227113e-04 9.99976717e-01 -4.82611295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.73, Y:-0.50, Z:-0.48 [[ 9.97977386e-01 6.32026950e-02 6.82321639e-03 5.67326598e+01] [-6.32035222e-02 9.98000654e-01 -9.45325134e-05 -5.01488727e-01] [-6.81554913e-03 -3.36909998e-04 9.99976717e-01 -4.81652405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:-0.51, Z:-0.48 [[ 9.97907383e-01 6.42985184e-02 6.82322207e-03 5.67918349e+01] [-6.42993741e-02 9.97930650e-01 -9.41213463e-05 -5.10705779e-01] [-6.81515429e-03 -3.44804522e-04 9.99976717e-01 -4.77179169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:-0.52, Z:-0.48 [[ 9.97579287e-01 6.92026719e-02 6.82322670e-03 5.68493496e+01] [-6.92036442e-02 9.97602550e-01 -9.37841428e-05 -5.18373514e-01] [-6.81335847e-03 -3.78635035e-04 9.99976717e-01 -4.75945551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:-0.52, Z:-0.48 [[ 9.97087291e-01 7.59630001e-02 6.82323239e-03 5.69080001e+01] [-7.59641329e-02 9.97110546e-01 -9.33679653e-05 -5.20338240e-01] [-6.81060949e-03 -4.25224921e-04 9.99976717e-01 -4.78896487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:-0.52, Z:-0.48 [[ 9.96161803e-01 8.72645723e-02 6.82323688e-03 5.69671029e+01] [-8.72659710e-02 9.96185044e-01 -9.30389321e-05 -5.23020245e-01] [-6.80532553e-03 -5.02754561e-04 9.99976717e-01 -4.80332574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:-0.52, Z:-0.48 [[ 9.95560403e-01 9.38771949e-02 6.82324135e-03 5.70259978e+01] [-9.38787501e-02 9.95583634e-01 -9.27100146e-05 -5.24807787e-01] [-6.80181077e-03 -5.48258950e-04 9.99976717e-01 -4.80653609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.08, Y:-0.52, Z:-0.49 [[ 9.95586067e-01 9.36046245e-02 6.82324580e-03 5.70837443e+01] [-9.36061756e-02 9.95609299e-01 -9.23812837e-05 -5.24467438e-01] [-6.80193428e-03 -5.46724426e-04 9.99976717e-01 -4.85989253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:-0.52, Z:-0.49 [[ 9.96259605e-01 8.61408309e-02 6.82325124e-03 5.71423307e+01] [-8.61422106e-02 9.96282847e-01 -9.19781392e-05 -5.20929151e-01] [-6.80581124e-03 -4.96135840e-04 9.99976717e-01 -4.85697481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:-0.52, Z:-0.48 [[ 9.96908952e-01 7.82686678e-02 6.82325568e-03 5.72003018e+01] [-7.82698661e-02 9.96932204e-01 -9.16472767e-05 -5.20274625e-01] [-6.80949643e-03 -4.42691318e-04 9.99976717e-01 -4.81397664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:-0.52, Z:-0.48 [[ 9.97800615e-01 6.59346358e-02 6.82326118e-03 5.72593750e+01] [-6.59355493e-02 9.97823880e-01 -9.12358454e-05 -5.19681699e-01] [-6.81442855e-03 -3.58860291e-04 9.99976717e-01 -4.81851333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.32, Y:-0.52, Z:-0.48 [[ 9.98442262e-01 5.53759186e-02 6.82326554e-03 5.73183939e+01] [-5.53765881e-02 9.98465535e-01 -9.09090330e-05 -5.20063763e-01] [-6.81782965e-03 -2.87081744e-04 9.99976717e-01 -4.78280797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:-0.52, Z:-0.48 [[ 9.98785678e-01 4.87915294e-02 6.82326877e-03 5.73777754e+01] [-4.87920471e-02 9.98808955e-01 -9.06659181e-05 -5.24068920e-01] [-6.81956567e-03 -2.42365430e-04 9.99976717e-01 -4.76030141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.53, Z:-0.48 [[ 9.98919922e-01 4.59611970e-02 6.82327101e-03 5.74361008e+01] [-4.59616499e-02 9.98943201e-01 -9.04967802e-05 -5.25523766e-01] [-6.82021952e-03 -2.23209757e-04 9.99976717e-01 -4.75459963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-0.53, Z:-0.47 [[ 9.98980263e-01 4.46304411e-02 6.82327341e-03 5.74946181e+01] [-4.46308643e-02 9.99003542e-01 -9.03150548e-05 -5.26265971e-01] [-6.82050511e-03 -2.14305633e-04 9.99976717e-01 -4.74978724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:-0.52, Z:-0.48 [[ 9.99040768e-01 4.32549070e-02 6.82327665e-03 5.75547177e+01] [-4.32552997e-02 9.99064047e-01 -9.00701454e-05 -5.22210477e-01] [-6.82078636e-03 -2.05159129e-04 9.99976717e-01 -4.75989349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:-0.52, Z:-0.48 [[ 9.99106303e-01 4.17137561e-02 6.82327892e-03 5.76131741e+01] [-4.17141141e-02 9.99129583e-01 -8.98974605e-05 -5.22836463e-01] [-6.82108979e-03 -1.94809916e-04 9.99976717e-01 -4.76355981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.67, Y:-0.53, Z:-0.47 [[ 9.99242903e-01 3.83022759e-02 6.82328229e-03 5.76724547e+01] [-3.83025562e-02 9.99266184e-01 -8.96408218e-05 -5.25275775e-01] [-6.82170871e-03 -1.71776198e-04 9.99976717e-01 -4.73499350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.73, Y:-0.52, Z:-0.48 [[ 9.99194829e-01 3.95365331e-02 6.82328449e-03 5.77319809e+01] [-3.95368432e-02 9.99218109e-01 -8.94731244e-05 -5.23177861e-01] [-6.82148689e-03 -1.80370046e-04 9.99976717e-01 -4.75739723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.79, Y:-0.52, Z:-0.48 [[ 9.99039900e-01 4.32749542e-02 6.82328668e-03 5.77914991e+01] [-4.32753527e-02 9.99063179e-01 -8.93062472e-05 -5.22796601e-01] [-6.82075920e-03 -2.06059633e-04 9.99976717e-01 -4.82218794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.85, Y:-0.52, Z:-0.48 [[ 9.98762318e-01 4.92673746e-02 6.82328887e-03 5.78501984e+01] [-4.92679139e-02 9.98785595e-01 -8.91382342e-05 -5.22295961e-01] [-6.81939424e-03 -2.47141299e-04 9.99976717e-01 -4.84604034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.91, Y:-0.52, Z:-0.48 [[ 9.98391391e-01 5.62856434e-02 6.82329096e-03 5.79093884e+01] [-5.62863473e-02 9.98414663e-01 -8.89778294e-05 -5.17976607e-01] [-6.81748192e-03 -2.95223426e-04 9.99976717e-01 -4.78352120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.97, Y:-0.52, Z:-0.48 [[ 9.98111565e-01 6.10470918e-02 6.82329525e-03 5.79678610e+01] [-6.10479090e-02 9.98134833e-01 -8.86479983e-05 -5.15250227e-01] [-6.81598037e-03 -3.28067315e-04 9.99976717e-01 -4.80796171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:-0.51, Z:-0.48 [[ 9.97751159e-01 6.66788356e-02 6.82329951e-03 5.80262810e+01] [-6.66797863e-02 9.97774423e-01 -8.83185649e-05 -5.09182546e-01] [-6.81400271e-03 -3.66856203e-04 9.99976717e-01 -4.84988343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.51, Z:-0.49 [[ 9.97774008e-01 6.63360426e-02 6.82330382e-03 5.80842280e+01] [-6.63369876e-02 9.97797272e-01 -8.79845108e-05 -5.05739910e-01] [-6.81411048e-03 -3.64848763e-04 9.99976717e-01 -4.86583750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.50, Z:-0.49 [[ 9.98077978e-01 6.15937689e-02 6.82330911e-03 5.81428868e+01] [-6.15946061e-02 9.98101246e-01 -8.75725518e-05 -5.04936949e-01] [-6.81574724e-03 -3.32874801e-04 9.99976717e-01 -4.85132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.51, Z:-0.48 [[ 9.98560220e-01 5.32064720e-02 6.82331314e-03 5.82015943e+01] [-5.32071159e-02 9.98583494e-01 -8.72570814e-05 -5.07950733e-01] [-6.81829052e-03 -2.75917363e-04 9.99976717e-01 -4.83947323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.51, Z:-0.48 [[ 9.98776307e-01 4.89829576e-02 6.82331717e-03 5.82617068e+01] [-4.89835052e-02 9.98799584e-01 -8.69406657e-05 -5.09919559e-01] [-6.81938496e-03 -2.47395715e-04 9.99976717e-01 -4.77965547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.52, Z:-0.48 [[ 9.98863482e-01 4.71718831e-02 6.82331929e-03 5.83206311e+01] [-4.71723897e-02 9.98886759e-01 -8.67740509e-05 -5.17459645e-01] [-6.81981659e-03 -2.35196846e-04 9.99976717e-01 -4.80182407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.52, Z:-0.48 [[ 9.98741277e-01 4.96920859e-02 6.82332350e-03 5.83796522e+01] [-4.96926534e-02 9.98764553e-01 -8.64420501e-05 -5.22916256e-01] [-6.81918913e-03 -2.52735806e-04 9.99976717e-01 -4.83217210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.53, Z:-0.48 [[ 9.98500172e-01 5.43217188e-02 6.82332772e-03 5.84381507e+01] [-5.43223965e-02 9.98523445e-01 -8.61076590e-05 -5.27303319e-01] [-6.81793021e-03 -2.84681001e-04 9.99976717e-01 -4.81097905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.53, Z:-0.48 [[ 9.97869531e-01 6.48832963e-02 6.82333190e-03 5.84961267e+01] [-6.48842225e-02 9.97892795e-01 -8.57748254e-05 -5.32740557e-01] [-6.81451910e-03 -3.57134500e-04 9.99976717e-01 -4.80732042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.54, Z:-0.48 [[ 9.97182952e-01 7.46967373e-02 6.82333704e-03 5.85550581e+01] [-7.46978951e-02 9.97206206e-01 -8.53645236e-05 -5.36792865e-01] [-6.81065049e-03 -4.24564867e-04 9.99976717e-01 -4.84793736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.54, Z:-0.49 [[ 9.96998147e-01 7.71241714e-02 6.82334121e-03 5.86125191e+01] [-7.71253881e-02 9.97021398e-01 -8.50298417e-05 -5.42771710e-01] [-6.80957504e-03 -4.41478244e-04 9.99976717e-01 -4.87464502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:-0.55, Z:-0.49 [[ 9.97127724e-01 7.54303944e-02 6.82334630e-03 5.86711933e+01] [-7.54315743e-02 9.97150977e-01 -8.46190175e-05 -5.45670366e-01] [-6.81028927e-03 -4.30319785e-04 9.99976717e-01 -4.89163700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:-0.55, Z:-0.49 [[ 9.97560583e-01 6.94717527e-02 6.82335047e-03 5.87285271e+01] [-6.94727961e-02 9.97583843e-01 -8.42814658e-05 -5.51366600e-01] [-6.81271936e-03 -3.89961368e-04 9.99976717e-01 -4.86714267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:-0.56, Z:-0.49 [[ 9.97938005e-01 6.38214675e-02 6.82335559e-03 5.87883707e+01] [-6.38223819e-02 9.97961270e-01 -8.38648926e-05 -5.56447295e-01] [-6.81479699e-03 -3.51790843e-04 9.99976717e-01 -4.85595515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-0.56, Z:-0.49 [[ 9.97901730e-01 6.43861680e-02 6.82335766e-03 5.88461198e+01] [-6.43870967e-02 9.97924995e-01 -8.36964515e-05 -5.60564074e-01] [-6.81458805e-03 -3.55815356e-04 9.99976717e-01 -4.85442123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:-0.56, Z:-0.48 [[ 9.97272295e-01 7.34942886e-02 6.82336314e-03 5.89042746e+01] [-7.34954328e-02 9.97295550e-01 -8.32468854e-05 -5.64389727e-01] [-6.81102787e-03 -4.18466215e-04 9.99976717e-01 -4.82973962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:-0.57, Z:-0.48 [[ 9.96698027e-01 8.09103539e-02 6.82336813e-03 5.89628038e+01] [-8.09116739e-02 9.96721272e-01 -8.28358263e-05 -5.66914916e-01] [-6.80769844e-03 -4.69527832e-04 9.99976717e-01 -4.80530184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:-0.57, Z:-0.48 [[ 9.96641667e-01 8.16016448e-02 6.82337199e-03 5.90218395e+01] [-8.16029830e-02 9.96664912e-01 -8.25165805e-05 -5.72555986e-01] [-6.80734893e-03 -4.74568046e-04 9.99976717e-01 -4.82023064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:-0.59, Z:-0.48 [[ 9.96980313e-01 7.73543611e-02 6.82337588e-03 5.90800148e+01] [-7.73556024e-02 9.97003563e-01 -8.21942765e-05 -5.85432097e-01] [-6.80928814e-03 -4.45880276e-04 9.99976717e-01 -4.84202531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.14, Y:-0.60, Z:-0.48 [[ 9.97373816e-01 7.21034811e-02 6.82337874e-03 5.91392102e+01] [-7.21046017e-02 9.97397072e-01 -8.19559159e-05 -6.00551281e-01] [-6.81152728e-03 -4.10256321e-04 9.99976717e-01 -4.84583481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.20, Y:-0.61, Z:-0.49 [[ 9.97384843e-01 7.19507871e-02 6.82338072e-03 5.91977224e+01] [-7.19519052e-02 9.97408099e-01 -8.17905809e-05 -6.08207250e-01] [-6.81158009e-03 -4.09378557e-04 9.99976717e-01 -4.85513429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.26, Y:-0.62, Z:-0.49 [[ 9.96943485e-01 7.78275589e-02 6.82338365e-03 5.92570682e+01] [-7.78288158e-02 9.96966734e-01 -8.15453744e-05 -6.16207915e-01] [-6.80903299e-03 -4.49759739e-04 9.99976717e-01 -4.88174750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:59.32, Y:-0.62, Z:-0.50 [[ 9.96283511e-01 8.58638882e-02 6.82338554e-03 5.93156601e+01] [-8.58653335e-02 9.96306749e-01 -8.13868017e-05 -6.22307019e-01] [-6.80517325e-03 -5.04807947e-04 9.99976717e-01 -4.95325972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.38, Y:-0.63, Z:-0.49 [[ 9.96095569e-01 8.80173802e-02 6.82338722e-03 5.93755678e+01] [-8.80188767e-02 9.96118804e-01 -8.12456951e-05 -6.26218237e-01] [-6.80405535e-03 -5.19658402e-04 9.99976717e-01 -4.92515228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.44, Y:-0.63, Z:-0.48 [[ 9.95993267e-01 8.91675632e-02 6.82338908e-03 5.94357042e+01] [-8.91690876e-02 9.96016499e-01 -8.10890163e-05 -6.31321049e-01] [-6.80343862e-03 -5.27671265e-04 9.99976717e-01 -4.84827549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.63, Z:-0.48 [[ 9.95658130e-01 9.28349614e-02 6.82339098e-03 5.94951884e+01] [-9.28365725e-02 9.95681357e-01 -8.09293534e-05 -6.34886319e-01] [-6.80143626e-03 -5.52882263e-04 9.99976717e-01 -4.84680739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:-0.64, Z:-0.49 [[ 9.95538173e-01 9.41126288e-02 6.82339286e-03 5.95549952e+01] [-9.41142708e-02 9.95561398e-01 -8.07704548e-05 -6.38580429e-01] [-6.80070805e-03 -5.61768572e-04 9.99976717e-01 -4.90203450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.62, Y:-0.64, Z:-0.49 [[ 9.95566227e-01 9.38154025e-02 6.82339379e-03 5.96152103e+01] [-9.38170380e-02 9.95589452e-01 -8.06920421e-05 -6.44876679e-01] [-6.80086904e-03 -5.59816322e-04 9.99976717e-01 -4.89972964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:-0.65, Z:-0.49 [[ 9.95455554e-01 9.49825363e-02 6.82339379e-03 5.96756323e+01] [-9.49841990e-02 9.95478777e-01 -8.06920421e-05 -6.50289783e-01] [-6.80020804e-03 -5.67789252e-04 9.99976717e-01 -4.92441976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:-0.65, Z:-0.49 [[ 9.95126613e-01 9.83690311e-02 6.82339379e-03 5.97357344e+01] [-9.83707729e-02 9.95149830e-01 -8.06920421e-05 -6.49945751e-01] [-6.79823677e-03 -5.90923722e-04 9.99976717e-01 -4.93971714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:-0.65, Z:-0.50 [[ 9.94729832e-01 1.02303481e-01 6.82339379e-03 5.97955293e+01] [-1.02305315e-01 9.94753043e-01 -8.06920421e-05 -6.49619296e-01] [-6.79584681e-03 -6.17802666e-04 9.99976717e-01 -4.95180536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.65, Z:-0.49 [[ 9.95036973e-01 9.92716685e-02 6.82339472e-03 5.98547169e+01] [-9.92734319e-02 9.95060189e-01 -8.06125393e-05 -6.51161538e-01] [-6.79769098e-03 -5.97169354e-04 9.99976717e-01 -4.93244813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:-0.65, Z:-0.49 [[ 9.95293955e-01 9.66611842e-02 6.82339655e-03 5.99156379e+01] [-9.66628877e-02 9.95317175e-01 -8.04577710e-05 -6.51563892e-01] [-6.79922092e-03 -5.79490081e-04 9.99976717e-01 -4.92972250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:-0.66, Z:-0.49 [[ 9.95694883e-01 9.24399343e-02 6.82339655e-03 5.99766049e+01] [-9.24415393e-02 9.95718110e-01 -8.04577710e-05 -6.57491198e-01] [-6.80161703e-03 -5.50653890e-04 9.99976717e-01 -4.94788781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.04, Y:-0.66, Z:-0.50 [[ 9.95564076e-01 9.38382236e-02 6.82339469e-03 6.00356279e+01] [-9.38398602e-02 9.95587301e-01 -8.06156067e-05 -6.63655730e-01] [-6.80084992e-03 -5.60048401e-04 9.99976717e-01 -4.99189535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.10, Y:-0.67, Z:-0.49 [[ 9.95086955e-01 9.87693936e-02 6.82339561e-03 6.00964958e+01] [-9.87711458e-02 9.95110172e-01 -8.05373365e-05 -6.65235078e-01] [-6.79798500e-03 -5.93812950e-04 9.99976717e-01 -4.94939776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.16, Y:-0.66, Z:-0.50 [[ 9.94129884e-01 1.07977849e-01 6.82339561e-03 6.01556246e+01] [-1.07979816e-01 9.94153083e-01 -8.05373365e-05 -6.60630657e-01] [-6.79219603e-03 -6.56724429e-04 9.99976717e-01 -4.98923742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.66, Z:-0.50 [[ 9.93814644e-01 1.10841756e-01 6.82339848e-03 6.02140892e+01] [-1.10843792e-01 9.93837838e-01 -8.02931776e-05 -6.58498372e-01] [-6.79025143e-03 -6.76534824e-04 9.99976717e-01 -4.98045231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.65, Z:-0.50 [[ 9.93474713e-01 1.13848300e-01 6.82340127e-03 6.02717302e+01] [-1.13850407e-01 9.93497901e-01 -8.00553047e-05 -6.49436416e-01] [-6.78814900e-03 -6.97314092e-04 9.99976717e-01 -4.95000632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.64, Z:-0.50 [[ 9.94009787e-01 1.09077884e-01 6.82340652e-03 6.03319362e+01] [-1.09079883e-01 9.94032984e-01 -7.96058818e-05 -6.40675000e-01] [-6.79137438e-03 -6.65167360e-04 9.99976717e-01 -5.00294822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.64, Z:-0.50 [[ 9.94355014e-01 1.05884592e-01 6.82340837e-03 6.03907831e+01] [-1.05886518e-01 9.94378217e-01 -7.94464489e-05 -6.36459727e-01] [-6.79346081e-03 -6.43508977e-04 9.99976717e-01 -4.98209120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.63, Z:-0.50 [[ 9.94549111e-01 1.04045694e-01 6.82341112e-03 6.04495953e+01] [-1.04047578e-01 9.94572318e-01 -7.92093527e-05 -6.25066826e-01] [-6.79461721e-03 -6.31181809e-04 9.99976717e-01 -4.98139830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.62, Z:-0.50 [[ 9.94782114e-01 1.01793843e-01 6.82341484e-03 6.05072456e+01] [-1.01795677e-01 9.94805325e-01 -7.88878275e-05 -6.18746813e-01] [-6.79599971e-03 -6.16117931e-04 9.99976717e-01 -4.96301710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.61, Z:-0.50 [[ 9.95392710e-01 9.56388695e-02 6.82341942e-03 6.05657548e+01] [-9.56405625e-02 9.95415931e-01 -7.84901951e-05 -6.14069806e-01] [-6.79964711e-03 -5.74467103e-04 9.99976717e-01 -4.99304939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.61, Z:-0.50 [[ 9.95847096e-01 9.07854733e-02 6.82342303e-03 6.06236001e+01] [-9.07870553e-02 9.95870325e-01 -7.81746130e-05 -6.11140074e-01] [-6.80234163e-03 -5.41628523e-04 9.99976717e-01 -5.02973651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-0.61, Z:-0.50 [[ 9.96089922e-01 8.80812636e-02 6.82342806e-03 6.06821465e+01] [-8.80827856e-02 9.96113155e-01 -7.77332218e-05 -6.14082164e-01] [-6.80375329e-03 -5.23597272e-04 9.99976717e-01 -5.00878768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.61, Z:-0.50 [[ 9.96045235e-01 8.85851585e-02 6.82343162e-03 6.07414069e+01] [-8.85866943e-02 9.96068467e-01 -7.74198741e-05 -6.12138461e-01] [-6.80346332e-03 -5.27351554e-04 9.99976717e-01 -5.04393305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.61, Z:-0.51 [[ 9.95894595e-01 9.02629240e-02 6.82343527e-03 6.07999021e+01] [-9.02645012e-02 9.95917825e-01 -7.70962879e-05 -6.13984576e-01] [-6.80253975e-03 -5.39134205e-04 9.99976717e-01 -5.07441139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.61, Z:-0.50 [[ 9.95803908e-01 9.12579705e-02 6.82343889e-03 6.08588931e+01] [-9.12595730e-02 9.95827136e-01 -7.67747616e-05 -6.13988501e-01] [-6.80197191e-03 -5.46251512e-04 9.99976717e-01 -5.03612438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.61, Z:-0.50 [[ 9.95703364e-01 9.23485284e-02 6.82344252e-03 6.09172889e+01] [-9.23501586e-02 9.95726590e-01 -7.64502934e-05 -6.11775345e-01] [-6.80134323e-03 -5.54024185e-04 9.99976717e-01 -5.02846609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:-0.61, Z:-0.50 [[ 9.95530432e-01 9.41944752e-02 6.82344615e-03 6.09749111e+01] [-9.41961506e-02 9.95553655e-01 -7.61253477e-05 -6.08557270e-01] [-6.80027734e-03 -5.66957261e-04 9.99976717e-01 -5.02571287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.60, Z:-0.50 [[ 9.95294712e-01 9.66533827e-02 6.82345060e-03 6.10338824e+01] [-9.66551183e-02 9.95317930e-01 -7.57244746e-05 -6.01857355e-01] [-6.79882175e-03 -5.84153256e-04 9.99976717e-01 -5.02011934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.60, Z:-0.50 [[ 9.95204909e-01 9.75737094e-02 6.82345408e-03 6.10918745e+01] [-9.75754685e-02 9.95228126e-01 -7.54091696e-05 -5.97697327e-01] [-6.79825137e-03 -5.90754153e-04 9.99976717e-01 -5.00477940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.15, Y:-0.60, Z:-0.50 [[ 9.95385416e-01 9.57147584e-02 6.82345838e-03 6.11511639e+01] [-9.57164769e-02 9.95408635e-01 -7.50180190e-05 -5.98286677e-01] [-6.79930973e-03 -5.78445555e-04 9.99976717e-01 -5.00687084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.21, Y:-0.60, Z:-0.50 [[ 9.95455632e-01 9.49817110e-02 6.82346191e-03 6.12097282e+01] [-9.49834146e-02 9.95478852e-01 -7.46961806e-05 -6.01336538e-01] [-6.79970680e-03 -5.73758978e-04 9.99976717e-01 -4.99835674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.27, Y:-0.60, Z:-0.50 [[ 9.95215524e-01 9.74653848e-02 6.82346551e-03 6.12679673e+01] [-9.74671485e-02 9.95238740e-01 -7.43653079e-05 -6.02173333e-01] [-6.79822526e-03 -5.91054218e-04 9.99976717e-01 -5.04631896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.33, Y:-0.60, Z:-0.50 [[ 9.95097621e-01 9.86618685e-02 6.82346994e-03 6.13262725e+01] [-9.86636630e-02 9.95120835e-01 -7.39565006e-05 -6.03868797e-01] [-6.79747379e-03 -5.99634601e-04 9.99976717e-01 -5.02061467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.60, Z:-0.50 [[ 9.95256911e-01 9.70418506e-02 6.82347460e-03 6.13849372e+01] [-9.70436102e-02 9.95280128e-01 -7.35244110e-05 -6.04726828e-01] [-6.79840361e-03 -5.88998931e-04 9.99976717e-01 -5.04187364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.44, Y:-0.61, Z:-0.51 [[ 9.95376532e-01 9.58070960e-02 6.82347802e-03 6.14439721e+01] [-9.58088290e-02 9.95399750e-01 -7.32060138e-05 -6.05181078e-01] [-6.79910197e-03 -5.80881890e-04 9.99976717e-01 -5.07718292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.50, Y:-0.61, Z:-0.50 [[ 9.95421635e-01 9.53373369e-02 6.82348146e-03 6.15013686e+01] [-9.53390611e-02 9.95444854e-01 -7.28833023e-05 -6.07582842e-01] [-6.79934801e-03 -5.77994700e-04 9.99976717e-01 -5.03128476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.56, Y:-0.61, Z:-0.51 [[ 9.95231028e-01 9.73069404e-02 6.82348570e-03 6.15600436e+01] [-9.73087132e-02 9.95254243e-01 -7.24847108e-05 -6.07325988e-01] [-6.79815636e-03 -5.91845580e-04 9.99976717e-01 -5.05713160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.62, Y:-0.61, Z:-0.51 [[ 9.95265821e-01 9.69504260e-02 6.82348912e-03 6.16177082e+01] [-9.69521927e-02 9.95289037e-01 -7.21609410e-05 -6.07521096e-01] [-6.79833995e-03 -5.89732914e-04 9.99976717e-01 -5.10138555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.61, Z:-0.50 [[ 9.95649767e-01 9.29246002e-02 6.82349334e-03 6.16760750e+01] [-9.29262758e-02 9.95672990e-01 -7.17597317e-05 -6.08351847e-01] [-6.80063626e-03 -5.62634264e-04 9.99976717e-01 -5.02439123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:-0.61, Z:-0.51 [[ 9.96059743e-01 8.84218820e-02 6.82349766e-03 6.17346392e+01] [-8.84234554e-02 9.96082972e-01 -7.13462356e-05 -6.14213363e-01] [-6.80307840e-03 -5.32292128e-04 9.99976717e-01 -5.05247803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:-0.62, Z:-0.51 [[ 9.96183810e-01 8.70129669e-02 6.82350107e-03 6.17925471e+01] [-8.70145097e-02 9.96207042e-01 -7.10187907e-05 -6.16377092e-01] [-6.80379937e-03 -5.22995830e-04 9.99976717e-01 -5.06322064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.85, Y:-0.62, Z:-0.50 [[ 9.96008498e-01 8.89972548e-02 6.82350528e-03 6.18507294e+01] [-8.89988466e-02 9.96031727e-01 -7.06124429e-05 -6.19926956e-01] [-6.80271206e-03 -5.36953506e-04 9.99976717e-01 -5.02999042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.62, Z:-0.50 [[ 9.95681727e-01 9.25815183e-02 6.82350940e-03 6.19094616e+01] [-9.25831964e-02 9.95704950e-01 -7.02119258e-05 -6.24134616e-01] [-6.80070241e-03 -5.61833579e-04 9.99976717e-01 -5.04838704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.63, Z:-0.51 [[ 9.95593817e-01 9.35221428e-02 6.82351272e-03 6.19672894e+01] [-9.35238451e-02 9.95617038e-01 -6.98877487e-05 -6.27061013e-01] [-6.80014157e-03 -5.68581336e-04 9.99976717e-01 -5.07444950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:-0.63, Z:-0.51 [[ 9.95690534e-01 9.24867537e-02 6.82351678e-03 6.20264410e+01] [-9.24884345e-02 9.95713756e-01 -6.94889093e-05 -6.28319124e-01] [-6.80069633e-03 -5.61906935e-04 9.99976717e-01 -5.06385266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.09, Y:-0.63, Z:-0.51 [[ 9.95719112e-01 9.21785769e-02 6.82351998e-03 6.20856775e+01] [-9.21802527e-02 9.95742334e-01 -6.91734088e-05 -6.29530305e-01] [-6.80084402e-03 -5.60116510e-04 9.99976717e-01 -5.06267190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.63, Z:-0.51 [[ 9.95640704e-01 9.30216515e-02 6.82352322e-03 6.21433088e+01] [-9.30233491e-02 9.95663925e-01 -6.88516570e-05 -6.31854198e-01] [-6.80034061e-03 -5.66195471e-04 9.99976717e-01 -5.07356019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.63, Z:-0.51 [[ 9.95568522e-01 9.37910278e-02 6.82352720e-03 6.22020180e+01] [-9.37927461e-02 9.95591742e-01 -6.84554035e-05 -6.29093609e-01] [-6.79986783e-03 -5.71845309e-04 9.99976717e-01 -5.13123796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.63, Z:-0.51 [[ 9.95531430e-01 9.41839182e-02 6.82353047e-03 6.22613312e+01] [-9.41856479e-02 9.95554649e-01 -6.81274489e-05 -6.27447098e-01] [-6.79961400e-03 -5.74855622e-04 9.99976717e-01 -5.14502473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.62, Z:-0.51 [[ 9.95416276e-01 9.53932738e-02 6.82353371e-03 6.23196515e+01] [-9.53950339e-02 9.95439492e-01 -6.78015880e-05 -6.17650510e-01] [-6.79888275e-03 -5.83440426e-04 9.99976717e-01 -5.11684400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.38, Y:-0.61, Z:-0.51 [[ 9.95421554e-01 9.53381824e-02 6.82353768e-03 6.23788859e+01] [-9.53399439e-02 9.95444770e-01 -6.73994037e-05 -6.11836536e-01] [-6.79888064e-03 -5.83464881e-04 9.99976717e-01 -5.12619401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:-0.61, Z:-0.52 [[ 9.95497135e-01 9.45457173e-02 6.82354078e-03 6.24372493e+01] [-9.45474625e-02 9.95520353e-01 -6.70844585e-05 -6.08619045e-01] [-6.79931627e-03 -5.78366080e-04 9.99976717e-01 -5.18944025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.60, Z:-0.51 [[ 9.95451276e-01 9.50273451e-02 6.82354383e-03 6.24959316e+01] [-9.50291036e-02 9.95474492e-01 -6.67723696e-05 -6.02567708e-01] [-6.79900904e-03 -5.81966614e-04 9.99976717e-01 -5.10080555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.60, Z:-0.51 [[ 9.95384232e-01 9.57270591e-02 6.82354688e-03 6.25549305e+01] [-9.57288361e-02 9.95407447e-01 -6.64598389e-05 -5.99186078e-01] [-6.79857138e-03 -5.87057125e-04 9.99976717e-01 -5.05117833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.59, Z:-0.51 [[ 9.94881483e-01 1.00818020e-01 6.82355000e-03 6.26128546e+01] [-1.00819918e-01 9.94904689e-01 -6.61378173e-05 -5.93387019e-01] [-6.79544977e-03 -6.22150464e-04 9.99976717e-01 -5.09746880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.59, Z:-0.51 [[ 9.94763554e-01 1.01975045e-01 6.82355383e-03 6.26718563e+01] [-1.01976973e-01 9.94786757e-01 -6.57400414e-05 -5.92729399e-01] [-6.79468483e-03 -6.30449567e-04 9.99976717e-01 -5.10552346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:62.73, Y:-0.59, Z:-0.51 [[ 9.95184295e-01 9.77837359e-02 6.82355686e-03 6.27292355e+01] [-9.77855679e-02 9.95207505e-01 -6.54239810e-05 -5.91023599e-01] [-6.79725240e-03 -6.02136465e-04 9.99976717e-01 -5.12665846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.79, Y:-0.59, Z:-0.51 [[ 9.95617730e-01 9.32672185e-02 6.82356073e-03 6.27882886e+01] [-9.32689479e-02 9.95640949e-01 -6.50183292e-05 -5.94334419e-01] [-6.79988056e-03 -5.71692929e-04 9.99976717e-01 -5.13993523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.85, Y:-0.59, Z:-0.51 [[ 9.95906339e-01 9.01332551e-02 6.82356366e-03 6.28457895e+01] [-9.01349135e-02 9.95929562e-01 -6.47095791e-05 -5.94937967e-01] [-6.80162125e-03 -5.50596640e-04 9.99976717e-01 -5.12154467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.90, Y:-0.60, Z:-0.51 [[ 9.96265509e-01 8.60724968e-02 6.82356737e-03 6.29040792e+01] [-8.60740632e-02 9.96288739e-01 -6.43151025e-05 -6.00853433e-01] [-6.80377910e-03 -5.23257251e-04 9.99976717e-01 -5.14094147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.96, Y:-0.61, Z:-0.52 [[ 9.96376472e-01 8.47783248e-02 6.82357021e-03 6.29629776e+01] [-8.47798631e-02 9.96399704e-01 -6.40130394e-05 -6.05394502e-01] [-6.80443026e-03 -5.14720262e-04 9.99976717e-01 -5.17148763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.02, Y:-0.61, Z:-0.52 [[ 9.96300850e-01 8.56624431e-02 6.82357302e-03 6.30219622e+01] [-8.56640041e-02 9.96324081e-01 -6.37120727e-05 -6.08368786e-01] [-6.80394785e-03 -5.21058195e-04 9.99976717e-01 -5.19684523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:-0.61, Z:-0.52 [[ 9.95794862e-01 9.13566173e-02 6.82357578e-03 6.30808963e+01] [-9.13583131e-02 9.95818083e-01 -6.34144427e-05 -6.11977849e-01] [-6.80083349e-03 -5.60242597e-04 9.99976717e-01 -5.20917959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:-0.62, Z:-0.52 [[ 9.95231484e-01 9.73022761e-02 6.82357875e-03 6.31400354e+01] [-9.73041127e-02 9.95254694e-01 -6.30938644e-05 -6.15586693e-01] [-6.79733795e-03 -6.01169276e-04 9.99976717e-01 -5.17873963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.62, Z:-0.52 [[ 9.94306514e-01 1.06339060e-01 6.82358171e-03 6.31975407e+01] [-1.06341109e-01 9.94329706e-01 -6.27718413e-05 -6.17604878e-01] [-6.79156510e-03 -6.63212799e-04 9.99976717e-01 -5.16979477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.26, Y:-0.62, Z:-0.52 [[ 9.93852967e-01 1.10497599e-01 6.82358566e-03 6.32558736e+01] [-1.10499748e-01 9.93876150e-01 -6.23390397e-05 -6.17089473e-01] [-6.78868736e-03 -6.92048659e-04 9.99976717e-01 -5.20293119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.62, Z:-0.52 [[ 9.94111024e-01 1.08151328e-01 6.82358862e-03 6.33136438e+01] [-1.08153425e-01 9.94134213e-01 -6.20134950e-05 -6.16786126e-01] [-6.79026975e-03 -6.76346179e-04 9.99976717e-01 -5.21168345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.62, Z:-0.52 [[ 9.94926954e-01 1.00368295e-01 6.82359227e-03 6.33728908e+01] [-1.00370213e-01 9.94950158e-01 -6.16097138e-05 -6.17402786e-01] [-6.79531787e-03 -6.23588246e-04 9.99976717e-01 -5.16285987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.62, Z:-0.52 [[ 9.95297139e-01 9.66283795e-02 6.82359515e-03 6.34316642e+01] [-9.66302127e-02 9.95320350e-01 -6.12885584e-05 -6.17185617e-01] [-6.79758533e-03 -5.98365124e-04 9.99976717e-01 -5.16593192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-0.61, Z:-0.52 [[ 9.95627348e-01 9.31644950e-02 6.82359801e-03 6.34900451e+01] [-9.31662496e-02 9.95650564e-01 -6.09693901e-05 -6.12777073e-01] [-6.79959939e-03 -5.75026243e-04 9.99976717e-01 -5.20143189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-0.61, Z:-0.52 [[ 9.95826636e-01 9.10096076e-02 6.82360082e-03 6.35486432e+01] [-9.10113142e-02 9.95849857e-01 -6.06522052e-05 -6.08039878e-01] [-6.80080184e-03 -5.60625797e-04 9.99976717e-01 -5.17018183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-0.61, Z:-0.52 [[ 9.95968861e-01 8.94397304e-02 6.82360368e-03 6.36078077e+01] [-8.94414025e-02 9.95992084e-01 -6.03289255e-05 -6.07804011e-01] [-6.80165106e-03 -5.50226952e-04 9.99976717e-01 -5.18572327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.60, Z:-0.52 [[ 9.96217731e-01 8.66237307e-02 6.82360656e-03 6.36654582e+01] [-8.66253394e-02 9.96240958e-01 -6.00021670e-05 -6.04812424e-01] [-6.80315395e-03 -5.31322011e-04 9.99976717e-01 -5.17382627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-0.60, Z:-0.52 [[ 9.96235866e-01 8.64149140e-02 6.82361010e-03 6.37245917e+01] [-8.64165205e-02 9.96259094e-01 -5.95958402e-05 -6.04843111e-01] [-6.80323359e-03 -5.30301129e-04 9.99976717e-01 -5.19251609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:-0.60, Z:-0.52 [[ 9.96430808e-01 8.41372887e-02 6.82361295e-03 6.37828191e+01] [-8.41388444e-02 9.96454039e-01 -5.92679967e-05 -6.04988101e-01] [-6.80440333e-03 -5.15074451e-04 9.99976717e-01 -5.19331239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:-0.61, Z:-0.52 [[ 9.96702296e-01 8.08577247e-02 6.82361643e-03 6.38404493e+01] [-8.08592067e-02 9.96725532e-01 -5.88646057e-05 -6.06988987e-01] [-6.80603237e-03 -4.93081724e-04 9.99976717e-01 -5.20889989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:-0.61, Z:-0.51 [[ 9.96860032e-01 7.88892620e-02 6.82361978e-03 6.38997809e+01] [-7.88907008e-02 9.96883270e-01 -5.84733401e-05 -6.09539419e-01] [-6.80696532e-03 -4.80030411e-04 9.99976717e-01 -5.14623282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:-0.61, Z:-0.52 [[ 9.96968077e-01 7.75118831e-02 6.82362181e-03 6.39587185e+01] [-7.75132914e-02 9.96991317e-01 -5.82356820e-05 -6.11737324e-01] [-6.80760566e-03 -4.70862270e-04 9.99976717e-01 -5.16373328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:-0.61, Z:-0.52 [[ 9.96999768e-01 7.71031781e-02 6.82362455e-03 6.40162647e+01] [-7.71045790e-02 9.97023009e-01 -5.79135672e-05 -6.14648086e-01] [-6.80777600e-03 -4.68392885e-04 9.99976717e-01 -5.19717779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:-0.62, Z:-0.52 [[ 9.97080227e-01 7.60556311e-02 6.82362786e-03 6.40754490e+01] [-7.60570103e-02 9.97103469e-01 -5.75204472e-05 -6.16979498e-01] [-6.80823777e-03 -4.61632234e-04 9.99976717e-01 -5.17887826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:64.13, Y:-0.62, Z:-0.52 [[ 9.97183923e-01 7.46837465e-02 6.82363056e-03 6.41330650e+01] [-7.46850959e-02 9.97207167e-01 -5.71981312e-05 -6.21365399e-01] [-6.80884507e-03 -4.52586446e-04 9.99976717e-01 -5.18281367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:-0.63, Z:-0.52 [[ 9.97443579e-01 7.11318836e-02 6.82363388e-03 6.41924788e+01] [-7.11331530e-02 9.97466827e-01 -5.67997768e-05 -6.31233804e-01] [-6.81038871e-03 -4.28732020e-04 9.99976717e-01 -5.17254681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.25, Y:-0.64, Z:-0.52 [[ 9.97256119e-01 7.37134387e-02 6.82363520e-03 6.42522008e+01] [-7.37147693e-02 9.97279364e-01 -5.66408185e-05 -6.41966521e-01] [-6.80924576e-03 -4.46517292e-04 9.99976717e-01 -5.16307514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:-0.64, Z:-0.52 [[ 9.96781710e-01 7.98727738e-02 6.82363651e-03 6.43119100e+01] [-7.98742491e-02 9.96804946e-01 -5.64823807e-05 -6.44143163e-01] [-6.80634603e-03 -4.88732238e-04 9.99976717e-01 -5.15615449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.37, Y:-0.64, Z:-0.52 [[ 9.95634465e-01 9.30884016e-02 6.82363780e-03 6.43704368e+01] [-9.30901860e-02 9.95657679e-01 -5.63257488e-05 -6.44696250e-01] [-6.79925065e-03 -5.79133856e-04 9.99976717e-01 -5.20157922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.65, Z:-0.52 [[ 9.94965116e-01 9.99892784e-02 6.82364039e-03 6.44289567e+01] [-9.99912259e-02 9.94988317e-01 -5.60103492e-05 -6.46364787e-01] [-6.79504291e-03 -6.26575824e-04 9.99976717e-01 -5.18865077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.65, Z:-0.53 [[ 9.94783248e-01 1.01782749e-01 6.82364299e-03 6.44871764e+01] [-1.01784740e-01 9.94806445e-01 -5.56913968e-05 -6.47492737e-01] [-6.79387245e-03 -6.39141861e-04 9.99976717e-01 -5.25936231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:-0.64, Z:-0.52 [[ 9.94863088e-01 1.00999374e-01 6.82364619e-03 6.45455448e+01] [-1.01001350e-01 9.94886287e-01 -5.52976081e-05 -6.42604216e-01] [-6.79433704e-03 -6.34183926e-04 9.99976717e-01 -5.20672573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.63, Z:-0.52 [[ 9.94483566e-01 1.04670317e-01 6.82364928e-03 6.46040444e+01] [-1.04672381e-01 9.94506757e-01 -5.49129521e-05 -6.34299530e-01] [-6.79191307e-03 -6.59637590e-04 9.99976717e-01 -5.24291784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.63, Z:-0.53 [[ 9.94283722e-01 1.06551945e-01 6.82365187e-03 6.46621870e+01] [-1.06554056e-01 9.94306909e-01 -5.45893772e-05 -6.28642002e-01] [-6.79062081e-03 -6.72810451e-04 9.99976717e-01 -5.30081633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:-0.62, Z:-0.53 [[ 9.94697689e-01 1.02615520e-01 6.82365505e-03 6.47196029e+01] [-1.02617541e-01 9.94720884e-01 -5.41892370e-05 -6.23342907e-01] [-6.79319284e-03 -6.46324791e-04 9.99976717e-01 -5.27844496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.78, Y:-0.62, Z:-0.53 [[ 9.95203216e-01 9.75909612e-02 6.82365722e-03 6.47787228e+01] [-9.75928671e-02 9.95226421e-01 -5.39145023e-05 -6.19758305e-01] [-6.79634552e-03 -6.12284386e-04 9.99976717e-01 -5.26378788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:64.84, Y:-0.62, Z:-0.53 [[ 9.95642835e-01 9.29988317e-02 6.82365974e-03 6.48365680e+01] [-9.30006326e-02 9.95666048e-01 -5.35932547e-05 -6.18241142e-01] [-6.79907044e-03 -5.81244933e-04 9.99976717e-01 -5.30155354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.90, Y:-0.62, Z:-0.53 [[ 9.95707666e-01 9.23021185e-02 6.82366286e-03 6.48955217e+01] [-9.23039059e-02 9.95730880e-01 -5.31934722e-05 -6.17879492e-01] [-6.79944169e-03 -5.76885587e-04 9.99976717e-01 -5.25599386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.62, Z:-0.53 [[ 9.95794892e-01 9.13562830e-02 6.82366543e-03 6.49531481e+01] [-9.13580506e-02 9.95818108e-01 -5.28609321e-05 -6.16642036e-01] [-6.79995878e-03 -5.70758126e-04 9.99976717e-01 -5.25157210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.62, Z:-0.52 [[ 9.95780957e-01 9.15080450e-02 6.82366860e-03 6.50123820e+01] [-9.15098189e-02 9.95804173e-01 -5.24490968e-05 -6.15991781e-01] [-6.79983718e-03 -5.72204866e-04 9.99976717e-01 -5.23044788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-0.61, Z:-0.52 [[ 9.95584069e-01 9.36258415e-02 6.82367107e-03 6.50714921e+01] [-9.36276670e-02 9.95607281e-01 -5.21256115e-05 -6.14125965e-01] [-6.79857690e-03 -5.86988974e-04 9.99976717e-01 -5.21094292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-0.60, Z:-0.52 [[ 9.95169347e-01 9.79357378e-02 6.82367352e-03 6.51297274e+01] [-9.79376660e-02 9.95192550e-01 -5.18032037e-05 -6.04763600e-01] [-6.79594243e-03 -6.16741698e-04 9.99976717e-01 -5.22162744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-0.60, Z:-0.53 [[ 9.94986167e-01 9.97795831e-02 6.82367715e-03 6.51876770e+01] [-9.97815576e-02 9.95009366e-01 -5.13197128e-05 -5.97056019e-01] [-6.79474334e-03 -6.29814731e-04 9.99976717e-01 -5.28409430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:-0.59, Z:-0.53 [[ 9.95410137e-01 9.54572993e-02 6.82368011e-03 6.52453362e+01] [-9.54591757e-02 9.95433344e-01 -5.09234763e-05 -5.88986540e-01] [-6.79737973e-03 -6.00693134e-04 9.99976717e-01 -5.25892884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.30, Y:-0.58, Z:-0.53 [[ 9.96100799e-01 8.79581507e-02 6.82368301e-03 6.53029827e+01] [-8.79598550e-02 9.96124019e-01 -5.05318640e-05 -5.84731756e-01] [-6.80167924e-03 -5.49875338e-04 9.99976717e-01 -5.26296473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.36, Y:-0.58, Z:-0.53 [[ 9.96270387e-01 8.60160088e-02 6.82368643e-03 6.53616673e+01] [-8.60176710e-02 9.96293610e-01 -5.00660242e-05 -5.78445797e-01] [-6.80270167e-03 -5.37078317e-04 9.99976717e-01 -5.26818543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.42, Y:-0.58, Z:-0.53 [[ 9.96110667e-01 8.78463243e-02 6.82368876e-03 6.54205278e+01] [-8.78480313e-02 9.96133887e-01 -4.97457070e-05 -5.77173568e-01] [-6.80167759e-03 -5.49895395e-04 9.99976717e-01 -5.28199396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:-0.57, Z:-0.53 [[ 9.95747797e-01 9.18681778e-02 6.82369110e-03 6.54786587e+01] [-9.18699808e-02 9.95771010e-01 -4.94227154e-05 -5.72796107e-01] [-6.79937416e-03 -5.77679811e-04 9.99976717e-01 -5.30164227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.54, Y:-0.57, Z:-0.53 [[ 9.95581194e-01 9.36564162e-02 6.82369396e-03 6.55371820e+01] [-9.36582635e-02 9.95604403e-01 -4.90249314e-05 -5.72165447e-01] [-6.79829125e-03 -5.90287028e-04 9.99976717e-01 -5.28134880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.60, Y:-0.58, Z:-0.52 [[ 9.95813888e-01 9.11489809e-02 6.82369619e-03 6.55963447e+01] [-9.11507719e-02 9.95837102e-01 -4.87122048e-05 -5.75710799e-01] [-6.79972991e-03 -5.73476885e-04 9.99976717e-01 -5.21375248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.65, Y:-0.58, Z:-0.52 [[ 9.96374641e-01 8.47998367e-02 6.82369800e-03 6.56537420e+01] [-8.48014815e-02 9.96397866e-01 -4.84572160e-05 -5.80318178e-01] [-6.80322729e-03 -5.30378159e-04 9.99976717e-01 -5.23281756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.71, Y:-0.59, Z:-0.53 [[ 9.96649625e-01 8.15043633e-02 6.82370100e-03 6.57110607e+01] [-8.15059341e-02 9.96672855e-01 -4.80320479e-05 -5.85383095e-01] [-6.80491238e-03 -5.08301001e-04 9.99976717e-01 -5.26620922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.59, Z:-0.53 [[ 9.96653433e-01 8.14577903e-02 6.82370384e-03 6.57694059e+01] [-8.14593629e-02 9.96676663e-01 -4.76242038e-05 -5.92228692e-01] [-6.80490574e-03 -5.08389741e-04 9.99976717e-01 -5.27873945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.60, Z:-0.53 [[ 9.96373305e-01 8.48155254e-02 6.82370612e-03 6.58279244e+01] [-8.48171784e-02 9.96396530e-01 -4.72959394e-05 -5.98696986e-01] [-6.80312853e-03 -5.31643088e-04 9.99976717e-01 -5.27811808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-0.61, Z:-0.53 [[ 9.96124401e-01 8.76904494e-02 6.82370847e-03 6.58855716e+01] [-8.76921717e-02 9.96147620e-01 -4.69544219e-05 -6.05316582e-01] [-6.80153841e-03 -5.51613370e-04 9.99976717e-01 -5.28176837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.94, Y:-0.62, Z:-0.53 [[ 9.96026994e-01 8.87900061e-02 6.82371157e-03 6.59429282e+01] [-8.87917572e-02 9.96050210e-01 -4.64990993e-05 -6.19471732e-01] [-6.80088800e-03 -5.59574983e-04 9.99976717e-01 -5.32245310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:-0.63, Z:-0.53 [[ 9.96127882e-01 8.76508943e-02 6.82371428e-03 6.60013890e+01] [-8.76526216e-02 9.96151101e-01 -4.60980995e-05 -6.27835379e-01] [-6.80149103e-03 -5.52196844e-04 9.99976717e-01 -5.31832544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:-0.64, Z:-0.53 [[ 9.96123486e-01 8.77008361e-02 6.82371645e-03 6.60591659e+01] [-8.77025667e-02 9.96146705e-01 -4.57751753e-05 -6.39979465e-01] [-6.80143718e-03 -5.52859720e-04 9.99976717e-01 -5.26948758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:-0.64, Z:-0.53 [[ 9.95663961e-01 9.27723730e-02 6.82371910e-03 6.61180884e+01] [-9.27742246e-02 9.95687170e-01 -4.53758573e-05 -6.43253360e-01] [-6.79849919e-03 -5.87886143e-04 9.99976717e-01 -5.32198807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.18, Y:-0.64, Z:-0.53 [[ 9.94804817e-01 1.01571710e-01 6.82372126e-03 6.61758610e+01] [-1.01573769e-01 9.94828009e-01 -4.50489086e-05 -6.44188888e-01] [-6.79300473e-03 -6.48296217e-04 9.99976717e-01 -5.33722373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.24, Y:-0.64, Z:-0.53 [[ 9.94820211e-01 1.01420825e-01 6.82372390e-03 6.62350078e+01] [-1.01422883e-01 9.94843403e-01 -4.46452593e-05 -6.41669780e-01] [-6.79306467e-03 -6.47667746e-04 9.99976717e-01 -5.28523301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.64, Z:-0.53 [[ 9.95137644e-01 9.82573442e-02 6.82372594e-03 6.62929709e+01] [-9.82593308e-02 9.95160842e-01 -4.43323420e-05 -6.40701014e-01] [-6.79506083e-03 -6.26377961e-04 9.99976717e-01 -5.33361540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.64, Z:-0.54 [[ 9.95407771e-01 9.54819669e-02 6.82372843e-03 6.63518901e+01] [-9.54838914e-02 9.95430974e-01 -4.39443395e-05 -6.39175041e-01] [-6.79674653e-03 -6.07813608e-04 9.99976717e-01 -5.38047774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.41, Y:-0.64, Z:-0.53 [[ 9.95677777e-01 9.26239777e-02 6.82373049e-03 6.64105771e+01] [-9.26258377e-02 9.95700985e-01 -4.36221983e-05 -6.35841254e-01] [-6.79843564e-03 -5.88620100e-04 9.99976717e-01 -5.32004869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.47, Y:-0.63, Z:-0.53 [[ 9.95757782e-01 9.17598808e-02 6.82373258e-03 6.64686780e+01] [-9.17617229e-02 9.95780992e-01 -4.32933505e-05 -6.34297965e-01] [-6.79891579e-03 -5.83047767e-04 9.99976717e-01 -5.31850345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.53, Y:-0.63, Z:-0.54 [[ 9.95370027e-01 9.58746378e-02 6.82373527e-03 6.65273543e+01] [-9.58765788e-02 9.95393229e-01 -4.28648647e-05 -6.27255532e-01] [-6.79640954e-03 -6.11569991e-04 9.99976717e-01 -5.39435792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.59, Y:-0.62, Z:-0.55 [[ 9.94974430e-01 9.98965518e-02 6.82373730e-03 6.65863897e+01] [-9.98985887e-02 9.94997623e-01 -4.25392911e-05 -6.21913623e-01] [-6.79385192e-03 -6.39356219e-04 9.99976717e-01 -5.45210686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.64, Y:-0.62, Z:-0.52 [[ 9.94801421e-01 1.01604967e-01 6.82373930e-03 6.66442074e+01] [-1.01607046e-01 9.94824611e-01 -4.22155094e-05 -6.19866983e-01] [-6.79271310e-03 -6.51343943e-04 9.99976717e-01 -5.24921291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.70, Y:-0.62, Z:-0.52 [[ 9.95086002e-01 9.87789751e-02 6.82374175e-03 6.67032968e+01] [-9.87809909e-02 9.95109197e-01 -4.18165468e-05 -6.21168105e-01] [-6.79449877e-03 -6.32444911e-04 9.99976717e-01 -5.21374429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.76, Y:-0.62, Z:-0.54 [[ 9.95553894e-01 9.39461619e-02 6.82374369e-03 6.67606403e+01] [-9.39480672e-02 9.95577098e-01 -4.14967331e-05 -6.23497478e-01] [-6.79746141e-03 -5.99765297e-04 9.99976717e-01 -5.41366831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:-0.62, Z:-0.54 [[ 9.95481818e-01 9.47068426e-02 6.82374608e-03 6.68194395e+01] [-9.47087683e-02 9.95505021e-01 -4.11003583e-05 -6.23825067e-01] [-6.79696597e-03 -6.05353927e-04 9.99976717e-01 -5.41258624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:-0.62, Z:-0.53 [[ 9.94978925e-01 9.98517646e-02 6.82374798e-03 6.68771204e+01] [-9.98538124e-02 9.95002118e-01 -4.07827104e-05 -6.23767545e-01] [-6.79371592e-03 -6.40799313e-04 9.99976717e-01 -5.32356288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:-0.62, Z:-0.54 [[ 9.94658774e-01 1.02992040e-01 6.82375064e-03 6.69363932e+01] [-1.02994164e-01 9.94681960e-01 -4.03325550e-05 -6.20304707e-01] [-6.79161559e-03 -6.62689361e-04 9.99976717e-01 -5.41672040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-0.62, Z:-0.55 [[ 9.94609633e-01 1.03465526e-01 6.82375202e-03 6.69953249e+01] [-1.03467663e-01 9.94632817e-01 -4.00972677e-05 -6.15699719e-01] [-6.79127638e-03 -6.66156543e-04 9.99976717e-01 -5.47484387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.61, Z:-0.54 [[ 9.94878179e-01 1.00850607e-01 6.82375390e-03 6.70542888e+01] [-1.00852685e-01 9.94901369e-01 -3.97752364e-05 -6.11343009e-01] [-6.79297345e-03 -6.48622384e-04 9.99976717e-01 -5.37622702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-0.61, Z:-0.54 [[ 9.95231600e-01 9.73010688e-02 6.82375529e-03 6.71120428e+01] [-9.73030656e-02 9.95254797e-01 -3.95357157e-05 -6.08896452e-01] [-6.79522205e-03 -6.24625115e-04 9.99976717e-01 -5.37893270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:-0.61, Z:-0.55 [[ 9.95612120e-01 9.33270768e-02 6.82375751e-03 6.71706765e+01] [-9.33289837e-02 9.95635324e-01 -3.91485131e-05 -6.07688823e-01] [-6.79762764e-03 -5.97877619e-04 9.99976717e-01 -5.46665984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:-0.61, Z:-0.54 [[ 9.95812362e-01 9.11656487e-02 6.82375927e-03 6.72298334e+01] [-9.11675073e-02 9.95835571e-01 -3.88387660e-05 -6.05995802e-01] [-6.79888297e-03 -5.83429000e-04 9.99976717e-01 -5.38708824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-0.61, Z:-0.53 [[ 9.96078916e-01 8.82056106e-02 6.82376108e-03 6.72883167e+01] [-8.82074024e-02 9.96102130e-01 -3.85178913e-05 -6.07818940e-01] [-6.80056044e-03 -5.63539381e-04 9.99976717e-01 -5.32539243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:-0.61, Z:-0.54 [[ 9.96222981e-01 8.65633197e-02 6.82376299e-03 6.73461920e+01] [-8.65650756e-02 9.96246198e-01 -3.81765725e-05 -6.12698465e-01] [-6.80145263e-03 -5.52667180e-04 9.99976717e-01 -5.40898237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:-0.61, Z:-0.54 [[ 9.96077833e-01 8.82178377e-02 6.82376534e-03 6.74051835e+01] [-8.82196350e-02 9.96101046e-01 -3.77514004e-05 -6.12825578e-01] [-6.80049015e-03 -5.64386755e-04 9.99976717e-01 -5.40745399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:-0.61, Z:-0.53 [[ 9.95718197e-01 9.21884393e-02 6.82376717e-03 6.74637215e+01] [-9.21903314e-02 9.95741403e-01 -3.74193780e-05 -6.11092672e-01] [-6.79815712e-03 -5.91826201e-04 9.99976717e-01 -5.34930274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:-0.61, Z:-0.55 [[ 9.95409847e-01 9.54603182e-02 6.82376895e-03 6.75211396e+01] [-9.54622888e-02 9.95433046e-01 -3.70906219e-05 -6.09663597e-01] [-6.79614580e-03 -6.14492232e-04 9.99976717e-01 -5.47874484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:-0.61, Z:-0.55 [[ 9.95500231e-01 9.45131034e-02 6.82377114e-03 6.75798433e+01] [-9.45150546e-02 9.95523432e-01 -3.66842855e-05 -6.07568983e-01] [-6.79669121e-03 -6.08429887e-04 9.99976717e-01 -5.46302196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.64, Y:-0.61, Z:-0.54 [[ 9.95579408e-01 9.36753846e-02 6.82377288e-03 6.76373389e+01] [-9.36773186e-02 9.95602611e-01 -3.63569424e-05 -6.05833735e-01] [-6.79717185e-03 -6.03036523e-04 9.99976717e-01 -5.44003213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.70, Y:-0.60, Z:-0.55 [[ 9.95761798e-01 9.17162918e-02 6.82377501e-03 6.76958367e+01] [-9.17181828e-02 9.95785004e-01 -3.59519387e-05 -6.04256003e-01] [-6.79831021e-03 -5.90064677e-04 9.99976717e-01 -5.48458463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.61, Z:-0.54 [[ 9.95716464e-01 9.22071582e-02 6.82377670e-03 6.77532525e+01] [-9.22090629e-02 9.95739669e-01 -3.56283364e-05 -6.05153368e-01] [-6.79799034e-03 -5.93738334e-04 9.99976717e-01 -5.36248184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.60, Z:-0.54 [[ 9.95512031e-01 9.43887318e-02 6.82377920e-03 6.78111186e+01] [-9.43906907e-02 9.95535231e-01 -3.51436345e-05 -6.02038639e-01] [-6.79662977e-03 -6.09115321e-04 9.99976717e-01 -5.35981544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.60, Z:-0.55 [[ 9.95430315e-01 9.52466519e-02 6.82378164e-03 6.78690104e+01] [-9.52486340e-02 9.95453513e-01 -3.46630056e-05 -5.99316991e-01] [-6.79605894e-03 -6.15451274e-04 9.99976717e-01 -5.47821932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:-0.60, Z:-0.54 [[ 9.95524464e-01 9.42575097e-02 6.82378384e-03 6.79265829e+01] [-9.42594717e-02 9.95547664e-01 -3.42239227e-05 -6.01186254e-01] [-6.79662793e-03 -6.09135508e-04 9.99976717e-01 -5.40994113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:-0.60, Z:-0.54 [[ 9.95824382e-01 9.10342542e-02 6.82378539e-03 6.79848775e+01] [-9.10361432e-02 9.95847588e-01 -3.39122832e-05 -6.01251863e-01] [-6.79853741e-03 -5.87440426e-04 9.99976717e-01 -5.37489567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.60, Z:-0.54 [[ 9.95948389e-01 8.96673995e-02 6.82378772e-03 6.80426528e+01] [-8.96692599e-02 9.95971597e-01 -3.34373540e-05 -6.00026068e-01] [-6.79929700e-03 -5.78582116e-04 9.99976717e-01 -5.40288875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.60, Z:-0.54 [[ 9.95662573e-01 9.27872629e-02 6.82378959e-03 6.81014500e+01] [-9.27891987e-02 9.95685775e-01 -3.30514878e-05 -5.98896920e-01] [-6.79741699e-03 -6.00265839e-04 9.99976717e-01 -5.37719601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:-0.60, Z:-0.55 [[ 9.95323163e-01 9.63599310e-02 6.82379111e-03 6.81594520e+01] [-9.63619521e-02 9.95346358e-01 -3.27349636e-05 -5.99617545e-01] [-6.79518997e-03 -6.24971965e-04 9.99976717e-01 -5.46707142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.22, Y:-0.60, Z:-0.55 [[ 9.95329905e-01 9.62902677e-02 6.82379296e-03 6.82181761e+01] [-9.62922899e-02 9.95353100e-01 -3.23444779e-05 -6.01367738e-01] [-6.79519793e-03 -6.24885224e-04 9.99976717e-01 -5.48347416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.28, Y:-0.60, Z:-0.54 [[ 9.95565246e-01 9.38257755e-02 6.82379443e-03 6.82759110e+01] [-9.38277424e-02 9.95588446e-01 -3.20311135e-05 -6.03853516e-01] [-6.79669624e-03 -6.08372162e-04 9.99976717e-01 -5.44446084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.61, Z:-0.54 [[ 9.95620687e-01 9.32356373e-02 6.82379622e-03 6.83348646e+01] [-9.32375931e-02 9.95643887e-01 -3.16441406e-05 -6.09261818e-01] [-6.79702136e-03 -6.04728774e-04 9.99976717e-01 -5.41201872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.61, Z:-0.55 [[ 9.95472674e-01 9.48029094e-02 6.82379758e-03 6.83934961e+01] [-9.48049037e-02 9.95495871e-01 -3.13479994e-05 -6.14135947e-01] [-6.79603420e-03 -6.15723396e-04 9.99976717e-01 -5.45706933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.61, Z:-0.55 [[ 9.95137322e-01 9.82606038e-02 6.82379905e-03 6.84521192e+01] [-9.82626809e-02 9.95160512e-01 -3.10262347e-05 -6.14096384e-01] [-6.79382401e-03 -6.39649424e-04 9.99976717e-01 -5.49546429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.51, Y:-0.62, Z:-0.55 [[ 9.95017604e-01 9.94655920e-02 6.82380050e-03 6.85099488e+01] [-9.94676993e-02 9.95040791e-01 -3.07030143e-05 -6.15170814e-01] [-6.79301374e-03 -6.48197697e-04 9.99976717e-01 -5.49593681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.57, Y:-0.62, Z:-0.54 [[ 9.94930814e-01 1.00330006e-01 6.82380227e-03 6.85685768e+01] [-1.00332137e-01 9.94954000e-01 -3.03039118e-05 -6.15846246e-01] [-6.79240976e-03 -6.54496367e-04 9.99976717e-01 -5.43821807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.63, Y:-0.61, Z:-0.55 [[ 9.94835679e-01 1.01268989e-01 6.82380366e-03 6.86264240e+01] [-1.01271143e-01 9.94858862e-01 -2.99874736e-05 -6.13331456e-01] [-6.79175835e-03 -6.61221788e-04 9.99976717e-01 -5.45817609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.68, Y:-0.61, Z:-0.55 [[ 9.95071051e-01 9.89294620e-02 6.82380536e-03 6.86849944e+01] [-9.89315644e-02 9.95094239e-01 -2.95959602e-05 -6.10042279e-01] [-6.79325732e-03 -6.45639656e-04 9.99976717e-01 -5.52187979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.74, Y:-0.61, Z:-0.55 [[ 9.95360385e-01 9.59746773e-02 6.82380669e-03 6.87434937e+01] [-9.59767130e-02 9.95383579e-01 -2.92863767e-05 -6.08786380e-01] [-6.79511588e-03 -6.25776037e-04 9.99976717e-01 -5.49613840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.80, Y:-0.61, Z:-0.53 [[ 9.95582181e-01 9.36459118e-02 6.82380800e-03 6.88025255e+01] [-9.36478952e-02 9.95605379e-01 -2.89773288e-05 -6.11350746e-01] [-6.79653356e-03 -6.10185945e-04 9.99976717e-01 -5.34906264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.86, Y:-0.62, Z:-0.55 [[ 9.95921288e-01 8.99678984e-02 6.82380932e-03 6.88609302e+01] [-8.99697983e-02 9.95944494e-01 -2.86648504e-05 -6.16231910e-01] [-6.79871423e-03 -5.85388813e-04 9.99976717e-01 -5.49948706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.62, Z:-0.55 [[ 9.96179095e-01 8.70669065e-02 6.82381063e-03 6.89198269e+01] [-8.70687410e-02 9.96202306e-01 -2.83478503e-05 -6.18974071e-01] [-6.80036405e-03 -5.65901065e-04 9.99976717e-01 -5.53748660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.98, Y:-0.62, Z:-0.55 [[ 9.96116698e-01 8.77779013e-02 6.82381194e-03 6.89784938e+01] [-8.77797545e-02 9.96139907e-01 -2.80288899e-05 -6.22496198e-01] [-6.79993171e-03 -5.71072492e-04 9.99976717e-01 -5.51803659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.63, Z:-0.55 [[ 9.95557926e-01 9.39034111e-02 6.82381326e-03 6.90358791e+01] [-9.39054092e-02 9.95581123e-01 -2.77052858e-05 -6.25821896e-01] [-6.79626129e-03 -6.13210759e-04 9.99976717e-01 -5.45495557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.09, Y:-0.62, Z:-0.55 [[ 9.95137388e-01 9.82599315e-02 6.82381517e-03 6.90949816e+01] [-9.82620343e-02 9.95160576e-01 -2.72250906e-05 -6.23239509e-01] [-6.79346697e-03 -6.43429255e-04 9.99976717e-01 -5.51277879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.15, Y:-0.62, Z:-0.56 [[ 9.94426458e-01 1.05211475e-01 6.82381643e-03 6.91526464e+01] [-1.05213742e-01 9.94449631e-01 -2.69074395e-05 -6.16579330e-01] [-6.78877270e-03 -6.91201791e-04 9.99976717e-01 -5.57013028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:-0.61, Z:-0.55 [[ 9.94307249e-01 1.06332171e-01 6.82381796e-03 6.92110086e+01] [-1.06334466e-01 9.94330418e-01 -2.65132934e-05 -6.09256122e-01] [-6.78794898e-03 -6.99244681e-04 9.99976717e-01 -5.49083211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.61, Z:-0.56 [[ 9.94868855e-01 1.00942541e-01 6.82381947e-03 6.92685773e+01] [-1.00944714e-01 9.94892036e-01 -2.61190140e-05 -6.06356740e-01] [-6.79160016e-03 -6.62843511e-04 9.99976717e-01 -5.55973532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.61, Z:-0.55 [[ 9.95636185e-01 9.30699832e-02 6.82382094e-03 6.93272696e+01] [-9.30719753e-02 9.95659383e-01 -2.57282905e-05 -6.07034252e-01] [-6.79659588e-03 -6.09490477e-04 9.99976717e-01 -5.49715503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.61, Z:-0.55 [[ 9.95817046e-01 9.11144638e-02 6.82382184e-03 6.93856307e+01] [-9.11164120e-02 9.95840248e-01 -2.54860471e-05 -6.08442717e-01] [-6.79775858e-03 -5.96382723e-04 9.99976717e-01 -5.47867141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-0.61, Z:-0.55 [[ 9.95768013e-01 9.16487814e-02 6.82382312e-03 6.94438652e+01] [-9.16507444e-02 9.95791213e-01 -2.51397630e-05 -6.09402914e-01] [-6.79740713e-03 -6.00375097e-04 9.99976717e-01 -5.52238380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:-0.61, Z:-0.55 [[ 9.95730568e-01 9.20547204e-02 6.82382464e-03 6.95031271e+01] [-9.20566957e-02 9.95753767e-01 -2.47210878e-05 -6.10723325e-01] [-6.79712478e-03 -6.03563205e-04 9.99976717e-01 -5.54365064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.62, Z:-0.55 [[ 9.95861998e-01 9.06218369e-02 6.82382580e-03 6.95616152e+01] [-9.06237810e-02 9.95885199e-01 -2.43946174e-05 -6.17252834e-01] [-6.79795780e-03 -5.94107223e-04 9.99976717e-01 -5.51891007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.62, Z:-0.55 [[ 9.95979219e-01 8.93243059e-02 6.82382696e-03 6.96198418e+01] [-8.93262220e-02 9.96002422e-01 -2.40654398e-05 -6.21813943e-01] [-6.79869782e-03 -5.85578005e-04 9.99976717e-01 -5.53631902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.63, Z:-0.55 [[ 9.96187307e-01 8.69729013e-02 6.82382837e-03 6.96791258e+01] [-8.69747654e-02 9.96210515e-01 -2.36595832e-05 -6.28468825e-01] [-6.80002732e-03 -5.69931496e-04 9.99976717e-01 -5.50295999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.63, Z:-0.55 [[ 9.96353828e-01 8.50440188e-02 6.82382945e-03 6.97369467e+01] [-8.50458402e-02 9.96377039e-01 -2.33446247e-05 -6.32992991e-01] [-6.80109230e-03 -5.57078803e-04 9.99976717e-01 -5.52874236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:-0.64, Z:-0.55 [[ 9.96507057e-01 8.32293267e-02 6.82383076e-03 6.97960674e+01] [-8.32311084e-02 9.96530272e-01 -2.29563040e-05 -6.37146287e-01] [-6.80206455e-03 -5.45078878e-04 9.99976717e-01 -5.53359468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.64, Z:-0.55 [[ 9.96555852e-01 8.26430186e-02 6.82383179e-03 6.98535085e+01] [-8.26447888e-02 9.96579068e-01 -2.26441177e-05 -6.40809630e-01] [-6.80235930e-03 -5.41388009e-04 9.99976717e-01 -5.52964830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:-0.64, Z:-0.56 [[ 9.96328096e-01 8.53449459e-02 6.82383313e-03 6.99125339e+01] [-8.53467818e-02 9.96351307e-01 -2.22341491e-05 -6.43433691e-01] [-6.80083263e-03 -5.60239689e-04 9.99976717e-01 -5.58362810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-0.64, Z:-0.56 [[ 9.96086589e-01 8.81189162e-02 6.82383416e-03 6.99710017e+01] [-8.81208189e-02 9.96109794e-01 -2.19137576e-05 -6.44832343e-01] [-6.79921905e-03 -5.79493854e-04 9.99976717e-01 -5.58073654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:-0.64, Z:-0.56 [[ 9.96140088e-01 8.75120583e-02 6.82383517e-03 7.00289296e+01] [-8.75139490e-02 9.96163294e-01 -2.15936319e-05 -6.44153800e-01] [-6.79954382e-03 -5.75670481e-04 9.99976717e-01 -5.55644990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-0.65, Z:-0.56 [[ 9.96551282e-01 8.26981077e-02 6.82383640e-03 7.00878955e+01] [-8.26998890e-02 9.96574497e-01 -2.11972518e-05 -6.45766386e-01] [-6.80221430e-03 -5.43206365e-04 9.99976717e-01 -5.61612962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.65, Z:-0.56 [[ 9.96797628e-01 7.96738568e-02 6.82383736e-03 7.01454166e+01] [-7.96755698e-02 9.96820848e-01 -2.08834200e-05 -6.46999601e-01] [-6.80380721e-03 -5.22876587e-04 9.99976717e-01 -5.63006942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:-0.65, Z:-0.56 [[ 9.96930788e-01 7.79899985e-02 6.82383853e-03 7.02047271e+01] [-7.79916749e-02 9.96954010e-01 -2.04937184e-05 -6.48498756e-01] [-6.80465149e-03 -5.11771778e-04 9.99976717e-01 -5.59181197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:-0.65, Z:-0.56 [[ 9.96928271e-01 7.80221581e-02 6.82383944e-03 7.02631688e+01] [-7.80238373e-02 9.96951494e-01 -2.01852850e-05 -6.50396331e-01] [-6.80461182e-03 -5.12298858e-04 9.99976717e-01 -5.59424448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:-0.65, Z:-0.56 [[ 9.96696809e-01 8.09253112e-02 6.82384036e-03 7.03215014e+01] [-8.09270602e-02 9.96720026e-01 -1.98707093e-05 -6.52521381e-01] [-6.80306639e-03 -5.32428267e-04 9.99976717e-01 -5.59402039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:-0.66, Z:-0.56 [[ 9.96952694e-01 7.77094716e-02 6.82384128e-03 7.03803466e+01] [-7.77111479e-02 9.96975916e-01 -1.95504061e-05 -6.56147303e-01] [-6.80472466e-03 -5.10797709e-04 9.99976717e-01 -5.58940429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:-0.66, Z:-0.56 [[ 9.97122586e-01 7.54982384e-02 6.82384220e-03 7.04386962e+01] [-7.54998655e-02 9.97145812e-01 -1.92230375e-05 -6.59339845e-01] [-6.80581698e-03 -4.96031443e-04 9.99976717e-01 -5.57350023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.66, Z:-0.56 [[ 9.97016096e-01 7.68917448e-02 6.82384288e-03 7.04986143e+01] [-7.68934060e-02 9.97039319e-01 -1.89798178e-05 -6.61154531e-01] [-6.80509905e-03 -5.05785337e-04 9.99976717e-01 -5.58927387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.66, Z:-0.56 [[ 9.96532267e-01 8.29269352e-02 6.82384331e-03 7.05560039e+01] [-8.29287380e-02 9.96555480e-01 -1.88212344e-05 -6.60902394e-01] [-6.80189923e-03 -5.47136747e-04 9.99976717e-01 -5.58131109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.66, Z:-0.56 [[ 9.96438239e-01 8.40492173e-02 6.82384437e-03 7.06151803e+01] [-8.40510489e-02 9.96461450e-01 -1.84301675e-05 -6.61230626e-01] [-6.80124690e-03 -5.55186753e-04 9.99976717e-01 -5.56780938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:70.67, Y:-0.67, Z:-0.56 [[ 9.96869582e-01 7.87684631e-02 6.82384520e-03 7.06733267e+01] [-7.87701738e-02 9.96892802e-01 -1.81168008e-05 -6.67752165e-01] [-6.80406920e-03 -5.19455385e-04 9.99976717e-01 -5.61542594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:70.73, Y:-0.68, Z:-0.56 [[ 9.97218921e-01 7.42149523e-02 6.82384581e-03 7.07324971e+01] [-7.42165585e-02 9.97242148e-01 -1.78844812e-05 -6.76255107e-01] [-6.80635395e-03 -4.88607609e-04 9.99976717e-01 -5.61992522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.68, Z:-0.57 [[ 9.97008026e-01 7.69963095e-02 6.82384623e-03 7.07923268e+01] [-7.69979817e-02 9.97031249e-01 -1.77215588e-05 -6.80955678e-01] [-6.80495243e-03 -5.07753851e-04 9.99976717e-01 -5.65130202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.68, Z:-0.57 [[ 9.96155941e-01 8.73314154e-02 6.82384665e-03 7.08511607e+01] [-8.73333294e-02 9.96179145e-01 -1.75581895e-05 -6.81389524e-01] [-6.79930711e-03 -5.78458553e-04 9.99976717e-01 -5.70884820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.68, Z:-0.57 [[ 9.95693781e-01 9.24517698e-02 6.82384727e-03 7.09108531e+01] [-9.24538047e-02 9.95716975e-01 -1.73161359e-05 -6.81417485e-01] [-6.79622147e-03 -6.13649074e-04 9.99976717e-01 -5.68045249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:-0.68, Z:-0.57 [[ 9.95544579e-01 9.40448154e-02 6.82384767e-03 7.09692668e+01] [-9.40468885e-02 9.95567769e-01 -1.71547868e-05 -6.79921630e-01] [-6.79521612e-03 -6.24683286e-04 9.99976717e-01 -5.68304716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-0.68, Z:-0.57 [[ 9.95533352e-01 9.41635811e-02 6.82384848e-03 7.10271537e+01] [-9.41656592e-02 9.95556542e-01 -1.68291162e-05 -6.77058195e-01] [-6.79511168e-03 -6.25818244e-04 9.99976717e-01 -5.69561557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-0.68, Z:-0.57 [[ 9.95800640e-01 9.12935983e-02 6.82384945e-03 7.10860476e+01] [-9.12956122e-02 9.95823835e-01 -1.64260756e-05 -6.75450058e-01] [-6.79685152e-03 -6.06630417e-04 9.99976717e-01 -5.67674067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:-0.67, Z:-0.57 [[ 9.96091324e-01 8.80653663e-02 6.82385021e-03 7.11446831e+01] [-8.80673073e-02 9.96114526e-01 -1.61019041e-05 -6.72702209e-01] [-6.79875434e-03 -5.84919147e-04 9.99976717e-01 -5.68095008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.20, Y:-0.67, Z:-0.57 [[ 9.96445826e-01 8.39592275e-02 6.82385077e-03 7.12036278e+01] [-8.39610744e-02 9.96469035e-01 -1.58613873e-05 -6.69273762e-01] [-6.80108770e-03 -5.57132829e-04 9.99976717e-01 -5.69219550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.26, Y:-0.66, Z:-0.57 [[ 9.96690851e-01 8.09986638e-02 6.82385132e-03 7.12629344e+01] [-8.10004435e-02 9.96714065e-01 -1.56234988e-05 -6.62459318e-01] [-6.80269407e-03 -5.37163185e-04 9.99976717e-01 -5.69634424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:-0.66, Z:-0.57 [[ 9.96747993e-01 8.02924265e-02 6.82385206e-03 7.13213515e+01] [-8.02941920e-02 9.96771209e-01 -1.52918033e-05 -6.58323782e-01] [-6.80304708e-03 -5.32673613e-04 9.99976717e-01 -5.67942680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.66, Z:-0.57 [[ 9.96759477e-01 8.01497343e-02 6.82385278e-03 7.13797324e+01] [-8.01514987e-02 9.96782693e-01 -1.49618286e-05 -6.57218476e-01] [-6.80309754e-03 -5.32028683e-04 9.99976717e-01 -5.65889348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.66, Z:-0.57 [[ 9.96768589e-01 8.00363326e-02 6.82385331e-03 7.14383994e+01] [-8.00380960e-02 9.96791805e-01 -1.47158604e-05 -6.58291128e-01] [-6.80313887e-03 -5.31499919e-04 9.99976717e-01 -5.70832946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.66, Z:-0.57 [[ 9.96826979e-01 7.93057932e-02 6.82385400e-03 7.14968346e+01] [-7.93075418e-02 9.96850196e-01 -1.43911689e-05 -6.59180402e-01] [-6.80350150e-03 -5.26837581e-04 9.99976717e-01 -5.70879557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.66, Z:-0.58 [[ 9.96493365e-01 8.33930963e-02 6.82385450e-03 7.15552454e+01] [-8.33949418e-02 9.96516575e-01 -1.41494843e-05 -6.59069197e-01] [-6.80126408e-03 -5.54975081e-04 9.99976717e-01 -5.75264865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.66, Z:-0.58 [[ 9.95988254e-01 8.92235026e-02 6.82385513e-03 7.16139979e+01] [-8.92254860e-02 9.96011452e-01 -1.38376535e-05 -6.56082205e-01] [-6.79787250e-03 -5.95079650e-04 9.99976717e-01 -5.75714832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.65, Z:-0.57 [[ 9.95781484e-01 9.15023054e-02 6.82385576e-03 7.16724878e+01] [-9.15043440e-02 9.95804677e-01 -1.35206513e-05 -6.51494398e-01] [-6.79646465e-03 -6.10948831e-04 9.99976717e-01 -5.72130019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:-0.64, Z:-0.57 [[ 9.96185707e-01 8.69912236e-02 6.82385637e-03 7.17306421e+01] [-8.69931592e-02 9.96208909e-01 -1.32075587e-05 -6.44863450e-01] [-6.79913545e-03 -5.80471642e-04 9.99976717e-01 -5.73569329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.64, Z:-0.57 [[ 9.96767538e-01 8.00494196e-02 6.82385709e-03 7.17894782e+01] [-8.00511962e-02 9.96790753e-01 -1.28203505e-05 -6.44663831e-01] [-6.80298391e-03 -5.33479014e-04 9.99976717e-01 -5.74028950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.64, Z:-0.57 [[ 9.97387318e-01 7.19164311e-02 6.82385766e-03 7.18486404e+01] [-7.19180204e-02 9.97410546e-01 -1.25121198e-05 -6.41622957e-01] [-6.80708742e-03 -4.78278905e-04 9.99976717e-01 -5.68106941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.63, Z:-0.57 [[ 9.97333726e-01 7.26558645e-02 6.82385807e-03 7.19070854e+01] [-7.26574726e-02 9.97356953e-01 -1.22823282e-05 -6.34678023e-01] [-6.80671468e-03 -4.83554701e-04 9.99976717e-01 -5.71423635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.63, Z:-0.57 [[ 9.97153732e-01 7.50857428e-02 6.82385860e-03 7.19661188e+01] [-7.50874095e-02 9.97176956e-01 -1.19799178e-05 -6.30757362e-01] [-6.80549407e-03 -5.00440046e-04 9.99976717e-01 -5.66754336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.63, Z:-0.57 [[ 9.97238415e-01 7.39525483e-02 6.82385912e-03 7.20238569e+01] [-7.39541907e-02 9.97261639e-01 -1.16793666e-05 -6.28786016e-01] [-6.80603665e-03 -4.93005865e-04 9.99976717e-01 -5.70937242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.63, Z:-0.57 [[ 9.97562100e-01 6.94499269e-02 6.82385975e-03 7.20811964e+01] [-6.94514671e-02 9.97585331e-01 -1.12953218e-05 -6.26973680e-01] [-6.80816685e-03 -4.62659286e-04 9.99976717e-01 -5.74480145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-0.63, Z:-0.58 [[ 9.97787997e-01 6.61252403e-02 6.82386034e-03 7.21398617e+01] [-6.61267055e-02 9.97811234e-01 -1.09285627e-05 -6.30269883e-01] [-6.80964716e-03 -4.40335014e-04 9.99976717e-01 -5.75179770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-0.64, Z:-0.57 [[ 9.97851227e-01 6.51641308e-02 6.82386085e-03 7.21995356e+01] [-6.51655758e-02 9.97874465e-01 -1.06012153e-05 -6.37443088e-01] [-6.81004731e-03 -4.34102386e-04 9.99976717e-01 -5.74799231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.64, Z:-0.58 [[ 9.97445213e-01 7.11089437e-02 6.82386110e-03 7.22572600e+01] [-7.11105283e-02 9.97468442e-01 -1.04368864e-05 -6.37100175e-01] [-6.80732826e-03 -4.74838145e-04 9.99976717e-01 -5.76886535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.64, Z:-0.58 [[ 9.96427951e-01 8.41710920e-02 6.82386170e-03 7.23161214e+01] [-8.41729836e-02 9.96451157e-01 -1.00299183e-05 -6.37091599e-01] [-6.80048912e-03 -5.64390708e-04 9.99976717e-01 -5.78934355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.37, Y:-0.64, Z:-0.57 [[ 9.96148667e-01 8.74143524e-02 6.82386216e-03 7.23734813e+01] [-8.74163217e-02 9.96171866e-01 -9.70257089e-06 -6.37685291e-01] [-6.79858765e-03 -5.86851727e-04 9.99976717e-01 -5.73970009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.43, Y:-0.64, Z:-0.58 [[ 9.96422348e-01 8.42374010e-02 6.82386256e-03 7.24323305e+01] [-8.42392983e-02 9.96445553e-01 -9.41500555e-06 -6.40429433e-01] [-6.80040060e-03 -5.65456072e-04 9.99976717e-01 -5.77893539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.49, Y:-0.64, Z:-0.57 [[ 9.96802726e-01 7.96100515e-02 6.82386300e-03 7.24907303e+01] [-7.96118433e-02 9.96825940e-01 -9.08696415e-06 -6.42005524e-01] [-6.80292706e-03 -5.34202401e-04 9.99976717e-01 -5.73214335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:-0.64, Z:-0.58 [[ 9.96823889e-01 7.93446238e-02 6.82386352e-03 7.25493172e+01] [-7.93464121e-02 9.96847103e-01 -8.68011046e-06 -6.43490272e-01] [-6.80303730e-03 -5.32796545e-04 9.99976717e-01 -5.76654132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:-0.65, Z:-0.58 [[ 9.96640907e-01 8.16108843e-02 6.82386392e-03 7.26083496e+01] [-8.16127276e-02 9.96664117e-01 -8.35195374e-06 -6.46829514e-01] [-6.80178192e-03 -5.48590248e-04 9.99976717e-01 -5.75700313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.65, Z:-0.58 [[ 9.96399358e-01 8.45089044e-02 6.82386430e-03 7.26664760e+01] [-8.45108175e-02 9.96422562e-01 -8.02209509e-06 -6.47956984e-01] [-6.80013029e-03 -5.68697140e-04 9.99976717e-01 -5.75998786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.65, Z:-0.58 [[ 9.96186666e-01 8.69802408e-02 6.82386476e-03 7.27256792e+01] [-8.69822143e-02 9.96209865e-01 -7.61426887e-06 -6.47544594e-01] [-6.79866368e-03 -5.85969634e-04 9.99976717e-01 -5.81309279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:-0.65, Z:-0.58 [[ 9.95837929e-01 9.08859367e-02 6.82386511e-03 7.27841376e+01] [-9.08880033e-02 9.95861120e-01 -7.28850577e-06 -6.49317729e-01] [-6.79628437e-03 -6.12949304e-04 9.99976717e-01 -5.81133822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:-0.65, Z:-0.58 [[ 9.95947941e-01 8.96723735e-02 6.82386544e-03 7.28425246e+01] [-8.96744140e-02 9.95971134e-01 -6.96363132e-06 -6.51555032e-01] [-6.79699744e-03 -6.04990721e-04 9.99976717e-01 -5.80966089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:-0.66, Z:-0.58 [[ 9.96277344e-01 8.59353694e-02 6.82386575e-03 7.29003844e+01] [-8.59373251e-02 9.96300545e-01 -6.64099167e-06 -6.58681503e-01] [-6.79919187e-03 -5.79808500e-04 9.99976717e-01 -5.79456251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.66, Z:-0.58 [[ 9.96415567e-01 8.43175726e-02 6.82386614e-03 7.29591957e+01] [-8.43194935e-02 9.96438770e-01 -6.22118958e-06 -6.61565718e-01] [-6.80008934e-03 -5.69186046e-04 9.99976717e-01 -5.77031770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.67, Z:-0.58 [[ 9.96272024e-01 8.59970322e-02 6.82386642e-03 7.30172386e+01] [-8.59989944e-02 9.96295224e-01 -5.89613258e-06 -6.65101542e-01] [-6.79909257e-03 -5.80971498e-04 9.99976717e-01 -5.76053037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.67, Z:-0.58 [[ 9.95865868e-01 9.05792904e-02 6.82386674e-03 7.30763988e+01] [-9.05813620e-02 9.95889058e-01 -5.49429079e-06 -6.67094632e-01] [-6.79631189e-03 -6.12643567e-04 9.99976717e-01 -5.76973088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:-0.67, Z:-0.58 [[ 9.95730178e-01 9.20589319e-02 6.82386698e-03 7.31348760e+01] [-9.20610402e-02 9.95753365e-01 -5.17851593e-06 -6.69988528e-01] [-6.79536524e-03 -6.23055888e-04 9.99976717e-01 -5.78861100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.19, Y:-0.67, Z:-0.58 [[ 9.96070964e-01 8.82953579e-02 6.82386721e-03 7.31922514e+01] [-8.82973806e-02 9.96094158e-01 -4.86142631e-06 -6.72486606e-01] [-6.79764350e-03 -5.97687275e-04 9.99976717e-01 -5.79307120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:-0.67, Z:-0.58 [[ 9.96211961e-01 8.66900449e-02 6.82386746e-03 7.32505727e+01] [-8.66920330e-02 9.96235159e-01 -4.46956584e-06 -6.74282566e-01] [-6.79856415e-03 -5.87122308e-04 9.99976717e-01 -5.77647787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:-0.68, Z:-0.58 [[ 9.96461082e-01 8.37779584e-02 6.82386769e-03 7.33105675e+01] [-8.37798813e-02 9.96484286e-01 -4.08292393e-06 -6.76247853e-01] [-6.80021898e-03 -5.67634350e-04 9.99976717e-01 -5.79152351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:-0.67, Z:-0.59 [[ 9.96356383e-01 8.50140739e-02 6.82386779e-03 7.33696723e+01] [-8.50160267e-02 9.96379584e-01 -3.92084237e-06 -6.73391497e-01] [-6.79949587e-03 -5.76231570e-04 9.99976717e-01 -5.89666992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:-0.67, Z:-0.59 [[ 9.96357936e-01 8.49958731e-02 6.82386788e-03 7.34288636e+01] [-8.49978265e-02 9.96381137e-01 -3.76036247e-06 -6.71955563e-01] [-6.79949285e-03 -5.76267271e-04 9.99976717e-01 -5.91431726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:-0.67, Z:-0.59 [[ 9.96545315e-01 8.27699808e-02 6.82386803e-03 7.34878246e+01] [-8.27718845e-02 9.96568520e-01 -3.44707956e-06 -6.67871322e-01] [-6.80073738e-03 -5.61389246e-04 9.99976717e-01 -5.86451224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:-0.67, Z:-0.59 [[ 9.96712967e-01 8.07260549e-02 6.82386818e-03 7.35467760e+01] [-8.07279132e-02 9.96736176e-01 -3.13203349e-06 -6.68270172e-01] [-6.80184911e-03 -5.47754900e-04 9.99976717e-01 -5.87921323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.67, Z:-0.59 [[ 9.96859708e-01 7.88933262e-02 6.82386828e-03 7.36059596e+01] [-7.88951434e-02 9.96882920e-01 -2.89809043e-06 -6.65578114e-01] [-6.80282637e-03 -5.35481076e-04 9.99976717e-01 -5.92085828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-0.66, Z:-0.59 [[ 9.96985381e-01 7.72889749e-02 6.82386834e-03 7.36646933e+01] [-7.72907558e-02 9.97008595e-01 -2.74030371e-06 -6.64817381e-01] [-6.80366718e-03 -5.24689899e-04 9.99976717e-01 -5.90264872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.66, Z:-0.58 [[ 9.97149301e-01 7.51445662e-02 6.82386841e-03 7.37241509e+01] [-7.51462985e-02 9.97172520e-01 -2.54260998e-06 -6.63431826e-01] [-6.80476512e-03 -5.10253091e-04 9.99976717e-01 -5.82583433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.66, Z:-0.59 [[ 9.97017665e-01 7.68713939e-02 6.82386847e-03 7.37835141e+01] [-7.68731675e-02 9.97040880e-01 -2.38773815e-06 -6.64794020e-01] [-6.80385937e-03 -5.22191767e-04 9.99976717e-01 -5.86866870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.66, Z:-0.58 [[ 9.96723538e-01 8.05954353e-02 6.82386852e-03 7.38419809e+01] [-8.05972967e-02 9.96746746e-01 -2.22858910e-06 -6.63401720e-01] [-6.80184836e-03 -5.47764069e-04 9.99976717e-01 -5.84608488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.66, Z:-0.59 [[ 9.96345018e-01 8.51471671e-02 6.82386859e-03 7.39006325e+01] [-8.51491361e-02 9.96368217e-01 -1.99293663e-06 -6.62144475e-01] [-6.79925548e-03 -5.79060863e-04 9.99976717e-01 -5.86156546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-0.66, Z:-0.59 [[ 9.95788407e-01 9.14269312e-02 6.82386866e-03 7.39592677e+01] [-9.14290485e-02 9.95811593e-01 -1.69306393e-06 -6.58861325e-01] [-6.79544232e-03 -6.22213885e-04 9.99976717e-01 -5.93057204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:-0.66, Z:-0.60 [[ 9.95401601e-01 9.55462591e-02 6.82386873e-03 7.40172318e+01] [-9.55484744e-02 9.95424778e-01 -1.37493203e-06 -6.55687685e-01] [-6.79277938e-03 -6.50641637e-04 9.99976717e-01 -5.99240697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:-0.65, Z:-0.60 [[ 9.95592469e-01 9.35364672e-02 6.82386878e-03 7.40761155e+01] [-9.35386384e-02 9.95615650e-01 -9.81451826e-07 -6.49905404e-01] [-6.79404236e-03 -6.37318269e-04 9.99976717e-01 -5.98945033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:-0.65, Z:-0.59 [[ 9.95971585e-01 8.94093805e-02 6.82386882e-03 7.41352955e+01] [-8.94114578e-02 9.95994775e-01 -6.57642375e-07 -6.45108046e-01] [-6.79659648e-03 -6.09477065e-04 9.99976717e-01 -5.91088433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:-0.65, Z:-0.59 [[ 9.96379234e-01 8.47458349e-02 6.82386883e-03 7.41938433e+01] [-8.47478058e-02 9.96402433e-01 -3.35516007e-07 -6.46691482e-01] [-6.79934794e-03 -5.77973609e-04 9.99976717e-01 -5.89005572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:-0.65, Z:-0.59 [[ 9.97053308e-01 7.64076990e-02 6.82386883e-03 7.42515080e+01] [-7.64094779e-02 9.97076522e-01 -1.65320078e-08 -6.45347467e-01] [-6.80392067e-03 -5.21391771e-04 9.99976717e-01 -5.93519530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:-0.64, Z:-0.59 [[ 9.97446689e-01 7.10882302e-02 6.82386881e-03 7.43102307e+01] [-7.10898880e-02 9.97469913e-01 3.80419770e-07 -6.42232574e-01] [-6.80657679e-03 -4.85487518e-04 9.99976717e-01 -5.92732851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:-0.64, Z:-0.59 [[ 9.97651911e-01 6.81476322e-02 6.82386878e-03 7.43690579e+01] [-6.81492238e-02 9.97675139e-01 7.08461446e-07 -6.39979042e-01] [-6.80795595e-03 -4.65748158e-04 9.99976717e-01 -5.86181909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:-0.64, Z:-0.58 [[ 9.98193985e-01 5.96841959e-02 6.82386874e-03 7.44282962e+01] [-5.96855921e-02 9.98217226e-01 9.52705793e-07 -6.39779163e-01] [-6.81164646e-03 -4.08237631e-04 9.99976717e-01 -5.83557172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:-0.64, Z:-0.59 [[ 9.98512397e-01 5.40964757e-02 6.82386872e-03 7.44875079e+01] [-5.40977428e-02 9.98535645e-01 1.11524067e-06 -6.38581178e-01] [-6.81381582e-03 -3.70269476e-04 9.99976717e-01 -5.85222145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-0.64, Z:-0.59 [[ 9.98694146e-01 5.06304077e-02 6.82386868e-03 7.45470014e+01] [-5.06315952e-02 9.98717398e-01 1.28047045e-06 -6.37601776e-01] [-6.81505155e-03 -3.46782156e-04 9.99976717e-01 -5.91674388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.64, Z:-0.59 [[ 9.98778108e-01 4.89461610e-02 6.82386867e-03 7.46071054e+01] [-4.89473099e-02 9.98801362e-01 1.36238502e-06 -6.38893796e-01] [-6.81562264e-03 -3.35370735e-04 9.99976717e-01 -5.94681045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.64, Z:-0.59 [[ 9.99204392e-01 3.92939923e-02 6.82386863e-03 7.46677358e+01] [-3.92949175e-02 9.99227656e-01 1.52040781e-06 -6.41782646e-01] [-6.81853852e-03 -2.69662553e-04 9.99976717e-01 -5.91002039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:-0.65, Z:-0.59 [[ 9.99510673e-01 3.05261987e-02 6.82386863e-03 7.47287901e+01] [-3.05269199e-02 9.99533945e-01 1.52040781e-06 -6.48068176e-01] [-6.82064192e-03 -2.09831355e-04 9.99976717e-01 -5.92391496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.79, Y:-0.66, Z:-0.60 [[ 9.99765873e-01 2.05337345e-02 6.82386867e-03 7.47895411e+01] [-2.05342219e-02 9.99789151e-01 1.35976611e-06 -6.56902919e-01] [-6.82240194e-03 -1.41482281e-04 9.99976717e-01 -5.96412667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.66, Z:-0.59 [[ 9.99847854e-01 1.60531456e-02 6.82386871e-03 7.48515437e+01] [-1.60535216e-02 9.99871134e-01 3.24305971e-07 -6.64906015e-01] [-6.82298414e-03 -1.09871380e-04 9.99976717e-01 -5.94963713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:-0.67, Z:-0.59 [[ 9.99864116e-01 1.50061353e-02 6.82386859e-03 7.49132914e+01] [-1.50064794e-02 9.99887396e-01 -7.85808258e-07 -6.71345031e-01] [-6.82311199e-03 -1.01616542e-04 9.99976717e-01 -5.92903881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:-0.68, Z:-0.60 [[ 9.99927586e-01 9.91252328e-03 6.82386824e-03 7.49753583e+01] [-9.91274056e-03 9.99950868e-01 -1.98136424e-06 -6.83349648e-01] [-6.82355261e-03 -6.56620147e-05 9.99976717e-01 -5.98119307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:-0.69, Z:-0.59 [[ 9.99959605e-01 5.85007464e-03 6.82386764e-03 7.50366339e+01] [-5.85018869e-03 9.99982887e-01 -3.24711555e-06 -6.91119763e-01] [-6.82376986e-03 -3.66739289e-05 9.99976717e-01 -5.94956920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.10, Y:-0.69, Z:-0.59 [[ 9.99961639e-01 5.49146464e-03 6.82386702e-03 7.50993029e+01] [-5.49156352e-03 9.99984921e-01 -4.24664614e-06 -6.94033363e-01] [-6.82378744e-03 -3.32272160e-05 9.99976717e-01 -5.90448173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:75.16, Y:-0.70, Z:-0.59 [[ 9.99924562e-01 1.02130177e-02 6.82386595e-03 7.51613980e+01] [-1.02132176e-02 9.99947844e-01 -5.55178041e-06 -7.00483876e-01] [-6.82356675e-03 -6.41422664e-05 9.99976717e-01 -5.90614404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.70, Z:-0.59 [[ 9.99879365e-01 1.39531312e-02 6.82386566e-03 7.52234505e+01] [-1.39534159e-02 9.99902646e-01 -5.88750826e-06 -7.01265657e-01] [-6.82328348e-03 -8.93294374e-05 9.99976717e-01 -5.90262896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:-0.70, Z:-0.60 [[ 9.99890318e-01 1.31448035e-02 6.82386436e-03 7.52868019e+01] [-1.31450609e-02 9.99913600e-01 -7.13618371e-06 -7.02387754e-01] [-6.82336858e-03 -8.25647113e-05 9.99976717e-01 -5.95204591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:-0.71, Z:-0.60 [[ 9.99966825e-01 4.44779032e-03 6.82386272e-03 7.53499854e+01] [-4.44783614e-03 9.99990108e-01 -8.46067061e-06 -7.06692871e-01] [-6.82383285e-03 -2.18910333e-05 9.99976717e-01 -5.96990104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:-0.71, Z:-0.60 [[ 9.99975786e-01 -1.36492569e-03 6.82386078e-03 7.54115143e+01] [ 1.36502439e-03 9.99999068e-01 -9.80555704e-06 -7.11652677e-01] [-6.82384104e-03 1.91200560e-05 9.99976717e-01 -6.02389787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:-0.72, Z:-0.61 [[ 9.99961207e-01 -5.56954064e-03 6.82385877e-03 7.54738041e+01] [ 5.56974570e-03 9.99984489e-01 -1.10480361e-05 -7.17961933e-01] [-6.82369139e-03 4.90547656e-05 9.99976717e-01 -6.05917728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:75.54, Y:-0.72, Z:-0.61 [[ 9.99972578e-01 -2.87725604e-03 6.82385671e-03 7.55359073e+01] [ 2.87740631e-03 9.99995860e-01 -1.22030962e-05 -7.23938550e-01] [-6.82379334e-03 3.18377699e-05 9.99976717e-01 -6.09257698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.60, Y:-0.73, Z:-0.61 [[ 9.99971425e-01 3.25327006e-03 6.82385609e-03 7.55968366e+01] [-3.25326025e-03 9.99994708e-01 -1.25376628e-05 -7.25199009e-01] [-6.82386077e-03 -9.66247527e-06 9.99976717e-01 -6.05996170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.66, Y:-0.73, Z:-0.60 [[ 9.99921583e-01 1.05006543e-02 6.82385562e-03 7.56588241e+01] [-1.05008116e-02 9.99944865e-01 -1.27869667e-05 -7.27174541e-01] [-6.82361366e-03 -5.88700580e-05 9.99976717e-01 -6.02318339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.73, Z:-0.60 [[ 9.99911941e-01 1.13817579e-02 6.82385498e-03 7.57205404e+01] [-1.13819334e-02 9.99935224e-01 -1.31226696e-05 -7.28549377e-01] [-6.82356231e-03 -6.45471486e-05 9.99976717e-01 -5.99342311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.73, Z:-0.60 [[ 9.99954951e-01 6.59776691e-03 6.82385235e-03 7.57839527e+01] [-6.59782247e-03 9.99978234e-01 -1.43709355e-05 -7.27430988e-01] [-6.82379864e-03 -3.06522782e-05 9.99976717e-01 -5.98436289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.73, Z:-0.60 [[ 9.99976701e-01 -1.82419800e-04 6.82384930e-03 7.58460046e+01] [ 1.82531172e-04 9.99999983e-01 -1.56983315e-05 -7.27114025e-01] [-6.82384632e-03 1.69435309e-05 9.99976717e-01 -6.02138128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.91, Y:-0.73, Z:-0.60 [[ 9.99967735e-01 -4.23828979e-03 6.82384624e-03 7.59090569e+01] [ 4.23850400e-03 9.99991017e-01 -1.69307226e-05 -7.25611758e-01] [-6.82371318e-03 4.58530759e-05 9.99976717e-01 -6.01890642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.72, Z:-0.60 [[ 9.99955527e-01 -6.50986264e-03 6.82384260e-03 7.59709592e+01] [ 6.51013901e-03 9.99978809e-01 -1.82899098e-05 -7.19318119e-01] [-6.82357892e-03 6.27132603e-05 9.99976717e-01 -6.01898758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.03, Y:-0.71, Z:-0.60 [[ 9.99947696e-01 -7.61848525e-03 6.82384025e-03 7.60332393e+01] [ 7.61879316e-03 9.99970976e-01 -1.91280431e-05 -7.13066050e-01] [-6.82349647e-03 7.11164700e-05 9.99976717e-01 -6.02816404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.70, Z:-0.61 [[ 9.99908030e-01 -1.17203629e-02 6.82383929e-03 7.60948789e+01] [ 1.17207686e-02 9.99931309e-01 -1.94644992e-05 -7.01309037e-01] [-6.82314242e-03 9.94433505e-05 9.99976717e-01 -6.07340665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:-0.69, Z:-0.61 [[ 9.99886437e-01 -1.34368098e-02 6.82383681e-03 7.61570968e+01] [ 1.34372611e-02 9.99909716e-01 -2.02963873e-05 -6.94229366e-01] [-6.82294801e-03 1.11987759e-04 9.99976717e-01 -6.08749637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:-0.68, Z:-0.62 [[ 9.99801253e-01 -1.87320350e-02 6.82383583e-03 7.62184260e+01] [ 1.87326118e-02 9.99824529e-01 -2.06208333e-05 -6.83408497e-01] [-6.82225218e-03 1.48445003e-04 9.99976717e-01 -6.15743033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.28, Y:-0.68, Z:-0.61 [[ 9.99619094e-01 -2.67413973e-02 6.82383510e-03 7.62810089e+01] [ 2.67421622e-02 9.99642364e-01 -2.08606124e-05 -6.78783052e-01] [-6.82083681e-03 2.03336771e-04 9.99976717e-01 -6.14020934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:-0.67, Z:-0.61 [[ 9.99339136e-01 -3.57033019e-02 6.82383409e-03 7.63425127e+01] [ 3.57042776e-02 9.99362399e-01 -2.11851263e-05 -6.74316630e-01] [-6.81872683e-03 2.64811193e-04 9.99976717e-01 -6.10566897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-0.67, Z:-0.61 [[ 9.99241562e-01 -3.83371381e-02 6.82383246e-03 7.64048050e+01] [ 3.83381787e-02 9.99264822e-01 -2.16972362e-05 -6.72274725e-01] [-6.81798392e-03 2.83294088e-04 9.99976717e-01 -6.10591136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:-0.67, Z:-0.61 [[ 9.99298907e-01 -3.68121012e-02 6.82383144e-03 7.64658908e+01] [ 3.68131084e-02 9.99322168e-01 -2.20142849e-05 -6.71894703e-01] [-6.81839563e-03 2.73205297e-04 9.99976717e-01 -6.07859305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:-0.67, Z:-0.61 [[ 9.99536644e-01 -2.96636599e-02 6.82383093e-03 7.65266297e+01] [ 2.96645018e-02 9.99559912e-01 -2.21722272e-05 -6.70579793e-01] [-6.82017013e-03 2.24587498e-04 9.99976717e-01 -6.07874679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:-0.67, Z:-0.61 [[ 9.99652017e-01 -2.54809619e-02 6.82383016e-03 7.65888135e+01] [ 2.54817080e-02 9.99675288e-01 -2.24071074e-05 -6.71107909e-01] [-6.82104342e-03 1.96282158e-04 9.99976717e-01 -6.05148511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-0.67, Z:-0.60 [[ 9.99731873e-01 -2.21273152e-02 6.82382912e-03 7.66511345e+01] [ 2.21279854e-02 9.99755146e-01 -2.27171921e-05 -6.72030342e-01] [-6.82165561e-03 1.73708692e-04 9.99976717e-01 -6.02218114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.68, Z:-0.60 [[ 9.99640605e-01 -2.59248241e-02 6.82382801e-03 7.67137371e+01] [ 2.59255849e-02 9.99663875e-01 -2.30460018e-05 -6.75438811e-01] [-6.82093689e-03 1.99949452e-04 9.99976717e-01 -6.02806053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.68, Z:-0.60 [[ 9.99303546e-01 -3.66859325e-02 6.82382689e-03 7.67745068e+01] [ 3.66869460e-02 9.99326807e-01 -2.33743929e-05 -6.84180065e-01] [-6.81837562e-03 2.73703482e-04 9.99976717e-01 -6.04936986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.84, Y:-0.69, Z:-0.61 [[ 9.99049539e-01 -4.30517548e-02 6.82382502e-03 7.68357239e+01] [ 4.30529202e-02 9.99072793e-01 -2.39060593e-05 -6.88935515e-01] [-6.81646873e-03 3.17668932e-04 9.99976717e-01 -6.06029802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:-0.69, Z:-0.61 [[ 9.98870076e-01 -4.70319846e-02 6.82382445e-03 7.68960654e+01] [ 4.70332437e-02 9.98893324e-01 -2.40699886e-05 -6.91301999e-01] [-6.81514063e-03 3.44989389e-04 9.99976717e-01 -6.09344919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:-0.69, Z:-0.61 [[ 9.98969535e-01 -4.48698515e-02 6.82382346e-03 7.69558716e+01] [ 4.48710621e-02 9.98992786e-01 -2.43452549e-05 -6.89149072e-01] [-6.81585805e-03 3.30512375e-04 9.99976717e-01 -6.13450956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.02, Y:-0.68, Z:-0.61 [[ 9.99358163e-01 -3.51666964e-02 6.82382374e-03 7.70169925e+01] [ 3.51676807e-02 9.99381426e-01 -2.42682618e-05 -6.81029192e-01] [-6.81874926e-03 2.64230740e-04 9.99976717e-01 -6.09037404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.68, Z:-0.61 [[ 9.99460528e-01 -3.21261181e-02 6.82382313e-03 7.70783656e+01] [ 3.21270328e-02 9.99483793e-01 -2.44375199e-05 -6.76922842e-01] [-6.81951555e-03 2.43653526e-04 9.99976717e-01 -6.10330478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:-0.66, Z:-0.61 [[ 9.99531059e-01 -2.98512479e-02 6.82382222e-03 7.71409240e+01] [ 2.98521114e-02 9.99554326e-01 -2.46909026e-05 -6.62454622e-01] [-6.82004396e-03 2.28384825e-04 9.99976717e-01 -6.13913772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.20, Y:-0.65, Z:-0.62 [[ 9.99459027e-01 -3.21727835e-02 6.82382055e-03 7.72032663e+01] [ 3.21737040e-02 9.99482292e-01 -2.51419282e-05 -6.54311427e-01] [-6.81947892e-03 2.44675910e-04 9.99976717e-01 -6.16947421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.26, Y:-0.64, Z:-0.61 [[ 9.99146506e-01 -4.07393583e-02 6.82381930e-03 7.72647854e+01] [ 4.07404805e-02 9.99169762e-01 -2.54766857e-05 -6.44367928e-01] [-6.81711600e-03 3.03460619e-04 9.99976717e-01 -6.14632473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.33, Y:-0.64, Z:-0.62 [[ 9.98834750e-01 -4.77763281e-02 6.82381839e-03 7.73268369e+01] [ 4.77776158e-02 9.98857997e-01 -2.57204577e-05 -6.39308646e-01] [-6.81479674e-03 3.51716260e-04 9.99976717e-01 -6.17034665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.39, Y:-0.63, Z:-0.61 [[ 9.98479286e-01 -5.47042078e-02 6.82381713e-03 7.73879164e+01] [ 5.47056590e-02 9.98502524e-01 -2.60488716e-05 -6.32651860e-01] [-6.81217365e-03 3.99310672e-04 9.99976717e-01 -6.07570645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.45, Y:-0.63, Z:-0.61 [[ 9.98373271e-01 -5.66060728e-02 6.82381620e-03 7.74499444e+01] [ 5.66075698e-02 9.98396506e-01 -2.62916920e-05 -6.29197994e-01] [-6.81138598e-03 4.12528574e-04 9.99976717e-01 -6.08485392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.51, Y:-0.63, Z:-0.61 [[ 9.98285841e-01 -5.81275723e-02 6.82381497e-03 7.75120901e+01] [ 5.81291069e-02 9.98309073e-01 -2.66066972e-05 -6.25915406e-01] [-6.81072982e-03 4.23223359e-04 9.99976717e-01 -6.10490612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:-0.62, Z:-0.61 [[ 9.98337133e-01 -5.72398873e-02 6.82381372e-03 7.75731942e+01] [ 5.72414034e-02 9.98360366e-01 -2.69226236e-05 -6.23211048e-01] [-6.81108412e-03 4.17482529e-04 9.99976717e-01 -6.12492810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:-0.62, Z:-0.61 [[ 9.98456347e-01 -5.51213058e-02 6.82381279e-03 7.76352304e+01] [ 5.51227742e-02 9.98479584e-01 -2.71568712e-05 -6.15454991e-01] [-6.81194083e-03 4.03262442e-04 9.99976717e-01 -6.10708643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.70, Y:-0.61, Z:-0.61 [[ 9.98343322e-01 -5.71318400e-02 6.82381149e-03 7.76962042e+01] [ 5.71333574e-02 9.98366555e-01 -2.74805248e-05 -6.11383553e-01] [-6.81109515e-03 4.17302259e-04 9.99976717e-01 -6.13907789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:-0.61, Z:-0.62 [[ 9.98222387e-01 -5.92072699e-02 6.82380927e-03 7.77580982e+01] [ 5.92088393e-02 9.98245617e-01 -2.80188809e-05 -6.10398151e-01] [-6.81017878e-03 4.31998901e-04 9.99976717e-01 -6.16902236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.82, Y:-0.61, Z:-0.62 [[ 9.98404431e-01 -5.60537908e-02 6.82380795e-03 7.78203355e+01] [ 5.60552889e-02 9.98427666e-01 -2.83368618e-05 -6.05976983e-01] [-6.81149026e-03 4.10802175e-04 9.99976717e-01 -6.15339818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-0.60, Z:-0.62 [[ 9.98727429e-01 -4.99695713e-02 6.82380660e-03 7.78815832e+01] [ 4.99709300e-02 9.98750672e-01 -2.86597277e-05 -6.00362075e-01] [-6.81384931e-03 3.69615218e-04 9.99976717e-01 -6.17897358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-0.59, Z:-0.61 [[ 9.99183580e-01 -3.98197126e-02 6.82380558e-03 7.79440581e+01] [ 3.98208368e-02 9.99206836e-01 -2.89008001e-05 -5.87233182e-01] [-6.81724236e-03 3.00606853e-04 9.99976717e-01 -6.14593211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.01, Y:-0.58, Z:-0.62 [[ 9.99250089e-01 -3.81142347e-02 6.82380423e-03 7.80064635e+01] [ 3.81153214e-02 9.99273347e-01 -2.92158048e-05 -5.78129303e-01] [-6.81773215e-03 2.89285387e-04 9.99976717e-01 -6.15356118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.07, Y:-0.56, Z:-0.62 [[ 9.98962658e-01 -4.50227103e-02 6.82380279e-03 7.80673580e+01] [ 4.50239599e-02 9.98985907e-01 -2.95475726e-05 -5.64256721e-01] [-6.81555251e-03 3.36751545e-04 9.99976717e-01 -6.16219219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:-0.55, Z:-0.62 [[ 9.98185712e-01 -5.98224124e-02 6.82380046e-03 7.81290568e+01] [ 5.98240101e-02 9.98208940e-01 -3.00759081e-05 -5.49320834e-01] [-6.80977941e-03 4.38248450e-04 9.99976717e-01 -6.19527915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.19, Y:-0.54, Z:-0.61 [[ 9.97638745e-01 -6.83401067e-02 6.82379871e-03 7.81915585e+01] [ 6.83419052e-02 9.97661958e-01 -3.04696283e-05 -5.40869335e-01] [-6.80576208e-03 4.96749086e-04 9.99976717e-01 -6.12732304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.25, Y:-0.53, Z:-0.62 [[ 9.96817009e-01 -7.94310119e-02 6.82379729e-03 7.82547504e+01] [ 7.94330707e-02 9.96840201e-01 -3.07840568e-05 -5.34273692e-01] [-6.79979025e-03 5.72721244e-04 9.99976717e-01 -6.17105823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:-0.53, Z:-0.62 [[ 9.96356516e-01 -8.50125249e-02 6.82379514e-03 7.83181223e+01] [ 8.50147167e-02 9.96379695e-01 -3.12531539e-05 -5.31961165e-01] [-6.79643401e-03 6.11262294e-04 9.99976717e-01 -6.20936128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:-0.53, Z:-0.62 [[ 9.96639998e-01 -8.16219970e-02 6.82379297e-03 7.83807560e+01] [ 8.16241130e-02 9.96663184e-01 -3.17203316e-05 -5.27639963e-01] [-6.79843415e-03 5.88599800e-04 9.99976717e-01 -6.23268546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:-0.53, Z:-0.61 [[ 9.97376655e-01 -7.20641651e-02 6.82379045e-03 7.84416588e+01] [ 7.20660624e-02 9.97399860e-01 -3.22524184e-05 -5.25217469e-01] [-6.80372340e-03 5.23931518e-04 9.99976717e-01 -6.11781012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:-0.53, Z:-0.62 [[ 9.97574939e-01 -6.92652691e-02 6.82378893e-03 7.85048406e+01] [ 6.92671035e-02 9.97598149e-01 -3.25720176e-05 -5.25614752e-01] [-6.80514309e-03 5.05157122e-04 9.99976717e-01 -6.16820061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:-0.53, Z:-0.62 [[ 9.97421251e-01 -7.14442780e-02 6.82378661e-03 7.85662129e+01] [ 7.14461663e-02 9.97444457e-01 -3.30493421e-05 -5.28681080e-01] [-6.80398695e-03 5.20497510e-04 9.99976717e-01 -6.21247919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.53, Z:-0.62 [[ 9.97030605e-01 -7.67033817e-02 6.82378547e-03 7.86279426e+01] [ 7.67053940e-02 9.97053801e-01 -3.32830546e-05 -5.32331827e-01] [-6.80112832e-03 5.56605377e-04 9.99976717e-01 -6.17682376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.53, Z:-0.62 [[ 9.97068034e-01 -7.62152983e-02 6.82378352e-03 7.86908794e+01] [ 7.62173020e-02 9.97091230e-01 -3.36789772e-05 -5.34386420e-01] [-6.80136785e-03 5.53670601e-04 9.99976717e-01 -6.18029307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.53, Z:-0.62 [[ 9.97112698e-01 -7.56287227e-02 6.82378112e-03 7.87541234e+01] [ 7.56307159e-02 9.97135895e-01 -3.41578423e-05 -5.34768449e-01] [-6.80165379e-03 5.50146670e-04 9.99976717e-01 -6.18254276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.82, Y:-0.53, Z:-0.62 [[ 9.97201142e-01 -7.44534605e-02 6.82377875e-03 7.88170796e+01] [ 7.44554296e-02 9.97224342e-01 -3.46258349e-05 -5.33678776e-01] [-6.80226026e-03 5.42596300e-04 9.99976717e-01 -6.20427059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.88, Y:-0.53, Z:-0.62 [[ 9.97251373e-01 -7.37776054e-02 6.82377635e-03 7.88786713e+01] [ 7.37795619e-02 9.97274574e-01 -3.50917929e-05 -5.32034462e-01] [-6.80258966e-03 5.38450569e-04 9.99976717e-01 -6.22769148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.94, Y:-0.53, Z:-0.63 [[ 9.97140477e-01 -7.52615767e-02 6.82377321e-03 7.89420648e+01] [ 7.52635719e-02 9.97163674e-01 -3.56920491e-05 -5.27624170e-01] [-6.80173253e-03 5.49171532e-04 9.99976717e-01 -6.25639999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.00, Y:-0.53, Z:-0.63 [[ 9.96979068e-01 -7.73703755e-02 6.82377088e-03 7.90048045e+01] [ 7.73724227e-02 9.97002260e-01 -3.61334454e-05 -5.25561667e-01] [-6.80051933e-03 5.63995973e-04 9.99976717e-01 -6.25044632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.53, Z:-0.62 [[ 9.96687886e-01 -8.10351404e-02 6.82376847e-03 7.90670584e+01] [ 8.10372759e-02 9.96711071e-01 -3.65813389e-05 -5.25014102e-01] [-6.79836121e-03 5.89439786e-04 9.99976717e-01 -6.22365122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-0.52, Z:-0.63 [[ 9.96248840e-01 -8.62652071e-02 6.82376680e-03 7.91290658e+01] [ 8.62674664e-02 9.96272013e-01 -3.68911519e-05 -5.24482151e-01] [-6.79514546e-03 6.25421840e-04 9.99976717e-01 -6.32657130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-0.52, Z:-0.64 [[ 9.96061637e-01 -8.84005142e-02 6.82376509e-03 7.91903561e+01] [ 8.84028253e-02 9.96084805e-01 -3.72042014e-05 -5.24127051e-01] [-6.79375985e-03 6.40297791e-04 9.99976717e-01 -6.36498402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-0.52, Z:-0.63 [[ 9.96375337e-01 -8.47916516e-02 6.82376167e-03 7.92523227e+01] [ 8.47938829e-02 9.96398513e-01 -3.78218420e-05 -5.21697255e-01] [-6.79597900e-03 6.16297999e-04 9.99976717e-01 -6.33187124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-0.51, Z:-0.63 [[ 9.96906068e-01 -7.83053461e-02 6.82375993e-03 7.93139222e+01] [ 7.83074286e-02 9.96929258e-01 -3.81336305e-05 -5.12971989e-01] [-6.79981985e-03 5.72366741e-04 9.99976717e-01 -6.31407942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.38, Y:-0.50, Z:-0.63 [[ 9.97168715e-01 -7.48865191e-02 6.82375862e-03 7.93756362e+01] [ 7.48885236e-02 9.97191911e-01 -3.83669351e-05 -5.04028332e-01] [-6.80172373e-03 5.49279516e-04 9.99976717e-01 -6.33825861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:-0.50, Z:-0.63 [[ 9.97154003e-01 -7.50821542e-02 6.82375646e-03 7.94384421e+01] [ 7.50841659e-02 9.97177199e-01 -3.87459512e-05 -4.97501448e-01] [-6.80158523e-03 5.50991743e-04 9.99976717e-01 -6.33543137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:-0.49, Z:-0.63 [[ 9.96693510e-01 -8.09659362e-02 6.82375383e-03 7.95006135e+01] [ 8.09680879e-02 9.96716694e-01 -3.92041837e-05 -4.89830713e-01] [-6.79817515e-03 5.91580855e-04 9.99976717e-01 -6.27208786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:-0.49, Z:-0.63 [[ 9.96222458e-01 -8.65693424e-02 6.82375189e-03 7.95620753e+01] [ 8.65716267e-02 9.96245628e-01 -3.95395908e-05 -4.86809198e-01] [-6.79471007e-03 6.30133529e-04 9.99976717e-01 -6.28606444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:-0.48, Z:-0.63 [[ 9.95725566e-01 -9.21088157e-02 6.82375043e-03 7.96237865e+01] [ 9.21112305e-02 9.95748723e-01 -3.97898037e-05 -4.80502891e-01] [-6.79107578e-03 6.68163773e-04 9.99976717e-01 -6.32520016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.69, Y:-0.48, Z:-0.63 [[ 9.95612868e-01 -9.33190911e-02 6.82374870e-03 7.96861832e+01] [ 9.33215361e-02 9.95636023e-01 -4.00834745e-05 -4.78471406e-01] [-6.79022946e-03 6.76710334e-04 9.99976717e-01 -6.34776415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:-0.48, Z:-0.63 [[ 9.95408145e-01 -9.54780638e-02 6.82374689e-03 7.97477229e+01] [ 9.54805611e-02 9.95431294e-01 -4.03891274e-05 -4.75478610e-01] [-6.78871492e-03 6.91738849e-04 9.99976717e-01 -6.34789122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:-0.47, Z:-0.64 [[ 9.95401346e-01 -9.55489277e-02 6.82374554e-03 7.98095958e+01] [ 9.55514281e-02 9.95424494e-01 -4.06160485e-05 -4.74622487e-01] [-6.78864263e-03 6.92447901e-04 9.99976717e-01 -6.35423024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.47, Z:-0.64 [[ 9.95587735e-01 -9.35868510e-02 6.82374371e-03 7.98728425e+01] [ 9.35893078e-02 9.95610888e-01 -4.09225686e-05 -4.72689939e-01] [-6.78996371e-03 6.79371458e-04 9.99976717e-01 -6.35615153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.47, Z:-0.64 [[ 9.95961906e-01 -8.95171368e-02 6.82374091e-03 7.99347188e+01] [ 8.95195022e-02 9.95985069e-01 -4.13830419e-05 -4.70263470e-01] [-6.79263957e-03 6.52073823e-04 9.99976717e-01 -6.37778065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:-0.47, Z:-0.64 [[ 9.96192643e-01 -8.69117631e-02 6.82373623e-03 7.99976287e+01] [ 8.69140730e-02 9.96215811e-01 -4.21408135e-05 -4.68467437e-01] [-6.79425139e-03 6.35059078e-04 9.99976717e-01 -6.36655079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.06, Y:-0.47, Z:-0.64 [[ 9.96208681e-01 -8.67277344e-02 6.82373333e-03 8.00599254e+01] [ 8.67300432e-02 9.96231849e-01 -4.26060835e-05 -4.69467136e-01] [-6.79432534e-03 6.34267236e-04 9.99976717e-01 -6.37929818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:-0.47, Z:-0.63 [[ 9.96092751e-01 -8.80492323e-02 6.82373133e-03 8.01209178e+01] [ 8.80515740e-02 9.96115916e-01 -4.29234092e-05 -4.71106448e-01] [-6.79344801e-03 6.43595981e-04 9.99976717e-01 -6.32960015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:-0.47, Z:-0.64 [[ 9.96037870e-01 -8.86679148e-02 6.82372934e-03 8.01832751e+01] [ 8.86702730e-02 9.96061033e-01 -4.32381115e-05 -4.70961071e-01] [-6.79301706e-03 6.48128740e-04 9.99976717e-01 -6.38891377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:-0.47, Z:-0.64 [[ 9.96391965e-01 -8.45960295e-02 6.82372735e-03 8.02441873e+01] [ 8.45982951e-02 9.96415138e-01 -4.35496266e-05 -4.69710046e-01] [-6.79558110e-03 6.20668198e-04 9.99976717e-01 -6.39672158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:-0.47, Z:-0.64 [[ 9.96986203e-01 -7.72783737e-02 6.82372589e-03 8.03063524e+01] [ 7.72804707e-02 9.97009392e-01 -4.37776908e-05 -4.65136982e-01] [-6.79993573e-03 5.70986502e-04 9.99976717e-01 -6.36325192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.37, Y:-0.46, Z:-0.64 [[ 9.97447607e-01 -7.10753742e-02 6.82372397e-03 8.03689760e+01] [ 7.10773289e-02 9.97470807e-01 -4.40750265e-05 -4.56648910e-01] [-6.80333280e-03 5.28974603e-04 9.99976717e-01 -6.36471587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:-0.45, Z:-0.64 [[ 9.97339586e-01 -7.25753827e-02 6.82372195e-03 8.04324754e+01] [ 7.25773744e-02 9.97362784e-01 -4.43845484e-05 -4.49836417e-01] [-6.80250510e-03 5.39514290e-04 9.99976717e-01 -6.37333733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:-0.44, Z:-0.64 [[ 9.97041916e-01 -7.65562217e-02 6.82371890e-03 8.04943051e+01] [ 7.65583092e-02 9.97065105e-01 -4.48491668e-05 -4.43738469e-01] [-6.80025852e-03 5.67128881e-04 9.99976717e-01 -6.37850685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-0.44, Z:-0.64 [[ 9.96834814e-01 -7.92072651e-02 6.82371120e-03 8.05560198e+01] [ 7.92094220e-02 9.96857997e-01 -4.59908520e-05 -4.39815867e-01] [-6.79862827e-03 5.86347503e-04 9.99976717e-01 -6.40354980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-0.44, Z:-0.65 [[ 9.96715528e-01 -8.06944386e-02 6.82370910e-03 8.06172212e+01] [ 8.06966322e-02 9.96738708e-01 -4.63015327e-05 -4.35110647e-01] [-6.79771871e-03 5.96799800e-04 9.99976717e-01 -6.45496545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:-0.43, Z:-0.64 [[ 9.96786949e-01 -7.98073619e-02 6.82370221e-03 8.06791390e+01] [ 7.98095416e-02 9.96810130e-01 -4.72944662e-05 -4.32969644e-01] [-6.79816104e-03 5.91739052e-04 9.99976717e-01 -6.42067451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:-0.43, Z:-0.64 [[ 9.96974916e-01 -7.74238584e-02 6.82370008e-03 8.07423515e+01] [ 7.74259847e-02 9.96998102e-01 -4.76001170e-05 -4.28054262e-01] [-6.79953064e-03 5.75787821e-04 9.99976717e-01 -6.42357721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-0.43, Z:-0.65 [[ 9.97066084e-01 -7.62408088e-02 6.82369681e-03 8.08032618e+01] [ 7.62429108e-02 9.97089272e-01 -4.80642081e-05 -4.26226050e-01] [-6.80017043e-03 5.68181699e-04 9.99976717e-01 -6.45436938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:-0.42, Z:-0.64 [[ 9.97115829e-01 -7.55874404e-02 6.82368969e-03 8.08651893e+01] [ 7.55895340e-02 9.97139017e-01 -4.90554444e-05 -4.23591876e-01] [-6.80045925e-03 5.64713483e-04 9.99976717e-01 -6.42351895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.93, Y:-0.43, Z:-0.64 [[ 9.96847749e-01 -7.90443134e-02 6.82368745e-03 8.09271989e+01] [ 7.90464894e-02 9.96870929e-01 -4.93643472e-05 -4.25322221e-01] [-6.79843368e-03 5.88597276e-04 9.99976717e-01 -6.42643468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.99, Y:-0.43, Z:-0.64 [[ 9.96474625e-01 -8.36167392e-02 6.82368184e-03 8.09897252e+01] [ 8.36190267e-02 9.96497795e-01 -5.01285966e-05 -4.28511758e-01] [-6.79559232e-03 6.20541508e-04 9.99976717e-01 -6.39899685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:-0.43, Z:-0.64 [[ 9.96263599e-01 -8.60945939e-02 6.82367344e-03 8.10523477e+01] [ 8.60969466e-02 9.96286763e-01 -5.12473943e-05 -4.31330953e-01] [-6.79392339e-03 6.38553361e-04 9.99976717e-01 -6.39337835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:-0.44, Z:-0.64 [[ 9.95848227e-01 -9.07730470e-02 6.82367008e-03 8.11147866e+01] [ 9.07755116e-02 9.95871379e-01 -5.16904969e-05 -4.38144431e-01] [-6.79080563e-03 6.70898032e-04 9.99976717e-01 -6.41921307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:-0.44, Z:-0.64 [[ 9.96015879e-01 -8.89146004e-02 6.82366783e-03 8.11782076e+01] [ 8.89170237e-02 9.96039035e-01 -5.19851329e-05 -4.43653494e-01] [-6.79201729e-03 6.58518253e-04 9.99976717e-01 -6.38605155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:-0.45, Z:-0.64 [[ 9.96314214e-01 -8.55068638e-02 6.82366442e-03 8.12414007e+01] [ 8.55092109e-02 9.96337379e-01 -5.24289691e-05 -4.46023739e-01] [-6.79418889e-03 6.35721888e-04 9.99976717e-01 -6.35467902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:-0.45, Z:-0.64 [[ 9.97025511e-01 -7.67695773e-02 6.82366089e-03 8.13036220e+01] [ 7.67717243e-02 9.97048695e-01 -5.28851257e-05 -4.49518258e-01] [-6.79946221e-03 5.76592032e-04 9.99976717e-01 -6.40843124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.37, Y:-0.45, Z:-0.64 [[ 9.97346640e-01 -7.24783956e-02 6.82365199e-03 8.13658729e+01] [ 7.24804505e-02 9.97369832e-01 -5.40097191e-05 -4.54589248e-01] [-6.80179010e-03 5.48447782e-04 9.99976717e-01 -6.43448067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:-0.46, Z:-0.65 [[ 9.97786765e-01 -6.61438563e-02 6.82364956e-03 8.14274176e+01] [ 6.61457660e-02 9.97809969e-01 -5.43148254e-05 -4.58391116e-01] [-6.80511296e-03 5.05550141e-04 9.99976717e-01 -6.46957504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:-0.46, Z:-0.64 [[ 9.98013464e-01 -6.26303643e-02 6.82364774e-03 8.14906760e+01] [ 6.26321938e-02 9.98036675e-01 -5.45426335e-05 -4.57214904e-01] [-6.80683468e-03 4.81814310e-04 9.99976717e-01 -6.44692648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.55, Y:-0.45, Z:-0.64 [[ 9.98393703e-01 -5.62445762e-02 6.82364382e-03 8.15519259e+01] [ 5.62462605e-02 9.98416925e-01 -5.50284342e-05 -4.52690476e-01] [-6.80974643e-03 4.38744490e-04 9.99976717e-01 -6.41783499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.61, Y:-0.45, Z:-0.64 [[ 9.98549792e-01 -5.34017810e-02 6.82364187e-03 8.16128491e+01] [ 5.34034008e-02 9.98573019e-01 -5.52697178e-05 -4.46277587e-01] [-6.81095316e-03 4.19595247e-04 9.99976717e-01 -6.41162857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:-0.44, Z:-0.65 [[ 9.98473560e-01 -5.48086394e-02 6.82364000e-03 8.16737386e+01] [ 5.48102935e-02 9.98496784e-01 -5.54989497e-05 -4.38951981e-01] [-6.81034078e-03 4.29419945e-04 9.99976717e-01 -6.45041788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:-0.43, Z:-0.64 [[ 9.98303745e-01 -5.78192986e-02 6.82363815e-03 8.17350380e+01] [ 5.78210243e-02 9.98326963e-01 -5.57257342e-05 -4.32997628e-01] [-6.80899993e-03 4.50180956e-04 9.99976717e-01 -6.42750843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:-0.42, Z:-0.64 [[ 9.98059516e-01 -6.18921617e-02 6.82363632e-03 8.17981788e+01] [ 6.18939836e-02 9.98082728e-01 -5.59490583e-05 -4.22624915e-01] [-6.80709074e-03 4.78182525e-04 9.99976717e-01 -6.41138181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:-0.41, Z:-0.64 [[ 9.97823039e-01 -6.55943730e-02 6.82363265e-03 8.18608779e+01] [ 6.55962841e-02 9.97846243e-01 -5.63930051e-05 -4.13882114e-01] [-6.80523714e-03 5.03875185e-04 9.99976717e-01 -6.43163394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-0.41, Z:-0.64 [[ 9.97751979e-01 -6.66665253e-02 6.82362882e-03 8.19232536e+01] [ 6.66684644e-02 9.97775181e-01 -5.68523186e-05 -4.08656427e-01] [-6.80465734e-03 5.11645369e-04 9.99976717e-01 -6.44583331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.99, Y:-0.40, Z:-0.64 [[ 9.97556323e-01 -6.95328809e-02 6.82362246e-03 8.19863513e+01] [ 6.95348918e-02 9.97579518e-01 -5.76056040e-05 -4.04117856e-01] [-6.80310053e-03 5.31944684e-04 9.99976717e-01 -6.43175766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:-0.40, Z:-0.65 [[ 9.97192024e-01 -7.45754983e-02 6.82361845e-03 8.20475856e+01] [ 7.45776296e-02 9.97215209e-01 -5.80774200e-05 -4.02381895e-01] [-6.80028495e-03 5.66803629e-04 9.99976717e-01 -6.49321150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:-0.40, Z:-0.65 [[ 9.96896463e-01 -7.84275467e-02 6.82361318e-03 8.21101003e+01] [ 7.84297718e-02 9.96919639e-01 -5.86899840e-05 -4.02107654e-01] [-6.79799108e-03 5.93682262e-04 9.99976717e-01 -6.52160934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:-0.40, Z:-0.65 [[ 9.96893918e-01 -7.84598936e-02 6.82360368e-03 8.21725087e+01] [ 7.84621268e-02 9.96917093e-01 -5.97739145e-05 -4.00458441e-01] [-6.79787730e-03 5.94982709e-04 9.99976717e-01 -6.52918724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:-0.40, Z:-0.65 [[ 9.97193719e-01 -7.45528410e-02 6.82359409e-03 8.22356115e+01] [ 7.45549906e-02 9.97216902e-01 -6.08502246e-05 -3.97906162e-01] [-6.80006680e-03 5.69412455e-04 9.99976717e-01 -6.52953044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:-0.39, Z:-0.65 [[ 9.97646265e-01 -6.82302664e-02 6.82358284e-03 8.22969476e+01] [ 6.82322774e-02 9.97669461e-01 -6.20861534e-05 -3.90739583e-01] [-6.80344406e-03 5.27528616e-04 9.99976717e-01 -6.48635590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:-0.39, Z:-0.65 [[ 9.97704756e-01 -6.73695644e-02 6.82357364e-03 8.23602720e+01] [ 6.73715622e-02 9.97727953e-01 -6.30814898e-05 -3.86959119e-01] [-6.80382039e-03 5.22651518e-04 9.99976717e-01 -6.47533135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:-0.38, Z:-0.65 [[ 9.97640478e-01 -6.83148298e-02 6.82356215e-03 8.24230026e+01] [ 6.83168579e-02 9.97663672e-01 -6.43001645e-05 -3.77264256e-01] [-6.80322742e-03 5.30312773e-04 9.99976717e-01 -6.46473955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:-0.37, Z:-0.64 [[ 9.97615814e-01 -6.86740626e-02 6.82355040e-03 8.24863493e+01] [ 6.86761073e-02 9.97639007e-01 -6.55244404e-05 -3.72449962e-01] [-6.80294021e-03 5.33983097e-04 9.99976717e-01 -6.43157219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:-0.37, Z:-0.65 [[ 9.97515915e-01 -7.01101962e-02 6.82353802e-03 8.25481177e+01] [ 7.01122829e-02 9.97539104e-01 -6.67892947e-05 -3.73244600e-01] [-6.80206339e-03 5.45037212e-04 9.99976717e-01 -6.45757552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:-0.37, Z:-0.64 [[ 9.97236976e-01 -7.39719756e-02 6.82352630e-03 8.26108685e+01] [ 7.39741601e-02 9.97260156e-01 -6.79655554e-05 -3.72169263e-01] [-6.79980336e-03 5.72542392e-04 9.99976717e-01 -6.44248774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:-0.38, Z:-0.65 [[ 9.97184572e-01 -7.46750941e-02 6.82351422e-03 8.26729591e+01] [ 7.46773030e-02 9.97207749e-01 -6.91574222e-05 -3.75024705e-01] [-6.79929692e-03 5.78524353e-04 9.99976717e-01 -6.49136180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.74, Y:-0.38, Z:-0.65 [[ 9.97138205e-01 -7.52917015e-02 6.82350340e-03 8.27363474e+01] [ 7.52939319e-02 9.97161381e-01 -7.02094195e-05 -3.77703169e-01] [-6.79884788e-03 5.83776895e-04 9.99976717e-01 -6.46291352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.80, Y:-0.38, Z:-0.65 [[ 9.97125875e-01 -7.54548156e-02 6.82349072e-03 8.27983346e+01] [ 7.54570580e-02 9.97149050e-01 -7.14208499e-05 -3.81405798e-01] [-6.79864824e-03 5.86096112e-04 9.99976717e-01 -6.48103066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.86, Y:-0.38, Z:-0.65 [[ 9.97245935e-01 -7.38510997e-02 6.82347881e-03 8.28616644e+01] [ 7.38533125e-02 9.97269113e-01 -7.25405507e-05 -3.83824281e-01] [-6.79948746e-03 5.76277282e-04 9.99976717e-01 -6.50037299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.92, Y:-0.38, Z:-0.65 [[ 9.98025463e-01 -6.24388867e-02 6.82346566e-03 8.29237285e+01] [ 6.24408424e-02 9.98048664e-01 -7.37571333e-05 -3.79602512e-01] [-6.80554548e-03 4.99674441e-04 9.99976717e-01 -6.49422987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-0.38, Z:-0.64 [[ 9.98336910e-01 -5.72438092e-02 6.82346230e-03 8.29851546e+01] [ 5.72456463e-02 9.98360121e-01 -7.40669944e-05 -3.77988145e-01] [-6.80803277e-03 4.64557324e-04 9.99976717e-01 -6.38279520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-0.37, Z:-0.64 [[ 9.98992065e-01 -4.43654722e-02 6.82345892e-03 8.30473822e+01] [ 4.43670120e-02 9.99015297e-01 -7.43774976e-05 -3.71425997e-01] [-6.81344004e-03 3.77039013e-04 9.99976717e-01 -6.37829250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-0.37, Z:-0.64 [[ 9.99244404e-01 -3.82630461e-02 6.82345554e-03 8.31101722e+01] [ 3.82644460e-02 9.99267645e-01 -7.46863077e-05 -3.67299853e-01] [-6.81560062e-03 3.35725621e-04 9.99976717e-01 -6.38575333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:-0.36, Z:-0.64 [[ 9.99515572e-01 -3.03654646e-02 6.82345039e-03 8.31726745e+01] [ 3.03666840e-02 9.99538823e-01 -7.51531797e-05 -3.61013721e-01] [-6.81802151e-03 2.82322336e-04 9.99976717e-01 -6.44800382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-0.36, Z:-0.64 [[ 9.99655328e-01 -2.53508558e-02 6.82344698e-03 8.32337442e+01] [ 2.53519607e-02 9.99678585e-01 -7.54621743e-05 -3.58941006e-01] [-6.81934078e-03 2.48423924e-04 9.99976717e-01 -6.37726132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:-0.36, Z:-0.64 [[ 9.99803883e-01 -1.85912692e-02 6.82344015e-03 8.32948121e+01] [ 1.85922210e-02 9.99827147e-01 -7.60743601e-05 -3.57764739e-01] [-6.82084638e-03 2.02922348e-04 9.99976717e-01 -6.41830969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-0.36, Z:-0.65 [[ 9.99895195e-01 -1.27687034e-02 6.82343760e-03 8.33570265e+01] [ 1.27695212e-02 9.99918463e-01 -7.63024894e-05 -3.60372312e-01] [-6.82190696e-03 1.63426524e-04 9.99976717e-01 -6.47298331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:-0.36, Z:-0.65 [[ 9.99913575e-01 -1.12375745e-02 6.82343422e-03 8.34201820e+01] [ 1.12383587e-02 9.99936845e-01 -7.66034931e-05 -3.62640319e-01] [-6.82214245e-03 1.53281074e-04 9.99976717e-01 -6.48581961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:-0.37, Z:-0.65 [[ 9.99936993e-01 -8.91355483e-03 6.82342887e-03 8.34821630e+01] [ 8.91428824e-03 9.99960264e-01 -7.70775105e-05 -3.69656367e-01] [-6.82247070e-03 1.37898666e-04 9.99976717e-01 -6.47578371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:-0.37, Z:-0.65 [[ 9.99944842e-01 -7.98465473e-03 6.82342436e-03 8.35430046e+01] [ 7.98536923e-03 9.99968113e-01 -7.74741423e-05 -3.73256154e-01] [-6.82258818e-03 1.31957432e-04 9.99976717e-01 -6.52470255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.61, Y:-0.38, Z:-0.65 [[ 9.99951507e-01 -7.10107395e-03 6.82342165e-03 8.36054604e+01] [ 7.10176951e-03 9.99974779e-01 -7.77125613e-05 -3.76362977e-01] [-6.82269771e-03 1.26167161e-04 9.99976717e-01 -6.48751954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.67, Y:-0.38, Z:-0.65 [[ 9.99951473e-01 -7.10580318e-03 6.82341811e-03 8.36680458e+01] [ 7.10650096e-03 9.99974745e-01 -7.80220694e-05 -3.81706424e-01] [-6.82269138e-03 1.26508911e-04 9.99976717e-01 -6.46540497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.73, Y:-0.39, Z:-0.64 [[ 9.99937985e-01 -8.80152509e-03 6.82341440e-03 8.37288732e+01] [ 8.80226453e-03 9.99961256e-01 -7.83448044e-05 -3.87413779e-01] [-6.82246048e-03 1.38401444e-04 9.99976717e-01 -6.44775113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:-0.39, Z:-0.64 [[ 9.99941099e-01 -8.44041396e-03 6.82341164e-03 8.37905594e+01] [ 8.44114664e-03 9.99964370e-01 -7.85849985e-05 -3.92583021e-01] [-6.82250523e-03 1.36177788e-04 9.99976717e-01 -6.44402888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:-0.40, Z:-0.64 [[ 9.99943571e-01 -8.14224034e-03 6.82340795e-03 8.38513977e+01] [ 8.14296826e-03 9.99966842e-01 -7.89040968e-05 -3.99936482e-01] [-6.82253924e-03 1.34462439e-04 9.99976717e-01 -6.44375010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-0.41, Z:-0.65 [[ 9.99946714e-01 -7.74667273e-03 6.82340518e-03 8.39134157e+01] [ 7.74739307e-03 9.99969985e-01 -7.91423032e-05 -4.07761450e-01] [-6.82258729e-03 1.32001688e-04 9.99976717e-01 -6.45501614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:-0.42, Z:-0.64 [[ 9.99962162e-01 -5.39591408e-03 6.82340152e-03 8.39759815e+01] [ 5.39658185e-03 9.99985435e-01 -7.94567987e-05 -4.18400252e-01] [-6.82287340e-03 1.16276837e-04 9.99976717e-01 -6.44784457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:-0.43, Z:-0.65 [[ 9.99972373e-01 -2.94871805e-03 6.82339686e-03 8.40376492e+01] [ 2.94933158e-03 9.99995648e-01 -7.98551982e-05 -4.26071064e-01] [-6.82313169e-03 9.99774518e-05 9.99976717e-01 -6.47478882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:-0.43, Z:-0.65 [[ 9.99974708e-01 -2.00639558e-03 6.82339310e-03 8.41001830e+01] [ 2.00698936e-03 9.99997983e-01 -8.01747568e-05 -4.34644834e-01] [-6.82321848e-03 9.38672063e-05 9.99976717e-01 -6.47515522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-0.44, Z:-0.65 [[ 9.99969816e-01 -3.71608830e-03 6.82338924e-03 8.41611191e+01] [ 3.71672410e-03 9.99993090e-01 -8.05019471e-05 -4.38269278e-01] [-6.82304294e-03 1.05860172e-04 9.99976717e-01 -6.46182796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:-0.44, Z:-0.65 [[ 9.99951924e-01 -7.04207186e-03 6.82338156e-03 8.42227748e+01] [ 7.04278948e-03 9.99975196e-01 -8.11483267e-05 -4.40374347e-01] [-6.82264086e-03 1.29200065e-04 9.99976717e-01 -6.47567062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.28, Y:-0.45, Z:-0.65 [[ 9.99847226e-01 -1.60924415e-02 6.82336943e-03 8.42846616e+01] [ 1.60933766e-02 9.99870490e-01 -8.21558587e-05 -4.45203099e-01] [-6.82116364e-03 1.91954361e-04 9.99976717e-01 -6.47260251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-0.45, Z:-0.65 [[ 9.99804879e-01 -1.85376610e-02 6.82335542e-03 8.43467555e+01] [ 1.85386609e-02 9.99828141e-01 -8.33028851e-05 -4.51663371e-01] [-6.82063853e-03 2.09782503e-04 9.99976717e-01 -6.47201746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:-0.45, Z:-0.65 [[ 9.99907847e-01 -1.17362023e-02 6.82335158e-03 8.44094588e+01] [ 1.17370460e-02 9.99931115e-01 -8.36165499e-05 -4.53594636e-01] [-6.82190021e-03 1.63694836e-04 9.99976717e-01 -6.47320387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-0.45, Z:-0.65 [[ 9.99962984e-01 5.24151863e-03 6.82334579e-03 8.44708584e+01] [-5.24106688e-03 9.99986262e-01 -8.40862793e-05 -4.54550115e-01] [-6.82369279e-03 4.83215551e-05 9.99976717e-01 -6.47456284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:-0.45, Z:-0.65 [[ 9.99846794e-01 1.61192662e-02 6.82334292e-03 8.45326939e+01] [-1.61190661e-02 9.99870076e-01 -8.43186204e-05 -4.54434017e-01] [-6.82381556e-03 -2.56802132e-05 9.99976717e-01 -6.45873696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.59, Y:-0.46, Z:-0.65 [[ 9.99685933e-01 2.41138287e-02 6.82334103e-03 8.45916672e+01] [-2.41138138e-02 9.99709216e-01 -8.44710266e-05 -4.55551684e-01] [-6.82339383e-03 -8.00922780e-05 9.99976717e-01 -6.48510544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:-0.46, Z:-0.65 [[ 9.99634686e-01 2.61521956e-02 6.82334485e-03 8.46501738e+01] [-2.61522303e-02 9.99657968e-01 -8.41618345e-05 -4.58148290e-01] [-6.82321206e-03 -9.43145968e-05 9.99976717e-01 -6.50781963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:-0.46, Z:-0.65 [[ 9.99634061e-01 2.61760466e-02 6.82334888e-03 8.47083374e+01] [-2.61760841e-02 9.99657344e-01 -8.38332144e-05 -4.61009257e-01] [-6.82320524e-03 -9.48060175e-05 9.99976717e-01 -6.49949909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:-0.47, Z:-0.65 [[ 9.99715344e-01 2.28620189e-02 6.82335386e-03 8.47673062e+01] [-2.28619819e-02 9.99738627e-01 -8.34261621e-05 -4.68859280e-01] [-6.82347771e-03 -7.25929781e-05 9.99976717e-01 -6.48222904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.83, Y:-0.48, Z:-0.65 [[ 9.99792000e-01 1.92197532e-02 6.82335776e-03 8.48250560e+01] [-1.92196336e-02 9.99815282e-01 -8.31058816e-05 -4.76755526e-01] [-6.82369464e-03 -4.80538406e-05 9.99976717e-01 -6.45081987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.88, Y:-0.49, Z:-0.64 [[ 9.99802961e-01 1.86408130e-02 6.82336254e-03 8.48849431e+01] [-1.86406826e-02 9.99826244e-01 -8.27115211e-05 -4.89134822e-01] [-6.82371875e-03 -4.44969118e-05 9.99976717e-01 -6.41441918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.94, Y:-0.49, Z:-0.65 [[ 9.99739776e-01 2.17674748e-02 6.82336488e-03 8.49439474e+01] [-2.17674185e-02 9.99763058e-01 -8.25183144e-05 -4.93017847e-01] [-6.82354435e-03 -6.60301977e-05 9.99976717e-01 -6.52250289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:-0.50, Z:-0.65 [[ 9.99347777e-01 3.54607239e-02 6.82336779e-03 8.50021508e+01] [-3.54609882e-02 9.99371058e-01 -8.22767144e-05 -4.98673256e-01] [-6.82199388e-03 -1.59740313e-04 9.99976717e-01 -6.49677878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:-0.50, Z:-0.65 [[ 9.99065841e-01 4.26718584e-02 6.82337257e-03 8.50607734e+01] [-4.26722935e-02 9.99089119e-01 -8.18783490e-05 -5.01149925e-01] [-6.82065120e-03 -2.09367095e-04 9.99976717e-01 -6.51464061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.12, Y:-0.51, Z:-0.66 [[ 9.99017993e-01 4.37777564e-02 6.82337628e-03 8.51198968e+01] [-4.37782193e-02 9.99041271e-01 -8.15685166e-05 -5.05886105e-01] [-6.82040539e-03 -2.17226847e-04 9.99976717e-01 -6.57519604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:85.18, Y:-0.51, Z:-0.66 [[ 9.99181249e-01 3.98782364e-02 6.82338017e-03 8.51778923e+01] [-3.98786108e-02 9.99204529e-01 -8.12413773e-05 -5.10774364e-01] [-6.82119213e-03 -1.90932061e-04 9.99976717e-01 -6.58636689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.24, Y:-0.52, Z:-0.66 [[ 9.99386832e-01 3.43424092e-02 6.82338495e-03 8.52360819e+01] [-3.43426574e-02 9.99410114e-01 -8.08376354e-05 -5.21833904e-01] [-6.82213609e-03 -1.53545103e-04 9.99976717e-01 -6.55518465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.29, Y:-0.53, Z:-0.65 [[ 9.99398954e-01 3.39878171e-02 6.82338984e-03 8.52946049e+01] [-3.39880597e-02 9.99422236e-01 -8.04229195e-05 -5.32291866e-01] [-6.82218093e-03 -1.51539200e-04 9.99976717e-01 -6.52421736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.35, Y:-0.54, Z:-0.65 [[ 9.99316740e-01 3.63248362e-02 6.82339354e-03 8.53519617e+01] [-3.63251354e-02 9.99340021e-01 -8.01079811e-05 -5.38416314e-01] [-6.82180015e-03 -1.67807448e-04 9.99976717e-01 -6.52041790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.41, Y:-0.55, Z:-0.65 [[ 9.99296816e-01 3.68688731e-02 6.82339808e-03 8.54108589e+01] [-3.68691877e-02 9.99320097e-01 -7.97189835e-05 -5.48541198e-01] [-6.82169799e-03 -1.71910218e-04 9.99976717e-01 -6.54115676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:-0.56, Z:-0.66 [[ 9.99428634e-01 3.31035901e-02 6.82340171e-03 8.54690834e+01] [-3.31038191e-02 9.99451915e-01 -7.94071735e-05 -5.56774547e-01] [-6.82229057e-03 -1.46518853e-04 9.99976717e-01 -6.56374134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:-0.57, Z:-0.65 [[ 9.99606415e-01 2.72113141e-02 6.82340553e-03 8.55269669e+01] [-2.72114081e-02 9.99629698e-01 -7.90774086e-05 -5.67918587e-01] [-6.82303061e-03 -1.06628188e-04 9.99976717e-01 -6.52908966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-0.58, Z:-0.66 [[ 9.99697057e-01 2.36481545e-02 6.82341022e-03 8.55860164e+01] [-2.36481683e-02 9.99720340e-01 -7.86713218e-05 -5.75867121e-01] [-6.82336241e-03 -8.27136644e-05 9.99976717e-01 -6.55769481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-0.59, Z:-0.66 [[ 9.99767926e-01 2.04336975e-02 6.82341298e-03 8.56458259e+01] [-2.04336381e-02 9.99791208e-01 -7.84312514e-05 -5.85666517e-01] [-6.82359094e-03 -6.10141019e-05 9.99976717e-01 -6.63959427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:-0.59, Z:-0.66 [[ 9.99750527e-01 2.12679257e-02 6.82341483e-03 8.57052137e+01] [-2.12678868e-02 9.99773810e-01 -7.82695646e-05 -5.92303791e-01] [-6.82353607e-03 -6.68695754e-05 9.99976717e-01 -6.61339844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-0.59, Z:-0.66 [[ 9.99682717e-01 2.42467910e-02 6.82341672e-03 8.57643012e+01] [-2.42468226e-02 9.99706000e-01 -7.81044984e-05 -5.93146258e-01] [-6.82330442e-03 -8.73664579e-05 9.99976717e-01 -6.60436160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-0.59, Z:-0.66 [[ 9.99620690e-01 2.66817792e-02 6.82341951e-03 8.58232340e+01] [-2.66818692e-02 9.99643973e-01 -7.78597386e-05 -5.92303897e-01] [-6.82306762e-03 -1.04231381e-04 9.99976717e-01 -6.61085736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:-0.59, Z:-0.66 [[ 9.99679116e-01 2.43947961e-02 6.82342214e-03 8.58833593e+01] [-2.43948344e-02 9.99702399e-01 -7.76287586e-05 -5.92133055e-01] [-6.82328522e-03 -8.88524042e-05 9.99976717e-01 -6.63191816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:-0.59, Z:-0.67 [[ 9.99794670e-01 1.90803267e-02 6.82342388e-03 8.59433126e+01] [-1.90802423e-02 9.99817953e-01 -7.74754913e-05 -5.90670192e-01] [-6.82365995e-03 -5.27329978e-05 9.99976717e-01 -6.71615563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:-0.59, Z:-0.67 [[ 9.99843307e-01 1.63340867e-02 6.82342572e-03 8.60030576e+01] [-1.63339395e-02 9.99866589e-01 -7.73128757e-05 -5.90511684e-01] [-6.82377824e-03 -3.41526616e-05 9.99976717e-01 -6.71008205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:-0.59, Z:-0.67 [[ 9.99884495e-01 1.35807509e-02 6.82342663e-03 8.60628031e+01] [-1.35805401e-02 9.99907777e-01 -7.72325587e-05 -5.90102067e-01] [-6.82384623e-03 -1.54421810e-05 9.99976717e-01 -6.71477624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.12, Y:-0.59, Z:-0.67 [[ 9.99878810e-01 1.39930649e-02 6.82342752e-03 8.61234973e+01] [-1.39928642e-02 9.99902092e-01 -7.71542619e-05 -5.93676305e-01] [-6.82383907e-03 -1.83343828e-05 9.99976717e-01 -6.73362076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:-0.60, Z:-0.67 [[ 9.99790209e-01 1.93126561e-02 6.82342752e-03 8.61826936e+01] [-1.93125793e-02 9.99813492e-01 -7.71542619e-05 -5.95462812e-01] [-6.82364495e-03 -5.46399091e-05 9.99976717e-01 -6.72627070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.24, Y:-0.60, Z:-0.67 [[ 9.99652056e-01 2.54795653e-02 6.82342843e-03 8.62412397e+01] [-2.54796327e-02 9.99675338e-01 -7.70738503e-05 -5.95788221e-01] [-6.82317693e-03 -9.68114172e-05 9.99976717e-01 -6.71408192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:-0.60, Z:-0.67 [[ 9.99554016e-01 2.90725106e-02 6.82343203e-03 8.63004076e+01] [-2.90726638e-02 9.99577298e-01 -7.67530799e-05 -5.95714985e-01] [-6.82277916e-03 -1.21656496e-04 9.99976717e-01 -6.70185371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:-0.60, Z:-0.67 [[ 9.99623343e-01 2.65822081e-02 6.82343571e-03 8.63590281e+01] [-2.65823055e-02 9.99646625e-01 -7.64244556e-05 -5.96450177e-01] [-6.82305601e-03 -1.04986983e-04 9.99976717e-01 -6.71611041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:86.42, Y:-0.60, Z:-0.67 [[ 9.99822439e-01 1.75650529e-02 6.82343938e-03 8.64174658e+01] [-1.75649427e-02 9.99845722e-01 -7.60955285e-05 -5.99555759e-01] [-6.82372330e-03 -4.37713045e-05 9.99976717e-01 -6.74896471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:-0.60, Z:-0.68 [[ 9.99906033e-01 1.18897584e-02 6.82344144e-03 8.64781897e+01] [-1.18895172e-02 9.99929314e-01 -7.59106248e-05 -6.01659494e-01] [-6.82386168e-03 -5.22393293e-06 9.99976717e-01 -6.76297688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.54, Y:-0.60, Z:-0.68 [[ 9.99964009e-01 5.04198982e-03 6.82344144e-03 8.65385526e+01] [-5.04158920e-03 9.99987288e-01 -7.59106248e-05 -6.01428873e-01] [-6.82373744e-03 4.15069040e-05 9.99976717e-01 -6.76434135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:-0.60, Z:-0.68 [[ 9.99974373e-01 2.16676477e-03 6.82343732e-03 8.66009429e+01] [-2.16629471e-03 9.99997651e-01 -7.62792597e-05 -6.01364986e-01] [-6.82358657e-03 6.14957287e-05 9.99976717e-01 -6.81307315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.66, Y:-0.60, Z:-0.68 [[ 9.99974465e-01 -2.12362967e-03 6.82342471e-03 8.66622253e+01] [ 2.12420718e-03 9.99997741e-01 -7.73907842e-05 -5.99880404e-01] [-6.82324495e-03 9.18831759e-05 9.99976717e-01 -6.84419483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:-0.60, Z:-0.69 [[ 9.99954311e-01 -6.69454611e-03 6.82341302e-03 8.67241235e+01] [ 6.69523695e-03 9.99977584e-01 -7.84081707e-05 -5.96494299e-01] [-6.82273516e-03 1.24088955e-04 9.99976717e-01 -6.92050711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:-0.60, Z:-0.70 [[ 9.99928113e-01 -9.85947592e-03 6.82339995e-03 8.67874412e+01] [ 9.86024807e-03 9.99951383e-01 -7.95299943e-05 -5.95831981e-01] [-6.82228409e-03 1.46804693e-04 9.99976717e-01 -6.95077208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:-0.59, Z:-0.70 [[ 9.99911553e-01 -1.14160963e-02 6.82339434e-03 8.68497546e+01] [ 1.14169079e-02 9.99934822e-01 -8.00082395e-05 -5.94874228e-01] [-6.82203622e-03 1.57903228e-04 9.99976717e-01 -6.95832100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:-0.59, Z:-0.70 [[ 9.99872893e-01 -1.44097185e-02 6.82339062e-03 8.69132535e+01] [ 1.44106019e-02 9.99896159e-01 -8.03240605e-05 -5.88544432e-01] [-6.82152462e-03 1.78643017e-04 9.99976717e-01 -6.99901684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:-0.58, Z:-0.70 [[ 9.99831439e-01 -1.70451068e-02 6.82338499e-03 8.69748497e+01] [ 1.70460548e-02 9.99854702e-01 -8.07994992e-05 -5.83154680e-01] [-6.82101633e-03 1.97097674e-04 9.99976717e-01 -6.99793200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:-0.58, Z:-0.70 [[ 9.99804814e-01 -1.85412000e-02 6.82338034e-03 8.70382376e+01] [ 1.85421855e-02 9.99828076e-01 -8.11903335e-05 -5.78560385e-01] [-6.82070187e-03 2.07694870e-04 9.99976717e-01 -6.99981507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-0.57, Z:-0.70 [[ 9.99806122e-01 -1.84705180e-02 6.82337465e-03 8.71004337e+01] [ 1.84715051e-02 9.99829384e-01 -8.16659008e-05 -5.72713914e-01] [-6.82070206e-03 2.07688067e-04 9.99976717e-01 -6.98683298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-0.56, Z:-0.70 [[ 9.99843271e-01 -1.63363164e-02 6.82337084e-03 8.71630911e+01] [ 1.63372560e-02 9.99866535e-01 -8.19824527e-05 -5.64184642e-01] [-6.82112087e-03 1.93444760e-04 9.99976717e-01 -7.01698856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-0.56, Z:-0.70 [[ 9.99871900e-01 -1.44784195e-02 6.82336693e-03 8.72241689e+01] [ 1.44793181e-02 9.99895166e-01 -8.23068765e-05 -5.60569904e-01] [-6.82145994e-03 1.81094033e-04 9.99976717e-01 -7.04822242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-0.55, Z:-0.70 [[ 9.99907278e-01 -1.17846218e-02 6.82336065e-03 8.72868469e+01] [ 1.17854612e-02 9.99930546e-01 -8.28246510e-05 -5.53615073e-01] [-6.82191068e-03 1.63233424e-04 9.99976717e-01 -7.04133066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:-0.55, Z:-0.71 [[ 9.99919948e-01 -1.06554676e-02 6.82335684e-03 8.73486931e+01] [ 1.06562829e-02 9.99943217e-01 -8.31368821e-05 -5.49184569e-01] [-6.82208353e-03 1.55841848e-04 9.99976717e-01 -7.05260379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:-0.55, Z:-0.71 [[ 9.99914058e-01 -1.11945643e-02 6.82335296e-03 8.74113038e+01] [ 1.11953943e-02 9.99937326e-01 -8.34542769e-05 -5.46048475e-01] [-6.82199108e-03 1.59837231e-04 9.99976717e-01 -7.09925857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.47, Y:-0.54, Z:-0.71 [[ 9.99845857e-01 -1.61772947e-02 6.82334908e-03 8.74737932e+01] [ 1.61782428e-02 9.99869120e-01 -8.37700744e-05 -5.41913074e-01] [-6.82110087e-03 1.94146960e-04 9.99976717e-01 -7.08113714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:-0.54, Z:-0.71 [[ 9.99774462e-01 -2.01113939e-02 6.82333943e-03 8.75372306e+01] [ 2.01124388e-02 9.99797721e-01 -8.45489472e-05 -5.37622257e-01] [-6.82025882e-03 2.21763875e-04 9.99976717e-01 -7.08642388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:-0.53, Z:-0.71 [[ 9.99739127e-01 -2.17972276e-02 6.82333342e-03 8.75996252e+01] [ 2.17983150e-02 9.99762385e-01 -8.50312283e-05 -5.33334364e-01] [-6.81985865e-03 2.33746217e-04 9.99976717e-01 -7.08776526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:-0.53, Z:-0.72 [[ 9.99648705e-01 -2.56107178e-02 6.82332932e-03 8.76614832e+01] [ 2.56118962e-02 9.99671958e-01 -8.53589929e-05 -5.26280397e-01] [-6.81890488e-03 2.60087409e-04 9.99976717e-01 -7.16323039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:-0.52, Z:-0.71 [[ 9.99508961e-01 -3.05823478e-02 6.82332421e-03 8.77246528e+01] [ 3.05836446e-02 9.99532207e-01 -8.57655897e-05 -5.24757278e-01] [-6.81750940e-03 2.94405598e-04 9.99976717e-01 -7.10513905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:-0.53, Z:-0.72 [[ 9.99237805e-01 -3.84350375e-02 6.82331817e-03 8.77869534e+01] [ 3.84365202e-02 9.99261040e-01 -8.62438295e-05 -5.25048894e-01] [-6.81496122e-03 3.48442701e-04 9.99976717e-01 -7.17296982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:-0.53, Z:-0.72 [[ 9.99238767e-01 -3.84100076e-02 6.82331315e-03 8.78503547e+01] [ 3.84114923e-02 9.99262003e-01 -8.66385657e-05 -5.28054545e-01] [-6.81494978e-03 3.48666254e-04 9.99976717e-01 -7.17869583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:-0.53, Z:-0.72 [[ 9.99348514e-01 -3.54399372e-02 6.82330725e-03 8.79122408e+01] [ 3.54413560e-02 9.99371754e-01 -8.71009964e-05 -5.29319090e-01] [-6.81593368e-03 3.28871513e-04 9.99976717e-01 -7.20347440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.97, Y:-0.53, Z:-0.72 [[ 9.99500210e-01 -3.08670013e-02 6.82330323e-03 8.79735932e+01] [ 3.08683160e-02 9.99523456e-01 -8.74152320e-05 -5.29888268e-01] [-6.81735338e-03 2.97995423e-04 9.99976717e-01 -7.23488683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-0.53, Z:-0.72 [[ 9.99613549e-01 -2.69480233e-02 6.82330022e-03 8.80354673e+01] [ 2.69492484e-02 9.99636799e-01 -8.76492574e-05 -5.29364243e-01] [-6.81846002e-03 2.71498198e-04 9.99976717e-01 -7.16730246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-0.53, Z:-0.72 [[ 9.99725042e-01 -2.24339689e-02 6.82329506e-03 8.80964383e+01] [ 2.24350917e-02 9.99748298e-01 -8.80487201e-05 -5.28014223e-01] [-6.81960234e-03 2.41105761e-04 9.99976717e-01 -7.19858754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-0.53, Z:-0.72 [[ 9.99743504e-01 -2.15955618e-02 6.82329196e-03 8.81580657e+01] [ 2.15966668e-02 9.99766761e-01 -8.82888438e-05 -5.26463509e-01] [-6.81979385e-03 2.35626561e-04 9.99976717e-01 -7.22043468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:-0.52, Z:-0.72 [[ 9.99640343e-01 -2.59350549e-02 6.82328684e-03 8.82203545e+01] [ 2.59362635e-02 9.99663595e-01 -8.86822161e-05 -5.19738100e-01] [-6.81869148e-03 2.65620886e-04 9.99976717e-01 -7.21316110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-0.51, Z:-0.73 [[ 9.99391035e-01 -3.42199157e-02 6.82328276e-03 8.82825488e+01] [ 3.42213191e-02 9.99414275e-01 -8.89950749e-05 -5.09395368e-01] [-6.81624079e-03 3.22442617e-04 9.99976717e-01 -7.27341654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:-0.50, Z:-0.73 [[ 9.99191124e-01 -3.96300355e-02 6.82327870e-03 8.83444420e+01] [ 3.96315668e-02 9.99214357e-01 -8.93052174e-05 -5.03985977e-01] [-6.81437887e-03 3.59650206e-04 9.99976717e-01 -7.28745466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.41, Y:-0.50, Z:-0.73 [[ 9.98846784e-01 -4.75241432e-02 6.82327457e-03 8.84063798e+01] [ 4.75258602e-02 9.98870004e-01 -8.96200055e-05 -4.97005513e-01] [-6.81130518e-03 4.13798648e-04 9.99976717e-01 -7.25061268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:-0.49, Z:-0.73 [[ 9.98631647e-01 -5.18485926e-02 6.82327043e-03 8.84680778e+01] [ 5.18504122e-02 9.98654859e-01 -8.99339421e-05 -4.91541820e-01] [-6.80942922e-03 4.43600265e-04 9.99976717e-01 -7.25306066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.53, Y:-0.49, Z:-0.73 [[ 9.98432652e-01 -5.55489131e-02 6.82326528e-03 8.85314333e+01] [ 5.55508214e-02 9.98455857e-01 -9.03229633e-05 -4.86345210e-01] [-6.80771184e-03 4.69219387e-04 9.99976717e-01 -7.25449105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:-0.48, Z:-0.73 [[ 9.98459793e-01 -5.50589280e-02 6.82325891e-03 8.85937500e+01] [ 5.50608281e-02 9.98482998e-01 -9.08016606e-05 -4.81308392e-01] [-6.80790857e-03 4.66356093e-04 9.99976717e-01 -7.26930634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:-0.47, Z:-0.72 [[ 9.98638543e-01 -5.17155961e-02 6.82324310e-03 8.86555828e+01] [ 5.17174265e-02 9.98661754e-01 -9.19746028e-05 -4.73720533e-01] [-6.80935540e-03 4.44729957e-04 9.99976717e-01 -7.24065669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.47, Z:-0.73 [[ 9.98761620e-01 -4.92815390e-02 6.82323892e-03 8.87177437e+01] [ 4.92833149e-02 9.98784835e-01 -9.22838349e-05 -4.71195526e-01] [-6.81039967e-03 4.28441385e-04 9.99976717e-01 -7.26259022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:-0.47, Z:-0.73 [[ 9.98874957e-01 -4.69282780e-02 6.82322316e-03 8.87800319e+01] [ 4.69300071e-02 9.98898176e-01 -9.34346076e-05 -4.69811607e-01] [-6.81132044e-03 4.13543401e-04 9.99976717e-01 -7.29946705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:-0.47, Z:-0.73 [[ 9.98978412e-01 -4.46718634e-02 6.82321894e-03 8.88423385e+01] [ 4.46735421e-02 9.99001635e-01 -9.37418950e-05 -4.69723593e-01] [-6.81221925e-03 3.98463488e-04 9.99976717e-01 -7.28569420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-0.47, Z:-0.73 [[ 9.99136771e-01 -4.09775107e-02 6.82320309e-03 8.89055184e+01] [ 4.09791113e-02 9.99159999e-01 -9.48818926e-05 -4.66872137e-01] [-6.81358357e-03 3.74408786e-04 9.99976717e-01 -7.27547690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:-0.46, Z:-0.73 [[ 9.99453329e-01 -3.23494559e-02 6.82319678e-03 8.89676450e+01] [ 3.23508590e-02 9.99476569e-01 -9.53335536e-05 -4.63874345e-01] [-6.81654132e-03 3.16017714e-04 9.99976717e-01 -7.28299649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:-0.46, Z:-0.73 [[ 9.99526906e-01 -2.99901491e-02 6.82319258e-03 8.90294371e+01] [ 2.99914994e-02 9.99550149e-01 -9.56329361e-05 -4.63348299e-01] [-6.81725512e-03 3.00225469e-04 9.99976717e-01 -7.26902247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:-0.46, Z:-0.73 [[ 9.99491269e-01 -3.11552211e-02 6.82318827e-03 8.90917920e+01] [ 3.11566005e-02 9.99514511e-01 -9.59397958e-05 -4.56572998e-01] [-6.81688665e-03 3.08478339e-04 9.99976717e-01 -7.28430434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:-0.45, Z:-0.73 [[ 9.99429613e-01 -3.30740534e-02 6.82317204e-03 8.91540370e+01] [ 3.30754852e-02 9.99452852e-01 -9.70804188e-05 -4.52384359e-01] [-6.81622791e-03 3.22704771e-04 9.99976717e-01 -7.32540986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:-0.44, Z:-0.73 [[ 9.99248379e-01 -3.81591670e-02 6.82315586e-03 8.92174003e+01] [ 3.81607247e-02 9.99271609e-01 -9.82041524e-05 -4.44540795e-01] [-6.81443855e-03 3.58506912e-04 9.99976717e-01 -7.33910152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-0.44, Z:-0.73 [[ 9.99085152e-01 -4.22173271e-02 6.82314933e-03 8.92793970e+01] [ 4.22189822e-02 9.99108376e-01 -9.86561606e-05 -4.41116393e-01] [-6.81290065e-03 3.86632326e-04 9.99976717e-01 -7.34349877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:-0.43, Z:-0.74 [[ 9.98985771e-01 -4.45070127e-02 6.82313299e-03 8.93416982e+01] [ 4.45087286e-02 9.99008991e-01 -9.97733307e-05 -4.32695847e-01] [-6.81193059e-03 4.03361112e-04 9.99976717e-01 -7.39396427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:-0.43, Z:-0.74 [[ 9.99001377e-01 -4.41553397e-02 6.82312866e-03 8.94037053e+01] [ 4.41570495e-02 9.99024597e-01 -1.00068824e-04 -4.30424293e-01] [-6.81205478e-03 4.01258123e-04 9.99976717e-01 -7.40229433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.47, Y:-0.42, Z:-0.74 [[ 9.99057882e-01 -4.28578329e-02 6.82311238e-03 8.94670262e+01] [ 4.28595200e-02 9.99081103e-01 -1.01166449e-04 -4.23761305e-01] [-6.81250687e-03 3.93506459e-04 9.99976717e-01 -7.38021196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:-0.42, Z:-0.74 [[ 9.99194770e-01 -3.95380437e-02 6.82310564e-03 8.95291341e+01] [ 3.95396567e-02 9.99217997e-01 -1.01619514e-04 -4.19702168e-01] [-6.81375211e-03 3.71320941e-04 9.99976717e-01 -7.35903842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:-0.41, Z:-0.74 [[ 9.99310159e-01 -3.65054897e-02 6.82310094e-03 8.95912399e+01] [ 3.65070344e-02 9.99333391e-01 -1.01933825e-04 -4.14235755e-01] [-6.81483145e-03 3.50954688e-04 9.99976717e-01 -7.40651763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:-0.41, Z:-0.74 [[ 9.99326363e-01 -3.60591956e-02 6.82309622e-03 8.96528367e+01] [ 3.60607320e-02 9.99349595e-01 -1.02248498e-04 -4.11571026e-01] [-6.81497145e-03 3.48225464e-04 9.99976717e-01 -7.42903879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:-0.41, Z:-0.74 [[ 9.99355957e-01 -3.52294934e-02 6.82308085e-03 8.97146794e+01] [ 3.52310175e-02 9.99379190e-01 -1.03264531e-04 -4.08357320e-01] [-6.81520705e-03 3.43582105e-04 9.99976717e-01 -7.38222355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.78, Y:-0.41, Z:-0.74 [[ 9.99319604e-01 -3.62460310e-02 6.82307728e-03 8.97773131e+01] [ 3.62475803e-02 9.99342835e-01 -1.03499862e-04 -4.05890194e-01] [-6.81484193e-03 3.50749482e-04 9.99976717e-01 -7.36977158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.84, Y:-0.40, Z:-0.74 [[ 9.99144635e-01 -4.07853345e-02 6.82307245e-03 8.98389443e+01] [ 4.07869915e-02 9.99167859e-01 -1.03816853e-04 -4.03788294e-01] [-6.81316049e-03 3.82020650e-04 9.99976717e-01 -7.40967151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.90, Y:-0.41, Z:-0.74 [[ 9.98859665e-01 -4.72526850e-02 6.82305681e-03 8.99008045e+01] [ 4.72544992e-02 9.98882877e-01 -1.04835079e-04 -4.07241541e-01] [-6.81048087e-03 4.27135664e-04 9.99976717e-01 -7.41841995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:-0.41, Z:-0.74 [[ 9.98707964e-01 -5.03572059e-02 6.82303888e-03 8.99616116e+01] [ 5.03591000e-02 9.98731170e-01 -1.05988968e-04 -4.10625451e-01] [-6.80904430e-03 4.49454124e-04 9.99976717e-01 -7.40454556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:-0.41, Z:-0.74 [[ 9.98695097e-01 -5.06117491e-02 6.82302990e-03 9.00245892e+01] [ 5.06136531e-02 9.98718302e-01 -1.06564180e-04 -4.14047215e-01] [-6.80889144e-03 4.51763593e-04 9.99976717e-01 -7.39474432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:-0.42, Z:-0.74 [[ 9.98822157e-01 -4.80389958e-02 6.82301103e-03 9.00868815e+01] [ 4.80408482e-02 9.98845366e-01 -1.07759315e-04 -4.17583177e-01] [-6.80995630e-03 4.35415628e-04 9.99976717e-01 -7.40133326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.15, Y:-0.42, Z:-0.74 [[ 9.98948708e-01 -4.53312971e-02 6.82299360e-03 9.01482422e+01] [ 4.53330939e-02 9.98971921e-01 -1.08851671e-04 -4.20037317e-01] [-6.81104463e-03 4.18044645e-04 9.99976717e-01 -7.40830433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.21, Y:-0.42, Z:-0.74 [[ 9.98990708e-01 -4.43960905e-02 6.82298398e-03 9.02100289e+01] [ 4.43978697e-02 9.99013922e-01 -1.09451348e-04 -4.24597918e-01] [-6.81139677e-03 4.12266833e-04 9.99976717e-01 -7.39256637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.27, Y:-0.43, Z:-0.74 [[ 9.98876309e-01 -4.68995292e-02 6.82297909e-03 9.02712439e+01] [ 4.69013687e-02 9.98899519e-01 -1.09755147e-04 -4.26768098e-01] [-6.81032307e-03 4.29638874e-04 9.99976717e-01 -7.44297006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.33, Y:-0.43, Z:-0.75 [[ 9.98813080e-01 -4.82273665e-02 6.82296936e-03 9.03333985e+01] [ 4.82292409e-02 9.98836287e-01 -1.10356643e-04 -4.32445204e-01] [-6.80970717e-03 4.39292292e-04 9.99976717e-01 -7.47987126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:-0.44, Z:-0.75 [[ 9.98873241e-01 -4.69648311e-02 6.82296446e-03 9.03951530e+01] [ 4.69666782e-02 9.98896451e-01 -1.10658899e-04 -4.35410114e-01] [-6.81023791e-03 4.30986190e-04 9.99976717e-01 -7.45408612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:-0.44, Z:-0.75 [[ 9.99032056e-01 -4.34557111e-02 6.82294796e-03 9.04563328e+01] [ 4.34574836e-02 9.99055271e-01 -1.11667108e-04 -4.35467961e-01] [-6.81164955e-03 4.08067170e-04 9.99976717e-01 -7.54475792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:-0.44, Z:-0.75 [[ 9.99039399e-01 -4.32865701e-02 6.82293782e-03 9.05192337e+01] [ 4.32883428e-02 9.99062614e-01 -1.12283122e-04 -4.35936087e-01] [-6.81168174e-03 4.07528934e-04 9.99976717e-01 -7.54329046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:-0.44, Z:-0.75 [[ 9.98936095e-01 -4.56083997e-02 6.82293054e-03 9.05811395e+01] [ 4.56102294e-02 9.98959306e-01 -1.12723849e-04 -4.36584307e-01] [-6.81068880e-03 4.23799349e-04 9.99976717e-01 -7.46300410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:-0.44, Z:-0.75 [[ 9.98851914e-01 -4.74162605e-02 6.82292552e-03 9.06431161e+01] [ 4.74181342e-02 9.98875121e-01 -1.13026695e-04 -4.36898892e-01] [-6.80989126e-03 4.36427329e-04 9.99976717e-01 -7.46930936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:-0.44, Z:-0.74 [[ 9.98723923e-01 -5.00397266e-02 6.82292041e-03 9.07055440e+01] [ 5.00416634e-02 9.98747125e-01 -1.13334580e-04 -4.37199194e-01] [-6.80870091e-03 4.54620243e-04 9.99976717e-01 -7.44643969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:-0.44, Z:-0.74 [[ 9.98689101e-01 -5.07299499e-02 6.82291517e-03 9.07682436e+01] [ 5.07319048e-02 9.98712301e-01 -1.13649160e-04 -4.38923321e-01] [-6.80836390e-03 4.59639660e-04 9.99976717e-01 -7.44823868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:90.83, Y:-0.44, Z:-0.75 [[ 9.98538878e-01 -5.36055688e-02 6.82289422e-03 9.08293261e+01] [ 5.36075990e-02 9.98562072e-01 -1.14893176e-04 -4.40118044e-01] [-6.80692448e-03 4.80484281e-04 9.99976717e-01 -7.46741769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.89, Y:-0.45, Z:-0.75 [[ 9.98350742e-01 -5.70021425e-02 6.82288390e-03 9.08919186e+01] [ 5.70042558e-02 9.98373929e-01 -1.15503061e-04 -4.45766772e-01] [-6.80520548e-03 5.04245985e-04 9.99976717e-01 -7.48689282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.95, Y:-0.45, Z:-0.75 [[ 9.97975127e-01 -6.32383869e-02 6.82286582e-03 9.09539655e+01] [ 6.32406521e-02 9.97998300e-01 -1.16561191e-04 -4.54946979e-01] [-6.80183735e-03 5.47807653e-04 9.99976717e-01 -7.46094335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:-0.46, Z:-0.74 [[ 9.97686899e-01 -6.76335752e-02 6.82284694e-03 9.10147506e+01] [ 6.76359499e-02 9.97710060e-01 -1.17656235e-04 -4.63065067e-01] [-6.79926552e-03 5.78853818e-04 9.99976717e-01 -7.44334665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:-0.47, Z:-0.75 [[ 9.97587572e-01 -6.90831687e-02 6.82283678e-03 9.10768486e+01] [ 6.90855810e-02 9.97610730e-01 -1.18242083e-04 -4.73512274e-01] [-6.79836665e-03 5.89316476e-04 9.99976717e-01 -7.49774349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:-0.48, Z:-0.75 [[ 9.98113999e-01 -6.10073345e-02 6.82281789e-03 9.11393469e+01] [ 6.10095667e-02 9.98137174e-01 -1.19322144e-04 -4.82331742e-01] [-6.80282865e-03 5.35354266e-04 9.99976717e-01 -7.45262043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:-0.49, Z:-0.75 [[ 9.98508056e-01 -5.41766746e-02 6.82279873e-03 9.12014612e+01] [ 5.41787556e-02 9.98531245e-01 -1.20407829e-04 -4.85930641e-01] [-6.80625442e-03 4.89878932e-04 9.99976717e-01 -7.46263354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.50, Z:-0.74 [[ 9.98751866e-01 -4.94788777e-02 6.82277821e-03 9.12638055e+01] [ 4.94808574e-02 9.98775065e-01 -1.21559689e-04 -4.95860299e-01] [-6.80840611e-03 4.59004882e-04 9.99976717e-01 -7.40480235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-0.51, Z:-0.75 [[ 9.98747906e-01 -4.95587608e-02 6.82277144e-03 9.13260991e+01] [ 4.95607449e-02 9.98771104e-01 -1.21938775e-04 -5.05059316e-01] [-6.80834382e-03 4.59927731e-04 9.99976717e-01 -7.48123901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:-0.52, Z:-0.76 [[ 9.98591687e-01 -5.26126723e-02 6.82276540e-03 9.13863526e+01] [ 5.26147296e-02 9.98614878e-01 -1.22275471e-04 -5.17067322e-01] [-6.80688180e-03 4.81081226e-04 9.99976717e-01 -7.59445056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:-0.52, Z:-0.76 [[ 9.98565579e-01 -5.31058790e-02 6.82275688e-03 9.14487493e+01] [ 5.31079510e-02 9.98588769e-01 -1.22749086e-04 -5.23976873e-01] [-6.80660970e-03 4.84915650e-04 9.99976717e-01 -7.58672385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-0.53, Z:-0.75 [[ 9.98829089e-01 -4.78946895e-02 6.82275128e-03 9.15109378e+01] [ 4.78966425e-02 9.98852290e-01 -1.23059474e-04 -5.28242571e-01] [-6.80902685e-03 4.49702262e-04 9.99976717e-01 -7.52775272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-0.53, Z:-0.75 [[ 9.99057408e-01 -4.28689275e-02 6.82274568e-03 9.15743706e+01] [ 4.28707659e-02 9.99080618e-01 -1.23369137e-04 -5.32083035e-01] [-6.81118428e-03 4.15749183e-04 9.99976717e-01 -7.53403874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.64, Y:-0.54, Z:-0.76 [[ 9.99123691e-01 -4.12952895e-02 6.82273700e-03 9.16353313e+01] [ 4.12970947e-02 9.99146903e-01 -1.23847798e-04 -5.38068105e-01] [-6.81180221e-03 4.05498485e-04 9.99976717e-01 -7.58143612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:-0.54, Z:-0.76 [[ 9.99035225e-01 -4.33828296e-02 6.82273270e-03 9.16972494e+01] [ 4.33846849e-02 9.99058434e-01 -1.24083866e-04 -5.42283965e-01] [-6.81092554e-03 4.19966261e-04 9.99976717e-01 -7.56777613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:-0.55, Z:-0.76 [[ 9.98977280e-01 -4.46972584e-02 6.82272689e-03 9.17586936e+01] [ 4.46991463e-02 9.99000486e-01 -1.24402647e-04 -5.47863056e-01] [-6.81034702e-03 4.29245486e-04 9.99976717e-01 -7.58807880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:-0.55, Z:-0.75 [[ 9.99157012e-01 -4.04810578e-02 6.82272255e-03 9.18205317e+01] [ 4.04828494e-02 9.99180226e-01 -1.24639986e-04 -5.48488632e-01] [-6.81208390e-03 4.00738166e-04 9.99976717e-01 -7.53323242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:-0.55, Z:-0.75 [[ 9.99339442e-01 -3.56949714e-02 6.82271688e-03 9.18834521e+01] [ 3.56966539e-02 9.99362664e-01 -1.24949648e-04 -5.46326036e-01] [-6.81390844e-03 3.68415275e-04 9.99976717e-01 -7.53562270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:-0.55, Z:-0.75 [[ 9.99295602e-01 -3.69019009e-02 6.82270829e-03 9.19451346e+01] [ 3.69036147e-02 9.99318822e-01 -1.25416909e-04 -5.48770650e-01] [-6.81343269e-03 3.77111163e-04 9.99976717e-01 -7.54435191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:-0.55, Z:-0.75 [[ 9.99152462e-01 -4.05932055e-02 6.82270116e-03 9.20072982e+01] [ 4.05950076e-02 9.99175675e-01 -1.25803876e-04 -5.54763148e-01] [-6.81197025e-03 4.02664857e-04 9.99976717e-01 -7.53518541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:-0.56, Z:-0.75 [[ 9.98780502e-01 -4.88974324e-02 6.82269551e-03 9.20691861e+01] [ 4.88994295e-02 9.98803699e-01 -1.26109642e-04 -5.62593402e-01] [-6.80836707e-03 4.59581770e-04 9.99976717e-01 -7.54156882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:-0.57, Z:-0.76 [[ 9.98611801e-01 -5.22295161e-02 6.82268970e-03 9.21305350e+01] [ 5.22315928e-02 9.98634991e-01 -1.26422832e-04 -5.67553058e-01] [-6.80677367e-03 4.82607282e-04 9.99976717e-01 -7.59766887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:-0.57, Z:-0.76 [[ 9.98551079e-01 -5.33778297e-02 6.82268540e-03 9.21912568e+01] [ 5.33799346e-02 9.98574267e-01 -1.26654687e-04 -5.73275406e-01] [-6.80619752e-03 4.90665675e-04 9.99976717e-01 -7.59585304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:-0.58, Z:-0.76 [[ 9.98883779e-01 -4.67402064e-02 6.82268120e-03 9.22531627e+01] [ 4.67421586e-02 9.98906980e-01 -1.26880601e-04 -5.80258681e-01] [-6.80929344e-03 4.45645821e-04 9.99976717e-01 -7.57983699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:-0.58, Z:-0.76 [[ 9.99129465e-01 -4.11553513e-02 6.82267566e-03 9.23150482e+01] [ 4.11571759e-02 9.99152676e-01 -1.27177892e-04 -5.83635473e-01] [-6.81166059e-03 4.07869241e-04 9.99976717e-01 -7.61198280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:-0.59, Z:-0.76 [[ 9.99284934e-01 -3.71896694e-02 6.82266984e-03 9.23776090e+01] [ 3.71914039e-02 9.99308152e-01 -1.27489170e-04 -5.85463587e-01] [-6.81320831e-03 3.81142677e-04 9.99976717e-01 -7.58804705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:-0.58, Z:-0.75 [[ 9.99575615e-01 -2.83203199e-02 6.82266392e-03 9.24390125e+01] [ 2.83218505e-02 9.99598848e-01 -1.27804936e-04 -5.84067189e-01] [-6.81630752e-03 3.20981165e-04 9.99976717e-01 -7.53953693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:-0.59, Z:-0.76 [[ 9.99678714e-01 -2.44114851e-02 6.82265949e-03 9.25008845e+01] [ 2.44129264e-02 9.99701952e-01 -1.28041210e-04 -5.85011862e-01] [-6.81750033e-03 2.94561156e-04 9.99976717e-01 -7.55430577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:-0.59, Z:-0.76 [[ 9.99670675e-01 -2.47385037e-02 6.82265341e-03 9.25629991e+01] [ 2.47399548e-02 9.99693912e-01 -1.28364426e-04 -5.87615842e-01] [-6.81738953e-03 2.97114289e-04 9.99976717e-01 -7.56143573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:-0.59, Z:-0.76 [[ 9.99590909e-01 -2.77752744e-02 6.82264740e-03 9.26238479e+01] [ 2.77767983e-02 9.99614142e-01 -1.28683204e-04 -5.90538399e-01] [-6.81644061e-03 3.18141861e-04 9.99976717e-01 -7.58516444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:-0.59, Z:-0.76 [[ 9.99451903e-01 -3.23936126e-02 6.82264293e-03 9.26856710e+01] [ 3.23952454e-02 9.99475128e-01 -1.28919685e-04 -5.91341611e-01] [-6.81488574e-03 3.49870216e-04 9.99976717e-01 -7.59799209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:-0.59, Z:-0.76 [[ 9.99425930e-01 -3.31852547e-02 6.82263684e-03 9.27472553e+01] [ 3.31869081e-02 9.99449155e-01 -1.29240866e-04 -5.92189059e-01] [-6.81458973e-03 3.55588894e-04 9.99976717e-01 -7.62733172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:-0.59, Z:-0.76 [[ 9.99412595e-01 -3.35844660e-02 6.82262925e-03 9.28091279e+01] [ 3.35861314e-02 9.99435818e-01 -1.29640537e-04 -5.91393905e-01] [-6.81442614e-03 3.58710108e-04 9.99976717e-01 -7.59464092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.87, Y:-0.59, Z:-0.76 [[ 9.99368961e-01 -3.48587371e-02 6.82262323e-03 9.28701043e+01] [ 3.48604342e-02 9.99392182e-01 -1.29956774e-04 -5.91096928e-01] [-6.81394618e-03 3.67714374e-04 9.99976717e-01 -7.61837398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.93, Y:-0.59, Z:-0.76 [[ 9.99264749e-01 -3.77281626e-02 6.82261876e-03 9.29326622e+01] [ 3.77299281e-02 9.99287964e-01 -1.30190792e-04 -5.92568458e-01] [-6.81284895e-03 3.87511984e-04 9.99976717e-01 -7.63317942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:-0.59, Z:-0.76 [[ 9.99263409e-01 -3.77636137e-02 6.82261267e-03 9.29938756e+01] [ 3.77653821e-02 9.99286625e-01 -1.30509197e-04 -5.94042291e-01] [-6.81281709e-03 3.88071640e-04 9.99976717e-01 -7.64093777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:-0.60, Z:-0.76 [[ 9.99358199e-01 -3.51659244e-02 6.82260815e-03 9.30559007e+01] [ 3.51676341e-02 9.99381419e-01 -1.30744845e-04 -5.96795907e-01] [-6.81379005e-03 3.70595920e-04 9.99976717e-01 -7.57626214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:-0.60, Z:-0.75 [[ 9.99525847e-01 -3.00255551e-02 6.82260241e-03 9.31183919e+01] [ 3.00271474e-02 9.99549075e-01 -1.31043970e-04 -5.99250701e-01] [-6.81559126e-03 3.35845124e-04 9.99976717e-01 -7.51491329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-0.60, Z:-0.75 [[ 9.99631949e-01 -2.62567817e-02 6.82259656e-03 9.31811301e+01] [ 2.62582885e-02 9.99655183e-01 -1.31348011e-04 -6.02210918e-01] [-6.81679523e-03 3.10449377e-04 9.99976717e-01 -7.50397119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-0.61, Z:-0.75 [[ 9.99682252e-01 -2.42661802e-02 6.82258737e-03 9.32427480e+01] [ 2.42676439e-02 9.99705489e-01 -1.31823231e-04 -6.05066154e-01] [-6.81737920e-03 2.97349465e-04 9.99976717e-01 -7.53943106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:-0.61, Z:-0.76 [[ 9.99715512e-01 -2.28549002e-02 6.82258128e-03 9.33056802e+01] [ 2.28563332e-02 9.99738751e-01 -1.32137881e-04 -6.07919391e-01] [-6.81777889e-03 2.88039480e-04 9.99976717e-01 -7.55307037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:-0.61, Z:-0.76 [[ 9.99716274e-01 -2.28215531e-02 6.82257257e-03 9.33689219e+01] [ 2.28229884e-02 9.99739513e-01 -1.32585955e-04 -6.11465427e-01] [-6.81776956e-03 2.88259832e-04 9.99976717e-01 -7.55011589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:-0.62, Z:-0.76 [[ 9.99655503e-01 -2.53441741e-02 6.82256386e-03 9.34304939e+01] [ 2.53456711e-02 9.99678738e-01 -1.33032908e-04 -6.21318353e-01] [-6.81700042e-03 3.05909538e-04 9.99976717e-01 -7.58516879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-0.63, Z:-0.76 [[ 9.99659760e-01 -2.51757285e-02 6.82255803e-03 9.34927554e+01] [ 2.51772236e-02 9.99682995e-01 -1.33331090e-04 -6.28132470e-01] [-6.81703853e-03 3.05058795e-04 9.99976717e-01 -7.57134503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:-0.63, Z:-0.76 [[ 9.99706508e-01 -2.32454377e-02 6.82255192e-03 9.35553212e+01] [ 2.32468901e-02 9.99729746e-01 -1.33643180e-04 -6.33230211e-01] [-6.81760150e-03 2.92207071e-04 9.99976717e-01 -7.58957619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.62, Y:-0.64, Z:-0.76 [[ 9.99790287e-01 -1.93089577e-02 6.82254419e-03 9.36167027e+01] [ 1.93103212e-02 9.99813529e-01 -1.34036269e-04 -6.38038296e-01] [-6.81868389e-03 2.65753680e-04 9.99976717e-01 -7.60677795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.68, Y:-0.64, Z:-0.76 [[ 9.99820710e-01 -1.76635418e-02 6.82253957e-03 9.36781239e+01] [ 1.76648687e-02 9.99843955e-01 -1.34271374e-04 -6.41782044e-01] [-6.81910323e-03 2.54766567e-04 9.99976717e-01 -7.60121251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:93.74, Y:-0.64, Z:-0.76 [[ 9.99795465e-01 -1.90389200e-02 6.82253500e-03 9.37389748e+01] [ 1.90402805e-02 9.99818708e-01 -1.34503162e-04 -6.44089054e-01] [-6.81873733e-03 2.64378632e-04 9.99976717e-01 -7.62553102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.80, Y:-0.65, Z:-0.76 [[ 9.99738356e-01 -2.18328140e-02 6.82253047e-03 9.38018013e+01] [ 2.18342410e-02 9.99761595e-01 -1.34732493e-04 -6.45913235e-01] [-6.81796236e-03 2.83662015e-04 9.99976717e-01 -7.60479589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:-0.64, Z:-0.76 [[ 9.99661808e-01 -2.50942787e-02 6.82252126e-03 9.38634996e+01] [ 2.50957846e-02 9.99685042e-01 -1.35197030e-04 -6.44740884e-01] [-6.81697978e-03 3.06367831e-04 9.99976717e-01 -7.62502830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:-0.64, Z:-0.76 [[ 9.99631879e-01 -2.62594750e-02 6.82251521e-03 9.39254289e+01] [ 2.62610101e-02 9.99655111e-01 -1.35501505e-04 -6.42030892e-01] [-6.81660401e-03 3.14617765e-04 9.99976717e-01 -7.64613087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.99, Y:-0.64, Z:-0.76 [[ 9.99603402e-01 -2.73219921e-02 6.82250930e-03 9.39875714e+01] [ 2.73235539e-02 9.99626633e-01 -1.35798883e-04 -6.41191462e-01] [-6.81625170e-03 3.22160226e-04 9.99976717e-01 -7.64839608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:-0.64, Z:-0.77 [[ 9.99503860e-01 -3.07487785e-02 6.82250313e-03 9.40501073e+01] [ 3.07504221e-02 9.99527085e-01 -1.36108164e-04 -6.37911976e-01] [-6.81509150e-03 3.45835486e-04 9.99976717e-01 -7.67785523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:-0.64, Z:-0.77 [[ 9.99343012e-01 -3.55949271e-02 6.82249680e-03 9.41127849e+01] [ 3.55966854e-02 9.99366228e-01 -1.36424482e-04 -6.36022893e-01] [-6.81331687e-03 3.79193125e-04 9.99976717e-01 -7.65195191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:-0.64, Z:-0.76 [[ 9.99090208e-01 -4.20976266e-02 6.82249044e-03 9.41740403e+01] [ 4.20995381e-02 9.99113412e-01 -1.36741836e-04 -6.36753827e-01] [-6.81068520e-03 4.23841126e-04 9.99976717e-01 -7.64521625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:-0.64, Z:-0.77 [[ 9.98767764e-01 -4.91569581e-02 6.82248571e-03 9.42359165e+01] [ 4.91590352e-02 9.98790954e-01 -1.36977417e-04 -6.41019288e-01] [-6.80750362e-03 4.72195443e-04 9.99976717e-01 -7.68195670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-0.64, Z:-0.76 [[ 9.98641951e-01 -5.16498572e-02 6.82247947e-03 9.42977301e+01] [ 5.16519942e-02 9.98665135e-01 -1.37287689e-04 -6.43835090e-01] [-6.80628149e-03 4.89495915e-04 9.99976717e-01 -7.62572857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:-0.64, Z:-0.76 [[ 9.98509617e-01 -5.41479267e-02 6.82247288e-03 9.43584709e+01] [ 5.41501240e-02 9.98532796e-01 -1.37614214e-04 -6.44520254e-01] [-6.80501140e-03 5.06846868e-04 9.99976717e-01 -7.61524482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:-0.65, Z:-0.76 [[ 9.98518046e-01 -5.39922737e-02 6.82246143e-03 9.44206399e+01] [ 5.39944711e-02 9.98541225e-01 -1.38179479e-04 -6.53765841e-01] [-6.80504837e-03 5.06349900e-04 9.99976717e-01 -7.63870761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:-0.66, Z:-0.76 [[ 9.98542448e-01 -5.35390871e-02 6.82245518e-03 9.44830677e+01] [ 5.35412762e-02 9.98565628e-01 -1.38487261e-04 -6.61821444e-01] [-6.80525476e-03 5.03568366e-04 9.99976717e-01 -7.62617016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-0.67, Z:-0.77 [[ 9.98404473e-01 -5.60532176e-02 6.82244888e-03 9.45441694e+01] [ 5.60554671e-02 9.98427647e-01 -1.38797097e-04 -6.70102465e-01] [-6.80394156e-03 5.21011201e-04 9.99976717e-01 -7.66693817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:-0.68, Z:-0.77 [[ 9.98288807e-01 -5.80767784e-02 6.82243633e-03 9.46064016e+01] [ 5.80790791e-02 9.98311976e-01 -1.39411167e-04 -6.82444811e-01] [-6.80282334e-03 5.35413427e-04 9.99976717e-01 -7.69589215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:-0.69, Z:-0.77 [[ 9.98474444e-01 -5.47926978e-02 6.82242997e-03 9.46681721e+01] [ 5.47949243e-02 9.98497620e-01 -1.39721790e-04 -6.89145374e-01] [-6.80452435e-03 5.13343170e-04 9.99976717e-01 -7.70443474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:-0.69, Z:-0.77 [[ 9.98618703e-01 -5.20974179e-02 6.82242364e-03 9.47295926e+01] [ 5.20995840e-02 9.98641885e-01 -1.40030102e-04 -6.92713463e-01] [-6.80586280e-03 4.95282112e-04 9.99976717e-01 -7.73404911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:-0.70, Z:-0.77 [[ 9.98938113e-01 -4.55642618e-02 6.82241108e-03 9.47921157e+01] [ 4.55662803e-02 9.98961308e-01 -1.40639451e-04 -6.97717248e-01] [-6.80891656e-03 4.51362004e-04 9.99976717e-01 -7.69386516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:-0.70, Z:-0.77 [[ 9.99026951e-01 -4.35729940e-02 6.82240467e-03 9.48533527e+01] [ 4.35749683e-02 9.99050150e-01 -1.40949554e-04 -6.97693053e-01] [-6.80978282e-03 4.38098471e-04 9.99976717e-01 -7.68086139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:-0.69, Z:-0.77 [[ 9.99084637e-01 -4.22296530e-02 6.82239990e-03 9.49151515e+01] [ 4.22315977e-02 9.99107838e-01 -1.41180461e-04 -6.94850989e-01] [-6.81035121e-03 4.29172078e-04 9.99976717e-01 -7.67024765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:-0.69, Z:-0.77 [[ 9.99024079e-01 -4.36388066e-02 6.82239515e-03 9.49780056e+01] [ 4.36407856e-02 9.99047277e-01 -1.41409531e-04 -6.90484529e-01] [-6.80972435e-03 4.39006211e-04 9.99976717e-01 -7.65267286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:-0.69, Z:-0.77 [[ 9.98754150e-01 -4.94328155e-02 6.82238560e-03 9.50392603e+01] [ 4.94349322e-02 9.98777336e-01 -1.41868951e-04 -6.91487846e-01] [-6.80703113e-03 4.78956373e-04 9.99976717e-01 -7.69629493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.10, Y:-0.69, Z:-0.77 [[ 9.98327179e-01 -5.74134061e-02 6.82238085e-03 9.51006746e+01] [ 5.74157096e-02 9.98350347e-01 -1.42096970e-04 -6.94923479e-01] [-6.80296802e-03 5.33571104e-04 9.99976717e-01 -7.74736924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:-0.70, Z:-0.77 [[ 9.97856988e-01 -6.50760015e-02 6.82237623e-03 9.51628576e+01] [ 6.50784842e-02 9.97880138e-01 -1.42318154e-04 -6.99152567e-01] [-6.79865224e-03 5.86003069e-04 9.99976717e-01 -7.65248468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-0.70, Z:-0.76 [[ 9.97877865e-01 -6.47550834e-02 6.82236981e-03 9.52250993e+01] [ 6.47575609e-02 9.97901016e-01 -1.42625322e-04 -7.03094149e-01] [-6.79881405e-03 5.84122680e-04 9.99976717e-01 -7.64070276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-0.70, Z:-0.77 [[ 9.98094624e-01 -6.13235447e-02 6.82236324e-03 9.52864288e+01] [ 6.13259446e-02 9.98117783e-01 -1.42938772e-04 -7.03986323e-01] [-6.80075656e-03 5.61054290e-04 9.99976717e-01 -7.66333589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.35, Y:-0.70, Z:-0.76 [[ 9.98608472e-01 -5.22931606e-02 6.82235836e-03 9.53478699e+01] [ 5.22953525e-02 9.98631652e-01 -1.43171421e-04 -7.00473200e-01] [-6.80553611e-03 4.99749830e-04 9.99976717e-01 -7.64957847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.41, Y:-0.70, Z:-0.76 [[ 9.98960326e-01 -4.50746399e-02 6.82235357e-03 9.54089771e+01] [ 4.50766658e-02 9.98983520e-01 -1.43399439e-04 -6.95339260e-01] [-6.80895511e-03 4.50779303e-04 9.99976717e-01 -7.63255452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-0.69, Z:-0.76 [[ 9.99213924e-01 -3.90511178e-02 6.82234887e-03 9.54725849e+01] [ 3.90530053e-02 9.99237130e-01 -1.43622535e-04 -6.90021468e-01] [-6.81153569e-03 4.09942864e-04 9.99976717e-01 -7.60628448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-0.69, Z:-0.76 [[ 9.99424784e-01 -3.32198251e-02 6.82233890e-03 9.55347532e+01] [ 3.32215804e-02 9.99448001e-01 -1.44094424e-04 -6.87289697e-01] [-6.81378619e-03 3.70660419e-04 9.99976717e-01 -7.58806749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:-0.69, Z:-0.75 [[ 9.99527550e-01 -2.99688487e-02 6.82233232e-03 9.55965240e+01] [ 2.99705306e-02 9.99550772e-01 -1.44405604e-04 -6.86635484e-01] [-6.81493987e-03 3.48806299e-04 9.99976717e-01 -7.53541247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:-0.69, Z:-0.75 [[ 9.99630958e-01 -2.62945680e-02 6.82232721e-03 9.56588979e+01] [ 2.62961662e-02 9.99654186e-01 -1.44646540e-04 -6.86709923e-01] [-6.81616453e-03 3.23994210e-04 9.99976717e-01 -7.50420296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.72, Y:-0.69, Z:-0.76 [[ 9.99747155e-01 -2.14261939e-02 6.82232031e-03 9.57198428e+01] [ 2.14276811e-02 9.99770390e-01 -1.44971391e-04 -6.88764382e-01] [-6.81764765e-03 2.91121240e-04 9.99976717e-01 -7.56219653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.78, Y:-0.69, Z:-0.76 [[ 9.99772879e-01 -2.01902495e-02 6.82231515e-03 9.57828246e+01] [ 2.01917097e-02 9.99796116e-01 -1.45213634e-04 -6.93134001e-01] [-6.81799229e-03 2.82934860e-04 9.99976717e-01 -7.57802513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.85, Y:-0.70, Z:-0.76 [[ 9.99807594e-01 -1.83910647e-02 6.82230551e-03 9.58458048e+01] [ 1.83924862e-02 9.99830833e-01 -1.45665236e-04 -6.97678268e-01] [-6.81847246e-03 2.71116369e-04 9.99976717e-01 -7.58225901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.91, Y:-0.70, Z:-0.76 [[ 9.99899350e-01 -1.24396917e-02 6.82229583e-03 9.59074936e+01] [ 1.24409779e-02 9.99922597e-01 -1.46117335e-04 -7.02811595e-01] [-6.81995011e-03 2.30978660e-04 9.99976717e-01 -7.62186856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.97, Y:-0.71, Z:-0.76 [[ 9.99956471e-01 -6.36488613e-03 6.82228913e-03 9.59698596e+01] [ 6.36603317e-03 9.99979726e-01 -1.46429224e-04 -7.07617761e-01] [-6.82121881e-03 1.89853769e-04 9.99976717e-01 -7.63115818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:-0.71, Z:-0.76 [[ 9.99976667e-01 -3.48842249e-04 6.82228234e-03 9.60323416e+01] [ 3.49851522e-04 9.99999928e-01 -1.46744801e-04 -7.13121899e-01] [-6.82223066e-03 1.49128162e-04 9.99976717e-01 -7.63214026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:-0.72, Z:-0.76 [[ 9.99957092e-01 6.26663061e-03 6.82227557e-03 9.60943995e+01] [-6.26577310e-03 9.99980359e-01 -1.47058967e-04 -7.21659926e-01] [-6.82306314e-03 1.04305827e-04 9.99976717e-01 -7.60767276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:-0.73, Z:-0.76 [[ 9.99922807e-01 1.03844174e-02 6.82226837e-03 9.61553493e+01] [-1.03836535e-02 9.99946078e-01 -1.47392495e-04 -7.26060577e-01] [-6.82343108e-03 7.65410470e-05 9.99976717e-01 -7.64568877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.22, Y:-0.73, Z:-0.77 [[ 9.99886164e-01 1.34579183e-02 6.82225588e-03 9.62152729e+01] [-1.34572220e-02 9.99909437e-01 -1.47968125e-04 -7.32331317e-01] [-6.82362938e-03 5.61426695e-05 9.99976717e-01 -7.68296749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.27, Y:-0.74, Z:-0.77 [[ 9.99786711e-01 1.94932923e-02 6.82225588e-03 9.62745587e+01] [-1.94927364e-02 9.99809988e-01 -1.47968125e-04 -7.39848526e-01] [-6.82384395e-03 1.49521297e-05 9.99976717e-01 -7.65376112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.74, Z:-0.76 [[ 9.99715334e-01 2.28628245e-02 6.82225937e-03 9.63342511e+01] [-2.28623481e-02 9.99738611e-01 -1.47806993e-04 -7.43954680e-01] [-6.82385540e-03 -8.20795117e-06 9.99976717e-01 -7.63905506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:-0.75, Z:-0.77 [[ 9.99591988e-01 2.77365285e-02 6.82226289e-03 9.63919654e+01] [-2.77361668e-02 9.99615268e-01 -1.47644349e-04 -7.48367902e-01] [-6.82373329e-03 -4.16393132e-05 9.99976717e-01 -7.67197744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:-0.75, Z:-0.77 [[ 9.99486896e-01 3.12953727e-02 6.82227162e-03 9.64503630e+01] [-3.12950966e-02 9.99510178e-01 -1.47239801e-04 -7.50411072e-01] [-6.82353785e-03 -6.63393975e-05 9.99976717e-01 -7.65922358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.51, Y:-0.75, Z:-0.76 [[ 9.99414961e-01 3.35140492e-02 6.82227877e-03 9.65080632e+01] [-3.35138271e-02 9.99438243e-01 -1.46907969e-04 -7.52405743e-01] [-6.82336979e-03 -8.18186485e-05 9.99976717e-01 -7.62154750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:-0.76, Z:-0.76 [[ 9.99464820e-01 3.19926519e-02 6.82228851e-03 9.65668927e+01] [-3.19923974e-02 9.99488102e-01 -1.46454219e-04 -7.58438524e-01] [-6.82348165e-03 -7.18855255e-05 9.99976717e-01 -7.62454711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:-0.76, Z:-0.76 [[ 9.99528973e-01 2.99213646e-02 6.82229543e-03 9.66252725e+01] [-2.99210641e-02 9.99552254e-01 -1.46131002e-04 -7.62581747e-01] [-6.82361322e-03 -5.80681692e-05 9.99976717e-01 -7.60074420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:-0.77, Z:-0.76 [[ 9.99519610e-01 3.02325082e-02 6.82230245e-03 9.66831590e+01] [-3.02322172e-02 9.99542891e-01 -1.45802525e-04 -7.65168740e-01] [-6.82359190e-03 -6.05208465e-05 9.99976717e-01 -7.58281918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:-0.77, Z:-0.76 [[ 9.99436883e-01 3.28538064e-02 6.82231109e-03 9.67416159e+01] [-3.28535792e-02 9.99460165e-01 -1.45397241e-04 -7.71752691e-01] [-6.82340502e-03 -7.88219724e-05 9.99976717e-01 -7.56568819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.80, Y:-0.79, Z:-0.76 [[ 9.99336894e-01 3.57662914e-02 6.82231790e-03 9.67999333e+01] [-3.57661342e-02 9.99360177e-01 -1.45076988e-04 -7.85736210e-01] [-6.82314169e-03 -9.90271510e-05 9.99976717e-01 -7.57382479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:-0.79, Z:-0.76 [[ 9.99289482e-01 3.70673356e-02 6.82232480e-03 9.68572728e+01] [-3.70672110e-02 9.99312764e-01 -1.44751708e-04 -7.93732881e-01] [-6.82300182e-03 -1.08235693e-04 9.99976717e-01 -7.60506123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.92, Y:-0.81, Z:-0.77 [[ 9.99253244e-01 3.80316947e-02 6.82233399e-03 9.69153782e+01] [-3.80315955e-02 9.99276527e-01 -1.44317239e-04 -8.07167261e-01] [-6.82288685e-03 -1.15254778e-04 9.99976717e-01 -7.65344608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.97, Y:-0.82, Z:-0.77 [[ 9.99228015e-01 3.86888866e-02 6.82234076e-03 9.69735033e+01] [-3.86888049e-02 9.99251298e-01 -1.43996608e-04 -8.16843236e-01] [-6.82280392e-03 -1.20062766e-04 9.99976717e-01 -7.67745553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:-0.83, Z:-0.77 [[ 9.99124450e-01 4.12769780e-02 6.82234749e-03 9.70315363e+01] [-4.12769589e-02 9.99147733e-01 -1.43677037e-04 -8.31900512e-01] [-6.82246358e-03 -1.38054516e-04 9.99976717e-01 -7.69030327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.09, Y:-0.84, Z:-0.77 [[ 9.99041324e-01 4.32421983e-02 6.82235412e-03 9.70903918e+01] [-4.32422270e-02 9.99064607e-01 -1.43361332e-04 -8.41288929e-01] [-6.82217180e-03 -1.51789891e-04 9.99976717e-01 -7.72629835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:-0.85, Z:-0.78 [[ 9.98998021e-01 4.42313247e-02 6.82236090e-03 9.71476604e+01] [-4.42313787e-02 9.99021303e-01 -1.43038090e-04 -8.50349390e-01] [-6.82201064e-03 -1.58867660e-04 9.99976717e-01 -7.76660907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:-0.86, Z:-0.77 [[ 9.99030899e-01 4.34823847e-02 6.82236935e-03 9.72072908e+01] [-4.34824241e-02 9.99054182e-01 -1.42634015e-04 -8.61322027e-01] [-6.82211870e-03 -1.54157368e-04 9.99976717e-01 -7.70340174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:-0.87, Z:-0.77 [[ 9.99206732e-01 3.92346984e-02 6.82237267e-03 9.72656051e+01] [-3.92346398e-02 9.99230015e-01 -1.42474749e-04 -8.68189883e-01] [-6.82270950e-03 -1.25311606e-04 9.99976717e-01 -7.73147841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:-0.88, Z:-0.78 [[ 9.99386318e-01 3.43575591e-02 6.82237962e-03 9.73251484e+01] [-3.43573891e-02 9.99409601e-01 -1.42141244e-04 -8.75424887e-01] [-6.82323532e-03 -9.23451367e-05 9.99976717e-01 -7.75933371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:-0.88, Z:-0.77 [[ 9.99667440e-01 2.48689286e-02 6.82238307e-03 9.73858283e+01] [-2.48685388e-02 9.99690720e-01 -1.41975532e-04 -8.84958727e-01] [-6.82380382e-03 -2.77343811e-05 9.99976717e-01 -7.74455525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:97.45, Y:-0.89, Z:-0.77 [[ 9.99810985e-01 1.82057646e-02 6.82238307e-03 9.74462006e+01] [-1.82052197e-02 9.99834261e-01 -1.41975532e-04 -8.88694141e-01] [-6.82383711e-03 1.77457141e-05 9.99976717e-01 -7.74380021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:97.51, Y:-0.89, Z:-0.77 [[ 9.99859382e-01 1.53189870e-02 6.82238139e-03 9.75079475e+01] [-1.53183743e-02 9.99882657e-01 -1.42056336e-04 -8.86914555e-01] [-6.82375699e-03 3.75285686e-05 9.99976717e-01 -7.73230780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:97.57, Y:-0.89, Z:-0.77 [[ 9.99836027e-01 1.67742044e-02 6.82237797e-03 9.75682902e+01] [-1.67736244e-02 9.99859303e-01 -1.42220439e-04 -8.86087072e-01] [-6.82380371e-03 2.77611127e-05 9.99976717e-01 -7.71861790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:-0.89, Z:-0.77 [[ 9.99809798e-01 1.82708164e-02 6.82237015e-03 9.76289162e+01] [-1.82702688e-02 9.99833075e-01 -1.42594540e-04 -8.85333371e-01] [-6.82383664e-03 1.79208820e-05 9.99976717e-01 -7.72241015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:-0.88, Z:-0.78 [[ 9.99851805e-01 1.58058222e-02 6.82236848e-03 9.76894531e+01] [-1.58052166e-02 9.99875080e-01 -1.42674212e-04 -8.84520233e-01] [-6.82377131e-03 3.48240572e-05 9.99976717e-01 -7.75347775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:-0.88, Z:-0.77 [[ 9.99913989e-01 1.12013540e-02 6.82236848e-03 9.77503765e+01] [-1.12006413e-02 9.99937261e-01 -1.42674212e-04 -8.83526097e-01] [-6.82353860e-03 6.62470389e-05 9.99976717e-01 -7.73936759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:-0.88, Z:-0.77 [[ 9.99936453e-01 8.97473019e-03 6.82236512e-03 9.78119944e+01] [-8.97396452e-03 9.99959723e-01 -1.42834719e-04 -8.81225749e-01] [-6.82337224e-03 8.16019796e-05 9.99976717e-01 -7.74603040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-0.88, Z:-0.77 [[ 9.99952778e-01 6.92074858e-03 6.82236171e-03 9.78735041e+01] [-6.91993399e-03 9.99976047e-01 -1.42997464e-04 -8.78305023e-01] [-6.82318794e-03 9.57804190e-05 9.99976717e-01 -7.74792095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:97.94, Y:-0.88, Z:-0.77 [[ 9.99974215e-01 2.24184220e-03 6.82233956e-03 9.79361239e+01] [-2.24091160e-03 9.99997479e-01 -1.44046434e-04 -8.77316308e-01] [-6.82264529e-03 1.28754460e-04 9.99976717e-01 -7.71733524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:98.00, Y:-0.88, Z:-0.77 [[ 9.99965206e-01 -4.80021433e-03 6.82231637e-03 9.79995166e+01] [ 4.80131618e-03 9.99988463e-01 -1.45136618e-04 -8.78685406e-01] [-6.82154098e-03 1.77887666e-04 9.99976717e-01 -7.73515711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:-0.88, Z:-0.77 [[ 9.99882548e-01 -1.37239234e-02 6.82228748e-03 9.80617822e+01] [ 1.37252419e-02 9.99905794e-01 -1.46481996e-04 -8.83272247e-01] [-6.81963447e-03 2.40102338e-04 9.99976717e-01 -7.74372792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:-0.89, Z:-0.77 [[ 9.99832878e-01 -1.69609128e-02 6.82226956e-03 9.81224127e+01] [ 1.69623122e-02 9.99856119e-01 -1.47312147e-04 -8.86693894e-01] [-6.81878941e-03 2.63008994e-04 9.99976717e-01 -7.74921939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:98.18, Y:-0.89, Z:-0.78 [[ 9.99803807e-01 -1.85958033e-02 6.82226432e-03 9.81845901e+01] [ 1.85972424e-02 9.99827045e-01 -1.47554321e-04 -8.91725687e-01] [-6.81834049e-03 2.74400675e-04 9.99976717e-01 -7.76323445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:-0.89, Z:-0.77 [[ 9.99843166e-01 -1.63432066e-02 6.82225748e-03 9.82464881e+01] [ 1.63445954e-02 9.99866407e-01 -1.47869811e-04 -8.94477913e-01] [-6.81892941e-03 2.59353658e-04 9.99976717e-01 -7.73683899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:98.31, Y:-0.89, Z:-0.77 [[ 9.99905388e-01 -1.19445770e-02 6.82225059e-03 9.83084999e+01] [ 1.19458657e-02 9.99928635e-01 -1.48187046e-04 -8.94993059e-01] [-6.81999369e-03 2.29670715e-04 9.99976717e-01 -7.74491832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:98.37, Y:-0.89, Z:-0.78 [[ 9.99936119e-01 -9.01196399e-03 6.82224365e-03 9.83708404e+01] [ 9.01318675e-03 9.99959369e-01 -1.48506177e-04 -8.93830235e-01] [-6.82062812e-03 2.09986847e-04 9.99976717e-01 -7.79225687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:98.43, Y:-0.90, Z:-0.78 [[ 9.99921574e-01 -1.05025031e-02 6.82223670e-03 9.84332327e+01] [ 1.05037627e-02 9.99944823e-01 -1.48824565e-04 -8.95517128e-01] [-6.82029724e-03 2.20472048e-04 9.99976717e-01 -7.78232522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:-0.89, Z:-0.77 [[ 9.99852947e-01 -1.57334691e-02 6.82222976e-03 9.84951655e+01] [ 1.57348524e-02 9.99876188e-01 -1.49142102e-04 -8.93756332e-01] [-6.81903856e-03 2.56466949e-04 9.99976717e-01 -7.74343304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:-0.89, Z:-0.78 [[ 9.99804632e-01 -1.85514237e-02 6.82222288e-03 9.85569319e+01] [ 1.85528747e-02 9.99827869e-01 -1.49456097e-04 -8.94760509e-01] [-6.81827594e-03 2.75998744e-04 9.99976717e-01 -7.75884306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:-0.90, Z:-0.78 [[ 9.99654266e-01 -2.53930384e-02 6.82221604e-03 9.86190523e+01] [ 2.53946505e-02 9.99677493e-01 -1.49767627e-04 -8.96778480e-01] [-6.81621277e-03 3.22963639e-04 9.99976717e-01 -7.81488810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:98.68, Y:-0.90, Z:-0.79 [[ 9.99473781e-01 -3.17114963e-02 6.82220913e-03 9.86798719e+01] [ 3.17132573e-02 9.99496997e-01 -1.50081897e-04 -8.99736181e-01] [-6.81401821e-03 3.66357395e-04 9.99976717e-01 -7.88748722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:-0.90, Z:-0.79 [[ 9.99384579e-01 -3.44081513e-02 6.82220399e-03 9.87419107e+01] [ 3.44099765e-02 9.99407790e-01 -1.50314868e-04 -9.02210416e-01] [-6.81299176e-03 3.84974240e-04 9.99976717e-01 -7.87248793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:-0.90, Z:-0.79 [[ 9.99504379e-01 -3.07319596e-02 6.82219696e-03 9.88042872e+01] [ 3.07337017e-02 9.99527597e-01 -1.50633253e-04 -9.02382981e-01] [-6.81434488e-03 3.60229962e-04 9.99976717e-01 -7.87791591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-0.90, Z:-0.79 [[ 9.99671306e-01 -2.47131271e-02 6.82218998e-03 9.88655601e+01] [ 2.47147315e-02 9.99694533e-01 -1.50948739e-04 -9.00048467e-01] [-6.81637561e-03 3.19507717e-04 9.99976717e-01 -7.85110488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:-0.90, Z:-0.78 [[ 9.99642253e-01 -2.58616256e-02 6.82218475e-03 9.89279323e+01] [ 2.58632583e-02 9.99665479e-01 -1.51184788e-04 -9.01018946e-01] [-6.81599270e-03 3.27574629e-04 9.99976717e-01 -7.83092057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-0.91, Z:-0.79 [[ 9.99384929e-01 -3.43979834e-02 6.82217784e-03 9.89890902e+01] [ 3.43998165e-02 9.99408140e-01 -1.51495940e-04 -9.05202766e-01] [-6.81292891e-03 3.86084425e-04 9.99976717e-01 -7.86814669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-0.91, Z:-0.79 [[ 9.99166698e-01 -4.02413787e-02 6.82217272e-03 9.90507699e+01] [ 4.02433490e-02 9.99189897e-01 -1.51726123e-04 -9.08293708e-01] [-6.81054039e-03 4.26146767e-04 9.99976717e-01 -7.86627074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-0.91, Z:-0.79 [[ 9.99076140e-01 -4.24302241e-02 6.82216567e-03 9.91133438e+01] [ 4.24322474e-02 9.99099335e-01 -1.52042813e-04 -9.12461615e-01] [-6.80956997e-03 4.41382169e-04 9.99976717e-01 -7.86099538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:-0.92, Z:-0.78 [[ 9.99021416e-01 -4.36997572e-02 6.82215849e-03 9.91748297e+01] [ 4.37018121e-02 9.99044608e-01 -1.52364261e-04 -9.18303119e-01] [-6.80898237e-03 4.50355848e-04 9.99976717e-01 -7.76436790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:-0.92, Z:-0.79 [[ 9.98975749e-01 -4.47315344e-02 6.82215315e-03 9.92372145e+01] [ 4.47336149e-02 9.98998939e-01 -1.52602913e-04 -9.23414832e-01] [-6.80849760e-03 4.57626181e-04 9.99976717e-01 -7.85034111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:99.30, Y:-0.93, Z:-0.79 [[ 9.98945908e-01 -4.53930687e-02 6.82214588e-03 9.92984877e+01] [ 4.53951668e-02 9.98969096e-01 -1.52926961e-04 -9.29764429e-01] [-6.80817109e-03 4.62458213e-04 9.99976717e-01 -7.89505931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:99.36, Y:-0.94, Z:-0.79 [[ 9.98887131e-01 -4.66686006e-02 6.82214049e-03 9.93601277e+01] [ 4.66707299e-02 9.98910316e-01 -1.53167243e-04 -9.37035870e-01] [-6.80755841e-03 4.71391064e-04 9.99976717e-01 -7.89441150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:-0.94, Z:-0.79 [[ 9.98953284e-01 -4.52304605e-02 6.82213335e-03 9.94225920e+01] [ 4.52325586e-02 9.98976472e-01 -1.53484473e-04 -9.41520786e-01] [-6.80820854e-03 4.61906365e-04 9.99976717e-01 -7.86527950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:99.48, Y:-0.94, Z:-0.79 [[ 9.99083536e-01 -4.22557364e-02 6.82212595e-03 9.94841396e+01] [ 4.22577677e-02 9.99106730e-01 -1.53813014e-04 -9.43004317e-01] [-6.80953246e-03 4.41959864e-04 9.99976717e-01 -7.92538990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:99.55, Y:-0.94, Z:-0.80 [[ 9.99294374e-01 -3.69352619e-02 6.82212042e-03 9.95463155e+01] [ 3.69371713e-02 9.99317578e-01 -1.54057839e-04 -9.41260472e-01] [-6.81177468e-03 4.05938962e-04 9.99976717e-01 -7.96467085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:-0.94, Z:-0.79 [[ 9.99321003e-01 -3.62076290e-02 6.82211329e-03 9.96075026e+01] [ 3.62095236e-02 9.99344208e-01 -1.54372766e-04 -9.41358583e-01] [-6.81204993e-03 4.01293419e-04 9.99976717e-01 -7.91638839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:99.67, Y:-0.94, Z:-0.79 [[ 9.99272262e-01 -3.75287190e-02 6.82210798e-03 9.96699235e+01] [ 3.75306459e-02 9.99295465e-01 -1.54607302e-04 -9.40178812e-01] [-6.81149935e-03 4.10532907e-04 9.99976717e-01 -7.91065624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:-0.94, Z:-0.79 [[ 9.99199043e-01 -3.94300794e-02 6.82210086e-03 9.97307760e+01] [ 3.94320526e-02 9.99222242e-01 -1.54920655e-04 -9.38413815e-01] [-6.81068638e-03 4.23806011e-04 9.99976717e-01 -7.93681578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:99.79, Y:-0.94, Z:-0.79 [[ 9.99090995e-01 -4.20790162e-02 6.82209556e-03 9.97927710e+01] [ 4.20810525e-02 9.99114188e-01 -1.55153560e-04 -9.40041952e-01] [-6.80952376e-03 4.42093486e-04 9.99976717e-01 -7.93097588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:-0.95, Z:-0.79 [[ 9.98893907e-01 -4.65233455e-02 6.82208843e-03 9.98546432e+01] [ 4.65254871e-02 9.98917091e-01 -1.55466448e-04 -9.45468469e-01] [-6.80746791e-03 4.72695475e-04 9.99976717e-01 -7.94324905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:99.92, Y:-0.95, Z:-0.80 [[ 9.98642562e-01 -5.16380898e-02 6.82208135e-03 9.99167868e+01] [ 5.16403522e-02 9.98665735e-01 -1.55776619e-04 -9.48899120e-01] [-6.80493488e-03 5.07859846e-04 9.99976717e-01 -7.95004936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:99.98, Y:-0.95, Z:-0.80 [[ 9.98440969e-01 -5.53993774e-02 6.82207421e-03 9.99791961e+01] [ 5.54017292e-02 9.98464133e-01 -1.56088687e-04 -9.52815594e-01] [-6.80294919e-03 5.33800047e-04 9.99976717e-01 -7.96434861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:100.04, Y:-0.95, Z:-0.79 [[ 9.98511237e-01 -5.41180973e-02 6.82206691e-03 1.00041359e+02] [ 5.41204215e-02 9.98534404e-01 -1.56407066e-04 -9.54037967e-01] [-6.80360406e-03 5.25387350e-04 9.99976717e-01 -7.94511345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:-0.95, Z:-0.80 [[ 9.98729811e-01 -4.99221905e-02 6.82205939e-03 1.00102221e+02] [ 4.99244195e-02 9.98752986e-01 -1.56734193e-04 -9.47152825e-01] [-6.80572768e-03 4.97122466e-04 9.99976717e-01 -7.95225084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:-0.94, Z:-0.79 [[ 9.98887332e-01 -4.66643161e-02 6.82205567e-03 1.00164502e+02] [ 4.66664707e-02 9.98910514e-01 -1.56895962e-04 -9.43243758e-01] [-6.80730170e-03 4.75082650e-04 9.99976717e-01 -7.90389402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:-0.94, Z:-0.79 [[ 9.98945242e-01 -4.54077426e-02 6.82204814e-03 1.00225455e+02] [ 4.54098702e-02 9.98968427e-01 -1.57222972e-04 -9.40197338e-01] [-6.80787156e-03 4.66845461e-04 9.99976717e-01 -7.91303553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.29, Y:-0.94, Z:-0.79 [[ 9.98688168e-01 -5.07484204e-02 6.82204251e-03 1.00287366e+02] [ 5.07506736e-02 9.98711342e-01 -1.57466749e-04 -9.39895658e-01] [-6.80526004e-03 5.03483432e-04 9.99976717e-01 -7.94384451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:-0.94, Z:-0.79 [[ 9.98461448e-01 -5.50290506e-02 6.82203535e-03 1.00348643e+02] [ 5.50314053e-02 9.98484612e-01 -1.57776215e-04 -9.42849571e-01] [-6.80301504e-03 5.32959660e-04 9.99976717e-01 -7.91148161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:-0.95, Z:-0.79 [[ 9.98417855e-01 -5.58143958e-02 6.82202820e-03 1.00410605e+02] [ 5.58167708e-02 9.98441016e-01 -1.58084940e-04 -9.45977228e-01] [-6.80256935e-03 5.38618411e-04 9.99976717e-01 -7.91273828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:-0.95, Z:-0.80 [[ 9.98681656e-01 -5.08764179e-02 6.82202081e-03 1.00472464e+02] [ 5.08786805e-02 9.98704829e-01 -1.58403404e-04 -9.51552898e-01] [-6.80512612e-03 5.05289991e-04 9.99976717e-01 -8.00205979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:-0.95, Z:-0.80 [[ 9.98805441e-01 -4.83854345e-02 6.82201338e-03 1.00534051e+02] [ 4.83876414e-02 9.98828619e-01 -1.58722723e-04 -9.54223015e-01] [-6.80634233e-03 4.88634256e-04 9.99976717e-01 -8.04429076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:-0.96, Z:-0.80 [[ 9.99046674e-01 -4.31184742e-02 6.82200606e-03 1.00596445e+02] [ 4.31205610e-02 9.99069863e-01 -1.59036601e-04 -9.56058922e-01] [-6.80880325e-03 4.53053716e-04 9.99976717e-01 -8.02989430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-0.96, Z:-0.80 [[ 9.99279033e-01 -3.73480244e-02 6.82199857e-03 1.00658432e+02] [ 3.73499794e-02 9.99302233e-01 -1.59357153e-04 -9.57220972e-01] [-6.81128673e-03 4.14043768e-04 9.99976717e-01 -8.01331088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-0.96, Z:-0.80 [[ 9.99536753e-01 -2.96603958e-02 6.82199098e-03 1.00719569e+02] [ 2.96621745e-02 9.99559968e-01 -1.59681512e-04 -9.57297941e-01] [-6.81425287e-03 3.61962627e-04 9.99976717e-01 -8.02942636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:-0.96, Z:-0.80 [[ 9.99647695e-01 -2.56504646e-02 6.82197858e-03 1.00781720e+02] [ 2.56521537e-02 9.99670917e-01 -1.60209651e-04 -9.59374399e-01] [-6.81562412e-03 3.35151652e-04 9.99976717e-01 -7.99303493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:-0.96, Z:-0.79 [[ 9.99799780e-01 -1.88111848e-02 6.82197108e-03 1.00842654e+02] [ 1.88127172e-02 9.99823012e-01 -1.60528288e-04 -9.63695629e-01] [-6.81774395e-03 2.88835960e-04 9.99976717e-01 -7.94099409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:-0.96, Z:-0.79 [[ 9.99859008e-01 -1.53435735e-02 6.82196552e-03 1.00904475e+02] [ 1.53450270e-02 9.99882245e-01 -1.60764329e-04 -9.63752414e-01] [-6.81869550e-03 2.65424908e-04 9.99976717e-01 -7.88578506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-0.97, Z:-0.79 [[ 9.99942181e-01 -8.31240051e-03 6.82195809e-03 1.00966354e+02] [ 8.31369270e-03 9.99965428e-01 -1.61078695e-04 -9.66150463e-01] [-6.82038329e-03 2.17785044e-04 9.99976717e-01 -7.90437190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-0.97, Z:-0.79 [[ 9.99974785e-01 -1.97231770e-03 6.82195069e-03 1.01028548e+02] [ 1.97346460e-03 9.99998040e-01 -1.61391576e-04 -9.65963100e-01] [-6.82161900e-03 1.74850385e-04 9.99976717e-01 -7.90448022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:-0.96, Z:-0.79 [[ 9.99965326e-01 4.77576778e-03 6.82194285e-03 1.01089694e+02] [-4.77477557e-03 9.99988588e-01 -1.61722121e-04 -9.62314830e-01] [-6.82263735e-03 1.29143267e-04 9.99976717e-01 -7.91709292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:-0.96, Z:-0.79 [[ 9.99936631e-01 8.95519175e-03 6.82192976e-03 1.01151010e+02] [-8.95429302e-03 9.99959896e-01 -1.62272801e-04 -9.58216742e-01] [-6.82310936e-03 1.01176960e-04 9.99976717e-01 -7.94969043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:-0.96, Z:-0.80 [[ 9.99952820e-01 6.91513479e-03 6.82192411e-03 1.01213085e+02] [-6.91418699e-03 9.99976084e-01 -1.62509902e-04 -9.58855982e-01] [-6.82288473e-03 1.15334176e-04 9.99976717e-01 -7.97813033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:-0.97, Z:-0.80 [[ 9.99976726e-01 -9.51611353e-05 6.82189606e-03 1.01274846e+02] [ 9.62799745e-05 9.99999982e-01 -1.63678846e-04 -9.65754345e-01] [-6.82188036e-03 1.64331848e-04 9.99976717e-01 -8.00408496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:-0.97, Z:-0.80 [[ 9.99973407e-01 -2.57817447e-03 6.82186623e-03 1.01337980e+02] [ 2.57935947e-03 9.99996660e-01 -1.64912752e-04 -9.71356893e-01] [-6.82141827e-03 1.82504412e-04 9.99976717e-01 -7.99545418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:-0.98, Z:-0.80 [[ 9.99976659e-01 -3.80426970e-04 6.82183442e-03 1.01400412e+02] [ 3.81569758e-04 9.99999913e-01 -1.66218372e-04 -9.76621279e-01] [-6.82177059e-03 1.68817498e-04 9.99976717e-01 -7.98594694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:-0.98, Z:-0.80 [[ 9.99898653e-01 1.24958597e-02 6.82182648e-03 1.01461281e+02] [-1.24950143e-02 9.99921920e-01 -1.66543700e-04 -9.84416574e-01] [-6.82337494e-03 8.12880023e-05 9.99976717e-01 -7.97989619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:101.52, Y:-0.99, Z:-0.80 [[ 9.99699308e-01 2.35532586e-02 6.82182059e-03 1.01522909e+02] [-2.35526689e-02 9.99722584e-01 -1.66784636e-04 -9.89492208e-01] [-6.82385642e-03 6.06240347e-06 9.99976717e-01 -7.99135611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:-0.99, Z:-0.80 [[ 9.99370867e-01 3.48042023e-02 6.82181657e-03 1.01581876e+02] [-3.48038735e-02 9.99394148e-01 -1.66948563e-04 -9.92545689e-01] [-6.82349407e-03 -7.05821106e-05 9.99976717e-01 -7.98039023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:-1.00, Z:-0.80 [[ 9.99083465e-01 4.22574537e-02 6.82181857e-03 1.01641323e+02] [-4.22572991e-02 9.99106747e-01 -1.66866944e-04 -9.98366499e-01] [-6.82277634e-03 -1.21557623e-04 9.99976717e-01 -7.98477138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:-1.00, Z:-0.80 [[ 9.99127762e-01 4.11968101e-02 6.82182262e-03 1.01701165e+02] [-4.11966319e-02 9.99151045e-01 -1.66701198e-04 -1.00477649e+00] [-6.82289876e-03 -1.14480321e-04 9.99976717e-01 -7.97678325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:-1.01, Z:-0.79 [[ 9.99203096e-01 3.93272802e-02 6.82182677e-03 1.01759698e+02] [-3.93270596e-02 9.99226378e-01 -1.66531080e-04 -1.01175128e+00] [-6.82309847e-03 -1.01884018e-04 9.99976717e-01 -7.94583272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.82, Y:-1.02, Z:-0.79 [[ 9.99160886e-01 4.03854659e-02 6.82183291e-03 1.01818946e+02] [-4.03852717e-02 9.99184168e-01 -1.66279336e-04 -1.02072587e+00] [-6.82298271e-03 -1.09361767e-04 9.99976717e-01 -7.94077070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.88, Y:-1.02, Z:-0.80 [[ 9.98975923e-01 4.47277033e-02 6.82183695e-03 1.01878336e+02] [-4.47276114e-02 9.98999206e-01 -1.66113329e-04 -1.02225291e+00] [-6.82243957e-03 -1.39181256e-04 9.99976717e-01 -7.97125396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:-1.02, Z:-0.80 [[ 9.98669970e-01 5.11053227e-02 6.82184102e-03 1.01937134e+02] [-5.11053806e-02 9.98693252e-01 -1.65946138e-04 -1.02289992e+00] [-6.82140733e-03 -1.82907357e-04 9.99976717e-01 -7.99305704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.00, Y:-1.02, Z:-0.80 [[ 9.98311174e-01 5.76910852e-02 6.82184494e-03 1.01995832e+02] [-5.76912977e-02 9.98334456e-01 -1.65784678e-04 -1.02367313e+00] [-6.82004716e-03 -2.28056391e-04 9.99976717e-01 -7.96777190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:-1.02, Z:-0.80 [[ 9.98162985e-01 6.02006448e-02 6.82185284e-03 1.02054746e+02] [-6.02009181e-02 9.98186266e-01 -1.65459125e-04 -1.02288579e+00] [-6.81944056e-03 -2.45526631e-04 9.99976717e-01 -7.99552058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:-1.02, Z:-0.80 [[ 9.98169658e-01 6.00899040e-02 6.82186099e-03 1.02112272e+02] [-6.00901770e-02 9.98192939e-01 -1.65122283e-04 -1.02289231e+00] [-6.81945566e-03 -2.45106782e-04 9.99976717e-01 -7.99211210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:-1.02, Z:-0.80 [[ 9.98141256e-01 6.05598559e-02 6.82187107e-03 1.02170326e+02] [-6.05601427e-02 9.98164537e-01 -1.64705051e-04 -1.02170019e+00] [-6.81932429e-03 -2.48734579e-04 9.99976717e-01 -7.98916872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.23, Y:-1.02, Z:-0.80 [[ 9.97861271e-01 6.50103509e-02 6.82188064e-03 1.02229173e+02] [-6.50107443e-02 9.97884551e-01 -1.64307373e-04 -1.01847416e+00] [-6.81813098e-03 -2.79539575e-04 9.99976717e-01 -7.99339333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.29, Y:-1.02, Z:-0.80 [[ 9.97548446e-01 6.96459595e-02 6.82188869e-03 1.02287573e+02] [-6.96464633e-02 9.97571723e-01 -1.63972739e-04 -1.01637271e+00] [-6.81674329e-03 -3.11549669e-04 9.99976717e-01 -8.02793486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:-1.01, Z:-0.81 [[ 9.97502893e-01 7.02953777e-02 6.82189663e-03 1.02346947e+02] [-7.02958990e-02 9.97526170e-01 -1.63641730e-04 -1.01495433e+00] [-6.81652367e-03 -3.16318257e-04 9.99976717e-01 -8.05805708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:-1.01, Z:-0.80 [[ 9.97951537e-01 6.36096835e-02 6.82190261e-03 1.02404653e+02] [-6.36100505e-02 9.97974817e-01 -1.63391964e-04 -1.01444792e+00] [-6.81848032e-03 -2.70884307e-04 9.99976717e-01 -8.04690533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:-1.02, Z:-0.80 [[ 9.98110095e-01 6.10712678e-02 6.82191247e-03 1.02463841e+02] [-6.10715783e-02 9.98133376e-01 -1.62979474e-04 -1.01523383e+00] [-6.81913188e-03 -2.53953503e-04 9.99976717e-01 -8.02422112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:-1.01, Z:-0.80 [[ 9.98266878e-01 5.84525643e-02 6.82192040e-03 1.02522558e+02] [-5.84528161e-02 9.98290159e-01 -1.62646518e-04 -1.01494339e+00] [-6.81976311e-03 -2.36395827e-04 9.99976717e-01 -8.01344007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:-1.02, Z:-0.80 [[ 9.98192678e-01 5.97062752e-02 6.82192848e-03 1.02580860e+02] [-5.97065585e-02 9.98215959e-01 -1.62307037e-04 -1.01739185e+00] [-6.81944863e-03 -2.45300177e-04 9.99976717e-01 -8.03782187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:-1.02, Z:-0.80 [[ 9.98099834e-01 6.12387391e-02 6.82193649e-03 1.02638307e+02] [-6.12390604e-02 9.98123114e-01 -1.61969775e-04 -1.01977672e+00] [-6.81905132e-03 -2.56106975e-04 9.99976717e-01 -8.02313783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:-1.02, Z:-0.80 [[ 9.97963096e-01 6.34280694e-02 6.82194635e-03 1.02697249e+02] [-6.34284446e-02 9.97986376e-01 -1.61553168e-04 -1.02121178e+00] [-6.81845652e-03 -2.71481347e-04 9.99976717e-01 -7.99976118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:-1.02, Z:-0.80 [[ 9.97730754e-01 6.69836125e-02 6.82195385e-03 1.02756130e+02] [-6.69840728e-02 9.97754032e-01 -1.61236167e-04 -1.02161421e+00] [-6.81743214e-03 -2.96091971e-04 9.99976717e-01 -8.03011762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-1.02, Z:-0.80 [[ 9.97675596e-01 6.78001915e-02 6.82196153e-03 1.02815119e+02] [-6.78006731e-02 9.97698874e-01 -1.60910381e-04 -1.02353708e+00] [-6.81717309e-03 -3.01997223e-04 9.99976717e-01 -8.04224746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:-1.03, Z:-0.80 [[ 9.97840830e-01 6.53233393e-02 6.82196935e-03 1.02873428e+02] [-6.53237654e-02 9.97864109e-01 -1.60578138e-04 -1.03042890e+00] [-6.81788787e-03 -2.85405303e-04 9.99976717e-01 -8.04527462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:-1.04, Z:-0.81 [[ 9.98039771e-01 6.22099401e-02 6.82197714e-03 1.02932090e+02] [-6.22102958e-02 9.98063051e-01 -1.60246511e-04 -1.03741811e+00] [-6.81873224e-03 -2.64464825e-04 9.99976717e-01 -8.05963101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:-1.05, Z:-0.81 [[ 9.98341192e-01 5.71692697e-02 6.82198500e-03 1.02990104e+02] [-5.71695102e-02 9.98364473e-01 -1.59911049e-04 -1.04699175e+00] [-6.81996946e-03 -2.30363754e-04 9.99976717e-01 -8.11237353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-1.05, Z:-0.81 [[ 9.98288620e-01 5.80800368e-02 6.82199084e-03 1.03048204e+02] [-5.80803003e-02 9.98311902e-01 -1.59661876e-04 -1.05451312e+00] [-6.81974781e-03 -2.36834643e-04 9.99976717e-01 -8.11470469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:-1.06, Z:-0.81 [[ 9.98042699e-01 6.21629418e-02 6.82199646e-03 1.03106634e+02] [-6.21633021e-02 9.98065979e-01 -1.59421192e-04 -1.06129882e+00] [-6.81871267e-03 -2.64968670e-04 9.99976717e-01 -8.09966713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-1.07, Z:-0.80 [[ 9.97554999e-01 6.95520203e-02 6.82200384e-03 1.03166128e+02] [-6.95525551e-02 9.97578276e-01 -1.59104858e-04 -1.06824949e+00] [-6.81654889e-03 -3.15771951e-04 9.99976717e-01 -8.04802477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:-1.07, Z:-0.80 [[ 9.97404522e-01 7.16776087e-02 6.82200775e-03 1.03223933e+02] [-7.16781943e-02 9.97427797e-01 -1.58937034e-04 -1.07413145e+00] [-6.81585239e-03 -3.30464680e-04 9.99976717e-01 -8.02428717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:-1.08, Z:-0.80 [[ 9.97308700e-01 7.29987520e-02 6.82201736e-03 1.03281871e+02] [-7.29993712e-02 9.97331974e-01 -1.58523392e-04 -1.07921790e+00] [-6.81538805e-03 -3.39906220e-04 9.99976717e-01 -8.03033942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:-1.08, Z:-0.81 [[ 9.97115189e-01 7.55960280e-02 6.82202680e-03 1.03340368e+02] [-7.55967107e-02 9.97138462e-01 -1.58116162e-04 -1.08260836e+00] [-6.81445826e-03 -3.58062759e-04 9.99976717e-01 -8.05959460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-1.08, Z:-0.81 [[ 9.97151797e-01 7.51116030e-02 6.82203411e-03 1.03399252e+02] [-7.51122765e-02 9.97175070e-01 -1.57799892e-04 -1.08283136e+00] [-6.81461495e-03 -3.55068066e-04 9.99976717e-01 -8.09277617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-1.08, Z:-0.81 [[ 9.97211766e-01 7.43111892e-02 6.82204147e-03 1.03457347e+02] [-7.43118462e-02 9.97235040e-01 -1.57481387e-04 -1.08239141e+00] [-6.81488142e-03 -3.49916204e-04 9.99976717e-01 -8.08659253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:-1.08, Z:-0.80 [[ 9.97356444e-01 7.23435072e-02 6.82205125e-03 1.03515822e+02] [-7.23441211e-02 9.97379719e-01 -1.57056269e-04 -1.08055009e+00] [-6.81553756e-03 -3.36894220e-04 9.99976717e-01 -8.03492552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-1.07, Z:-0.81 [[ 9.97519510e-01 7.00591603e-02 6.82205846e-03 1.03574356e+02] [-7.00597230e-02 9.97542786e-01 -1.56742710e-04 -1.07338411e+00] [-6.81627646e-03 -3.21597615e-04 9.99976717e-01 -8.05932566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:-1.07, Z:-0.81 [[ 9.97631979e-01 6.84389833e-02 6.82206559e-03 1.03633780e+02] [-6.84395104e-02 9.97655256e-01 -1.56431691e-04 -1.07016204e+00] [-6.81677561e-03 -3.10837571e-04 9.99976717e-01 -8.11416171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:-1.07, Z:-0.81 [[ 9.97928262e-01 6.39737693e-02 6.82207107e-03 1.03692278e+02] [-6.39741939e-02 9.97951541e-01 -1.56192109e-04 -1.06824573e+00] [-6.81808854e-03 -2.80567978e-04 9.99976717e-01 -8.12446278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:-1.07, Z:-0.81 [[ 9.98432548e-01 5.55509399e-02 6.82207833e-03 1.03751711e+02] [-5.55511702e-02 9.98455829e-01 -1.55874713e-04 -1.06825831e+00] [-6.82020286e-03 -2.23344047e-04 9.99976717e-01 -8.10440362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:-1.07, Z:-0.81 [[ 9.98610242e-01 5.22593850e-02 6.82208208e-03 1.03810202e+02] [-5.22595397e-02 9.98633525e-01 -1.55710438e-04 -1.07024872e+00] [-6.82089720e-03 -2.01024830e-04 9.99976717e-01 -8.11766166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:-1.07, Z:-0.81 [[ 9.98776017e-01 4.89890440e-02 6.82208766e-03 1.03870229e+02] [-4.89891241e-02 9.98799300e-01 -1.55465588e-04 -1.07102552e+00] [-6.82151248e-03 -1.78932798e-04 9.99976717e-01 -8.10564985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:-1.08, Z:-0.81 [[ 9.98944216e-01 4.54303061e-02 6.82209134e-03 1.03928807e+02] [-4.54303043e-02 9.98967499e-01 -1.55303583e-04 -1.07541915e+00] [-6.82210301e-03 -1.54790069e-04 9.99976717e-01 -8.10523166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:-1.08, Z:-0.81 [[ 9.98984120e-01 4.45442209e-02 6.82209683e-03 1.03988774e+02] [-4.45442001e-02 9.99007402e-01 -1.55062262e-04 -1.08115554e+00] [-6.82223236e-03 -1.48980109e-04 9.99976717e-01 -8.08418237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:-1.09, Z:-0.81 [[ 9.98927350e-01 4.57996513e-02 6.82210063e-03 1.04048836e+02] [-4.57996609e-02 9.98950633e-01 -1.54895053e-04 -1.08559226e+00] [-6.82203588e-03 -1.57720991e-04 9.99976717e-01 -8.09632696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:-1.09, Z:-0.81 [[ 9.98539401e-01 5.35959360e-02 6.82210251e-03 1.04107181e+02] [-5.35961280e-02 9.98562683e-01 -1.54811955e-04 -1.09089590e+00] [-6.82059428e-03 -2.11052443e-04 9.99976717e-01 -8.07889277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:-1.09, Z:-0.81 [[ 9.98055314e-01 6.19600586e-02 6.82210808e-03 1.04165731e+02] [-6.19604473e-02 9.98078594e-01 -1.54565980e-04 -1.09334568e+00] [-6.81857696e-03 -2.68435471e-04 9.99976717e-01 -8.07624415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.22, Y:-1.10, Z:-0.81 [[ 9.97562869e-01 6.94390441e-02 6.82211540e-03 1.04224267e+02] [-6.94396095e-02 9.97586145e-01 -1.54242275e-04 -1.09678498e+00] [-6.81635824e-03 -3.19858663e-04 9.99976717e-01 -8.08594539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:104.28, Y:-1.10, Z:-0.81 [[ 9.97267837e-01 7.35548760e-02 6.82212263e-03 1.04281460e+02] [-7.35555396e-02 9.97291110e-01 -1.53921854e-04 -1.10437777e+00] [-6.81496396e-03 -3.48303597e-04 9.99976717e-01 -8.11564676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:-1.11, Z:-0.81 [[ 9.97269660e-01 7.35301590e-02 6.82213153e-03 1.04340361e+02] [-7.35308248e-02 9.97292933e-01 -1.53526409e-04 -1.10737465e+00] [-6.81495239e-03 -3.48529728e-04 9.99976717e-01 -8.12308611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:-1.11, Z:-0.81 [[ 9.97375541e-01 7.20797447e-02 6.82213885e-03 1.04398895e+02] [-7.20803788e-02 9.97398815e-01 -1.53200523e-04 -1.11002264e+00] [-6.81543586e-03 -3.38943898e-04 9.99976717e-01 -8.12598868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-1.11, Z:-0.82 [[ 9.97558448e-01 6.95025258e-02 6.82214622e-03 1.04457634e+02] [-6.95031020e-02 9.97581724e-01 -1.52871752e-04 -1.11297139e+00] [-6.81627335e-03 -3.21661817e-04 9.99976717e-01 -8.16405559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:-1.12, Z:-0.82 [[ 9.97799797e-01 6.59471187e-02 6.82215169e-03 1.04517547e+02] [-6.59476137e-02 9.97823075e-01 -1.52627037e-04 -1.11851158e+00] [-6.81736569e-03 -2.97613397e-04 9.99976717e-01 -8.20697415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:-1.12, Z:-0.82 [[ 9.97823017e-01 6.55948490e-02 6.82215509e-03 1.04577099e+02] [-6.55953367e-02 9.97846295e-01 -1.52475142e-04 -1.12055356e+00] [-6.81746376e-03 -2.95358354e-04 9.99976717e-01 -8.17312322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.64, Y:-1.12, Z:-0.81 [[ 9.97591520e-01 6.90262118e-02 6.82215864e-03 1.04636219e+02] [-6.90267807e-02 9.97614796e-01 -1.52315837e-04 -1.12136440e+00] [-6.81640019e-03 -3.18962661e-04 9.99976717e-01 -8.13958118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:-1.12, Z:-0.81 [[ 9.97317082e-01 7.28841290e-02 6.82216391e-03 1.04695996e+02] [-7.28847895e-02 9.97340355e-01 -1.52079684e-04 -1.12285825e+00] [-6.81510357e-03 -3.45560313e-04 9.99976717e-01 -8.11048239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:-1.13, Z:-0.81 [[ 9.96968847e-01 7.75020998e-02 6.82216745e-03 1.04754765e+02] [-7.75028691e-02 9.96992117e-01 -1.51920565e-04 -1.12630424e+00] [-6.81342133e-03 -3.77277481e-04 9.99976717e-01 -8.13128820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.81, Y:-1.13, Z:-0.81 [[ 9.96800625e-01 7.96364941e-02 6.82217094e-03 1.04813963e+02] [-7.96373144e-02 9.96823894e-01 -1.51763805e-04 -1.12918477e+00] [-6.81258894e-03 -3.92021116e-04 9.99976717e-01 -8.08054051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.87, Y:-1.13, Z:-0.81 [[ 9.96606657e-01 8.20282179e-02 6.82217828e-03 1.04871914e+02] [-8.20290963e-02 9.96629924e-01 -1.51433184e-04 -1.13130911e+00] [-6.81160881e-03 -4.08697799e-04 9.99976717e-01 -8.09135516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.93, Y:-1.13, Z:-0.81 [[ 9.96321979e-01 8.54164672e-02 6.82218732e-03 1.04929245e+02] [-8.54174274e-02 9.96345242e-01 -1.51024712e-04 -1.13359305e+00] [-6.81015387e-03 -4.32264450e-04 9.99976717e-01 -8.10381781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.99, Y:-1.13, Z:-0.81 [[ 9.96025265e-01 8.88095074e-02 6.82219602e-03 1.04988250e+02] [-8.88105496e-02 9.96048525e-01 -1.50630634e-04 -1.13309290e+00] [-6.80861571e-03 -4.55851060e-04 9.99976717e-01 -8.10898251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:-1.13, Z:-0.81 [[ 9.95672745e-01 9.26781661e-02 6.82220320e-03 1.05046018e+02] [-9.26793008e-02 9.95696000e-01 -1.50304859e-04 -1.13144059e+00] [-6.80677041e-03 -4.82622571e-04 9.99976717e-01 -8.14544969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:-1.13, Z:-0.82 [[ 9.95837799e-01 9.08874898e-02 6.82221203e-03 1.05105076e+02] [-9.08885855e-02 9.95861056e-01 -1.49903003e-04 -1.13061048e+00] [-6.80759958e-03 -4.70782125e-04 9.99976717e-01 -8.15626279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.16, Y:-1.13, Z:-0.82 [[ 9.96316146e-01 8.54844753e-02 6.82221918e-03 1.05162488e+02] [-8.54854470e-02 9.96339408e-01 -1.49576929e-04 -1.13261442e+00] [-6.81003232e-03 -4.34174547e-04 9.99976717e-01 -8.18609126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:-1.14, Z:-0.82 [[ 9.96988894e-01 7.72437849e-02 6.82222802e-03 1.05221151e+02] [-7.72445670e-02 9.97012164e-01 -1.49172384e-04 -1.13731669e+00] [-6.81336696e-03 -3.78256839e-04 9.99976717e-01 -8.24334456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.28, Y:-1.14, Z:-0.82 [[ 9.97012723e-01 7.69356098e-02 6.82223310e-03 1.05281196e+02] [-7.69363863e-02 9.97035992e-01 -1.48939778e-04 -1.13993957e+00] [-6.81347072e-03 -3.76383107e-04 9.99976717e-01 -8.20505730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.34, Y:-1.14, Z:-0.82 [[ 9.96666629e-01 8.12962967e-02 6.82223668e-03 1.05340147e+02] [-8.12971761e-02 9.96689895e-01 -1.48775489e-04 -1.14070920e+00] [-6.81174926e-03 -4.06349012e-04 9.99976717e-01 -8.21887475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.40, Y:-1.14, Z:-0.82 [[ 9.95762121e-01 9.17128991e-02 6.82224199e-03 1.05399256e+02] [-9.17140233e-02 9.95785376e-01 -1.48531730e-04 -1.13705244e+00] [-6.80711108e-03 -4.77792990e-04 9.99976717e-01 -8.24002886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.46, Y:-1.13, Z:-0.82 [[ 9.95418183e-01 9.53734614e-02 6.82224900e-03 1.05458051e+02] [-9.53746733e-02 9.95441435e-01 -1.48209189e-04 -1.13473269e+00] [-6.80528455e-03 -5.03139648e-04 9.99976717e-01 -8.20404974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:-1.13, Z:-0.82 [[ 9.95384097e-01 9.57285574e-02 6.82225610e-03 1.05517216e+02] [-9.57297799e-02 9.95407347e-01 -1.47881295e-04 -1.13127051e+00] [-6.80508032e-03 -5.05894386e-04 9.99976717e-01 -8.17681315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:-1.13, Z:-0.82 [[ 9.95229682e-01 9.73207976e-02 6.82226325e-03 1.05575092e+02] [-9.73220595e-02 9.95252930e-01 -1.47551093e-04 -1.12846511e+00] [-6.80423728e-03 -5.17109483e-04 9.99976717e-01 -8.17200186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:-1.12, Z:-0.82 [[ 9.94987770e-01 9.97636927e-02 6.82227205e-03 1.05633773e+02] [-9.97650146e-02 9.95011015e-01 -1.47142731e-04 -1.12301338e+00] [-6.80291534e-03 -5.34218853e-04 9.99976717e-01 -8.16834160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:-1.12, Z:-0.82 [[ 9.95060099e-01 9.90396667e-02 6.82227895e-03 1.05691522e+02] [-9.90409738e-02 9.95083345e-01 -1.46822412e-04 -1.11781913e+00] [-6.80327740e-03 -5.29588026e-04 9.99976717e-01 -8.17549079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:-1.11, Z:-0.82 [[ 9.95301993e-01 9.65784582e-02 6.82228951e-03 1.05749895e+02] [-9.65797111e-02 9.95325242e-01 -1.46330137e-04 -1.11011470e+00] [-6.80452929e-03 -5.13252073e-04 9.99976717e-01 -8.15826500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.81, Y:-1.11, Z:-0.82 [[ 9.95574670e-01 9.37258333e-02 6.82229822e-03 1.05808654e+02] [-9.37270224e-02 9.95597923e-01 -1.45922776e-04 -1.10788784e+00] [-6.80594267e-03 -4.94156678e-04 9.99976717e-01 -8.18093618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.87, Y:-1.11, Z:-0.82 [[ 9.95940909e-01 8.97505530e-02 6.82230496e-03 1.05866843e+02] [-8.97516514e-02 9.95964166e-01 -1.45606881e-04 -1.10875124e+00] [-6.80783957e-03 -4.67297288e-04 9.99976717e-01 -8.19312985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.93, Y:-1.11, Z:-0.82 [[ 9.96252527e-01 8.62227226e-02 6.82231332e-03 1.05925272e+02] [-8.62237414e-02 9.96275788e-01 -1.45213969e-04 -1.10882997e+00] [-6.80942633e-03 -4.43575596e-04 9.99976717e-01 -8.18298339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.98, Y:-1.11, Z:-0.82 [[ 9.96441785e-01 8.40072955e-02 6.82232025e-03 1.05984505e+02] [-8.40082647e-02 9.96465047e-01 -1.44887777e-04 -1.11046687e+00] [-6.81037530e-03 -4.28759051e-04 9.99976717e-01 -8.22654396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:-1.12, Z:-0.82 [[ 9.96803212e-01 7.96040950e-02 6.82232712e-03 1.06043371e+02] [-7.96049636e-02 9.96826479e-01 -1.44563678e-04 -1.11604788e+00] [-6.81218418e-03 -3.98989564e-04 9.99976717e-01 -8.23402082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:-1.12, Z:-0.82 [[ 9.96944001e-01 7.78210400e-02 6.82233395e-03 1.06102222e+02] [-7.78218693e-02 9.96967269e-01 -1.44240840e-04 -1.12095342e+00] [-6.81286861e-03 -3.87126740e-04 9.99976717e-01 -8.22649659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:-1.12, Z:-0.82 [[ 9.96962926e-01 7.75782147e-02 6.82234079e-03 1.06161334e+02] [-7.75790404e-02 9.96986194e-01 -1.43916333e-04 -1.12332282e+00] [-6.81294435e-03 -3.85791403e-04 9.99976717e-01 -8.21871036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:-1.13, Z:-0.82 [[ 9.96634640e-01 8.16875121e-02 6.82234784e-03 1.06219494e+02] [-8.16884361e-02 9.96657905e-01 -1.43581580e-04 -1.12735490e+00] [-6.81127572e-03 -4.14208548e-04 9.99976717e-01 -8.19127355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.28, Y:-1.13, Z:-0.82 [[ 9.96086949e-01 8.81149595e-02 6.82235756e-03 1.06277751e+02] [-8.81160367e-02 9.96110207e-01 -1.43117908e-04 -1.12799959e+00] [-6.80843083e-03 -4.58601229e-04 9.99976717e-01 -8.16899601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.34, Y:-1.13, Z:-0.82 [[ 9.95505189e-01 9.44609639e-02 6.82236609e-03 1.06336234e+02] [-9.44621921e-02 9.95528440e-01 -1.42710172e-04 -1.12583287e+00] [-6.80534001e-03 -5.02386940e-04 9.99976717e-01 -8.18462980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:-1.12, Z:-0.82 [[ 9.95409440e-01 9.54646623e-02 6.82237274e-03 1.06395260e+02] [-9.54659161e-02 9.95432689e-01 -1.42391651e-04 -1.12108964e+00] [-6.80480621e-03 -5.09566070e-04 9.99976717e-01 -8.20105304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:-1.12, Z:-0.82 [[ 9.95844300e-01 9.08162127e-02 6.82237953e-03 1.06454466e+02] [-9.08173601e-02 9.95867555e-01 -1.42065775e-04 -1.11829072e+00] [-6.80708829e-03 -4.78115106e-04 9.99976717e-01 -8.19124910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.51, Y:-1.12, Z:-0.82 [[ 9.96315881e-01 8.54875394e-02 6.82238625e-03 1.06512444e+02] [-8.54885646e-02 9.96339142e-01 -1.41742329e-04 -1.11812466e+00] [-6.80952766e-03 -4.42015874e-04 9.99976717e-01 -8.21728229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.57, Y:-1.12, Z:-0.82 [[ 9.96667084e-01 8.12907094e-02 6.82239503e-03 1.06571075e+02] [-8.12916395e-02 9.96690348e-01 -1.41318066e-04 -1.11557259e+00] [-6.81130312e-03 -4.13756613e-04 9.99976717e-01 -8.22552527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.63, Y:-1.12, Z:-0.82 [[ 9.96792369e-01 7.97397531e-02 6.82240148e-03 1.06629845e+02] [-7.97406492e-02 9.96815634e-01 -1.41005945e-04 -1.11565690e+00] [-6.81192024e-03 -4.03469073e-04 9.99976717e-01 -8.24070253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.69, Y:-1.12, Z:-0.83 [[ 9.96775256e-01 7.99533822e-02 6.82240812e-03 1.06687861e+02] [-7.99542854e-02 9.96798521e-01 -1.40684157e-04 -1.11937836e+00] [-6.81181450e-03 -4.05250280e-04 9.99976717e-01 -8.27026467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.75, Y:-1.12, Z:-0.83 [[ 9.96362297e-01 8.49448518e-02 6.82241635e-03 1.06746211e+02] [-8.49458742e-02 9.96385557e-01 -1.40284063e-04 -1.12296374e+00] [-6.80967352e-03 -4.39762370e-04 9.99976717e-01 -8.27709582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.80, Y:-1.13, Z:-0.83 [[ 9.95859972e-01 9.06441977e-02 6.82242303e-03 1.06804836e+02] [-9.06453555e-02 9.95883226e-01 -1.39958163e-04 -1.12510032e+00] [-6.80702305e-03 -4.79042229e-04 9.99976717e-01 -8.29960947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:-1.13, Z:-0.83 [[ 9.95313869e-01 9.64559867e-02 6.82242976e-03 1.06862395e+02] [-9.64572824e-02 9.95337115e-01 -1.39629471e-04 -1.12799362e+00] [-6.80408565e-03 -5.19097885e-04 9.99976717e-01 -8.30671453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:106.92, Y:-1.13, Z:-0.83 [[ 9.94738270e-01 1.02221472e-01 6.82243947e-03 1.06919968e+02] [-1.02222906e-01 9.94761508e-01 -1.39153400e-04 -1.13339886e+00] [-6.80092464e-03 -5.58988375e-04 9.99976717e-01 -8.29306459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.98, Y:-1.14, Z:-0.83 [[ 9.94496575e-01 1.04546716e-01 6.82244740e-03 1.06977627e+02] [-1.04548207e-01 9.94519810e-01 -1.38763333e-04 -1.13647165e+00] [-6.79956635e-03 -5.75274981e-04 9.99976717e-01 -8.27346858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.04, Y:-1.14, Z:-0.82 [[ 9.94274444e-01 1.06638564e-01 6.82245717e-03 1.07035658e+02] [-1.06640107e-01 9.94297676e-01 -1.38281233e-04 -1.13973117e+00] [-6.79829943e-03 -5.90058069e-04 9.99976717e-01 -8.21708997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.09, Y:-1.14, Z:-0.82 [[ 9.94389574e-01 1.05559596e-01 6.82246363e-03 1.07093234e+02] [-1.05561116e-01 9.94412808e-01 -1.37962030e-04 -1.14152718e+00] [-6.79890843e-03 -5.82998868e-04 9.99976717e-01 -8.21281660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.15, Y:-1.14, Z:-0.82 [[ 9.94611643e-01 1.03446287e-01 6.82247165e-03 1.07151724e+02] [-1.03447760e-01 9.94634879e-01 -1.37564098e-04 -1.14274093e+00] [-6.80009876e-03 -5.68946556e-04 9.99976717e-01 -8.20370650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:-1.15, Z:-0.82 [[ 9.95026120e-01 9.93804553e-02 6.82247799e-03 1.07209815e+02] [-9.93818355e-02 9.95049362e-01 -1.37248859e-04 -1.14645307e+00] [-6.80234223e-03 -5.41464187e-04 9.99976717e-01 -8.23318909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:-1.15, Z:-0.82 [[ 9.95176734e-01 9.78607277e-02 6.82248584e-03 1.07268206e+02] [-9.78620752e-02 9.95199978e-01 -1.36857764e-04 -1.14931282e+00] [-6.80313076e-03 -5.31464960e-04 9.99976717e-01 -8.23356243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.33, Y:-1.15, Z:-0.82 [[ 9.95286478e-01 9.67382089e-02 6.82249521e-03 1.07326240e+02] [-9.67395333e-02 9.95309723e-01 -1.36389154e-04 -1.15123671e+00] [-6.80368986e-03 -5.24258722e-04 9.99976717e-01 -8.24407308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:-1.15, Z:-0.83 [[ 9.95502499e-01 9.44892955e-02 6.82250480e-03 1.07383916e+02] [-9.44905707e-02 9.95525747e-01 -1.35907452e-04 -1.15474076e+00] [-6.80482099e-03 -5.09366164e-04 9.99976717e-01 -8.29135965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.44, Y:-1.16, Z:-0.83 [[ 9.95504948e-01 9.44634998e-02 6.82251270e-03 1.07442181e+02] [-9.44647771e-02 9.95528195e-01 -1.35509737e-04 -1.15714635e+00] [-6.80480448e-03 -5.09586528e-04 9.99976717e-01 -8.33695234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.50, Y:-1.16, Z:-0.83 [[ 9.95278229e-01 9.68230359e-02 6.82251886e-03 1.07500815e+02] [-9.68243704e-02 9.95301473e-01 -1.35199052e-04 -1.15895121e+00] [-6.80355346e-03 -5.26025420e-04 9.99976717e-01 -8.32898153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.56, Y:-1.16, Z:-0.83 [[ 9.94709069e-01 1.02505224e-01 6.82252537e-03 1.07558497e+02] [-1.02506693e-01 9.94732306e-01 -1.34869866e-04 -1.15791029e+00] [-6.80041125e-03 -5.65198236e-04 9.99976717e-01 -8.31531673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:-1.16, Z:-0.83 [[ 9.94564613e-01 1.03897471e-01 6.82253336e-03 1.07617339e+02] [-1.03898975e-01 9.94587847e-01 -1.34464087e-04 -1.15696118e+00] [-6.79957925e-03 -5.75121003e-04 9.99976717e-01 -8.31840548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:-1.16, Z:-0.83 [[ 9.94708494e-01 1.02510803e-01 6.82253963e-03 1.07675673e+02] [-1.02512278e-01 9.94731730e-01 -1.34145558e-04 -1.15767314e+00] [-6.80034802e-03 -5.65958353e-04 9.99976717e-01 -8.29173111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-1.16, Z:-0.83 [[ 9.94870367e-01 1.00927723e-01 6.82254743e-03 1.07733928e+02] [-1.00929163e-01 9.94893605e-01 -1.33747622e-04 -1.15874664e+00] [-6.80120765e-03 -5.55532455e-04 9.99976717e-01 -8.25837503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.79, Y:-1.16, Z:-0.82 [[ 9.94790992e-01 1.01707100e-01 6.82255510e-03 1.07792978e+02] [-1.01708561e-01 9.94814229e-01 -1.33354935e-04 -1.15869893e+00] [-6.80073804e-03 -5.61251976e-04 9.99976717e-01 -8.22919715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.85, Y:-1.16, Z:-0.83 [[ 9.94706230e-01 1.02532771e-01 6.82256141e-03 1.07850710e+02] [-1.02534254e-01 9.94729465e-01 -1.33031705e-04 -1.15756909e+00] [-6.80024297e-03 -5.67218778e-04 9.99976717e-01 -8.25838648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:-1.16, Z:-0.83 [[ 9.94579791e-01 1.03752073e-01 6.82256917e-03 1.07908362e+02] [-1.03753587e-01 9.94603024e-01 -1.32632564e-04 -1.16072667e+00] [-6.79950883e-03 -5.75952352e-04 9.99976717e-01 -8.27057910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.97, Y:-1.16, Z:-0.83 [[ 9.94704683e-01 1.02547775e-01 6.82257830e-03 1.07967471e+02] [-1.02549264e-01 9.94727918e-01 -1.32161062e-04 -1.16427860e+00] [-6.80016193e-03 -5.68189157e-04 9.99976717e-01 -8.27410358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:-1.17, Z:-0.83 [[ 9.94730453e-01 1.02297500e-01 6.82258454e-03 1.08025534e+02] [-1.02298985e-01 9.94753688e-01 -1.31838123e-04 -1.16640670e+00] [-6.80027785e-03 -5.66800081e-04 9.99976717e-01 -8.28115362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:-1.17, Z:-0.83 [[ 9.94587159e-01 1.03681416e-01 6.82259374e-03 1.08084791e+02] [-1.03682937e-01 9.94610392e-01 -1.31360282e-04 -1.16954351e+00] [-6.79944225e-03 -5.76737305e-04 9.99976717e-01 -8.25896319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:-1.17, Z:-0.83 [[ 9.93969735e-01 1.09442308e-01 6.82259994e-03 1.08142268e+02] [-1.09443966e-01 9.93992958e-01 -1.31037411e-04 -1.17136689e+00] [-6.79595734e-03 -6.16445174e-04 9.99976717e-01 -8.29107605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:-1.17, Z:-0.84 [[ 9.93672299e-01 1.12110723e-01 6.82260760e-03 1.08201393e+02] [-1.12112446e-01 9.93695518e-01 -1.30637664e-04 -1.17397257e+00] [-6.79424047e-03 -6.35088198e-04 9.99976717e-01 -8.38224783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:-1.18, Z:-0.84 [[ 9.93702008e-01 1.11847086e-01 6.82261749e-03 1.08259778e+02] [-1.11848806e-01 9.93725227e-01 -1.30118938e-04 -1.17651133e+00] [-6.79436054e-03 -6.33802169e-04 9.99976717e-01 -8.40439425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:-1.18, Z:-0.83 [[ 9.93874368e-01 1.10305001e-01 6.82262333e-03 1.08318378e+02] [-1.10306687e-01 9.93897589e-01 -1.29811823e-04 -1.17710814e+00] [-6.79530778e-03 -6.23564331e-04 9.99976717e-01 -8.34706434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:-1.18, Z:-0.84 [[ 9.94039681e-01 1.08805163e-01 6.82262914e-03 1.08377174e+02] [-1.08806816e-01 9.94062905e-01 -1.29505741e-04 -1.17855584e+00] [-6.79621344e-03 -6.13614709e-04 9.99976717e-01 -8.36217534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.44, Y:-1.18, Z:-0.84 [[ 9.94285528e-01 1.06535157e-01 6.82263524e-03 1.08436569e+02] [-1.06536759e-01 9.94308756e-01 -1.29183963e-04 -1.17617736e+00] [-6.79756859e-03 -5.98415702e-04 9.99976717e-01 -8.41952125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:-1.18, Z:-0.84 [[ 9.94507977e-01 1.04438192e-01 6.82263980e-03 1.08495315e+02] [-1.04439747e-01 9.94531208e-01 -1.28942282e-04 -1.17614110e+00] [-6.79879470e-03 -5.84320644e-04 9.99976717e-01 -8.39590957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.55, Y:-1.18, Z:-0.83 [[ 9.94834908e-01 1.01276633e-01 6.82264590e-03 1.08553813e+02] [-1.01278116e-01 9.94858144e-01 -1.28619117e-04 -1.17803171e+00] [-6.80059094e-03 -5.63029937e-04 9.99976717e-01 -8.33471639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:108.61, Y:-1.18, Z:-0.83 [[ 9.95741320e-01 9.19384319e-02 6.82265196e-03 1.08611136e+02] [-9.19396994e-02 9.95764568e-01 -1.28296825e-04 -1.18287988e+00] [-6.80555049e-03 -4.99522120e-04 9.99976717e-01 -8.34711493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:-1.19, Z:-0.83 [[ 9.96433548e-01 8.41049101e-02 6.82265941e-03 1.08669885e+02] [-8.41059974e-02 9.96456805e-01 -1.27899102e-04 -1.19001925e+00] [-6.80924234e-03 -4.46383619e-04 9.99976717e-01 -8.33439497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:-1.20, Z:-0.83 [[ 9.97121431e-01 7.55135893e-02 6.82266548e-03 1.08728461e+02] [-7.55144783e-02 9.97144697e-01 -1.27574376e-04 -1.19966910e+00] [-6.81281831e-03 -3.88002881e-04 9.99976717e-01 -8.33995121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:-1.22, Z:-0.83 [[ 9.97728949e-01 6.70104179e-02 6.82266999e-03 1.08788235e+02] [-6.70111103e-02 9.97752221e-01 -1.27332884e-04 -1.21568956e+00] [-6.81586677e-03 -3.30150987e-04 9.99976717e-01 -8.34962478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:-1.23, Z:-0.83 [[ 9.97785437e-01 6.61639830e-02 6.82267297e-03 1.08848590e+02] [-6.61646567e-02 9.97808710e-01 -1.27172897e-04 -1.22650241e+00] [-6.81613678e-03 -3.24528551e-04 9.99976717e-01 -8.30637576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:-1.24, Z:-0.83 [[ 9.97744796e-01 6.67740521e-02 6.82267297e-03 1.08908613e+02] [-6.67747400e-02 9.97768068e-01 -1.27172897e-04 -1.23671504e+00] [-6.81593708e-03 -3.28696118e-04 9.99976717e-01 -8.27703222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:-1.25, Z:-0.84 [[ 9.97974021e-01 6.32558730e-02 6.82267297e-03 1.08968397e+02] [-6.32564788e-02 9.97997295e-01 -1.27172897e-04 -1.25206254e+00] [-6.81705361e-03 -3.04663022e-04 9.99976717e-01 -8.35240257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.03, Y:-1.26, Z:-0.84 [[ 9.98202550e-01 5.95409114e-02 6.82267141e-03 1.09029152e+02] [-5.95414300e-02 9.98225827e-01 -1.27256503e-04 -1.25987613e+00] [-6.81814378e-03 -2.79203847e-04 9.99976717e-01 -8.36121052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.09, Y:-1.27, Z:-0.83 [[ 9.98488697e-01 5.45323205e-02 6.82265132e-03 1.09090715e+02] [-5.45327151e-02 9.98511976e-01 -1.28324979e-04 -1.26866392e+00] [-6.81949691e-03 -2.43926659e-04 9.99976717e-01 -8.31260089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.15, Y:-1.28, Z:-0.83 [[ 9.98857059e-01 4.73077976e-02 6.82263103e-03 1.09152514e+02] [-4.73080164e-02 9.98880341e-01 -1.29394742e-04 -1.28486903e+00] [-6.82111339e-03 -1.93518289e-04 9.99976717e-01 -8.26434814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.21, Y:-1.30, Z:-0.82 [[ 9.98966389e-01 4.49400296e-02 6.82260759e-03 1.09214287e+02] [-4.49401849e-02 9.98989671e-01 -1.30619222e-04 -1.29509397e+00] [-6.82158454e-03 -1.76125034e-04 9.99976717e-01 -8.21557471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:-1.31, Z:-0.83 [[ 9.99092898e-01 4.20337149e-02 6.82259547e-03 1.09276388e+02] [-4.20337982e-02 9.99116181e-01 -1.31248848e-04 -1.30686853e+00] [-6.82208241e-03 -1.55649809e-04 9.99976717e-01 -8.29876972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:-1.32, Z:-0.84 [[ 9.99283426e-01 3.72301971e-02 6.82257931e-03 1.09338548e+02] [-3.72301627e-02 9.99306708e-01 -1.32083693e-04 -1.32463506e+00] [-6.82276678e-03 -1.22016693e-04 9.99976717e-01 -8.37247819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:-1.34, Z:-0.83 [[ 9.99362748e-01 3.50364267e-02 6.82255742e-03 1.09401076e+02] [-3.50363336e-02 9.99386030e-01 -1.33205044e-04 -1.33838181e+00] [-6.82303560e-03 -1.05917239e-04 9.99976717e-01 -8.33408715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:-1.35, Z:-0.83 [[ 9.99403015e-01 3.38683801e-02 6.82253223e-03 1.09463975e+02] [-3.38682510e-02 9.99426297e-01 -1.34482565e-04 -1.35039831e+00] [-6.82317284e-03 -9.66649534e-05 9.99976717e-01 -8.32762076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:-1.36, Z:-0.84 [[ 9.99386225e-01 3.43602407e-02 6.82250691e-03 1.09524486e+02] [-3.43601145e-02 9.99409508e-01 -1.35755113e-04 -1.36372734e+00] [-6.82314285e-03 -9.87503290e-05 9.99976717e-01 -8.38528993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.59, Y:-1.37, Z:-0.84 [[ 9.99468274e-01 3.18845258e-02 6.82248642e-03 1.09586474e+02] [-3.18843348e-02 9.99491556e-01 -1.36777319e-04 -1.37246297e+00] [-6.82337865e-03 -8.08258508e-05 9.99976717e-01 -8.36844929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.65, Y:-1.38, Z:-0.83 [[ 9.99587010e-01 2.79152998e-02 6.82246423e-03 1.09649208e+02] [-2.79150089e-02 9.99610291e-01 -1.37875346e-04 -1.37789746e+00] [-6.82365428e-03 -5.26307456e-05 9.99976717e-01 -8.33553855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.71, Y:-1.38, Z:-0.84 [[ 9.99716722e-01 2.28019544e-02 6.82243742e-03 1.09710730e+02] [-2.28015354e-02 9.99740002e-01 -1.39189488e-04 -1.38298208e+00] [-6.82383739e-03 -1.64119899e-05 9.99976717e-01 -8.36205684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.77, Y:-1.39, Z:-0.84 [[ 9.99871760e-01 1.44885673e-02 6.82241227e-03 1.09773185e+02] [-1.44879464e-02 9.99895034e-01 -1.40411699e-04 -1.38642238e+00] [-6.82373051e-03 4.15509490e-05 9.99976717e-01 -8.40488506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.83, Y:-1.39, Z:-0.84 [[ 9.99929636e-01 9.70449057e-03 6.82239695e-03 1.09834204e+02] [-9.70375335e-03 9.99952908e-01 -1.41152168e-04 -1.38850305e+00] [-6.82344547e-03 7.49393790e-05 9.99976717e-01 -8.41990916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:-1.39, Z:-0.84 [[ 9.99954419e-01 6.67943731e-03 6.82238403e-03 1.09896443e+02] [-6.67862546e-03 9.99977688e-01 -1.41773889e-04 -1.38967448e+00] [-6.82317877e-03 9.62032796e-05 9.99976717e-01 -8.35371313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.96, Y:-1.39, Z:-0.84 [[ 9.99961706e-01 5.48100553e-03 6.82236079e-03 1.09959763e+02] [-5.48015822e-03 9.99984974e-01 -1.42883432e-04 -1.39130315e+00] [-6.82304142e-03 1.05490344e-04 9.99976717e-01 -8.35091892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.02, Y:-1.39, Z:-0.84 [[ 9.99974610e-01 2.05808277e-03 6.82233404e-03 1.10022261e+02] [-2.05714719e-03 9.99997874e-01 -1.44149595e-04 -1.39261642e+00] [-6.82261620e-03 1.30111389e-04 9.99976717e-01 -8.35007746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:-1.39, Z:-0.83 [[ 9.99971825e-01 3.13129036e-03 6.82230544e-03 1.10084461e+02] [-3.13037060e-03 9.99995090e-01 -1.45490389e-04 -1.39026048e+00] [-6.82272752e-03 1.24129946e-04 9.99976717e-01 -8.34415862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.15, Y:-1.39, Z:-0.83 [[ 9.99945945e-01 7.84619199e-03 6.82229658e-03 1.10146517e+02] [-7.84537911e-03 9.99969214e-01 -1.45904849e-04 -1.38710990e+00] [-6.82323134e-03 9.23734591e-05 9.99976717e-01 -8.32753650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:-1.38, Z:-0.84 [[ 9.99907326e-01 1.17811563e-02 6.82228950e-03 1.10207423e+02] [-1.17804327e-02 9.99930598e-01 -1.46234917e-04 -1.38129979e+00] [-6.82353884e-03 6.58518420e-05 9.99976717e-01 -8.40383294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:-1.38, Z:-0.84 [[ 9.99925002e-01 1.01708553e-02 6.82226660e-03 1.10270885e+02] [-1.01700870e-02 9.99948272e-01 -1.47295824e-04 -1.37920878e+00] [-6.82341182e-03 7.79017321e-05 9.99976717e-01 -8.39207273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.33, Y:-1.38, Z:-0.83 [[ 9.99968394e-01 4.08256308e-03 6.82223833e-03 1.10333663e+02] [-4.08164428e-03 9.99991659e-01 -1.48593695e-04 -1.37739644e+00] [-6.82278807e-03 1.20743048e-04 9.99976717e-01 -8.34241316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:110.40, Y:-1.37, Z:-0.84 [[ 9.99971704e-01 3.16988251e-03 6.82220887e-03 1.10395400e+02] [-3.16893334e-03 9.99994968e-01 -1.49934240e-04 -1.37438259e+00] [-6.82264981e-03 1.28310872e-04 9.99976717e-01 -8.40453529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.46, Y:-1.37, Z:-0.85 [[ 9.99954476e-01 6.67114497e-03 6.82218155e-03 1.10457950e+02] [-6.67026885e-03 9.99977742e-01 -1.51167067e-04 -1.37084098e+00] [-6.82303816e-03 1.05654400e-04 9.99976717e-01 -8.46957457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:-1.36, Z:-0.84 [[ 9.99919599e-01 1.06889203e-02 6.82217438e-03 1.10520424e+02] [-1.06881355e-02 9.99942869e-01 -1.51489743e-04 -1.36246306e+00] [-6.82340389e-03 7.85612393e-05 9.99976717e-01 -8.41436625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:-1.36, Z:-0.84 [[ 9.99930102e-01 9.65651366e-03 6.82216696e-03 1.10583907e+02] [-9.65570253e-03 9.99953371e-01 -1.51823266e-04 -1.35521568e+00] [-6.82331494e-03 8.59398391e-05 9.99976717e-01 -8.39503527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:-1.35, Z:-0.84 [[ 9.99949538e-01 7.37422937e-03 6.82213732e-03 1.10645506e+02] [-7.37335612e-03 9.99972805e-01 -1.53143970e-04 -1.34823121e+00] [-6.82308110e-03 1.02834195e-04 9.99976717e-01 -8.43316376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:-1.33, Z:-0.84 [[ 9.99976453e-01 7.43451774e-04 6.82211332e-03 1.10708970e+02] [-7.42417035e-04 9.99999713e-01 -1.54205523e-04 -1.33235818e+00] [-6.82222600e-03 1.49137039e-04 9.99976717e-01 -8.37918681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:-1.32, Z:-0.83 [[ 9.99973108e-01 -2.69121895e-03 6.82208384e-03 1.10772437e+02] [ 2.69234240e-03 9.99996364e-01 -1.55498723e-04 -1.32396512e+00] [-6.82164055e-03 1.73861927e-04 9.99976717e-01 -8.32174244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.84, Y:-1.31, Z:-0.84 [[ 9.99944569e-01 -8.01989535e-03 6.82205320e-03 1.10836072e+02] [ 8.02115178e-03 9.99967818e-01 -1.56831506e-04 -1.31207001e+00] [-6.82057588e-03 2.11543536e-04 9.99976717e-01 -8.36323296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.90, Y:-1.30, Z:-0.84 [[ 9.99928302e-01 -9.84130922e-03 6.82202251e-03 1.10898335e+02] [ 9.84261703e-03 9.99951548e-01 -1.58155635e-04 -1.30241107e+00] [-6.82013551e-03 2.25290851e-04 9.99976717e-01 -8.39339475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.96, Y:-1.29, Z:-0.84 [[ 9.99938649e-01 -8.72686455e-03 6.82201483e-03 1.10960523e+02] [ 8.72814870e-03 9.99961896e-01 -1.58486183e-04 -1.28918942e+00] [-6.82037180e-03 2.18020019e-04 9.99976717e-01 -8.36507161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:-1.28, Z:-0.84 [[ 9.99937164e-01 -8.89541621e-03 6.82200722e-03 1.11022214e+02] [ 8.89670651e-03 9.99960411e-01 -1.58812801e-04 -1.28398991e+00] [-6.82032444e-03 2.19496217e-04 9.99976717e-01 -8.38676273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:-1.28, Z:-0.84 [[ 9.99911574e-01 -1.14151286e-02 6.82199452e-03 1.11084608e+02] [ 1.14164811e-02 9.99934817e-01 -1.59356460e-04 -1.28104711e+00] [-6.81973077e-03 2.37225541e-04 9.99976717e-01 -8.42381704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:-1.28, Z:-0.85 [[ 9.99820301e-01 -1.76868818e-02 6.82198710e-03 1.11147452e+02] [ 1.76883823e-02 9.99843536e-01 -1.59673878e-04 -1.27850254e+00] [-6.81809556e-03 2.80315101e-04 9.99976717e-01 -8.46354651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:111.21, Y:-1.28, Z:-0.85 [[ 9.99794234e-01 -1.91036718e-02 6.82195599e-03 1.11208589e+02] [ 1.91052142e-02 9.99817466e-01 -1.60991888e-04 -1.27814763e+00] [-6.81763522e-03 2.91293691e-04 9.99976717e-01 -8.51441837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:-1.28, Z:-0.85 [[ 9.99776017e-01 -2.00344022e-02 6.82194272e-03 1.11270254e+02] [ 2.00359700e-02 9.99799247e-01 -1.61552195e-04 -1.28068436e+00] [-6.81733659e-03 2.98200250e-04 9.99976717e-01 -8.52512190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:-1.28, Z:-0.85 [[ 9.99750989e-01 -2.12466733e-02 6.82193487e-03 1.11331565e+02] [ 2.12482716e-02 9.99774217e-01 -1.61882951e-04 -1.28325937e+00] [-6.81695512e-03 3.06796965e-04 9.99976717e-01 -8.50925051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:-1.29, Z:-0.85 [[ 9.99726760e-01 -2.23576980e-02 6.82192223e-03 1.11394054e+02] [ 2.23593257e-02 9.99749986e-01 -1.62414122e-04 -1.28500340e+00] [-6.81658545e-03 3.14903325e-04 9.99976717e-01 -8.45731718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.46, Y:-1.29, Z:-0.85 [[ 9.99699102e-01 -2.35619802e-02 6.82191446e-03 1.11455064e+02] [ 2.35636381e-02 9.99722326e-01 -1.62739728e-04 -1.28581978e+00] [-6.81618572e-03 3.23439883e-04 9.99976717e-01 -8.47793491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.52, Y:-1.29, Z:-0.85 [[ 9.99660172e-01 -2.51595357e-02 6.82191062e-03 1.11516588e+02] [ 2.51612318e-02 9.99683393e-01 -1.62900668e-04 -1.28664838e+00] [-6.81565225e-03 3.34492984e-04 9.99976717e-01 -8.54267382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.58, Y:-1.29, Z:-0.85 [[ 9.99533843e-01 -2.97583272e-02 6.82189757e-03 1.11578383e+02] [ 2.97601338e-02 9.99557056e-01 -1.63445314e-04 -1.29015792e+00] [-6.81401199e-03 3.66389707e-04 9.99976717e-01 -8.54716818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:-1.29, Z:-0.86 [[ 9.99430883e-01 -3.30359205e-02 6.82189001e-03 1.11639412e+02] [ 3.30378054e-02 9.99454089e-01 -1.63760016e-04 -1.29407061e+00] [-6.81275591e-03 3.89047092e-04 9.99976717e-01 -8.57992118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.70, Y:-1.30, Z:-0.86 [[ 9.99494558e-01 -3.10498161e-02 6.82188626e-03 1.11700319e+02] [ 3.10516559e-02 9.99517768e-01 -1.63916351e-04 -1.29661445e+00] [-6.81350695e-03 3.75664365e-04 9.99976717e-01 -8.57385683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:-1.30, Z:-0.85 [[ 9.99621632e-01 -2.66468370e-02 6.82188254e-03 1.11761294e+02] [ 2.66485756e-02 9.99644850e-01 -1.64071050e-04 -1.29611121e+00] [-6.81508777e-03 3.45802423e-04 9.99976717e-01 -8.49003935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:-1.29, Z:-0.84 [[ 9.99725290e-01 -2.24233548e-02 6.82188058e-03 1.11822075e+02] [ 2.24249959e-02 9.99748515e-01 -1.64152283e-04 -1.29327562e+00] [-6.81648413e-03 3.17087833e-04 9.99976717e-01 -8.43967962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:-1.29, Z:-0.85 [[ 9.99797306e-01 -1.89422751e-02 6.82187668e-03 1.11884498e+02] [ 1.89438364e-02 9.99820536e-01 -1.64314194e-04 -1.28577581e+00] [-6.81753992e-03 2.93513405e-04 9.99976717e-01 -8.45213777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:-1.28, Z:-0.85 [[ 9.99790261e-01 -1.93104967e-02 6.82186913e-03 1.11946083e+02] [ 1.93120687e-02 9.99813491e-01 -1.64626967e-04 -1.28428348e+00] [-6.81741777e-03 2.96336844e-04 9.99976717e-01 -8.45588546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:-1.28, Z:-0.85 [[ 9.99762767e-01 -2.06850410e-02 6.82186351e-03 1.12007956e+02] [ 2.06866465e-02 9.99785995e-01 -1.64859739e-04 -1.27925681e+00] [-6.81699346e-03 3.05942108e-04 9.99976717e-01 -8.50000104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:-1.27, Z:-0.85 [[ 9.99717935e-01 -2.27489022e-02 6.82185609e-03 1.12069874e+02] [ 2.27505577e-02 9.99741159e-01 -1.65166336e-04 -1.27127747e+00] [-6.81633296e-03 3.20320779e-04 9.99976717e-01 -8.51086568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:-1.26, Z:-0.86 [[ 9.99547995e-01 -2.92791328e-02 6.82184870e-03 1.12130927e+02] [ 2.92809421e-02 9.99571208e-01 -1.65470942e-04 -1.26132889e+00] [-6.81407870e-03 3.65146305e-04 9.99976717e-01 -8.57079745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:-1.26, Z:-0.86 [[ 9.99420139e-01 -3.33593877e-02 6.82184322e-03 1.12193613e+02] [ 3.33612932e-02 9.99443343e-01 -1.65696521e-04 -1.25693527e+00] [-6.81251826e-03 3.93185952e-04 9.99976717e-01 -8.55788332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:-1.25, Z:-0.85 [[ 9.99382777e-01 -3.44605124e-02 6.82183525e-03 1.12255377e+02] [ 3.44624457e-02 9.99405980e-01 -1.66023937e-04 -1.25039097e+00] [-6.81206167e-03 4.01018590e-04 9.99976717e-01 -8.52530403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:-1.24, Z:-0.85 [[ 9.99435292e-01 -3.29022855e-02 6.82182932e-03 1.12317742e+02] [ 3.29041843e-02 9.99458497e-01 -1.66267416e-04 -1.24484843e+00] [-6.81266470e-03 3.90640253e-04 9.99976717e-01 -8.51148526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:-1.24, Z:-0.85 [[ 9.99471600e-01 -3.17802522e-02 6.82182156e-03 1.12380167e+02] [ 3.17821271e-02 9.99494807e-01 -1.66584914e-04 -1.23665043e+00] [-6.81308111e-03 3.83308890e-04 9.99976717e-01 -8.54111425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:-1.23, Z:-0.85 [[ 9.99371832e-01 -3.47764978e-02 6.82181372e-03 1.12441125e+02] [ 3.47784445e-02 9.99395033e-01 -1.66905545e-04 -1.23441931e+00] [-6.81188236e-03 4.04052770e-04 9.99976717e-01 -8.50962448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:-1.23, Z:-0.85 [[ 9.99063298e-01 -4.27315945e-02 6.82180190e-03 1.12503277e+02] [ 4.27337291e-02 9.99086483e-01 -1.67387337e-04 -1.23444432e+00] [-6.80841734e-03 4.58751579e-04 9.99976717e-01 -8.52082338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.57, Y:-1.24, Z:-0.86 [[ 9.98290355e-01 -5.80502398e-02 6.82179432e-03 1.12565180e+02] [ 5.80527318e-02 9.98313504e-01 -1.67695540e-04 -1.24194389e+00] [-6.80055462e-03 5.63432636e-04 9.99976717e-01 -8.60455535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.63, Y:-1.25, Z:-0.86 [[ 9.97878811e-01 -6.47405772e-02 6.82178666e-03 1.12626694e+02] [ 6.47432265e-02 9.97901942e-01 -1.68006674e-04 -1.24829388e+00] [-6.79659731e-03 6.09314778e-04 9.99976717e-01 -8.55754776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:-1.26, Z:-0.85 [[ 9.97701034e-01 -6.74248456e-02 6.82178087e-03 1.12688702e+02] [ 6.74275587e-02 9.97724158e-01 -1.68241467e-04 -1.25928446e+00] [-6.79491192e-03 6.27830716e-04 9.99976717e-01 -8.54066082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:-1.27, Z:-0.85 [[ 9.97802487e-01 -6.59064564e-02 6.82177309e-03 1.12749458e+02] [ 6.59091365e-02 9.97825615e-01 -1.68556186e-04 -1.26950327e+00] [-6.79583099e-03 6.17802955e-04 9.99976717e-01 -8.54407750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:-1.28, Z:-0.85 [[ 9.97888124e-01 -6.45968628e-02 6.82176922e-03 1.12810389e+02] [ 6.45995136e-02 9.97911256e-01 -1.68712887e-04 -1.27898094e+00] [-6.79662196e-03 6.09039559e-04 9.99976717e-01 -8.54879053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:-1.29, Z:-0.86 [[ 9.97818229e-01 -6.56676898e-02 6.82176534e-03 1.12870555e+02] [ 6.56703664e-02 9.97841357e-01 -1.68869355e-04 -1.29394151e+00] [-6.79595033e-03 6.16488750e-04 9.99976717e-01 -8.60409507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:-1.30, Z:-0.86 [[ 9.97794403e-01 -6.60287259e-02 6.82175816e-03 1.12931252e+02] [ 6.60314128e-02 9.97817530e-01 -1.69158811e-04 -1.30431011e+00] [-6.79570054e-03 6.19236044e-04 9.99976717e-01 -8.56941087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:-1.32, Z:-0.85 [[ 9.97757634e-01 -6.65820424e-02 6.82175435e-03 1.12990452e+02] [ 6.65847432e-02 9.97780759e-01 -1.69312493e-04 -1.31557361e+00] [-6.79534206e-03 6.23157593e-04 9.99976717e-01 -8.53922039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:-1.33, Z:-0.85 [[ 9.97646207e-01 -6.82312903e-02 6.82175625e-03 1.13049540e+02] [ 6.82340288e-02 9.97669328e-01 -1.69236090e-04 -1.33069260e+00] [-6.79430977e-03 6.34313656e-04 9.99976717e-01 -8.53905657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.11, Y:-1.34, Z:-0.86 [[ 9.97689934e-01 -6.75888945e-02 6.82176007e-03 1.13109488e+02] [ 6.75916171e-02 9.97713057e-01 -1.69081976e-04 -1.33883123e+00] [-6.79473103e-03 6.29785179e-04 9.99976717e-01 -8.55535355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.17, Y:-1.35, Z:-0.86 [[ 9.97804756e-01 -6.58720874e-02 6.82176404e-03 1.13167778e+02] [ 6.58747691e-02 9.97827884e-01 -1.68921535e-04 -1.34860081e+00] [-6.79581916e-03 6.17932842e-04 9.99976717e-01 -8.57152108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.23, Y:-1.35, Z:-0.86 [[ 9.97983947e-01 -6.30991649e-02 6.82176993e-03 1.13227342e+02] [ 6.31017807e-02 9.98007083e-01 -1.68683296e-04 -1.35499039e+00] [-6.79753093e-03 5.98809051e-04 9.99976717e-01 -8.58801858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:-1.36, Z:-0.86 [[ 9.98239066e-01 -5.89256296e-02 6.82177372e-03 1.13286657e+02] [ 5.89281476e-02 9.98262213e-01 -1.68529924e-04 -1.36058698e+00] [-6.79998819e-03 5.70227643e-04 9.99976717e-01 -8.58912311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:-1.36, Z:-0.85 [[ 9.98829853e-01 -4.78788875e-02 6.82177757e-03 1.13345135e+02] [ 4.78811482e-02 9.98853026e-01 -1.68373924e-04 -1.36433549e+00] [-6.80589161e-03 4.94811445e-04 9.99976717e-01 -8.54907315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:-1.36, Z:-0.86 [[ 9.99235867e-01 -3.84856622e-02 6.82178327e-03 1.13405413e+02] [ 3.84877034e-02 9.99259060e-01 -1.68142800e-04 -1.36176210e+00] [-6.81025764e-03 4.30569088e-04 9.99976717e-01 -8.56031632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:-1.35, Z:-0.86 [[ 9.99608569e-01 -2.71325006e-02 6.82178327e-03 1.13465786e+02] [ 2.71342782e-02 9.99631784e-01 -1.68142800e-04 -1.35489172e+00] [-6.81470924e-03 3.53181149e-04 9.99976717e-01 -8.59098036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:-1.35, Z:-0.86 [[ 9.99630592e-01 -2.63086150e-02 6.82178327e-03 1.13526658e+02] [ 2.63103734e-02 9.99653808e-01 -1.68142800e-04 -1.35202377e+00] [-6.81499801e-03 3.47564352e-04 9.99976717e-01 -8.60972151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:-1.35, Z:-0.86 [[ 9.99530432e-01 -2.98726949e-02 6.82177733e-03 1.13588720e+02] [ 2.98745378e-02 9.99553642e-01 -1.68383069e-04 -1.35019136e+00] [-6.81370232e-03 3.72101447e-04 9.99976717e-01 -8.59497123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:-1.34, Z:-0.86 [[ 9.99221659e-01 -3.88528008e-02 6.82176964e-03 1.13650797e+02] [ 3.88548543e-02 9.99244851e-01 -1.68694120e-04 -1.34321643e+00] [-6.81006395e-03 4.33621683e-04 9.99976717e-01 -8.58741005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:-1.34, Z:-0.86 [[ 9.99048678e-01 -4.30720572e-02 6.82176182e-03 1.13712566e+02] [ 4.30742107e-02 9.99071861e-01 -1.69010037e-04 -1.33949690e+00] [-6.80815066e-03 4.62691260e-04 9.99976717e-01 -8.61619908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.77, Y:-1.34, Z:-0.86 [[ 9.98887965e-01 -4.66507999e-02 6.82175781e-03 1.13773957e+02] [ 4.66530376e-02 9.98911140e-01 -1.69171691e-04 -1.33712055e+00] [-6.80643787e-03 4.87239290e-04 9.99976717e-01 -8.55962580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:-1.34, Z:-0.86 [[ 9.98806773e-01 -4.83579846e-02 6.82175184e-03 1.13834881e+02] [ 4.83602635e-02 9.98829944e-01 -1.69411827e-04 -1.33685707e+00] [-6.80557759e-03 4.99111397e-04 9.99976717e-01 -8.62470986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:-1.34, Z:-0.86 [[ 9.98491061e-01 -5.44891344e-02 6.82174798e-03 1.13896486e+02] [ 5.44915565e-02 9.98514217e-01 -1.69567071e-04 -1.33687133e+00] [-6.80237278e-03 5.41038870e-04 9.99976717e-01 -8.55704216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:-1.34, Z:-0.87 [[ 9.98192358e-01 -5.97116421e-02 6.82174228e-03 1.13957906e+02] [ 5.97141870e-02 9.98215501e-01 -1.69796315e-04 -1.33990595e+00] [-6.79943007e-03 5.76844177e-04 9.99976717e-01 -8.66127329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:-1.34, Z:-0.86 [[ 9.98087166e-01 -6.14448843e-02 6.82173836e-03 1.14018228e+02] [ 6.14474704e-02 9.98110304e-01 -1.69953418e-04 -1.34168571e+00] [-6.79840459e-03 5.88806891e-04 9.99976717e-01 -8.64063446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.08, Y:-1.34, Z:-0.86 [[ 9.98169588e-01 -6.00910778e-02 6.82173836e-03 1.14079489e+02] [ 6.00936325e-02 9.98192730e-01 -1.69953418e-04 -1.34203304e+00] [-6.79919696e-03 5.79585372e-04 9.99976717e-01 -8.61849735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:-1.34, Z:-0.86 [[ 9.98561398e-01 -5.31845728e-02 6.82173433e-03 1.14139977e+02] [ 5.31869685e-02 9.98584557e-01 -1.70115117e-04 -1.34298679e+00] [-6.80303106e-03 5.32697758e-04 9.99976717e-01 -8.63401817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:-1.34, Z:-0.86 [[ 9.98883022e-01 -4.67565135e-02 6.82172750e-03 1.14200878e+02] [ 4.67587618e-02 9.98906196e-01 -1.70388558e-04 -1.33860093e+00] [-6.80629910e-03 4.89173769e-04 9.99976717e-01 -8.60323765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:-1.34, Z:-0.86 [[ 9.99025367e-01 -4.36093980e-02 6.82172557e-03 1.14262408e+02] [ 4.36115739e-02 9.99048548e-01 -1.70466058e-04 -1.33508399e+00] [-6.80780110e-03 4.67806105e-04 9.99976717e-01 -8.64367056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:-1.33, Z:-0.87 [[ 9.99044794e-01 -4.31620701e-02 6.82172183e-03 1.14323562e+02] [ 4.31642366e-02 9.99067975e-01 -1.70615496e-04 -1.33141416e+00] [-6.80799970e-03 4.64906938e-04 9.99976717e-01 -8.67034029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:-1.33, Z:-0.86 [[ 9.98955674e-01 -4.51777033e-02 6.82171800e-03 1.14385368e+02] [ 4.51799177e-02 9.98978852e-01 -1.70768478e-04 -1.32601257e+00] [-6.80703708e-03 4.78794797e-04 9.99976717e-01 -8.57606241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:-1.32, Z:-0.86 [[ 9.99008638e-01 -4.39909690e-02 6.82171397e-03 1.14446182e+02] [ 4.39931569e-02 9.99031818e-01 -1.70929213e-04 -1.32226135e+00] [-6.80758997e-03 4.70868494e-04 9.99976717e-01 -8.58191702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:-1.32, Z:-0.86 [[ 9.99160747e-01 -4.03889423e-02 6.82170798e-03 1.14507255e+02] [ 4.03910482e-02 9.99183934e-01 -1.71167850e-04 -1.31843666e+00] [-6.80922773e-03 4.46560133e-04 9.99976717e-01 -8.61204405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:-1.31, Z:-0.86 [[ 9.99412271e-01 -3.35942902e-02 6.82170401e-03 1.14568886e+02] [ 3.35962395e-02 9.99435472e-01 -1.71326109e-04 -1.31148151e+00] [-6.81209739e-03 4.00409018e-04 9.99976717e-01 -8.62552631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:-1.31, Z:-0.86 [[ 9.99491855e-01 -3.11367354e-02 6.82169806e-03 1.14630993e+02] [ 3.11386292e-02 9.99515061e-01 -1.71562558e-04 -1.30563096e+00] [-6.81304805e-03 3.83893706e-04 9.99976717e-01 -8.58550232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:-1.30, Z:-0.86 [[ 9.99586604e-01 -2.79300125e-02 6.82169021e-03 1.14692492e+02] [ 2.79318341e-02 9.99609815e-01 -1.71874252e-04 -1.29700521e+00] [-6.81422804e-03 3.62345519e-04 9.99976717e-01 -8.63233821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.75, Y:-1.29, Z:-0.86 [[ 9.99649035e-01 -2.55982675e-02 6.82168434e-03 1.14753505e+02] [ 2.56000364e-02 9.99672251e-01 -1.72106676e-04 -1.29313202e+00] [-6.81504291e-03 3.46681641e-04 9.99976717e-01 -8.62949417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:-1.29, Z:-0.86 [[ 9.99683062e-01 -2.42330430e-02 6.82167857e-03 1.14815645e+02] [ 2.42347818e-02 9.99706280e-01 -1.72335391e-04 -1.28855166e+00] [-6.81549869e-03 3.37602663e-04 9.99976717e-01 -8.61504011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:-1.29, Z:-0.86 [[ 9.99707005e-01 -2.32243075e-02 6.82167080e-03 1.14877382e+02] [ 2.32260250e-02 9.99730225e-01 -1.72642243e-04 -1.28735285e+00] [-6.81582099e-03 3.31031956e-04 9.99976717e-01 -8.64373795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:-1.29, Z:-0.87 [[ 9.99819645e-01 -1.77240778e-02 6.82166291e-03 1.14940026e+02] [ 1.77256696e-02 9.99842873e-01 -1.72953309e-04 -1.28684002e+00] [-6.81752561e-03 2.93840659e-04 9.99976717e-01 -8.66995961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:-1.29, Z:-0.87 [[ 9.99898584e-01 -1.25014318e-02 6.82165475e-03 1.15000784e+02] [ 1.25029045e-02 9.99921821e-01 -1.73274733e-04 -1.28980131e+00] [-6.81895526e-03 2.58547658e-04 9.99976717e-01 -8.65224726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:-1.29, Z:-0.87 [[ 9.99955392e-01 -6.53291276e-03 6.82164254e-03 1.15063198e+02] [ 6.53424996e-03 9.99978636e-01 -1.73753951e-04 -1.29266975e+00] [-6.82036169e-03 2.18320518e-04 9.99976717e-01 -8.66756168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-1.30, Z:-0.86 [[ 9.99973960e-01 2.35485680e-03 6.82163424e-03 1.15125400e+02] [-2.35372403e-03 9.99997215e-01 -1.74079544e-04 -1.29699861e+00] [-6.82202517e-03 1.58018766e-04 9.99976717e-01 -8.64522300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:-1.30, Z:-0.86 [[ 9.99943769e-01 8.11937862e-03 6.82162587e-03 1.15187612e+02] [-8.11837769e-03 9.99967030e-01 -1.74406926e-04 -1.30109291e+00] [-6.82281703e-03 1.19016584e-04 9.99976717e-01 -8.61746170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:-1.31, Z:-0.86 [[ 9.99886777e-01 1.34126267e-02 6.82161735e-03 1.15248944e+02] [-1.34117466e-02 9.99910043e-01 -1.74739490e-04 -1.30671451e+00] [-6.82334741e-03 8.32299020e-05 9.99976717e-01 -8.64067855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:-1.32, Z:-0.87 [[ 9.99808804e-01 1.83254183e-02 6.82161100e-03 1.15309585e+02] [-1.83246509e-02 9.99832074e-01 -1.74986853e-04 -1.31716320e+00] [-6.82367218e-03 4.99497558e-05 9.99976717e-01 -8.66928586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:-1.32, Z:-0.87 [[ 9.99757061e-01 2.09591338e-02 6.82160671e-03 1.15369887e+02] [-2.09584265e-02 9.99780333e-01 -1.75153949e-04 -1.32264689e+00] [-6.82377930e-03 3.21412540e-05 9.99976717e-01 -8.67613590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:-1.33, Z:-0.86 [[ 9.99535200e-01 2.97127788e-02 6.82160458e-03 1.15430694e+02] [-2.97122748e-02 9.99558478e-01 -1.75237046e-04 -1.33100901e+00] [-6.82379946e-03 -2.75297941e-05 9.99976717e-01 -8.63979456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:-1.34, Z:-0.86 [[ 9.99364199e-01 3.49952013e-02 6.82160458e-03 1.15489815e+02] [-3.49948203e-02 9.99387478e-01 -1.75237046e-04 -1.33615164e+00] [-6.82355865e-03 -6.35951966e-05 9.99976717e-01 -8.63058106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:-1.34, Z:-0.86 [[ 9.99266857e-01 3.76724580e-02 6.82160670e-03 1.15550288e+02] [-3.76721400e-02 9.99290138e-01 -1.75154377e-04 -1.34062194e+00] [-6.82336279e-03 -8.19585588e-05 9.99976717e-01 -8.63923477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:-1.35, Z:-0.87 [[ 9.99166798e-01 4.02389672e-02 6.82160670e-03 1.15610785e+02] [-4.02387089e-02 9.99190080e-01 -1.75154377e-04 -1.34746676e+00] [-6.82312977e-03 -9.94842086e-05 9.99976717e-01 -8.70900900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.67, Y:-1.35, Z:-0.87 [[ 9.99056380e-01 4.28930696e-02 6.82160670e-03 1.15670648e+02] [-4.28928732e-02 9.99079662e-01 -1.75154377e-04 -1.35201225e+00] [-6.82284142e-03 -1.17609214e-04 9.99976717e-01 -8.72992939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:-1.36, Z:-0.87 [[ 9.98902256e-01 4.63438016e-02 6.82160879e-03 1.15730560e+02] [-4.63436862e-02 9.98925539e-01 -1.75072983e-04 -1.35500989e+00] [-6.82239278e-03 -1.41257699e-04 9.99976717e-01 -8.71814375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:-1.36, Z:-0.87 [[ 9.98737239e-01 4.97734194e-02 6.82161290e-03 1.15790531e+02] [-4.97733850e-02 9.98760522e-01 -1.74912446e-04 -1.35708660e+00] [-6.82186365e-03 -1.64843192e-04 9.99976717e-01 -8.70961947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:-1.36, Z:-0.87 [[ 9.98691938e-01 5.06742431e-02 6.82161716e-03 1.15849686e+02] [-5.06742309e-02 9.98715221e-01 -1.74746135e-04 -1.36053828e+00] [-6.82170802e-03 -1.71162647e-04 9.99976717e-01 -8.71611428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:-1.37, Z:-0.87 [[ 9.98999329e-01 4.42018700e-02 6.82162148e-03 1.15909231e+02] [-4.42017080e-02 9.99022612e-01 -1.74577358e-04 -1.36800526e+00] [-6.82267076e-03 -1.27124658e-04 9.99976717e-01 -8.71039594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:-1.38, Z:-0.87 [[ 9.99146113e-01 4.07493612e-02 6.82162362e-03 1.15969285e+02] [-4.07491194e-02 9.99169394e-01 -1.74493760e-04 -1.37621874e+00] [-6.82306805e-03 -1.03630394e-04 9.99976717e-01 -8.70628951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.03, Y:-1.38, Z:-0.87 [[ 9.99179883e-01 3.99127423e-02 6.82162362e-03 1.16029724e+02] [-3.99124809e-02 9.99203164e-01 -1.74493760e-04 -1.38344912e+00] [-6.82315243e-03 -9.79172684e-05 9.99976717e-01 -8.67921940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:-1.39, Z:-0.87 [[ 9.99102105e-01 4.18144709e-02 6.82162152e-03 1.16090341e+02] [-4.18142533e-02 9.99125386e-01 -1.74575916e-04 -1.39494683e+00] [-6.82295504e-03 -1.10821845e-04 9.99976717e-01 -8.71524534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.15, Y:-1.41, Z:-0.87 [[ 9.98972342e-01 4.48076574e-02 6.82161729e-03 1.16151791e+02] [-4.48075085e-02 9.98995624e-01 -1.74741157e-04 -1.40563400e+00] [-6.82259556e-03 -1.31098092e-04 9.99976717e-01 -8.68595827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-1.42, Z:-0.87 [[ 9.98481607e-01 5.46621071e-02 6.82161299e-03 1.16211163e+02] [-5.46621868e-02 9.98504890e-01 -1.74908735e-04 -1.41695578e+00] [-6.82097481e-03 -1.98241129e-04 9.99976717e-01 -8.69525899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-1.42, Z:-0.87 [[ 9.97965855e-01 6.33846771e-02 6.82161511e-03 1.16270604e+02] [-6.33849608e-02 9.97989136e-01 -1.74825912e-04 -1.42115207e+00] [-6.81897906e-03 -2.57917515e-04 9.99976717e-01 -8.74837921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:-1.42, Z:-0.88 [[ 9.97342756e-01 7.25320159e-02 6.82161718e-03 1.16329912e+02] [-7.25325135e-02 9.97366033e-01 -1.74745209e-04 -1.42431789e+00] [-6.81632389e-03 -3.20508172e-04 9.99976717e-01 -8.79668532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:-1.42, Z:-0.88 [[ 9.96772846e-01 7.99834916e-02 6.82162129e-03 1.16388767e+02] [-7.99841643e-02 9.96796119e-01 -1.74584483e-04 -1.42286844e+00] [-6.81372951e-03 -3.71600607e-04 9.99976717e-01 -8.78324437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.45, Y:-1.42, Z:-0.88 [[ 9.97075282e-01 7.61206116e-02 6.82162950e-03 1.16448622e+02] [-7.61211963e-02 9.97098557e-01 -1.74263331e-04 -1.42230051e+00] [-6.81510196e-03 -3.45516938e-04 9.99976717e-01 -8.81308837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.51, Y:-1.42, Z:-0.88 [[ 9.97455133e-01 7.09698736e-02 6.82163358e-03 1.16508952e+02] [-7.09703391e-02 9.97478411e-01 -1.74103191e-04 -1.42488449e+00] [-6.81678831e-03 -3.10473528e-04 9.99976717e-01 -8.80748046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.57, Y:-1.43, Z:-0.88 [[ 9.97701776e-01 6.74138794e-02 6.82163358e-03 1.16568067e+02] [-6.74142620e-02 9.97725056e-01 -1.74103191e-04 -1.42822834e+00] [-6.81785172e-03 -2.86172331e-04 9.99976717e-01 -8.78385758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.63, Y:-1.43, Z:-0.88 [[ 9.97507352e-01 7.02321013e-02 6.82163568e-03 1.16628852e+02] [-7.02325502e-02 9.97530630e-01 -1.74021199e-04 -1.43031088e+00] [-6.81701241e-03 -3.05513444e-04 9.99976717e-01 -8.76358720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:-1.43, Z:-0.88 [[ 9.97076959e-01 7.60986349e-02 6.82163568e-03 1.16687735e+02] [-7.60992207e-02 9.97100235e-01 -1.74021199e-04 -1.43086628e+00] [-6.81509731e-03 -3.45608631e-04 9.99976717e-01 -8.75494369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.75, Y:-1.43, Z:-0.87 [[ 9.96588773e-01 8.22452610e-02 6.82164185e-03 1.16746628e+02] [-8.22459920e-02 9.96612044e-01 -1.73779005e-04 -1.43324533e+00] [-6.81282292e-03 -3.87866495e-04 9.99976717e-01 -8.72506748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.81, Y:-1.43, Z:-0.87 [[ 9.96549145e-01 8.27240356e-02 6.82164795e-03 1.16806228e+02] [-8.27247794e-02 9.96572416e-01 -1.73539212e-04 -1.43465262e+00] [-6.81262204e-03 -3.91378969e-04 9.99976717e-01 -8.73518005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.87, Y:-1.43, Z:-0.87 [[ 9.96441694e-01 8.40084231e-02 6.82165214e-03 1.16865414e+02] [-8.40091980e-02 9.96464964e-01 -1.73374035e-04 -1.43492138e+00] [-6.81210224e-03 -4.00324408e-04 9.99976717e-01 -8.71617222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:-1.43, Z:-0.87 [[ 9.95927428e-01 8.99000724e-02 6.82165837e-03 1.16923952e+02] [-8.99009866e-02 9.95950693e-01 -1.73128666e-04 -1.43399740e+00] [-6.80959966e-03 -4.40850231e-04 9.99976717e-01 -8.73067339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:-1.43, Z:-0.87 [[ 9.95407772e-01 9.54821094e-02 6.82166624e-03 1.16982596e+02] [-9.54831561e-02 9.95431031e-01 -1.72817917e-04 -1.43052019e+00] [-6.80699928e-03 -4.79329925e-04 9.99976717e-01 -8.74297810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:-1.43, Z:-0.88 [[ 9.95047321e-01 9.91680032e-02 6.82167417e-03 1.17041297e+02] [-9.91691382e-02 9.95070577e-01 -1.72504630e-04 -1.42556484e+00] [-6.80515418e-03 -5.04849278e-04 9.99976717e-01 -8.79740451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:-1.42, Z:-0.88 [[ 9.95156674e-01 9.80645696e-02 6.82168238e-03 1.17099652e+02] [-9.80656810e-02 9.95179930e-01 -1.72179062e-04 -1.42332427e+00] [-6.80568606e-03 -4.97627786e-04 9.99976717e-01 -8.81396727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:-1.42, Z:-0.88 [[ 9.95359404e-01 9.59850077e-02 6.82169254e-03 1.17157350e+02] [-9.59860733e-02 9.95382662e-01 -1.71775785e-04 -1.42107950e+00] [-6.80668238e-03 -4.83808837e-04 9.99976717e-01 -8.82140191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:-1.42, Z:-0.88 [[ 9.95516528e-01 9.43414363e-02 6.82170253e-03 1.17215944e+02] [-9.43424662e-02 9.95539788e-01 -1.71378227e-04 -1.41897212e+00] [-6.80744436e-03 -4.72966383e-04 9.99976717e-01 -8.79563751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-1.42, Z:-0.88 [[ 9.95545571e-01 9.40344611e-02 6.82171122e-03 1.17273708e+02] [-9.40354862e-02 9.95568831e-01 -1.71031506e-04 -1.41954156e+00] [-6.80756592e-03 -4.71213272e-04 9.99976717e-01 -8.78289346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-1.42, Z:-0.89 [[ 9.95459694e-01 9.49392479e-02 6.82171988e-03 1.17331463e+02] [-9.49402965e-02 9.95482954e-01 -1.70685329e-04 -1.42091981e+00] [-6.80711059e-03 -4.77745743e-04 9.99976717e-01 -8.85894702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:-1.42, Z:-0.88 [[ 9.95324083e-01 9.63505728e-02 6.82172989e-03 1.17390065e+02] [-9.63516571e-02 9.95347341e-01 -1.70284197e-04 -1.42145623e+00] [-6.80639769e-03 -4.87797017e-04 9.99976717e-01 -8.81662207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:-1.42, Z:-0.89 [[ 9.95114404e-01 9.84925733e-02 6.82173764e-03 1.17448952e+02] [-9.84937098e-02 9.95137659e-01 -1.69973464e-04 -1.42419531e+00] [-6.80530914e-03 -5.02755205e-04 9.99976717e-01 -8.86602022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.51, Y:-1.43, Z:-0.89 [[ 9.95208311e-01 9.75391266e-02 6.82174532e-03 1.17507339e+02] [-9.75402429e-02 9.95231567e-01 -1.69664509e-04 -1.42736057e+00] [-6.80576521e-03 -4.96543166e-04 9.99976717e-01 -8.85216045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:-1.43, Z:-0.88 [[ 9.95903215e-01 9.01679011e-02 6.82175330e-03 1.17564661e+02] [-9.01688474e-02 9.95926478e-01 -1.69343130e-04 -1.43309477e+00] [-6.80923405e-03 -4.46460264e-04 9.99976717e-01 -8.80303876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:-1.44, Z:-0.88 [[ 9.96445932e-01 8.39581384e-02 6.82176447e-03 1.17624090e+02] [-8.39589427e-02 9.96469200e-01 -1.68891834e-04 -1.43887755e+00] [-6.81185803e-03 -4.04456552e-04 9.99976717e-01 -8.82043585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:-1.44, Z:-0.88 [[ 9.96664993e-01 8.13163851e-02 6.82176839e-03 1.17683639e+02] [-8.13171288e-02 9.96688264e-01 -1.68733255e-04 -1.44325977e+00] [-6.81289728e-03 -3.86556091e-04 9.99976717e-01 -8.82724700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:-1.45, Z:-0.88 [[ 9.96970238e-01 7.74842451e-02 6.82177246e-03 1.17742472e+02] [-7.74849004e-02 9.96993511e-01 -1.68568825e-04 -1.45113447e+00] [-6.81432430e-03 -3.60526258e-04 9.99976717e-01 -8.82373158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:-1.46, Z:-0.89 [[ 9.97163432e-01 7.49570090e-02 6.82177446e-03 1.17801694e+02] [-7.49576059e-02 9.97186707e-01 -1.68487532e-04 -1.46151929e+00] [-6.81521214e-03 -3.43334276e-04 9.99976717e-01 -8.85263481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:-1.47, Z:-0.89 [[ 9.97030568e-01 7.67040387e-02 6.82177862e-03 1.17860916e+02] [-7.67046776e-02 9.97053842e-01 -1.68319069e-04 -1.47040589e+00] [-6.81459134e-03 -3.55443072e-04 9.99976717e-01 -8.88516704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:-1.48, Z:-0.89 [[ 9.96703810e-01 8.08392150e-02 6.82178067e-03 1.17920196e+02] [-8.08399510e-02 9.96727081e-01 -1.68235907e-04 -1.48168726e+00] [-6.81305359e-03 -3.83791046e-04 9.99976717e-01 -8.85445726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.98, Y:-1.49, Z:-0.88 [[ 9.96621522e-01 8.18474528e-02 6.82177896e-03 1.17980402e+02] [-8.18482119e-02 9.96644792e-01 -1.68305360e-04 -1.48957437e+00] [-6.81266584e-03 -3.90613665e-04 9.99976717e-01 -8.84591406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:-1.50, Z:-0.89 [[ 9.96732014e-01 8.04907195e-02 6.82177001e-03 1.18041947e+02] [-8.04914444e-02 9.96755285e-01 -1.68667393e-04 -1.49912484e+00] [-6.81321147e-03 -3.80977931e-04 9.99976717e-01 -8.86176665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:-1.51, Z:-0.89 [[ 9.96928460e-01 7.80199263e-02 6.82176616e-03 1.18102528e+02] [-7.80205924e-02 9.96951733e-01 -1.68822679e-04 -1.51250478e+00] [-6.81414313e-03 -3.63934104e-04 9.99976717e-01 -8.88461171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:-1.52, Z:-0.89 [[ 9.96898709e-01 7.83991564e-02 6.82176215e-03 1.18164521e+02] [-7.83998303e-02 9.96921982e-01 -1.68984672e-04 -1.51993010e+00] [-6.81401290e-03 -3.66364394e-04 9.99976717e-01 -8.87832911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-1.53, Z:-0.89 [[ 9.96401765e-01 8.44806830e-02 6.82173324e-03 1.18225740e+02] [-8.44814909e-02 9.96425034e-01 -1.70143833e-04 -1.52554916e+00] [-6.81171964e-03 -4.06778579e-04 9.99976717e-01 -8.86450253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:-1.53, Z:-0.89 [[ 9.96003918e-01 8.90486415e-02 6.82170662e-03 1.18287429e+02] [-8.90495490e-02 9.96027183e-01 -1.71204653e-04 -1.52642342e+00] [-6.80985076e-03 -4.36949392e-04 9.99976717e-01 -8.85971102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:-1.53, Z:-0.89 [[ 9.95726852e-01 9.20950639e-02 6.82170251e-03 1.18348380e+02] [-9.20960414e-02 9.95750114e-01 -1.71368278e-04 -1.52640863e+00] [-6.80849322e-03 -4.57615801e-04 9.99976717e-01 -8.87247986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.41, Y:-1.53, Z:-0.89 [[ 9.95615211e-01 9.32942397e-02 6.82169842e-03 1.18408666e+02] [-9.32952441e-02 9.95638473e-01 -1.71530824e-04 -1.52592169e+00] [-6.80794823e-03 -4.65653321e-04 9.99976717e-01 -8.85893316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:-1.52, Z:-0.89 [[ 9.95625593e-01 9.31833821e-02 6.82169640e-03 1.18469880e+02] [-9.31843834e-02 9.95648854e-01 -1.71611279e-04 -1.52272850e+00] [-6.80800552e-03 -4.64814991e-04 9.99976717e-01 -8.90201986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:-1.52, Z:-0.89 [[ 9.95524307e-01 9.42593181e-02 6.82169246e-03 1.18530817e+02] [-9.42603434e-02 9.95547567e-01 -1.71767735e-04 -1.52101932e+00] [-6.80751004e-03 -4.72016118e-04 9.99976717e-01 -8.90198958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:-1.52, Z:-0.89 [[ 9.95263985e-01 9.69693997e-02 6.82168836e-03 1.18590517e+02] [-9.69704872e-02 9.95287242e-01 -1.71930430e-04 -1.51863160e+00] [-6.80621138e-03 -4.90386279e-04 9.99976717e-01 -8.92967893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:-1.51, Z:-0.89 [[ 9.95118172e-01 9.84544949e-02 6.82169039e-03 1.18651372e+02] [-9.84556177e-02 9.95141428e-01 -1.71849652e-04 -1.51333898e+00] [-6.80546609e-03 -5.00623029e-04 9.99976717e-01 -8.94414499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:-1.51, Z:-0.90 [[ 9.95423896e-01 9.53138592e-02 6.82169039e-03 1.18712114e+02] [-9.53149086e-02 9.95447155e-01 -1.71849652e-04 -1.51461464e+00] [-6.80701195e-03 -4.79145546e-04 9.99976717e-01 -8.95139142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:-1.52, Z:-0.89 [[ 9.96030113e-01 8.87551588e-02 6.82168102e-03 1.18772887e+02] [-8.87560524e-02 9.96053379e-01 -1.72220911e-04 -1.51984376e+00] [-6.81004392e-03 -4.33928265e-04 9.99976717e-01 -8.89417808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:-1.52, Z:-0.89 [[ 9.96081054e-01 8.81816212e-02 6.82167903e-03 1.18834452e+02] [-8.81825009e-02 9.96104320e-01 -1.72299705e-04 -1.52209588e+00] [-6.81029762e-03 -4.29928246e-04 9.99976717e-01 -8.87369301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:-1.52, Z:-0.89 [[ 9.95827776e-01 9.09972871e-02 6.82167494e-03 1.18895261e+02] [-9.09982315e-02 9.95851039e-01 -1.72461402e-04 -1.52368154e+00] [-6.80906560e-03 -4.49018501e-04 9.99976717e-01 -8.87821611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:-1.52, Z:-0.89 [[ 9.94953387e-01 1.00106054e-01 6.82167292e-03 1.18955208e+02] [-1.00107210e-01 9.94976641e-01 -1.72541138e-04 -1.52378363e+00] [-6.80467762e-03 -5.11228256e-04 9.99976717e-01 -8.92195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:-1.52, Z:-0.89 [[ 9.94491040e-01 1.04599412e-01 6.82167700e-03 1.19015137e+02] [-1.04600674e-01 9.94514288e-01 -1.72379829e-04 -1.52447901e+00] [-6.80228607e-03 -5.42121818e-04 9.99976717e-01 -8.92826112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:-1.52, Z:-0.89 [[ 9.94440534e-01 1.05078494e-01 6.82167901e-03 1.19073555e+02] [-1.05079768e-01 9.94463781e-01 -1.72300249e-04 -1.52481813e+00] [-6.80201775e-03 -5.45478098e-04 9.99976717e-01 -8.92171567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:-1.53, Z:-0.89 [[ 9.94785247e-01 1.01763339e-01 6.82168477e-03 1.19133167e+02] [-1.01764537e-01 9.94808499e-01 -1.72071961e-04 -1.52676494e+00] [-6.80378060e-03 -5.23030947e-04 9.99976717e-01 -8.94584881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.19, Y:-1.53, Z:-0.90 [[ 9.94954209e-01 1.00097889e-01 6.82168867e-03 1.19192724e+02] [-1.00099050e-01 9.94977462e-01 -1.71917129e-04 -1.52782376e+00] [-6.80463502e-03 -5.11794884e-04 9.99976717e-01 -8.95459442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:119.25, Y:-1.53, Z:-0.90 [[ 9.94955554e-01 1.00084517e-01 6.82169259e-03 1.19253415e+02] [-1.00085678e-01 9.94978808e-01 -1.71761215e-04 -1.52870042e+00] [-6.80463020e-03 -5.11858956e-04 9.99976717e-01 -9.00026588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:-1.53, Z:-0.90 [[ 9.94732831e-01 1.02274433e-01 6.82169259e-03 1.19313207e+02] [-1.02275646e-01 9.94756082e-01 -1.71761215e-04 -1.53096034e+00] [-6.80348698e-03 -5.26836497e-04 9.99976717e-01 -9.00497400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.37, Y:-1.53, Z:-0.90 [[ 9.94581144e-01 1.03739155e-01 6.82169021e-03 1.19373768e+02] [-1.03740401e-01 9.94604394e-01 -1.71855975e-04 -1.53306229e+00] [-6.80271125e-03 -5.36760165e-04 9.99976717e-01 -8.95735151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.43, Y:-1.54, Z:-0.90 [[ 9.94438477e-01 1.05097951e-01 6.82169021e-03 1.19433479e+02] [-1.05099229e-01 9.94461725e-01 -1.71855975e-04 -1.53612051e+00] [-6.80197152e-03 -5.46054189e-04 9.99976717e-01 -8.95552604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:-1.54, Z:-0.89 [[ 9.94046229e-01 1.08745386e-01 6.82169226e-03 1.19491695e+02] [-1.08746749e-01 9.94069472e-01 -1.71774334e-04 -1.53686501e+00] [-6.79991569e-03 -5.71085230e-04 9.99976717e-01 -8.93521737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:-1.53, Z:-0.90 [[ 9.93804921e-01 1.10929006e-01 6.82169824e-03 1.19551877e+02] [-1.10930423e-01 9.93828160e-01 -1.71536586e-04 -1.53457945e+00] [-6.79862420e-03 -5.86259965e-04 9.99976717e-01 -8.95083271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.61, Y:-1.53, Z:-0.90 [[ 9.93775521e-01 1.11192077e-01 6.82170229e-03 1.19610247e+02] [-1.11193500e-01 9.93798760e-01 -1.71375422e-04 -1.53260643e+00] [-6.79845487e-03 -5.88220257e-04 9.99976717e-01 -8.96180104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:-1.53, Z:-0.89 [[ 9.93896121e-01 1.10108874e-01 6.82170828e-03 1.19669668e+02] [-1.10110274e-01 9.93919362e-01 -1.71136467e-04 -1.52564146e+00] [-6.79907159e-03 -5.81048297e-04 9.99976717e-01 -8.94472482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:-1.52, Z:-0.89 [[ 9.94111183e-01 1.08149988e-01 6.82171231e-03 1.19728855e+02] [-1.08151343e-01 9.94134426e-01 -1.70976027e-04 -1.52175328e+00] [-6.80019011e-03 -5.67808167e-04 9.99976717e-01 -8.93164999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:119.79, Y:-1.52, Z:-0.90 [[ 9.94574889e-01 1.03799111e-01 6.82171669e-03 1.19787628e+02] [-1.03800365e-01 9.94598137e-01 -1.70800809e-04 -1.51735701e+00] [-6.80259569e-03 -5.38222490e-04 9.99976717e-01 -8.98857444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:-1.51, Z:-0.90 [[ 9.95468724e-01 9.48445188e-02 6.82172452e-03 1.19847178e+02] [-9.48455665e-02 9.95491984e-01 -1.70487434e-04 -1.51451620e+00] [-6.80714188e-03 -4.77295418e-04 9.99976717e-01 -9.01414475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:-1.52, Z:-0.90 [[ 9.95937732e-01 8.97858475e-02 6.82172647e-03 1.19907314e+02] [-8.97867776e-02 9.95960996e-01 -1.70409593e-04 -1.51559452e+00] [-6.80947386e-03 -4.42783494e-04 9.99976717e-01 -8.97467710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:-1.52, Z:-0.90 [[ 9.96270681e-01 8.60127584e-02 6.82173050e-03 1.19965729e+02] [-8.60136015e-02 9.96293948e-01 -1.70248137e-04 -1.51849820e+00] [-6.81109232e-03 -4.17148381e-04 9.99976717e-01 -8.99891057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.03, Y:-1.52, Z:-0.90 [[ 9.96387081e-01 8.46536948e-02 6.82173650e-03 1.20025087e+02] [-8.46545077e-02 9.96410350e-01 -1.70007246e-04 -1.52268885e+00] [-6.81164060e-03 -4.08097722e-04 9.99976717e-01 -9.02099962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:-1.53, Z:-0.90 [[ 9.96229906e-01 8.64837415e-02 6.82174043e-03 1.20084431e+02] [-8.64845983e-02 9.96253173e-01 -1.69849552e-04 -1.52880760e+00] [-6.81086977e-03 -4.20766278e-04 9.99976717e-01 -9.02165681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:-1.54, Z:-0.90 [[ 9.95956405e-01 8.95784694e-02 6.82174433e-03 1.20144277e+02] [-8.95793995e-02 9.95979670e-01 -1.69692688e-04 -1.53600912e+00] [-6.80951948e-03 -4.42081241e-04 9.99976717e-01 -9.01889096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:-1.54, Z:-0.90 [[ 9.95933008e-01 8.98382306e-02 6.82174235e-03 1.20204741e+02] [-8.98391662e-02 9.95956272e-01 -1.69772127e-04 -1.54310821e+00] [-6.80940911e-03 -4.43777980e-04 9.99976717e-01 -8.99285237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:-1.55, Z:-0.90 [[ 9.95984149e-01 8.92694691e-02 6.82174235e-03 1.20265147e+02] [-8.92703915e-02 9.96007414e-01 -1.69772127e-04 -1.54892913e+00] [-6.80966143e-03 -4.39889263e-04 9.99976717e-01 -9.00639408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.32, Y:-1.55, Z:-0.91 [[ 9.95855166e-01 9.06970387e-02 6.82174235e-03 1.20324178e+02] [-9.06979944e-02 9.95878429e-01 -1.69772127e-04 -1.55143715e+00] [-6.80902389e-03 -4.49649900e-04 9.99976717e-01 -9.07361752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:120.38, Y:-1.55, Z:-0.90 [[ 9.95636299e-01 9.30689242e-02 6.82174430e-03 1.20383560e+02] [-9.30699358e-02 9.95659559e-01 -1.69694007e-04 -1.55150451e+00] [-6.80792816e-03 -4.65945791e-04 9.99976717e-01 -8.98350610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.44, Y:-1.55, Z:-0.90 [[ 9.95573895e-01 9.37341097e-02 6.82174841e-03 1.20443637e+02] [-9.37351380e-02 9.95597155e-01 -1.69528512e-04 -1.55222476e+00] [-6.80760391e-03 -4.70659368e-04 9.99976717e-01 -8.98633289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.50, Y:-1.56, Z:-0.90 [[ 9.95485898e-01 9.46640973e-02 6.82174841e-03 1.20504265e+02] [-9.46651474e-02 9.95509157e-01 -1.69528512e-04 -1.55538275e+00] [-6.80716127e-03 -4.77018576e-04 9.99976717e-01 -9.04389072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.56, Y:-1.56, Z:-0.90 [[ 9.95487857e-01 9.46434877e-02 6.82174841e-03 1.20563843e+02] [-9.46445373e-02 9.95511116e-01 -1.69528512e-04 -1.55621664e+00] [-6.80717114e-03 -4.76877647e-04 9.99976717e-01 -9.03501349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:120.62, Y:-1.56, Z:-0.91 [[ 9.95359341e-01 9.59856541e-02 6.82175043e-03 1.20624262e+02] [-9.59867356e-02 9.95382599e-01 -1.69447168e-04 -1.55816441e+00] [-6.80651617e-03 -4.86136734e-04 9.99976717e-01 -9.05123378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:-1.56, Z:-0.91 [[ 9.94745878e-01 1.02147448e-01 6.82175043e-03 1.20683851e+02] [-1.02148674e-01 9.94769129e-01 -1.69447168e-04 -1.55598106e+00] [-6.80337533e-03 -5.28275888e-04 9.99976717e-01 -9.07495877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:-1.55, Z:-0.91 [[ 9.94376118e-01 1.05686331e-01 6.82175447e-03 1.20742954e+02] [-1.05687640e-01 9.94399363e-01 -1.69284489e-04 -1.55220648e+00] [-6.80143936e-03 -5.52642678e-04 9.99976717e-01 -9.09270796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:-1.55, Z:-0.91 [[ 9.94358096e-01 1.05855750e-01 6.82176045e-03 1.20802482e+02] [-1.05857065e-01 9.94381342e-01 -1.69043097e-04 -1.54970621e+00] [-6.80132549e-03 -5.54042170e-04 9.99976717e-01 -9.09152489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.86, Y:-1.55, Z:-0.91 [[ 9.94664049e-01 1.02941208e-01 6.82176447e-03 1.20861588e+02] [-1.02942456e-01 9.94687299e-01 -1.68880521e-04 -1.54594081e+00] [-6.80290724e-03 -5.34269804e-04 9.99976717e-01 -9.07166285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.92, Y:-1.54, Z:-0.91 [[ 9.94839662e-01 1.01229989e-01 6.82177046e-03 1.20920831e+02] [-1.01231199e-01 9.94862913e-01 -1.68638557e-04 -1.54317973e+00] [-6.80379771e-03 -5.22807677e-04 9.99976717e-01 -9.07082849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.98, Y:-1.54, Z:-0.91 [[ 9.95087451e-01 9.87645099e-02 6.82177632e-03 1.20980697e+02] [-9.87656634e-02 9.95110705e-01 -1.68400887e-04 -1.54239497e+00] [-6.80505468e-03 -5.06183655e-04 9.99976717e-01 -9.09787373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.04, Y:-1.55, Z:-0.91 [[ 9.95525821e-01 9.42433211e-02 6.82178017e-03 1.21040372e+02] [-9.42443700e-02 9.95549080e-01 -1.68244887e-04 -1.54718816e+00] [-6.80727293e-03 -4.75422246e-04 9.99976717e-01 -9.08475174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:-1.55, Z:-0.91 [[ 9.95854242e-01 9.07071797e-02 6.82178404e-03 1.21099514e+02] [-9.07081472e-02 9.95877504e-01 -1.68087884e-04 -1.55220680e+00] [-6.80890804e-03 -4.51400358e-04 9.99976717e-01 -9.08096297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.16, Y:-1.56, Z:-0.91 [[ 9.95927983e-01 8.98939167e-02 6.82178787e-03 1.21160093e+02] [-8.98948662e-02 9.95951246e-01 -1.67932072e-04 -1.55646545e+00] [-6.80926421e-03 -4.45995458e-04 9.99976717e-01 -9.07229091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:121.22, Y:-1.56, Z:-0.91 [[ 9.95624327e-01 9.31969002e-02 6.82178787e-03 1.21218653e+02] [-9.31979268e-02 9.95647587e-01 -1.67932072e-04 -1.56030595e+00] [-6.80774739e-03 -4.68579230e-04 9.99976717e-01 -9.11570526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:-1.56, Z:-0.91 [[ 9.95310117e-01 9.64947384e-02 6.82179175e-03 1.21277864e+02] [-9.64958432e-02 9.95333373e-01 -1.67774352e-04 -1.56428134e+00] [-6.80614634e-03 -4.91287037e-04 9.99976717e-01 -9.06982362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:-1.57, Z:-0.91 [[ 9.95543955e-01 9.40515634e-02 6.82179581e-03 1.21337710e+02] [-9.40526122e-02 9.95567214e-01 -1.67609067e-04 -1.56977866e+00] [-6.80732015e-03 -4.74745523e-04 9.99976717e-01 -9.11280589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.40, Y:-1.58, Z:-0.91 [[ 9.95851293e-01 9.07395482e-02 6.82179347e-03 1.21397672e+02] [-9.07405190e-02 9.95874555e-01 -1.67704540e-04 -1.57564472e+00] [-6.80886797e-03 -4.52004297e-04 9.99976717e-01 -9.11317841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:-1.58, Z:-0.91 [[ 9.96052849e-01 8.84996371e-02 6.82179155e-03 1.21457655e+02] [-8.85005551e-02 9.96076113e-01 -1.67782651e-04 -1.57881704e+00] [-6.80987231e-03 -4.36611951e-04 9.99976717e-01 -9.12245339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:-1.59, Z:-0.91 [[ 9.96434579e-01 8.40927692e-02 6.82179155e-03 1.21519216e+02] [-8.40935842e-02 9.96457847e-01 -1.67782651e-04 -1.58705379e+00] [-6.81173702e-03 -4.06484467e-04 9.99976717e-01 -9.08750755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:-1.59, Z:-0.91 [[ 9.96414267e-01 8.43331005e-02 6.82178756e-03 1.21579254e+02] [-8.43339200e-02 9.96437535e-01 -1.67944600e-04 -1.59250281e+00] [-6.81164847e-03 -4.07965691e-04 9.99976717e-01 -9.11195912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:-1.60, Z:-0.91 [[ 9.96348781e-01 8.51032858e-02 6.82177725e-03 1.21639638e+02] [-8.51041204e-02 9.96372049e-01 -1.68362468e-04 -1.59816413e+00] [-6.81135637e-03 -4.12813613e-04 9.99976717e-01 -9.13190638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.70, Y:-1.61, Z:-0.91 [[ 9.96357528e-01 8.50008219e-02 6.82177530e-03 1.21700775e+02] [-8.50016537e-02 9.96380796e-01 -1.68441289e-04 -1.60544262e+00] [-6.81140355e-03 -4.12034435e-04 9.99976717e-01 -9.07340825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:-1.61, Z:-0.91 [[ 9.96186204e-01 8.69856874e-02 6.82177137e-03 1.21760933e+02] [-8.69865644e-02 9.96209471e-01 -1.68600451e-04 -1.61204149e+00] [-6.81057907e-03 -4.25445012e-04 9.99976717e-01 -9.08446616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:-1.62, Z:-0.91 [[ 9.95743137e-01 9.19188160e-02 6.82176942e-03 1.21821882e+02] [-9.19198077e-02 9.95766399e-01 -1.68679107e-04 -1.61613374e+00] [-6.80839355e-03 -4.59094671e-04 9.99976717e-01 -9.10954216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.88, Y:-1.62, Z:-0.91 [[ 9.95151635e-01 9.81156777e-02 6.82176554e-03 1.21882208e+02] [-9.81168131e-02 9.95174890e-01 -1.68836083e-04 -1.61862034e+00] [-6.80541524e-03 -5.01312390e-04 9.99976717e-01 -9.12262572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.94, Y:-1.62, Z:-0.91 [[ 9.95370943e-01 9.58652708e-02 6.82176554e-03 1.21943652e+02] [-9.58663537e-02 9.95394200e-01 -1.68836083e-04 -1.62241357e+00] [-6.80653137e-03 -4.85923257e-04 9.99976717e-01 -9.13085961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:-1.63, Z:-0.91 [[ 9.96042761e-01 8.86131028e-02 6.82175043e-03 1.22006222e+02] [-8.86140121e-02 9.96066026e-01 -1.69444317e-04 -1.62821984e+00] [-6.80992883e-03 -4.35728890e-04 9.99976717e-01 -9.10792815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:-1.63, Z:-0.91 [[ 9.96177989e-01 8.70797275e-02 6.82171932e-03 1.22067977e+02] [-8.70805925e-02 9.96201255e-01 -1.70687434e-04 -1.62975385e+00] [-6.81066877e-03 -4.24004296e-04 9.99976717e-01 -9.08766511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:-1.63, Z:-0.91 [[ 9.96166710e-01 8.72086600e-02 6.82169199e-03 1.22129804e+02] [-8.72095206e-02 9.96189977e-01 -1.71773099e-04 -1.62924413e+00] [-6.81068128e-03 -4.23801845e-04 9.99976717e-01 -9.07540003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.19, Y:-1.63, Z:-0.91 [[ 9.96489247e-01 8.34424733e-02 6.82166444e-03 1.22192069e+02] [-8.34432386e-02 9.96512517e-01 -1.72860335e-04 -1.63030484e+00] [-6.81229789e-03 -3.96968308e-04 9.99976717e-01 -9.10920089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:122.25, Y:-1.63, Z:-0.91 [[ 9.97034174e-01 7.66571620e-02 6.82163671e-03 1.22254875e+02] [-7.66577614e-02 9.97057449e-01 -1.73947566e-04 -1.63301099e+00] [-6.81489803e-03 -3.49499731e-04 9.99976717e-01 -9.12157782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-1.64, Z:-0.91 [[ 9.97637890e-01 6.83528063e-02 6.82160295e-03 1.22316969e+02] [-6.83532029e-02 9.97661169e-01 -1.75261548e-04 -1.64047557e+00] [-6.81762800e-03 -2.91430850e-04 9.99976717e-01 -9.06298029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:-1.65, Z:-0.91 [[ 9.97787220e-01 6.61372018e-02 6.82157131e-03 1.22378456e+02] [-6.61375383e-02 9.97810500e-01 -1.76484724e-04 -1.64718640e+00] [-6.81830769e-03 -2.75067731e-04 9.99976717e-01 -9.06823404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:-1.66, Z:-0.91 [[ 9.97687460e-01 6.76254229e-02 6.82154117e-03 1.22441138e+02] [-6.76257863e-02 9.97710740e-01 -1.77641998e-04 -1.65530969e+00] [-6.81793801e-03 -2.84080892e-04 9.99976717e-01 -9.09705688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.50, Y:-1.67, Z:-0.91 [[ 9.97219719e-01 7.42044470e-02 6.82150780e-03 1.22503263e+02] [-7.42049552e-02 9.97242996e-01 -1.78914151e-04 -1.66665198e+00] [-6.81597710e-03 -3.27772961e-04 9.99976717e-01 -9.12684508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.57, Y:-1.67, Z:-0.92 [[ 9.96714698e-01 8.07048815e-02 6.82148702e-03 1.22566252e+02] [-8.07055361e-02 9.96737972e-01 -1.79703133e-04 -1.67176983e+00] [-6.81373806e-03 -3.71419013e-04 9.99976717e-01 -9.15659411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:-1.68, Z:-0.92 [[ 9.96306036e-01 8.56022818e-02 6.82145260e-03 1.22629586e+02] [-8.56030419e-02 9.96329306e-01 -1.81000382e-04 -1.67877191e+00] [-6.81190718e-03 -4.03605319e-04 9.99976717e-01 -9.15706634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:-1.69, Z:-0.91 [[ 9.96105316e-01 8.79071503e-02 6.82141812e-03 1.22691191e+02] [-8.79079554e-02 9.96128585e-01 -1.82290595e-04 -1.69002589e+00] [-6.81103423e-03 -4.18076289e-04 9.99976717e-01 -9.14371581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:-1.70, Z:-0.91 [[ 9.96164354e-01 8.72355875e-02 6.82138594e-03 1.22753826e+02] [-8.72363688e-02 9.96187624e-01 -1.83486943e-04 -1.69741653e+00] [-6.81138684e-03 -4.12289788e-04 9.99976717e-01 -9.14401921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.82, Y:-1.70, Z:-0.92 [[ 9.95994246e-01 8.91567745e-02 6.82135119e-03 1.22815719e+02] [-8.91575919e-02 9.96017515e-01 -1.84769767e-04 -1.70381430e+00] [-6.81065874e-03 -4.24145621e-04 9.99976717e-01 -9.16015262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.88, Y:-1.71, Z:-0.92 [[ 9.95417750e-01 9.53780551e-02 6.82131875e-03 1.22877756e+02] [-9.53790098e-02 9.95441013e-01 -1.85959910e-04 -1.70584152e+00] [-6.80795694e-03 -4.65502833e-04 9.99976717e-01 -9.20761690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:-1.71, Z:-0.92 [[ 9.95117487e-01 9.84614508e-02 6.82128872e-03 1.22938953e+02] [-9.84624701e-02 9.95140747e-01 -1.87054703e-04 -1.70593609e+00] [-6.80656004e-03 -4.85499531e-04 9.99976717e-01 -9.18581015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:-1.71, Z:-0.92 [[ 9.94807693e-01 1.01543705e-01 6.82126094e-03 1.23002148e+02] [-1.01544789e-01 9.94830951e-01 -1.88062527e-04 -1.70522862e+00] [-6.80509807e-03 -5.05577457e-04 9.99976717e-01 -9.15335218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.06, Y:-1.70, Z:-0.92 [[ 9.94457800e-01 1.04914991e-01 6.82122470e-03 1.23064089e+02] [-1.04916146e-01 9.94481054e-01 -1.89368031e-04 -1.70205859e+00] [-6.80344627e-03 -5.27338088e-04 9.99976717e-01 -9.16990096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:-1.69, Z:-0.92 [[ 9.94303043e-01 1.06371663e-01 6.82120216e-03 1.23125704e+02] [-1.06372846e-01 9.94326295e-01 -1.90176263e-04 -1.69336220e+00] [-6.80273004e-03 -5.36497849e-04 9.99976717e-01 -9.22229500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:-1.69, Z:-0.92 [[ 9.94707603e-01 1.02519545e-01 6.82117358e-03 1.23188411e+02] [-1.02520630e-01 9.94730860e-01 -1.91195996e-04 -1.69009851e+00] [-6.80483319e-03 -5.09126905e-04 9.99976717e-01 -9.24360435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:-1.69, Z:-0.92 [[ 9.95533314e-01 9.41641830e-02 6.82113880e-03 1.23251747e+02] [-9.41650652e-02 9.95556580e-01 -1.92428763e-04 -1.69037801e+00] [-6.80894951e-03 -4.50743736e-04 9.99976717e-01 -9.21835052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-1.69, Z:-0.92 [[ 9.96540367e-01 8.28297640e-02 6.82110288e-03 1.23313903e+02] [-8.28303727e-02 9.96563642e-01 -1.93693782e-04 -1.69129407e+00] [-6.81370674e-03 -3.71970821e-04 9.99976717e-01 -9.24948987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.38, Y:-1.69, Z:-0.93 [[ 9.96618853e-01 8.18800057e-02 6.82106924e-03 1.23377099e+02] [-8.18805842e-02 9.96642128e-01 -1.94871144e-04 -1.69229594e+00] [-6.81412102e-03 -3.64300879e-04 9.99976717e-01 -9.25271507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.44, Y:-1.69, Z:-0.92 [[ 9.96599517e-01 8.21150158e-02 6.82103239e-03 1.23440252e+02] [-8.21155911e-02 9.96622793e-01 -1.96152757e-04 -1.69376493e+00] [-6.81410344e-03 -3.64627364e-04 9.99976717e-01 -9.23565168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.50, Y:-1.70, Z:-0.92 [[ 9.96499147e-01 8.33242054e-02 6.82099450e-03 1.23502575e+02] [-8.33248000e-02 9.96522423e-01 -1.97461586e-04 -1.69710523e+00] [-6.81372729e-03 -3.71587701e-04 9.99976717e-01 -9.21481197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:-1.70, Z:-0.92 [[ 9.96130678e-01 8.76193259e-02 6.82095912e-03 1.23565264e+02] [-8.76200125e-02 9.96153951e-01 -1.98676304e-04 -1.70320469e+00] [-6.81213326e-03 -3.99744962e-04 9.99976717e-01 -9.19690851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:-1.71, Z:-0.92 [[ 9.95784055e-01 9.14745358e-02 6.82092026e-03 1.23627148e+02] [-9.14753034e-02 9.95807325e-01 -2.00001673e-04 -1.70708577e+00] [-6.81061742e-03 -4.24787273e-04 9.99976717e-01 -9.17865878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:-1.71, Z:-0.92 [[ 9.95428906e-01 9.52615779e-02 6.82088409e-03 1.23690203e+02] [-9.52624257e-02 9.95452174e-01 -2.01227693e-04 -1.71012565e+00] [-6.80903316e-03 -4.49466101e-04 9.99976717e-01 -9.17974322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-1.71, Z:-0.92 [[ 9.94937987e-01 1.00259054e-01 6.82084515e-03 1.23752232e+02] [-1.00260010e-01 9.94961250e-01 -2.02538896e-04 -1.71491483e+00] [-6.80678298e-03 -4.82344361e-04 9.99976717e-01 -9.23894118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.81, Y:-1.72, Z:-0.92 [[ 9.94685736e-01 1.02731509e-01 6.82081124e-03 1.23813498e+02] [-1.02732515e-01 9.94708997e-01 -2.03674558e-04 -1.71843084e+00] [-6.80564610e-03 -4.98126912e-04 9.99976717e-01 -9.20976094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.88, Y:-1.72, Z:-0.92 [[ 9.94485003e-01 1.04656847e-01 6.82077999e-03 1.23876487e+02] [-1.04657891e-01 9.94508262e-01 -2.04715762e-04 -1.72152189e+00] [-6.80474696e-03 -5.10261692e-04 9.99976717e-01 -9.17868659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:-1.72, Z:-0.93 [[ 9.94350494e-01 1.05927202e-01 6.82074093e-03 1.23937624e+02] [-1.05928267e-01 9.94373753e-01 -2.06009137e-04 -1.72495250e+00] [-6.80418772e-03 -5.17663978e-04 9.99976717e-01 -9.25261245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:-1.73, Z:-0.93 [[ 9.94423554e-01 1.05239122e-01 6.82070940e-03 1.24000903e+02] [-1.05240164e-01 9.94446814e-01 -2.07047534e-04 -1.72848649e+00] [-6.80462223e-03 -5.11919630e-04 9.99976717e-01 -9.27099213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:-1.73, Z:-0.93 [[ 9.94726056e-01 1.02340369e-01 6.82067112e-03 1.24063499e+02] [-1.02341334e-01 9.94749319e-01 -2.08301161e-04 -1.73374565e+00] [-6.80617557e-03 -4.90833992e-04 9.99976717e-01 -9.25347847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:124.13, Y:-1.74, Z:-0.93 [[ 9.95011467e-01 9.95271778e-02 6.82063275e-03 1.24125713e+02] [-9.95280686e-02 9.95034733e-01 -2.09550001e-04 -1.73974031e+00] [-6.80762241e-03 -4.70339750e-04 9.99976717e-01 -9.29037449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.19, Y:-1.75, Z:-0.93 [[ 9.94952230e-01 1.00117630e-01 6.82059893e-03 1.24187287e+02] [-1.00118527e-01 9.94975495e-01 -2.10645002e-04 -1.75024390e+00] [-6.80741808e-03 -4.73286604e-04 9.99976717e-01 -9.26996695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.25, Y:-1.76, Z:-0.93 [[ 9.94949491e-01 1.00144847e-01 6.82056439e-03 1.24249412e+02] [-1.00145737e-01 9.94972757e-01 -2.11757542e-04 -1.75815460e+00] [-6.80748218e-03 -4.72362392e-04 9.99976717e-01 -9.27034042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:-1.77, Z:-0.93 [[ 9.94859956e-01 1.01030435e-01 6.82052972e-03 1.24311013e+02] [-1.01031338e-01 9.94883221e-01 -2.12868431e-04 -1.76528857e+00] [-6.80713677e-03 -4.77312965e-04 9.99976717e-01 -9.25879542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:-1.77, Z:-0.93 [[ 9.94761654e-01 1.01993787e-01 6.82049307e-03 1.24373493e+02] [-1.01994705e-01 9.94784919e-01 -2.14036466e-04 -1.77114784e+00] [-6.80675403e-03 -4.82738907e-04 9.99976717e-01 -9.30293900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:-1.78, Z:-0.93 [[ 9.94829007e-01 1.01334731e-01 6.82048106e-03 1.24435751e+02] [-1.01335631e-01 9.94852272e-01 -2.14418442e-04 -1.77765692e+00] [-6.80709912e-03 -4.77848065e-04 9.99976717e-01 -9.29796397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:-1.79, Z:-0.93 [[ 9.94989690e-01 9.97446666e-02 6.82044495e-03 1.24497996e+02] [-9.97455214e-02 9.95012957e-01 -2.15560966e-04 -1.78508303e+00] [-6.80793215e-03 -4.65827899e-04 9.99976717e-01 -9.29572860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.56, Y:-1.79, Z:-0.93 [[ 9.95247272e-01 9.71408769e-02 6.82040644e-03 1.24560736e+02] [-9.71416626e-02 9.95270541e-01 -2.16772482e-04 -1.79264680e+00] [-6.80920708e-03 -4.46803400e-04 9.99976717e-01 -9.27557101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:-1.80, Z:-0.92 [[ 9.95566008e-01 9.38179418e-02 6.82036530e-03 1.24623166e+02] [-9.38186410e-02 9.95589280e-01 -2.18059319e-04 -1.79892955e+00] [-6.81074046e-03 -4.22784958e-04 9.99976717e-01 -9.23225229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:-1.81, Z:-0.92 [[ 9.95760191e-01 9.17339876e-02 6.82032918e-03 1.24685113e+02] [-9.17346305e-02 9.95783465e-01 -2.19183161e-04 -1.80559749e+00] [-6.81167757e-03 -4.07406511e-04 9.99976717e-01 -9.20760780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.75, Y:-1.81, Z:-0.93 [[ 9.95606203e-01 9.33904236e-02 6.82029049e-03 1.24747046e+02] [-9.33910970e-02 9.95629476e-01 -2.20380573e-04 -1.81093896e+00] [-6.81106369e-03 -4.17542145e-04 9.99976717e-01 -9.31788210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.81, Y:-1.81, Z:-0.94 [[ 9.95187853e-01 9.77477444e-02 6.82025431e-03 1.24809529e+02] [-9.77485120e-02 9.95211123e-01 -2.21494716e-04 -1.81491062e+00] [-6.80924356e-03 -4.46240859e-04 9.99976717e-01 -9.35262094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-1.82, Z:-0.93 [[ 9.94620180e-01 1.03364312e-01 6.82024091e-03 1.24871167e+02] [-1.03365209e-01 9.94643446e-01 -2.21906496e-04 -1.81584944e+00] [-6.80664513e-03 -4.84262945e-04 9.99976717e-01 -9.34271563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:-1.81, Z:-0.93 [[ 9.93822990e-01 1.10767094e-01 6.82020655e-03 1.24932782e+02] [-1.10768156e-01 9.93846249e-01 -2.22957478e-04 -1.81095601e+00] [-6.80293305e-03 -5.33881435e-04 9.99976717e-01 -9.32322881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:-1.81, Z:-0.94 [[ 9.93595408e-01 1.12790291e-01 6.82017322e-03 1.24994321e+02] [-1.12791393e-01 9.93618665e-01 -2.23972465e-04 -1.80549648e+00] [-6.80191333e-03 -5.46718827e-04 9.99976717e-01 -9.36804012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.06, Y:-1.80, Z:-0.94 [[ 9.93806306e-01 1.10916692e-01 6.82014060e-03 1.25055276e+02] [-1.10917744e-01 9.93829565e-01 -2.24961366e-04 -1.79899471e+00] [-6.80300934e-03 -5.32906583e-04 9.99976717e-01 -9.39450002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:-1.79, Z:-0.94 [[ 9.94433916e-01 1.05141208e-01 6.82010869e-03 1.25117915e+02] [-1.05142119e-01 9.94457181e-01 -2.25924813e-04 -1.79466987e+00] [-6.80606007e-03 -4.92413380e-04 9.99976717e-01 -9.38443125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:-1.79, Z:-0.94 [[ 9.95354964e-01 9.60311487e-02 6.82007191e-03 1.25179771e+02] [-9.60318385e-02 9.95378237e-01 -2.27029736e-04 -1.79317602e+00] [-6.81035308e-03 -4.28968869e-04 9.99976717e-01 -9.37412550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:-1.80, Z:-0.93 [[ 9.96630003e-01 8.17442593e-02 6.82003258e-03 1.25242158e+02] [-8.17446071e-02 9.96653283e-01 -2.28205033e-04 -1.79514913e+00] [-6.81586232e-03 -3.30064902e-04 9.99976717e-01 -9.31190053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:-1.80, Z:-0.93 [[ 9.96960996e-01 7.76032244e-02 6.81999427e-03 1.25304151e+02] [-7.76034678e-02 9.96984277e-01 -2.29344356e-04 -1.79830062e+00] [-6.81722492e-03 -3.00607827e-04 9.99976717e-01 -9.31601257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:-1.80, Z:-0.93 [[ 9.96821729e-01 7.93720869e-02 6.81995309e-03 1.25367396e+02] [-7.93723633e-02 9.96845010e-01 -2.30562403e-04 -1.80084360e+00] [-6.81673643e-03 -3.11486180e-04 9.99976717e-01 -9.29832413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:-1.81, Z:-0.93 [[ 9.96426153e-01 8.41926938e-02 6.81990845e-03 1.25429548e+02] [-8.41930737e-02 9.96449433e-01 -2.31875394e-04 -1.80512490e+00] [-6.81521612e-03 -3.43142348e-04 9.99976717e-01 -9.29610977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-1.81, Z:-0.93 [[ 9.95805617e-01 9.12395854e-02 6.81986673e-03 1.25492193e+02] [-9.12401217e-02 9.95828894e-01 -2.33095841e-04 -1.81018202e+00] [-6.81268791e-03 -3.90127323e-04 9.99976717e-01 -9.29135398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.55, Y:-1.81, Z:-0.93 [[ 9.94992743e-01 9.97142462e-02 6.81982025e-03 1.25553836e+02] [-9.97149715e-02 9.95016015e-01 -2.34448032e-04 -1.81470435e+00] [-6.80920817e-03 -4.46764091e-04 9.99976717e-01 -9.29657035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:-1.82, Z:-0.93 [[ 9.93998942e-01 1.09176891e-01 6.81977713e-03 1.25616606e+02] [-1.09177829e-01 9.94022206e-01 -2.35695553e-04 -1.81942614e+00] [-6.80474242e-03 -5.10287334e-04 9.99976717e-01 -9.31795817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:-1.82, Z:-0.93 [[ 9.93886517e-01 1.10195659e-01 6.81973322e-03 1.25679274e+02] [-1.10196612e-01 9.93909780e-01 -2.36959497e-04 -1.82285591e+00] [-6.80431145e-03 -5.16000647e-04 9.99976717e-01 -9.33182308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:-1.83, Z:-0.94 [[ 9.94252498e-01 1.06843170e-01 6.81968975e-03 1.25739850e+02] [-1.06844037e-01 9.94275764e-01 -2.38204012e-04 -1.82650442e+00] [-6.80610271e-03 -4.91808248e-04 9.99976717e-01 -9.37367115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:-1.83, Z:-0.94 [[ 9.95210120e-01 9.75208184e-02 6.81965480e-03 1.25802513e+02] [-9.75214599e-02 9.95233394e-01 -2.39200485e-04 -1.83391493e+00] [-6.81047521e-03 -4.27007948e-04 9.99976717e-01 -9.37367884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:-1.84, Z:-0.93 [[ 9.95557297e-01 9.39103926e-02 6.81960856e-03 1.25864334e+02] [-9.39109408e-02 9.95580573e-01 -2.40511450e-04 -1.84223547e+00] [-6.81205632e-03 -4.00992926e-04 9.99976717e-01 -9.34969323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:-1.85, Z:-0.93 [[ 9.95725746e-01 9.21071760e-02 6.81956511e-03 1.25926666e+02] [-9.21076736e-02 9.95749024e-01 -2.41737233e-04 -1.85097073e+00] [-6.81284103e-03 -3.87430290e-04 9.99976717e-01 -9.33501820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.99, Y:-1.86, Z:-0.94 [[ 9.95518289e-01 9.43230078e-02 6.81951937e-03 1.25987907e+02] [-9.43235484e-02 9.95541566e-01 -2.43020865e-04 -1.86229212e+00] [-6.81203745e-03 -4.01309549e-04 9.99976717e-01 -9.37502946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:-1.87, Z:-0.94 [[ 9.94955734e-01 1.00082873e-01 6.81948236e-03 1.26050983e+02] [-1.00083541e-01 9.94979007e-01 -2.44054881e-04 -1.87086627e+00] [-6.80966750e-03 -4.39694141e-04 9.99976717e-01 -9.36959177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:-1.88, Z:-0.94 [[ 9.94054655e-01 1.08668478e-01 6.81943681e-03 1.26113269e+02] [-1.08669338e-01 9.94077922e-01 -2.45321011e-04 -1.88002984e+00] [-6.80571024e-03 -4.97201192e-04 9.99976717e-01 -9.36272786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:-1.89, Z:-0.94 [[ 9.93919366e-01 1.09898999e-01 6.81939182e-03 1.26175700e+02] [-1.09899880e-01 9.93942632e-01 -2.46565472e-04 -1.88564539e+00] [-6.80518155e-03 -5.04384143e-04 9.99976717e-01 -9.36479409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:-1.90, Z:-0.94 [[ 9.94395726e-01 1.05501836e-01 6.81934561e-03 1.26237118e+02] [-1.05502605e-01 9.94418996e-01 -2.47836920e-04 -1.89608597e+00] [-6.80743406e-03 -4.73010755e-04 9.99976717e-01 -9.35479432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:-1.91, Z:-0.94 [[ 9.95142185e-01 9.82116549e-02 6.81930270e-03 1.26299726e+02] [-9.82122456e-02 9.95165460e-01 -2.49011911e-04 -1.90596565e+00] [-6.81079038e-03 -4.21936775e-04 9.99976717e-01 -9.37961203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:-1.92, Z:-0.94 [[ 9.95855205e-01 9.06967928e-02 6.81925621e-03 1.26362765e+02] [-9.06971991e-02 9.95878484e-01 -2.50278831e-04 -1.91621368e+00] [-6.81385002e-03 -3.69245961e-04 9.99976717e-01 -9.42184982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:-1.93, Z:-0.94 [[ 9.96265584e-01 8.60719729e-02 6.81920970e-03 1.26424091e+02] [-8.60722625e-02 9.96288865e-01 -2.51539740e-04 -1.93098791e+00] [-6.81555321e-03 -3.36344421e-04 9.99976717e-01 -9.44053390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-1.94, Z:-0.94 [[ 9.96119996e-01 8.77408229e-02 6.81916863e-03 1.26485396e+02] [-8.77411439e-02 9.96143277e-01 -2.52648106e-04 -1.94156484e+00] [-6.81503654e-03 -3.46653826e-04 9.99976717e-01 -9.42819829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-1.95, Z:-0.94 [[ 9.95602782e-01 9.34269783e-02 6.81912465e-03 1.26547785e+02] [-9.34274242e-02 9.95626060e-01 -2.53829650e-04 -1.94845202e+00] [-6.81301275e-03 -3.84379746e-04 9.99976717e-01 -9.41056401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-1.95, Z:-0.95 [[ 9.94406695e-01 1.05398411e-01 6.81907646e-03 1.26608931e+02] [-1.05399128e-01 9.94429967e-01 -2.55117830e-04 -1.95408089e+00] [-6.80798299e-03 -4.65033833e-04 9.99976717e-01 -9.46385976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-1.96, Z:-0.95 [[ 9.94033221e-01 1.08864392e-01 6.81905294e-03 1.26671919e+02] [-1.08865186e-01 9.94056490e-01 -2.55744926e-04 -1.95556192e+00] [-6.80636535e-03 -4.88138515e-04 9.99976717e-01 -9.47471986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-1.96, Z:-0.94 [[ 9.94723825e-01 1.02362167e-01 6.81900685e-03 1.26734156e+02] [-1.02362800e-01 9.94747099e-01 -2.56967811e-04 -1.95837834e+00] [-6.80949107e-03 -4.42400633e-04 9.99976717e-01 -9.41699365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:-1.96, Z:-0.94 [[ 9.95471013e-01 9.48206988e-02 6.81896522e-03 1.26797129e+02] [-9.48211483e-02 9.95494291e-01 -2.58068013e-04 -1.96323001e+00] [-6.81271113e-03 -3.89682886e-04 9.99976717e-01 -9.39300075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:-1.97, Z:-0.94 [[ 9.95993050e-01 8.91703192e-02 6.81891764e-03 1.26859615e+02] [-8.91706281e-02 9.96016331e-01 -2.59319128e-04 -1.97086521e+00] [-6.81487690e-03 -3.49767119e-04 9.99976717e-01 -9.39235064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:-1.98, Z:-0.94 [[ 9.96120254e-01 8.77379231e-02 6.81886931e-03 1.26921415e+02] [-8.77381899e-02 9.96143535e-01 -2.60583733e-04 -1.98206765e+00] [-6.81543565e-03 -3.38702516e-04 9.99976717e-01 -9.44815144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:-1.99, Z:-0.95 [[ 9.95917457e-01 9.00106817e-02 6.81882684e-03 1.26983172e+02] [-9.00109941e-02 9.95940737e-01 -2.61690411e-04 -1.99069161e+00] [-6.81470236e-03 -3.53147334e-04 9.99976717e-01 -9.45735974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.05, Y:-2.00, Z:-0.94 [[ 9.95565788e-01 9.38203914e-02 6.81878148e-03 1.27045933e+02] [-9.38207848e-02 9.95589067e-01 -2.62866886e-04 -1.99960777e+00] [-6.81336657e-03 -3.78042151e-04 9.99976717e-01 -9.41941549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:-2.01, Z:-0.94 [[ 9.94758848e-01 1.02021272e-01 6.81873402e-03 1.27108330e+02] [-1.02021849e-01 9.94782123e-01 -2.64092398e-04 -2.00743469e+00] [-6.81009775e-03 -4.32951601e-04 9.99976717e-01 -9.42677386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-2.01, Z:-0.94 [[ 9.94218972e-01 1.07154757e-01 6.81868615e-03 1.27170428e+02] [-1.07155446e-01 9.94242244e-01 -2.65322598e-04 -2.01097310e+00] [-6.80785640e-03 -4.66870594e-04 9.99976717e-01 -9.44123189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:-2.01, Z:-0.95 [[ 9.93893498e-01 1.10132741e-01 6.81864168e-03 1.27233263e+02] [-1.10133491e-01 9.93916769e-01 -2.66460526e-04 -2.01371470e+00] [-6.80650834e-03 -4.86127430e-04 9.99976717e-01 -9.47809533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.30, Y:-2.02, Z:-0.95 [[ 9.93927873e-01 1.09822082e-01 6.81859485e-03 1.27295556e+02] [-1.09822817e-01 9.93951144e-01 -2.67653707e-04 -2.01742517e+00] [-6.80674444e-03 -4.82808812e-04 9.99976717e-01 -9.54309330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.36, Y:-2.02, Z:-0.96 [[ 9.93892187e-01 1.10144577e-01 6.81855281e-03 1.27357425e+02] [-1.10145312e-01 9.93915458e-01 -2.68720345e-04 -2.02101464e+00] [-6.80666313e-03 -4.83952575e-04 9.99976717e-01 -9.56156642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.42, Y:-2.02, Z:-0.95 [[ 9.93746253e-01 1.11453547e-01 6.81850804e-03 1.27420745e+02] [-1.11454305e-01 9.93769523e-01 -2.69851521e-04 -2.02303229e+00] [-6.80610139e-03 -4.91788139e-04 9.99976717e-01 -9.54876616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.48, Y:-2.02, Z:-0.95 [[ 9.93296899e-01 1.15389686e-01 6.81845935e-03 1.27483040e+02] [-1.15390528e-01 9.93320166e-01 -2.71076212e-04 -2.02317978e+00] [-6.80419258e-03 -5.17526468e-04 9.99976717e-01 -9.53161183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:-2.02, Z:-0.95 [[ 9.93237014e-01 1.15904029e-01 6.81841584e-03 1.27546361e+02] [-1.15904876e-01 9.93260281e-01 -2.72166408e-04 -2.02387058e+00] [-6.80400681e-03 -5.19961892e-04 9.99976717e-01 -9.53381225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.61, Y:-2.02, Z:-0.95 [[ 9.93528426e-01 1.13378905e-01 6.81836571e-03 1.27609587e+02] [-1.13379684e-01 9.93551696e-01 -2.73416327e-04 -2.02366176e+00] [-6.80539846e-03 -5.01417258e-04 9.99976717e-01 -9.52097732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.67, Y:-2.03, Z:-0.95 [[ 9.94428263e-01 1.05194777e-01 6.81831509e-03 1.27671106e+02] [-1.05195356e-01 9.94451538e-01 -2.74673039e-04 -2.02639909e+00] [-6.80937810e-03 -4.44112447e-04 9.99976717e-01 -9.52042630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.73, Y:-2.03, Z:-0.95 [[ 9.95173818e-01 9.78906718e-02 6.81826795e-03 1.27733504e+02] [-9.78910718e-02 9.95197097e-01 -2.75838164e-04 -2.03280820e+00] [-6.81252246e-03 -3.92940639e-04 9.99976717e-01 -9.49497776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:-2.04, Z:-0.95 [[ 9.95929633e-01 8.98759033e-02 6.81821761e-03 1.27794839e+02] [-8.98761074e-02 9.95952915e-01 -2.77077014e-04 -2.04111015e+00] [-6.81552625e-03 -3.36845650e-04 9.99976717e-01 -9.45492730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:-2.05, Z:-0.94 [[ 9.96384527e-01 8.46840472e-02 6.81817062e-03 1.27856874e+02] [-8.46841221e-02 9.96407809e-01 -2.78228566e-04 -2.05005166e+00] [-6.81723997e-03 -3.00168155e-04 9.99976717e-01 -9.42758710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:-2.06, Z:-0.95 [[ 9.96541245e-01 8.28194444e-02 6.81812406e-03 1.27918479e+02] [-8.28194680e-02 9.96564528e-01 -2.79364815e-04 -2.05973897e+00] [-6.81783742e-03 -2.86274847e-04 9.99976717e-01 -9.48402888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.98, Y:-2.07, Z:-0.95 [[ 9.96622305e-01 8.18382273e-02 6.81807761e-03 1.27980757e+02] [-8.18382202e-02 9.96645587e-01 -2.80494010e-04 -2.06757297e+00] [-6.81816209e-03 -2.78432750e-04 9.99976717e-01 -9.47044597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.04, Y:-2.08, Z:-0.94 [[ 9.96880190e-01 7.86346011e-02 6.81802840e-03 1.28043194e+02] [-7.86345110e-02 9.96903473e-01 -2.81684919e-04 -2.07646337e+00] [-6.81906638e-03 -2.55326214e-04 9.99976717e-01 -9.42736309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.10, Y:-2.08, Z:-0.94 [[ 9.97012068e-01 7.69444764e-02 6.81797733e-03 1.28104785e+02] [-7.69443385e-02 9.97035350e-01 -2.82915857e-04 -2.08400710e+00] [-6.81953322e-03 -2.42534231e-04 9.99976717e-01 -9.43586250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.17, Y:-2.09, Z:-0.95 [[ 9.96843864e-01 7.90937874e-02 6.81792980e-03 1.28168075e+02] [-7.90936920e-02 9.96867146e-01 -2.84056575e-04 -2.08650962e+00] [-6.81903733e-03 -2.56095185e-04 9.99976717e-01 -9.48765885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:-2.09, Z:-0.96 [[ 9.96644112e-01 8.15722439e-02 6.81788148e-03 1.28230679e+02] [-8.15721985e-02 9.96667394e-01 -2.85211560e-04 -2.08774997e+00] [-6.81842552e-03 -2.71895160e-04 9.99976717e-01 -9.55836109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:-2.09, Z:-0.96 [[ 9.96519122e-01 8.30852290e-02 6.81786644e-03 1.28292883e+02] [-8.30852164e-02 9.96542405e-01 -2.85570652e-04 -2.08803137e+00] [-6.81801973e-03 -2.81887293e-04 9.99976717e-01 -9.57160519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:-2.09, Z:-0.96 [[ 9.96583818e-01 8.23055985e-02 6.81782150e-03 1.28354870e+02] [-8.23055604e-02 9.96607100e-01 -2.86639553e-04 -2.08904079e+00] [-6.81828136e-03 -2.75484279e-04 9.99976717e-01 -9.59791520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.42, Y:-2.09, Z:-0.96 [[ 9.96770433e-01 8.00138904e-02 6.81777711e-03 1.28416978e+02] [-8.00137916e-02 9.96793715e-01 -2.87691645e-04 -2.09031620e+00] [-6.81893670e-03 -2.58753672e-04 9.99976717e-01 -9.61417752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:-2.09, Z:-0.96 [[ 9.96939361e-01 7.78808588e-02 6.81772927e-03 1.28478436e+02] [-7.78807024e-02 9.96962644e-01 -2.88820809e-04 -2.09483593e+00] [-6.81951501e-03 -2.43032712e-04 9.99976717e-01 -9.62965026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:-2.10, Z:-0.96 [[ 9.96833952e-01 7.92186283e-02 6.81767799e-03 1.28540898e+02] [-7.92184950e-02 9.96857234e-01 -2.90026386e-04 -2.09846958e+00] [-6.81922712e-03 -2.50978041e-04 9.99976717e-01 -9.60409090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-2.10, Z:-0.96 [[ 9.96541384e-01 8.28178146e-02 6.81762346e-03 1.28601591e+02] [-8.28177566e-02 9.96564666e-01 -2.91302569e-04 -2.10058616e+00] [-6.81832769e-03 -2.74325215e-04 9.99976717e-01 -9.58663335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-2.10, Z:-0.95 [[ 9.96186242e-01 8.69855791e-02 6.81757950e-03 1.28664296e+02] [-8.69856115e-02 9.96209525e-01 -2.92327791e-04 -2.10303461e+00] [-6.81716594e-03 -3.01818398e-04 9.99976717e-01 -9.54192412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:-2.10, Z:-0.96 [[ 9.95804818e-01 9.12484852e-02 6.81752487e-03 1.28727668e+02] [-9.12486086e-02 9.95828100e-01 -2.93596227e-04 -2.10485773e+00] [-6.81587305e-03 -3.29725121e-04 9.99976717e-01 -9.55241200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:128.79, Y:-2.11, Z:-0.95 [[ 9.95592727e-01 9.35341915e-02 6.81746978e-03 1.28791044e+02] [-9.35343596e-02 9.95616009e-01 -2.94869896e-04 -2.10801269e+00] [-6.81516247e-03 -3.44097347e-04 9.99976717e-01 -9.54986608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:-2.11, Z:-0.95 [[ 9.95284417e-01 9.67597605e-02 6.81741430e-03 1.28854289e+02] [-9.67599954e-02 9.95307699e-01 -2.96147181e-04 -2.11144362e+00] [-6.81408007e-03 -3.64902301e-04 9.99976717e-01 -9.51310468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.92, Y:-2.11, Z:-0.95 [[ 9.94910157e-01 1.00535082e-01 6.81735862e-03 1.28916253e+02] [-1.00535396e-01 9.94933438e-01 -2.97423524e-04 -2.11417435e+00] [-6.81271954e-03 -3.89476165e-04 9.99976717e-01 -9.51013850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:-2.12, Z:-0.95 [[ 9.94354331e-01 1.05891403e-01 6.81730685e-03 1.28979121e+02] [-1.05891835e-01 9.94377609e-01 -2.98605431e-04 -2.11754581e+00] [-6.81059703e-03 -4.24977525e-04 9.99976717e-01 -9.53590921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.04, Y:-2.12, Z:-0.96 [[ 9.93919351e-01 1.09899263e-01 6.81725055e-03 1.29041025e+02] [-1.09899780e-01 9.93942628e-01 -2.99885186e-04 -2.11958726e+00] [-6.80891309e-03 -4.51152645e-04 9.99976717e-01 -9.57189669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.10, Y:-2.12, Z:-0.96 [[ 9.93653552e-01 1.12277089e-01 6.81719819e-03 1.29104264e+02] [-1.12277653e-01 9.93676828e-01 -3.01070765e-04 -2.12036874e+00] [-6.80789522e-03 -4.66258979e-04 9.99976717e-01 -9.60232000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.17, Y:-2.12, Z:-0.97 [[ 9.93639001e-01 1.12405795e-01 6.81714208e-03 1.29165134e+02] [-1.12406354e-01 9.93662277e-01 -3.02335964e-04 -2.11704588e+00] [-6.80792124e-03 -4.65877282e-04 9.99976717e-01 -9.66327834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.23, Y:-2.12, Z:-0.97 [[ 9.93692748e-01 1.11929663e-01 6.81711437e-03 1.29226948e+02] [-1.11930207e-01 9.93716024e-01 -3.02959471e-04 -2.11664868e+00] [-6.80818594e-03 -4.61992393e-04 9.99976717e-01 -9.68151450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.29, Y:-2.11, Z:-0.97 [[ 9.93690713e-01 1.11947728e-01 6.81706597e-03 1.29288806e+02] [-1.11948265e-01 9.93713990e-01 -3.04044717e-04 -2.11165267e+00] [-6.80825094e-03 -4.61032293e-04 9.99976717e-01 -9.69882289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:-2.11, Z:-0.98 [[ 9.93637473e-01 1.12419308e-01 6.81703868e-03 1.29350696e+02] [-1.12419851e-01 9.93660749e-01 -3.04655359e-04 -2.10545917e+00] [-6.80807291e-03 -4.63653493e-04 9.99976717e-01 -9.75118853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:129.41, Y:-2.10, Z:-0.97 [[ 9.93793733e-01 1.11029474e-01 6.81701162e-03 1.29413609e+02] [-1.11029980e-01 9.93817010e-01 -3.05259588e-04 -2.10024868e+00] [-6.80875492e-03 -4.53527600e-04 9.99976717e-01 -9.73246861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:-2.10, Z:-0.97 [[ 9.94276678e-01 1.06618091e-01 6.81695389e-03 1.29475163e+02] [-1.06618486e-01 9.94299957e-01 -3.06543468e-04 -2.09736234e+00] [-6.81078004e-03 -4.22024283e-04 9.99976717e-01 -9.66764285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.54, Y:-2.10, Z:-0.96 [[ 9.95040778e-01 9.92339626e-02 6.81690729e-03 1.29537230e+02] [-9.92341773e-02 9.95064060e-01 -3.07576172e-04 -2.09867517e+00] [-6.81378145e-03 -3.70419353e-04 9.99976717e-01 -9.61232622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:129.60, Y:-2.10, Z:-0.96 [[ 9.95975826e-01 8.93626611e-02 6.81685733e-03 1.29600404e+02] [-8.93626374e-02 9.95999108e-01 -3.08679598e-04 -2.10480742e+00] [-6.81716825e-03 -3.01734932e-04 9.99976717e-01 -9.58385992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:-2.11, Z:-0.96 [[ 9.96022021e-01 8.88462988e-02 6.81679956e-03 1.29663121e+02] [-8.88462544e-02 9.96045304e-01 -3.09950157e-04 -2.11094889e+00] [-6.81737911e-03 -2.96929926e-04 9.99976717e-01 -9.56769625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:-2.12, Z:-0.96 [[ 9.95871355e-01 9.05194799e-02 6.81674107e-03 1.29725808e+02] [-9.05194658e-02 9.95894638e-01 -3.11231175e-04 -2.11725804e+00] [-6.81692836e-03 -3.07101549e-04 9.99976717e-01 -9.56319239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.79, Y:-2.13, Z:-0.96 [[ 9.95435876e-01 9.51890191e-02 6.81668043e-03 1.29787620e+02] [-9.51891051e-02 9.95459159e-01 -3.12553716e-04 -2.12579661e+00] [-6.81547865e-03 -3.37746528e-04 9.99976717e-01 -9.60453390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.85, Y:-2.13, Z:-0.96 [[ 9.95247079e-01 9.71431197e-02 6.81664282e-03 1.29850135e+02] [-9.71432459e-02 9.95270361e-01 -3.13371775e-04 -2.13051752e+00] [-6.81484448e-03 -3.50308466e-04 9.99976717e-01 -9.62797456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:-2.14, Z:-0.96 [[ 9.95111547e-01 9.85217951e-02 6.81658412e-03 1.29912067e+02] [-9.85219449e-02 9.95134829e-01 -3.14643633e-04 -2.13685056e+00] [-6.81441952e-03 -3.58477612e-04 9.99976717e-01 -9.63221093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.97, Y:-2.14, Z:-0.96 [[ 9.95266663e-01 9.69422778e-02 6.81652944e-03 1.29974639e+02] [-9.69423825e-02 9.95289945e-01 -3.15823687e-04 -2.14481685e+00] [-6.81503988e-03 -3.46481818e-04 9.99976717e-01 -9.63281207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.04, Y:-2.15, Z:-0.97 [[ 9.95681719e-01 9.25821285e-02 6.81647110e-03 1.30036776e+02] [-9.25821227e-02 9.95705002e-01 -3.17077852e-04 -2.15285547e+00] [-6.81655011e-03 -3.15374744e-04 9.99976717e-01 -9.67339359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.10, Y:-2.16, Z:-0.97 [[ 9.96203848e-01 8.67838132e-02 6.81641992e-03 1.30098370e+02] [-8.67836643e-02 9.96227130e-01 -3.18174426e-04 -2.16293609e+00] [-6.81831484e-03 -2.74587310e-04 9.99976717e-01 -9.70356668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:-2.17, Z:-0.97 [[ 9.96132575e-01 8.75981192e-02 6.81636749e-03 1.30158768e+02] [-8.75979817e-02 9.96155857e-01 -3.19293756e-04 -2.16990801e+00] [-6.81813393e-03 -2.79041123e-04 9.99976717e-01 -9.68532280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:-2.17, Z:-0.97 [[ 9.95455626e-01 9.49822896e-02 6.81632629e-03 1.30221948e+02] [-9.49823188e-02 9.95478908e-01 -3.20170852e-04 -2.17489115e+00] [-6.81591961e-03 -3.28714601e-04 9.99976717e-01 -9.69960751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:-2.18, Z:-0.97 [[ 9.94857781e-01 1.01052136e-01 6.81626937e-03 1.30284937e+02] [-1.01052299e-01 9.94881063e-01 -3.21378118e-04 -2.17953505e+00] [-6.81385326e-03 -3.69074170e-04 9.99976717e-01 -9.69592594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-2.18, Z:-0.97 [[ 9.94539145e-01 1.04141391e-01 6.81620898e-03 1.30345676e+02] [-1.04141617e-01 9.94562426e-01 -3.22653827e-04 -2.18359816e+00] [-6.81274696e-03 -3.88959167e-04 9.99976717e-01 -9.66073429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-2.19, Z:-0.96 [[ 9.94405500e-01 1.05409872e-01 6.81616040e-03 1.30408311e+02] [-1.05410121e-01 9.94428782e-01 -3.23676887e-04 -2.18809255e+00] [-6.81230482e-03 -3.96626218e-04 9.99976717e-01 -9.63598465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:-2.19, Z:-0.97 [[ 9.94242289e-01 1.06938351e-01 6.81610044e-03 1.30471008e+02] [-1.06938627e-01 9.94265570e-01 -3.24934592e-04 -2.19476422e+00] [-6.81176196e-03 -4.05840710e-04 9.99976717e-01 -9.65568036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.53, Y:-2.20, Z:-0.97 [[ 9.93946064e-01 1.09657484e-01 6.81604052e-03 1.30533517e+02] [-1.09657816e-01 9.93969344e-01 -3.26186770e-04 -2.19802013e+00] [-6.81070414e-03 -4.23220060e-04 9.99976717e-01 -9.65981876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.60, Y:-2.20, Z:-0.97 [[ 9.93462432e-01 1.13955862e-01 6.81597977e-03 1.30596303e+02] [-1.13956286e-01 9.93485711e-01 -3.27451343e-04 -2.19941143e+00] [-6.80889350e-03 -4.51413132e-04 9.99976717e-01 -9.66449651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:-2.20, Z:-0.97 [[ 9.92755226e-01 1.19960848e-01 6.81591910e-03 1.30658375e+02] [-1.19961403e-01 9.92778502e-01 -3.28709218e-04 -2.19785617e+00] [-6.80613019e-03 -4.91319427e-04 9.99976717e-01 -9.69635177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:-2.20, Z:-0.97 [[ 9.92872905e-01 1.18982933e-01 6.81586550e-03 1.30720678e+02] [-1.18983458e-01 9.92896182e-01 -3.29816884e-04 -2.19990787e+00] [-6.80668941e-03 -4.83509002e-04 9.99976717e-01 -9.73788860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-2.21, Z:-0.97 [[ 9.93436489e-01 1.14181815e-01 6.81580860e-03 1.30782682e+02] [-1.14182220e-01 9.93459768e-01 -3.30988548e-04 -2.20565323e+00] [-6.80902451e-03 -4.49428057e-04 9.99976717e-01 -9.73987237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.85, Y:-2.21, Z:-0.97 [[ 9.93919600e-01 1.09897111e-01 6.81575436e-03 1.30845100e+02] [-1.09897408e-01 9.93942880e-01 -3.32101887e-04 -2.21274727e+00] [-6.81096755e-03 -4.18951164e-04 9.99976717e-01 -9.70488878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.91, Y:-2.22, Z:-0.97 [[ 9.93633473e-01 1.12454740e-01 6.81569031e-03 1.30906435e+02] [-1.12455087e-01 9.93656753e-01 -3.33411118e-04 -2.21531906e+00] [-6.80995036e-03 -4.35170603e-04 9.99976717e-01 -9.74685047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.97, Y:-2.22, Z:-0.98 [[ 9.92953435e-01 1.18309018e-01 6.81563865e-03 1.30969636e+02] [-1.18309496e-01 9.92976712e-01 -3.34463813e-04 -2.21724896e+00] [-6.80734055e-03 -4.74247779e-04 9.99976717e-01 -9.75547884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:-2.22, Z:-0.97 [[ 9.92186743e-01 1.24575335e-01 6.81557761e-03 1.31032206e+02] [-1.24575952e-01 9.92210018e-01 -3.35703061e-04 -2.21847013e+00] [-6.80430471e-03 -5.15976941e-04 9.99976717e-01 -9.73691610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.09, Y:-2.22, Z:-0.97 [[ 9.91249089e-01 1.31828645e-01 6.81551605e-03 1.31093146e+02] [-1.31829423e-01 9.91272359e-01 -3.36948298e-04 -2.21664683e+00] [-6.80045211e-03 -5.64485855e-04 9.99976717e-01 -9.68594234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-2.22, Z:-0.97 [[ 9.91119272e-01 1.32801123e-01 6.81546657e-03 1.31156687e+02] [-1.32801917e-01 9.91142541e-01 -3.37946138e-04 -2.21660155e+00] [-6.79997848e-03 -5.70162093e-04 9.99976717e-01 -9.69046867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:-2.22, Z:-0.97 [[ 9.91295633e-01 1.31478202e-01 6.81540476e-03 1.31218672e+02] [-1.31478956e-01 9.91318904e-01 -3.39188104e-04 -2.21719646e+00] [-6.80083542e-03 -5.59846618e-04 9.99976717e-01 -9.72739204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.28, Y:-2.22, Z:-0.98 [[ 9.91168596e-01 1.32432494e-01 6.81534720e-03 1.31280924e+02] [-1.32433263e-01 9.91191866e-01 -3.40340692e-04 -2.21520802e+00] [-6.80038888e-03 -5.65243661e-04 9.99976717e-01 -9.75469526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:-2.22, Z:-0.98 [[ 9.91057844e-01 1.33258778e-01 6.81529222e-03 1.31343071e+02] [-1.33259559e-01 9.91081113e-01 -3.41438209e-04 -2.21647530e+00] [-6.80000704e-03 -5.69817822e-04 9.99976717e-01 -9.76579298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.41, Y:-2.22, Z:-0.98 [[ 9.91047280e-01 1.33337324e-01 6.81525302e-03 1.31405997e+02] [-1.33338101e-01 9.91070549e-01 -3.42218882e-04 -2.21725283e+00] [-6.80002710e-03 -5.69577803e-04 9.99976717e-01 -9.76161791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:131.47, Y:-2.22, Z:-0.98 [[ 9.91471085e-01 1.30148532e-01 6.81519272e-03 1.31469141e+02] [-1.30149227e-01 9.91494357e-01 -3.43415466e-04 -2.22119016e+00] [-6.80192015e-03 -5.46505558e-04 9.99976717e-01 -9.76594409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:131.53, Y:-2.23, Z:-0.98 [[ 9.91881507e-01 1.26982793e-01 6.81512971e-03 1.31531514e+02] [-1.26983404e-01 9.91904782e-01 -3.44661520e-04 -2.22602934e+00] [-6.80372583e-03 -5.23544982e-04 9.99976717e-01 -9.79151178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.59, Y:-2.23, Z:-0.98 [[ 9.92240832e-01 1.24143813e-01 6.81506632e-03 1.31593637e+02] [-1.24144349e-01 9.92264108e-01 -3.45910434e-04 -2.23097694e+00] [-6.80528834e-03 -5.02825516e-04 9.99976717e-01 -9.81134541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.66, Y:-2.23, Z:-0.98 [[ 9.92349303e-01 1.23273745e-01 6.81501092e-03 1.31655704e+02] [-1.23274253e-01 9.92372580e-01 -3.46998345e-04 -2.23460258e+00] [-6.80580576e-03 -4.95771816e-04 9.99976717e-01 -9.84012350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:-2.24, Z:-0.99 [[ 9.92072999e-01 1.25477969e-01 6.81495529e-03 1.31716816e+02] [-1.25478522e-01 9.92096275e-01 -3.48087510e-04 -2.23686557e+00] [-6.80476908e-03 -5.09802297e-04 9.99976717e-01 -9.86749889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:-2.24, Z:-0.98 [[ 9.91023369e-01 1.33514939e-01 6.81490419e-03 1.31779066e+02] [-1.33515673e-01 9.91046640e-01 -3.49085136e-04 -2.23679235e+00] [-6.80049598e-03 -5.63944994e-04 9.99976717e-01 -9.81609758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.84, Y:-2.23, Z:-0.98 [[ 9.90366598e-01 1.38302422e-01 6.81484844e-03 1.31842141e+02] [-1.38303261e-01 9.90389865e-01 -3.50170185e-04 -2.23435870e+00] [-6.79778621e-03 -5.95718910e-04 9.99976717e-01 -9.81100980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.90, Y:-2.23, Z:-0.98 [[ 9.90145872e-01 1.39873908e-01 6.81478536e-03 1.31904555e+02] [-1.39874776e-01 9.90169139e-01 -3.51393552e-04 -2.23153236e+00] [-6.79694094e-03 -6.05285699e-04 9.99976717e-01 -9.80488454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:-2.23, Z:-0.97 [[ 9.90608369e-01 1.36559945e-01 6.81472657e-03 1.31967244e+02] [-1.36560728e-01 9.90631639e-01 -3.52529860e-04 -2.23083010e+00] [-6.79902521e-03 -5.81404989e-04 9.99976717e-01 -9.72825121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-2.23, Z:-0.97 [[ 9.91230385e-01 1.31969255e-01 6.81467227e-03 1.32030444e+02] [-1.31969923e-01 9.91253658e-01 -3.53576536e-04 -2.23301711e+00] [-6.80173005e-03 -5.48855966e-04 9.99976717e-01 -9.70522815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:-2.24, Z:-0.97 [[ 9.91667778e-01 1.28641280e-01 6.81461031e-03 1.32092878e+02] [-1.28641861e-01 9.91691054e-01 -3.54766583e-04 -2.23600194e+00] [-6.80362571e-03 -5.24833563e-04 9.99976717e-01 -9.72404937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.15, Y:-2.24, Z:-0.97 [[ 9.90877287e-01 1.34594817e-01 6.81454839e-03 1.32154489e+02] [-1.34595530e-01 9.90900558e-01 -3.55952121e-04 -2.23858936e+00] [-6.80044911e-03 -5.64502882e-04 9.99976717e-01 -9.71693429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.22, Y:-2.24, Z:-0.98 [[ 9.89735789e-01 1.42746737e-01 6.81450979e-03 1.32218034e+02] [-1.42747637e-01 9.89759054e-01 -3.56689476e-04 -2.23800322e+00] [-6.79563903e-03 -6.19726830e-04 9.99976717e-01 -9.75719022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.28, Y:-2.23, Z:-0.98 [[ 9.88070360e-01 1.53852293e-01 6.81444883e-03 1.32279820e+02] [-1.53853446e-01 9.88093614e-01 -3.57850453e-04 -2.23221775e+00] [-6.78836948e-03 -6.94845006e-04 9.99976717e-01 -9.84867052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:-2.23, Z:-0.98 [[ 9.87767746e-01 1.55783326e-01 6.81439988e-03 1.32342692e+02] [-1.55784518e-01 9.87790998e-01 -3.58780029e-04 -2.22881421e+00] [-6.78709481e-03 -7.07186660e-04 9.99976717e-01 -9.83686844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:-2.23, Z:-0.98 [[ 9.88459843e-01 1.51329786e-01 6.81434023e-03 1.32405967e+02] [-1.51330865e-01 9.88483100e-01 -3.59909577e-04 -2.22790238e+00] [-6.79032519e-03 -6.75463837e-04 9.99976717e-01 -9.82054057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.47, Y:-2.23, Z:-0.99 [[ 9.90176462e-01 1.39657225e-01 6.81427518e-03 1.32468510e+02] [-1.39658022e-01 9.90199731e-01 -3.61136867e-04 -2.22959870e+00] [-6.79792882e-03 -5.94078965e-04 9.99976717e-01 -9.85983870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.53, Y:-2.23, Z:-0.98 [[ 9.90961718e-01 1.33971789e-01 6.81421766e-03 1.32530610e+02] [-1.33972445e-01 9.90984991e-01 -3.62218995e-04 -2.23322200e+00] [-6.80131456e-03 -5.53972243e-04 9.99976717e-01 -9.82157294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.59, Y:-2.23, Z:-0.98 [[ 9.91026073e-01 1.33494906e-01 6.81415825e-03 1.32591554e+02] [-1.33495543e-01 9.91049347e-01 -3.63333136e-04 -2.23385273e+00] [-6.80167021e-03 -5.49587147e-04 9.99976717e-01 -9.77575076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.65, Y:-2.23, Z:-0.98 [[ 9.89702656e-01 1.42976292e-01 6.81410326e-03 1.32654694e+02] [-1.42977144e-01 9.89725923e-01 -3.64361612e-04 -2.22889181e+00] [-6.79618971e-03 -6.13651369e-04 9.99976717e-01 -9.80331004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:-2.23, Z:-0.98 [[ 9.88807457e-01 1.49041544e-01 6.81403836e-03 1.32717740e+02] [-1.49042531e-01 9.88830719e-01 -3.65571364e-04 -2.22757578e+00] [-6.79241577e-03 -6.54101834e-04 9.99976717e-01 -9.79270914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-2.23, Z:-0.98 [[ 9.88420997e-01 1.51583321e-01 6.81397058e-03 1.32780387e+02] [-1.51584360e-01 9.88444256e-01 -3.66830396e-04 -2.22556596e+00] [-6.79083545e-03 -6.70308501e-04 9.99976717e-01 -9.79309653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:-2.22, Z:-0.98 [[ 9.89001159e-01 1.47750730e-01 6.81392862e-03 1.32843829e+02] [-1.47751673e-01 9.89024422e-01 -3.67608194e-04 -2.22408621e+00] [-6.79345619e-03 -6.43204422e-04 9.99976717e-01 -9.83745936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:-2.23, Z:-0.98 [[ 9.89557354e-01 1.43978524e-01 6.81386267e-03 1.32907222e+02] [-1.43979370e-01 9.89580621e-01 -3.68826557e-04 -2.22565664e+00] [-6.79596955e-03 -6.16080620e-04 9.99976717e-01 -9.82377368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:-2.23, Z:-0.98 [[ 9.89975169e-01 1.41077058e-01 6.81379418e-03 1.32970700e+02] [-1.41077827e-01 9.89998439e-01 -3.70087578e-04 -2.22629799e+00] [-6.79785647e-03 -5.94897765e-04 9.99976717e-01 -9.83478280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:133.03, Y:-2.23, Z:-0.99 [[ 9.90764392e-01 1.35423383e-01 6.81372527e-03 1.33033483e+02] [-1.35424011e-01 9.90787666e-01 -3.71351937e-04 -2.22514695e+00] [-6.80124469e-03 -5.54819727e-04 9.99976717e-01 -9.88717156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:-2.23, Z:-0.99 [[ 9.91322373e-01 1.31276522e-01 6.81370358e-03 1.33095566e+02] [-1.31277049e-01 9.91345650e-01 -3.71749389e-04 -2.22547638e+00] [-6.80353737e-03 -5.25959415e-04 9.99976717e-01 -9.86993194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.16, Y:-2.23, Z:-0.98 [[ 9.91874202e-01 1.27039922e-01 6.81363868e-03 1.33157188e+02] [-1.27040341e-01 9.91897481e-01 -3.72935216e-04 -2.22714307e+00] [-6.80580870e-03 -4.95702163e-04 9.99976717e-01 -9.81797011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.22, Y:-2.23, Z:-0.98 [[ 9.92407635e-01 1.22803341e-01 6.81360616e-03 1.33219510e+02] [-1.22803658e-01 9.92430916e-01 -3.73528294e-04 -2.22804283e+00] [-6.80790393e-03 -4.66043427e-04 9.99976717e-01 -9.84875573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.28, Y:-2.23, Z:-0.98 [[ 9.93540934e-01 1.13269536e-01 6.81354646e-03 1.33281342e+02] [-1.13269621e-01 9.93564217e-01 -3.74614236e-04 -2.22656511e+00] [-6.81212833e-03 -3.99573248e-04 9.99976717e-01 -9.82485094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.34, Y:-2.23, Z:-0.98 [[ 9.93946730e-01 1.09651606e-01 6.81348321e-03 1.33343880e+02] [-1.09651599e-01 9.93970012e-01 -3.75761051e-04 -2.22941645e+00] [-6.81360080e-03 -3.73622859e-04 9.99976717e-01 -9.76915297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.41, Y:-2.23, Z:-0.98 [[ 9.94644032e-01 1.03134986e-01 6.81346164e-03 1.33405233e+02] [-1.03134824e-01 9.94667315e-01 -3.76151870e-04 -2.23294516e+00] [-6.81592201e-03 -3.28567953e-04 9.99976717e-01 -9.81596940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:-2.24, Z:-0.98 [[ 9.95437541e-01 9.51718426e-02 6.81340545e-03 1.33467910e+02] [-9.51714868e-02 9.95460821e-01 -3.77166875e-04 -2.23776678e+00] [-6.81837385e-03 -2.72995860e-04 9.99976717e-01 -9.79191452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.53, Y:-2.24, Z:-0.98 [[ 9.96289652e-01 8.57934059e-02 6.81333751e-03 1.33530240e+02] [-8.57928226e-02 9.96312927e-01 -3.78390174e-04 -2.24386931e+00] [-6.82067962e-03 -2.07549241e-04 9.99976717e-01 -9.76521567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:-2.25, Z:-0.98 [[ 9.96461154e-01 8.37779644e-02 6.81326674e-03 1.33592024e+02] [-8.37773253e-02 9.96484428e-01 -3.79660282e-04 -2.24897130e+00] [-6.82112137e-03 -1.92480541e-04 9.99976717e-01 -9.75424724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:-2.25, Z:-0.98 [[ 9.96292249e-01 8.57632407e-02 6.81324422e-03 1.33654717e+02] [-8.57626451e-02 9.96315524e-01 -3.80063849e-04 -2.25361543e+00] [-6.82073650e-03 -2.05667179e-04 9.99976717e-01 -9.79610859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:-2.26, Z:-0.99 [[ 9.95970980e-01 8.94169336e-02 6.81317146e-03 1.33717813e+02] [-8.94164145e-02 9.95994257e-01 -3.81363812e-04 -2.25625967e+00] [-6.81998003e-03 -2.29382074e-04 9.99976717e-01 -9.86304399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.78, Y:-2.25, Z:-0.99 [[ 9.95411547e-01 9.54433548e-02 6.81310004e-03 1.33778894e+02] [-9.54429679e-02 9.95434826e-01 -3.82635530e-04 -2.25440054e+00] [-6.81851707e-03 -2.69382664e-04 9.99976717e-01 -9.92070499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:-2.25, Z:-0.98 [[ 9.95373554e-01 9.58387755e-02 6.81306491e-03 1.33840937e+02] [-9.58383936e-02 9.95396833e-01 -3.83259882e-04 -2.25066155e+00] [-6.81843440e-03 -2.71466446e-04 9.99976717e-01 -9.83443391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:-2.25, Z:-0.99 [[ 9.95665659e-01 9.27549400e-02 6.81303106e-03 1.33904594e+02] [-9.27544819e-02 9.95688937e-01 -3.83860712e-04 -2.24633979e+00] [-6.81926463e-03 -2.49742238e-04 9.99976717e-01 -9.90225253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.97, Y:-2.24, Z:-0.98 [[ 9.96300403e-01 8.56684919e-02 6.81296043e-03 1.33966735e+02] [-8.56678597e-02 9.96323677e-01 -3.85110333e-04 -2.24364327e+00] [-6.82090561e-03 -1.99966158e-04 9.99976717e-01 -9.81140729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.03, Y:-2.24, Z:-0.99 [[ 9.97413960e-01 7.15470194e-02 6.81291699e-03 1.34029333e+02] [-7.15460523e-02 9.97437223e-01 -3.85877314e-04 -2.23811365e+00] [-6.82306537e-03 -1.02557895e-04 9.99976717e-01 -9.87668986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.09, Y:-2.24, Z:-0.98 [[ 9.98038869e-01 6.22253967e-02 6.81289355e-03 1.34092717e+02] [-6.22242095e-02 9.98062122e-01 -3.86290556e-04 -2.23692444e+00] [-6.82372808e-03 -3.83939258e-05 9.99976717e-01 -9.83050137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.15, Y:-2.24, Z:-0.98 [[ 9.98465236e-01 5.49614238e-02 6.81281499e-03 1.34154515e+02] [-5.49600580e-02 9.98488479e-01 -3.87671182e-04 -2.23739552e+00] [-6.82382424e-03 1.26434910e-05 9.99976717e-01 -9.82776560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:-2.24, Z:-0.98 [[ 9.98796985e-01 4.85609912e-02 6.81274193e-03 1.34217295e+02] [-4.85594677e-02 9.98820217e-01 -3.88951011e-04 -2.23987093e+00] [-6.82359222e-03 5.76599759e-05 9.99976717e-01 -9.80619782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.28, Y:-2.24, Z:-0.98 [[ 9.98926889e-01 4.58111132e-02 6.81266744e-03 1.34280512e+02] [-4.58095169e-02 9.98950117e-01 -3.90251313e-04 -2.24455526e+00] [-6.82339278e-03 7.77475254e-05 9.99976717e-01 -9.79519835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.34, Y:-2.25, Z:-0.98 [[ 9.98976639e-01 4.47131180e-02 6.81259076e-03 1.34343069e+02] [-4.47114871e-02 9.98999865e-01 -3.91585420e-04 -2.24856105e+00] [-6.82328625e-03 8.65836229e-05 9.99976717e-01 -9.80206583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.40, Y:-2.25, Z:-0.99 [[ 9.98896375e-01 4.64717295e-02 6.81251299e-03 1.34404826e+02] [-4.64701303e-02 9.98919603e-01 -3.92933610e-04 -2.25468851e+00] [-6.82341308e-03 7.59215925e-05 9.99976717e-01 -9.86134467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:-2.26, Z:-0.99 [[ 9.98724301e-01 5.00335889e-02 6.81246477e-03 1.34467349e+02] [-5.00320669e-02 9.98747534e-01 -3.93767997e-04 -2.25841009e+00] [-6.82363401e-03 5.24239752e-05 9.99976717e-01 -9.88475812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.53, Y:-2.26, Z:-0.99 [[ 9.98494298e-01 5.44309583e-02 6.81238834e-03 1.34530320e+02] [-5.44295295e-02 9.98517536e-01 -3.95085820e-04 -2.26146168e+00] [-6.82379412e-03 2.36958457e-05 9.99976717e-01 -9.88741959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.59, Y:-2.26, Z:-0.99 [[ 9.98318486e-01 5.75655605e-02 6.81231242e-03 1.34593114e+02] [-5.75641958e-02 9.98341728e-01 -3.96390592e-04 -2.26440690e+00] [-6.82383420e-03 3.57876912e-06 9.99976717e-01 -9.91211398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.65, Y:-2.27, Z:-1.00 [[ 9.98249647e-01 5.87472245e-02 6.81223568e-03 1.34653836e+02] [-5.87458784e-02 9.98272890e-01 -3.97704965e-04 -2.26781200e+00] [-6.82383427e-03 -3.18192849e-06 9.99976717e-01 -9.97676312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-2.28, Z:-1.00 [[ 9.98330805e-01 5.73515364e-02 6.81217373e-03 1.34715214e+02] [-5.73501506e-02 9.98354046e-01 -3.98763335e-04 -2.27590319e+00] [-6.82383089e-03 7.41853228e-06 9.99976717e-01 -9.95384983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-2.28, Z:-1.00 [[ 9.98372696e-01 5.66176173e-02 6.81214903e-03 1.34776597e+02] [-5.66162115e-02 9.98395936e-01 -3.99184887e-04 -2.28155113e+00] [-6.82382280e-03 1.28572217e-05 9.99976717e-01 -9.96187246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-2.29, Z:-0.99 [[ 9.98218611e-01 5.92722536e-02 6.81208468e-03 1.34839716e+02] [-5.92709022e-02 9.98241854e-01 -4.00279927e-04 -2.28648875e+00] [-6.82383354e-03 -4.19153165e-06 9.99976717e-01 -9.94697423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:-2.29, Z:-0.99 [[ 9.97512190e-01 7.01642907e-02 6.81200820e-03 1.34901611e+02] [-7.01631842e-02 9.97535446e-01 -4.01577304e-04 -2.28989382e+00] [-6.82339603e-03 -7.73739299e-05 9.99976717e-01 -9.90337201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:-2.29, Z:-0.99 [[ 9.96687024e-01 8.10467357e-02 6.81193996e-03 1.34963211e+02] [-8.10458751e-02 9.96710291e-01 -4.02731590e-04 -2.29232435e+00] [-6.82217074e-03 -1.50682285e-04 9.99976717e-01 -9.88088089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-2.29, Z:-0.99 [[ 9.95791117e-01 9.13983002e-02 6.81186781e-03 1.35026764e+02] [-9.13976731e-02 9.95814391e-01 -4.03948193e-04 -2.29324058e+00] [-6.82027618e-03 -2.20340845e-04 9.99976717e-01 -9.87881649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-2.29, Z:-0.99 [[ 9.95497569e-01 9.45420031e-02 6.81178769e-03 1.35088963e+02] [-9.45414403e-02 9.95520844e-01 -4.05294734e-04 -2.29291907e+00] [-6.81959401e-03 -2.40526297e-04 9.99976717e-01 -9.88975648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-2.29, Z:-0.99 [[ 9.95453473e-01 9.50051748e-02 6.81171355e-03 1.35152074e+02] [-9.50046144e-02 9.95476749e-01 -4.06537104e-04 -2.29462834e+00] [-6.81952559e-03 -2.42455446e-04 9.99976717e-01 -9.87015645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:135.21, Y:-2.30, Z:-0.99 [[ 9.95592407e-01 9.35380137e-02 6.81163500e-03 1.35214931e+02] [-9.35374100e-02 9.95615682e-01 -4.07848945e-04 -2.29827453e+00] [-6.81992001e-03 -2.31091383e-04 9.99976717e-01 -9.88323684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.28, Y:-2.30, Z:-0.99 [[ 9.95842909e-01 9.08322798e-02 6.81155521e-03 1.35276238e+02] [-9.08316038e-02 9.95866182e-01 -4.09177198e-04 -2.30373308e+00] [-6.82056398e-03 -2.11228273e-04 9.99976717e-01 -9.94710877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.34, Y:-2.31, Z:-1.00 [[ 9.95951461e-01 8.96342058e-02 6.81148105e-03 1.35338139e+02] [-8.96334933e-02 9.95974733e-01 -4.10408092e-04 -2.30836628e+00] [-6.82084962e-03 -2.01790302e-04 9.99976717e-01 -9.97586826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.40, Y:-2.32, Z:-1.00 [[ 9.96161621e-01 8.72675738e-02 6.81140942e-03 1.35399878e+02] [-8.72667980e-02 9.96184891e-01 -4.11593346e-04 -2.31533804e+00] [-6.82134191e-03 -1.84396395e-04 9.99976717e-01 -1.00106871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:-2.32, Z:-1.00 [[ 9.96120175e-01 8.77394071e-02 6.81134186e-03 1.35461312e+02] [-8.77386347e-02 9.96143444e-01 -4.12708351e-04 -2.32482194e+00] [-6.82128433e-03 -1.86510721e-04 9.99976717e-01 -1.00374356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:-2.33, Z:-1.00 [[ 9.95748194e-01 9.18647924e-02 6.81127406e-03 1.35523724e+02] [-9.18641088e-02 9.95771467e-01 -4.13824342e-04 -2.33251744e+00] [-6.82048825e-03 -2.13646779e-04 9.99976717e-01 -1.00292687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.59, Y:-2.34, Z:-1.00 [[ 9.94818515e-01 1.01438309e-01 6.81119618e-03 1.35585156e+02] [-1.01437841e-01 9.94841793e-01 -4.15102235e-04 -2.34255578e+00] [-6.81816989e-03 -2.77961646e-04 9.99976717e-01 -9.99134268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.65, Y:-2.35, Z:-1.00 [[ 9.94305026e-01 1.06353763e-01 6.81112738e-03 1.35647967e+02] [-1.06353402e-01 9.94328306e-01 -4.16228102e-04 -2.35232465e+00] [-6.81676418e-03 -3.10528875e-04 9.99976717e-01 -9.97832934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:-2.36, Z:-1.00 [[ 9.94071224e-01 1.08517333e-01 6.81104948e-03 1.35710758e+02] [-1.08517014e-01 9.94094504e-01 -4.17498927e-04 -2.36288485e+00] [-6.81613273e-03 -3.24091083e-04 9.99976717e-01 -9.96912631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:-2.38, Z:-1.00 [[ 9.93555094e-01 1.13145417e-01 6.81096824e-03 1.35771813e+02] [-1.13145197e-01 9.93578376e-01 -4.18820136e-04 -2.37788113e+00] [-6.81461834e-03 -3.54507465e-04 9.99976717e-01 -9.95222620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.83, Y:-2.39, Z:-1.00 [[ 9.92878109e-01 1.18939784e-01 6.81089267e-03 1.35833330e+02] [-1.18939692e-01 9.92901392e-01 -4.20045482e-04 -2.38781064e+00] [-6.81250493e-03 -3.93031510e-04 9.99976717e-01 -9.97835175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:-2.40, Z:-0.99 [[ 9.92054683e-01 1.25622923e-01 6.81081948e-03 1.35895358e+02] [-1.25622980e-01 9.92077965e-01 -4.21228903e-04 -2.39777465e+00] [-6.80977994e-03 -4.37713332e-04 9.99976717e-01 -9.94933134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-2.41, Z:-1.00 [[ 9.91262400e-01 1.31728768e-01 6.81074091e-03 1.35957594e+02] [-1.31728959e-01 9.91285682e-01 -4.22495365e-04 -2.40658343e+00] [-6.80704474e-03 -4.78368043e-04 9.99976717e-01 -9.95502903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:-2.41, Z:-1.00 [[ 9.91039735e-01 1.33393620e-01 6.81065929e-03 1.36018866e+02] [-1.33393841e-01 9.91063017e-01 -4.23807018e-04 -2.41228665e+00] [-6.80632570e-03 -4.88490409e-04 9.99976717e-01 -9.99918416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:-2.42, Z:-1.00 [[ 9.90812801e-01 1.35068906e-01 6.81058381e-03 1.36081161e+02] [-1.35069158e-01 9.90836082e-01 -4.25016597e-04 -2.41863903e+00] [-6.80557871e-03 -4.98787938e-04 9.99976717e-01 -1.00277081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:-2.42, Z:-1.00 [[ 9.90360684e-01 1.38344980e-01 6.81050482e-03 1.36142942e+02] [-1.38345301e-01 9.90383964e-01 -4.26278533e-04 -2.42325691e+00] [-6.80398826e-03 -5.20031839e-04 9.99976717e-01 -1.00419110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.20, Y:-2.43, Z:-1.01 [[ 9.90005778e-01 1.40862266e-01 6.81043146e-03 1.36204812e+02] [-1.40862637e-01 9.90029057e-01 -4.27447405e-04 -2.42712268e+00] [-6.80273625e-03 -5.36159937e-04 9.99976717e-01 -1.00632109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.27, Y:-2.43, Z:-1.00 [[ 9.89948280e-01 1.41265784e-01 6.81035901e-03 1.36268095e+02] [-1.41266157e-01 9.89971560e-01 -4.28598629e-04 -2.43146613e+00] [-6.80260805e-03 -5.37782771e-04 9.99976717e-01 -1.00427125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:-2.44, Z:-1.00 [[ 9.90246504e-01 1.39159916e-01 6.81027988e-03 1.36331121e+02] [-1.39160232e-01 9.90269784e-01 -4.29852352e-04 -2.43772449e+00] [-6.80383260e-03 -5.22060336e-04 9.99976717e-01 -1.00026298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:-2.45, Z:-1.00 [[ 9.91264697e-01 1.31711509e-01 6.81020116e-03 1.36393775e+02] [-1.31711641e-01 9.91287979e-01 -4.31095822e-04 -2.44574244e+00] [-6.80765083e-03 -4.69652701e-04 9.99976717e-01 -1.00141766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:-2.45, Z:-1.00 [[ 9.91842440e-01 1.27287853e-01 6.81012172e-03 1.36455291e+02] [-1.27287872e-01 9.91865722e-01 -4.32347114e-04 -2.45238873e+00] [-6.80975884e-03 -4.38025686e-04 9.99976717e-01 -1.00268662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.52, Y:-2.46, Z:-1.00 [[ 9.91965640e-01 1.26324157e-01 6.81004225e-03 1.36518077e+02] [-1.26324145e-01 9.91988922e-01 -4.33595307e-04 -2.45938926e+00] [-6.81026004e-03 -4.30161121e-04 9.99976717e-01 -1.00133579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:-2.46, Z:-1.00 [[ 9.91595286e-01 1.29199121e-01 6.80996248e-03 1.36579743e+02] [-1.29199168e-01 9.91618569e-01 -4.34844579e-04 -2.46336381e+00] [-6.80906679e-03 -4.48651651e-04 9.99976717e-01 -9.97511756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:-2.47, Z:-1.00 [[ 9.91348133e-01 1.31082054e-01 6.80988909e-03 1.36642447e+02] [-1.31082137e-01 9.91371415e-01 -4.35990961e-04 -2.46593718e+00] [-6.80827997e-03 -4.60435991e-04 9.99976717e-01 -1.00393523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.70, Y:-2.47, Z:-1.01 [[ 9.91300431e-01 1.31442315e-01 6.80980556e-03 1.36704786e+02] [-1.31442398e-01 9.91323713e-01 -4.37291684e-04 -2.46892101e+00] [-6.80820037e-03 -4.61609741e-04 9.99976717e-01 -1.00546656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-2.47, Z:-1.01 [[ 9.91447132e-01 1.30331164e-01 6.80972744e-03 1.36768038e+02] [-1.30331213e-01 9.91470414e-01 -4.38504787e-04 -2.47198499e+00] [-6.80879413e-03 -4.52765721e-04 9.99976717e-01 -1.00736207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:-2.47, Z:-1.01 [[ 9.91287914e-01 1.31536689e-01 6.80964786e-03 1.36830766e+02] [-1.31536757e-01 9.91311196e-01 -4.39737126e-04 -2.47342990e+00] [-6.80832174e-03 -4.59812899e-04 9.99976717e-01 -1.00897453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:-2.47, Z:-1.01 [[ 9.91017531e-01 1.33558539e-01 6.80956516e-03 1.36892448e+02] [-1.33558646e-01 9.91040813e-01 -4.41014083e-04 -2.47430665e+00] [-6.80745819e-03 -4.72423617e-04 9.99976717e-01 -1.01171482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:-2.48, Z:-1.02 [[ 9.91026286e-01 1.33493562e-01 6.80948807e-03 1.36953339e+02] [-1.33493660e-01 9.91049568e-01 -4.42201292e-04 -2.47619561e+00] [-6.80757124e-03 -4.70790381e-04 9.99976717e-01 -1.01552755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-2.48, Z:-1.02 [[ 9.91355099e-01 1.31029386e-01 6.80942363e-03 1.37015802e+02] [-1.31029419e-01 9.91378381e-01 -4.43191301e-04 -2.48143213e+00] [-6.80878646e-03 -4.52874867e-04 9.99976717e-01 -1.01567154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-2.49, Z:-1.01 [[ 9.91306726e-01 1.31394857e-01 6.80934286e-03 1.37077604e+02] [-1.31394890e-01 9.91330008e-01 -4.44428932e-04 -2.48690504e+00] [-6.80870158e-03 -4.54147468e-04 9.99976717e-01 -1.01231100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:-2.49, Z:-1.01 [[ 9.90611710e-01 1.36535979e-01 6.80927168e-03 1.37140670e+02] [-1.36536126e-01 9.90634992e-01 -4.45516718e-04 -2.49116848e+00] [-6.80633186e-03 -4.88377498e-04 9.99976717e-01 -1.01035628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:-2.50, Z:-1.01 [[ 9.89540063e-01 1.44097533e-01 6.80918910e-03 1.37202346e+02] [-1.44097849e-01 9.89563343e-01 -4.46775366e-04 -2.49553605e+00] [-6.80250316e-03 -5.39087377e-04 9.99976717e-01 -1.01106086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:-2.50, Z:-1.01 [[ 9.88513925e-01 1.50976340e-01 6.80911272e-03 1.37265216e+02] [-1.50976810e-01 9.88537203e-01 -4.47936374e-04 -2.50212395e+00] [-6.79868904e-03 -5.85226776e-04 9.99976717e-01 -1.01399097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:-2.51, Z:-1.01 [[ 9.88093432e-01 1.53704283e-01 6.80903259e-03 1.37326908e+02] [-1.53704809e-01 9.88116709e-01 -4.49151228e-04 -2.50789427e+00] [-6.79715534e-03 -6.02777676e-04 9.99976717e-01 -1.01493865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:-2.51, Z:-1.01 [[ 9.86996467e-01 1.60597673e-01 6.80895820e-03 1.37389134e+02] [-1.60598354e-01 9.87019739e-01 -4.50276067e-04 -2.51143745e+00] [-6.79288944e-03 -6.49086589e-04 9.99976717e-01 -1.01421521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.45, Y:-2.51, Z:-1.02 [[ 9.86176511e-01 1.65558234e-01 6.80888510e-03 1.37451884e+02] [-1.65559024e-01 9.86199780e-01 -4.51378788e-04 -2.51298134e+00] [-6.78965046e-03 -6.82133210e-04 9.99976717e-01 -1.01869753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:-2.51, Z:-1.02 [[ 9.85264858e-01 1.70899971e-01 6.80880119e-03 1.37513482e+02] [-1.70900878e-01 9.85288123e-01 -4.52640911e-04 -2.51324166e+00] [-6.78598727e-03 -7.17658919e-04 9.99976717e-01 -1.02266652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-2.51, Z:-1.02 [[ 9.84095627e-01 1.77508978e-01 6.80873355e-03 1.37576470e+02] [-1.77510034e-01 9.84118886e-01 -4.53656109e-04 -2.50551246e+00] [-6.78113131e-03 -7.62177534e-04 9.99976717e-01 -1.02276814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-2.50, Z:-1.02 [[ 9.83794740e-01 1.79169060e-01 6.80868495e-03 1.37640137e+02] [-1.79170151e-01 9.83817997e-01 -4.54384404e-04 -2.49945241e+00] [-6.77991841e-03 -7.72892122e-04 9.99976717e-01 -1.02249985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:-2.49, Z:-1.02 [[ 9.84087658e-01 1.77553162e-01 6.80860286e-03 1.37703963e+02] [-1.77554206e-01 9.84110917e-01 -4.55611060e-04 -2.49411023e+00] [-6.78131559e-03 -7.60534855e-04 9.99976717e-01 -1.01944528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.77, Y:-2.49, Z:-1.02 [[ 9.85729041e-01 1.68201966e-01 6.80851703e-03 1.37766240e+02] [-1.68202781e-01 9.85752310e-01 -4.56890111e-04 -2.48934427e+00] [-6.78836121e-03 -6.94841647e-04 9.99976717e-01 -1.01723202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:-2.49, Z:-1.02 [[ 9.87095451e-01 1.59988177e-01 6.80843712e-03 1.37828172e+02] [-1.59988789e-01 9.87118725e-01 -4.58077822e-04 -2.48946144e+00] [-6.79402281e-03 -6.37107078e-04 9.99976717e-01 -1.01766302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:-2.49, Z:-1.02 [[ 9.88231810e-01 1.52812091e-01 6.80835756e-03 1.37891511e+02] [-1.52812526e-01 9.88255089e-01 -4.59257319e-04 -2.49053899e+00] [-6.79857408e-03 -5.86549627e-04 9.99976717e-01 -1.01710464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:-2.49, Z:-1.02 [[ 9.89265329e-01 1.45971768e-01 6.80827218e-03 1.37954151e+02] [-1.45972033e-01 9.89288610e-01 -4.60519548e-04 -2.49006892e+00] [-6.80256897e-03 -5.38241312e-04 9.99976717e-01 -1.01623362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:-2.49, Z:-1.02 [[ 9.89599149e-01 1.43691241e-01 6.80819247e-03 1.38017552e+02] [-1.43691445e-01 9.89622431e-01 -4.61695049e-04 -2.49190919e+00] [-6.80388151e-03 -5.21385985e-04 9.99976717e-01 -1.01931063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:-2.49, Z:-1.02 [[ 9.90165645e-01 1.39734193e-01 6.80810347e-03 1.38079094e+02] [-1.39734295e-01 9.90188928e-01 -4.63003582e-04 -2.49400944e+00] [-6.80600611e-03 -4.92875297e-04 9.99976717e-01 -1.01923535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:-2.50, Z:-1.02 [[ 9.90761727e-01 1.35443163e-01 6.80802035e-03 1.38141935e+02] [-1.35443155e-01 9.90785010e-01 -4.64222630e-04 -2.49638316e+00] [-6.80816029e-03 -4.62165744e-04 9.99976717e-01 -1.01694432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.20, Y:-2.50, Z:-1.01 [[ 9.90533994e-01 1.37098718e-01 6.80793311e-03 1.38202840e+02] [-1.37098741e-01 9.90557277e-01 -4.65498558e-04 -2.49948385e+00] [-6.80746694e-03 -4.72266914e-04 9.99976717e-01 -1.01091874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.27, Y:-2.50, Z:-1.02 [[ 9.89804418e-01 1.42270403e-01 6.80785745e-03 1.38265642e+02] [-1.42270540e-01 9.89827700e-01 -4.66602477e-04 -2.49990358e+00] [-6.80498960e-03 -5.06712364e-04 9.99976717e-01 -1.02126741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.33, Y:-2.50, Z:-1.02 [[ 9.88488503e-01 1.51142762e-01 6.80776877e-03 1.38327570e+02] [-1.51143099e-01 9.88511783e-01 -4.67892750e-04 -2.50155781e+00] [-6.80027824e-03 -5.66440667e-04 9.99976717e-01 -1.02097832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:-2.50, Z:-1.02 [[ 9.87755671e-01 1.55860160e-01 6.80768705e-03 1.38389047e+02] [-1.55860600e-01 9.87778950e-01 -4.69078776e-04 -2.50495614e+00] [-6.79760065e-03 -5.97714967e-04 9.99976717e-01 -1.02056418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:-2.51, Z:-1.02 [[ 9.87039748e-01 1.60331507e-01 6.80760690e-03 1.38451933e+02] [-1.60332045e-01 9.87063024e-01 -4.70239049e-04 -2.50777823e+00] [-6.79493119e-03 -6.27332903e-04 9.99976717e-01 -1.02381658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:-2.51, Z:-1.02 [[ 9.86716154e-01 1.62311086e-01 6.80752057e-03 1.38513513e+02] [-1.62311662e-01 9.86739430e-01 -4.71485489e-04 -2.51102211e+00] [-6.79377629e-03 -6.39717627e-04 9.99976717e-01 -1.02494294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.58, Y:-2.51, Z:-1.03 [[ 9.86602946e-01 1.62997811e-01 6.80746704e-03 1.38576561e+02] [-1.62998398e-01 9.86626221e-01 -4.72257166e-04 -2.51374433e+00] [-6.79340236e-03 -6.43675907e-04 9.99976717e-01 -1.02697098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.64, Y:-2.52, Z:-1.03 [[ 9.87009217e-01 1.60519359e-01 6.80737865e-03 1.38637252e+02] [-1.60519878e-01 9.87032494e-01 -4.73527816e-04 -2.51693858e+00] [-6.79511431e-03 -6.25343274e-04 9.99976717e-01 -1.02534154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:-2.52, Z:-1.02 [[ 9.87674905e-01 1.56371170e-01 6.80730758e-03 1.38700592e+02] [-1.56371585e-01 9.87698184e-01 -4.74547268e-04 -2.52004189e+00] [-6.79777085e-03 -5.95771049e-04 9.99976717e-01 -1.02386001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:-2.52, Z:-1.02 [[ 9.88434506e-01 1.51495512e-01 6.80722067e-03 1.38763289e+02] [-1.51495803e-01 9.88457786e-01 -4.75790790e-04 -2.52283823e+00] [-6.80073044e-03 -5.60977327e-04 9.99976717e-01 -1.02314235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:-2.52, Z:-1.02 [[ 9.89671941e-01 1.43189076e-01 6.80713398e-03 1.38826396e+02] [-1.43189163e-01 9.89695224e-01 -4.77027823e-04 -2.52429745e+00] [-6.80529316e-03 -5.02606766e-04 9.99976717e-01 -1.02187571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-2.53, Z:-1.02 [[ 9.90532410e-01 1.37110210e-01 6.80704641e-03 1.38888434e+02] [-1.37110146e-01 9.90555692e-01 -4.78274176e-04 -2.52635410e+00] [-6.80833484e-03 -4.59569057e-04 9.99976717e-01 -1.02253987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-2.53, Z:-1.02 [[ 9.91486015e-01 1.30035178e-01 6.80696466e-03 1.38951987e+02] [-1.30034940e-01 9.91509296e-01 -4.79434818e-04 -2.52770766e+00] [-6.81151213e-03 -4.09790322e-04 9.99976717e-01 -1.02118301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.01, Y:-2.53, Z:-1.02 [[ 9.92686983e-01 1.20524767e-01 6.80687609e-03 1.39013832e+02] [-1.20524297e-01 9.92710261e-01 -4.80689017e-04 -2.52816882e+00] [-6.81519067e-03 -3.43220226e-04 9.99976717e-01 -1.01723018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:-2.53, Z:-1.02 [[ 9.93447418e-01 1.14087223e-01 6.80679896e-03 1.39076604e+02] [-1.14086594e-01 9.93470693e-01 -4.81778780e-04 -2.53080918e+00] [-6.81732008e-03 -2.97942626e-04 9.99976717e-01 -1.02240616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:-2.53, Z:-1.03 [[ 9.94027560e-01 1.08916839e-01 6.80671022e-03 1.39139964e+02] [-1.08916081e-01 9.94050831e-01 -4.83029244e-04 -2.53456127e+00] [-6.81882597e-03 -2.61215821e-04 9.99976717e-01 -1.02572658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:-2.54, Z:-1.02 [[ 9.94869946e-01 1.00932945e-01 6.80662178e-03 1.39203174e+02] [-1.00931992e-01 9.94893210e-01 -4.84272259e-04 -2.54012019e+00] [-6.82074082e-03 -2.05217980e-04 9.99976717e-01 -1.02248750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:-2.55, Z:-1.02 [[ 9.95038974e-01 9.92527635e-02 6.80653169e-03 1.39265308e+02] [-9.92517624e-02 9.95062235e-01 -4.85535284e-04 -2.54559022e+00] [-6.82111335e-03 -1.92433735e-04 9.99976717e-01 -1.02212685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:-2.55, Z:-1.03 [[ 9.95246788e-01 9.71468175e-02 6.80644743e-03 1.39327874e+02] [-9.71457591e-02 9.95270046e-01 -4.86713592e-04 -2.55334291e+00] [-6.82153592e-03 -1.76817363e-04 9.99976717e-01 -1.02743036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:139.39, Y:-2.56, Z:-1.03 [[ 9.94927401e-01 1.00365034e-01 6.80635539e-03 1.39390093e+02] [-1.00364042e-01 9.94950663e-01 -4.87997266e-04 -2.55878374e+00] [-6.82096567e-03 -1.97591488e-04 9.99976717e-01 -1.02962463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:-2.56, Z:-1.03 [[ 9.94015818e-01 1.09023980e-01 6.80626963e-03 1.39452564e+02] [-1.09023183e-01 9.94039087e-01 -4.89190456e-04 -2.56243217e+00] [-6.81903154e-03 -2.55778126e-04 9.99976717e-01 -1.02905476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:-2.56, Z:-1.03 [[ 9.92435462e-01 1.22578668e-01 6.80617498e-03 1.39514970e+02] [-1.22578180e-01 9.92458739e-01 -4.90503882e-04 -2.56141447e+00] [-6.81497315e-03 -3.47495092e-04 9.99976717e-01 -1.02882255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:139.58, Y:-2.56, Z:-1.03 [[ 9.91878979e-01 1.27003027e-01 6.80608713e-03 1.39578411e+02] [-1.27002634e-01 9.91902258e-01 -4.91719840e-04 -2.56309092e+00] [-6.81342310e-03 -3.76664418e-04 9.99976717e-01 -1.02788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:-2.57, Z:-1.03 [[ 9.91958024e-01 1.26384169e-01 6.80599401e-03 1.39640293e+02] [-1.26383752e-01 9.91981302e-01 -4.93005336e-04 -2.56612085e+00] [-6.81372687e-03 -3.71126460e-04 9.99976717e-01 -1.02731131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:139.70, Y:-2.57, Z:-1.03 [[ 9.92430781e-01 1.22616578e-01 6.80590772e-03 1.39703437e+02] [-1.22616065e-01 9.92454058e-01 -4.94193661e-04 -2.56993541e+00] [-6.81514707e-03 -3.44060623e-04 9.99976717e-01 -1.02622375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:139.77, Y:-2.57, Z:-1.03 [[ 9.92109158e-01 1.25192253e-01 6.80581289e-03 1.39765310e+02] [-1.25191791e-01 9.92132436e-01 -4.95496215e-04 -2.57070485e+00] [-6.81430001e-03 -3.60445575e-04 9.99976717e-01 -1.02775457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:139.83, Y:-2.57, Z:-1.03 [[ 9.91289062e-01 1.31528237e-01 6.80575387e-03 1.39826821e+02] [-1.31527919e-01 9.91312342e-01 -4.96305547e-04 -2.56933160e+00] [-6.81190601e-03 -4.03164381e-04 9.99976717e-01 -1.02675873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:-2.57, Z:-1.03 [[ 9.90328441e-01 1.38575832e-01 6.80574253e-03 1.39887894e+02] [-1.38575678e-01 9.90351723e-01 -4.96461061e-04 -2.56652649e+00] [-6.80887634e-03 -4.51450877e-04 9.99976717e-01 -1.02819366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:139.95, Y:-2.57, Z:-1.03 [[ 9.90297380e-01 1.38797628e-01 6.80574253e-03 1.39949379e+02] [-1.38797479e-01 9.90320662e-01 -4.96461061e-04 -2.56842938e+00] [-6.80877506e-03 -4.52975818e-04 9.99976717e-01 -1.02981848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:140.01, Y:-2.57, Z:-1.03 [[ 9.90750113e-01 1.35528210e-01 6.80573086e-03 1.40010491e+02] [-1.35527983e-01 9.90773394e-01 -4.96620933e-04 -2.57161779e+00] [-6.81024321e-03 -4.30339733e-04 9.99976717e-01 -1.03276411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:-2.58, Z:-1.04 [[ 9.91506435e-01 1.29879453e-01 6.80571908e-03 1.40072101e+02] [-1.29879092e-01 9.91529714e-01 -4.96782353e-04 -2.57511990e+00] [-6.81259452e-03 -3.91357716e-04 9.99976717e-01 -1.03569458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:140.13, Y:-2.58, Z:-1.04 [[ 9.91493403e-01 1.29978905e-01 6.80563538e-03 1.40132472e+02] [-1.29978539e-01 9.91516682e-01 -4.97926406e-04 -2.57743193e+00] [-6.81262094e-03 -3.90895794e-04 9.99976717e-01 -1.03600664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:-2.58, Z:-1.04 [[ 9.91314022e-01 1.31339990e-01 6.80560648e-03 1.40193062e+02] [-1.31339653e-01 9.91337302e-01 -4.98320996e-04 -2.57945875e+00] [-6.81210105e-03 -3.99853403e-04 9.99976717e-01 -1.03513757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:-2.58, Z:-1.03 [[ 9.91178497e-01 1.32358871e-01 6.80560648e-03 1.40253651e+02] [-1.32358558e-01 9.91201778e-01 -4.98320996e-04 -2.57909734e+00] [-6.81168645e-03 -4.06855203e-04 9.99976717e-01 -1.03434061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:-2.58, Z:-1.03 [[ 9.91184390e-01 1.32314736e-01 6.80560648e-03 1.40314611e+02] [-1.32314422e-01 9.91207670e-01 -4.98320996e-04 -2.58123512e+00] [-6.81170456e-03 -4.06551896e-04 9.99976717e-01 -1.03267719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:-2.59, Z:-1.03 [[ 9.91286388e-01 1.31548398e-01 6.80560648e-03 1.40374498e+02] [-1.31548066e-01 9.91309668e-01 -4.98320996e-04 -2.58586841e+00] [-6.81201683e-03 -4.01285552e-04 9.99976717e-01 -1.03211487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:-2.59, Z:-1.03 [[ 9.91409757e-01 1.30615378e-01 6.80560058e-03 1.40433448e+02] [-1.30615024e-01 9.91433037e-01 -4.98401601e-04 -2.59280018e+00] [-6.81239617e-03 -3.94793471e-04 9.99976717e-01 -1.03131132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.49, Y:-2.60, Z:-1.03 [[ 9.91268270e-01 1.31684853e-01 6.80560640e-03 1.40493044e+02] [-1.31684524e-01 9.91291550e-01 -4.98322137e-04 -2.59975324e+00] [-6.81196160e-03 -4.02222116e-04 9.99976717e-01 -1.03057099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:140.55, Y:-2.61, Z:-1.03 [[ 9.90263431e-01 1.39039637e-01 6.80560144e-03 1.40552844e+02] [-1.39039480e-01 9.90286713e-01 -4.98389791e-04 -2.60608640e+00] [-6.80879262e-03 -4.52710103e-04 9.99976717e-01 -1.02963299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:140.61, Y:-2.61, Z:-1.03 [[ 9.89317579e-01 1.45617349e-01 6.80561298e-03 1.40612739e+02] [-1.45617349e-01 9.89340861e-01 -4.98232277e-04 -2.60772791e+00] [-6.80562227e-03 -4.98105367e-04 9.99976717e-01 -1.03253276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:-2.61, Z:-1.04 [[ 9.88407005e-01 1.51674899e-01 6.80562484e-03 1.40672444e+02] [-1.51675043e-01 9.88430288e-01 -4.98070223e-04 -2.60762020e+00] [-6.80243046e-03 -5.39947341e-04 9.99976717e-01 -1.03536898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:140.73, Y:-2.61, Z:-1.04 [[ 9.88310443e-01 1.52302827e-01 6.80563664e-03 1.40731009e+02] [-1.52302986e-01 9.88333725e-01 -4.97908856e-04 -2.60593074e+00] [-6.80207314e-03 -5.44430262e-04 9.99976717e-01 -1.03745931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:-2.61, Z:-1.04 [[ 9.89473649e-01 1.44553041e-01 6.80566577e-03 1.40789862e+02] [-1.44553020e-01 9.89496931e-01 -4.97510458e-04 -2.60651683e+00] [-6.80610204e-03 -4.91506051e-04 9.99976717e-01 -1.04172946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:-2.61, Z:-1.04 [[ 9.90861946e-01 1.34708152e-01 6.80568250e-03 1.40849985e+02] [-1.34707902e-01 9.90885227e-01 -4.97281400e-04 -2.61162901e+00] [-6.81063811e-03 -4.24041996e-04 9.99976717e-01 -1.04050050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:-2.62, Z:-1.03 [[ 9.92659767e-01 1.20748791e-01 6.80568250e-03 1.40910224e+02] [-1.20748212e-01 9.92683042e-01 -4.97281400e-04 -2.61911851e+00] [-6.81593174e-03 -3.28142758e-04 9.99976717e-01 -1.03460377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:-2.63, Z:-1.03 [[ 9.93435353e-01 1.14192305e-01 6.80567682e-03 1.40971592e+02] [-1.14191573e-01 9.93458624e-01 -4.97359144e-04 -2.62598490e+00] [-6.81795292e-03 -2.83056784e-04 9.99976717e-01 -1.03439196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:-2.63, Z:-1.03 [[ 9.93752150e-01 1.11401734e-01 6.80566542e-03 1.41032358e+02] [-1.11400935e-01 9.93775419e-01 -4.97515106e-04 -2.63083459e+00] [-6.81872705e-03 -2.63750786e-04 9.99976717e-01 -1.03389269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:-2.63, Z:-1.03 [[ 9.93769165e-01 1.11249849e-01 6.80565371e-03 1.41092394e+02] [-1.11249046e-01 9.93792434e-01 -4.97675219e-04 -2.63389895e+00] [-6.81877346e-03 -2.62548195e-04 9.99976717e-01 -1.02683071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:-2.64, Z:-1.03 [[ 9.93917026e-01 1.09921009e-01 6.80564790e-03 1.41153094e+02] [-1.09920174e-01 9.93940294e-01 -4.97754626e-04 -2.63623020e+00] [-6.81912137e-03 -2.53351207e-04 9.99976717e-01 -1.02998585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:-2.64, Z:-1.03 [[ 9.94068630e-01 1.08541426e-01 6.80564218e-03 1.41213991e+02] [-1.08540558e-01 9.94091897e-01 -4.97832894e-04 -2.63907933e+00] [-6.81946923e-03 -2.43808138e-04 9.99976717e-01 -1.03134501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:141.28, Y:-2.64, Z:-1.03 [[ 9.94493673e-01 1.04575421e-01 6.80563054e-03 1.41275612e+02] [-1.04574459e-01 9.94516935e-01 -4.97992006e-04 -2.63773627e+00] [-6.82039255e-03 -2.16445234e-04 9.99976717e-01 -1.03087867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.34, Y:-2.64, Z:-1.03 [[ 9.94828377e-01 1.01341912e-01 6.80561886e-03 1.41336559e+02] [-1.01340873e-01 9.94851637e-01 -4.98151555e-04 -2.63865960e+00] [-6.82106469e-03 -1.94112055e-04 9.99976717e-01 -1.03267936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.40, Y:-2.64, Z:-1.03 [[ 9.95269125e-01 9.69177661e-02 6.80560684e-03 1.41397405e+02] [-9.69166232e-02 9.95292379e-01 -4.98315696e-04 -2.64219706e+00] [-6.82186426e-03 -1.63618207e-04 9.99976717e-01 -1.03453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.46, Y:-2.65, Z:-1.04 [[ 9.95487292e-01 9.46505921e-02 6.80559472e-03 1.41457662e+02] [-9.46493950e-02 9.95510544e-01 -4.98481114e-04 -2.64584443e+00] [-6.82222284e-03 -1.47913809e-04 9.99976717e-01 -1.03787751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-2.65, Z:-1.04 [[ 9.95320384e-01 9.63899240e-02 6.80558873e-03 1.41518153e+02] [-9.63887670e-02 9.95343638e-01 -4.98562949e-04 -2.64809950e+00] [-6.82195588e-03 -1.59752440e-04 9.99976717e-01 -1.03766078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:-2.65, Z:-1.03 [[ 9.94905501e-01 1.00581945e-01 6.80558873e-03 1.41578742e+02] [-1.00580886e-01 9.94928760e-01 -4.98562949e-04 -2.65023075e+00] [-6.82122238e-03 -1.88489121e-04 9.99976717e-01 -1.03283197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.64, Y:-2.65, Z:-1.03 [[ 9.94121427e-01 1.08056800e-01 6.80558873e-03 1.41638170e+02] [-1.08055916e-01 9.94144693e-01 -4.98562949e-04 -2.64958780e+00] [-6.81961303e-03 -2.39752011e-04 9.99976717e-01 -1.03409991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.70, Y:-2.65, Z:-1.04 [[ 9.93882685e-01 1.10231088e-01 6.80560089e-03 1.41697197e+02] [-1.10230256e-01 9.93905952e-01 -4.98396922e-04 -2.64970064e+00] [-6.81906606e-03 -2.54835057e-04 9.99976717e-01 -1.03564720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.76, Y:-2.65, Z:-1.03 [[ 9.93741375e-01 1.11497817e-01 6.80561886e-03 1.41757277e+02] [-1.11497016e-01 9.93764644e-01 -4.98151299e-04 -2.64806230e+00] [-6.81872619e-03 -2.63772640e-04 9.99976717e-01 -1.03461101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.82, Y:-2.64, Z:-1.03 [[ 9.93131707e-01 1.16803662e-01 6.80563093e-03 1.41815364e+02] [-1.16802986e-01 9.93154980e-01 -4.97986347e-04 -2.64153245e+00] [-6.81721288e-03 -3.00351984e-04 9.99976717e-01 -1.03297562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:-2.64, Z:-1.03 [[ 9.92530417e-01 1.21807449e-01 6.80566077e-03 1.41875158e+02] [-1.21806893e-01 9.92553693e-01 -4.97578233e-04 -2.63664837e+00] [-6.81559247e-03 -3.35114863e-04 9.99976717e-01 -1.03470622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:-2.63, Z:-1.04 [[ 9.92216848e-01 1.24335874e-01 6.80568375e-03 1.41934068e+02] [-1.24335381e-01 9.92240125e-01 -4.97263770e-04 -2.63279407e+00] [-6.81470022e-03 -3.52793789e-04 9.99976717e-01 -1.03761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-2.63, Z:-1.04 [[ 9.92497029e-01 1.22079192e-01 6.80570666e-03 1.41993863e+02] [-1.22078648e-01 9.92520306e-01 -4.96949945e-04 -2.62767076e+00] [-6.81546931e-03 -3.37610121e-04 9.99976717e-01 -1.04027639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:-2.63, Z:-1.04 [[ 9.92793779e-01 1.19641946e-01 6.80572947e-03 1.42053026e+02] [-1.19641347e-01 9.92817053e-01 -4.96637410e-04 -2.62609955e+00] [-6.81626295e-03 -3.21188107e-04 9.99976717e-01 -1.04016660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.11, Y:-2.63, Z:-1.04 [[ 9.93157829e-01 1.16581337e-01 6.80575271e-03 1.42111656e+02] [-1.16580668e-01 9.93181102e-01 -4.96318792e-04 -2.62666118e+00] [-6.81720648e-03 -3.00496300e-04 9.99976717e-01 -1.04325956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:-2.63, Z:-1.05 [[ 9.93674461e-01 1.12092580e-01 6.80577583e-03 1.42169319e+02] [-1.12091808e-01 9.93697731e-01 -4.96001504e-04 -2.62908530e+00] [-6.81848209e-03 -2.70007691e-04 9.99976717e-01 -1.04642185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.23, Y:-2.63, Z:-1.05 [[ 9.93994397e-01 1.09219138e-01 6.80580453e-03 1.42227473e+02] [-1.09218301e-01 9.94017664e-01 -4.95607354e-04 -2.63361321e+00] [-6.81921973e-03 -2.50687475e-04 9.99976717e-01 -1.04799447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.29, Y:-2.64, Z:-1.05 [[ 9.93890249e-01 1.10162850e-01 6.80582653e-03 1.42285857e+02] [-1.10162038e-01 9.93913517e-01 -4.95305152e-04 -2.63974130e+00] [-6.81896721e-03 -2.57464757e-04 9.99976717e-01 -1.04789509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.34, Y:-2.64, Z:-1.05 [[ 9.93486579e-01 1.13745757e-01 6.80584908e-03 1.42344273e+02] [-1.13745030e-01 9.93509851e-01 -4.94995040e-04 -2.64363559e+00] [-6.81798169e-03 -2.82360580e-04 9.99976717e-01 -1.04694939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.40, Y:-2.65, Z:-1.05 [[ 9.92644268e-01 1.20876127e-01 6.80587216e-03 1.42402165e+02] [-1.20875569e-01 9.92667544e-01 -4.94677464e-04 -2.65065210e+00] [-6.81576310e-03 -3.31624923e-04 9.99976717e-01 -1.04506773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.46, Y:-2.66, Z:-1.04 [[ 9.92018927e-01 1.25905233e-01 6.80590060e-03 1.42460956e+02] [-1.25904796e-01 9.92042206e-01 -4.94285949e-04 -2.65599182e+00] [-6.81397383e-03 -3.66554510e-04 9.99976717e-01 -1.04450882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:142.52, Y:-2.66, Z:-1.05 [[ 9.91339661e-01 1.31146318e-01 6.80592245e-03 1.42519161e+02] [-1.31146006e-01 9.91362941e-01 -4.93984843e-04 -2.66080297e+00] [-6.81192359e-03 -4.02862782e-04 9.99976717e-01 -1.04656831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.58, Y:-2.67, Z:-1.04 [[ 9.90899982e-01 1.34428065e-01 6.80595840e-03 1.42577424e+02] [-1.34427834e-01 9.90923263e-01 -4.93489016e-04 -2.66549768e+00] [-6.81052129e-03 -4.25911989e-04 9.99976717e-01 -1.04385518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:-2.67, Z:-1.04 [[ 9.90351182e-01 1.38413202e-01 6.80598229e-03 1.42635506e+02] [-1.38413067e-01 9.90374464e-01 -4.93159391e-04 -2.66855452e+00] [-6.80873083e-03 -4.53635899e-04 9.99976717e-01 -1.04304439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:142.69, Y:-2.67, Z:-1.04 [[ 9.89344985e-01 1.45431014e-01 6.80601521e-03 1.42693720e+02] [-1.45431047e-01 9.89368267e-01 -4.92704659e-04 -2.66840551e+00] [-6.80531001e-03 -5.02351033e-04 9.99976717e-01 -1.04413558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:142.75, Y:-2.67, Z:-1.05 [[ 9.88813978e-01 1.48998638e-01 6.80604984e-03 1.42750760e+02] [-1.48998758e-01 9.88837260e-01 -4.92225841e-04 -2.66867022e+00] [-6.80341666e-03 -5.27373183e-04 9.99976717e-01 -1.04611087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.81, Y:-2.67, Z:-1.05 [[ 9.88696798e-01 1.49774227e-01 6.80610294e-03 1.42809777e+02] [-1.49774370e-01 9.88720080e-01 -4.91490459e-04 -2.66817286e+00] [-6.80294325e-03 -5.33444740e-04 9.99976717e-01 -1.05072237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:-2.67, Z:-1.05 [[ 9.88972694e-01 1.47941499e-01 6.80612547e-03 1.42868593e+02] [-1.47941601e-01 9.88995976e-01 -4.91178244e-04 -2.66874590e+00] [-6.80389635e-03 -5.21147231e-04 9.99976717e-01 -1.05282489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:-2.67, Z:-1.05 [[ 9.89255000e-01 1.46041851e-01 6.80614867e-03 1.42927172e+02] [-1.46041911e-01 9.89278282e-01 -4.90856553e-04 -2.66726120e+00] [-6.80486067e-03 -5.08400660e-04 9.99976717e-01 -1.05117425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.98, Y:-2.67, Z:-1.05 [[ 9.89060263e-01 1.47354915e-01 6.80618984e-03 1.42984326e+02] [-1.47355010e-01 9.89083546e-01 -4.90285117e-04 -2.66684474e+00] [-6.80413630e-03 -5.18004643e-04 9.99976717e-01 -1.05274498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:-2.67, Z:-1.05 [[ 9.88698416e-01 1.49763538e-01 6.80625001e-03 1.43042882e+02] [-1.49763695e-01 9.88721698e-01 -4.89448299e-04 -2.66506257e+00] [-6.80278858e-03 -5.35412396e-04 9.99976717e-01 -1.05471753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.10, Y:-2.66, Z:-1.05 [[ 9.88248944e-01 1.52701338e-01 6.80628396e-03 1.43102047e+02] [-1.52701568e-01 9.88272226e-01 -4.88975844e-04 -2.66191237e+00] [-6.80112866e-03 -5.56100372e-04 9.99976717e-01 -1.05118357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:143.16, Y:-2.66, Z:-1.05 [[ 9.87978744e-01 1.54439880e-01 6.80630677e-03 1.43159989e+02] [-1.54440152e-01 9.88002025e-01 -4.88658052e-04 -2.65601104e+00] [-6.80011316e-03 -5.68383287e-04 9.99976717e-01 -1.05054975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:-2.65, Z:-1.05 [[ 9.87913131e-01 1.54859033e-01 6.80634912e-03 1.43219576e+02] [-1.54859320e-01 9.87936411e-01 -4.88067432e-04 -2.65186763e+00] [-6.79982178e-03 -5.71858373e-04 9.99976717e-01 -1.04978576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.28, Y:-2.65, Z:-1.05 [[ 9.87912846e-01 1.54860848e-01 6.80637216e-03 1.43277848e+02] [-1.54861137e-01 9.87936127e-01 -4.87745909e-04 -2.64786983e+00] [-6.79979370e-03 -5.72192082e-04 9.99976717e-01 -1.04853151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:-2.63, Z:-1.05 [[ 9.87729399e-01 1.56026625e-01 6.80640651e-03 1.43335637e+02] [-1.56026945e-01 9.87752679e-01 -4.87266106e-04 -2.63464586e+00] [-6.79907275e-03 -5.80695758e-04 9.99976717e-01 -1.04668369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.39, Y:-2.63, Z:-1.05 [[ 9.87702032e-01 1.56199768e-01 6.80644598e-03 1.43394040e+02] [-1.56200096e-01 9.87725313e-01 -4.86714195e-04 -2.62941017e+00] [-6.79892363e-03 -5.82438916e-04 9.99976717e-01 -1.04902533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.45, Y:-2.62, Z:-1.05 [[ 9.88047666e-01 1.53998313e-01 6.80653513e-03 1.43453009e+02] [-1.53998597e-01 9.88070947e-01 -4.85464301e-04 -2.62324482e+00] [-6.80010029e-03 -5.68534989e-04 9.99976717e-01 -1.05033897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:-2.61, Z:-1.05 [[ 9.88525808e-01 1.50898630e-01 6.80662404e-03 1.43512133e+02] [-1.50898850e-01 9.88549090e-01 -4.84214392e-04 -2.61424743e+00] [-6.80174929e-03 -5.48453318e-04 9.99976717e-01 -1.05360297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.57, Y:-2.61, Z:-1.06 [[ 9.88827011e-01 1.48912091e-01 6.80670563e-03 1.43569319e+02] [-1.48912272e-01 9.88850293e-01 -4.83064813e-04 -2.61125434e+00] [-6.80274704e-03 -5.35934462e-04 9.99976717e-01 -1.05562368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.63, Y:-2.61, Z:-1.05 [[ 9.88973912e-01 1.47933328e-01 6.80674611e-03 1.43628004e+02] [-1.47933490e-01 9.88997194e-01 -4.82493670e-04 -2.60818766e+00] [-6.80322970e-03 -5.29772053e-04 9.99976717e-01 -1.05449960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.69, Y:-2.60, Z:-1.05 [[ 9.88719591e-01 1.49623656e-01 6.80677516e-03 1.43686493e+02] [-1.49623861e-01 9.88742873e-01 -4.82083494e-04 -2.60185078e+00] [-6.80228152e-03 -5.41810583e-04 9.99976717e-01 -1.05405287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.75, Y:-2.60, Z:-1.05 [[ 9.88398390e-01 1.51730976e-01 6.80680388e-03 1.43745431e+02] [-1.51731233e-01 9.88421672e-01 -4.81677658e-04 -2.59696646e+00] [-6.80107789e-03 -5.56715324e-04 9.99976717e-01 -1.05282134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:-2.59, Z:-1.05 [[ 9.87685463e-01 1.56304488e-01 6.80689520e-03 1.43804458e+02] [-1.56304861e-01 9.87708742e-01 -4.80383754e-04 -2.58981574e+00] [-6.79831603e-03 -5.89482757e-04 9.99976717e-01 -1.05108538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:-2.58, Z:-1.05 [[ 9.87384193e-01 1.58196461e-01 6.80698670e-03 1.43863123e+02] [-1.58196888e-01 9.87407472e-01 -4.79083618e-04 -2.58453049e+00] [-6.79705886e-03 -6.03804522e-04 9.99976717e-01 -1.05151973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.92, Y:-2.58, Z:-1.05 [[ 9.87695834e-01 1.56238931e-01 6.80708080e-03 1.43920696e+02] [-1.56239321e-01 9.87719113e-01 -4.77742890e-04 -2.57995164e+00] [-6.79812585e-03 -5.91669020e-04 9.99976717e-01 -1.05214439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.98, Y:-2.58, Z:-1.05 [[ 9.88596665e-01 1.50433699e-01 6.80712140e-03 1.43978619e+02] [-1.50433956e-01 9.88619946e-01 -4.77163595e-04 -2.57616520e+00] [-6.80143748e-03 -5.52299866e-04 9.99976717e-01 -1.05333258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.04, Y:-2.57, Z:-1.06 [[ 9.89199356e-01 1.46418223e-01 6.80721288e-03 1.44037082e+02] [-1.46418395e-01 9.89222638e-01 -4.75855062e-04 -2.57471312e+00] [-6.80352293e-03 -5.25985663e-04 9.99976717e-01 -1.05675890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:-2.57, Z:-1.06 [[ 9.89911878e-01 1.41520792e-01 6.80724127e-03 1.44095493e+02] [-1.41520851e-01 9.89935161e-01 -4.75448573e-04 -2.57428010e+00] [-6.80601334e-03 -4.92714386e-04 9.99976717e-01 -1.05586377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:-2.58, Z:-1.05 [[ 9.91340249e-01 1.31141798e-01 6.80733138e-03 1.44153776e+02] [-1.31141622e-01 9.91363531e-01 -4.74154802e-04 -2.57863511e+00] [-6.81072159e-03 -4.22675738e-04 9.99976717e-01 -1.05328516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-2.59, Z:-1.06 [[ 9.92237550e-01 1.24170458e-01 6.80742140e-03 1.44210920e+02] [-1.24170127e-01 9.92260831e-01 -4.72858877e-04 -2.58652884e+00] [-6.81345272e-03 -3.76090044e-04 9.99976717e-01 -1.05769403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:-2.59, Z:-1.06 [[ 9.92700098e-01 1.20416667e-01 6.80751249e-03 1.44266965e+02] [-1.20416257e-01 9.92723377e-01 -4.71543809e-04 -2.59489685e+00] [-6.81475852e-03 -3.51633588e-04 9.99976717e-01 -1.05905440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:-2.61, Z:-1.06 [[ 9.92703603e-01 1.20387764e-01 6.80757429e-03 1.44323430e+02] [-1.20387360e-01 9.92726882e-01 -4.70649908e-04 -2.60669748e+00] [-6.81472249e-03 -3.52330036e-04 9.99976717e-01 -1.06060570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:-2.62, Z:-1.06 [[ 9.92416773e-01 1.22729806e-01 6.80763429e-03 1.44380518e+02] [-1.22729463e-01 9.92440053e-01 -4.69780505e-04 -2.61814814e+00] [-6.81382500e-03 -3.69279245e-04 9.99976717e-01 -1.06146384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:-2.63, Z:-1.06 [[ 9.91978578e-01 1.26222647e-01 6.80772505e-03 1.44438093e+02] [-1.26222394e-01 9.92001859e-01 -4.68461523e-04 -2.63047133e+00] [-6.81240636e-03 -3.94583559e-04 9.99976717e-01 -1.06141558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:-2.64, Z:-1.06 [[ 9.90778476e-01 1.35320601e-01 6.80781533e-03 1.44495065e+02] [-1.35320571e-01 9.90801759e-01 -4.67145951e-04 -2.64168900e+00] [-6.80840987e-03 -4.58399307e-04 9.99976717e-01 -1.06007769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:-2.65, Z:-1.06 [[ 9.89738534e-01 1.42728019e-01 6.80790458e-03 1.44552027e+02] [-1.42728173e-01 9.89761816e-01 -4.65841635e-04 -2.64901293e+00] [-6.80469265e-03 -5.10618362e-04 9.99976717e-01 -1.06057463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:-2.65, Z:-1.06 [[ 9.88905532e-01 1.48389693e-01 6.80796464e-03 1.44609510e+02] [-1.48389986e-01 9.88928812e-01 -4.64962264e-04 -2.65496820e+00] [-6.80158799e-03 -5.50430021e-04 9.99976717e-01 -1.06043470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-2.66, Z:-1.06 [[ 9.88366127e-01 1.51940942e-01 6.80805401e-03 1.44666552e+02] [-1.51941327e-01 9.88389406e-01 -4.63649957e-04 -2.66272653e+00] [-6.79945587e-03 -5.76168851e-04 9.99976717e-01 -1.06360428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:-2.67, Z:-1.06 [[ 9.88378445e-01 1.51860785e-01 6.80814339e-03 1.44723886e+02] [-1.51861177e-01 9.88401725e-01 -4.62333775e-04 -2.66862375e+00] [-6.79939104e-03 -5.76931928e-04 9.99976717e-01 -1.06210145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:-2.67, Z:-1.06 [[ 9.88146120e-01 1.53365226e-01 6.80823130e-03 1.44781300e+02] [-1.53365663e-01 9.88169399e-01 -4.61035553e-04 -2.67306973e+00] [-6.79839265e-03 -5.88578412e-04 9.99976717e-01 -1.06143074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.84, Y:-2.68, Z:-1.06 [[ 9.87390206e-01 1.58158872e-01 6.80831830e-03 1.44839002e+02] [-1.58159430e-01 9.87413481e-01 -4.59747225e-04 -2.67605242e+00] [-6.79533838e-03 -6.22849834e-04 9.99976717e-01 -1.06307463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.90, Y:-2.68, Z:-1.06 [[ 9.87082029e-01 1.60070963e-01 6.80840620e-03 1.44895773e+02] [-1.60071575e-01 9.87105304e-01 -4.58441838e-04 -2.67915272e+00] [-6.79399709e-03 -6.37312605e-04 9.99976717e-01 -1.06424850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:-2.68, Z:-1.06 [[ 9.86562452e-01 1.63242680e-01 6.80844401e-03 1.44953847e+02] [-1.63243371e-01 9.86585725e-01 -4.57879505e-04 -2.68046311e+00] [-6.79185915e-03 -6.59706625e-04 9.99976717e-01 -1.06430819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:-2.68, Z:-1.06 [[ 9.85902603e-01 1.67181642e-01 6.80853049e-03 1.45012859e+02] [-1.67182435e-01 9.85925872e-01 -4.56589972e-04 -2.67754071e+00] [-6.78903982e-03 -6.88113463e-04 9.99976717e-01 -1.06053127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:145.07, Y:-2.68, Z:-1.06 [[ 9.85792156e-01 1.67831665e-01 6.80860496e-03 1.45070316e+02] [-1.67832481e-01 9.85815424e-01 -4.55476834e-04 -2.67564854e+00] [-6.78847122e-03 -6.93699571e-04 9.99976717e-01 -1.06301141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.13, Y:-2.68, Z:-1.06 [[ 9.86194432e-01 1.65451456e-01 6.80864168e-03 1.45127777e+02] [-1.65452219e-01 9.86217702e-01 -4.54927177e-04 -2.67708963e+00] [-6.79007132e-03 -6.77858224e-04 9.99976717e-01 -1.06284758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.19, Y:-2.68, Z:-1.06 [[ 9.87584823e-01 1.56939031e-01 6.80867760e-03 1.45185983e+02] [-1.56939597e-01 9.87608099e-01 -4.54388934e-04 -2.68018833e+00] [-6.79561650e-03 -6.19803503e-04 9.99976717e-01 -1.06381725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:145.24, Y:-2.68, Z:-1.06 [[ 9.88370962e-01 1.51909453e-01 6.80876315e-03 1.45244195e+02] [-1.51909909e-01 9.88394240e-01 -4.53103485e-04 -2.68460354e+00] [-6.79857298e-03 -5.86484265e-04 9.99976717e-01 -1.06426333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.30, Y:-2.69, Z:-1.06 [[ 9.88708155e-01 1.49699113e-01 6.80885238e-03 1.45301342e+02] [-1.49699527e-01 9.88731433e-01 -4.51758613e-04 -2.69004688e+00] [-6.79975424e-03 -5.72624555e-04 9.99976717e-01 -1.06406734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:-2.70, Z:-1.07 [[ 9.88868843e-01 1.48633945e-01 6.80889094e-03 1.45359176e+02] [-1.48634337e-01 9.88892123e-01 -4.51176631e-04 -2.69677917e+00] [-6.80031878e-03 -5.65880478e-04 9.99976717e-01 -1.06621424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:-2.70, Z:-1.06 [[ 9.89161334e-01 1.46674785e-01 6.80897618e-03 1.45416968e+02] [-1.46675140e-01 9.89184614e-01 -4.49886489e-04 -2.70227898e+00] [-6.80132148e-03 -5.53697217e-04 9.99976717e-01 -1.06424877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.47, Y:-2.71, Z:-1.06 [[ 9.89245105e-01 1.46108727e-01 6.80900251e-03 1.45473645e+02] [-1.46109071e-01 9.89268385e-01 -4.49487676e-04 -2.70623110e+00] [-6.80160499e-03 -5.50203551e-04 9.99976717e-01 -1.06407639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:-2.71, Z:-1.06 [[ 9.88802206e-01 1.49076606e-01 6.80903806e-03 1.45531997e+02] [-1.49077024e-01 9.88825485e-01 -4.48948474e-04 -2.70829255e+00] [-6.79987808e-03 -5.71149888e-04 9.99976717e-01 -1.06435955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.59, Y:-2.71, Z:-1.07 [[ 9.88315744e-01 1.52268270e-01 6.80912273e-03 1.45589391e+02] [-1.52268772e-01 9.88339021e-01 -4.47660635e-04 -2.70854263e+00] [-6.79788621e-03 -5.94386702e-04 9.99976717e-01 -1.06522534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:-2.71, Z:-1.07 [[ 9.88226549e-01 1.52846079e-01 6.80915934e-03 1.45647622e+02] [-1.52846598e-01 9.88249825e-01 -4.47103076e-04 -2.71120610e+00] [-6.79748848e-03 -5.98917713e-04 9.99976717e-01 -1.06622763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:-2.72, Z:-1.07 [[ 9.88901372e-01 1.48417352e-01 6.80924146e-03 1.45705111e+02] [-1.48417776e-01 9.88924651e-01 -4.45848983e-04 -2.71878557e+00] [-6.79999845e-03 -5.69711800e-04 9.99976717e-01 -1.06884880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:-2.72, Z:-1.07 [[ 9.89152657e-01 1.46733275e-01 6.80932428e-03 1.45763230e+02] [-1.46733668e-01 9.89175936e-01 -4.44580372e-04 -2.72478175e+00] [-6.80085446e-03 -5.59399272e-04 9.99976717e-01 -1.06950841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:-2.73, Z:-1.07 [[ 9.89065850e-01 1.47317263e-01 6.80940954e-03 1.45821517e+02] [-1.47317678e-01 9.89089129e-01 -4.43270755e-04 -2.72779848e+00] [-6.80041438e-03 -5.64722437e-04 9.99976717e-01 -1.06990557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:-2.73, Z:-1.07 [[ 9.88666706e-01 1.49972582e-01 6.80949520e-03 1.45878443e+02] [-1.49973069e-01 9.88689983e-01 -4.41950881e-04 -2.73194133e+00] [-6.79876021e-03 -5.84298772e-04 9.99976717e-01 -1.06956654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.94, Y:-2.74, Z:-1.07 [[ 9.87934832e-01 1.54720390e-01 6.80953218e-03 1.45937130e+02] [-1.54720992e-01 9.87958106e-01 -4.41380389e-04 -2.73879935e+00] [-6.79582306e-03 -6.17522515e-04 9.99976717e-01 -1.07462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.00, Y:-2.75, Z:-1.07 [[ 9.88101904e-01 1.53649787e-01 6.80960370e-03 1.45995272e+02] [-1.53650372e-01 9.88125179e-01 -4.40274160e-04 -2.74622125e+00] [-6.79638891e-03 -6.11262403e-04 9.99976717e-01 -1.07070936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.05, Y:-2.75, Z:-1.07 [[ 9.88580769e-01 1.50538010e-01 6.80967596e-03 1.46052699e+02] [-1.50538529e-01 9.88604045e-01 -4.39153684e-04 -2.75458082e+00] [-6.79818252e-03 -5.90979718e-04 9.99976717e-01 -1.06943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:-2.76, Z:-1.07 [[ 9.88987060e-01 1.47845270e-01 6.80970137e-03 1.46110536e+02] [-1.47845729e-01 9.89010338e-01 -4.38759309e-04 -2.76437624e+00] [-6.79973354e-03 -5.72857982e-04 9.99976717e-01 -1.06918287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.17, Y:-2.77, Z:-1.07 [[ 9.89262508e-01 1.45990811e-01 6.80978559e-03 1.46167591e+02] [-1.45991235e-01 9.89285787e-01 -4.37448195e-04 -2.77220719e+00] [-6.80068751e-03 -5.61417908e-04 9.99976717e-01 -1.06534674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.23, Y:-2.78, Z:-1.07 [[ 9.89692915e-01 1.43043911e-01 6.80981157e-03 1.46225346e+02] [-1.43044268e-01 9.89716195e-01 -4.37043427e-04 -2.78039340e+00] [-6.80229719e-03 -5.41565729e-04 9.99976717e-01 -1.06515046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:-2.79, Z:-1.07 [[ 9.90775153e-01 1.35344824e-01 6.80989470e-03 1.46281777e+02] [-1.35345009e-01 9.90798435e-01 -4.35744236e-04 -2.79214691e+00] [-6.80620874e-03 -4.89960697e-04 9.99976717e-01 -1.07217889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:-2.80, Z:-1.07 [[ 9.91419288e-01 1.30542787e-01 6.80993058e-03 1.46339100e+02] [-1.30542864e-01 9.91442571e-01 -4.35182722e-04 -2.80147831e+00] [-6.80846505e-03 -4.57539297e-04 9.99976717e-01 -1.07269919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:-2.81, Z:-1.08 [[ 9.91329595e-01 1.31222176e-01 6.80996163e-03 1.46395163e+02] [-1.31222271e-01 9.91352877e-01 -4.34696390e-04 -2.81050682e+00] [-6.80811686e-03 -4.62691238e-04 9.99976717e-01 -1.07528426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.45, Y:-2.82, Z:-1.08 [[ 9.90901706e-01 1.34415150e-01 6.80999745e-03 1.46453861e+02] [-1.34415325e-01 9.90924988e-01 -4.34134434e-04 -2.81593529e+00] [-6.80655089e-03 -4.85183467e-04 9.99976717e-01 -1.07680390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-2.82, Z:-1.08 [[ 9.90593129e-01 1.36670684e-01 6.81001757e-03 1.46512263e+02] [-1.36670913e-01 9.90616411e-01 -4.33818656e-04 -2.82017720e+00] [-6.80540545e-03 -5.00993540e-04 9.99976717e-01 -1.07511041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:-2.83, Z:-1.08 [[ 9.90900042e-01 1.34427419e-01 6.81003787e-03 1.46569729e+02] [-1.34427598e-01 9.90923323e-01 -4.33499749e-04 -2.82765444e+00] [-6.80649961e-03 -4.85902114e-04 9.99976717e-01 -1.07562324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.63, Y:-2.84, Z:-1.08 [[ 9.91391662e-01 1.30752417e-01 6.81006850e-03 1.46626019e+02] [-1.30752513e-01 9.91414945e-01 -4.33017926e-04 -2.83565012e+00] [-6.80822183e-03 -4.61143211e-04 9.99976717e-01 -1.07629293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.68, Y:-2.85, Z:-1.08 [[ 9.91663179e-01 1.28676970e-01 6.81010373e-03 1.46684322e+02] [-1.28677021e-01 9.91686461e-01 -4.32463264e-04 -2.84631449e+00] [-6.80913573e-03 -4.47445964e-04 9.99976717e-01 -1.07524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:-2.86, Z:-1.08 [[ 9.91302880e-01 1.31423829e-01 6.81012418e-03 1.46741429e+02] [-1.31423946e-01 9.91326162e-01 -4.32140893e-04 -2.85512257e+00] [-6.80784788e-03 -4.66630885e-04 9.99976717e-01 -1.07697287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:-2.86, Z:-1.08 [[ 9.91034344e-01 1.33433692e-01 6.81014945e-03 1.46799711e+02] [-1.33433860e-01 9.91057626e-01 -4.31742369e-04 -2.86058197e+00] [-6.80685953e-03 -4.80833010e-04 9.99976717e-01 -1.07809435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:-2.87, Z:-1.08 [[ 9.90432012e-01 1.37833416e-01 6.81016944e-03 1.46857555e+02] [-1.37833689e-01 9.90455293e-01 -4.31426756e-04 -2.86815027e+00] [-6.80463340e-03 -5.11371910e-04 9.99976717e-01 -1.07718427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:-2.88, Z:-1.08 [[ 9.90056064e-01 1.40508403e-01 6.81019956e-03 1.46916128e+02] [-1.40508743e-01 9.90079344e-01 -4.30950794e-04 -2.87642081e+00] [-6.80319012e-03 -5.30227130e-04 9.99976717e-01 -1.07509814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:-2.88, Z:-1.07 [[ 9.89648672e-01 1.43349669e-01 6.81021939e-03 1.46973552e+02] [-1.43350078e-01 9.89671951e-01 -4.30637293e-04 -2.88340110e+00] [-6.80161482e-03 -5.50065853e-04 9.99976717e-01 -1.07474233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.03, Y:-2.89, Z:-1.08 [[ 9.89346735e-01 1.45418910e-01 6.81024947e-03 1.47031457e+02] [-1.45419370e-01 9.89370013e-01 -4.30161034e-04 -2.88764726e+00] [-6.80041015e-03 -5.64763774e-04 9.99976717e-01 -1.07532074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:-2.89, Z:-1.08 [[ 9.89392740e-01 1.45105572e-01 6.81027970e-03 1.47088418e+02] [-1.45106028e-01 9.89416018e-01 -4.29681818e-04 -2.89237954e+00] [-6.80054905e-03 -5.63088567e-04 9.99976717e-01 -1.07724656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.15, Y:-2.90, Z:-1.08 [[ 9.89685323e-01 1.43096407e-01 6.81031457e-03 1.47147319e+02] [-1.43096820e-01 9.89708602e-01 -4.29128463e-04 -2.89960005e+00] [-6.80163365e-03 -5.49832219e-04 9.99976717e-01 -1.07501187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:-2.90, Z:-1.08 [[ 9.89922603e-01 1.41445608e-01 6.81033447e-03 1.47203587e+02] [-1.41445985e-01 9.89945882e-01 -4.28812455e-04 -2.90451325e+00] [-6.80251620e-03 -5.38803323e-04 9.99976717e-01 -1.07769536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:-2.91, Z:-1.08 [[ 9.90275271e-01 1.38955050e-01 6.81038843e-03 1.47261246e+02] [-1.38955373e-01 9.90298551e-01 -4.27953781e-04 -2.91126545e+00] [-6.80378413e-03 -5.22548019e-04 9.99976717e-01 -1.07896048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:-2.92, Z:-1.08 [[ 9.90720534e-01 1.35744030e-01 6.81041819e-03 1.47319030e+02] [-1.35744281e-01 9.90743815e-01 -4.27479653e-04 -2.92153500e+00] [-6.80540751e-03 -5.00962453e-04 9.99976717e-01 -1.08062906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.38, Y:-2.93, Z:-1.09 [[ 9.90798930e-01 1.35170623e-01 6.81044878e-03 1.47376144e+02] [-1.35170864e-01 9.90822212e-01 -4.26991680e-04 -2.92875662e+00] [-6.80566066e-03 -4.97511346e-04 9.99976717e-01 -1.08795488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.43, Y:-2.94, Z:-1.09 [[ 9.90897422e-01 1.34446704e-01 6.81047407e-03 1.47434509e+02] [-1.34446931e-01 9.90920704e-01 -4.26587945e-04 -2.93776319e+00] [-6.80599310e-03 -4.92942442e-04 9.99976717e-01 -1.08608025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:-2.94, Z:-1.09 [[ 9.91197594e-01 1.32215530e-01 6.81049447e-03 1.47493486e+02] [-1.32215707e-01 9.91220876e-01 -4.26261929e-04 -2.94404142e+00] [-6.80706275e-03 -4.77944541e-04 9.99976717e-01 -1.08514956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.55, Y:-2.95, Z:-1.08 [[ 9.91493818e-01 1.29975479e-01 6.81051502e-03 1.47550951e+02] [-1.29975606e-01 9.91517100e-01 -4.25933416e-04 -2.95122489e+00] [-6.80810301e-03 -4.62890465e-04 9.99976717e-01 -1.08494574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.61, Y:-2.96, Z:-1.09 [[ 9.91755512e-01 1.27963359e-01 6.81054032e-03 1.47608629e+02] [-1.27963440e-01 9.91778794e-01 -4.25528463e-04 -2.95808894e+00] [-6.80900152e-03 -4.49479972e-04 9.99976717e-01 -1.08566485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:-2.96, Z:-1.08 [[ 9.91928276e-01 1.26617182e-01 6.81056972e-03 1.47667610e+02] [-1.26617235e-01 9.91951559e-01 -4.25057376e-04 -2.96293881e+00] [-6.80957482e-03 -4.40709077e-04 9.99976717e-01 -1.08457762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:-2.97, Z:-1.08 [[ 9.92148378e-01 1.24880792e-01 6.81058981e-03 1.47724601e+02] [-1.24880807e-01 9.92171660e-01 -4.24735274e-04 -2.96882614e+00] [-6.81031548e-03 -4.29111539e-04 9.99976717e-01 -1.08497514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:-2.98, Z:-1.08 [[ 9.92593609e-01 1.21291151e-01 6.81062460e-03 1.47783481e+02] [-1.21291085e-01 9.92616891e-01 -4.24176634e-04 -2.97709060e+00] [-6.81178989e-03 -4.05033034e-04 9.99976717e-01 -1.08227145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:-2.98, Z:-1.08 [[ 9.92743678e-01 1.20056677e-01 6.81064523e-03 1.47841042e+02] [-1.20056585e-01 9.92766960e-01 -4.23845155e-04 -2.98220153e+00] [-6.81226900e-03 -3.96893211e-04 9.99976717e-01 -1.08252680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.90, Y:-2.99, Z:-1.09 [[ 9.92580565e-01 1.21397841e-01 6.81067385e-03 1.47899544e+02] [-1.21397783e-01 9.92603848e-01 -4.23384814e-04 -2.98690042e+00] [-6.81169907e-03 -4.06557170e-04 9.99976717e-01 -1.08612112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:-2.99, Z:-1.09 [[ 9.92125133e-01 1.25065326e-01 6.81069420e-03 1.47956941e+02] [-1.25065357e-01 9.92148415e-01 -4.23057176e-04 -2.99175055e+00] [-6.81012924e-03 -4.32056246e-04 9.99976717e-01 -1.09007868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:-3.00, Z:-1.09 [[ 9.91775928e-01 1.27805020e-01 6.81071929e-03 1.48015319e+02] [-1.27805117e-01 9.91799210e-01 -4.22652834e-04 -2.99502991e+00] [-6.80888317e-03 -4.51267872e-04 9.99976717e-01 -1.08794745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:-3.00, Z:-1.09 [[ 9.91201398e-01 1.32186994e-01 6.81073870e-03 1.48074011e+02] [-1.32187197e-01 9.91224680e-01 -4.22339859e-04 -2.99587740e+00] [-6.80680013e-03 -4.81668601e-04 9.99976717e-01 -1.08550793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.13, Y:-2.99, Z:-1.09 [[ 9.90600872e-01 1.36614514e-01 6.81075803e-03 1.48132990e+02] [-1.36614823e-01 9.90624153e-01 -4.22027894e-04 -2.99271057e+00] [-6.80455654e-03 -5.12389301e-04 9.99976717e-01 -1.09079844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.19, Y:-2.99, Z:-1.09 [[ 9.91069807e-01 1.33170006e-01 6.81077742e-03 1.48191760e+02] [-1.33170236e-01 9.91093089e-01 -4.21714748e-04 -2.99367955e+00] [-6.80627419e-03 -4.89044085e-04 9.99976717e-01 -1.09052044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:-3.00, Z:-1.09 [[ 9.92103322e-01 1.25238217e-01 6.81079679e-03 1.48250008e+02] [-1.25238263e-01 9.92126605e-01 -4.21401706e-04 -2.99815333e+00] [-6.80994829e-03 -4.34898329e-04 9.99976717e-01 -1.08983600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:-3.00, Z:-1.10 [[ 9.93453744e-01 1.14031891e-01 6.81081630e-03 1.48308471e+02] [-1.14031677e-01 9.93477025e-01 -4.21086149e-04 -3.00318365e+00] [-6.81440677e-03 -3.58319193e-04 9.99976717e-01 -1.09517031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:-3.01, Z:-1.09 [[ 9.93859642e-01 1.10438332e-01 6.81083593e-03 1.48367087e+02] [-1.10438036e-01 9.93882922e-01 -4.20768450e-04 -3.00697026e+00] [-6.81564248e-03 -3.33990561e-04 9.99976717e-01 -1.09429167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.43, Y:-3.01, Z:-1.09 [[ 9.93680117e-01 1.12042122e-01 6.81085570e-03 1.48425433e+02] [-1.12041866e-01 9.93703398e-01 -4.20448182e-04 -3.01117021e+00] [-6.81507836e-03 -3.45309980e-04 9.99976717e-01 -1.09173911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.48, Y:-3.02, Z:-1.09 [[ 9.93418258e-01 1.14340616e-01 6.81087580e-03 1.48482903e+02] [-1.14340416e-01 9.93441540e-01 -4.20122239e-04 -3.01798099e+00] [-6.81424398e-03 -3.61401268e-04 9.99976717e-01 -1.08839586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:-3.02, Z:-1.09 [[ 9.93375029e-01 1.14715576e-01 6.81090061e-03 1.48541876e+02] [-1.14715387e-01 9.93398311e-01 -4.19719712e-04 -3.02351729e+00] [-6.81408555e-03 -3.64376018e-04 9.99976717e-01 -1.08651257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.60, Y:-3.03, Z:-1.09 [[ 9.93183439e-01 1.16362657e-01 6.81092010e-03 1.48599407e+02] [-1.16362509e-01 9.93206721e-01 -4.19403138e-04 -3.02993272e+00] [-6.81345449e-03 -3.75991501e-04 9.99976717e-01 -1.08750054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.66, Y:-3.04, Z:-1.09 [[ 9.92853883e-01 1.19141844e-01 6.81094417e-03 1.48657548e+02] [-1.19141763e-01 9.92877165e-01 -4.19011913e-04 -3.03582651e+00] [-6.81235279e-03 -3.95450292e-04 9.99976717e-01 -1.08901813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.71, Y:-3.04, Z:-1.09 [[ 9.92384565e-01 1.22989779e-01 6.81096331e-03 1.48714747e+02] [-1.22989791e-01 9.92407848e-01 -4.18700588e-04 -3.04187904e+00] [-6.81074933e-03 -4.22166953e-04 9.99976717e-01 -1.08898146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.77, Y:-3.05, Z:-1.09 [[ 9.91545472e-01 1.29580813e-01 6.81098695e-03 1.48773055e+02] [-1.29580982e-01 9.91568754e-01 -4.18315675e-04 -3.04795088e+00] [-6.80776753e-03 -4.67795363e-04 9.99976717e-01 -1.08916501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.83, Y:-3.05, Z:-1.09 [[ 9.90783525e-01 1.35283467e-01 6.81100733e-03 1.48830699e+02] [-1.35283773e-01 9.90806806e-01 -4.17983657e-04 -3.05179784e+00] [-6.80493869e-03 -5.07287446e-04 9.99976717e-01 -1.09255135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:-3.06, Z:-1.09 [[ 9.90008707e-01 1.40841649e-01 6.81103243e-03 1.48887322e+02] [-1.40842088e-01 9.90031985e-01 -4.17574211e-04 -3.05536673e+00] [-6.80195180e-03 -5.45877923e-04 9.99976717e-01 -1.09456725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:-3.06, Z:-1.09 [[ 9.89559615e-01 1.43963114e-01 6.81106533e-03 1.48945657e+02] [-1.43963630e-01 9.89582892e-01 -4.17036850e-04 -3.05892246e+00] [-6.80015165e-03 -5.67862862e-04 9.99976717e-01 -1.09193502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:-3.06, Z:-1.09 [[ 9.89546298e-01 1.44054622e-01 6.81108451e-03 1.49004376e+02] [-1.44055142e-01 9.89569574e-01 -4.16723309e-04 -3.06391378e+00] [-6.80007292e-03 -5.68804741e-04 9.99976717e-01 -1.09320546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:-3.07, Z:-1.09 [[ 9.89300868e-01 1.45730579e-01 6.81110440e-03 1.49062721e+02] [-1.45731140e-01 9.89324144e-01 -4.16397971e-04 -3.06643841e+00] [-6.79907195e-03 -5.80647138e-04 9.99976717e-01 -1.09290294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:-3.06, Z:-1.09 [[ 9.87997827e-01 1.54317540e-01 6.81112435e-03 1.49120634e+02] [-1.54318306e-01 9.88021097e-01 -4.16071512e-04 -3.06117711e+00] [-6.79374168e-03 -6.40003425e-04 9.99976717e-01 -1.09136275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:-3.06, Z:-1.10 [[ 9.87007435e-01 1.60530155e-01 6.81114900e-03 1.49179764e+02] [-1.60531071e-01 9.87030700e-01 -4.15667511e-04 -3.05646200e+00] [-6.78954034e-03 -6.83134117e-04 9.99976717e-01 -1.09519054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.24, Y:-3.05, Z:-1.09 [[ 9.86566179e-01 1.63220044e-01 6.81116829e-03 1.49237955e+02] [-1.63221025e-01 9.86589441e-01 -4.15351292e-04 -3.05038941e+00] [-6.78762037e-03 -7.01954331e-04 9.99976717e-01 -1.09361849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.30, Y:-3.04, Z:-1.09 [[ 9.87168312e-01 1.59537866e-01 6.81119212e-03 1.49296304e+02] [-1.59538763e-01 9.87191578e-01 -4.14960054e-04 -3.03957889e+00] [-6.79015334e-03 -6.77013749e-04 9.99976717e-01 -1.09313736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:-3.04, Z:-1.09 [[ 9.88414180e-01 1.51627887e-01 6.81122104e-03 1.49353303e+02] [-1.51628601e-01 9.88437452e-01 -4.14484866e-04 -3.03530933e+00] [-6.79531343e-03 -6.23093198e-04 9.99976717e-01 -1.09415277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.41, Y:-3.03, Z:-1.09 [[ 9.90825668e-01 1.34974450e-01 6.81125460e-03 1.49410811e+02] [-1.34974776e-01 9.90848948e-01 -4.13932601e-04 -3.03341455e+00] [-6.80479478e-03 -5.09212519e-04 9.99976717e-01 -1.09472736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:-3.04, Z:-1.09 [[ 9.92276177e-01 1.23861191e-01 6.81128783e-03 1.49469435e+02] [-1.23861259e-01 9.92299460e-01 -4.13385142e-04 -3.03555050e+00] [-6.81003960e-03 -4.33462458e-04 9.99976717e-01 -1.09404260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.53, Y:-3.04, Z:-1.09 [[ 9.93386913e-01 1.14612597e-01 6.81130671e-03 1.49527485e+02] [-1.14612451e-01 9.93410195e-01 -4.13073697e-04 -3.03993945e+00] [-6.81376498e-03 -3.70318554e-04 9.99976717e-01 -1.09290221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:-3.05, Z:-1.10 [[ 9.94229225e-01 1.07060047e-01 6.81133575e-03 1.49584383e+02] [-1.07059727e-01 9.94252505e-01 -4.12594407e-04 -3.04924563e+00] [-6.81636001e-03 -3.19006328e-04 9.99976717e-01 -1.10039767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:-3.06, Z:-1.10 [[ 9.94412452e-01 1.05344583e-01 6.81135980e-03 1.49642884e+02] [-1.05344226e-01 9.94435732e-01 -4.12196878e-04 -3.05998855e+00] [-6.81688228e-03 -3.07643719e-04 9.99976717e-01 -1.09956072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:-3.07, Z:-1.10 [[ 9.94361058e-01 1.05828592e-01 6.81137880e-03 1.49701207e+02] [-1.05828248e-01 9.94384338e-01 -4.11882771e-04 -3.07083203e+00] [-6.81671737e-03 -3.11276097e-04 9.99976717e-01 -1.10050849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-3.09, Z:-1.10 [[ 9.94258201e-01 1.06790616e-01 6.81139794e-03 1.49759399e+02] [-1.06790296e-01 9.94281481e-01 -4.11565893e-04 -3.09084453e+00] [-6.81639821e-03 -3.18188442e-04 9.99976717e-01 -1.09682140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:-3.11, Z:-1.10 [[ 9.94185041e-01 1.07469572e-01 6.81141772e-03 1.49816295e+02] [-1.07469271e-01 9.94208322e-01 -4.11238335e-04 -3.10733100e+00] [-6.81616379e-03 -3.23171094e-04 9.99976717e-01 -1.09793936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:-3.12, Z:-1.10 [[ 9.93960916e-01 1.09523066e-01 6.81144212e-03 1.49874364e+02] [-1.09522816e-01 9.93984197e-01 -4.10833810e-04 -3.12428688e+00] [-6.81546160e-03 -3.37655570e-04 9.99976717e-01 -1.09793585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.93, Y:-3.15, Z:-1.10 [[ 9.92998656e-01 1.17929102e-01 6.81146138e-03 1.49931092e+02] [-1.17929052e-01 9.93021938e-01 -4.10514286e-04 -3.14510779e+00] [-6.81234216e-03 -3.95629046e-04 9.99976717e-01 -1.09671658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.99, Y:-3.16, Z:-1.10 [[ 9.92148777e-01 1.24877572e-01 6.81148518e-03 1.49988869e+02] [-1.24877687e-01 9.92172059e-01 -4.10118866e-04 -3.15737787e+00] [-6.80937993e-03 -4.43703584e-04 9.99976717e-01 -1.09955249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.05, Y:-3.17, Z:-1.10 [[ 9.90972480e-01 1.33892298e-01 6.81150387e-03 1.50045529e+02] [-1.33892626e-01 9.90995760e-01 -4.09808225e-04 -3.17281038e+00] [-6.80504162e-03 -5.05901470e-04 9.99976717e-01 -1.10219387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.10, Y:-3.18, Z:-1.10 [[ 9.90267850e-01 1.39007870e-01 6.81152695e-03 1.50103577e+02] [-1.39008322e-01 9.90291128e-01 -4.09424379e-04 -3.18103386e+00] [-6.80230792e-03 -5.41419129e-04 9.99976717e-01 -1.10144134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:-3.19, Z:-1.10 [[ 9.89575908e-01 1.43851051e-01 6.81154546e-03 1.50161922e+02] [-1.43851619e-01 9.89599184e-01 -4.09116173e-04 -3.18664623e+00] [-6.79955162e-03 -5.75000332e-04 9.99976717e-01 -1.10254588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:-3.19, Z:-1.10 [[ 9.88646763e-01 1.50103898e-01 6.81156490e-03 1.50219691e+02] [-1.50104615e-01 9.88670035e-01 -4.08792291e-04 -3.19118593e+00] [-6.79575142e-03 -6.18296151e-04 9.99976717e-01 -1.10483591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.28, Y:-3.20, Z:-1.10 [[ 9.88219717e-01 1.52890135e-01 6.81158887e-03 1.50277099e+02] [-1.52890920e-01 9.88242986e-01 -4.08392474e-04 -3.19548397e+00] [-6.79394410e-03 -6.37848594e-04 9.99976717e-01 -1.10435521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:-3.20, Z:-1.10 [[ 9.88280602e-01 1.52496078e-01 6.81161217e-03 1.50336012e+02] [-1.52496857e-01 9.88303871e-01 -4.08003470e-04 -3.20179353e+00] [-6.79416160e-03 -6.35527529e-04 9.99976717e-01 -1.10273396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:-3.21, Z:-1.10 [[ 9.88615656e-01 1.50308638e-01 6.81163086e-03 1.50394435e+02] [-1.50309367e-01 9.88638927e-01 -4.07691108e-04 -3.20682661e+00] [-6.79552292e-03 -6.20802114e-04 9.99976717e-01 -1.10040202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:-3.21, Z:-1.10 [[ 9.88838929e-01 1.48832703e-01 6.81164941e-03 1.50453224e+02] [-1.48833400e-01 9.88862201e-01 -4.07380918e-04 -3.21104068e+00] [-6.79641424e-03 -6.10966829e-04 9.99976717e-01 -1.09997772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:-3.22, Z:-1.10 [[ 9.89473546e-01 1.44553457e-01 6.81166775e-03 1.50511440e+02] [-1.44554055e-01 9.89496821e-01 -4.07074032e-04 -3.21915352e+00] [-6.79896755e-03 -5.81865211e-04 9.99976717e-01 -1.10170340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.57, Y:-3.23, Z:-1.10 [[ 9.90032702e-01 1.40672845e-01 6.81168616e-03 1.50569513e+02] [-1.40673354e-01 9.90055979e-01 -4.06765882e-04 -3.22812853e+00] [-6.80117152e-03 -5.55511211e-04 9.99976717e-01 -1.10040343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:-3.24, Z:-1.10 [[ 9.90671575e-01 1.36100812e-01 6.81170467e-03 1.50628839e+02] [-1.36101215e-01 9.90694854e-01 -4.06455606e-04 -3.23977281e+00] [-6.80363970e-03 -5.24417267e-04 9.99976717e-01 -1.09931530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:-3.25, Z:-1.10 [[ 9.91267751e-01 1.31688441e-01 6.81171385e-03 1.50688212e+02] [-1.31688741e-01 9.91291032e-01 -4.06301677e-04 -3.25439623e+00] [-6.80589609e-03 -4.94272274e-04 9.99976717e-01 -1.10254256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:-3.26, Z:-1.11 [[ 9.91203642e-01 1.32170122e-01 6.81171385e-03 1.50747115e+02] [-1.32170434e-01 9.91226922e-01 -4.06301677e-04 -3.26316079e+00] [-6.80565510e-03 -4.97579477e-04 9.99976717e-01 -1.10647373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.81, Y:-3.27, Z:-1.11 [[ 9.90815787e-01 1.35046941e-01 6.81171846e-03 1.50805692e+02] [-1.35047321e-01 9.90839067e-01 -4.06224328e-04 -3.27308661e+00] [-6.80417612e-03 -5.17410851e-04 9.99976717e-01 -1.10616668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.87, Y:-3.28, Z:-1.11 [[ 9.90177054e-01 1.39653148e-01 6.81172303e-03 1.50866516e+02] [-1.39653637e-01 9.90200332e-01 -4.06147731e-04 -3.28153211e+00] [-6.80169021e-03 -5.49123729e-04 9.99976717e-01 -1.10874771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.93, Y:-3.28, Z:-1.11 [[ 9.89664475e-01 1.43240451e-01 6.81171351e-03 1.50926832e+02] [-1.43241024e-01 9.89687751e-01 -4.06307270e-04 -3.28492372e+00] [-6.79966906e-03 -5.73608945e-04 9.99976717e-01 -1.11137991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:-3.29, Z:-1.11 [[ 9.89034443e-01 1.47527868e-01 6.81170882e-03 1.50987569e+02] [-1.47528541e-01 9.89057716e-01 -4.06385885e-04 -3.28704720e+00] [-6.79712641e-03 -6.02991824e-04 9.99976717e-01 -1.11130229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:-3.29, Z:-1.10 [[ 9.88226145e-01 1.52848572e-01 6.81170882e-03 1.51048352e+02] [-1.52849370e-01 9.88249414e-01 -4.06385885e-04 -3.28585766e+00] [-6.79378276e-03 -6.39564246e-04 9.99976717e-01 -1.10447352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:-3.29, Z:-1.11 [[ 9.87977956e-01 1.54444680e-01 6.81170882e-03 1.51107507e+02] [-1.54445515e-01 9.88001224e-01 -4.06385885e-04 -3.28733294e+00] [-6.79274079e-03 -6.50537583e-04 9.99976717e-01 -1.10934880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:-3.29, Z:-1.11 [[ 9.88215855e-01 1.52915091e-01 6.81171377e-03 1.51167027e+02] [-1.52915891e-01 9.88239123e-01 -4.06303029e-04 -3.29209147e+00] [-6.79373191e-03 -6.40104185e-04 9.99976717e-01 -1.10874066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:-3.30, Z:-1.10 [[ 9.88681492e-01 1.49874977e-01 6.81171846e-03 1.51227798e+02] [-1.49875705e-01 9.88704763e-01 -4.06224266e-04 -3.29704324e+00] [-6.79566134e-03 -6.19284697e-04 9.99976717e-01 -1.10478200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.29, Y:-3.30, Z:-1.10 [[ 9.88837191e-01 1.48844249e-01 6.81171846e-03 1.51286840e+02] [-1.48844954e-01 9.88860463e-01 -4.06224266e-04 -3.30096905e+00] [-6.79630322e-03 -6.12200259e-04 9.99976717e-01 -1.10348055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:-3.30, Z:-1.10 [[ 9.88304766e-01 1.52339390e-01 6.81172320e-03 1.51346642e+02] [-1.52340178e-01 9.88328035e-01 -4.06144850e-04 -3.30186351e+00] [-6.79408886e-03 -6.36304233e-04 9.99976717e-01 -1.10468815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:-3.30, Z:-1.10 [[ 9.88149371e-01 1.53344127e-01 6.81173231e-03 1.51407297e+02] [-1.53344940e-01 9.88172639e-01 -4.05991927e-04 -3.30229312e+00] [-6.79342397e-03 -6.43364013e-04 9.99976717e-01 -1.10474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:-3.30, Z:-1.11 [[ 9.88432004e-01 1.51511628e-01 6.81173231e-03 1.51467754e+02] [-1.51512397e-01 9.88455274e-01 -4.05991927e-04 -3.30416947e+00] [-6.79460523e-03 -6.30766478e-04 9.99976717e-01 -1.10982723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:-3.31, Z:-1.11 [[ 9.89253064e-01 1.46054702e-01 6.81173231e-03 1.51527416e+02] [-1.46055343e-01 9.89276338e-01 -4.05991927e-04 -3.30666441e+00] [-6.79798263e-03 -5.93261140e-04 9.99976717e-01 -1.11236383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:-3.31, Z:-1.11 [[ 9.89666578e-01 1.43225923e-01 6.81173696e-03 1.51587445e+02] [-1.43226498e-01 9.89689853e-01 -4.05913901e-04 -3.31004733e+00] [-6.79964435e-03 -5.73901807e-04 9.99976717e-01 -1.11173557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:-3.31, Z:-1.11 [[ 9.89869667e-01 1.41815521e-01 6.81173696e-03 1.51647614e+02] [-1.41816062e-01 9.89892944e-01 -4.05913901e-04 -3.30946126e+00] [-6.80045524e-03 -5.64211855e-04 9.99976717e-01 -1.11455726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-3.31, Z:-1.12 [[ 9.89996319e-01 1.40928666e-01 6.81173696e-03 1.51708207e+02] [-1.40929186e-01 9.90019596e-01 -4.05913901e-04 -3.31150756e+00] [-6.80095798e-03 -5.58119279e-04 9.99976717e-01 -1.11735718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:-3.32, Z:-1.12 [[ 9.90369116e-01 1.38284539e-01 6.81173696e-03 1.51767121e+02] [-1.38284998e-01 9.90392394e-01 -4.05913901e-04 -3.31524266e+00] [-6.80242410e-03 -5.39956440e-04 9.99976717e-01 -1.11716688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:-3.32, Z:-1.12 [[ 9.91071624e-01 1.33156434e-01 6.81174154e-03 1.51827775e+02] [-1.33156772e-01 9.91094904e-01 -4.05837039e-04 -3.32205949e+00] [-6.80512214e-03 -5.04815945e-04 9.99976717e-01 -1.11642430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:-3.33, Z:-1.11 [[ 9.91148067e-01 1.32586237e-01 6.81174154e-03 1.51887593e+02] [-1.32586562e-01 9.91171347e-01 -4.05837039e-04 -3.32851238e+00] [-6.80541144e-03 -5.00900798e-04 9.99976717e-01 -1.11307560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:-3.33, Z:-1.10 [[ 9.90105221e-01 1.40161520e-01 6.81174154e-03 1.51946515e+02] [-1.40162023e-01 9.90128498e-01 -4.05837039e-04 -3.33274758e+00] [-6.80138216e-03 -5.52926103e-04 9.99976717e-01 -1.10442178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:-3.33, Z:-1.11 [[ 9.89132381e-01 1.46869782e-01 6.81175531e-03 1.52006014e+02] [-1.46870444e-01 9.89155654e-01 -4.05605795e-04 -3.33470081e+00] [-6.79745752e-03 -5.99247702e-04 9.99976717e-01 -1.10555042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-3.33, Z:-1.11 [[ 9.88582727e-01 1.50525055e-01 6.81176495e-03 1.52065080e+02] [-1.50525805e-01 9.88605997e-01 -4.05443899e-04 -3.33470099e+00] [-6.79518114e-03 -6.24531565e-04 9.99976717e-01 -1.10673046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:-3.33, Z:-1.11 [[ 9.88852237e-01 1.48744255e-01 6.81177521e-03 1.52124834e+02] [-1.48744964e-01 9.88875509e-01 -4.05271331e-04 -3.33469488e+00] [-6.79627946e-03 -6.12463797e-04 9.99976717e-01 -1.11170052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:-3.34, Z:-1.12 [[ 9.89297533e-01 1.45753186e-01 6.81178431e-03 1.52184750e+02] [-1.45753826e-01 9.89320806e-01 -4.05118406e-04 -3.33688865e+00] [-6.79808725e-03 -5.92060986e-04 9.99976717e-01 -1.11515886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:-3.34, Z:-1.12 [[ 9.89600096e-01 1.43684545e-01 6.81179349e-03 1.52244673e+02] [-1.43685137e-01 9.89623371e-01 -4.04963983e-04 -3.33942845e+00] [-6.79929711e-03 -5.78001086e-04 9.99976717e-01 -1.11686065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:-3.34, Z:-1.12 [[ 9.89577671e-01 1.43838912e-01 6.81180272e-03 1.52304453e+02] [-1.43839509e-01 9.89600946e-01 -4.04808754e-04 -3.34281551e+00] [-6.79919366e-03 -5.79216654e-04 9.99976717e-01 -1.11792680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.36, Y:-3.34, Z:-1.12 [[ 9.89536328e-01 1.44123053e-01 6.81181187e-03 1.52364485e+02] [-1.44123657e-01 9.89559603e-01 -4.04654649e-04 -3.34452992e+00] [-6.79901391e-03 -5.81322765e-04 9.99976717e-01 -1.12178207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:-3.34, Z:-1.13 [[ 9.89252418e-01 1.46059071e-01 6.81182110e-03 1.52424659e+02] [-1.46059721e-01 9.89275692e-01 -4.04499284e-04 -3.34308816e+00] [-6.79784982e-03 -5.94780797e-04 9.99976717e-01 -1.12582081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:-3.34, Z:-1.12 [[ 9.89150048e-01 1.46750749e-01 6.81183045e-03 1.52484460e+02] [-1.46751417e-01 9.89173321e-01 -4.04341722e-04 -3.34242525e+00] [-6.79741839e-03 -5.99691138e-04 9.99976717e-01 -1.12408736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:-3.34, Z:-1.12 [[ 9.89440043e-01 1.44782598e-01 6.81183975e-03 1.52543214e+02] [-1.44783221e-01 9.89463317e-01 -4.04184991e-04 -3.34135812e+00] [-6.79858450e-03 -5.86323283e-04 9.99976717e-01 -1.12032982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:-3.34, Z:-1.12 [[ 9.90009216e-01 1.40838028e-01 6.81185825e-03 1.52601577e+02] [-1.40838561e-01 9.90032493e-01 -4.03872996e-04 -3.34267115e+00] [-6.80084168e-03 -5.59534323e-04 9.99976717e-01 -1.12089090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:-3.34, Z:-1.12 [[ 9.90545872e-01 1.37012678e-01 6.81187677e-03 1.52660820e+02] [-1.37013123e-01 9.90569150e-01 -4.03560243e-04 -3.34421312e+00] [-6.80292786e-03 -5.33571577e-04 9.99976717e-01 -1.12136297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-3.34, Z:-1.12 [[ 9.90868237e-01 1.34661560e-01 6.81189523e-03 1.52719914e+02] [-1.34661951e-01 9.90891516e-01 -4.03248519e-04 -3.34411322e+00] [-6.80415126e-03 -5.17736954e-04 9.99976717e-01 -1.11557675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.78, Y:-3.34, Z:-1.12 [[ 9.90772817e-01 1.35361824e-01 6.81191352e-03 1.52779244e+02] [-1.35362234e-01 9.90796096e-01 -4.02939290e-04 -3.34397953e+00] [-6.80375992e-03 -5.22854535e-04 9.99976717e-01 -1.11536735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:-3.34, Z:-1.11 [[ 9.90510420e-01 1.37268737e-01 6.81193176e-03 1.52837346e+02] [-1.37269194e-01 9.90533698e-01 -4.02630615e-04 -3.34406985e+00] [-6.80271656e-03 -5.36258565e-04 9.99976717e-01 -1.11359689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:-3.34, Z:-1.11 [[ 9.89945512e-01 1.41285107e-01 6.81195432e-03 1.52896428e+02] [-1.41285661e-01 9.89968787e-01 -4.02248718e-04 -3.33962208e+00] [-6.80045391e-03 -5.64227156e-04 9.99976717e-01 -1.11450731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.95, Y:-3.34, Z:-1.12 [[ 9.89689736e-01 1.43065804e-01 6.81197293e-03 1.52954208e+02] [-1.43066403e-01 9.89713010e-01 -4.01933194e-04 -3.33695617e+00] [-6.79940113e-03 -5.76775305e-04 9.99976717e-01 -1.11861616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:-3.33, Z:-1.13 [[ 9.89499734e-01 1.44374076e-01 6.81199594e-03 1.53013482e+02] [-1.44374707e-01 9.89523008e-01 -4.01542831e-04 -3.32948474e+00] [-6.79859909e-03 -5.86153394e-04 9.99976717e-01 -1.12516448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.07, Y:-3.33, Z:-1.13 [[ 9.89432358e-01 1.44835100e-01 6.81201445e-03 1.53072206e+02] [-1.44835744e-01 9.89455631e-01 -4.01228610e-04 -3.32634354e+00] [-6.79829804e-03 -5.89634615e-04 9.99976717e-01 -1.12508325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:-3.32, Z:-1.12 [[ 9.89342928e-01 1.45444723e-01 6.81203347e-03 1.53131560e+02] [-1.45445384e-01 9.89366201e-01 -4.00905474e-04 -3.32259875e+00] [-6.79790526e-03 -5.94145828e-04 9.99976717e-01 -1.12475598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:-3.32, Z:-1.13 [[ 9.89414662e-01 1.44955934e-01 6.81205252e-03 1.53188644e+02] [-1.44956586e-01 9.89437935e-01 -4.00581569e-04 -3.31677115e+00] [-6.79816985e-03 -5.91110596e-04 9.99976717e-01 -1.12823303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:153.25, Y:-3.31, Z:-1.13 [[ 9.89447678e-01 1.44730395e-01 6.81208542e-03 1.53246518e+02] [-1.44731046e-01 9.89470952e-01 -4.00021267e-04 -3.31486548e+00] [-6.79825588e-03 -5.90120132e-04 9.99976717e-01 -1.12941344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:-3.31, Z:-1.13 [[ 9.89007153e-01 1.47710687e-01 6.81211149e-03 1.53305961e+02] [-1.47711410e-01 9.89030424e-01 -3.99576813e-04 -3.31184273e+00] [-6.79640728e-03 -6.11042268e-04 9.99976717e-01 -1.12603493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.36, Y:-3.30, Z:-1.13 [[ 9.88549789e-01 1.50741200e-01 6.81212973e-03 1.53364629e+02] [-1.50741997e-01 9.88573058e-01 -3.99265518e-04 -3.30265387e+00] [-6.79447369e-03 -6.32180196e-04 9.99976717e-01 -1.12768714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:-3.30, Z:-1.12 [[ 9.88899134e-01 1.48432128e-01 6.81215708e-03 1.53423391e+02] [-1.48432874e-01 9.88922405e-01 -3.98798405e-04 -3.29729649e+00] [-6.79588926e-03 -6.16776656e-04 9.99976717e-01 -1.12297267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:-3.30, Z:-1.13 [[ 9.89760135e-01 1.42577941e-01 6.81219158e-03 1.53481902e+02] [-1.42578553e-01 9.89783410e-01 -3.98208218e-04 -3.29635674e+00] [-6.79936991e-03 -5.77141795e-04 9.99976717e-01 -1.12514952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:-3.30, Z:-1.12 [[ 9.90771324e-01 1.35372737e-01 6.81221992e-03 1.53538504e+02] [-1.35373183e-01 9.90794602e-01 -3.97722776e-04 -3.29860552e+00] [-6.80335155e-03 -5.28139570e-04 9.99976717e-01 -1.12430456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:-3.30, Z:-1.12 [[ 9.91905517e-01 1.26795264e-01 6.81226283e-03 1.53596488e+02] [-1.26795514e-01 9.91928798e-01 -3.96986464e-04 -3.30171569e+00] [-6.80761568e-03 -4.69991302e-04 9.99976717e-01 -1.12033276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.65, Y:-3.31, Z:-1.12 [[ 9.92288357e-01 1.23763519e-01 6.81229007e-03 1.53654416e+02] [-1.23763701e-01 9.92311639e-01 -3.96518525e-04 -3.30531668e+00] [-6.80898925e-03 -4.49653515e-04 9.99976717e-01 -1.12301429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:-3.31, Z:-1.13 [[ 9.92562887e-01 1.21542204e-01 6.81231860e-03 1.53710831e+02] [-1.21542337e-01 9.92586169e-01 -3.96027732e-04 -3.30848761e+00] [-6.80994731e-03 -4.34902691e-04 9.99976717e-01 -1.12521684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:-3.31, Z:-1.13 [[ 9.92784353e-01 1.19719759e-01 6.81235154e-03 1.53769138e+02] [-1.19719853e-01 9.92807635e-01 -3.95460276e-04 -3.31006188e+00] [-6.81069903e-03 -4.22966953e-04 9.99976717e-01 -1.12758302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:-3.31, Z:-1.13 [[ 9.92666816e-01 1.20690443e-01 6.81237872e-03 1.53827682e+02] [-1.20690563e-01 9.92690099e-01 -3.94991415e-04 -3.31222311e+00] [-6.81025260e-03 -4.30094953e-04 9.99976717e-01 -1.13072713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:-3.31, Z:-1.13 [[ 9.92245631e-01 1.24105596e-01 6.81239685e-03 1.53885807e+02] [-1.24105799e-01 9.92268913e-01 -3.94678574e-04 -3.31075446e+00] [-6.80871143e-03 -4.53839861e-04 9.99976717e-01 -1.13092996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.94, Y:-3.31, Z:-1.13 [[ 9.91855993e-01 1.27182077e-01 6.81242384e-03 1.53943601e+02] [-1.27182354e-01 9.91879274e-01 -3.94212161e-04 -3.31025125e+00] [-6.80723873e-03 -4.75418409e-04 9.99976717e-01 -1.13144943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:-3.31, Z:-1.13 [[ 9.91480977e-01 1.30073301e-01 6.81245088e-03 1.54001596e+02] [-1.30073649e-01 9.91504257e-01 -3.93744241e-04 -3.30912451e+00] [-6.80578966e-03 -4.95730422e-04 9.99976717e-01 -1.13301258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.06, Y:-3.31, Z:-1.13 [[ 9.91467335e-01 1.30177241e-01 6.81247764e-03 1.54059505e+02] [-1.30177595e-01 9.91490615e-01 -3.93280778e-04 -3.30720180e+00] [-6.80570385e-03 -4.96906911e-04 9.99976717e-01 -1.13144898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:-3.31, Z:-1.13 [[ 9.91836836e-01 1.27331383e-01 6.81249962e-03 1.54118636e+02] [-1.27331673e-01 9.91860116e-01 -3.92899705e-04 -3.30957453e+00] [-6.80707513e-03 -4.77754577e-04 9.99976717e-01 -1.13227800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.18, Y:-3.31, Z:-1.14 [[ 9.92014595e-01 1.25939007e-01 6.81251774e-03 1.54177112e+02] [-1.25939267e-01 9.92037876e-01 -3.92585183e-04 -3.31246249e+00] [-6.80771742e-03 -4.68513257e-04 9.99976717e-01 -1.13545175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:-3.31, Z:-1.14 [[ 9.91854505e-01 1.27193669e-01 6.81253679e-03 1.54234634e+02] [-1.27193960e-01 9.91877786e-01 -3.92254416e-04 -3.31440660e+00] [-6.80709618e-03 -4.77454222e-04 9.99976717e-01 -1.13515054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:-3.31, Z:-1.13 [[ 9.91337613e-01 1.31161447e-01 6.81256541e-03 1.54292821e+02] [-1.31161835e-01 9.91360893e-01 -3.91756581e-04 -3.31473524e+00] [-6.80509429e-03 -5.05185549e-04 9.99976717e-01 -1.13287356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:-3.32, Z:-1.13 [[ 9.90830665e-01 1.34937699e-01 6.81258888e-03 1.54350687e+02] [-1.34938178e-01 9.90853942e-01 -3.91348051e-04 -3.31770821e+00] [-6.80308816e-03 -5.31518683e-04 9.99976717e-01 -1.13014637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.41, Y:-3.32, Z:-1.14 [[ 9.90560459e-01 1.36907142e-01 6.81261676e-03 1.54408908e+02] [-1.36907671e-01 9.90583735e-01 -3.90862244e-04 -3.32081776e+00] [-6.80197919e-03 -5.45526810e-04 9.99976717e-01 -1.13666870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:-3.32, Z:-1.13 [[ 9.90624770e-01 1.36441023e-01 6.81263504e-03 1.54466500e+02] [-1.36441543e-01 9.90648047e-01 -3.90543215e-04 -3.32392456e+00] [-6.80220972e-03 -5.42644653e-04 9.99976717e-01 -1.13496352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.52, Y:-3.33, Z:-1.13 [[ 9.90355507e-01 1.38381926e-01 6.81266912e-03 1.54524166e+02] [-1.38382495e-01 9.90378783e-01 -3.89947836e-04 -3.32659916e+00] [-6.80108468e-03 -5.56567167e-04 9.99976717e-01 -1.13078227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.58, Y:-3.33, Z:-1.13 [[ 9.89732828e-01 1.42767350e-01 6.81269144e-03 1.54582576e+02] [-1.42768026e-01 9.89756101e-01 -3.89557539e-04 -3.32794586e+00] [-6.79851901e-03 -5.87076623e-04 9.99976717e-01 -1.13218662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.64, Y:-3.33, Z:-1.13 [[ 9.88818273e-01 1.48969828e-01 6.81271790e-03 1.54641053e+02] [-1.48970652e-01 9.88841541e-01 -3.89094307e-04 -3.32671436e+00] [-6.79466178e-03 -6.30151468e-04 9.99976717e-01 -1.13347119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.70, Y:-3.32, Z:-1.13 [[ 9.87443110e-01 1.57828046e-01 6.81274415e-03 1.54698893e+02] [-1.57829082e-01 9.87466369e-01 -3.88634016e-04 -3.32305323e+00] [-6.78869308e-03 -6.91495175e-04 9.99976717e-01 -1.13320526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.76, Y:-3.32, Z:-1.13 [[ 9.86972943e-01 1.60742015e-01 6.81277164e-03 1.54755894e+02] [-1.60743124e-01 9.86996199e-01 -3.88151598e-04 -3.32039770e+00] [-6.78657199e-03 -7.12011068e-04 9.99976717e-01 -1.12927250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.81, Y:-3.32, Z:-1.13 [[ 9.86925636e-01 1.61032219e-01 6.81280326e-03 1.54814492e+02] [-1.61033338e-01 9.86948891e-01 -3.87595729e-04 -3.31792047e+00] [-6.78630403e-03 -7.14560291e-04 9.99976717e-01 -1.13360323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.87, Y:-3.31, Z:-1.14 [[ 9.87394722e-01 1.58130475e-01 6.81287498e-03 1.54872142e+02] [-1.58131534e-01 9.87417981e-01 -3.86330956e-04 -3.31150867e+00] [-6.78824596e-03 -6.95869225e-04 9.99976717e-01 -1.13653594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:-3.30, Z:-1.14 [[ 9.88266359e-01 1.52588297e-01 6.81290552e-03 1.54931036e+02] [-1.52589230e-01 9.88289623e-01 -3.85791736e-04 -3.30431585e+00] [-6.79199113e-03 -6.58311011e-04 9.99976717e-01 -1.14005839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:-3.30, Z:-1.14 [[ 9.89161876e-01 1.46670947e-01 6.81297526e-03 1.54989736e+02] [-1.46671749e-01 9.89185145e-01 -3.84556116e-04 -3.30378791e+00] [-6.79569713e-03 -6.18882748e-04 9.99976717e-01 -1.13541936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:155.05, Y:-3.30, Z:-1.14 [[ 9.90435825e-01 1.37805876e-01 6.81303837e-03 1.55047969e+02] [-1.37806476e-01 9.90459100e-01 -3.83434753e-04 -3.30359368e+00] [-6.80087541e-03 -5.59113296e-04 9.99976717e-01 -1.13518288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:-3.31, Z:-1.14 [[ 9.92413972e-01 1.22752151e-01 6.81306556e-03 1.55106028e+02] [-1.22752402e-01 9.92437253e-01 -3.82950974e-04 -3.31120785e+00] [-6.80854813e-03 -4.56274265e-04 9.99976717e-01 -1.13807817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:-3.32, Z:-1.14 [[ 9.93269188e-01 1.15628292e-01 6.81309321e-03 1.55162654e+02] [-1.15628379e-01 9.93292470e-01 -3.82458424e-04 -3.31858089e+00] [-6.81161720e-03 -4.07902756e-04 9.99976717e-01 -1.13656549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:-3.33, Z:-1.13 [[ 9.93695586e-01 1.11904709e-01 6.81312531e-03 1.55221358e+02] [-1.11904712e-01 9.93718868e-01 -3.81885898e-04 -3.32826057e+00] [-6.81306600e-03 -3.82942495e-04 9.99976717e-01 -1.13259532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:-3.34, Z:-1.14 [[ 9.93740631e-01 1.11503986e-01 6.81314301e-03 1.55278370e+02] [-1.11503982e-01 9.93763914e-01 -3.81569695e-04 -3.34262640e+00] [-6.81320221e-03 -3.80511266e-04 9.99976717e-01 -1.13897559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:-3.35, Z:-1.15 [[ 9.93247373e-01 1.15815531e-01 6.81317074e-03 1.55336498e+02] [-1.15815631e-01 9.93270655e-01 -3.81073978e-04 -3.35226334e+00] [-6.81145685e-03 -4.10570944e-04 9.99976717e-01 -1.14579489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.40, Y:-3.36, Z:-1.15 [[ 9.92353989e-01 1.23236118e-01 6.81318921e-03 1.55395063e+02] [-1.23236396e-01 9.92377270e-01 -3.80743487e-04 -3.36028791e+00] [-6.80817546e-03 -4.61800562e-04 9.99976717e-01 -1.14519776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:-3.37, Z:-1.14 [[ 9.91184653e-01 1.32312374e-01 6.81320773e-03 1.55452946e+02] [-1.32312866e-01 9.91207930e-01 -3.80411765e-04 -3.36879073e+00] [-6.80363872e-03 -5.24416740e-04 9.99976717e-01 -1.14363465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:-3.38, Z:-1.14 [[ 9.90818306e-01 1.35028381e-01 6.81323050e-03 1.55511373e+02] [-1.35028940e-01 9.90841582e-01 -3.80003456e-04 -3.37552448e+00] [-6.80214334e-03 -5.43468909e-04 9.99976717e-01 -1.14493565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.57, Y:-3.38, Z:-1.14 [[ 9.90694153e-01 1.35936289e-01 6.81324846e-03 1.55568872e+02] [-1.35936871e-01 9.90717428e-01 -3.79681228e-04 -3.38115069e+00] [-6.80161645e-03 -5.50023707e-04 9.99976717e-01 -1.14401048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:-3.39, Z:-1.15 [[ 9.90372945e-01 1.38257043e-01 6.81328085e-03 1.55627640e+02] [-1.38257684e-01 9.90396218e-01 -3.79099208e-04 -3.38728608e+00] [-6.80026072e-03 -5.66538830e-04 9.99976717e-01 -1.14527027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-3.39, Z:-1.14 [[ 9.90040962e-01 1.40614623e-01 6.81329833e-03 1.55684929e+02] [-1.40615321e-01 9.90064234e-01 -3.78784670e-04 -3.39095454e+00] [-6.79886566e-03 -5.83041794e-04 9.99976717e-01 -1.14166195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:-3.40, Z:-1.14 [[ 9.89693774e-01 1.43037802e-01 6.81331989e-03 1.55742756e+02] [-1.43038560e-01 9.89717044e-01 -3.78396585e-04 -3.39512729e+00] [-6.79738383e-03 -6.00070720e-04 9.99976717e-01 -1.14283777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:-3.40, Z:-1.14 [[ 9.89357895e-01 1.45342812e-01 6.81334671e-03 1.55799782e+02] [-1.45343628e-01 9.89381164e-01 -3.77912922e-04 -3.40062522e+00] [-6.79592383e-03 -6.16385397e-04 9.99976717e-01 -1.14181560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:-3.40, Z:-1.14 [[ 9.89530377e-01 1.44163835e-01 6.81337756e-03 1.55857856e+02] [-1.44164627e-01 9.89553646e-01 -3.77356008e-04 -3.40415353e+00] [-6.79660369e-03 -6.08842798e-04 9.99976717e-01 -1.14011188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:-3.41, Z:-1.14 [[ 9.90488120e-01 1.37429477e-01 6.81340398e-03 1.55915480e+02] [-1.37430114e-01 9.90511394e-01 -3.76878253e-04 -3.41180277e+00] [-6.80054846e-03 -5.63073455e-04 9.99976717e-01 -1.14092460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:-3.42, Z:-1.15 [[ 9.91177518e-01 1.32365798e-01 6.81343061e-03 1.55973122e+02] [-1.32366319e-01 9.91200795e-01 -3.76396357e-04 -3.42099412e+00] [-6.80329984e-03 -5.28793121e-04 9.99976717e-01 -1.14633546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.03, Y:-3.43, Z:-1.15 [[ 9.91371682e-01 1.30903649e-01 6.81345735e-03 1.56030961e+02] [-1.30904139e-01 9.91394959e-01 -3.75911539e-04 -3.42652765e+00] [-6.80403547e-03 -5.19241714e-04 9.99976717e-01 -1.14880423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.09, Y:-3.43, Z:-1.15 [[ 9.91125752e-01 1.32752853e-01 6.81347943e-03 1.56088206e+02] [-1.32753389e-01 9.91149029e-01 -3.75510918e-04 -3.43368547e+00] [-6.80302367e-03 -5.32333943e-04 9.99976717e-01 -1.14818741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.15, Y:-3.44, Z:-1.15 [[ 9.90847899e-01 1.34811045e-01 6.81350636e-03 1.56145262e+02] [-1.34811633e-01 9.90871174e-01 -3.75021663e-04 -3.43676644e+00] [-6.80186411e-03 -5.46950491e-04 9.99976717e-01 -1.14768805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.20, Y:-3.44, Z:-1.15 [[ 9.90784113e-01 1.35279035e-01 6.81353735e-03 1.56203485e+02] [-1.35279638e-01 9.90807388e-01 -3.74457893e-04 -3.43955064e+00] [-6.80155944e-03 -5.50725934e-04 9.99976717e-01 -1.15067407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:-3.44, Z:-1.15 [[ 9.91241859e-01 1.31883101e-01 6.81355459e-03 1.56262459e+02] [-1.31883626e-01 9.91265136e-01 -3.74143877e-04 -3.44111246e+00] [-6.80338237e-03 -5.27729216e-04 9.99976717e-01 -1.15284018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:-3.44, Z:-1.15 [[ 9.91439400e-01 1.30389765e-01 6.81357180e-03 1.56320898e+02] [-1.30390257e-01 9.91462678e-01 -3.73830221e-04 -3.44243906e+00] [-6.80414577e-03 -5.17793370e-04 9.99976717e-01 -1.14694210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:-3.44, Z:-1.14 [[ 9.91329299e-01 1.31224221e-01 6.81358955e-03 1.56380172e+02] [-1.31224735e-01 9.91352576e-01 -3.73506425e-04 -3.44160684e+00] [-6.80368264e-03 -5.23843623e-04 9.99976717e-01 -1.14435694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.44, Y:-3.44, Z:-1.15 [[ 9.91034007e-01 1.33436022e-01 6.81360749e-03 1.56439465e+02] [-1.33436590e-01 9.91057282e-01 -3.73178761e-04 -3.43992584e+00] [-6.80247082e-03 -5.39351710e-04 9.99976717e-01 -1.14909159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.50, Y:-3.44, Z:-1.15 [[ 9.91133271e-01 1.32696695e-01 6.81362558e-03 1.56497059e+02] [-1.32697248e-01 9.91156547e-01 -3.72848154e-04 -3.44330525e+00] [-6.80284533e-03 -5.34607151e-04 9.99976717e-01 -1.14881138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:-3.45, Z:-1.14 [[ 9.91542194e-01 1.29605751e-01 6.81365828e-03 1.56555347e+02] [-1.29606236e-01 9.91565472e-01 -3.72249739e-04 -3.44977753e+00] [-6.80443399e-03 -5.13991281e-04 9.99976717e-01 -1.14470281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-3.45, Z:-1.15 [[ 9.91480531e-01 1.30076636e-01 6.81367531e-03 1.56614473e+02] [-1.30077134e-01 9.91503808e-01 -3.71937660e-04 -3.45347321e+00] [-6.80416542e-03 -5.17534409e-04 9.99976717e-01 -1.14641435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:-3.46, Z:-1.15 [[ 9.90931156e-01 1.34197682e-01 6.81369346e-03 1.56671091e+02] [-1.34198279e-01 9.90954431e-01 -3.71604987e-04 -3.45535941e+00] [-6.80192825e-03 -5.46150979e-04 9.99976717e-01 -1.14893478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:-3.46, Z:-1.15 [[ 9.90089317e-01 1.40273720e-01 6.81373994e-03 1.56729948e+02] [-1.40274465e-01 9.90112588e-01 -3.70750711e-04 -3.45676936e+00] [-6.79837627e-03 -5.88717409e-04 9.99976717e-01 -1.15056728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:-3.46, Z:-1.15 [[ 9.89888260e-01 1.41685587e-01 6.81375795e-03 1.56787323e+02] [-1.41686368e-01 9.89911529e-01 -3.70419483e-04 -3.45860171e+00] [-6.79750065e-03 -5.98742716e-04 9.99976717e-01 -1.15041761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.84, Y:-3.46, Z:-1.15 [[ 9.89972103e-01 1.41098575e-01 6.81378902e-03 1.56843880e+02] [-1.41099346e-01 9.89995373e-01 -3.69847064e-04 -3.45981200e+00] [-6.79780449e-03 -5.95282900e-04 9.99976717e-01 -1.15084660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:-3.46, Z:-1.15 [[ 9.90312604e-01 1.38688567e-01 6.81383453e-03 1.56902193e+02] [-1.38689287e-01 9.90335875e-01 -3.69006689e-04 -3.45963470e+00] [-6.79916179e-03 -5.79573879e-04 9.99976717e-01 -1.15118997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-3.46, Z:-1.15 [[ 9.90476912e-01 1.37510209e-01 6.81386089e-03 1.56959534e+02] [-1.37510905e-01 9.90500184e-01 -3.68519191e-04 -3.46056323e+00] [-6.79980562e-03 -5.71970425e-04 9.99976717e-01 -1.15383401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.02, Y:-3.46, Z:-1.15 [[ 9.90587785e-01 1.36709222e-01 6.81389146e-03 1.57018081e+02] [-1.36709902e-01 9.90611057e-01 -3.67953151e-04 -3.46262984e+00] [-6.80021881e-03 -5.67036540e-04 9.99976717e-01 -1.15350539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:-3.47, Z:-1.16 [[ 9.91128164e-01 1.32734821e-01 6.81390903e-03 1.57074500e+02] [-1.32735411e-01 9.91151439e-01 -3.67627475e-04 -3.46575143e+00] [-6.80241271e-03 -5.40081068e-04 9.99976717e-01 -1.15574441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:-3.47, Z:-1.15 [[ 9.91544340e-01 1.29589320e-01 6.81393942e-03 1.57133393e+02] [-1.29589840e-01 9.91567617e-01 -3.67063319e-04 -3.47072966e+00] [-6.80404916e-03 -5.19057764e-04 9.99976717e-01 -1.15275026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.19, Y:-3.48, Z:-1.15 [[ 9.91704614e-01 1.28357037e-01 6.81395632e-03 1.57191323e+02] [-1.28357530e-01 9.91727891e-01 -3.66749370e-04 -3.47826246e+00] [-6.80466539e-03 -5.10915561e-04 9.99976717e-01 -1.15389054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:-3.48, Z:-1.16 [[ 9.91595294e-01 1.29198849e-01 6.81398250e-03 1.57249513e+02] [-1.29199365e-01 9.91618571e-01 -3.66262307e-04 -3.48170882e+00] [-6.80419226e-03 -5.17178230e-04 9.99976717e-01 -1.15607975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:-3.48, Z:-1.15 [[ 9.91236070e-01 1.31926583e-01 6.81400861e-03 1.57308562e+02] [-1.31927166e-01 9.91259345e-01 -3.65775991e-04 -3.48245408e+00] [-6.80270528e-03 -5.36382487e-04 9.99976717e-01 -1.15270860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:-3.48, Z:-1.16 [[ 9.90335214e-01 1.38527009e-01 6.81402630e-03 1.57367014e+02] [-1.38527749e-01 9.90358485e-01 -3.65445999e-04 -3.47813550e+00] [-6.79895291e-03 -5.82017687e-04 9.99976717e-01 -1.15783094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:-3.48, Z:-1.16 [[ 9.90201994e-01 1.39476089e-01 6.81405898e-03 1.57424908e+02] [-1.39476856e-01 9.90225264e-01 -3.64835652e-04 -3.47683955e+00] [-6.79833920e-03 -5.89142532e-04 9.99976717e-01 -1.15914934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.48, Y:-3.47, Z:-1.15 [[ 9.91157859e-01 1.32512891e-01 6.81408389e-03 1.57484083e+02] [-1.32513497e-01 9.91181134e-01 -3.64369908e-04 -3.47391893e+00] [-6.80227510e-03 -5.41809990e-04 9.99976717e-01 -1.15114091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:-3.48, Z:-1.16 [[ 9.92078931e-01 1.25431109e-01 6.81410071e-03 1.57542847e+02] [-1.25431552e-01 9.92102209e-01 -3.64054950e-04 -3.47541992e+00] [-6.80594819e-03 -4.93531981e-04 9.99976717e-01 -1.15550314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:-3.48, Z:-1.16 [[ 9.92752367e-01 1.19984606e-01 6.81411762e-03 1.57601997e+02] [-1.19984923e-01 9.92775647e-01 -3.63738313e-04 -3.48029693e+00] [-6.80853303e-03 -4.56489307e-04 9.99976717e-01 -1.16235318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:-3.49, Z:-1.16 [[ 9.92684669e-01 1.20543414e-01 6.81413079e-03 1.57659146e+02] [-1.20543745e-01 9.92707950e-01 -3.63491364e-04 -3.48896517e+00] [-6.80825829e-03 -4.60568543e-04 9.99976717e-01 -1.15696659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:-3.49, Z:-1.16 [[ 9.92397325e-01 1.22886600e-01 6.81415257e-03 1.57715529e+02] [-1.22886990e-01 9.92420604e-01 -3.63082598e-04 -3.49454116e+00] [-6.80712340e-03 -4.77048499e-04 9.99976717e-01 -1.15718862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:-3.50, Z:-1.16 [[ 9.92010620e-01 1.25970223e-01 6.81419714e-03 1.57773707e+02] [-1.25970691e-01 9.92033898e-01 -3.62244215e-04 -3.49937959e+00] [-6.80554653e-03 -4.99039013e-04 9.99976717e-01 -1.16004992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:-3.51, Z:-1.15 [[ 9.91188040e-01 1.32286946e-01 6.81421485e-03 1.57830932e+02] [-1.32287564e-01 9.91211314e-01 -3.61910821e-04 -3.50563028e+00] [-6.80220293e-03 -5.42714205e-04 9.99976717e-01 -1.15178656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.89, Y:-3.51, Z:-1.15 [[ 9.90836312e-01 1.34896139e-01 6.81423670e-03 1.57888749e+02] [-1.34896821e-01 9.90859585e-01 -3.61498913e-04 -3.50794787e+00] [-6.80071655e-03 -5.61032621e-04 9.99976717e-01 -1.15090043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.95, Y:-3.51, Z:-1.16 [[ 9.90151046e-01 1.39837304e-01 6.81426176e-03 1.57947349e+02] [-1.39838106e-01 9.90174315e-01 -3.61025873e-04 -3.50822802e+00] [-6.79779185e-03 -5.95423312e-04 9.99976717e-01 -1.15826933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.01, Y:-3.51, Z:-1.16 [[ 9.89865641e-01 1.41843498e-01 6.81427876e-03 1.58006015e+02] [-1.41844349e-01 9.89888908e-01 -3.60704668e-04 -3.50776069e+00] [-6.79654258e-03 -6.09517775e-04 9.99976717e-01 -1.16368732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.06, Y:-3.51, Z:-1.16 [[ 9.90470021e-01 1.37559819e-01 6.81429572e-03 1.58064125e+02] [-1.37560571e-01 9.90493291e-01 -3.60383950e-04 -3.50706284e+00] [-6.79908855e-03 -5.80428913e-04 9.99976717e-01 -1.16153078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.12, Y:-3.51, Z:-1.17 [[ 9.91522085e-01 1.29759466e-01 6.81431672e-03 1.58122139e+02] [-1.29760038e-01 9.91545361e-01 -3.59986494e-04 -3.51204354e+00] [-6.80341579e-03 -5.27291440e-04 9.99976717e-01 -1.16533940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:-3.52, Z:-1.17 [[ 9.92910935e-01 1.18665246e-01 6.81433738e-03 1.58180210e+02] [-1.18665560e-01 9.92934215e-01 -3.59594944e-04 -3.51883623e+00] [-6.80886016e-03 -4.51581410e-04 9.99976717e-01 -1.16687062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.24, Y:-3.52, Z:-1.17 [[ 9.93238787e-01 1.15889067e-01 6.81436221e-03 1.58238527e+02] [-1.15889320e-01 9.93262068e-01 -3.59123881e-04 -3.52301182e+00] [-6.81006603e-03 -4.33016034e-04 9.99976717e-01 -1.16638859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.30, Y:-3.53, Z:-1.17 [[ 9.93388925e-01 1.14594973e-01 6.81437912e-03 1.58296843e+02] [-1.14595197e-01 9.93412207e-01 -3.58802671e-04 -3.52698995e+00] [-6.81060438e-03 -4.24464518e-04 9.99976717e-01 -1.16838106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:-3.53, Z:-1.17 [[ 9.93584055e-01 1.12890605e-01 6.81439670e-03 1.58353391e+02] [-1.12890792e-01 9.93607337e-01 -3.58468428e-04 -3.53405634e+00] [-6.81130228e-03 -4.13114127e-04 9.99976717e-01 -1.17103082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.41, Y:-3.54, Z:-1.17 [[ 9.93761567e-01 1.11317164e-01 6.81442707e-03 1.58411661e+02] [-1.11317318e-01 9.93784849e-01 -3.57890288e-04 -3.53973806e+00] [-6.81191371e-03 -4.02906133e-04 9.99976717e-01 -1.16754827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.47, Y:-3.54, Z:-1.17 [[ 9.93694305e-01 1.11916002e-01 6.81444411e-03 1.58468952e+02] [-1.11916172e-01 9.93717587e-01 -3.57565476e-04 -3.54420858e+00] [-6.81165026e-03 -4.07335723e-04 9.99976717e-01 -1.16753232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:-3.55, Z:-1.16 [[ 9.93011135e-01 1.17823803e-01 6.81447358e-03 1.58528144e+02] [-1.17824115e-01 9.93034416e-01 -3.57002995e-04 -3.54779202e+00] [-6.80907024e-03 -4.48401372e-04 9.99976717e-01 -1.16412140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:-3.55, Z:-1.16 [[ 9.92378314e-01 1.23040016e-01 6.81449114e-03 1.58585748e+02] [-1.23040453e-01 9.92401592e-01 -3.56667490e-04 -3.54900997e+00] [-6.80659623e-03 -4.84508992e-04 9.99976717e-01 -1.16127308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.64, Y:-3.55, Z:-1.16 [[ 9.91962265e-01 1.26350418e-01 6.81451269e-03 1.58643894e+02] [-1.26350936e-01 9.91985541e-01 -3.56255301e-04 -3.54869859e+00] [-6.80491106e-03 -5.07628240e-04 9.99976717e-01 -1.16344435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.70, Y:-3.55, Z:-1.16 [[ 9.91740605e-01 1.28078629e-01 6.81453837e-03 1.58700640e+02] [-1.28079190e-01 9.91763880e-01 -3.55763273e-04 -3.54547860e+00] [-6.80397869e-03 -5.19975673e-04 9.99976717e-01 -1.16390560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:158.76, Y:-3.54, Z:-1.16 [[ 9.91734650e-01 1.28124727e-01 6.81456797e-03 1.58758552e+02] [-1.28125294e-01 9.91757926e-01 -3.55195474e-04 -3.54343211e+00] [-6.80391112e-03 -5.20858863e-04 9.99976717e-01 -1.16390266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:-3.54, Z:-1.16 [[ 9.91696634e-01 1.28418644e-01 6.81459314e-03 1.58816018e+02] [-1.28419220e-01 9.91719909e-01 -3.54711888e-04 -3.54256125e+00] [-6.80371931e-03 -5.23358152e-04 9.99976717e-01 -1.16485228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.87, Y:-3.54, Z:-1.17 [[ 9.91244741e-01 1.31861387e-01 6.81461393e-03 1.58874285e+02] [-1.31862047e-01 9.91268014e-01 -3.54312141e-04 -3.53851468e+00] [-6.80182890e-03 -5.47378895e-04 9.99976717e-01 -1.16707942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:-3.53, Z:-1.17 [[ 9.90807314e-01 1.35108947e-01 6.81463441e-03 1.58933408e+02] [-1.35109687e-01 9.90830585e-01 -3.53917696e-04 -3.53474991e+00] [-6.79996564e-03 -5.70058877e-04 9.99976717e-01 -1.16520687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.99, Y:-3.53, Z:-1.17 [[ 9.90359019e-01 1.38356692e-01 6.81465053e-03 1.58992623e+02] [-1.38357510e-01 9.90382287e-01 -3.53606996e-04 -3.52857355e+00] [-6.79803307e-03 -5.92660200e-04 9.99976717e-01 -1.16614802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.05, Y:-3.52, Z:-1.16 [[ 9.90041166e-01 1.40613118e-01 6.81466653e-03 1.59051920e+02] [-1.40613991e-01 9.90064433e-01 -3.53298382e-04 -3.51734989e+00] [-6.79663734e-03 -6.08457516e-04 9.99976717e-01 -1.16192447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.11, Y:-3.51, Z:-1.16 [[ 9.90303997e-01 1.38749963e-01 6.81472267e-03 1.59109810e+02] [-1.38750800e-01 9.90327265e-01 -3.52212186e-04 -3.51182940e+00] [-6.79767509e-03 -5.96751084e-04 9.99976717e-01 -1.16336076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:-3.51, Z:-1.17 [[ 9.90860505e-01 1.34718295e-01 6.81478905e-03 1.59168820e+02] [-1.34719046e-01 9.90883775e-01 -3.50923061e-04 -3.50777163e+00] [-6.79993966e-03 -5.70366077e-04 9.99976717e-01 -1.16921137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.23, Y:-3.50, Z:-1.17 [[ 9.92138160e-01 1.24961715e-01 6.81484673e-03 1.59227262e+02] [-1.24962244e-01 9.92161436e-01 -3.49799382e-04 -3.50404300e+00] [-6.80513965e-03 -5.04549226e-04 9.99976717e-01 -1.16933469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:-3.51, Z:-1.17 [[ 9.93007238e-01 1.17856622e-01 6.81487741e-03 1.59285526e+02] [-1.17856988e-01 9.93030517e-01 -3.49200629e-04 -3.50580958e+00] [-6.80853685e-03 -4.56422176e-04 9.99976717e-01 -1.16996996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:-3.51, Z:-1.17 [[ 9.93562550e-01 1.13079694e-01 6.81490239e-03 1.59342369e+02] [-1.13079952e-01 9.93585831e-01 -3.48712474e-04 -3.50741487e+00] [-6.81062275e-03 -4.24161178e-04 9.99976717e-01 -1.17369537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:-3.51, Z:-1.17 [[ 9.93934836e-01 1.09759270e-01 6.81494750e-03 1.59401498e+02] [-1.09759456e-01 9.93958118e-01 -3.47828599e-04 -3.50984968e+00] [-6.81194981e-03 -4.02285971e-04 9.99976717e-01 -1.16989809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.46, Y:-3.51, Z:-1.18 [[ 9.94095908e-01 1.08290731e-01 6.81496357e-03 1.59460122e+02] [-1.08290885e-01 9.94119190e-01 -3.47513494e-04 -3.51452722e+00] [-6.81251855e-03 -3.92536692e-04 9.99976717e-01 -1.17542164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:-3.52, Z:-1.17 [[ 9.94329488e-01 1.06124576e-01 6.81498040e-03 1.59519271e+02] [-1.06124682e-01 9.94352770e-01 -3.47183222e-04 -3.51774829e+00] [-6.81333931e-03 -3.78023109e-04 9.99976717e-01 -1.17266802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.58, Y:-3.52, Z:-1.17 [[ 9.94506252e-01 1.04455109e-01 6.81499721e-03 1.59577602e+02] [-1.04455177e-01 9.94529535e-01 -3.46852854e-04 -3.52314234e+00] [-6.81394656e-03 -3.66914409e-04 9.99976717e-01 -1.16792156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.63, Y:-3.53, Z:-1.17 [[ 9.94220262e-01 1.07143016e-01 6.81501446e-03 1.59634156e+02] [-1.07143150e-01 9.94243544e-01 -3.46513594e-04 -3.53050222e+00] [-6.81291064e-03 -3.85671282e-04 9.99976717e-01 -1.16819198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.69, Y:-3.53, Z:-1.17 [[ 9.94024088e-01 1.08948003e-01 6.81504434e-03 1.59691060e+02] [-1.08948183e-01 9.94047370e-01 -3.45924875e-04 -3.53306276e+00] [-6.81216473e-03 -3.98629037e-04 9.99976717e-01 -1.16859579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.75, Y:-3.53, Z:-1.17 [[ 9.93561535e-01 1.13088596e-01 6.81507340e-03 1.59747626e+02] [-1.13088877e-01 9.93584816e-01 -3.45351459e-04 -3.53399077e+00] [-6.81040876e-03 -4.27581070e-04 9.99976717e-01 -1.16778249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.81, Y:-3.53, Z:-1.17 [[ 9.92689389e-01 1.20504490e-01 6.81511736e-03 1.59805045e+02] [-1.20504951e-01 9.92712666e-01 -3.44481805e-04 -3.53388188e+00] [-6.80696493e-03 -4.79291949e-04 9.99976717e-01 -1.17191033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.86, Y:-3.53, Z:-1.17 [[ 9.92355672e-01 1.23222453e-01 6.81516058e-03 1.59864068e+02] [-1.23222984e-01 9.92378949e-01 -3.43624576e-04 -3.53387553e+00] [-6.80556416e-03 -4.98786624e-04 9.99976717e-01 -1.17093596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.92, Y:-3.54, Z:-1.17 [[ 9.92495978e-01 1.22087213e-01 6.81517695e-03 1.59922305e+02] [-1.22087719e-01 9.92519255e-01 -3.43299707e-04 -3.53560155e+00] [-6.80610685e-03 -4.91325832e-04 9.99976717e-01 -1.16964569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:-3.54, Z:-1.17 [[ 9.93033835e-01 1.17632287e-01 6.81519716e-03 1.59979967e+02] [-1.17632691e-01 9.93057114e-01 -3.42898014e-04 -3.54119593e+00] [-6.80821590e-03 -4.61180655e-04 9.99976717e-01 -1.17213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-3.55, Z:-1.18 [[ 9.93167155e-01 1.16501309e-01 6.81522100e-03 1.60037142e+02] [-1.16501689e-01 9.93190434e-01 -3.42423390e-04 -3.54660857e+00] [-6.80870508e-03 -4.53901097e-04 9.99976717e-01 -1.17580219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:-3.56, Z:-1.18 [[ 9.92887407e-01 1.18861889e-01 6.81524066e-03 1.60095676e+02] [-1.18862328e-01 9.92910686e-01 -3.42031788e-04 -3.55585469e+00] [-6.80757982e-03 -4.70476318e-04 9.99976717e-01 -1.17507333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:-3.56, Z:-1.17 [[ 9.92577137e-01 1.21425615e-01 6.81525621e-03 1.60154602e+02] [-1.21426116e-01 9.92600414e-01 -3.41721600e-04 -3.56154197e+00] [-6.80631989e-03 -4.88365047e-04 9.99976717e-01 -1.17342242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:-3.57, Z:-1.17 [[ 9.92122781e-01 1.25083732e-01 6.81527264e-03 1.60211926e+02] [-1.25084321e-01 9.92146056e-01 -3.41393670e-04 -3.56559808e+00] [-6.80444866e-03 -5.13779313e-04 9.99976717e-01 -1.17425388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.27, Y:-3.57, Z:-1.18 [[ 9.91504961e-01 1.29890198e-01 6.81530100e-03 1.60269516e+02] [-1.29890904e-01 9.91528233e-01 -3.40826523e-04 -3.56690692e+00] [-6.80183338e-03 -5.47314421e-04 9.99976717e-01 -1.17654396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:-3.57, Z:-1.18 [[ 9.91419170e-01 1.30543406e-01 6.81532073e-03 1.60327941e+02] [-1.30544130e-01 9.91442441e-01 -3.40431581e-04 -3.56630919e+00] [-6.80143932e-03 -5.52189720e-04 9.99976717e-01 -1.17740829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:-3.57, Z:-1.17 [[ 9.91656736e-01 1.28726329e-01 6.81538031e-03 1.60386858e+02] [-1.28727019e-01 9.91680009e-01 -3.39234453e-04 -3.56760415e+00] [-6.80234481e-03 -5.40919457e-04 9.99976717e-01 -1.17364568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:-3.57, Z:-1.17 [[ 9.92600090e-01 1.21237832e-01 6.81539668e-03 1.60445603e+02] [-1.21238348e-01 9.92623367e-01 -3.38905401e-04 -3.57197194e+00] [-6.80621015e-03 -4.89889902e-04 9.99976717e-01 -1.16627825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:-3.58, Z:-1.17 [[ 9.93157738e-01 1.16581548e-01 6.81541301e-03 1.60503505e+02] [-1.16581957e-01 9.93181017e-01 -3.38576558e-04 -3.57941870e+00] [-6.80841061e-03 -4.58294259e-04 9.99976717e-01 -1.16990146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:-3.59, Z:-1.17 [[ 9.93281154e-01 1.15525314e-01 6.81543748e-03 1.60562430e+02] [-1.15525702e-01 9.93304434e-01 -3.38083245e-04 -3.58847033e+00] [-6.80886144e-03 -4.51546484e-04 9.99976717e-01 -1.17493027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:-3.59, Z:-1.18 [[ 9.93179626e-01 1.16394930e-01 6.81544962e-03 1.60619980e+02] [-1.16395340e-01 9.93202905e-01 -3.37838507e-04 -3.59461021e+00] [-6.80844705e-03 -4.57752254e-04 9.99976717e-01 -1.17541190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.68, Y:-3.60, Z:-1.18 [[ 9.93095079e-01 1.17114102e-01 6.81547394e-03 1.60678030e+02] [-1.17114532e-01 9.93118358e-01 -3.37347035e-04 -3.60199076e+00] [-6.80808038e-03 -4.63173362e-04 9.99976717e-01 -1.17681142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.74, Y:-3.61, Z:-1.18 [[ 9.93489367e-01 1.13720829e-01 6.81549808e-03 1.60736855e+02] [-1.13721182e-01 9.93512647e-01 -3.36858701e-04 -3.61312527e+00] [-6.80959138e-03 -4.40400963e-04 9.99976717e-01 -1.17538249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.79, Y:-3.62, Z:-1.18 [[ 9.94149127e-01 1.07801028e-01 6.81551390e-03 1.60793209e+02] [-1.07801246e-01 9.94172409e-01 -3.36538193e-04 -3.62338013e+00] [-6.81207504e-03 -4.00151738e-04 9.99976717e-01 -1.17550023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:-3.64, Z:-1.18 [[ 9.94802565e-01 1.01594317e-01 6.81554131e-03 1.60850214e+02] [-1.01594393e-01 9.94825847e-01 -3.35982289e-04 -3.63589614e+00] [-6.81441055e-03 -3.58184739e-04 9.99976717e-01 -1.17707466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.91, Y:-3.66, Z:-1.18 [[ 9.95362138e-01 9.59570833e-02 6.81556417e-03 1.60907921e+02] [-9.59570304e-02 9.95385421e-01 -3.35517936e-04 -3.65760870e+00] [-6.81630853e-03 -3.20039448e-04 9.99976717e-01 -1.18425720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:-3.67, Z:-1.19 [[ 9.95198053e-01 9.76441699e-02 6.81558001e-03 1.60966426e+02] [-9.76441587e-02 9.95221335e-01 -3.35195889e-04 -3.67320284e+00] [-6.81574056e-03 -3.31915280e-04 9.99976717e-01 -1.18645855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.02, Y:-3.69, Z:-1.18 [[ 9.94719707e-01 1.02402402e-01 6.81559596e-03 1.61024561e+02] [-1.02402505e-01 9.94742989e-01 -3.34871204e-04 -3.68744855e+00] [-6.81405791e-03 -3.64831111e-04 9.99976717e-01 -1.18296605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.08, Y:-3.71, Z:-1.18 [[ 9.93686451e-01 1.11985641e-01 6.81561223e-03 1.61082716e+02] [-1.11985970e-01 9.93709732e-01 -3.34539791e-04 -3.70683196e+00] [-6.81020385e-03 -4.30825285e-04 9.99976717e-01 -1.17624667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.14, Y:-3.72, Z:-1.18 [[ 9.93133897e-01 1.16784456e-01 6.81562473e-03 1.61140151e+02] [-1.16784900e-01 9.93157176e-01 -3.34284769e-04 -3.71898336e+00] [-6.80802588e-03 -4.63972515e-04 9.99976717e-01 -1.17922131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:-3.73, Z:-1.18 [[ 9.92803158e-01 1.19563521e-01 6.81564556e-03 1.61197178e+02] [-1.19564033e-01 9.92826435e-01 -3.33859543e-04 -3.72898434e+00] [-6.80667051e-03 -4.83449261e-04 9.99976717e-01 -1.18097534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:-3.74, Z:-1.18 [[ 9.92710414e-01 1.20331131e-01 6.81566534e-03 1.61255257e+02] [-1.20331663e-01 9.92733690e-01 -3.33455274e-04 -3.73949640e+00] [-6.80626566e-03 -4.89115824e-04 9.99976717e-01 -1.18421268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:-3.74, Z:-1.18 [[ 9.92673813e-01 1.20632699e-01 6.81568045e-03 1.61313383e+02] [-1.20633240e-01 9.92697089e-01 -3.33146161e-04 -3.74418097e+00] [-6.80609446e-03 -4.91492143e-04 9.99976717e-01 -1.18381802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.37, Y:-3.75, Z:-1.18 [[ 9.92571951e-01 1.21467970e-01 6.81569917e-03 1.61371670e+02] [-1.21468533e-01 9.92595227e-01 -3.32762842e-04 -3.74809122e+00] [-6.80565049e-03 -4.97601917e-04 9.99976717e-01 -1.18100781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:161.43, Y:-3.75, Z:-1.18 [[ 9.92653462e-01 1.20800043e-01 6.81571408e-03 1.61430880e+02] [-1.20800593e-01 9.92676738e-01 -3.32457090e-04 -3.75006155e+00] [-6.80596165e-03 -4.93327623e-04 9.99976717e-01 -1.18360887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-3.76, Z:-1.19 [[ 9.92742972e-01 1.20062222e-01 6.81572996e-03 1.61488211e+02] [-1.20062757e-01 9.92766248e-01 -3.32131234e-04 -3.75538907e+00] [-6.80630308e-03 -4.88594383e-04 9.99976717e-01 -1.18575670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:-3.76, Z:-1.19 [[ 9.92767867e-01 1.19856193e-01 6.81574582e-03 1.61547166e+02] [-1.19856725e-01 9.92791144e-01 -3.31805356e-04 -3.76079305e+00] [-6.80638102e-03 -4.87507277e-04 9.99976717e-01 -1.18615226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.60, Y:-3.76, Z:-1.19 [[ 9.92801575e-01 1.19576665e-01 6.81576209e-03 1.61604636e+02] [-1.19577192e-01 9.92824851e-01 -3.31470949e-04 -3.76423099e+00] [-6.80649417e-03 -4.85924814e-04 9.99976717e-01 -1.18677988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.66, Y:-3.77, Z:-1.18 [[ 9.93044129e-01 1.17545320e-01 6.81578183e-03 1.61663122e+02] [-1.17545803e-01 9.93067407e-01 -3.31064578e-04 -3.77032204e+00] [-6.80744587e-03 -4.72404814e-04 9.99976717e-01 -1.18225712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:-3.78, Z:-1.18 [[ 9.93311281e-01 1.15265967e-01 6.81579721e-03 1.61721296e+02] [-1.15266398e-01 9.93334560e-01 -3.30747582e-04 -3.77600733e+00] [-6.80849086e-03 -4.57097093e-04 9.99976717e-01 -1.17798637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:-3.78, Z:-1.18 [[ 9.93543302e-01 1.13248629e-01 6.81581312e-03 1.61779293e+02] [-1.13249016e-01 9.93566581e-01 -3.30419302e-04 -3.78148779e+00] [-6.80938368e-03 -4.43598242e-04 9.99976717e-01 -1.17799853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.84, Y:-3.79, Z:-1.18 [[ 9.93728218e-01 1.11614398e-01 6.81583280e-03 1.61838162e+02] [-1.11614749e-01 9.93751498e-01 -3.30012927e-04 -3.78731667e+00] [-6.81007824e-03 -4.32804311e-04 9.99976717e-01 -1.18037642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.90, Y:-3.79, Z:-1.18 [[ 9.93998390e-01 1.09182163e-01 6.81584839e-03 1.61896562e+02] [-1.09182460e-01 9.94021671e-01 -3.29690598e-04 -3.79433573e+00] [-6.81109734e-03 -4.16459168e-04 9.99976717e-01 -1.18176086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.96, Y:-3.80, Z:-1.18 [[ 9.94261944e-01 1.06755468e-01 6.81586391e-03 1.61956388e+02] [-1.06755709e-01 9.94285226e-01 -3.29369518e-04 -3.80026112e+00] [-6.81207478e-03 -4.00152810e-04 9.99976717e-01 -1.18415521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:-3.81, Z:-1.19 [[ 9.94318365e-01 1.06228678e-01 6.81587182e-03 1.62015009e+02] [-1.06228908e-01 9.94341647e-01 -3.29205637e-04 -3.80529639e+00] [-6.81227629e-03 -3.96707414e-04 9.99976717e-01 -1.18783505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:-3.81, Z:-1.19 [[ 9.93808355e-01 1.10898590e-01 6.81588359e-03 1.62073528e+02] [-1.10898932e-01 9.93831635e-01 -3.28961900e-04 -3.81132202e+00] [-6.81032214e-03 -4.28949125e-04 9.99976717e-01 -1.19080178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:162.13, Y:-3.82, Z:-1.19 [[ 9.93452391e-01 1.14043370e-01 6.81589946e-03 1.62131140e+02] [-1.14043787e-01 9.93475670e-01 -3.28632730e-04 -3.81616408e+00] [-6.80890866e-03 -4.50830016e-04 9.99976717e-01 -1.19216414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.19, Y:-3.82, Z:-1.19 [[ 9.92995303e-01 1.17957077e-01 6.81591901e-03 1.62189080e+02] [-1.17957589e-01 9.93018580e-01 -3.28226720e-04 -3.82451746e+00] [-6.80705088e-03 -4.78061784e-04 9.99976717e-01 -1.19037351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.25, Y:-3.83, Z:-1.19 [[ 9.92458281e-01 1.22393234e-01 6.81593028e-03 1.62247203e+02] [-1.22393851e-01 9.92481555e-01 -3.27992577e-04 -3.83345706e+00] [-6.80482915e-03 -5.08709008e-04 9.99976717e-01 -1.19022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:-3.84, Z:-1.19 [[ 9.91815626e-01 1.27496302e-01 6.81594537e-03 1.62306115e+02] [-1.27497041e-01 9.91838897e-01 -3.27678536e-04 -3.84298366e+00] [-6.80209754e-03 -5.44016175e-04 9.99976717e-01 -1.18513632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.37, Y:-3.85, Z:-1.18 [[ 9.91676304e-01 1.28575467e-01 6.81596037e-03 1.62365127e+02] [-1.28576234e-01 9.91699574e-01 -3.27366249e-04 -3.85229436e+00] [-6.80147627e-03 -5.51729163e-04 9.99976717e-01 -1.18034644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:-3.86, Z:-1.18 [[ 9.91705985e-01 1.28346338e-01 6.81596779e-03 1.62425291e+02] [-1.28347101e-01 9.91729255e-01 -3.27211824e-04 -3.86310554e+00] [-6.80159109e-03 -5.50311780e-04 9.99976717e-01 -1.18131430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:-3.88, Z:-1.18 [[ 9.91820513e-01 1.27458281e-01 6.81596779e-03 1.62485270e+02] [-1.27459023e-01 9.91843783e-01 -3.27211824e-04 -3.87641653e+00] [-6.80208113e-03 -5.44221193e-04 9.99976717e-01 -1.18330209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:-3.89, Z:-1.18 [[ 9.91891391e-01 1.26905517e-01 6.81596779e-03 1.62545669e+02] [-1.26906246e-01 9.91914663e-01 -3.27211824e-04 -3.88512651e+00] [-6.80238337e-03 -5.40430290e-04 9.99976717e-01 -1.18391764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:-3.89, Z:-1.19 [[ 9.91748754e-01 1.28015435e-01 6.81596779e-03 1.62605420e+02] [-1.28016190e-01 9.91772024e-01 -3.27211824e-04 -3.89320931e+00] [-6.80177433e-03 -5.48042307e-04 9.99976717e-01 -1.18873428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:-3.91, Z:-1.20 [[ 9.91561931e-01 1.29454547e-01 6.81595108e-03 1.62666011e+02] [-1.29455334e-01 9.91585200e-01 -3.27559533e-04 -3.90550425e+00] [-6.80100028e-03 -5.57565657e-04 9.99976717e-01 -1.19718116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:-3.92, Z:-1.20 [[ 9.91824991e-01 1.27423425e-01 6.81594401e-03 1.62729047e+02] [-1.27424162e-01 9.91848262e-01 -3.27706507e-04 -3.91654925e+00] [-6.80213971e-03 -5.43488453e-04 9.99976717e-01 -1.19732350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.79, Y:-3.93, Z:-1.20 [[ 9.92259680e-01 1.23993028e-01 6.81588461e-03 1.62791458e+02] [-1.23993677e-01 9.92282954e-01 -3.28937262e-04 -3.92606858e+00] [-6.80407204e-03 -5.18735412e-04 9.99976717e-01 -1.19505763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.85, Y:-3.93, Z:-1.20 [[ 9.92598849e-01 1.21247967e-01 6.81582525e-03 1.62854047e+02] [-1.21248543e-01 9.92622124e-01 -3.30162724e-04 -3.93449311e+00] [-6.80557050e-03 -4.98689740e-04 9.99976717e-01 -1.19584894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:-3.95, Z:-1.20 [[ 9.92724846e-01 1.20212004e-01 6.81576415e-03 1.62916535e+02] [-1.20212547e-01 9.92748122e-01 -3.31419260e-04 -3.94638577e+00] [-6.80617763e-03 -4.90332232e-04 9.99976717e-01 -1.19540066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:162.98, Y:-3.95, Z:-1.20 [[ 9.92572801e-01 1.21461026e-01 6.81570234e-03 1.62979179e+02] [-1.21461590e-01 9.92596077e-01 -3.32685520e-04 -3.95308356e+00] [-6.80564773e-03 -4.97631442e-04 9.99976717e-01 -1.19544831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.04, Y:-3.96, Z:-1.19 [[ 9.92286084e-01 1.23781558e-01 6.81564082e-03 1.63040513e+02] [-1.23782167e-01 9.92309359e-01 -3.33941131e-04 -3.95971876e+00] [-6.80455993e-03 -5.12289655e-04 9.99976717e-01 -1.19436629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.10, Y:-3.97, Z:-1.19 [[ 9.91866343e-01 1.27101165e-01 6.81558346e-03 1.63103195e+02] [-1.27101845e-01 9.91889615e-01 -3.35107828e-04 -3.96613920e+00] [-6.80289905e-03 -5.33891054e-04 9.99976717e-01 -1.19293291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:-3.97, Z:-1.19 [[ 9.91615151e-01 1.29046274e-01 6.81552249e-03 1.63164722e+02] [-1.29046991e-01 9.91638423e-01 -3.36343169e-04 -3.97107424e+00] [-6.80193781e-03 -5.45999687e-04 9.99976717e-01 -1.19058620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:-3.98, Z:-1.19 [[ 9.91534535e-01 1.29664242e-01 6.81548487e-03 1.63227574e+02] [-1.29664968e-01 9.91557806e-01 -3.37103897e-04 -3.97556973e+00] [-6.80165754e-03 -5.49479474e-04 9.99976717e-01 -1.19154277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-3.98, Z:-1.19 [[ 9.91829781e-01 1.27386163e-01 6.81542543e-03 1.63289618e+02] [-1.27386828e-01 9.91853054e-01 -3.38301342e-04 -3.98194443e+00] [-6.80299544e-03 -5.32658080e-04 9.99976717e-01 -1.19417216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-3.99, Z:-1.20 [[ 9.92279102e-01 1.23837533e-01 6.81537005e-03 1.63352557e+02] [-1.23838106e-01 9.92302377e-01 -3.39413369e-04 -3.98993100e+00] [-6.80494002e-03 -5.07209728e-04 9.99976717e-01 -1.19733097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.42, Y:-3.99, Z:-1.20 [[ 9.92094252e-01 1.25309803e-01 6.81531124e-03 1.63415465e+02] [-1.25310403e-01 9.92117527e-01 -3.40590241e-04 -3.99365308e+00] [-6.80426902e-03 -5.16131778e-04 9.99976717e-01 -1.19905454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.48, Y:-4.00, Z:-1.20 [[ 9.91832072e-01 1.27368338e-01 6.81524852e-03 1.63477252e+02] [-1.27368978e-01 9.91855346e-01 -3.41840684e-04 -3.99674354e+00] [-6.80328035e-03 -5.29002683e-04 9.99976717e-01 -1.20106021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.54, Y:-4.00, Z:-1.20 [[ 9.91183630e-01 1.32319934e-01 6.81520964e-03 1.63540291e+02] [-1.32320685e-01 9.91206900e-01 -3.42613909e-04 -3.99771751e+00] [-6.80061748e-03 -5.62199910e-04 9.99976717e-01 -1.20155921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:-4.00, Z:-1.20 [[ 9.91040667e-01 1.33386472e-01 6.81514624e-03 1.63603374e+02] [-1.33387239e-01 9.91063937e-01 -3.43870534e-04 -3.99875500e+00] [-6.80011334e-03 -5.68263856e-04 9.99976717e-01 -1.20374907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:-4.00, Z:-1.20 [[ 9.91167316e-01 1.32442090e-01 6.81508295e-03 1.63666041e+02] [-1.32442826e-01 9.91190586e-01 -3.45120344e-04 -3.99953414e+00] [-6.80075452e-03 -5.60536843e-04 9.99976717e-01 -1.20344360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.73, Y:-4.00, Z:-1.20 [[ 9.91710884e-01 1.28308528e-01 6.81501729e-03 1.63728533e+02] [-1.28309158e-01 9.91734158e-01 -3.46411990e-04 -3.99802941e+00] [-6.80313305e-03 -5.30888592e-04 9.99976717e-01 -1.20409460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.79, Y:-4.00, Z:-1.21 [[ 9.91878435e-01 1.27006799e-01 6.81495598e-03 1.63790888e+02] [-1.27007390e-01 9.91901710e-01 -3.47614028e-04 -3.99958726e+00] [-6.80391583e-03 -5.20758918e-04 9.99976717e-01 -1.20570796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.85, Y:-4.00, Z:-1.20 [[ 9.91880340e-01 1.26991919e-01 6.81489615e-03 1.63853433e+02] [-1.26992503e-01 9.91903616e-01 -3.48783129e-04 -4.00170874e+00] [-6.80401277e-03 -5.19489587e-04 9.99976717e-01 -1.20240605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.92, Y:-4.00, Z:-1.20 [[ 9.91590706e-01 1.29234010e-01 6.81483225e-03 1.63916231e+02] [-1.29234638e-01 9.91613980e-01 -3.50027156e-04 -4.00420500e+00] [-6.80291834e-03 -5.33628705e-04 9.99976718e-01 -1.19981622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:163.98, Y:-4.01, Z:-1.20 [[ 9.91602035e-01 1.29147061e-01 6.81476619e-03 1.63978855e+02] [-1.29147678e-01 9.91625309e-01 -3.51308531e-04 -4.00783877e+00] [-6.80306510e-03 -5.31752973e-04 9.99976718e-01 -1.20271600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:164.04, Y:-4.01, Z:-1.20 [[ 9.91946439e-01 1.26474591e-01 6.81470048e-03 1.64041371e+02] [-1.26475136e-01 9.91969715e-01 -3.52578698e-04 -4.01245048e+00] [-6.80456874e-03 -5.12150986e-04 9.99976718e-01 -1.20331559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:-4.02, Z:-1.20 [[ 9.92809016e-01 1.19514928e-01 6.81463415e-03 1.64102431e+02] [-1.19515302e-01 9.92832296e-01 -3.53856092e-04 -4.02474429e+00] [-6.80807995e-03 -4.63141540e-04 9.99976718e-01 -1.20352631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.17, Y:-4.03, Z:-1.21 [[ 9.93216167e-01 1.16082757e-01 6.81457224e-03 1.64165151e+02] [-1.16083042e-01 9.93239448e-01 -3.55044372e-04 -4.03374780e+00] [-6.80971650e-03 -4.38420464e-04 9.99976718e-01 -1.20523149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.23, Y:-4.04, Z:-1.21 [[ 9.93177860e-01 1.16410051e-01 6.81450627e-03 1.64226891e+02] [-1.16410335e-01 9.93201141e-01 -3.56305933e-04 -4.04215040e+00] [-6.80965300e-03 -4.39403795e-04 9.99976718e-01 -1.20715262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:-4.05, Z:-1.21 [[ 9.92959655e-01 1.18256867e-01 6.81444471e-03 1.64289266e+02] [-1.18257186e-01 9.92982935e-01 -3.57479418e-04 -4.04981458e+00] [-6.80890171e-03 -4.50894417e-04 9.99976718e-01 -1.20869835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:-4.06, Z:-1.21 [[ 9.92483103e-01 1.22191878e-01 6.81437851e-03 1.64351218e+02] [-1.22192281e-01 9.92506382e-01 -3.58737008e-04 -4.05629545e+00] [-6.80714891e-03 -4.76624032e-04 9.99976718e-01 -1.21219597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.41, Y:-4.06, Z:-1.21 [[ 9.92224792e-01 1.24271990e-01 6.81431992e-03 1.64413243e+02] [-1.24272435e-01 9.92248070e-01 -3.59846554e-04 -4.06211302e+00] [-6.80621463e-03 -4.89783453e-04 9.99976718e-01 -1.21337565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:-4.07, Z:-1.21 [[ 9.92036406e-01 1.25766988e-01 6.81425771e-03 1.64475465e+02] [-1.25767459e-01 9.92059684e-01 -3.61020676e-04 -4.06716177e+00] [-6.80555483e-03 -4.98866223e-04 9.99976718e-01 -1.21106733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:164.54, Y:-4.07, Z:-1.21 [[ 9.91967236e-01 1.26311398e-01 6.81419983e-03 1.64538499e+02] [-1.26311874e-01 9.91990514e-01 -3.62109878e-04 -4.07372569e+00] [-6.80536020e-03 -5.01513217e-04 9.99976718e-01 -1.20987923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:-4.08, Z:-1.21 [[ 9.92216298e-01 1.24339796e-01 6.81413052e-03 1.64600059e+02] [-1.24340218e-01 9.92239577e-01 -3.63409590e-04 -4.08318581e+00] [-6.80643626e-03 -4.86689553e-04 9.99976718e-01 -1.20668659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:-4.09, Z:-1.20 [[ 9.92557809e-01 1.21583567e-01 6.81406628e-03 1.64662351e+02] [-1.21583915e-01 9.92581089e-01 -3.64610015e-04 -4.09333710e+00] [-6.80784392e-03 -4.66584340e-04 9.99976718e-01 -1.20365522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.72, Y:-4.11, Z:-1.20 [[ 9.92653368e-01 1.20800913e-01 6.81399832e-03 1.64723697e+02] [-1.20801234e-01 9.92676648e-01 -3.65875752e-04 -4.10597424e+00] [-6.80829514e-03 -4.59951609e-04 9.99976718e-01 -1.20403815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.79, Y:-4.12, Z:-1.21 [[ 9.92574590e-01 1.21446501e-01 6.81393506e-03 1.64785787e+02] [-1.21446830e-01 9.92597871e-01 -3.67050179e-04 -4.11643970e+00] [-6.80807439e-03 -4.63206132e-04 9.99976718e-01 -1.20802937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:-4.13, Z:-1.21 [[ 9.92653958e-01 1.20796075e-01 6.81386778e-03 1.64848006e+02] [-1.20796380e-01 9.92677238e-01 -3.68294916e-04 -4.12846680e+00] [-6.80846003e-03 -4.57501153e-04 9.99976718e-01 -1.20878222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.91, Y:-4.15, Z:-1.21 [[ 9.93087175e-01 1.17181205e-01 6.81380092e-03 1.64910558e+02] [-1.17181416e-01 9.93110457e-01 -3.69527616e-04 -4.14745966e+00] [-6.81015864e-03 -4.31477708e-04 9.99976718e-01 -1.20714300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:-4.16, Z:-1.21 [[ 9.93327341e-01 1.15127609e-01 6.81373269e-03 1.64972845e+02] [-1.15127764e-01 9.93350623e-01 -3.70781570e-04 -4.16089124e+00] [-6.81111281e-03 -4.16142337e-04 9.99976718e-01 -1.20758337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.03, Y:-4.17, Z:-1.21 [[ 9.92819487e-01 1.19427974e-01 6.81366454e-03 1.65034413e+02] [-1.19428221e-01 9.92842768e-01 -3.72029735e-04 -4.17287041e+00] [-6.80932832e-03 -4.44385463e-04 9.99976718e-01 -1.21230871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:-4.18, Z:-1.22 [[ 9.92228965e-01 1.24238705e-01 6.81360418e-03 1.65096739e+02] [-1.24239057e-01 9.92252245e-01 -3.73131822e-04 -4.18031515e+00] [-6.80717146e-03 -4.76283558e-04 9.99976718e-01 -1.21553997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:-4.19, Z:-1.21 [[ 9.91945010e-01 1.26485859e-01 6.81358261e-03 1.65158415e+02] [-1.26486261e-01 9.91968289e-01 -3.73525409e-04 -4.18634887e+00] [-6.80610356e-03 -4.91307926e-04 9.99976718e-01 -1.21427358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:-4.20, Z:-1.21 [[ 9.92068530e-01 1.25513376e-01 6.81352257e-03 1.65221045e+02] [-1.25513748e-01 9.92091810e-01 -3.74617360e-04 -4.19552636e+00] [-6.80665943e-03 -4.83544664e-04 9.99976718e-01 -1.21062037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:-4.20, Z:-1.21 [[ 9.92095644e-01 1.25298880e-01 6.81345392e-03 1.65283265e+02] [-1.25299238e-01 9.92118924e-01 -3.75861822e-04 -4.20380719e+00] [-6.80685164e-03 -4.80829710e-04 9.99976718e-01 -1.21340319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:-4.21, Z:-1.21 [[ 9.91935708e-01 1.26558798e-01 6.81338572e-03 1.65345978e+02] [-1.26559178e-01 9.91958987e-01 -3.77094056e-04 -4.21414299e+00] [-6.80632377e-03 -4.88243434e-04 9.99976718e-01 -1.21269389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.41, Y:-4.23, Z:-1.21 [[ 9.91600596e-01 1.29158187e-01 6.81331602e-03 1.65406900e+02] [-1.29158619e-01 9.91623874e-01 -3.78349239e-04 -4.22900885e+00] [-6.80511373e-03 -5.04827159e-04 9.99976718e-01 -1.21350297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:165.47, Y:-4.24, Z:-1.22 [[ 9.91455604e-01 1.30266519e-01 6.81325117e-03 1.65469470e+02] [-1.30266969e-01 9.91478882e-01 -3.79513506e-04 -4.23581225e+00] [-6.80463255e-03 -5.11270787e-04 9.99976718e-01 -1.21602649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.53, Y:-4.25, Z:-1.22 [[ 9.91111136e-01 1.32861944e-01 6.81318101e-03 1.65531429e+02] [-1.32862447e-01 9.91134413e-01 -3.80768867e-04 -4.24779852e+00] [-6.80336785e-03 -5.27831636e-04 9.99976718e-01 -1.21578584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:-4.26, Z:-1.22 [[ 9.90722973e-01 1.35726093e-01 6.81311127e-03 1.65593143e+02] [-1.35726654e-01 9.90746249e-01 -3.82012580e-04 -4.25754054e+00] [-6.80191351e-03 -5.46252159e-04 9.99976718e-01 -1.21736504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:-4.27, Z:-1.22 [[ 9.90269144e-01 1.38998581e-01 6.81304633e-03 1.65655859e+02] [-1.38999212e-01 9.90292418e-01 -3.83167414e-04 -4.26711762e+00] [-6.80016784e-03 -5.67569202e-04 9.99976718e-01 -1.21839822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:-4.28, Z:-1.22 [[ 9.89890135e-01 1.41672524e-01 6.81297838e-03 1.65717891e+02] [-1.41673209e-01 9.89913407e-01 -3.84371687e-04 -4.27774881e+00] [-6.79871355e-03 -5.84730771e-04 9.99976718e-01 -1.21637269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:-4.29, Z:-1.22 [[ 9.90069472e-01 1.40413761e-01 6.81290867e-03 1.65779197e+02] [-1.40414408e-01 9.90092746e-01 -3.85603356e-04 -4.28553618e+00] [-6.79955547e-03 -5.74856430e-04 9.99976718e-01 -1.21646767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.84, Y:-4.30, Z:-1.21 [[ 9.90374113e-01 1.38248696e-01 6.81287522e-03 1.65841819e+02] [-1.38249288e-01 9.90397387e-01 -3.86193417e-04 -4.29664503e+00] [-6.80084456e-03 -5.59399189e-04 9.99976718e-01 -1.21133590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:165.90, Y:-4.31, Z:-1.22 [[ 9.90228713e-01 1.39286326e-01 6.81280452e-03 1.65903586e+02] [-1.39286934e-01 9.90251988e-01 -3.87436676e-04 -4.30623468e+00] [-6.80035785e-03 -5.65283735e-04 9.99976718e-01 -1.21755431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:-4.31, Z:-1.22 [[ 9.89756993e-01 1.42599721e-01 6.81273860e-03 1.65966065e+02] [-1.42600399e-01 9.89780266e-01 -3.88592456e-04 -4.31294651e+00] [-6.79852740e-03 -5.86887144e-04 9.99976718e-01 -1.21730261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:-4.32, Z:-1.21 [[ 9.89128831e-01 1.46893643e-01 6.81267093e-03 1.66028522e+02] [-1.46894414e-01 9.89152101e-01 -3.89775261e-04 -4.31787759e+00] [-6.79602327e-03 -6.15205353e-04 9.99976718e-01 -1.21449933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.09, Y:-4.32, Z:-1.22 [[ 9.88619565e-01 1.50282881e-01 6.81260391e-03 1.66090139e+02] [-1.50283724e-01 9.88642832e-01 -3.90943000e-04 -4.32135076e+00] [-6.79398407e-03 -6.37329587e-04 9.99976718e-01 -1.21589124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.15, Y:-4.32, Z:-1.22 [[ 9.88907160e-01 1.48378629e-01 6.81254133e-03 1.66151890e+02] [-1.48379420e-01 9.88930429e-01 -3.92030482e-04 -4.32413142e+00] [-6.79529837e-03 -6.23159180e-04 9.99976718e-01 -1.21633735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:-4.33, Z:-1.22 [[ 9.89420539e-01 1.44915794e-01 6.81247991e-03 1.66215233e+02] [-1.44916496e-01 9.89443811e-01 -3.93094997e-04 -4.32771275e+00] [-6.79753176e-03 -5.98304456e-04 9.99976718e-01 -1.21595550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.28, Y:-4.33, Z:-1.21 [[ 9.89988236e-01 1.40985399e-01 6.81241490e-03 1.66277202e+02] [-1.40986001e-01 9.90011511e-01 -3.94218401e-04 -4.33257974e+00] [-6.79994821e-03 -5.70183552e-04 9.99976718e-01 -1.21368824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:-4.34, Z:-1.21 [[ 9.90339240e-01 1.38498306e-01 6.81235423e-03 1.66339896e+02] [-1.38498843e-01 9.90362517e-01 -3.95264047e-04 -4.33507920e+00] [-6.80144368e-03 -5.52057681e-04 9.99976718e-01 -1.21336336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.40, Y:-4.34, Z:-1.21 [[ 9.90183017e-01 1.39610838e-01 6.81228198e-03 1.66401680e+02] [-1.39611392e-01 9.90206293e-01 -3.96505445e-04 -4.33806912e+00] [-6.80092094e-03 -5.58459212e-04 9.99976718e-01 -1.21391509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.46, Y:-4.34, Z:-1.21 [[ 9.89972037e-01 1.41099112e-01 6.81221470e-03 1.66464345e+02] [-1.41099693e-01 9.89995312e-01 -3.97657974e-04 -4.33988065e+00] [-6.80016980e-03 -5.67531129e-04 9.99976718e-01 -1.21477914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.53, Y:-4.34, Z:-1.21 [[ 9.89791007e-01 1.42363467e-01 6.81214184e-03 1.66526612e+02] [-1.42364069e-01 9.89814282e-01 -3.98902196e-04 -4.34121325e+00] [-6.79954438e-03 -5.74974426e-04 9.99976718e-01 -1.21168536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.59, Y:-4.34, Z:-1.21 [[ 9.89930637e-01 1.41389286e-01 6.81207415e-03 1.66589755e+02] [-1.41389858e-01 9.89953912e-01 -4.00054876e-04 -4.34378316e+00] [-6.80020292e-03 -5.67131616e-04 9.99976718e-01 -1.21200046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.65, Y:-4.35, Z:-1.21 [[ 9.90129711e-01 1.39988400e-01 6.81200126e-03 1.66651746e+02] [-1.39988930e-01 9.90152987e-01 -4.01292202e-04 -4.34781476e+00] [-6.80109965e-03 -5.56273438e-04 9.99976718e-01 -1.21446045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.71, Y:-4.35, Z:-1.21 [[ 9.89819503e-01 1.42165215e-01 6.81193325e-03 1.66714210e+02] [-1.42165788e-01 9.89842779e-01 -4.02443221e-04 -4.35404445e+00] [-6.79995637e-03 -5.70077710e-04 9.99976718e-01 -1.21378580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-4.36, Z:-1.22 [[ 9.89220400e-01 1.46275762e-01 6.81186018e-03 1.66776543e+02] [-1.46276423e-01 9.89243673e-01 -4.03676244e-04 -4.35959307e+00] [-6.79763764e-03 -5.97089769e-04 9.99976718e-01 -1.21647628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-4.37, Z:-1.22 [[ 9.88718689e-01 1.49629389e-01 6.81178455e-03 1.66838142e+02] [-1.49630121e-01 9.88741960e-01 -4.04948549e-04 -4.36554527e+00] [-6.79568941e-03 -6.18867946e-04 9.99976718e-01 -1.21830530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-4.38, Z:-1.22 [[ 9.88846109e-01 1.48784992e-01 6.81171410e-03 1.66900421e+02] [-1.48785696e-01 9.88869380e-01 -4.06130034e-04 -4.37550328e+00] [-6.79632156e-03 -6.11885522e-04 9.99976718e-01 -1.21754387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:-4.39, Z:-1.22 [[ 9.89188011e-01 1.46494641e-01 6.81164041e-03 1.66961581e+02] [-1.46495283e-01 9.89211285e-01 -4.07362343e-04 -4.38539964e+00] [-6.79782796e-03 -5.94915242e-04 9.99976718e-01 -1.21783627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:-4.39, Z:-1.22 [[ 9.89260226e-01 1.46006191e-01 6.81157165e-03 1.67022749e+02] [-1.46006813e-01 9.89283500e-01 -4.08508836e-04 -4.39473728e+00] [-6.79822026e-03 -5.90414324e-04 9.99976718e-01 -1.21700489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:-4.40, Z:-1.22 [[ 9.88794913e-01 1.49124861e-01 6.81150578e-03 1.67084989e+02] [-1.49125550e-01 9.88818185e-01 -4.09604167e-04 -4.40492955e+00] [-6.79642295e-03 -6.10755027e-04 9.99976718e-01 -1.21692203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:-4.41, Z:-1.22 [[ 9.88396031e-01 1.51746138e-01 6.81143119e-03 1.67146811e+02] [-1.51746880e-01 9.88419302e-01 -4.10840908e-04 -4.41274915e+00] [-6.79489358e-03 -6.27539907e-04 9.99976718e-01 -1.21955995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:-4.42, Z:-1.22 [[ 9.88288083e-01 1.52447600e-01 6.81136182e-03 1.67209179e+02] [-1.52448350e-01 9.88311353e-01 -4.11987710e-04 -4.42044077e+00] [-6.79455276e-03 -6.31218330e-04 9.99976718e-01 -1.21955269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:-4.43, Z:-1.22 [[ 9.88732307e-01 1.49539395e-01 6.81128824e-03 1.67270860e+02] [-1.49540068e-01 9.88755580e-01 -4.13200710e-04 -4.43072901e+00] [-6.79648904e-03 -6.10015617e-04 9.99976718e-01 -1.21885008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:-4.44, Z:-1.22 [[ 9.89434931e-01 1.44817553e-01 6.81121982e-03 1.67331893e+02] [-1.44818108e-01 9.89458207e-01 -4.14325473e-04 -4.43955270e+00] [-6.79941895e-03 -5.76439870e-04 9.99976718e-01 -1.22045554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:-4.45, Z:-1.22 [[ 9.90114516e-01 1.40095874e-01 6.81115169e-03 1.67394330e+02] [-1.40096309e-01 9.90137794e-01 -4.15442381e-04 -4.44892151e+00] [-6.80218048e-03 -5.42881683e-04 9.99976718e-01 -1.22155194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.46, Y:-4.46, Z:-1.22 [[ 9.90370360e-01 1.38275667e-01 6.81107949e-03 1.67456675e+02] [-1.38276052e-01 9.90393639e-01 -4.16622773e-04 -4.45601907e+00] [-6.80325859e-03 -5.29198334e-04 9.99976718e-01 -1.22122797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.52, Y:-4.47, Z:-1.22 [[ 9.90744755e-01 1.35567106e-01 6.81100715e-03 1.67519071e+02] [-1.35567420e-01 9.90768036e-01 -4.17801997e-04 -4.47110975e+00] [-6.80476839e-03 -5.09415526e-04 9.99976718e-01 -1.22390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:-4.48, Z:-1.23 [[ 9.90769226e-01 1.35388155e-01 6.81093013e-03 1.67580777e+02] [-1.35388456e-01 9.90792506e-01 -4.19053841e-04 -4.48408659e+00] [-6.80495346e-03 -5.06935664e-04 9.99976718e-01 -1.22585154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.64, Y:-4.50, Z:-1.22 [[ 9.90663462e-01 1.36159898e-01 6.81085827e-03 1.67642957e+02] [-1.36160209e-01 9.90686742e-01 -4.20218536e-04 -4.49832635e+00] [-6.80464391e-03 -5.11072735e-04 9.99976718e-01 -1.22446658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.70, Y:-4.52, Z:-1.22 [[ 9.90454801e-01 1.37669532e-01 6.81078758e-03 1.67703968e+02] [-1.37669871e-01 9.90478081e-01 -4.21361227e-04 -4.51601185e+00] [-6.80394441e-03 -5.20300995e-04 9.99976718e-01 -1.21937376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:-4.53, Z:-1.22 [[ 9.90218763e-01 1.39357152e-01 6.81072177e-03 1.67766073e+02] [-1.39357523e-01 9.90242042e-01 -4.22422237e-04 -4.52963649e+00] [-6.80313060e-03 -5.30834891e-04 9.99976718e-01 -1.21956868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.83, Y:-4.54, Z:-1.22 [[ 9.89903968e-01 1.41575946e-01 6.81065256e-03 1.67828665e+02] [-1.41576361e-01 9.89927247e-01 -4.23535157e-04 -4.54277059e+00] [-6.80201293e-03 -5.44968273e-04 9.99976718e-01 -1.22088404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:-4.56, Z:-1.22 [[ 9.89466851e-01 1.44599335e-01 6.81058366e-03 1.67891213e+02] [-1.44599814e-01 9.89490128e-01 -4.24640147e-04 -4.55706632e+00] [-6.80040799e-03 -5.64641779e-04 9.99976718e-01 -1.21936021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:-4.57, Z:-1.22 [[ 9.89202344e-01 1.46397882e-01 6.81050624e-03 1.67952604e+02] [-1.46398395e-01 9.89225621e-01 -4.25878276e-04 -4.56623776e+00] [-6.79947494e-03 -5.75767395e-04 9.99976718e-01 -1.22059497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.02, Y:-4.57, Z:-1.22 [[ 9.88836433e-01 1.48849343e-01 6.81043448e-03 1.68015455e+02] [-1.48849906e-01 9.88859709e-01 -4.27022787e-04 -4.57444276e+00] [-6.79812632e-03 -5.91476840e-04 9.99976718e-01 -1.22264367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.08, Y:-4.58, Z:-1.22 [[ 9.88331435e-01 1.52166337e-01 6.81035678e-03 1.68077614e+02] [-1.52166970e-01 9.88354709e-01 -4.28258458e-04 -4.57946121e+00] [-6.79621471e-03 -6.13050056e-04 9.99976718e-01 -1.22388682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.14, Y:-4.58, Z:-1.22 [[ 9.88337807e-01 1.52124949e-01 6.81028417e-03 1.68139611e+02] [-1.52125573e-01 9.88361081e-01 -4.29410016e-04 -4.58410363e+00] [-6.79634380e-03 -6.11616226e-04 9.99976718e-01 -1.22396321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:-4.59, Z:-1.22 [[ 9.88654436e-01 1.50053412e-01 6.81021271e-03 1.68202226e+02] [-1.50053979e-01 9.88677712e-01 -4.30540317e-04 -4.58772472e+00] [-6.79770956e-03 -5.96243921e-04 9.99976718e-01 -1.22464097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.26, Y:-4.59, Z:-1.23 [[ 9.89248578e-01 1.46085157e-01 6.81013706e-03 1.68264630e+02] [-1.46085623e-01 9.89271856e-01 -4.31733563e-04 -4.59147962e+00] [-6.80014679e-03 -5.67771300e-04 9.99976718e-01 -1.22762520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:168.33, Y:-4.60, Z:-1.23 [[ 9.89838397e-01 1.42033699e-01 6.81005903e-03 1.68326531e+02] [-1.42034061e-01 9.89861676e-01 -4.32960956e-04 -4.59745447e+00] [-6.80251149e-03 -5.38698962e-04 9.99976718e-01 -1.22881826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:-4.61, Z:-1.23 [[ 9.90406238e-01 1.38018504e-01 6.80998620e-03 1.68387642e+02] [-1.38018763e-01 9.90429519e-01 -4.34103436e-04 -4.60576888e+00] [-6.80472567e-03 -5.09967122e-04 9.99976718e-01 -1.22661938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:-4.62, Z:-1.23 [[ 9.90963417e-01 1.33959434e-01 6.80993848e-03 1.68449643e+02] [-1.33959593e-01 9.90986699e-01 -4.34850798e-04 -4.61806796e+00] [-6.80681082e-03 -4.81335356e-04 9.99976718e-01 -1.22858468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.51, Y:-4.63, Z:-1.23 [[ 9.90734542e-01 1.35641781e-01 6.80986163e-03 1.68511804e+02] [-1.35641971e-01 9.90757824e-01 -4.36051025e-04 -4.62541307e+00] [-6.80607042e-03 -4.91692240e-04 9.99976718e-01 -1.22868525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:-4.63, Z:-1.22 [[ 9.89462768e-01 1.44627304e-01 6.80978253e-03 1.68573386e+02] [-1.44627697e-01 9.89486047e-01 -4.37282803e-04 -4.63177588e+00] [-6.80142783e-03 -5.52208114e-04 9.99976718e-01 -1.22456942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:-4.63, Z:-1.23 [[ 9.88778387e-01 1.49234478e-01 6.80970889e-03 1.68636670e+02] [-1.49234972e-01 9.88801664e-01 -4.38426556e-04 -4.63477826e+00] [-6.79887984e-03 -5.82740010e-04 9.99976718e-01 -1.22694058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:-4.64, Z:-1.23 [[ 9.88842645e-01 1.48808103e-01 6.80963142e-03 1.68699046e+02] [-1.48808578e-01 9.88865923e-01 -4.39626557e-04 -4.63828560e+00] [-6.79923245e-03 -5.78610084e-04 9.99976718e-01 -1.22837439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.76, Y:-4.64, Z:-1.22 [[ 9.89721016e-01 1.42849363e-01 6.80955465e-03 1.68762228e+02] [-1.42849690e-01 9.89744296e-01 -4.40812392e-04 -4.64450106e+00] [-6.80268765e-03 -5.36461483e-04 9.99976718e-01 -1.22454270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.82, Y:-4.65, Z:-1.22 [[ 9.91326011e-01 1.31249274e-01 6.80947808e-03 1.68824431e+02] [-1.31249320e-01 9.91349293e-01 -4.41992148e-04 -4.65276112e+00] [-6.80858243e-03 -4.55581057e-04 9.99976718e-01 -1.22229894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:-4.66, Z:-1.22 [[ 9.91736022e-01 1.28114381e-01 6.80940191e-03 1.68887162e+02] [-1.28114346e-01 9.91759305e-01 -4.43162564e-04 -4.66062426e+00] [-6.81006320e-03 -4.32881790e-04 9.99976718e-01 -1.22251325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:-4.67, Z:-1.22 [[ 9.91218511e-01 1.32058686e-01 6.80932558e-03 1.68949848e+02] [-1.32058735e-01 9.91241793e-01 -4.44332183e-04 -4.66718856e+00] [-6.80836603e-03 -4.58800641e-04 9.99976718e-01 -1.22484033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.01, Y:-4.67, Z:-1.23 [[ 9.90640628e-01 1.36326006e-01 6.80924631e-03 1.69011779e+02] [-1.36326147e-01 9.90663910e-01 -4.45543789e-04 -4.67225611e+00] [-6.80641378e-03 -4.86904535e-04 9.99976718e-01 -1.22530079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:-4.68, Z:-1.22 [[ 9.90335974e-01 1.38521814e-01 6.80917258e-03 1.69072756e+02] [-1.38522000e-01 9.90359256e-01 -4.46667718e-04 -4.67626456e+00] [-6.80540031e-03 -5.00869092e-04 9.99976718e-01 -1.22265440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:-4.68, Z:-1.22 [[ 9.90507208e-01 1.37292047e-01 6.80911253e-03 1.69134710e+02] [-1.37292197e-01 9.90530490e-01 -4.47581194e-04 -4.68152910e+00] [-6.80608292e-03 -4.91505622e-04 9.99976718e-01 -1.22462281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.20, Y:-4.69, Z:-1.23 [[ 9.90928460e-01 1.34217822e-01 6.80904373e-03 1.69196938e+02] [-1.34217893e-01 9.90951743e-01 -4.48625516e-04 -4.68940855e+00] [-6.80764729e-03 -4.69339708e-04 9.99976718e-01 -1.22713909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.26, Y:-4.70, Z:-1.23 [[ 9.91390784e-01 1.30759133e-01 6.80896210e-03 1.69259521e+02] [-1.30759114e-01 9.91414067e-01 -4.49860933e-04 -4.69794091e+00] [-6.80932424e-03 -4.44345871e-04 9.99976718e-01 -1.22788474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.32, Y:-4.71, Z:-1.23 [[ 9.91709561e-01 1.28319080e-01 6.80887900e-03 1.69320530e+02] [-1.28318995e-01 9.91732843e-01 -4.51115298e-04 -4.70793919e+00] [-6.81047563e-03 -4.26333155e-04 9.99976718e-01 -1.23110287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:-4.71, Z:-1.23 [[ 9.91575224e-01 1.29353062e-01 6.80882742e-03 1.69382905e+02] [-1.29352997e-01 9.91598507e-01 -4.51892515e-04 -4.71342913e+00] [-6.81007678e-03 -4.32656807e-04 9.99976718e-01 -1.23072326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.45, Y:-4.72, Z:-1.23 [[ 9.91075620e-01 1.33126843e-01 6.80874733e-03 1.69446190e+02] [-1.33126857e-01 9.91098902e-01 -4.53096039e-04 -4.71728877e+00] [-6.80846125e-03 -4.57374697e-04 9.99976718e-01 -1.23171203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:-4.72, Z:-1.23 [[ 9.90434549e-01 1.37815258e-01 6.80866621e-03 1.69508396e+02] [-1.37815375e-01 9.90457832e-01 -4.54311673e-04 -4.72115168e+00] [-6.80630785e-03 -4.88372909e-04 9.99976718e-01 -1.23469012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:-4.73, Z:-1.24 [[ 9.90427334e-01 1.37867104e-01 6.80859108e-03 1.69570762e+02] [-1.37867214e-01 9.90450617e-01 -4.55434892e-04 -4.72528729e+00] [-6.80636272e-03 -4.87606320e-04 9.99976718e-01 -1.23580906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.63, Y:-4.73, Z:-1.23 [[ 9.90538076e-01 1.37069197e-01 6.80850815e-03 1.69632483e+02] [-1.37069280e-01 9.90561358e-01 -4.56671298e-04 -4.72912942e+00] [-6.80684065e-03 -4.80886997e-04 9.99976718e-01 -1.23431737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.70, Y:-4.73, Z:-1.23 [[ 9.90621244e-01 1.36466832e-01 6.80843096e-03 1.69695193e+02] [-1.36466893e-01 9.90644526e-01 -4.57819231e-04 -4.73441112e+00] [-6.80721200e-03 -4.75599960e-04 9.99976718e-01 -1.23244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.76, Y:-4.74, Z:-1.23 [[ 9.90700219e-01 1.35892316e-01 6.80834616e-03 1.69757809e+02] [-1.35892355e-01 9.90723502e-01 -4.59076817e-04 -4.74124430e+00] [-6.80757356e-03 -4.70394689e-04 9.99976718e-01 -1.23228848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.82, Y:-4.75, Z:-1.23 [[ 9.90741353e-01 1.35592107e-01 6.80826148e-03 1.69819347e+02] [-1.35592130e-01 9.90764635e-01 -4.60329269e-04 -4.74846491e+00] [-6.80780171e-03 -4.67079434e-04 9.99976718e-01 -1.23298556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.88, Y:-4.75, Z:-1.23 [[ 9.90936991e-01 1.34154869e-01 6.80818258e-03 1.69882159e+02] [-1.34154850e-01 9.90960273e-01 -4.61493151e-04 -4.75413780e+00] [-6.80855003e-03 -4.56040082e-04 9.99976718e-01 -1.23122604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.94, Y:-4.76, Z:-1.23 [[ 9.91352665e-01 1.31047865e-01 6.80810037e-03 1.69944663e+02] [-1.31047765e-01 9.91375947e-01 -4.62702875e-04 -4.76045350e+00] [-6.81002318e-03 -4.33484608e-04 9.99976718e-01 -1.23167811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:-4.77, Z:-1.23 [[ 9.92122605e-01 1.25085519e-01 6.80801569e-03 1.70006086e+02] [-1.25085271e-01 9.92145886e-01 -4.63945459e-04 -4.76986036e+00] [-6.81257762e-03 -3.91291709e-04 9.99976718e-01 -1.23251391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:-4.79, Z:-1.24 [[ 9.93474128e-01 1.13854327e-01 6.80796310e-03 1.70068204e+02] [-1.13853810e-01 9.93497405e-01 -4.64715858e-04 -4.78514401e+00] [-6.81660359e-03 -3.13429358e-04 9.99976718e-01 -1.23535440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:-4.80, Z:-1.24 [[ 9.94024096e-01 1.08948383e-01 6.80787651e-03 1.70130582e+02] [-1.08947743e-01 9.94047369e-01 -4.65980963e-04 -4.79714314e+00] [-6.81811960e-03 -2.78506472e-04 9.99976718e-01 -1.23708575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:-4.81, Z:-1.24 [[ 9.94122934e-01 1.08042802e-01 6.80778945e-03 1.70191686e+02] [-1.08042131e-01 9.94146206e-01 -4.67249428e-04 -4.80826786e+00] [-6.81842099e-03 -2.71024708e-04 9.99976718e-01 -1.23930119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:-4.82, Z:-1.24 [[ 9.93745531e-01 1.11460639e-01 6.80770828e-03 1.70252874e+02] [-1.11460040e-01 9.93768806e-01 -4.68428995e-04 -4.82490744e+00] [-6.81749953e-03 -2.93288220e-04 9.99976718e-01 -1.23982147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:-4.84, Z:-1.24 [[ 9.93504366e-01 1.13590184e-01 6.80765600e-03 1.70315340e+02] [-1.13589631e-01 9.93527642e-01 -4.69187555e-04 -4.83734327e+00] [-6.81688952e-03 -3.07139247e-04 9.99976718e-01 -1.23842037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.38, Y:-4.85, Z:-1.24 [[ 9.93427570e-01 1.14259877e-01 6.80757154e-03 1.70377314e+02] [-1.14259330e-01 9.93450846e-01 -4.70409819e-04 -4.84936344e+00] [-6.81673668e-03 -3.10510482e-04 9.99976718e-01 -1.23505784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:-4.87, Z:-1.23 [[ 9.93613274e-01 1.12633568e-01 6.80748750e-03 1.70439552e+02] [-1.12632975e-01 9.93636549e-01 -4.71622899e-04 -4.86651813e+00] [-6.81728895e-03 -2.98136795e-04 9.99976718e-01 -1.23307967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:-4.88, Z:-1.23 [[ 9.93667806e-01 1.12151462e-01 6.80740133e-03 1.70500697e+02] [-1.12150849e-01 9.93691080e-01 -4.72863407e-04 -4.87852143e+00] [-6.81748631e-03 -2.93586698e-04 9.99976718e-01 -1.23436257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:-4.89, Z:-1.23 [[ 9.93793470e-01 1.11032423e-01 6.80732111e-03 1.70562809e+02] [-1.11031777e-01 9.93816744e-01 -4.74015456e-04 -4.89078973e+00] [-6.81786078e-03 -2.84755492e-04 9.99976718e-01 -1.23327790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.62, Y:-4.90, Z:-1.23 [[ 9.94091103e-01 1.08335311e-01 6.80723584e-03 1.70623106e+02] [-1.08334593e-01 9.94114375e-01 -4.75236805e-04 -4.90095590e+00] [-6.81865593e-03 -2.65030444e-04 9.99976718e-01 -1.23128561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:-4.91, Z:-1.24 [[ 9.94614545e-01 1.03419381e-01 6.80719417e-03 1.70685321e+02] [-1.03418544e-01 9.94637813e-01 -4.75833024e-04 -4.91244760e+00] [-6.81990307e-03 -2.30719659e-04 9.99976718e-01 -1.23643777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:-4.92, Z:-1.24 [[ 9.94855863e-01 1.01071634e-01 6.80710947e-03 1.70748103e+02] [-1.01070734e-01 9.94879128e-01 -4.77041546e-04 -4.91986205e+00] [-6.82046651e-03 -2.13411970e-04 9.99976718e-01 -1.23879935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:-4.93, Z:-1.24 [[ 9.94990108e-01 9.97414118e-02 6.80701981e-03 1.70811037e+02] [-9.97404715e-02 9.95013372e-01 -4.78317512e-04 -4.92511404e+00] [-6.82078380e-03 -2.03014172e-04 9.99976718e-01 -1.23911420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-4.93, Z:-1.24 [[ 9.94976058e-01 9.98814736e-02 6.80693092e-03 1.70873916e+02] [-9.98805279e-02 9.94999322e-01 -4.79579288e-04 -4.93009539e+00] [-6.82079273e-03 -2.02709944e-04 9.99976718e-01 -1.23729648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:-4.94, Z:-1.24 [[ 9.94691940e-01 1.02672351e-01 6.80684161e-03 1.70935420e+02] [-1.02671462e-01 9.94715205e-01 -4.80843490e-04 -4.93527353e+00] [-6.82023818e-03 -2.20577238e-04 9.99976718e-01 -1.23744142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.00, Y:-4.94, Z:-1.24 [[ 9.94113923e-01 1.08125739e-01 6.80678630e-03 1.70998128e+02] [-1.08124972e-01 9.94137193e-01 -4.81625246e-04 -4.93807831e+00] [-6.81895551e-03 -2.57193217e-04 9.99976718e-01 -1.23543037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:-4.94, Z:-1.24 [[ 9.93770270e-01 1.11239920e-01 6.80669592e-03 1.71060013e+02] [-1.11239218e-01 9.93793542e-01 -4.82899174e-04 -4.94115560e+00] [-6.81816811e-03 -2.77280687e-04 9.99976718e-01 -1.23716633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:-4.95, Z:-1.24 [[ 9.93268223e-01 1.15636959e-01 6.80663997e-03 1.71122967e+02] [-1.15636354e-01 9.93291498e-01 -4.83686439e-04 -4.94595776e+00] [-6.81690964e-03 -3.06664656e-04 9.99976718e-01 -1.23724418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:-4.95, Z:-1.24 [[ 9.92937414e-01 1.18443922e-01 6.80655101e-03 1.71185676e+02] [-1.18443374e-01 9.92960690e-01 -4.84935085e-04 -4.95167219e+00] [-6.81607521e-03 -3.24680680e-04 9.99976718e-01 -1.23796775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.25, Y:-4.96, Z:-1.24 [[ 9.92529960e-01 1.21811128e-01 6.80646063e-03 1.71247292e+02] [-1.21810651e-01 9.92553237e-01 -4.86200339e-04 -4.95875113e+00] [-6.81499915e-03 -3.46530996e-04 9.99976718e-01 -1.23645804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.31, Y:-4.97, Z:-1.24 [[ 9.92276614e-01 1.23857964e-01 6.80638188e-03 1.71309945e+02] [-1.23857527e-01 9.92299892e-01 -4.87300287e-04 -4.96655748e+00] [-6.81432803e-03 -3.59484946e-04 9.99976718e-01 -1.23853553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:171.37, Y:-4.97, Z:-1.24 [[ 9.92249828e-01 1.24072368e-01 6.80629023e-03 1.71373084e+02] [-1.24071928e-01 9.92273107e-01 -4.88577050e-04 -4.97185764e+00] [-6.81431767e-03 -3.59679057e-04 9.99976718e-01 -1.23953718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:-4.98, Z:-1.24 [[ 9.92172584e-01 1.24688566e-01 6.80619921e-03 1.71434248e+02] [-1.24688132e-01 9.92195863e-01 -4.89841843e-04 -4.97955568e+00] [-6.81416037e-03 -3.62644615e-04 9.99976718e-01 -1.23784300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.50, Y:-4.98, Z:-1.24 [[ 9.92022415e-01 1.25877735e-01 6.80612584e-03 1.71497199e+02] [-1.25877321e-01 9.92045694e-01 -4.90859188e-04 -4.98455352e+00] [-6.81377607e-03 -3.69793570e-04 9.99976718e-01 -1.23699403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.56, Y:-4.99, Z:-1.24 [[ 9.91880183e-01 1.26993624e-01 6.80603783e-03 1.71559809e+02] [-1.26993228e-01 9.91903462e-01 -4.92076428e-04 -4.98552965e+00] [-6.81342305e-03 -3.76239857e-04 9.99976718e-01 -1.24010477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.62, Y:-4.99, Z:-1.24 [[ 9.91856811e-01 1.27176044e-01 6.80594866e-03 1.71621458e+02] [-1.27175644e-01 9.91880090e-01 -4.93306662e-04 -4.98679887e+00] [-6.81342176e-03 -3.76261329e-04 9.99976718e-01 -1.23862141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.68, Y:-4.99, Z:-1.24 [[ 9.92173454e-01 1.24681661e-01 6.80586572e-03 1.71684594e+02] [-1.24681195e-01 9.92196732e-01 -4.94448280e-04 -4.98784668e+00] [-6.81440636e-03 -3.57985013e-04 9.99976718e-01 -1.24062824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:-4.99, Z:-1.24 [[ 9.93022376e-01 1.17729527e-01 6.80577529e-03 1.71745775e+02] [-1.17728889e-01 9.93045650e-01 -4.95689860e-04 -4.98610366e+00] [-6.81680288e-03 -3.09005238e-04 9.99976718e-01 -1.24429060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:171.81, Y:-4.99, Z:-1.24 [[ 9.93621523e-01 1.12560881e-01 6.80570234e-03 1.71807667e+02] [-1.12560116e-01 9.93644793e-01 -4.96689444e-04 -4.98628907e+00] [-6.81835849e-03 -2.72529320e-04 9.99976718e-01 -1.24146585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.87, Y:-4.99, Z:-1.24 [[ 9.94082755e-01 1.08411987e-01 6.80562599e-03 1.71868866e+02] [-1.08411117e-01 9.94106022e-01 -4.97733415e-04 -4.98537597e+00] [-6.81947404e-03 -2.43017310e-04 9.99976718e-01 -1.23751808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.93, Y:-4.98, Z:-1.24 [[ 9.94575858e-01 1.03790882e-01 6.80555553e-03 1.71932298e+02] [-1.03789897e-01 9.94599120e-01 -4.98694930e-04 -4.98037017e+00] [-6.82055953e-03 -2.10357970e-04 9.99976718e-01 -1.23886314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:171.99, Y:-4.98, Z:-1.24 [[ 9.94923624e-01 1.00402529e-01 6.80546363e-03 1.71993530e+02] [-1.00401456e-01 9.94946882e-01 -4.99945970e-04 -4.97816756e+00] [-6.82127066e-03 -1.85870401e-04 9.99976718e-01 -1.23581505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-4.98, Z:-1.24 [[ 9.95240299e-01 9.72133447e-02 6.80538933e-03 1.72056345e+02] [-9.72121906e-02 9.95263553e-01 -5.00955226e-04 -4.97697811e+00] [-6.82185550e-03 -1.62995976e-04 9.99976718e-01 -1.23546234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:-4.97, Z:-1.24 [[ 9.96031737e-01 8.87381961e-02 6.80530683e-03 1.72117707e+02] [-8.87368365e-02 9.96054979e-01 -5.02073576e-04 -4.97401429e+00] [-6.82301285e-03 -1.03800183e-04 9.99976718e-01 -1.23788574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-4.98, Z:-1.24 [[ 9.96711739e-01 8.07427920e-02 6.80523071e-03 1.72181045e+02] [-8.07412389e-02 9.96734969e-01 -5.03103169e-04 -4.97615727e+00] [-6.82363338e-03 -4.80139240e-05 9.99976718e-01 -1.24098123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:-4.98, Z:-1.24 [[ 9.97300623e-01 7.31105881e-02 6.80513437e-03 1.72241777e+02] [-7.31088483e-02 9.97323840e-01 -5.04403000e-04 -4.98134576e+00] [-6.82379994e-03 5.52588963e-06 9.99976718e-01 -1.23941162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-4.98, Z:-1.24 [[ 9.97577071e-01 6.92363933e-02 6.80505630e-03 1.72304058e+02] [-6.92345562e-02 9.97600281e-01 -5.05454061e-04 -4.98341017e+00] [-6.82372189e-03 3.30843287e-05 9.99976718e-01 -1.24009964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:-4.98, Z:-1.24 [[ 9.97433497e-01 7.12749049e-02 6.80497245e-03 1.72365155e+02] [-7.12731075e-02 9.97456710e-01 -5.06580436e-04 -4.98340133e+00] [-6.82377190e-03 2.02687631e-05 9.99976718e-01 -1.23876840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:-4.98, Z:-1.24 [[ 9.97278591e-01 7.34105252e-02 6.80492474e-03 1.72426364e+02] [-7.34087731e-02 9.97301807e-01 -5.07220436e-04 -4.98100360e+00] [-6.82379906e-03 6.29890463e-06 9.99976718e-01 -1.23821101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:-4.97, Z:-1.24 [[ 9.97333012e-01 7.26674415e-02 6.80484913e-03 1.72490284e+02] [-7.26656652e-02 9.97356227e-01 -5.08232868e-04 -4.97303143e+00] [-6.82379063e-03 1.23985282e-05 9.99976718e-01 -1.24018523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:172.55, Y:-4.97, Z:-1.24 [[ 9.97526736e-01 6.99578890e-02 6.80475272e-03 1.72553117e+02] [-6.99560409e-02 9.97549945e-01 -5.09520451e-04 -4.96964397e+00] [-6.82372567e-03 3.22267136e-05 9.99976718e-01 -1.24166599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:-4.96, Z:-1.25 [[ 9.97773868e-01 6.63400675e-02 6.80466832e-03 1.72616194e+02] [-6.63381276e-02 9.97797070e-01 -5.10645082e-04 -4.96118180e+00] [-6.82355434e-03 5.80993632e-05 9.99976718e-01 -1.24638332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:-4.96, Z:-1.25 [[ 9.97882128e-01 6.46912342e-02 6.80458263e-03 1.72677477e+02] [-6.46892482e-02 9.97905326e-01 -5.11784425e-04 -4.95849172e+00] [-6.82343721e-03 7.05171971e-05 9.99976718e-01 -1.24845387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:-4.96, Z:-1.25 [[ 9.97951234e-01 6.36162979e-02 6.80450374e-03 1.72740745e+02] [-6.36142798e-02 9.97974429e-01 -5.12831092e-04 -4.95570149e+00] [-6.82334515e-03 7.89168164e-05 9.99976718e-01 -1.25175539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:-4.95, Z:-1.26 [[ 9.97810633e-01 6.57848120e-02 6.80440622e-03 1.72803345e+02] [-6.57828355e-02 9.97833831e-01 -5.14121895e-04 -4.95281136e+00] [-6.82348813e-03 6.53831588e-05 9.99976718e-01 -1.25582158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-4.95, Z:-1.26 [[ 9.97423355e-01 7.14167489e-02 6.80432033e-03 1.72866959e+02] [-7.14148956e-02 9.97446564e-01 -5.15256013e-04 -4.95218185e+00] [-6.82374384e-03 2.79985549e-05 9.99976718e-01 -1.25678172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:-4.95, Z:-1.26 [[ 9.96745615e-01 8.03236111e-02 6.80422042e-03 1.72930545e+02] [-8.03219563e-02 9.96768838e-01 -5.16572033e-04 -4.95006417e+00] [-6.82372782e-03 -3.16373872e-05 9.99976718e-01 -1.25534651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:-4.94, Z:-1.25 [[ 9.95512014e-01 9.43903280e-02 6.80412143e-03 1.72992615e+02] [-9.43889924e-02 9.95535258e-01 -5.17872639e-04 -4.94259400e+00] [-6.82262495e-03 -1.26685732e-04 9.99976718e-01 -1.25457840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:-4.94, Z:-1.25 [[ 9.94699898e-01 1.02595405e-01 6.80404208e-03 1.73055084e+02] [-1.02594254e-01 9.94723152e-01 -5.18913154e-04 -4.93753869e+00] [-6.82137629e-03 -1.81892757e-04 9.99976718e-01 -1.25492723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:-4.93, Z:-1.25 [[ 9.94167714e-01 1.07630213e-01 6.80395961e-03 1.73117358e+02] [-1.07629173e-01 9.94190973e-01 -5.19992248e-04 -4.93318337e+00] [-6.82040210e-03 -2.15345038e-04 9.99976718e-01 -1.25459306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:-4.92, Z:-1.25 [[ 9.94257245e-01 1.06799986e-01 6.80387670e-03 1.73180092e+02] [-1.06798919e-01 9.94280503e-01 -5.21074766e-04 -4.92389656e+00] [-6.82061273e-03 -2.08564315e-04 9.99976718e-01 -1.25497313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:-4.92, Z:-1.25 [[ 9.94656693e-01 1.03013452e-01 6.80379228e-03 1.73242569e+02] [-1.03012288e-01 9.94679946e-01 -5.22174778e-04 -4.92160090e+00] [-6.82138677e-03 -1.81489573e-04 9.99976718e-01 -1.25463044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:-4.92, Z:-1.26 [[ 9.94983974e-01 9.98028102e-02 6.80370720e-03 1.73304806e+02] [-9.98015640e-02 9.95007223e-01 -5.23280961e-04 -4.91753148e+00] [-6.82196272e-03 -1.58364450e-04 9.99976718e-01 -1.25924671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.37, Y:-4.92, Z:-1.26 [[ 9.95045176e-01 9.91907691e-02 6.80362252e-03 1.73367994e+02] [-9.91895011e-02 9.95068424e-01 -5.24379655e-04 -4.91968543e+00] [-6.82208356e-03 -1.53066477e-04 9.99976718e-01 -1.26076300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:-4.92, Z:-1.26 [[ 9.95077998e-01 9.88609587e-02 6.80352436e-03 1.73429592e+02] [-9.88596743e-02 9.95101245e-01 -5.25650209e-04 -4.91981346e+00] [-6.82216184e-03 -1.49531244e-04 9.99976718e-01 -1.26275849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:-4.92, Z:-1.27 [[ 9.94820729e-01 1.01417106e-01 6.80344520e-03 1.73492247e+02] [-1.01415875e-01 9.94843979e-01 -5.26672681e-04 -4.91948597e+00] [-6.82178012e-03 -1.66032446e-04 9.99976718e-01 -1.26845195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-4.92, Z:-1.27 [[ 9.94471590e-01 1.04785358e-01 6.80335763e-03 1.73554532e+02] [-1.04784197e-01 9.94494843e-01 -5.27801505e-04 -4.92103576e+00] [-6.82120995e-03 -1.88000767e-04 9.99976718e-01 -1.26920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.62, Y:-4.92, Z:-1.27 [[ 9.94269247e-01 1.06688235e-01 6.80326449e-03 1.73617472e+02] [-1.06687111e-01 9.94292502e-01 -5.28999329e-04 -4.92331761e+00] [-6.82087288e-03 -1.99852869e-04 9.99976718e-01 -1.27119987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.68, Y:-4.93, Z:-1.27 [[ 9.94134566e-01 1.07936006e-01 6.80316909e-03 1.73678078e+02] [-1.07934902e-01 9.94157822e-01 -5.30223373e-04 -4.92999946e+00] [-6.82065396e-03 -2.07186009e-04 9.99976718e-01 -1.27431122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.74, Y:-4.94, Z:-1.28 [[ 9.94033806e-01 1.08860051e-01 6.80309234e-03 1.73740758e+02] [-1.08858962e-01 9.94057063e-01 -5.31206323e-04 -4.93763086e+00] [-6.82048914e-03 -2.12540531e-04 9.99976718e-01 -1.27733192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.80, Y:-4.94, Z:-1.28 [[ 9.93794959e-01 1.11019366e-01 6.80299341e-03 1.73803825e+02] [-1.11018319e-01 9.93818217e-01 -5.32470222e-04 -4.94460123e+00] [-6.82005330e-03 -2.26090671e-04 9.99976718e-01 -1.27744452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.87, Y:-4.95, Z:-1.28 [[ 9.93038066e-01 1.17597276e-01 6.80289532e-03 1.73866397e+02] [-1.17596375e-01 9.93061331e-01 -5.33720589e-04 -4.95064269e+00] [-6.81845637e-03 -2.69990967e-04 9.99976718e-01 -1.27940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.93, Y:-4.96, Z:-1.28 [[ 9.92527894e-01 1.21828167e-01 6.80279624e-03 1.73927489e+02] [-1.21827356e-01 9.92551162e-01 -5.34980483e-04 -4.95510059e+00] [-6.81729900e-03 -2.97783630e-04 9.99976718e-01 -1.28333424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:173.99, Y:-4.96, Z:-1.29 [[ 9.92274212e-01 1.23877404e-01 6.80271698e-03 1.73989025e+02] [-1.23876634e-01 9.92297482e-01 -5.35986441e-04 -4.95823158e+00] [-6.81671553e-03 -3.10852159e-04 9.99976718e-01 -1.28780568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:174.05, Y:-4.96, Z:-1.29 [[ 9.92470354e-01 1.22296037e-01 6.80263484e-03 1.74051515e+02] [-1.22295223e-01 9.92493622e-01 -5.37026885e-04 -4.95809399e+00] [-6.81724795e-03 -2.98946481e-04 9.99976718e-01 -1.28671494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.11, Y:-4.96, Z:-1.29 [[ 9.92787722e-01 1.19692375e-01 6.80257236e-03 1.74114048e+02] [-1.19691495e-01 9.92810987e-01 -5.37817171e-04 -4.95964496e+00] [-6.81804120e-03 -2.80271772e-04 9.99976718e-01 -1.28518528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.18, Y:-4.96, Z:-1.28 [[ 9.93118102e-01 1.16919471e-01 6.80248486e-03 1.74175249e+02] [-1.16918518e-01 9.93141364e-01 -5.38921683e-04 -4.96098595e+00] [-6.81883953e-03 -2.60123570e-04 9.99976718e-01 -1.28476599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:-4.96, Z:-1.29 [[ 9.93446198e-01 1.14098107e-01 6.80240435e-03 1.74237659e+02] [-1.14097081e-01 9.93469458e-01 -5.39935937e-04 -4.96296182e+00] [-6.81958663e-03 -2.39737179e-04 9.99976718e-01 -1.28665133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.30, Y:-4.97, Z:-1.29 [[ 9.93437802e-01 1.14171197e-01 6.80231317e-03 1.74300487e+02] [-1.14170165e-01 9.93461062e-01 -5.41082199e-04 -4.96556470e+00] [-6.81960927e-03 -2.39089706e-04 9.99976718e-01 -1.28746336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.36, Y:-4.97, Z:-1.29 [[ 9.93179324e-01 1.16398284e-01 6.80221738e-03 1.74362791e+02] [-1.16397296e-01 9.93202585e-01 -5.42283741e-04 -4.96597062e+00] [-6.81910079e-03 -2.53174713e-04 9.99976718e-01 -1.29113378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.43, Y:-4.96, Z:-1.29 [[ 9.92611961e-01 1.21141348e-01 6.80213086e-03 1.74426090e+02] [-1.21140464e-01 9.92635226e-01 -5.43366921e-04 -4.96215172e+00] [-6.81785891e-03 -2.84660781e-04 9.99976718e-01 -1.29345190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.49, Y:-4.96, Z:-1.29 [[ 9.92232289e-01 1.24212789e-01 6.80203086e-03 1.74489118e+02] [-1.24211969e-01 9.92255557e-01 -5.44615832e-04 -4.96155453e+00] [-6.81700117e-03 -3.04508230e-04 9.99976718e-01 -1.29324745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.55, Y:-4.96, Z:-1.29 [[ 9.91994521e-01 1.26097598e-01 6.80192987e-03 1.74550997e+02] [-1.26096813e-01 9.92017790e-01 -5.45874249e-04 -4.96100851e+00] [-6.81646887e-03 -3.16197415e-04 9.99976718e-01 -1.29456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.61, Y:-4.96, Z:-1.30 [[ 9.92058008e-01 1.25597147e-01 6.80186714e-03 1.74613926e+02] [-1.25596345e-01 9.92081277e-01 -5.46654755e-04 -4.95834668e+00] [-6.81666331e-03 -3.11976424e-04 9.99976718e-01 -1.29934851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.68, Y:-4.96, Z:-1.30 [[ 9.92235645e-01 1.24185995e-01 6.80178106e-03 1.74676631e+02] [-1.24185152e-01 9.92258912e-01 -5.47723791e-04 -4.96029792e+00] [-6.81714749e-03 -3.01209146e-04 9.99976718e-01 -1.30093278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.74, Y:-4.96, Z:-1.30 [[ 9.92257995e-01 1.24007292e-01 6.80168237e-03 1.74739519e+02] [-1.24006436e-01 9.92281262e-01 -5.48946517e-04 -4.96423682e+00] [-6.81725534e-03 -2.98755822e-04 9.99976718e-01 -1.30304021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.80, Y:-4.97, Z:-1.31 [[ 9.91963287e-01 1.26343085e-01 6.80158406e-03 1.74802447e+02] [-1.26342276e-01 9.91986556e-01 -5.50161923e-04 -4.96592590e+00] [-6.81658910e-03 -3.13587185e-04 9.99976718e-01 -1.30553326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-4.96, Z:-1.30 [[ 9.91001005e-01 1.33681517e-01 6.80148236e-03 1.74865105e+02] [-1.33680871e-01 9.91024278e-01 -5.51416434e-04 -4.96104270e+00] [-6.81414833e-03 -3.62773849e-04 9.99976718e-01 -1.30364815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:-4.96, Z:-1.31 [[ 9.90180809e-01 1.39627027e-01 6.80138809e-03 1.74928278e+02] [-1.39626513e-01 9.90204086e-01 -5.52576655e-04 -4.96039018e+00] [-6.81191691e-03 -4.02503306e-04 9.99976718e-01 -1.30917728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.99, Y:-4.96, Z:-1.31 [[ 9.89354400e-01 1.45367170e-01 6.80128307e-03 1.74990572e+02] [-1.45366783e-01 9.89377679e-01 -5.53866340e-04 -4.95659929e+00] [-6.80955164e-03 -4.40710539e-04 9.99976718e-01 -1.31144470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.05, Y:-4.95, Z:-1.31 [[ 9.88789956e-01 1.49158192e-01 6.80118682e-03 1.75053710e+02] [-1.49157886e-01 9.88813237e-01 -5.55045635e-04 -4.94558035e+00] [-6.80789316e-03 -4.65627098e-04 9.99976718e-01 -1.30922480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-4.94, Z:-1.31 [[ 9.88949579e-01 1.48096171e-01 6.80109141e-03 1.75116803e+02] [-1.48095832e-01 9.88972859e-01 -5.56212368e-04 -4.93901005e+00] [-6.80846773e-03 -4.57147306e-04 9.99976718e-01 -1.30574415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:-4.93, Z:-1.31 [[ 9.89515434e-01 1.44266946e-01 6.80099700e-03 1.75180985e+02] [-1.44266509e-01 9.89538713e-01 -5.57364340e-04 -4.93119670e+00] [-6.81025906e-03 -4.29635481e-04 9.99976718e-01 -1.30627287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:-4.92, Z:-1.31 [[ 9.90606616e-01 1.36573352e-01 6.80092740e-03 1.75244430e+02] [-1.36572729e-01 9.90629890e-01 -5.58212313e-04 -4.92474868e+00] [-6.81343888e-03 -3.75852402e-04 9.99976718e-01 -1.31256022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.31, Y:-4.92, Z:-1.31 [[ 9.91388634e-01 1.30775858e-01 6.80082290e-03 1.75307237e+02] [-1.30775089e-01 9.91411904e-01 -5.59482570e-04 -4.92424256e+00] [-6.81558359e-03 -3.34713561e-04 9.99976718e-01 -1.31130375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:175.37, Y:-4.93, Z:-1.31 [[ 9.91756029e-01 1.27959870e-01 6.80071885e-03 1.75370510e+02] [-1.27959027e-01 9.91779297e-01 -5.60744516e-04 -4.92706587e+00] [-6.81656495e-03 -3.14091609e-04 9.99976718e-01 -1.31229360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:-4.93, Z:-1.31 [[ 9.92297234e-01 1.23692972e-01 6.80061397e-03 1.75432813e+02] [-1.23692021e-01 9.92320497e-01 -5.62013602e-04 -4.92602263e+00] [-6.81790576e-03 -2.83497140e-04 9.99976718e-01 -1.31394547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:-4.93, Z:-1.31 [[ 9.92018090e-01 1.25912121e-01 6.80051580e-03 1.75495685e+02] [-1.25911213e-01 9.92041355e-01 -5.63198878e-04 -4.92605455e+00] [-6.81730648e-03 -2.97557717e-04 9.99976718e-01 -1.31214042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:-4.93, Z:-1.31 [[ 9.91354206e-01 1.31036611e-01 6.80041147e-03 1.75558530e+02] [-1.31035815e-01 9.91377474e-01 -5.64455904e-04 -4.92643628e+00] [-6.81573913e-03 -3.31521725e-04 9.99976718e-01 -1.31353648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:175.62, Y:-4.92, Z:-1.32 [[ 9.89795974e-01 1.42329495e-01 6.80030772e-03 1.75621688e+02] [-1.42328955e-01 9.89819250e-01 -5.65703004e-04 -4.92177799e+00] [-6.81159172e-03 -4.07950140e-04 9.99976718e-01 -1.31926679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.68, Y:-4.92, Z:-1.32 [[ 9.88928038e-01 1.48239981e-01 6.80021649e-03 1.75683621e+02] [-1.48239573e-01 9.88951317e-01 -5.66797609e-04 -4.91904805e+00] [-6.80910512e-03 -4.47539143e-04 9.99976718e-01 -1.32217113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:-4.92, Z:-1.32 [[ 9.88529140e-01 1.50877096e-01 6.80016571e-03 1.75747159e+02] [-1.50876746e-01 9.88552419e-01 -5.67406157e-04 -4.91648840e+00] [-6.80792886e-03 -4.65089351e-04 9.99976718e-01 -1.32100834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:-4.91, Z:-1.32 [[ 9.88819119e-01 1.48964794e-01 6.80006374e-03 1.75810548e+02] [-1.48964390e-01 9.88842398e-01 -5.68625644e-04 -4.90906811e+00] [-6.80889653e-03 -4.50699440e-04 9.99976718e-01 -1.32436013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:-4.91, Z:-1.33 [[ 9.88850680e-01 1.48755147e-01 6.79997504e-03 1.75873261e+02] [-1.48754731e-01 9.88873958e-01 -5.69684408e-04 -4.90613145e+00] [-6.80906172e-03 -4.48195643e-04 9.99976718e-01 -1.32715957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:-4.90, Z:-1.33 [[ 9.88595310e-01 1.50442929e-01 6.79988408e-03 1.75936663e+02] [-1.50442546e-01 9.88618589e-01 -5.70768016e-04 -4.90410007e+00] [-6.80835982e-03 -4.58733289e-04 9.99976718e-01 -1.32647506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:176.00, Y:-4.90, Z:-1.33 [[ 9.88201879e-01 1.53005913e-01 6.79977966e-03 1.75999286e+02] [-1.53005581e-01 9.88225159e-01 -5.72009295e-04 -4.89598941e+00] [-6.80723414e-03 -4.75143580e-04 9.99976718e-01 -1.32819622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.06, Y:-4.89, Z:-1.33 [[ 9.88621918e-01 1.50267984e-01 6.79968258e-03 1.76061516e+02] [-1.50267580e-01 9.88645197e-01 -5.73161044e-04 -4.89086083e+00] [-6.80860128e-03 -4.55132277e-04 9.99976718e-01 -1.33192391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:176.12, Y:-4.89, Z:-1.33 [[ 9.89421497e-01 1.44909853e-01 6.79962022e-03 1.76124449e+02] [-1.44909318e-01 9.89444774e-01 -5.73899842e-04 -4.88871735e+00] [-6.81101243e-03 -4.17499491e-04 9.99976718e-01 -1.33065924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:-4.88, Z:-1.33 [[ 9.90863170e-01 1.34699461e-01 6.79951767e-03 1.76186977e+02] [-1.34698678e-01 9.90886439e-01 -5.75112344e-04 -4.88479278e+00] [-6.81501717e-03 -3.46028398e-04 9.99976718e-01 -1.32590319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:-4.89, Z:-1.33 [[ 9.91756697e-01 1.27954759e-01 6.79948368e-03 1.76248885e+02] [-1.27953814e-01 9.91779961e-01 -5.75513866e-04 -4.88654360e+00] [-6.81723140e-03 -2.99250142e-04 9.99976718e-01 -1.32876899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:-4.89, Z:-1.33 [[ 9.92290263e-01 1.23748945e-01 6.79938753e-03 1.76310299e+02] [-1.23747894e-01 9.92313522e-01 -5.76647680e-04 -4.88966238e+00] [-6.81848373e-03 -2.69208010e-04 9.99976718e-01 -1.33062919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.37, Y:-4.89, Z:-1.33 [[ 9.92690908e-01 1.20492865e-01 6.79929963e-03 1.76372920e+02] [-1.20491731e-01 9.92714163e-01 -5.77682180e-04 -4.89409211e+00] [-6.81936762e-03 -2.45799532e-04 9.99976718e-01 -1.32819559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:-4.90, Z:-1.33 [[ 9.92657710e-01 1.20766063e-01 6.79919247e-03 1.76435132e+02] [-1.20764927e-01 9.92680964e-01 -5.78940702e-04 -4.89925120e+00] [-6.81934533e-03 -2.46414031e-04 9.99976718e-01 -1.32582323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-4.90, Z:-1.33 [[ 9.92279711e-01 1.23833546e-01 6.79909861e-03 1.76498335e+02] [-1.23832474e-01 9.92302969e-01 -5.80040926e-04 -4.90418951e+00] [-6.81859426e-03 -2.66386360e-04 9.99976718e-01 -1.32580362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:-4.91, Z:-1.33 [[ 9.91461427e-01 1.30222932e-01 6.79899242e-03 1.76560908e+02] [-1.30222002e-01 9.91484691e-01 -5.81282945e-04 -4.91005860e+00] [-6.81679327e-03 -3.09058784e-04 9.99976718e-01 -1.32829814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.62, Y:-4.92, Z:-1.33 [[ 9.90818395e-01 1.35028456e-01 6.79888711e-03 1.76622544e+02] [-1.35027630e-01 9.90841662e-01 -5.82512080e-04 -4.91600093e+00] [-6.81527632e-03 -3.40873927e-04 9.99976718e-01 -1.32773562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:-4.92, Z:-1.33 [[ 9.89952325e-01 1.41237996e-01 6.79878929e-03 1.76684986e+02] [-1.41237308e-01 9.89975597e-01 -5.83651538e-04 -4.92126801e+00] [-6.81306926e-03 -3.82455500e-04 9.99976718e-01 -1.32620306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.75, Y:-4.93, Z:-1.33 [[ 9.89365639e-01 1.45290776e-01 6.79868350e-03 1.76746485e+02] [-1.45290175e-01 9.89388914e-01 -5.84881308e-04 -4.92624832e+00] [-6.81151994e-03 -4.09120446e-04 9.99976718e-01 -1.32838798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:-4.93, Z:-1.33 [[ 9.89037146e-01 1.47510350e-01 6.79861785e-03 1.76808542e+02] [-1.47509796e-01 9.89060421e-01 -5.85643402e-04 -4.93206599e+00] [-6.81063230e-03 -4.23639652e-04 9.99976718e-01 -1.33311259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:-4.94, Z:-1.33 [[ 9.89273859e-01 1.45914401e-01 6.79852677e-03 1.76871019e+02] [-1.45913802e-01 9.89297133e-01 -5.86698799e-04 -4.93835318e+00] [-6.81137085e-03 -4.11593106e-04 9.99976718e-01 -1.33115993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:-4.94, Z:-1.33 [[ 9.89631366e-01 1.43469654e-01 6.79841863e-03 1.76932995e+02] [-1.43468989e-01 9.89654639e-01 -5.87949239e-04 -4.94380915e+00] [-6.81243941e-03 -3.93509237e-04 9.99976718e-01 -1.32921140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:-4.95, Z:-1.33 [[ 9.90201620e-01 1.39479511e-01 6.79831787e-03 1.76995458e+02] [-1.39478744e-01 9.90224890e-01 -5.89111967e-04 -4.94856914e+00] [-6.81403262e-03 -3.64881215e-04 9.99976718e-01 -1.33135516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.06, Y:-4.96, Z:-1.33 [[ 9.90488909e-01 1.37424542e-01 6.79828450e-03 1.77058347e+02] [-1.37423724e-01 9.90512177e-01 -5.89496856e-04 -4.95598535e+00] [-6.81479491e-03 -3.50355473e-04 9.99976718e-01 -1.33073090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.12, Y:-4.96, Z:-1.33 [[ 9.90844420e-01 1.34837381e-01 6.79817621e-03 1.77120478e+02] [-1.34836494e-01 9.90867686e-01 -5.90743074e-04 -4.96406726e+00] [-6.81574737e-03 -3.31307769e-04 9.99976718e-01 -1.33127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:-4.97, Z:-1.34 [[ 9.91613843e-01 1.29057242e-01 6.79806588e-03 1.77180839e+02] [-1.29056211e-01 9.91637103e-01 -5.92009935e-04 -4.97380871e+00] [-6.81761753e-03 -2.90287379e-04 9.99976718e-01 -1.33539205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:-4.98, Z:-1.33 [[ 9.91957033e-01 1.26392377e-01 6.79797684e-03 1.77243023e+02] [-1.26391276e-01 9.91980289e-01 -5.93030684e-04 -4.98273103e+00] [-6.81841358e-03 -2.70944008e-04 9.99976718e-01 -1.33465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:177.31, Y:-4.99, Z:-1.33 [[ 9.91929427e-01 1.26608849e-01 6.79787242e-03 1.77306325e+02] [-1.26607745e-01 9.91952683e-01 -5.94225229e-04 -4.98723128e+00] [-6.81840196e-03 -2.71233807e-04 9.99976718e-01 -1.33355799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.37, Y:-4.99, Z:-1.34 [[ 9.90732791e-01 1.35655175e-01 6.79776039e-03 1.77368079e+02] [-1.35654274e-01 9.90756056e-01 -5.95504037e-04 -4.98967180e+00] [-6.81570548e-03 -3.32159875e-04 9.99976718e-01 -1.33603827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.43, Y:-4.99, Z:-1.34 [[ 9.90330525e-01 1.38561330e-01 6.79765831e-03 1.77429266e+02] [-1.38560490e-01 9.90353793e-01 -5.96667019e-04 -4.99413572e+00] [-6.81476166e-03 -3.50989301e-04 9.99976718e-01 -1.33607608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:-5.00, Z:-1.33 [[ 9.90071246e-01 1.40402001e-01 6.79756460e-03 1.77491223e+02] [-1.40401197e-01 9.90094514e-01 -5.97732700e-04 -4.99597052e+00] [-6.81415428e-03 -3.62588247e-04 9.99976718e-01 -1.32842675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:-5.00, Z:-1.33 [[ 9.90246876e-01 1.39157891e-01 6.79746824e-03 1.77554372e+02] [-1.39157051e-01 9.90270143e-01 -5.98826544e-04 -5.00240767e+00] [-6.81466128e-03 -3.52929516e-04 9.99976718e-01 -1.32728440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.62, Y:-5.01, Z:-1.33 [[ 9.90601796e-01 1.36608477e-01 6.79741873e-03 1.77616168e+02] [-1.36607573e-01 9.90625061e-01 -5.99387959e-04 -5.01012516e+00] [-6.81557482e-03 -3.34824085e-04 9.99976718e-01 -1.32903880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.68, Y:-5.02, Z:-1.33 [[ 9.90736460e-01 1.35628404e-01 6.79731262e-03 1.77678243e+02] [-1.35627468e-01 9.90759723e-01 -6.00588854e-04 -5.02067653e+00] [-6.81596048e-03 -3.26877025e-04 9.99976718e-01 -1.32827051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:-5.03, Z:-1.33 [[ 9.90544574e-01 1.37022788e-01 6.79720222e-03 1.77740371e+02] [-1.37021876e-01 9.90567839e-01 -6.01835785e-04 -5.02982832e+00] [-6.81555513e-03 -3.35220231e-04 9.99976718e-01 -1.32986214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:-5.04, Z:-1.33 [[ 9.90190287e-01 1.39560005e-01 6.79708859e-03 1.77802825e+02] [-1.39559144e-01 9.90213554e-01 -6.03116346e-04 -5.03837051e+00] [-6.81474017e-03 -3.51395917e-04 9.99976718e-01 -1.33060658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:-5.05, Z:-1.33 [[ 9.89558988e-01 1.43968091e-01 6.79697414e-03 1.77863823e+02] [-1.43967325e-01 9.89582257e-01 -6.04403407e-04 -5.04958149e+00] [-6.81317982e-03 -3.80449364e-04 9.99976718e-01 -1.32894855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.93, Y:-5.06, Z:-1.33 [[ 9.89313425e-01 1.45645974e-01 6.79686812e-03 1.77926161e+02] [-1.45645239e-01 9.89336696e-01 -6.05593329e-04 -5.05806116e+00] [-6.81259328e-03 -3.90809874e-04 9.99976718e-01 -1.33343271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:-5.07, Z:-1.34 [[ 9.88945285e-01 1.48125040e-01 6.79675732e-03 1.77988896e+02] [-1.48124355e-01 9.88968557e-01 -6.06834344e-04 -5.06683680e+00] [-6.81166664e-03 -4.06639330e-04 9.99976718e-01 -1.33570205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:-5.07, Z:-1.34 [[ 9.87924560e-01 1.54786527e-01 6.79664643e-03 1.78051433e+02] [-1.54785991e-01 9.87947836e-01 -6.08073773e-04 -5.07176294e+00] [-6.80885377e-03 -4.51294638e-04 9.99976718e-01 -1.33504409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.11, Y:-5.07, Z:-1.34 [[ 9.87107857e-01 1.59912122e-01 6.79653272e-03 1.78114663e+02] [-1.59911697e-01 9.87131135e-01 -6.09342097e-04 -5.07384559e+00] [-6.80651025e-03 -4.85358711e-04 9.99976718e-01 -1.33730171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:-5.07, Z:-1.34 [[ 9.86488632e-01 1.63688694e-01 6.79641877e-03 1.78176643e+02] [-1.63688350e-01 9.86511911e-01 -6.10610400e-04 -5.07450552e+00] [-6.80469809e-03 -5.10134357e-04 9.99976718e-01 -1.33824211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-5.08, Z:-1.34 [[ 9.86746595e-01 1.62126392e-01 6.79631307e-03 1.78238227e+02] [-1.62126003e-01 9.86769874e-01 -6.11784702e-04 -5.07872461e+00] [-6.80558344e-03 -4.98182601e-04 9.99976718e-01 -1.34017121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.30, Y:-5.08, Z:-1.34 [[ 9.87424939e-01 1.57942400e-01 6.79620943e-03 1.78301098e+02] [-1.57941905e-01 9.87448216e-01 -6.12933880e-04 -5.08274345e+00] [-6.80771312e-03 -4.68180064e-04 9.99976718e-01 -1.34055412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.36, Y:-5.08, Z:-1.34 [[ 9.88579317e-01 1.50548157e-01 6.79609916e-03 1.78363858e+02] [-1.50547479e-01 9.88602589e-01 -6.14154084e-04 -5.08499383e+00] [-6.81110099e-03 -4.15995573e-04 9.99976718e-01 -1.34096364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:-5.09, Z:-1.34 [[ 9.89389836e-01 1.45126036e-01 6.79598603e-03 1.78427105e+02] [-1.45125222e-01 9.89413104e-01 -6.15403382e-04 -5.08950288e+00] [-6.81334869e-03 -3.77395129e-04 9.99976718e-01 -1.34097589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:-5.10, Z:-1.34 [[ 9.90133936e-01 1.39959295e-01 6.79587182e-03 1.78490005e+02] [-1.39958351e-01 9.90157200e-01 -6.16661994e-04 -5.09590247e+00] [-6.81528899e-03 -3.40561045e-04 9.99976718e-01 -1.34163126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:-5.11, Z:-1.34 [[ 9.91122865e-01 1.32775317e-01 6.79575760e-03 1.78552195e+02] [-1.32774195e-01 9.91146120e-01 -6.17918159e-04 -5.10615606e+00] [-6.81763306e-03 -2.89868430e-04 9.99976718e-01 -1.34056599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.61, Y:-5.11, Z:-1.34 [[ 9.91267589e-01 1.31690495e-01 6.79564423e-03 1.78614712e+02] [-1.31689340e-01 9.91290842e-01 -6.19162425e-04 -5.11427669e+00] [-6.81799770e-03 -2.81158259e-04 9.99976718e-01 -1.34080857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-5.12, Z:-1.34 [[ 9.90937776e-01 1.34149713e-01 6.79552897e-03 1.78676101e+02] [-1.34148606e-01 9.90961032e-01 -6.20424937e-04 -5.12134080e+00] [-6.81733422e-03 -2.96808234e-04 9.99976718e-01 -1.33611316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:-5.13, Z:-1.34 [[ 9.90390926e-01 1.38129057e-01 6.79542895e-03 1.78738432e+02] [-1.38128037e-01 9.90414186e-01 -6.21518453e-04 -5.12660124e+00] [-6.81613899e-03 -3.23093023e-04 9.99976718e-01 -1.34043095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-5.13, Z:-1.34 [[ 9.89562843e-01 1.43941664e-01 6.79532900e-03 1.78800853e+02] [-1.43940772e-01 9.89586109e-01 -6.22609398e-04 -5.13065085e+00] [-6.81418261e-03 -3.62013779e-04 9.99976718e-01 -1.34453056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-5.14, Z:-1.35 [[ 9.89430240e-01 1.44850357e-01 6.79522430e-03 1.78862475e+02] [-1.44849480e-01 9.89453505e-01 -6.23749955e-04 -5.13598115e+00] [-6.81390891e-03 -3.67127637e-04 9.99976718e-01 -1.34731366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.92, Y:-5.14, Z:-1.35 [[ 9.89652726e-01 1.43322393e-01 6.79515003e-03 1.78923829e+02] [-1.43321474e-01 9.89675990e-01 -6.24558025e-04 -5.13997191e+00] [-6.81450999e-03 -3.55795368e-04 9.99976718e-01 -1.34960096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.99, Y:-5.15, Z:-1.35 [[ 9.90088770e-01 1.40278490e-01 6.79505719e-03 1.78986317e+02] [-1.40277493e-01 9.90112031e-01 -6.25566492e-04 -5.14594045e+00] [-6.81562140e-03 -3.33827227e-04 9.99976718e-01 -1.35023459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:-5.15, Z:-1.35 [[ 9.90228022e-01 1.39292114e-01 6.79494244e-03 1.79048541e+02] [-1.39291085e-01 9.90251282e-01 -6.26810429e-04 -5.15331930e+00] [-6.81601021e-03 -3.25789651e-04 9.99976718e-01 -1.34877306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-5.16, Z:-1.35 [[ 9.90273702e-01 1.38966994e-01 6.79482035e-03 1.79110074e+02] [-1.38965948e-01 9.90296961e-01 -6.28131177e-04 -5.16158920e+00] [-6.81617944e-03 -3.22226865e-04 9.99976718e-01 -1.34936977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:-5.17, Z:-1.35 [[ 9.90364961e-01 1.38315132e-01 6.79470637e-03 1.79171701e+02] [-1.38314062e-01 9.90388219e-01 -6.29361672e-04 -5.17319203e+00] [-6.81644739e-03 -3.16505694e-04 9.99976718e-01 -1.34688106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:-5.19, Z:-1.35 [[ 9.90523194e-01 1.37177387e-01 6.79460494e-03 1.79232295e+02] [-1.37176283e-01 9.90546450e-01 -6.30454896e-04 -5.19062016e+00] [-6.81685595e-03 -3.07578455e-04 9.99976718e-01 -1.34822568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:179.29, Y:-5.20, Z:-1.35 [[ 9.90577427e-01 1.36785219e-01 6.79450187e-03 1.79292886e+02] [-1.36784098e-01 9.90600682e-01 -6.31563680e-04 -5.20082370e+00] [-6.81702677e-03 -3.03767087e-04 9.99976718e-01 -1.35180950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:-5.22, Z:-1.35 [[ 9.90600355e-01 1.36619082e-01 6.79440708e-03 1.79353706e+02] [-1.36617951e-01 9.90623609e-01 -6.32581818e-04 -5.21748546e+00] [-6.81712281e-03 -3.01602199e-04 9.99976718e-01 -1.35222775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:-5.24, Z:-1.35 [[ 9.90381121e-01 1.38199394e-01 6.79429854e-03 1.79413323e+02] [-1.38198291e-01 9.90404377e-01 -6.33745492e-04 -5.23729458e+00] [-6.81668625e-03 -3.11310876e-04 9.99976718e-01 -1.35122689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:-5.25, Z:-1.35 [[ 9.89878780e-01 1.41752741e-01 6.79419874e-03 1.79473689e+02] [-1.41751715e-01 9.89902040e-01 -6.34813597e-04 -5.25067967e+00] [-6.81557776e-03 -3.34700814e-04 9.99976718e-01 -1.35064700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:-5.26, Z:-1.35 [[ 9.89266002e-01 1.45967861e-01 6.79410429e-03 1.79534397e+02] [-1.45966927e-01 9.89289266e-01 -6.35822802e-04 -5.26414218e+00] [-6.81414414e-03 -3.62716644e-04 9.99976718e-01 -1.35152614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:-5.28, Z:-1.35 [[ 9.88568320e-01 1.50620445e-01 6.79399727e-03 1.79595502e+02] [-1.50619612e-01 9.88591587e-01 -6.36964380e-04 -5.27767572e+00] [-6.81242840e-03 -3.93626428e-04 9.99976718e-01 -1.35330793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:-5.29, Z:-1.35 [[ 9.88334612e-01 1.52146437e-01 6.79389421e-03 1.79658079e+02] [-1.52145633e-01 9.88357880e-01 -6.38061663e-04 -5.28907528e+00] [-6.81187769e-03 -4.03042909e-04 9.99976718e-01 -1.35388509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:179.72, Y:-5.30, Z:-1.35 [[ 9.88340222e-01 1.52109992e-01 6.79377528e-03 1.79719248e+02] [-1.52109179e-01 9.88363490e-01 -6.39325475e-04 -5.30010760e+00] [-6.81196724e-03 -4.01524495e-04 9.99976718e-01 -1.35437118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:-5.32, Z:-1.35 [[ 9.88513656e-01 1.50978800e-01 6.79367119e-03 1.79780071e+02] [-1.50977953e-01 9.88536923e-01 -6.40429696e-04 -5.31507703e+00] [-6.81248612e-03 -3.92621066e-04 9.99976718e-01 -1.35341658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:-5.32, Z:-1.35 [[ 9.88627187e-01 1.50233591e-01 6.79356692e-03 1.79840895e+02] [-1.50232718e-01 9.88650453e-01 -6.41533901e-04 -5.32492735e+00] [-6.81284295e-03 -3.86378165e-04 9.99976718e-01 -1.35426710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.90, Y:-5.33, Z:-1.36 [[ 9.88728324e-01 1.49566541e-01 6.79345588e-03 1.79902688e+02] [-1.49565644e-01 9.88751589e-01 -6.42707528e-04 -5.33357161e+00] [-6.81316784e-03 -3.80604468e-04 9.99976718e-01 -1.35806382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:-5.34, Z:-1.36 [[ 9.89085317e-01 1.47187250e-01 6.79335222e-03 1.79965357e+02] [-1.47186290e-01 9.89108579e-01 -6.43801352e-04 -5.34228218e+00] [-6.81412231e-03 -3.63113847e-04 9.99976718e-01 -1.35947159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.03, Y:-5.35, Z:-1.36 [[ 9.89399523e-01 1.45060114e-01 6.79323441e-03 1.80027407e+02] [-1.45059096e-01 9.89422783e-01 -6.45042121e-04 -5.35034412e+00] [-6.81495077e-03 -3.47216074e-04 9.99976718e-01 -1.35920384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:-5.35, Z:-1.36 [[ 9.89589367e-01 1.43759310e-01 6.79311570e-03 1.80089352e+02] [-1.43758252e-01 9.89612625e-01 -6.46289796e-04 -5.35484387e+00] [-6.81546324e-03 -3.37004929e-04 9.99976718e-01 -1.35897984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.15, Y:-5.36, Z:-1.36 [[ 9.89665634e-01 1.43233335e-01 6.79300926e-03 1.80152182e+02] [-1.43232257e-01 9.89688891e-01 -6.47406623e-04 -5.35954069e+00] [-6.81569602e-03 -3.32261964e-04 9.99976718e-01 -1.35954058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:-5.36, Z:-1.36 [[ 9.89965576e-01 1.41145367e-01 6.79288718e-03 1.80213053e+02] [-1.41144232e-01 9.89988831e-01 -6.48685032e-04 -5.36428770e+00] [-6.81644133e-03 -3.16600993e-04 9.99976718e-01 -1.35742881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.28, Y:-5.37, Z:-1.36 [[ 9.90356467e-01 1.38376033e-01 6.79282968e-03 1.80275502e+02] [-1.38374828e-01 9.90379718e-01 -6.49286585e-04 -5.37075685e+00] [-6.81732645e-03 -2.96931473e-04 9.99976718e-01 -1.35556188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:-5.38, Z:-1.35 [[ 9.91183532e-01 1.32321821e-01 6.79270904e-03 1.80336274e+02] [-1.32320465e-01 9.91206775e-01 -6.50546257e-04 -5.37691439e+00] [-6.81906069e-03 -2.54003684e-04 9.99976718e-01 -1.35465003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:-5.38, Z:-1.35 [[ 9.92330402e-01 1.23427036e-01 6.79265152e-03 1.80398181e+02] [-1.23425468e-01 9.92353631e-01 -6.51146286e-04 -5.38462442e+00] [-6.82108146e-03 -1.92233936e-04 9.99976718e-01 -1.35097766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:-5.39, Z:-1.35 [[ 9.92736793e-01 1.20114619e-01 6.79254728e-03 1.80459760e+02] [-1.20112966e-01 9.92760016e-01 -6.52231870e-04 -5.39035063e+00] [-6.82171194e-03 -1.68378426e-04 9.99976718e-01 -1.35205807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.52, Y:-5.39, Z:-1.36 [[ 9.92808391e-01 1.19521385e-01 6.79247307e-03 1.80522222e+02] [-1.19519713e-01 9.92831613e-01 -6.53003853e-04 -5.39391251e+00] [-6.82182992e-03 -1.63526730e-04 9.99976718e-01 -1.35535931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:-5.40, Z:-1.35 [[ 9.93222549e-01 1.16029446e-01 6.79235474e-03 1.80585547e+02] [-1.16027684e-01 9.93245764e-01 -6.54232326e-04 -5.39736268e+00] [-6.82238779e-03 -1.38302891e-04 9.99976718e-01 -1.35431585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:-5.40, Z:-1.36 [[ 9.94031740e-01 1.08879593e-01 6.79223275e-03 1.80646668e+02] [-1.08877655e-01 9.94054941e-01 -6.55496468e-04 -5.40155482e+00] [-6.82322271e-03 -8.79380818e-05 9.99976718e-01 -1.35707463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:-5.41, Z:-1.36 [[ 9.95221822e-01 9.74032380e-02 6.79217337e-03 1.80708923e+02] [-9.74010286e-02 9.95245000e-01 -6.56111129e-04 -5.40835927e+00] [-6.82378393e-03 -8.58855932e-06 9.99976718e-01 -1.36275680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:-5.42, Z:-1.36 [[ 9.96687427e-01 8.10434379e-02 6.79213485e-03 1.80769209e+02] [-8.10408454e-02 9.96710565e-01 -6.56509700e-04 -5.42314009e+00] [-6.82299836e-03 1.03894614e-04 9.99976718e-01 -1.36328770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-5.44, Z:-1.36 [[ 9.97117283e-01 7.55711129e-02 6.79203464e-03 1.80831617e+02] [-7.55683864e-02 9.97140405e-01 -6.57544802e-04 -5.43546608e+00] [-6.82230356e-03 1.42386188e-04 9.99976718e-01 -1.36347534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:-5.45, Z:-1.37 [[ 9.97131511e-01 7.53831484e-02 6.79190845e-03 1.80891616e+02] [-7.53804086e-02 9.97154632e-01 -6.58845666e-04 -5.44633920e+00] [-6.82224883e-03 1.44978940e-04 9.99976718e-01 -1.36889899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:-5.46, Z:-1.38 [[ 9.96937317e-01 7.79092889e-02 6.79180671e-03 1.80952608e+02] [-7.79066006e-02 9.96960444e-01 -6.59892779e-04 -5.45762103e+00] [-6.82257441e-03 1.28745164e-04 9.99976718e-01 -1.37570676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-5.47, Z:-1.38 [[ 9.96746137e-01 8.03181932e-02 6.79169986e-03 1.81013192e+02] [-8.03155532e-02 9.96769269e-01 -6.60990676e-04 -5.46563221e+00] [-6.82284728e-03 1.13360771e-04 9.99976718e-01 -1.37720269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:-5.47, Z:-1.37 [[ 9.96565883e-01 8.25246273e-02 6.79160134e-03 1.81073836e+02] [-8.25220318e-02 9.96589021e-01 -6.62001410e-04 -5.47264987e+00] [-6.82306675e-03 9.92712791e-05 9.99976718e-01 -1.37259774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:-5.48, Z:-1.37 [[ 9.96260934e-01 8.61279671e-02 6.79151002e-03 1.81135256e+02] [-8.61254488e-02 9.96284080e-01 -6.62936980e-04 -5.47950936e+00] [-6.82337072e-03 7.55363673e-05 9.99976718e-01 -1.36793897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:-5.49, Z:-1.37 [[ 9.95985853e-01 8.92527714e-02 6.79140048e-03 1.81198041e+02] [-8.92503181e-02 9.96009006e-01 -6.64057230e-04 -5.48769969e+00] [-6.82356499e-03 5.52569537e-05 9.99976718e-01 -1.36796734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:181.26, Y:-5.49, Z:-1.37 [[ 9.95866317e-01 9.05768074e-02 6.79127119e-03 1.81259249e+02] [-9.05743759e-02 9.95889472e-01 -6.65376838e-04 -5.49436127e+00] [-6.82362319e-03 4.75112317e-05 9.99976718e-01 -1.36919511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.32, Y:-5.50, Z:-1.37 [[ 9.95157899e-01 9.80542524e-02 6.79116760e-03 1.81321430e+02] [-9.80519877e-02 9.95181071e-01 -6.66432461e-04 -5.50154885e+00] [-6.82378798e-03 -2.68195398e-06 9.99976718e-01 -1.37113265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.38, Y:-5.51, Z:-1.37 [[ 9.94559241e-01 1.03950942e-01 6.79105618e-03 1.81383509e+02] [-1.03948807e-01 9.94582425e-01 -6.67565917e-04 -5.50598585e+00] [-6.82365923e-03 -4.19883352e-05 9.99976718e-01 -1.36766142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.44, Y:-5.51, Z:-1.37 [[ 9.94240125e-01 1.06960076e-01 6.79094528e-03 1.81444673e+02] [-1.06958003e-01 9.94263314e-01 -6.68692174e-04 -5.51154403e+00] [-6.82351113e-03 -6.15053551e-05 9.99976718e-01 -1.36555701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:-5.52, Z:-1.36 [[ 9.94430022e-01 1.05179924e-01 6.79084347e-03 1.81506902e+02] [-1.05177803e-01 9.94453207e-01 -6.69724464e-04 -5.51785020e+00] [-6.82361764e-03 -4.82518811e-05 9.99976718e-01 -1.36315326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:-5.52, Z:-1.37 [[ 9.94927047e-01 1.00369602e-01 6.79073708e-03 1.81569229e+02] [-1.00367361e-01 9.94950221e-01 -6.70801462e-04 -5.52365550e+00] [-6.82377344e-03 -1.41698447e-05 9.99976718e-01 -1.36534451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:-5.53, Z:-1.37 [[ 9.95434505e-01 9.52052222e-02 6.79061547e-03 1.81631363e+02] [-9.52028530e-02 9.95457666e-01 -6.72030356e-04 -5.53075990e+00] [-6.82375102e-03 2.24762386e-05 9.99976718e-01 -1.36788581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:-5.54, Z:-1.37 [[ 9.96101618e-01 8.79514407e-02 6.79050819e-03 1.81693819e+02] [-8.79488954e-02 9.96124761e-01 -6.73112626e-04 -5.53757844e+00] [-6.82339457e-03 7.32708820e-05 9.99976718e-01 -1.36644825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:-5.54, Z:-1.36 [[ 9.96550665e-01 8.27083051e-02 6.79037974e-03 1.81755348e+02] [-8.27056293e-02 9.96573793e-01 -6.74405884e-04 -5.54208240e+00] [-6.82289346e-03 1.10477002e-04 9.99976718e-01 -1.36419672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:-5.55, Z:-1.37 [[ 9.96902782e-01 7.83500725e-02 6.79031733e-03 1.81816670e+02] [-7.83472913e-02 9.96925898e-01 -6.75033759e-04 -5.54870244e+00] [-6.82233214e-03 1.40940063e-04 9.99976718e-01 -1.36864898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:-5.55, Z:-1.37 [[ 9.96982273e-01 7.73320161e-02 6.79020407e-03 1.81879899e+02] [-7.73292036e-02 9.97005385e-01 -6.76171045e-04 -5.55362318e+00] [-6.82215969e-03 1.49049472e-04 9.99976718e-01 -1.36918885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-5.56, Z:-1.37 [[ 9.96933927e-01 7.79528013e-02 6.79007450e-03 1.81942375e+02] [-7.79499943e-02 9.96957040e-01 -6.77469716e-04 -5.55753206e+00] [-6.82222324e-03 1.46106276e-04 9.99976718e-01 -1.36503469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:-5.56, Z:-1.37 [[ 9.96895561e-01 7.84419315e-02 6.78995615e-03 1.82003784e+02] [-7.84391278e-02 9.96918674e-01 -6.78653858e-04 -5.56240445e+00] [-6.82226900e-03 1.43948781e-04 9.99976718e-01 -1.36906777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.07, Y:-5.57, Z:-1.37 [[ 9.97085087e-01 7.59949139e-02 6.78983904e-03 1.82065143e+02] [-7.59920455e-02 9.97108192e-01 -6.79823508e-04 -5.56735148e+00] [-6.82186726e-03 1.61868125e-04 9.99976718e-01 -1.37085576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:-5.57, Z:-1.37 [[ 9.97309360e-01 7.29927388e-02 6.78971619e-03 1.82126584e+02] [-7.29897925e-02 9.97332455e-01 -6.81048214e-04 -5.57257842e+00] [-6.82131589e-03 1.83635783e-04 9.99976718e-01 -1.36891738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.19, Y:-5.58, Z:-1.37 [[ 9.97755851e-01 6.66120314e-02 6.78965385e-03 1.82187535e+02] [-6.66089333e-02 9.97778926e-01 -6.81669200e-04 -5.58091575e+00] [-6.81998089e-03 2.27887833e-04 9.99976718e-01 -1.36974127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.25, Y:-5.59, Z:-1.37 [[ 9.98049625e-01 6.20552069e-02 6.78954866e-03 1.82249425e+02] [-6.20519963e-02 9.98072685e-01 -6.82715312e-04 -5.58730060e+00] [-6.81882909e-03 2.60078712e-04 9.99976718e-01 -1.37350018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:-5.59, Z:-1.37 [[ 9.98060267e-01 6.18838249e-02 6.78943731e-03 1.82312543e+02] [-6.18806028e-02 9.98083325e-01 -6.83820806e-04 -5.59142148e+00] [-6.81874161e-03 2.62359902e-04 9.99976718e-01 -1.37268813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:-5.60, Z:-1.37 [[ 9.97860805e-01 6.50209094e-02 6.78930744e-03 1.82373360e+02] [-6.50177511e-02 9.97883872e-01 -6.85107793e-04 -5.59695548e+00] [-6.81948673e-03 2.42216712e-04 9.99976718e-01 -1.36955500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:-5.60, Z:-1.37 [[ 9.97846917e-01 6.52337148e-02 6.78920322e-03 1.82435370e+02] [-6.52305544e-02 9.97869984e-01 -6.86139055e-04 -5.60127377e+00] [-6.81950150e-03 2.41798250e-04 9.99976718e-01 -1.36673611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.50, Y:-5.61, Z:-1.37 [[ 9.98021838e-01 6.25005532e-02 6.78909235e-03 1.82495748e+02] [-6.24973222e-02 9.98044895e-01 -6.87234277e-04 -5.60784707e+00] [-6.81877149e-03 2.61574724e-04 9.99976718e-01 -1.37102537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.56, Y:-5.61, Z:-1.38 [[ 9.98429161e-01 5.56158294e-02 6.78899045e-03 1.82557040e+02] [-5.56124326e-02 9.98452194e-01 -6.88239485e-04 -5.61483843e+00] [-6.81675942e-03 3.09606097e-04 9.99976718e-01 -1.37557714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.62, Y:-5.62, Z:-1.37 [[ 9.98541071e-01 5.35690339e-02 6.78887492e-03 1.82619127e+02] [-5.35655822e-02 9.98564096e-01 -6.89377238e-04 -5.62297017e+00] [-6.81605601e-03 3.24721448e-04 9.99976718e-01 -1.37296308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:-5.63, Z:-1.37 [[ 9.98433499e-01 5.55379149e-02 6.78875990e-03 1.82680440e+02] [-5.55345009e-02 9.98456530e-01 -6.90508080e-04 -5.62971251e+00] [-6.81663103e-03 3.12416006e-04 9.99976718e-01 -1.37147389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:-5.63, Z:-1.38 [[ 9.98166664e-01 6.01433741e-02 6.78863743e-03 1.82742634e+02] [-6.01400583e-02 9.98189709e-01 -6.91709984e-04 -5.63340408e+00] [-6.81794979e-03 2.82172796e-04 9.99976718e-01 -1.37722057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:-5.64, Z:-1.38 [[ 9.98122480e-01 6.08722571e-02 6.78852519e-03 1.82805813e+02] [-6.08689506e-02 9.98145526e-01 -6.92809795e-04 -5.63704332e+00] [-6.81810894e-03 2.78298626e-04 9.99976718e-01 -1.37628325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-5.64, Z:-1.38 [[ 9.98413089e-01 5.59036726e-02 6.78839764e-03 1.82869309e+02] [-5.59002430e-02 9.98436118e-01 -6.94057296e-04 -5.63972357e+00] [-6.81658174e-03 3.13482812e-04 9.99976718e-01 -1.37759971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:-5.65, Z:-1.38 [[ 9.98658152e-01 5.13401860e-02 6.78826561e-03 1.82931372e+02] [-5.13366424e-02 9.98681163e-01 -6.95346205e-04 -5.64576677e+00] [-6.81501220e-03 3.45926391e-04 9.99976718e-01 -1.37910280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:-5.65, Z:-1.38 [[ 9.98799537e-01 4.85119134e-02 6.78814313e-03 1.82992500e+02] [-4.85082966e-02 9.98822537e-01 -6.96539921e-04 -5.65226201e+00] [-6.81394082e-03 3.66422490e-04 9.99976718e-01 -1.37865743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:-5.66, Z:-1.38 [[ 9.98938786e-01 4.55546288e-02 6.78803185e-03 1.83054283e+02] [-4.55509365e-02 9.98961774e-01 -6.97622676e-04 -5.65892889e+00] [-6.81276428e-03 3.87681142e-04 9.99976718e-01 -1.37722084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:-5.67, Z:-1.38 [[ 9.99061204e-01 4.27859203e-02 6.78791888e-03 1.83116027e+02] [-4.27821570e-02 9.99084180e-01 -6.98720122e-04 -5.66895862e+00] [-6.81159775e-03 4.07662356e-04 9.99976718e-01 -1.37938987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:-5.68, Z:-1.38 [[ 9.99063102e-01 4.27415975e-02 6.78780704e-03 1.83176841e+02] [-4.27378259e-02 9.99086077e-01 -6.99804949e-04 -5.67877203e+00] [-6.81151428e-03 4.09053188e-04 9.99976718e-01 -1.37524997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:-5.69, Z:-1.37 [[ 9.98960520e-01 4.50755668e-02 6.78770384e-03 1.83239776e+02] [-4.50718420e-02 9.98983502e-01 -7.00804478e-04 -5.68559037e+00] [-6.81239331e-03 3.94141691e-04 9.99976718e-01 -1.37362486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:-5.69, Z:-1.37 [[ 9.98650841e-01 5.14823037e-02 6.78757183e-03 1.83302435e+02] [-5.14787177e-02 9.98673845e-01 -7.02080740e-04 -5.69220439e+00] [-6.81471519e-03 3.51718027e-04 9.99976718e-01 -1.37372292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:-5.70, Z:-1.37 [[ 9.98261749e-01 5.85441040e-02 6.78744031e-03 1.83364520e+02] [-5.85406723e-02 9.98284777e-01 -7.03349930e-04 -5.69611716e+00] [-6.81697532e-03 3.04786013e-04 9.99976718e-01 -1.36863158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:183.43, Y:-5.70, Z:-1.37 [[ 9.98212499e-01 5.93779315e-02 6.78739879e-03 1.83425355e+02] [-5.93745163e-02 9.98235529e-01 -7.03750378e-04 -5.69858112e+00] [-6.81720986e-03 2.99493903e-04 9.99976718e-01 -1.37474191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.49, Y:-5.70, Z:-1.38 [[ 9.98373716e-01 5.66026149e-02 6.78729078e-03 1.83488433e+02] [-5.65991286e-02 9.98396736e-01 -7.04790490e-04 -5.70294475e+00] [-6.81630195e-03 3.19489557e-04 9.99976718e-01 -1.37627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.55, Y:-5.71, Z:-1.38 [[ 9.98523383e-01 5.38979377e-02 6.78716014e-03 1.83550917e+02] [-5.38943805e-02 9.98546392e-01 -7.06046378e-04 -5.70805103e+00] [-6.81534871e-03 3.39214027e-04 9.99976718e-01 -1.37848732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:-5.71, Z:-1.38 [[ 9.98698226e-01 5.05548026e-02 6.78709608e-03 1.83613587e+02] [-5.05511642e-02 9.98721223e-01 -7.06661610e-04 -5.71312812e+00] [-6.81414203e-03 3.62646088e-04 9.99976718e-01 -1.37902111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:-5.72, Z:-1.38 [[ 9.99039750e-01 4.32841147e-02 6.78695955e-03 1.83674951e+02] [-4.32803002e-02 9.99062718e-01 -7.07970443e-04 -5.71938345e+00] [-6.81124213e-03 4.13548967e-04 9.99976718e-01 -1.37641518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-5.73, Z:-1.38 [[ 9.99256191e-01 3.79605567e-02 6.78684899e-03 1.83736983e+02] [-3.79566128e-02 9.99279137e-01 -7.09028744e-04 -5.72801091e+00] [-6.80887173e-03 4.50895563e-04 9.99976718e-01 -1.38063329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.80, Y:-5.74, Z:-1.38 [[ 9.99409208e-01 3.36923422e-02 6.78680670e-03 1.83799642e+02] [-3.36882976e-02 9.99432136e-01 -7.09433308e-04 -5.73842347e+00] [-6.80685519e-03 4.80378217e-04 9.99976718e-01 -1.38118315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.86, Y:-5.75, Z:-1.38 [[ 9.99441779e-01 3.27119393e-02 6.78667149e-03 1.83860890e+02] [-3.27078634e-02 9.99464702e-01 -7.10724470e-04 -5.74946349e+00] [-6.80628777e-03 4.88350205e-04 9.99976718e-01 -1.38189907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:-5.76, Z:-1.38 [[ 9.99280400e-01 3.73178995e-02 6.78655209e-03 1.83921820e+02] [-3.73139216e-02 9.99303340e-01 -7.11862702e-04 -5.75876008e+00] [-6.80838939e-03 4.58117572e-04 9.99976718e-01 -1.38294956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.98, Y:-5.77, Z:-1.38 [[ 9.99018207e-01 4.37785974e-02 6.78642497e-03 1.83983708e+02] [-4.37747598e-02 9.99041171e-01 -7.13072560e-04 -5.76601458e+00] [-6.81113527e-03 4.15298347e-04 9.99976718e-01 -1.38104362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-5.77, Z:-1.38 [[ 9.98615687e-01 5.21599016e-02 6.78630611e-03 1.84046422e+02] [-5.21562491e-02 9.98638681e-01 -7.14201966e-04 -5.77235424e+00] [-6.81432049e-03 3.59265016e-04 9.99976718e-01 -1.38116584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.11, Y:-5.78, Z:-1.39 [[ 9.98554496e-01 5.33185367e-02 6.78616884e-03 1.84107424e+02] [-5.33149021e-02 9.98577493e-01 -7.15503894e-04 -5.77798291e+00] [-6.81466509e-03 3.52665703e-04 9.99976718e-01 -1.38573254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:-5.78, Z:-1.39 [[ 9.98594226e-01 5.25692051e-02 6.78605812e-03 1.84169382e+02] [-5.25655461e-02 9.98617219e-01 -7.16552463e-04 -5.78368305e+00] [-6.81434308e-03 3.58832301e-04 9.99976718e-01 -1.38648418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.23, Y:-5.79, Z:-1.38 [[ 9.98589011e-01 5.26681803e-02 6.78593548e-03 1.84230321e+02] [-5.26645158e-02 9.98612004e-01 -7.17711992e-04 -5.79127356e+00] [-6.81431721e-03 3.59321303e-04 9.99976718e-01 -1.38384248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:184.29, Y:-5.80, Z:-1.38 [[ 9.98474789e-01 5.47909391e-02 6.78586981e-03 1.84293109e+02] [-5.47873192e-02 9.98497789e-01 -7.18332401e-04 -5.79600350e+00] [-6.81503410e-03 3.45457177e-04 9.99976718e-01 -1.38317936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:-5.80, Z:-1.39 [[ 9.98273551e-01 5.83427036e-02 6.78573227e-03 1.84354148e+02] [-5.83391567e-02 9.98296562e-01 -7.19629275e-04 -5.80205907e+00] [-6.81615831e-03 3.22512973e-04 9.99976718e-01 -1.38644088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.42, Y:-5.81, Z:-1.38 [[ 9.97965075e-01 6.34008288e-02 6.78562165e-03 1.84417375e+02] [-6.33973916e-02 9.97988102e-01 -7.20670862e-04 -5.80622435e+00] [-6.81766080e-03 2.89013638e-04 9.99976718e-01 -1.38497544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.48, Y:-5.81, Z:-1.39 [[ 9.97953940e-01 6.35758747e-02 6.78548190e-03 1.84478211e+02] [-6.35724325e-02 9.97976966e-01 -7.21984248e-04 -5.81260183e+00] [-6.81765542e-03 2.89137434e-04 9.99976718e-01 -1.38519651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.54, Y:-5.82, Z:-1.38 [[ 9.98023669e-01 6.24717096e-02 6.78536910e-03 1.84541099e+02] [-6.24682348e-02 9.98046691e-01 -7.23042837e-04 -5.81993619e+00] [-6.81728490e-03 2.97743835e-04 9.99976718e-01 -1.38420687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:-5.82, Z:-1.38 [[ 9.97918474e-01 6.41301723e-02 6.78523235e-03 1.84602966e+02] [-6.41267271e-02 9.97941500e-01 -7.24323892e-04 -5.82276002e+00] [-6.81771597e-03 2.87701451e-04 9.99976718e-01 -1.38495256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:-5.82, Z:-1.38 [[ 9.97595676e-01 6.89697768e-02 6.78511370e-03 1.84665183e+02] [-6.89664358e-02 9.97618717e-01 -7.25433613e-04 -5.82481119e+00] [-6.81898942e-03 2.55744326e-04 9.99976718e-01 -1.38454141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:-5.82, Z:-1.38 [[ 9.96907574e-01 7.82895415e-02 6.78502933e-03 1.84726717e+02] [-7.82864106e-02 9.96930645e-01 -7.26221860e-04 -5.82426928e+00] [-6.82105925e-03 1.92800480e-04 9.99976718e-01 -1.38097499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:-5.82, Z:-1.38 [[ 9.96491364e-01 8.34201795e-02 6.78492063e-03 1.84788776e+02] [-8.34171605e-02 9.96514450e-01 -7.27236036e-04 -5.82445750e+00] [-6.82193761e-03 1.58705616e-04 9.99976718e-01 -1.37930630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.85, Y:-5.82, Z:-1.38 [[ 9.95939517e-01 8.97688373e-02 6.78480516e-03 1.84850316e+02] [-8.97659582e-02 9.95962621e-01 -7.28311783e-04 -5.82320361e+00] [-6.82279203e-03 1.16309950e-04 9.99976718e-01 -1.37513631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:184.91, Y:-5.82, Z:-1.38 [[ 9.95655424e-01 9.28668062e-02 6.78469912e-03 1.84913844e+02] [-9.28639922e-02 9.95678536e-01 -7.29298198e-04 -5.82441712e+00] [-6.82310689e-03 9.60754600e-05 9.99976718e-01 -1.37509545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:-5.82, Z:-1.38 [[ 9.95311031e-01 9.64879303e-02 6.78457002e-03 1.84977037e+02] [-9.64851922e-02 9.95334152e-01 -7.30497263e-04 -5.82393091e+00] [-6.82339842e-03 7.24614418e-05 9.99976718e-01 -1.37501729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:-5.82, Z:-1.37 [[ 9.94850109e-01 1.01129778e-01 6.78444243e-03 1.85039956e+02] [-1.01127139e-01 9.94873241e-01 -7.31680332e-04 -5.82115773e+00] [-6.82365490e-03 4.18210029e-05 9.99976718e-01 -1.37406406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:-5.82, Z:-1.38 [[ 9.94684439e-01 1.02746477e-01 6.78436331e-03 1.85101740e+02] [-1.02743871e-01 9.94707575e-01 -7.32413213e-04 -5.82208258e+00] [-6.82371046e-03 3.14682771e-05 9.99976718e-01 -1.37555066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:-5.83, Z:-1.38 [[ 9.94705747e-01 1.02539998e-01 6.78424603e-03 1.85164283e+02] [-1.02537381e-01 9.94728881e-01 -7.33497941e-04 -5.82682239e+00] [-6.82369835e-03 3.39758000e-05 9.99976718e-01 -1.37560660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.23, Y:-5.83, Z:-1.38 [[ 9.94820312e-01 1.01422500e-01 6.78412115e-03 1.85225893e+02] [-1.01419848e-01 9.94843442e-01 -7.34651187e-04 -5.82995542e+00] [-6.82364860e-03 4.28013845e-05 9.99976718e-01 -1.37799513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-5.84, Z:-1.38 [[ 9.94756915e-01 1.02042434e-01 6.78400480e-03 1.85287676e+02] [-1.02039789e-01 9.94780046e-01 -7.35724060e-04 -5.83535936e+00] [-6.82366768e-03 3.96281756e-05 9.99976718e-01 -1.38202227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:-5.84, Z:-1.38 [[ 9.94481737e-01 1.04690275e-01 6.78389677e-03 1.85350933e+02] [-1.04687686e-01 9.94504875e-01 -7.36718763e-04 -5.84088864e+00] [-6.82374570e-03 2.24629030e-05 9.99976718e-01 -1.38201850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:-5.84, Z:-1.38 [[ 9.93599627e-01 1.12755319e-01 6.78377380e-03 1.85414165e+02] [-1.12752910e-01 9.93622784e-01 -7.37849344e-04 -5.84297084e+00] [-6.82370865e-03 -3.17634023e-05 9.99976718e-01 -1.38057722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.48, Y:-5.85, Z:-1.38 [[ 9.93179299e-01 1.16399581e-01 6.78365053e-03 1.85476523e+02] [-1.16397249e-01 9.93202464e-01 -7.38981000e-04 -5.84917537e+00] [-6.82355550e-03 -5.56576249e-05 9.99976718e-01 -1.38038457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:-5.86, Z:-1.39 [[ 9.92989084e-01 1.18011283e-01 6.78352737e-03 1.85537934e+02] [-1.18008980e-01 9.93012252e-01 -7.40109744e-04 -5.85694544e+00] [-6.82346710e-03 -6.55962511e-05 9.99976718e-01 -1.38758003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:-5.87, Z:-1.39 [[ 9.92951623e-01 1.18326077e-01 6.78341991e-03 1.85599846e+02] [-1.18323775e-01 9.92974791e-01 -7.41093359e-04 -5.86520576e+00] [-6.82345564e-03 -6.67699958e-05 9.99976718e-01 -1.38917812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:-5.87, Z:-1.38 [[ 9.92696046e-01 1.20451432e-01 6.78331240e-03 1.85662187e+02] [-1.20449172e-01 9.92719218e-01 -7.42076180e-04 -5.87497610e+00] [-6.82330872e-03 -8.03882750e-05 9.99976718e-01 -1.38403297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:185.72, Y:-5.88, Z:-1.39 [[ 9.91860339e-01 1.27149741e-01 6.78316535e-03 1.85724172e+02] [-1.27147630e-01 9.91883525e-01 -7.43417865e-04 -5.88238191e+00] [-6.82263535e-03 -1.25096700e-04 9.99976718e-01 -1.38853846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.79, Y:-5.89, Z:-1.39 [[ 9.91356827e-01 1.31017677e-01 6.78302862e-03 1.85786711e+02] [-1.31015647e-01 9.91380021e-01 -7.44663305e-04 -5.89176199e+00] [-6.82212311e-03 -1.50455831e-04 9.99976718e-01 -1.38552032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:-5.90, Z:-1.38 [[ 9.91050515e-01 1.33314926e-01 6.78288511e-03 1.85849276e+02] [-1.33312941e-01 9.91073712e-01 -7.45968188e-04 -5.89958025e+00] [-6.82178782e-03 -1.64954209e-04 9.99976718e-01 -1.38478065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:-5.91, Z:-1.38 [[ 9.90918147e-01 1.34295276e-01 6.78274241e-03 1.85912212e+02] [-1.34293305e-01 9.90941345e-01 -7.47263525e-04 -5.90779599e+00] [-6.82165385e-03 -1.70399905e-04 9.99976718e-01 -1.38417512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.97, Y:-5.92, Z:-1.39 [[ 9.90926030e-01 1.34237099e-01 6.78259786e-03 1.85973605e+02] [-1.34235118e-01 9.90949228e-01 -7.48573165e-04 -5.91659311e+00] [-6.82169641e-03 -1.68682190e-04 9.99976718e-01 -1.38676391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:-5.92, Z:-1.38 [[ 9.91019215e-01 1.33547423e-01 6.78246336e-03 1.86036645e+02] [-1.33545417e-01 9.91042410e-01 -7.49789857e-04 -5.92367525e+00] [-6.82184134e-03 -1.62710745e-04 9.99976718e-01 -1.38343666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.10, Y:-5.93, Z:-1.38 [[ 9.91034503e-01 1.33433929e-01 6.78232239e-03 1.86098649e+02] [-1.33431912e-01 9.91057698e-01 -7.51062845e-04 -5.92986924e+00] [-6.82189008e-03 -1.60649048e-04 9.99976718e-01 -1.38317427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:-5.93, Z:-1.38 [[ 9.90903425e-01 1.34403886e-01 6.78219117e-03 1.86161957e+02] [-1.34401883e-01 9.90926621e-01 -7.52245977e-04 -5.93471420e+00] [-6.82175856e-03 -1.66136149e-04 9.99976718e-01 -1.38481222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.22, Y:-5.94, Z:-1.38 [[ 9.91006313e-01 1.33643152e-01 6.78204931e-03 1.86222527e+02] [-1.33641123e-01 9.91029506e-01 -7.53522767e-04 -5.93940933e+00] [-6.82191413e-03 -1.59614867e-04 9.99976718e-01 -1.37990195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:186.28, Y:-5.95, Z:-1.38 [[ 9.91552099e-01 1.29531617e-01 6.78198784e-03 1.86284846e+02] [-1.29529488e-01 9.91575284e-01 -7.54075597e-04 -5.94606764e+00] [-6.82252815e-03 -1.30762170e-04 9.99976718e-01 -1.38087953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.35, Y:-5.95, Z:-1.38 [[ 9.92202373e-01 1.24452635e-01 6.78184710e-03 1.86347048e+02] [-1.24450379e-01 9.92225545e-01 -7.55339229e-04 -5.95287479e+00] [-6.82312589e-03 -9.45540675e-05 9.99976718e-01 -1.38459348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:186.41, Y:-5.96, Z:-1.39 [[ 9.92634705e-01 1.20955984e-01 6.78172238e-03 1.86409160e+02] [-1.20953638e-01 9.92657869e-01 -7.56457377e-04 -5.95596325e+00] [-6.82342813e-03 -6.93881484e-05 9.99976718e-01 -1.38591822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:-5.96, Z:-1.39 [[ 9.92925797e-01 1.18542703e-01 6.78159807e-03 1.86472263e+02] [-1.18540294e-01 9.92948954e-01 -7.57570165e-04 -5.96107408e+00] [-6.82358512e-03 -5.16816660e-05 9.99976718e-01 -1.38614376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:-5.96, Z:-1.39 [[ 9.93595969e-01 1.12787689e-01 6.78145605e-03 1.86533120e+02] [-1.12785137e-01 9.93619111e-01 -7.58839370e-04 -5.96410096e+00] [-6.82377206e-03 -1.08677106e-05 9.99976718e-01 -1.38512638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:186.60, Y:-5.97, Z:-1.39 [[ 9.93736094e-01 1.11546350e-01 6.78134198e-03 1.86595044e+02] [-1.11543762e-01 9.93759232e-01 -7.59857343e-04 -5.96830547e+00] [-6.82378051e-03 -1.31872475e-06 9.99976718e-01 -1.38917848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:-5.97, Z:-1.39 [[ 9.93988923e-01 1.09270469e-01 6.78121985e-03 1.86657999e+02] [-1.09267820e-01 9.94012054e-01 -7.60945706e-04 -5.96945014e+00] [-6.82376317e-03 1.54024893e-05 9.99976718e-01 -1.38891141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:-5.97, Z:-1.39 [[ 9.94437805e-01 1.05106939e-01 6.78107539e-03 1.86720367e+02] [-1.05104185e-01 9.94460924e-01 -7.62230919e-04 -5.97096173e+00] [-6.82363025e-03 4.52718418e-05 9.99976718e-01 -1.39067794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:186.78, Y:-5.98, Z:-1.39 [[ 9.94885791e-01 1.00778383e-01 6.78094769e-03 1.86783069e+02] [-1.00775520e-01 9.94908896e-01 -7.63365268e-04 -5.97600339e+00] [-6.82335590e-03 7.61077277e-05 9.99976718e-01 -1.39129504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.84, Y:-5.98, Z:-1.39 [[ 9.95652168e-01 9.29019955e-02 6.78080104e-03 1.86844919e+02] [-9.28989415e-02 9.95675249e-01 -7.64665729e-04 -5.97875979e+00] [-6.82251473e-03 1.31411852e-04 9.99976718e-01 -1.38923591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:-5.98, Z:-1.39 [[ 9.96159623e-01 8.72927746e-02 6.78067252e-03 1.86907575e+02] [-8.72895828e-02 9.96182685e-01 -7.65803670e-04 -5.98425115e+00] [-6.82163768e-03 1.70980620e-04 9.99976718e-01 -1.39053796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:-5.99, Z:-1.39 [[ 9.96545851e-01 8.27670858e-02 6.78052613e-03 1.86968065e+02] [-8.27637805e-02 9.96568898e-01 -7.67097621e-04 -5.99014390e+00] [-6.82075189e-03 2.03265975e-04 9.99976718e-01 -1.39281565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.03, Y:-5.99, Z:-1.39 [[ 9.96840913e-01 7.91341887e-02 6.78040799e-03 1.87030625e+02] [-7.91307924e-02 9.96863946e-01 -7.68140435e-04 -5.99382553e+00] [-6.81993044e-03 2.29174755e-04 9.99976718e-01 -1.39202099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.09, Y:-6.00, Z:-1.39 [[ 9.96782896e-01 7.98616696e-02 6.78028161e-03 1.87092728e+02] [-7.98582826e-02 9.96805930e-01 -7.69254336e-04 -5.99833614e+00] [-6.82005886e-03 2.25317920e-04 9.99976718e-01 -1.39330587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:-6.00, Z:-1.39 [[ 9.96743590e-01 8.03507705e-02 6.78014791e-03 1.87155891e+02] [-8.03473867e-02 9.96766625e-01 -7.70431022e-04 -6.00409310e+00] [-6.82012987e-03 2.23155017e-04 9.99976718e-01 -1.39289936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:-6.01, Z:-1.39 [[ 9.96826122e-01 7.93203249e-02 6.77999859e-03 1.87218398e+02] [-7.93169084e-02 9.96849152e-01 -7.71742801e-04 -6.00685718e+00] [-6.81985074e-03 2.31524856e-04 9.99976718e-01 -1.39431048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:-6.01, Z:-1.39 [[ 9.96882594e-01 7.86074151e-02 6.77990655e-03 1.87278701e+02] [-7.86039767e-02 9.96905621e-01 -7.72550527e-04 -6.01423384e+00] [-6.81965516e-03 2.37214557e-04 9.99976718e-01 -1.39264336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:-6.02, Z:-1.40 [[ 9.96847673e-01 7.90490493e-02 6.77979131e-03 1.87341016e+02] [-7.90456142e-02 9.96870700e-01 -7.73560524e-04 -6.02000657e+00] [-6.81972454e-03 2.35209239e-04 9.99976718e-01 -1.39554110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:187.40, Y:-6.02, Z:-1.40 [[ 9.96976981e-01 7.74011297e-02 6.77966307e-03 1.87401955e+02] [-7.73976489e-02 9.97000002e-01 -7.74682879e-04 -6.02351783e+00] [-6.81928542e-03 2.47611016e-04 9.99976718e-01 -1.39835121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.46, Y:-6.03, Z:-1.39 [[ 9.97150945e-01 7.51267575e-02 6.77954433e-03 1.87463604e+02] [-7.51232171e-02 9.97173957e-01 -7.75720580e-04 -6.02811940e+00] [-6.81866242e-03 2.64209329e-04 9.99976718e-01 -1.39409247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:-6.03, Z:-1.40 [[ 9.97193250e-01 7.45631412e-02 6.77941604e-03 1.87525816e+02] [-7.45595802e-02 9.97216258e-01 -7.76840195e-04 -6.03351866e+00] [-6.81846754e-03 2.69189384e-04 9.99976718e-01 -1.39544991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.59, Y:-6.04, Z:-1.39 [[ 9.97257837e-01 7.36942905e-02 6.77927969e-03 1.87588263e+02] [-7.36907015e-02 9.97280841e-01 -7.78028282e-04 -6.03763109e+00] [-6.81818199e-03 2.76324926e-04 9.99976718e-01 -1.39495767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:-6.04, Z:-1.39 [[ 9.97410558e-01 7.15976463e-02 6.77914337e-03 1.87649255e+02] [-7.15940008e-02 9.97433553e-01 -7.79214228e-04 -6.03870090e+00] [-6.81753496e-03 2.91850502e-04 9.99976718e-01 -1.39416757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.71, Y:-6.04, Z:-1.40 [[ 9.97552131e-01 6.95973487e-02 6.77902664e-03 1.87710903e+02] [-6.95936503e-02 9.97575118e-01 -7.80228414e-04 -6.04114002e+00] [-6.81689013e-03 3.06541307e-04 9.99976718e-01 -1.39784463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:-6.04, Z:-1.40 [[ 9.97696324e-01 6.74988261e-02 6.77891353e-03 1.87773306e+02] [-6.74950727e-02 9.97719302e-01 -7.81209924e-04 -6.04129340e+00] [-6.81618363e-03 3.21867007e-04 9.99976718e-01 -1.40056622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:-6.04, Z:-1.40 [[ 9.98033031e-01 6.23226798e-02 6.77879344e-03 1.87835807e+02] [-6.23188002e-02 9.98055988e-01 -7.82250650e-04 -6.03838031e+00] [-6.81436734e-03 3.58265714e-04 9.99976718e-01 -1.39715959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:-6.04, Z:-1.40 [[ 9.98377841e-01 5.65308526e-02 6.77866247e-03 1.87898436e+02] [-5.65268322e-02 9.98400773e-01 -7.83383931e-04 -6.04073301e+00] [-6.81210721e-03 3.98936841e-04 9.99976718e-01 -1.39921958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-6.04, Z:-1.40 [[ 9.98844249e-01 4.75838027e-02 6.77852358e-03 1.87960476e+02] [-4.75795688e-02 9.98867143e-01 -7.84583855e-04 -6.04174377e+00] [-6.80817797e-03 4.61157841e-04 9.99976718e-01 -1.40076377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:-6.05, Z:-1.40 [[ 9.99100727e-01 4.18544044e-02 6.77839438e-03 1.88022612e+02] [-4.18500319e-02 9.99123595e-01 -7.85698510e-04 -6.04722333e+00] [-6.80533870e-03 5.01315932e-04 9.99976718e-01 -1.40309912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:-6.05, Z:-1.40 [[ 9.99290292e-01 3.70535797e-02 6.77827989e-03 1.88085025e+02] [-3.70490906e-02 9.99313137e-01 -7.86685024e-04 -6.05376838e+00] [-6.80277363e-03 5.34997601e-04 9.99976718e-01 -1.40056555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.15, Y:-6.06, Z:-1.40 [[ 9.99199691e-01 3.94212333e-02 6.77813593e-03 1.88147545e+02] [-3.94167900e-02 9.99222546e-01 -7.87923431e-04 -6.06149914e+00] [-6.80392715e-03 5.20120489e-04 9.99976718e-01 -1.39969692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:-6.07, Z:-1.40 [[ 9.99073778e-01 4.24928850e-02 6.77799287e-03 1.88209680e+02] [-4.24885038e-02 9.99096644e-01 -7.89152165e-04 -6.06975595e+00] [-6.80540328e-03 5.00434460e-04 9.99976718e-01 -1.39864128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.27, Y:-6.08, Z:-1.40 [[ 9.98904461e-01 4.63026628e-02 6.77794463e-03 1.88270887e+02] [-4.62983660e-02 9.98927344e-01 -7.89566239e-04 -6.07876196e+00] [-6.80723325e-03 4.74893478e-04 9.99976718e-01 -1.40388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:188.33, Y:-6.09, Z:-1.40 [[ 9.98799464e-01 4.85148678e-02 6.77780104e-03 1.88332021e+02] [-4.85106133e-02 9.98822354e-01 -7.90796908e-04 -6.08808889e+00] [-6.80818460e-03 4.61052243e-04 9.99976718e-01 -1.39933465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:-6.10, Z:-1.40 [[ 9.98749094e-01 4.95409954e-02 6.77766685e-03 1.88392435e+02] [-4.95367567e-02 9.98771987e-01 -7.91945387e-04 -6.09993407e+00] [-6.80857755e-03 4.55211104e-04 9.99976718e-01 -1.39955645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:-6.11, Z:-1.41 [[ 9.98663102e-01 5.12452224e-02 6.77753146e-03 1.88452735e+02] [-5.12410150e-02 9.98686001e-01 -7.93102401e-04 -6.10960984e+00] [-6.80926850e-03 4.44754514e-04 9.99976718e-01 -1.40753160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.51, Y:-6.12, Z:-1.41 [[ 9.98631381e-01 5.18597205e-02 6.77741032e-03 1.88514590e+02] [-5.18555201e-02 9.98654282e-01 -7.94136200e-04 -6.11941435e+00] [-6.80947352e-03 4.41603194e-04 9.99976718e-01 -1.40531928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.58, Y:-6.13, Z:-1.41 [[ 9.98670387e-01 5.11030995e-02 6.77726071e-03 1.88575485e+02] [-5.10988732e-02 9.98693282e-01 -7.95410943e-04 -6.13041476e+00] [-6.80905271e-03 4.48042968e-04 9.99976718e-01 -1.40672389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.64, Y:-6.14, Z:-1.41 [[ 9.98626219e-01 5.19590702e-02 6.77712138e-03 1.88637234e+02] [-5.19548555e-02 9.98649117e-01 -7.96596350e-04 -6.14214592e+00] [-6.80935668e-03 4.43397640e-04 9.99976718e-01 -1.40557825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:188.70, Y:-6.15, Z:-1.41 [[ 9.98613927e-01 5.21947817e-02 6.77707368e-03 1.88697878e+02] [-5.21905697e-02 9.98636825e-01 -7.97001926e-04 -6.15124360e+00] [-6.80943469e-03 4.42197887e-04 9.99976718e-01 -1.40693684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.76, Y:-6.16, Z:-1.41 [[ 9.98632761e-01 5.18332056e-02 6.77695062e-03 1.88758344e+02] [-5.18289782e-02 9.98655656e-01 -7.98046896e-04 -6.16180926e+00] [-6.80920540e-03 4.45713349e-04 9.99976718e-01 -1.40887788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.82, Y:-6.17, Z:-1.40 [[ 9.98651859e-01 5.14639541e-02 6.77682936e-03 1.88819675e+02] [-5.14597113e-02 9.98674752e-01 -7.99075360e-04 -6.17032014e+00] [-6.80897195e-03 4.49264412e-04 9.99976718e-01 -1.40249201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:-6.18, Z:-1.40 [[ 9.98733671e-01 4.98510823e-02 6.77669531e-03 1.88880023e+02] [-4.98467949e-02 9.98756555e-01 -8.00210555e-04 -6.17763061e+00] [-6.80816023e-03 4.61400684e-04 9.99976718e-01 -1.39959057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:-6.19, Z:-1.40 [[ 9.98772475e-01 4.90675271e-02 6.77657228e-03 1.88941781e+02] [-4.90632147e-02 9.98795354e-01 -8.01251044e-04 -6.18530849e+00] [-6.80772432e-03 4.67787067e-04 9.99976718e-01 -1.40155085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:-6.19, Z:-1.40 [[ 9.98804988e-01 4.84012023e-02 6.77644362e-03 1.89004980e+02] [-4.83968673e-02 9.98827863e-01 -8.02337689e-04 -6.18795420e+00] [-6.80733481e-03 4.73420243e-04 9.99976718e-01 -1.40035316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:-6.19, Z:-1.40 [[ 9.98840835e-01 4.76557317e-02 6.77629616e-03 1.89067897e+02] [-4.76513712e-02 9.98863705e-01 -8.03581184e-04 -6.19344034e+00] [-6.80689154e-03 4.79749897e-04 9.99976718e-01 -1.39905168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:-6.20, Z:-1.40 [[ 9.98851167e-01 4.74386912e-02 6.77614617e-03 1.89130876e+02] [-4.74343173e-02 9.98874035e-01 -8.04843960e-04 -6.20083445e+00] [-6.80669721e-03 4.82497461e-04 9.99976718e-01 -1.39830726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-6.20, Z:-1.40 [[ 9.98869774e-01 4.70453062e-02 6.77599664e-03 1.89192089e+02] [-4.70409148e-02 9.98892638e-01 -8.06100910e-04 -6.20357766e+00] [-6.80641643e-03 4.86440753e-04 9.99976718e-01 -1.39733946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:-6.21, Z:-1.40 [[ 9.98788199e-01 4.87464969e-02 6.77592514e-03 1.89253576e+02] [-4.87421404e-02 9.98811070e-01 -8.06701498e-04 -6.21034397e+00] [-6.80719291e-03 4.75450842e-04 9.99976718e-01 -1.39971978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-6.22, Z:-1.40 [[ 9.98707301e-01 5.03767392e-02 6.77579609e-03 1.89315425e+02] [-5.03724127e-02 9.98730178e-01 -8.07783936e-04 -6.21709632e+00] [-6.80788556e-03 4.65426517e-04 9.99976718e-01 -1.39870005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.38, Y:-6.23, Z:-1.40 [[ 9.98678590e-01 5.09427437e-02 6.77574991e-03 1.89377498e+02] [-5.09384275e-02 9.98701469e-01 -8.08171130e-04 -6.22557796e+00] [-6.80812184e-03 4.61957159e-04 9.99976718e-01 -1.40321917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.44, Y:-6.23, Z:-1.41 [[ 9.98704530e-01 5.04316444e-02 6.77570294e-03 1.89438052e+02] [-5.04273139e-02 9.98727406e-01 -8.08564746e-04 -6.23456977e+00] [-6.80785747e-03 4.65836776e-04 9.99976718e-01 -1.40582305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:-6.24, Z:-1.40 [[ 9.98738538e-01 4.97536384e-02 6.77558311e-03 1.89500122e+02] [-4.97492856e-02 9.98761410e-01 -8.09567698e-04 -6.24140453e+00] [-6.80746987e-03 4.71466040e-04 9.99976718e-01 -1.40298787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:-6.25, Z:-1.41 [[ 9.98736488e-01 4.97947833e-02 6.77545469e-03 1.89560917e+02] [-4.97904242e-02 9.98759359e-01 -8.10641035e-04 -6.24774452e+00] [-6.80741447e-03 4.72264017e-04 9.99976718e-01 -1.40850165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:-6.26, Z:-1.41 [[ 9.98825982e-01 4.79661595e-02 6.77533608e-03 1.89623374e+02] [-4.79617519e-02 9.98848843e-01 -8.11631164e-04 -6.25515339e+00] [-6.80646743e-03 4.85721306e-04 9.99976718e-01 -1.40951867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:-6.27, Z:-1.41 [[ 9.99103770e-01 4.17822063e-02 6.77519402e-03 1.89685410e+02] [-4.17776492e-02 9.99126602e-01 -8.12815315e-04 -6.26775785e+00] [-6.80323779e-03 5.29035167e-04 9.99976718e-01 -1.40775409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.75, Y:-6.28, Z:-1.41 [[ 9.99261802e-01 3.78146697e-02 6.77504974e-03 1.89747547e+02] [-3.78100139e-02 9.99284614e-01 -8.14016109e-04 -6.27788165e+00] [-6.80098472e-03 5.57250480e-04 9.99976718e-01 -1.40609479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:-6.29, Z:-1.41 [[ 9.99320941e-01 3.62181846e-02 6.77490075e-03 1.89809754e+02] [-3.62134840e-02 9.99343744e-01 -8.15254214e-04 -6.29014288e+00] [-6.79998171e-03 5.69357848e-04 9.99976718e-01 -1.40563192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.87, Y:-6.30, Z:-1.40 [[ 9.99227961e-01 3.86986477e-02 6.77475081e-03 1.89870965e+02] [-3.86939954e-02 9.99250773e-01 -8.16498316e-04 -6.30253541e+00] [-6.80127237e-03 5.53725770e-04 9.99976718e-01 -1.40357761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.93, Y:-6.31, Z:-1.40 [[ 9.99098345e-01 4.19118397e-02 6.77462122e-03 1.89933310e+02] [-4.19072535e-02 9.99121171e-01 -8.17572140e-04 -6.31070414e+00] [-6.80293344e-03 5.32929203e-04 9.99976718e-01 -1.40395487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:-6.32, Z:-1.41 [[ 9.99078138e-01 4.23908020e-02 6.77447165e-03 1.89994853e+02] [-4.23862184e-02 9.99100965e-01 -8.18809680e-04 -6.32035593e+00] [-6.80309116e-03 5.30910616e-04 9.99976718e-01 -1.40599547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-6.33, Z:-1.41 [[ 9.99101573e-01 4.18348444e-02 6.77433911e-03 1.90055776e+02] [-4.18302407e-02 9.99124396e-01 -8.19904770e-04 -6.32919796e+00] [-6.80270806e-03 5.35795911e-04 9.99976718e-01 -1.40578861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:-6.34, Z:-1.41 [[ 9.99033596e-01 4.34279193e-02 6.77421713e-03 1.90117078e+02] [-4.34233452e-02 9.99056424e-01 -8.20911294e-04 -6.33714282e+00] [-6.80347562e-03 5.25958793e-04 9.99976718e-01 -1.40618101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-6.34, Z:-1.41 [[ 9.98864002e-01 4.71679694e-02 6.77408613e-03 1.90180063e+02] [-4.71634735e-02 9.98886846e-01 -8.21990947e-04 -6.34380021e+00] [-6.80531717e-03 5.01567735e-04 9.99976718e-01 -1.40644461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.24, Y:-6.35, Z:-1.41 [[ 9.98692378e-01 5.06719702e-02 6.77393374e-03 1.90242355e+02] [-5.06675461e-02 9.98715236e-01 -8.23244794e-04 -6.34977624e+00] [-6.80694627e-03 4.78949700e-04 9.99976718e-01 -1.40631208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:190.31, Y:-6.35, Z:-1.41 [[ 9.98311727e-01 5.76871821e-02 6.77378263e-03 1.90305908e+02] [-5.76829102e-02 9.98334614e-01 -8.24486341e-04 -6.35057973e+00] [-6.81006396e-03 4.32362888e-04 9.99976718e-01 -1.40541575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:-6.35, Z:-1.41 [[ 9.98037208e-01 6.22563154e-02 6.77362391e-03 1.90368341e+02] [-6.22521395e-02 9.98060113e-01 -8.25788247e-04 -6.35368766e+00] [-6.81189438e-03 4.02494816e-04 9.99976718e-01 -1.40705020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:-6.35, Z:-1.41 [[ 9.97780338e-01 6.62458877e-02 6.77348344e-03 1.90429854e+02] [-6.62417957e-02 9.97803258e-01 -8.26938855e-04 -6.35312546e+00] [-6.81338514e-03 3.76415624e-04 9.99976718e-01 -1.41028698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.49, Y:-6.36, Z:-1.41 [[ 9.97831672e-01 6.54681305e-02 6.77335397e-03 1.90490688e+02] [-6.54640135e-02 9.97854587e-01 -8.27997964e-04 -6.35568472e+00] [-6.81302981e-03 3.82791657e-04 9.99976718e-01 -1.40570582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:-6.36, Z:-1.40 [[ 9.98032476e-01 6.23321706e-02 6.77328812e-03 1.90553167e+02] [-6.23279780e-02 9.98055378e-01 -8.28536276e-04 -6.35897550e+00] [-6.81176109e-03 4.04740758e-04 9.99976718e-01 -1.40205839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:-6.36, Z:-1.40 [[ 9.98083267e-01 6.15135553e-02 6.77315620e-03 1.90614523e+02] [-6.15093366e-02 9.98106163e-01 -8.29613281e-04 -6.36080209e+00] [-6.81136141e-03 4.11410789e-04 9.99976718e-01 -1.39570296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:-6.37, Z:-1.40 [[ 9.97902039e-01 6.43866996e-02 6.77303516e-03 1.90676980e+02] [-6.43825401e-02 9.97924946e-01 -8.30600269e-04 -6.36600783e+00] [-6.81246036e-03 3.92792493e-04 9.99976718e-01 -1.39629863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.74, Y:-6.37, Z:-1.40 [[ 9.97522810e-01 7.00169355e-02 6.77296328e-03 1.90738889e+02] [-7.00129014e-02 9.97545740e-01 -8.31186002e-04 -6.37128944e+00] [-6.81453776e-03 3.54932185e-04 9.99976718e-01 -1.39649279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:-6.38, Z:-1.40 [[ 9.96783736e-01 7.98518144e-02 6.77282412e-03 1.90801115e+02] [-7.98479990e-02 9.96806704e-01 -8.32318377e-04 -6.37768146e+00] [-6.81765862e-03 2.88844968e-04 9.99976718e-01 -1.39699600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:-6.39, Z:-1.39 [[ 9.96178752e-01 8.70748203e-02 6.77269641e-03 1.90863339e+02] [-8.70711644e-02 9.96201746e-01 -8.33356284e-04 -6.38503963e+00] [-6.81953634e-03 2.40465260e-04 9.99976718e-01 -1.39294996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:-6.39, Z:-1.40 [[ 9.95437622e-01 9.51739092e-02 6.77256746e-03 1.90924178e+02] [-9.51704333e-02 9.95460643e-01 -8.34402924e-04 -6.39059188e+00] [-6.82123775e-03 1.86047882e-04 9.99976718e-01 -1.39581351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.99, Y:-6.39, Z:-1.40 [[ 9.94057689e-01 1.08643651e-01 6.77254798e-03 1.90985035e+02] [-1.08640486e-01 9.94080755e-01 -8.34560990e-04 -6.39230918e+00] [-6.82312937e-03 9.38288654e-05 9.99976718e-01 -1.39840695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:-6.40, Z:-1.40 [[ 9.93697651e-01 1.11888836e-01 6.77254798e-03 1.91045919e+02] [-1.11885746e-01 9.93720727e-01 -8.34560990e-04 -6.39712854e+00] [-6.82339936e-03 7.15497103e-05 9.99976718e-01 -1.39844073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.11, Y:-6.40, Z:-1.40 [[ 9.93350450e-01 1.14930489e-01 6.77252834e-03 1.91105374e+02] [-1.14927469e-01 9.93373535e-01 -8.34720369e-04 -6.39722233e+00] [-6.82358524e-03 5.08203125e-05 9.99976718e-01 -1.40263485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:-6.40, Z:-1.40 [[ 9.93647637e-01 1.12332128e-01 6.77251462e-03 1.91165537e+02] [-1.12329047e-01 9.93670714e-01 -8.34831687e-04 -6.40192892e+00] [-6.82342786e-03 6.87784206e-05 9.99976718e-01 -1.40165309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:-6.40, Z:-1.40 [[ 9.94138912e-01 1.07897904e-01 6.77251462e-03 1.91225827e+02] [-1.07894720e-01 9.94161975e-01 -8.34831687e-04 -6.40497688e+00] [-6.82305310e-03 9.92200988e-05 9.99976718e-01 -1.40202256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.29, Y:-6.40, Z:-1.40 [[ 9.94647894e-01 1.03100437e-01 6.77250466e-03 1.91285610e+02] [-1.03097142e-01 9.94670942e-01 -8.34912457e-04 -6.40375284e+00] [-6.82249343e-03 1.32218044e-04 9.99976718e-01 -1.40083508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.35, Y:-6.41, Z:-1.40 [[ 9.94802021e-01 1.01602518e-01 6.77251447e-03 1.91345739e+02] [-1.01599188e-01 9.94825064e-01 -8.34832860e-04 -6.40521011e+00] [-6.82228827e-03 1.42411445e-04 9.99976718e-01 -1.39965307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.41, Y:-6.40, Z:-1.40 [[ 9.94927804e-01 1.00363325e-01 6.77253411e-03 1.91406061e+02] [-1.00359968e-01 9.94950843e-01 -8.34673489e-04 -6.40454195e+00] [-6.82210913e-03 1.50748555e-04 9.99976718e-01 -1.39840404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:-6.41, Z:-1.40 [[ 9.95257442e-01 9.70399733e-02 6.77255374e-03 1.91465906e+02] [-9.70365398e-02 9.95280470e-01 -8.34514249e-04 -6.40805756e+00] [-6.82157170e-03 1.73371337e-04 9.99976718e-01 -1.39677343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:-6.41, Z:-1.40 [[ 9.95610359e-01 9.33495887e-02 6.77257322e-03 1.91525595e+02] [-9.33460709e-02 9.95633374e-01 -8.34356112e-04 -6.41211763e+00] [-6.82088672e-03 1.98500488e-04 9.99976718e-01 -1.39575851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:-6.41, Z:-1.39 [[ 9.95592362e-01 9.35413301e-02 6.77259287e-03 1.91584809e+02] [-9.35378179e-02 9.95615378e-01 -8.34196585e-04 -6.41052642e+00] [-6.82092947e-03 1.97026190e-04 9.99976718e-01 -1.39477507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.64, Y:-6.41, Z:-1.39 [[ 9.95291217e-01 9.66929389e-02 6.77262201e-03 1.91643730e+02] [-9.66895011e-02 9.95314244e-01 -8.33959917e-04 -6.40995205e+00] [-6.82152519e-03 1.75191537e-04 9.99976718e-01 -1.39470688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.70, Y:-6.41, Z:-1.39 [[ 9.95135829e-01 9.82792594e-02 6.77266046e-03 1.91703503e+02] [-9.82758605e-02 9.95158862e-01 -8.33647510e-04 -6.40534177e+00] [-6.82180334e-03 1.64003471e-04 9.99976718e-01 -1.39258743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.76, Y:-6.41, Z:-1.39 [[ 9.95566382e-01 9.38174268e-02 6.77269876e-03 1.91762244e+02] [-9.38139269e-02 9.95589400e-01 -8.33336304e-04 -6.40594043e+00] [-6.82100856e-03 1.94268143e-04 9.99976718e-01 -1.39200657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.82, Y:-6.41, Z:-1.40 [[ 9.96570937e-01 8.24651342e-02 6.77273773e-03 1.91821160e+02] [-8.24613742e-02 9.96593913e-01 -8.33019448e-04 -6.40583444e+00] [-6.81836426e-03 2.71673711e-04 9.99976718e-01 -1.39676083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.88, Y:-6.41, Z:-1.40 [[ 9.97026363e-01 7.67630151e-02 6.77276659e-03 1.91880779e+02] [-7.67591254e-02 9.97049318e-01 -8.32784719e-04 -6.40665124e+00] [-6.81670938e-03 3.10436680e-04 9.99976718e-01 -1.40119229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.94, Y:-6.41, Z:-1.40 [[ 9.97198609e-01 7.44920398e-02 6.77279513e-03 1.91940176e+02] [-7.44880994e-02 9.97221555e-01 -8.32552553e-04 -6.40588593e+00] [-6.81599583e-03 3.25727611e-04 9.99976718e-01 -1.40360012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.00, Y:-6.40, Z:-1.40 [[ 9.97329487e-01 7.27187992e-02 6.77283269e-03 1.91999120e+02] [-7.27148201e-02 9.97352426e-01 -8.32246891e-04 -6.40102658e+00] [-6.81542111e-03 3.37539054e-04 9.99976718e-01 -1.40132401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.06, Y:-6.40, Z:-1.40 [[ 9.97482340e-01 7.05911412e-02 6.77287902e-03 1.92058775e+02] [-7.05871157e-02 9.97505272e-01 -8.31869646e-04 -6.40039027e+00] [-6.81470516e-03 3.51697286e-04 9.99976718e-01 -1.40099166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.12, Y:-6.39, Z:-1.40 [[ 9.97526627e-01 6.99625305e-02 6.77291552e-03 1.92119130e+02] [-6.99584926e-02 9.97549557e-01 -8.31572416e-04 -6.39483219e+00] [-6.81449778e-03 3.55692667e-04 9.99976718e-01 -1.40151956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.18, Y:-6.40, Z:-1.40 [[ 9.97526240e-01 6.99680449e-02 6.77295172e-03 1.92177835e+02] [-6.99640091e-02 9.97549170e-01 -8.31277428e-04 -6.39588159e+00] [-6.81451523e-03 3.55358191e-04 9.99976718e-01 -1.40273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.24, Y:-6.40, Z:-1.41 [[ 9.97607329e-01 6.88022135e-02 6.77298972e-03 1.92235336e+02] [-6.87981530e-02 9.97630254e-01 -8.30967755e-04 -6.39805700e+00] [-6.81411187e-03 3.63010339e-04 9.99976718e-01 -1.40613085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.29, Y:-6.40, Z:-1.40 [[ 9.97771056e-01 6.63855878e-02 6.77303683e-03 1.92293482e+02] [-6.63814744e-02 9.97793972e-01 -8.30583533e-04 -6.40140964e+00] [-6.81323410e-03 3.79128038e-04 9.99976718e-01 -1.40413337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:-6.41, Z:-1.40 [[ 9.97835159e-01 6.54149961e-02 6.77308065e-03 1.92352738e+02] [-6.54108628e-02 9.97858071e-01 -8.30226052e-04 -6.40543670e+00] [-6.81288243e-03 3.85395695e-04 9.99976718e-01 -1.40458434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:-6.41, Z:-1.40 [[ 9.97710431e-01 6.72905727e-02 6.77310872e-03 1.92411487e+02] [-6.72864840e-02 9.97733351e-01 -8.29996998e-04 -6.41074342e+00] [-6.81360744e-03 3.72357991e-04 9.99976718e-01 -1.40489703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:-6.42, Z:-1.41 [[ 9.97639269e-01 6.83374949e-02 6.77314690e-03 1.92469398e+02] [-6.83334324e-02 9.97662194e-01 -8.29685308e-04 -6.41719475e+00] [-6.81401122e-03 3.64894269e-04 9.99976718e-01 -1.40520843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:-6.42, Z:-1.41 [[ 9.97608842e-01 6.87802515e-02 6.77319905e-03 1.92528432e+02] [-6.87762020e-02 9.97631769e-01 -8.29259366e-04 -6.42043123e+00] [-6.81419522e-03 3.61441569e-04 9.99976718e-01 -1.40786566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:-6.43, Z:-1.41 [[ 9.97675590e-01 6.78051655e-02 6.77323661e-03 1.92585789e+02] [-6.78010956e-02 9.97698514e-01 -8.28952526e-04 -6.42677321e+00] [-6.81385536e-03 3.67792838e-04 9.99976718e-01 -1.40834509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:-6.43, Z:-1.40 [[ 9.97788716e-01 6.61195924e-02 6.77328734e-03 1.92644594e+02] [-6.61154867e-02 9.97811634e-01 -8.28537780e-04 -6.43146561e+00] [-6.81324748e-03 3.78886459e-04 9.99976718e-01 -1.40148142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:-6.44, Z:-1.40 [[ 9.97922701e-01 6.40656370e-02 6.77332510e-03 1.92703626e+02] [-6.40614862e-02 9.97945610e-01 -8.28228984e-04 -6.43508511e+00] [-6.81247106e-03 3.92599232e-04 9.99976718e-01 -1.40210428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.76, Y:-6.44, Z:-1.41 [[ 9.98003653e-01 6.27919548e-02 6.77336311e-03 1.92761971e+02] [-6.27877769e-02 9.98026558e-01 -8.27918020e-04 -6.43653448e+00] [-6.81198286e-03 4.00980797e-04 9.99976718e-01 -1.40756562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.82, Y:-6.43, Z:-1.40 [[ 9.98023229e-01 6.24800430e-02 6.77341012e-03 1.92821603e+02] [-6.24758605e-02 9.98046132e-01 -8.27533213e-04 -6.43464465e+00] [-6.81188008e-03 4.02722743e-04 9.99976718e-01 -1.40345270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:-6.44, Z:-1.40 [[ 9.98201171e-01 5.95696413e-02 6.77344700e-03 1.92881088e+02] [-5.95653941e-02 9.98224063e-01 -8.27231247e-04 -6.43611309e+00] [-6.81069565e-03 4.22280160e-04 9.99976718e-01 -1.40231026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:-6.44, Z:-1.40 [[ 9.98529967e-01 5.37775535e-02 6.77348412e-03 1.92938753e+02] [-5.37731756e-02 9.98552834e-01 -8.26927209e-04 -6.43878590e+00] [-6.80815188e-03 4.61479848e-04 9.99976718e-01 -1.40333246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.00, Y:-6.44, Z:-1.41 [[ 9.98709261e-01 5.03381805e-02 6.77352088e-03 1.92997499e+02] [-5.03337259e-02 9.98732113e-01 -8.26625930e-04 -6.44398062e+00] [-6.80654367e-03 4.84622428e-04 9.99976718e-01 -1.40935782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:-6.45, Z:-1.41 [[ 9.98990303e-01 4.44127702e-02 6.77355833e-03 1.93055386e+02] [-4.44081822e-02 9.99013128e-01 -8.26318975e-04 -6.44588609e+00] [-6.80357281e-03 5.24683230e-04 9.99976718e-01 -1.41308088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:-6.45, Z:-1.41 [[ 9.98997722e-01 4.42455626e-02 6.77360414e-03 1.93113962e+02] [-4.42409733e-02 9.99020547e-01 -8.25943288e-04 -6.44878412e+00] [-6.80351404e-03 5.25444623e-04 9.99976718e-01 -1.41490743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.17, Y:-6.45, Z:-1.42 [[ 9.98917849e-01 4.60135735e-02 6.77364163e-03 1.93171716e+02] [-4.60090267e-02 9.98940683e-01 -8.25635714e-04 -6.45092639e+00] [-6.80445665e-03 5.13093593e-04 9.99976718e-01 -1.41582792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:-6.46, Z:-1.41 [[ 9.98881710e-01 4.67915164e-02 6.77368794e-03 1.93230202e+02] [-4.67869900e-02 9.98904548e-01 -8.25255636e-04 -6.45775647e+00] [-6.80488265e-03 5.07412292e-04 9.99976718e-01 -1.41438905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.29, Y:-6.47, Z:-1.42 [[ 9.98902100e-01 4.63541837e-02 6.77372517e-03 1.93288317e+02] [-4.63496493e-02 9.98924937e-01 -8.24949934e-04 -6.46544272e+00] [-6.80468287e-03 5.10084436e-04 9.99976718e-01 -1.41679861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:-6.48, Z:-1.42 [[ 9.99036544e-01 4.33601096e-02 6.77376303e-03 1.93345709e+02] [-4.33555088e-02 9.99059368e-01 -8.24638931e-04 -6.47516299e+00] [-6.80314784e-03 5.30164485e-04 9.99976718e-01 -1.41711150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:-6.49, Z:-1.42 [[ 9.99188643e-01 3.97010356e-02 6.77376047e-03 1.93403199e+02] [-3.96963511e-02 9.99211449e-01 -8.24659909e-04 -6.48662867e+00] [-6.80115887e-03 5.55097241e-04 9.99976718e-01 -1.41635771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.46, Y:-6.50, Z:-1.42 [[ 9.99338536e-01 3.57296156e-02 6.77379729e-03 1.93460007e+02] [-3.57248426e-02 9.99361324e-01 -8.24357412e-04 -6.49721547e+00] [-6.79892500e-03 5.81819288e-04 9.99976718e-01 -1.41888717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.52, Y:-6.51, Z:-1.42 [[ 9.99513315e-01 3.04507622e-02 6.77384282e-03 1.93518765e+02] [-3.04458715e-02 9.99536077e-01 -8.23983102e-04 -6.51098435e+00] [-6.79579119e-03 6.17346534e-04 9.99976718e-01 -1.41778958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.58, Y:-6.52, Z:-1.42 [[ 9.99546522e-01 2.93405206e-02 6.77386060e-03 1.93577170e+02] [-2.93356056e-02 9.99569279e-01 -8.23836930e-04 -6.52395503e+00] [-6.79511476e-03 6.24748035e-04 9.99976718e-01 -1.41764237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.64, Y:-6.53, Z:-1.41 [[ 9.99491386e-01 3.11622337e-02 6.77387926e-03 1.93636155e+02] [-3.11573612e-02 9.99514152e-01 -8.23683408e-04 -6.53475439e+00] [-6.79625600e-03 6.12208268e-04 9.99976718e-01 -1.41434820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.69, Y:-6.55, Z:-1.41 [[ 9.99389138e-01 3.42850578e-02 6.77391114e-03 1.93693551e+02] [-3.42802582e-02 9.99411920e-01 -8.23421191e-04 -6.54829194e+00] [-6.79815858e-03 5.90706772e-04 9.99976718e-01 -1.41439339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.75, Y:-6.56, Z:-1.42 [[ 9.99466948e-01 3.19363982e-02 6.77393450e-03 1.93752184e+02] [-3.19315463e-02 9.99489719e-01 -8.23229004e-04 -6.56309471e+00] [-6.79676886e-03 6.06487977e-04 9.99976718e-01 -1.41722312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:193.81, Y:-6.58, Z:-1.42 [[ 9.99561096e-01 2.88396959e-02 6.77395225e-03 1.93810974e+02] [-2.88347745e-02 9.99583853e-01 -8.23082858e-04 -6.57802606e+00] [-6.79487075e-03 6.27396218e-04 9.99976718e-01 -1.42010683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:-6.60, Z:-1.42 [[ 9.99518410e-01 3.02830348e-02 6.77395225e-03 1.93870092e+02] [-3.02781463e-02 9.99541173e-01 -8.23082858e-04 -6.59570022e+00] [-6.79576963e-03 6.17583752e-04 9.99976718e-01 -1.41645533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:-6.61, Z:-1.42 [[ 9.99342639e-01 3.56146534e-02 6.77395225e-03 1.93927706e+02] [-3.56098863e-02 9.99365428e-01 -8.23082858e-04 -6.60798612e+00] [-6.79896750e-03 5.81322126e-04 9.99976718e-01 -1.41742786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:-6.62, Z:-1.42 [[ 9.99074839e-01 4.24685796e-02 6.77397832e-03 1.93986835e+02] [-4.24639704e-02 9.99097660e-01 -8.22868239e-04 -6.61964976e+00] [-6.80281194e-03 5.34456937e-04 9.99976718e-01 -1.41564790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:-6.63, Z:-1.41 [[ 9.98609458e-01 5.22806297e-02 6.77399698e-03 1.94044121e+02] [-5.22762460e-02 9.98632323e-01 -8.22714632e-04 -6.63239711e+00] [-6.80774438e-03 4.67451479e-04 9.99976718e-01 -1.41018935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:-6.64, Z:-1.41 [[ 9.98382305e-01 5.64525082e-02 6.77401554e-03 1.94102035e+02] [-5.64482211e-02 9.98405189e-01 -8.22561819e-04 -6.64223771e+00] [-6.80964794e-03 4.38850038e-04 9.99976718e-01 -1.41378974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.16, Y:-6.65, Z:-1.41 [[ 9.98302605e-01 5.78448048e-02 6.77405173e-03 1.94160213e+02] [-5.78405516e-02 9.98325495e-01 -8.22263616e-04 -6.65265585e+00] [-6.81027223e-03 4.29053021e-04 9.99976718e-01 -1.41425189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:-6.67, Z:-1.42 [[ 9.98426503e-01 5.56653421e-02 6.77408909e-03 1.94217948e+02] [-5.56610410e-02 9.98449384e-01 -8.21955755e-04 -6.66758396e+00] [-6.80933953e-03 4.43609559e-04 9.99976718e-01 -1.41951241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:-6.68, Z:-1.42 [[ 9.98519938e-01 5.39633592e-02 6.77410764e-03 1.94276809e+02] [-5.39590202e-02 9.98542813e-01 -8.21802798e-04 -6.67972073e+00] [-6.80858374e-03 4.55062268e-04 9.99976718e-01 -1.42162864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:-6.69, Z:-1.42 [[ 9.98484742e-01 5.46107203e-02 6.77412628e-03 1.94336006e+02] [-5.46063971e-02 9.98507620e-01 -8.21649147e-04 -6.68990930e+00] [-6.80888756e-03 4.50493507e-04 9.99976718e-01 -1.42040467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.39, Y:-6.69, Z:-1.42 [[ 9.98203311e-01 5.95336981e-02 6.77414488e-03 1.94394992e+02] [-5.95294888e-02 9.98226209e-01 -8.21495793e-04 -6.69314976e+00] [-6.81103565e-03 4.16758439e-04 9.99976718e-01 -1.41590715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:-6.69, Z:-1.41 [[ 9.98036339e-01 6.22701965e-02 6.77417256e-03 1.94454073e+02] [-6.22660516e-02 9.98059249e-01 -8.21267464e-04 -6.69404512e+00] [-6.81216606e-03 3.97853795e-04 9.99976718e-01 -1.41332718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:-6.70, Z:-1.41 [[ 9.98003133e-01 6.28001266e-02 6.77421067e-03 1.94512488e+02] [-6.27959960e-02 9.98026046e-01 -8.20952961e-04 -6.69523244e+00] [-6.81239464e-03 3.93920321e-04 9.99976718e-01 -1.41302426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.57, Y:-6.69, Z:-1.42 [[ 9.98384430e-01 5.64148901e-02 6.77425789e-03 1.94571624e+02] [-5.64106156e-02 9.98407316e-01 -8.20563160e-04 -6.69206409e+00] [-6.80976062e-03 4.37097425e-04 9.99976718e-01 -1.41541306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.63, Y:-6.69, Z:-1.42 [[ 9.98761684e-01 4.92869833e-02 6.77428540e-03 1.94631131e+02] [-4.92825471e-02 9.98784540e-01 -8.20335997e-04 -6.69470788e+00] [-6.80648341e-03 4.85466123e-04 9.99976718e-01 -1.41725133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.69, Y:-6.69, Z:-1.42 [[ 9.98951914e-01 4.52679025e-02 6.77430396e-03 1.94690414e+02] [-4.52633754e-02 9.98974752e-01 -8.20182649e-04 -6.69174205e+00] [-6.80448657e-03 5.12695164e-04 9.99976718e-01 -1.41756907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:-6.69, Z:-1.42 [[ 9.98837826e-01 4.77190286e-02 6.77434065e-03 1.94749466e+02] [-4.77145596e-02 9.98860675e-01 -8.19879532e-04 -6.69157942e+00] [-6.80574633e-03 4.95692008e-04 9.99976718e-01 -1.41849295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:-6.70, Z:-1.42 [[ 9.98759910e-01 4.93229216e-02 6.77437754e-03 1.94808406e+02] [-4.93184914e-02 9.98782767e-01 -8.19574650e-04 -6.69524592e+00] [-6.80655535e-03 4.84456223e-04 9.99976718e-01 -1.41963921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:-6.69, Z:-1.42 [[ 9.98585456e-01 5.27370224e-02 6.77441463e-03 1.94866863e+02] [-5.27326724e-02 9.98608329e-01 -8.19267921e-04 -6.69279717e+00] [-6.80819262e-03 4.60876044e-04 9.99976718e-01 -1.42352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.93, Y:-6.69, Z:-1.42 [[ 9.98557209e-01 5.32691991e-02 6.77446064e-03 1.94925656e+02] [-5.32648638e-02 9.98580084e-01 -8.18887248e-04 -6.69443565e+00] [-6.80846295e-03 4.56865041e-04 9.99976718e-01 -1.42438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.98, Y:-6.70, Z:-1.42 [[ 9.98658704e-01 5.13312709e-02 6.77449760e-03 1.94984982e+02] [-5.13268933e-02 9.98681571e-01 -8.18581410e-04 -6.69659708e+00] [-6.80758473e-03 4.69769534e-04 9.99976718e-01 -1.42119379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:-6.70, Z:-1.42 [[ 9.98862271e-01 4.72045509e-02 6.77452513e-03 1.95043148e+02] [-4.72000804e-02 9.98885120e-01 -8.18353486e-04 -6.69845829e+00] [-6.80560236e-03 4.97664290e-04 9.99976718e-01 -1.42316464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:-6.70, Z:-1.42 [[ 9.98824794e-01 4.79909899e-02 6.77457102e-03 1.95101966e+02] [-4.79865400e-02 9.98847647e-01 -8.17973459e-04 -6.70316021e+00] [-6.80601968e-03 4.91923949e-04 9.99976718e-01 -1.42200688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.16, Y:-6.71, Z:-1.42 [[ 9.98655799e-01 5.13877438e-02 6.77460851e-03 1.95159774e+02] [-5.13833738e-02 9.98678667e-01 -8.17662794e-04 -6.70691240e+00] [-6.80767485e-03 4.68461450e-04 9.99976718e-01 -1.42233767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:-6.71, Z:-1.42 [[ 9.98317469e-01 5.75876274e-02 6.77465481e-03 1.95218979e+02] [-5.75834020e-02 9.98340365e-01 -8.17279043e-04 -6.70989805e+00] [-6.81047651e-03 4.25796275e-04 9.99976718e-01 -1.41505309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:-6.71, Z:-1.42 [[ 9.98254276e-01 5.86728609e-02 6.77469217e-03 1.95276385e+02] [-5.86686625e-02 9.98277176e-01 -8.16969189e-04 -6.71276290e+00] [-6.81095449e-03 4.18080857e-04 9.99976718e-01 -1.41573461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.33, Y:-6.72, Z:-1.42 [[ 9.98207985e-01 5.94552027e-02 6.77473842e-03 1.95334404e+02] [-5.94510249e-02 9.98230890e-01 -8.16585536e-04 -6.71885688e+00] [-6.81130342e-03 4.12357060e-04 9.99976718e-01 -1.41568323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.39, Y:-6.73, Z:-1.41 [[ 9.98089903e-01 6.14055946e-02 6.77477424e-03 1.95392844e+02] [-6.14014635e-02 9.98112816e-01 -8.16288224e-04 -6.72782049e+00] [-6.81211366e-03 3.98747982e-04 9.99976718e-01 -1.41295564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.45, Y:-6.74, Z:-1.41 [[ 9.97799249e-01 6.59603007e-02 6.77480960e-03 1.95451108e+02] [-6.59562762e-02 9.97822180e-01 -8.15994678e-04 -6.73589302e+00] [-6.81387854e-03 3.67357663e-04 9.99976718e-01 -1.41367112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:195.51, Y:-6.74, Z:-1.41 [[ 9.97283210e-01 7.33505265e-02 6.77484670e-03 1.95507818e+02] [-7.33466741e-02 9.97306172e-01 -8.15686514e-04 -6.74478611e+00] [-6.81642746e-03 3.16557993e-04 9.99976718e-01 -1.41443454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:-6.76, Z:-1.41 [[ 9.96322238e-01 8.54172047e-02 6.77489670e-03 1.95565498e+02] [-8.54136333e-02 9.96345245e-01 -8.15271022e-04 -6.75518802e+00] [-6.81977428e-03 2.33604106e-04 9.99976718e-01 -1.41333479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:-6.77, Z:-1.42 [[ 9.95844242e-01 9.08204079e-02 6.77493403e-03 1.95622993e+02] [-9.08169635e-02 9.95867268e-01 -8.14960718e-04 -6.76591897e+00] [-6.82095010e-03 1.96295002e-04 9.99976718e-01 -1.41608673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.68, Y:-6.78, Z:-1.42 [[ 9.95395919e-01 9.56089123e-02 6.77499114e-03 1.95679710e+02] [-9.56055820e-02 9.95418962e-01 -8.14485656e-04 -6.77918034e+00] [-6.82182673e-03 1.63008727e-04 9.99976718e-01 -1.41851957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:-6.79, Z:-1.42 [[ 9.94963688e-01 1.00006796e-01 6.77503849e-03 1.95736315e+02] [-1.00003570e-01 9.94986745e-01 -8.14091544e-04 -6.79066653e+00] [-6.82248819e-03 1.32463490e-04 9.99976718e-01 -1.42422683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:-6.80, Z:-1.42 [[ 9.94274490e-01 1.06641159e-01 6.77508545e-03 1.95793250e+02] [-1.06638090e-01 9.94297569e-01 -8.13700533e-04 -6.80103134e+00] [-6.82322497e-03 8.65595088e-05 9.99976718e-01 -1.42328927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:-6.81, Z:-1.42 [[ 9.92878249e-01 1.18940658e-01 6.77514236e-03 1.95851960e+02] [-1.18937877e-01 9.92901365e-01 -8.13226468e-04 -6.80785175e+00] [-6.82377378e-03 1.61382108e-06 9.99976718e-01 -1.41990720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:-6.81, Z:-1.42 [[ 9.91984724e-01 1.26176086e-01 6.77518015e-03 1.95910920e+02] [-1.26173476e-01 9.92007859e-01 -8.12911448e-04 -6.81252987e+00] [-6.82360195e-03 -4.84522951e-05 9.99976718e-01 -1.42311772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.97, Y:-6.82, Z:-1.42 [[ 9.91348159e-01 1.31083652e-01 6.77521792e-03 1.95968325e+02] [-1.31081160e-01 9.91371307e-01 -8.12596533e-04 -6.81606982e+00] [-6.82327477e-03 -8.25373449e-05 9.99976718e-01 -1.42404527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:-6.82, Z:-1.42 [[ 9.91625586e-01 1.28968183e-01 6.77528357e-03 1.96026126e+02] [-1.28965644e-01 9.91648730e-01 -8.12048788e-04 -6.82148377e+00] [-6.82342981e-03 -6.85304556e-05 9.99976718e-01 -1.42479335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.08, Y:-6.83, Z:-1.42 [[ 9.92167905e-01 1.24727478e-01 6.77533921e-03 1.96084508e+02] [-1.24724844e-01 9.92191037e-01 -8.11584355e-04 -6.82831746e+00] [-6.82365771e-03 -3.98251748e-05 9.99976718e-01 -1.42475695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:-6.84, Z:-1.42 [[ 9.92364881e-01 1.23150469e-01 6.77537608e-03 1.96142495e+02] [-1.23147801e-01 9.92388009e-01 -8.11276435e-04 -6.83634856e+00] [-6.82371105e-03 -2.92904189e-05 9.99976718e-01 -1.42092356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:-6.84, Z:-1.42 [[ 9.92072017e-01 1.25487876e-01 6.77541454e-03 1.96199109e+02] [-1.25485264e-01 9.92095152e-01 -8.10955036e-04 -6.84348722e+00] [-6.82362095e-03 -4.56888851e-05 9.99976718e-01 -1.42044806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:-6.85, Z:-1.42 [[ 9.91451026e-01 1.30303321e-01 6.77551850e-03 1.96256814e+02] [-1.30300827e-01 9.91474174e-01 -8.10085530e-04 -6.85102079e+00] [-6.82330845e-03 -7.96955359e-05 9.99976718e-01 -1.42229049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:-6.86, Z:-1.42 [[ 9.90472204e-01 1.37546009e-01 6.77557561e-03 1.96312851e+02] [-1.37543688e-01 9.90495370e-01 -8.09607604e-04 -6.85862012e+00] [-6.82253457e-03 -1.30043832e-04 9.99976718e-01 -1.42298283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:-6.87, Z:-1.42 [[ 9.90229246e-01 1.39284355e-01 6.77564174e-03 1.96369819e+02] [-1.39282078e-01 9.90252416e-01 -8.09053779e-04 -6.86868099e+00] [-6.82228414e-03 -1.42576748e-04 9.99976718e-01 -1.42246808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:-6.88, Z:-1.43 [[ 9.90275310e-01 1.38956472e-01 6.77569857e-03 1.96427122e+02] [-1.38954190e-01 9.90298480e-01 -8.08577523e-04 -6.88046795e+00] [-6.82232108e-03 -1.40797353e-04 9.99976718e-01 -1.42693640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.48, Y:-6.89, Z:-1.43 [[ 9.90005971e-01 1.40862584e-01 6.77573612e-03 1.96484674e+02] [-1.40860350e-01 9.90029145e-01 -8.08262777e-04 -6.89147304e+00] [-6.82203022e-03 -1.54247585e-04 9.99976718e-01 -1.42908416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:-6.90, Z:-1.43 [[ 9.89533650e-01 1.44143137e-01 6.77577483e-03 1.96541024e+02] [-1.44140982e-01 9.89556832e-01 -8.07938126e-04 -6.90236887e+00] [-6.82147302e-03 -1.77184874e-04 9.99976718e-01 -1.42983749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:-6.91, Z:-1.43 [[ 9.88607628e-01 1.50363047e-01 6.77587959e-03 1.96598500e+02] [-1.50361044e-01 9.88630824e-01 -8.07058594e-04 -6.91315145e+00] [-6.82019521e-03 -2.20964045e-04 9.99976718e-01 -1.43124166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:-6.92, Z:-1.43 [[ 9.88415438e-01 1.51621270e-01 6.77591710e-03 1.96654646e+02] [-1.51619298e-01 9.88438636e-01 -8.06743560e-04 -6.92070916e+00] [-6.81989774e-03 -2.29962005e-04 9.99976718e-01 -1.43181833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:-6.93, Z:-1.43 [[ 9.88164833e-01 1.53246039e-01 6.77598214e-03 1.96712664e+02] [-1.53244109e-01 9.88188035e-01 -8.06196873e-04 -6.92806849e+00] [-6.81949096e-03 -2.41723950e-04 9.99976718e-01 -1.42934526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:-6.94, Z:-1.43 [[ 9.88026555e-01 1.54135039e-01 6.77611241e-03 1.96769309e+02] [-1.54133137e-01 9.88049760e-01 -8.05100462e-04 -6.93995555e+00] [-6.81923043e-03 -2.48962829e-04 9.99976718e-01 -1.42893469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:-6.95, Z:-1.43 [[ 9.88138706e-01 1.53414411e-01 6.77617058e-03 1.96825811e+02] [-1.53412495e-01 9.88161909e-01 -8.04610581e-04 -6.95159729e+00] [-6.81939252e-03 -2.44482380e-04 9.99976718e-01 -1.42894449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.88, Y:-6.96, Z:-1.43 [[ 9.88206135e-01 1.52979468e-01 6.77624321e-03 1.96882337e+02] [-1.52977547e-01 9.88229338e-01 -8.03998467e-04 -6.96285210e+00] [-6.81947759e-03 -2.42096846e-04 9.99976718e-01 -1.42605039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:-6.98, Z:-1.43 [[ 9.87821380e-01 1.55444531e-01 6.77629047e-03 1.96938764e+02] [-1.55442671e-01 9.87844588e-01 -8.03599896e-04 -6.97636589e+00] [-6.81883708e-03 -2.59511531e-04 9.99976718e-01 -1.42538939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:-6.99, Z:-1.43 [[ 9.87296510e-01 1.58744081e-01 6.77634750e-03 1.96995761e+02] [-1.58742301e-01 9.87319724e-01 -8.03118756e-04 -6.98552119e+00] [-6.81791189e-03 -2.82776650e-04 9.99976718e-01 -1.42909641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:-7.00, Z:-1.43 [[ 9.86549687e-01 1.63321144e-01 6.77639428e-03 1.97053170e+02] [-1.63319474e-01 9.86572909e-01 -8.02723864e-04 -6.99674004e+00] [-6.81650879e-03 -3.14790175e-04 9.99976718e-01 -1.43026731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:-7.01, Z:-1.43 [[ 9.86139875e-01 1.65777643e-01 6.77643181e-03 1.97110273e+02] [-1.65776033e-01 9.86163102e-01 -8.02406923e-04 -7.00555912e+00] [-6.81568814e-03 -3.32084523e-04 9.99976718e-01 -1.43286967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:-7.02, Z:-1.43 [[ 9.86035050e-01 1.66399998e-01 6.77647811e-03 1.97168809e+02] [-1.66398406e-01 9.86058278e-01 -8.02015724e-04 -7.01542151e+00] [-6.81545775e-03 -3.36779542e-04 9.99976718e-01 -1.43350824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.22, Y:-7.03, Z:-1.44 [[ 9.86298329e-01 1.64832289e-01 6.77660574e-03 1.97224185e+02] [-1.64830667e-01 9.86321555e-01 -8.00935819e-04 -7.03009396e+00] [-6.81593240e-03 -3.27030785e-04 9.99976718e-01 -1.43657017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.28, Y:-7.04, Z:-1.44 [[ 9.86644145e-01 1.62749525e-01 6.77667366e-03 1.97281349e+02] [-1.62747858e-01 9.86667368e-01 -8.00360718e-04 -7.04205251e+00] [-6.81658109e-03 -3.13217907e-04 9.99976718e-01 -1.43718030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.34, Y:-7.06, Z:-1.43 [[ 9.87080043e-01 1.60084557e-01 6.77672997e-03 1.97338258e+02] [-1.60082831e-01 9.87103261e-01 -7.99883699e-04 -7.05824561e+00] [-6.81738128e-03 -2.95288883e-04 9.99976718e-01 -1.43436545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.40, Y:-7.07, Z:-1.43 [[ 9.87093333e-01 1.60002583e-01 6.77676905e-03 1.97395439e+02] [-1.60000858e-01 9.87116552e-01 -7.99552446e-04 -7.07055938e+00] [-6.81739135e-03 -2.95055970e-04 9.99976718e-01 -1.43327327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.45, Y:-7.08, Z:-1.43 [[ 9.86950536e-01 1.60881055e-01 6.77681754e-03 1.97452309e+02] [-1.60879353e-01 9.86973756e-01 -7.99141281e-04 -7.08147791e+00] [-6.81710775e-03 -3.01537106e-04 9.99976718e-01 -1.43262897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:-7.10, Z:-1.43 [[ 9.86788478e-01 1.61872088e-01 6.77687411e-03 1.97509659e+02] [-1.61870412e-01 9.86811700e-01 -7.98661240e-04 -7.09537379e+00] [-6.81677962e-03 -3.08865695e-04 9.99976718e-01 -1.43100993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:-7.11, Z:-1.43 [[ 9.86754396e-01 1.62079719e-01 6.77691159e-03 1.97566964e+02] [-1.62078051e-01 9.86777618e-01 -7.98343051e-04 -7.10649085e+00] [-6.81669990e-03 -3.10620105e-04 9.99976718e-01 -1.42565698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:-7.12, Z:-1.43 [[ 9.86531419e-01 1.63431428e-01 6.77695797e-03 1.97623444e+02] [-1.63429794e-01 9.86554644e-01 -7.97949179e-04 -7.11920015e+00] [-6.81624933e-03 -3.20354909e-04 9.99976718e-01 -1.42571926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:-7.13, Z:-1.43 [[ 9.85909254e-01 1.67143694e-01 6.77701053e-03 1.97681170e+02] [-1.67142151e-01 9.85932485e-01 -7.97502562e-04 -7.12974853e+00] [-6.81497235e-03 -3.46458959e-04 9.99976718e-01 -1.42973629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:197.74, Y:-7.14, Z:-1.43 [[ 9.84775776e-01 1.73697275e-01 6.77704892e-03 1.97738209e+02] [-1.73695888e-01 9.84799017e-01 -7.97176172e-04 -7.14238717e+00] [-6.81249844e-03 -3.92105745e-04 9.99976718e-01 -1.43395371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:-7.15, Z:-1.43 [[ 9.84413888e-01 1.75736643e-01 6.77709654e-03 1.97795748e+02] [-1.75735308e-01 9.84437132e-01 -7.96771114e-04 -7.15120543e+00] [-6.81164736e-03 -4.06622596e-04 9.99976718e-01 -1.43442961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:-7.16, Z:-1.43 [[ 9.84523292e-01 1.75122692e-01 6.77715208e-03 1.97853942e+02] [-1.75121345e-01 9.84546536e-01 -7.96298432e-04 -7.15997240e+00] [-6.81187153e-03 -4.02849630e-04 9.99976718e-01 -1.43483147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:-7.17, Z:-1.43 [[ 9.84605313e-01 1.74660951e-01 6.77718883e-03 1.97912053e+02] [-1.74659595e-01 9.84628556e-01 -7.95985541e-04 -7.17048337e+00] [-6.81204124e-03 -3.99969462e-04 9.99976718e-01 -1.43241764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:-7.18, Z:-1.43 [[ 9.84597221e-01 1.74706559e-01 6.77722733e-03 1.97968825e+02] [-1.74705207e-01 9.84620464e-01 -7.95657612e-04 -7.18083699e+00] [-6.81200332e-03 -4.00614627e-04 9.99976718e-01 -1.43442462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-7.19, Z:-1.44 [[ 9.84805042e-01 1.73531260e-01 6.77727474e-03 1.98026813e+02] [-1.73529883e-01 9.84828283e-01 -7.95253536e-04 -7.19198299e+00] [-6.81245320e-03 -3.92890002e-04 9.99976718e-01 -1.43660972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:-7.21, Z:-1.43 [[ 9.84917140e-01 1.72893886e-01 6.77731122e-03 1.98084024e+02] [-1.72892496e-01 9.84940380e-01 -7.94942559e-04 -7.20505147e+00] [-6.81268820e-03 -3.88793701e-04 9.99976718e-01 -1.43203147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:-7.21, Z:-1.43 [[ 9.84566129e-01 1.74881687e-01 6.77736935e-03 1.98141794e+02] [-1.74880347e-01 9.84589373e-01 -7.94446682e-04 -7.21424069e+00] [-6.81186001e-03 -4.03043408e-04 9.99976718e-01 -1.43157002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.20, Y:-7.22, Z:-1.44 [[ 9.84219133e-01 1.76824106e-01 6.77742681e-03 1.98198929e+02] [-1.76822815e-01 9.84242380e-01 -7.93956119e-04 -7.22039876e+00] [-6.81102128e-03 -4.16976884e-04 9.99976718e-01 -1.43535160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:-7.23, Z:-1.44 [[ 9.83973405e-01 1.78186432e-01 6.77747411e-03 1.98256821e+02] [-1.78185176e-01 9.83996653e-01 -7.93552145e-04 -7.22748305e+00] [-6.81041207e-03 -4.26811215e-04 9.99976718e-01 -1.43753534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:-7.24, Z:-1.43 [[ 9.84706042e-01 1.74092151e-01 6.77751028e-03 1.98314863e+02] [-1.74090801e-01 9.84729285e-01 -7.93243138e-04 -7.23560054e+00] [-6.81211025e-03 -3.98790883e-04 9.99976718e-01 -1.43482738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:-7.25, Z:-1.43 [[ 9.85629146e-01 1.68787592e-01 6.77754791e-03 1.98373047e+02] [-1.68786119e-01 9.85652382e-01 -7.92921458e-04 -7.24598782e+00] [-6.81414155e-03 -3.62429510e-04 9.99976718e-01 -1.43341184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.43, Y:-7.25, Z:-1.43 [[ 9.86099472e-01 1.66017756e-01 6.77758523e-03 1.98430207e+02] [-1.66016219e-01 9.86122704e-01 -7.92602358e-04 -7.25482763e+00] [-6.81511674e-03 -3.43604310e-04 9.99976718e-01 -1.43455786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:-7.27, Z:-1.44 [[ 9.86942778e-01 1.60928606e-01 6.77763155e-03 1.98488220e+02] [-1.60926952e-01 9.86966002e-01 -7.92206092e-04 -7.26925334e+00] [-6.81678053e-03 -3.08841507e-04 9.99976718e-01 -1.43608908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:-7.28, Z:-1.44 [[ 9.86803989e-01 1.61777474e-01 6.77766826e-03 1.98545412e+02] [-1.61775843e-01 9.86827214e-01 -7.91891879e-04 -7.28098562e+00] [-6.81649775e-03 -3.15020931e-04 9.99976718e-01 -1.43538630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.60, Y:-7.29, Z:-1.43 [[ 9.86276489e-01 1.64962877e-01 6.77771381e-03 1.98602952e+02] [-1.64961323e-01 9.86299719e-01 -7.91501879e-04 -7.29340596e+00] [-6.81542565e-03 -3.37420945e-04 9.99976718e-01 -1.43403635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:-7.31, Z:-1.44 [[ 9.84973517e-01 1.72572396e-01 6.77775037e-03 1.98660265e+02] [-1.72571024e-01 9.84996759e-01 -7.91188686e-04 -7.30892480e+00] [-6.81259947e-03 -3.90343420e-04 9.99976718e-01 -1.43793361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:198.72, Y:-7.32, Z:-1.44 [[ 9.83681808e-01 1.79789218e-01 6.77778649e-03 1.98718482e+02] [-1.79788019e-01 9.83705059e-01 -7.90879064e-04 -7.32188599e+00] [-6.80953439e-03 -4.40591458e-04 9.99976718e-01 -1.44119589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:-7.33, Z:-1.44 [[ 9.83100245e-01 1.82942532e-01 6.77781382e-03 1.98775220e+02] [-1.82941408e-01 9.83123500e-01 -7.90644807e-04 -7.33415771e+00] [-6.80807061e-03 -4.62659704e-04 9.99976718e-01 -1.43915854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:-7.35, Z:-1.44 [[ 9.82759840e-01 1.84762436e-01 6.77785856e-03 1.98832204e+02] [-1.84761358e-01 9.82783097e-01 -7.90261079e-04 -7.34645107e+00] [-6.80717539e-03 -4.75649499e-04 9.99976718e-01 -1.44060265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:-7.36, Z:-1.44 [[ 9.82906720e-01 1.83979453e-01 6.77790150e-03 1.98890382e+02] [-1.83978359e-01 9.82929977e-01 -7.89892648e-04 -7.35929935e+00] [-6.80752658e-03 -4.70596402e-04 9.99976718e-01 -1.43935821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:-7.37, Z:-1.44 [[ 9.82784157e-01 1.84633042e-01 6.77792030e-03 1.98948734e+02] [-1.84631964e-01 9.82807415e-01 -7.89731264e-04 -7.36971215e+00] [-6.80720081e-03 -4.75285366e-04 9.99976718e-01 -1.43673055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:-7.38, Z:-1.44 [[ 9.82021502e-01 1.88647366e-01 6.77794818e-03 1.99006925e+02] [-1.88646385e-01 9.82044764e-01 -7.89491919e-04 -7.37533309e+00] [-6.80518409e-03 -5.03337383e-04 9.99976718e-01 -1.44111756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.07, Y:-7.38, Z:-1.44 [[ 9.81815288e-01 1.89717683e-01 6.77796384e-03 1.99065647e+02] [-1.89716728e-01 9.81838551e-01 -7.89357479e-04 -7.37957718e+00] [-6.80462126e-03 -5.10889884e-04 9.99976718e-01 -1.44253626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:-7.38, Z:-1.44 [[ 9.82190799e-01 1.87763931e-01 6.77800013e-03 1.99124089e+02] [-1.87762933e-01 9.82214059e-01 -7.89045755e-04 -7.38415098e+00] [-6.80560135e-03 -4.97663702e-04 9.99976718e-01 -1.44123431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:-7.39, Z:-1.44 [[ 9.83240270e-01 1.82188447e-01 6.77802699e-03 1.99183923e+02] [-1.82187318e-01 9.83263525e-01 -7.88814919e-04 -7.38921762e+00] [-6.80829967e-03 -4.59275966e-04 9.99976718e-01 -1.44391449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:-7.39, Z:-1.45 [[ 9.83449728e-01 1.81054385e-01 6.77804487e-03 1.99241238e+02] [-1.81053230e-01 9.83472982e-01 -7.88661261e-04 -7.39419635e+00] [-6.80881458e-03 -4.51578215e-04 9.99976718e-01 -1.44695144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:-7.40, Z:-1.44 [[ 9.83001970e-01 1.83469844e-01 6.77808912e-03 1.99300149e+02] [-1.83468750e-01 9.83025227e-01 -7.88280812e-04 -7.39892651e+00] [-6.80765835e-03 -4.68685943e-04 9.99976718e-01 -1.44205244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:199.36, Y:-7.40, Z:-1.44 [[ 9.82283633e-01 1.87277659e-01 6.77812421e-03 1.99358604e+02] [-1.87276656e-01 9.82306894e-01 -7.87978895e-04 -7.40308117e+00] [-6.80576898e-03 -4.95365665e-04 9.99976718e-01 -1.43775890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.42, Y:-7.41, Z:-1.44 [[ 9.81434648e-01 1.91677044e-01 6.77815918e-03 1.99415884e+02] [-1.91676147e-01 9.81457913e-01 -7.87678001e-04 -7.40797360e+00] [-6.80345775e-03 -5.26156957e-04 9.99976718e-01 -1.44020159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:-7.41, Z:-1.44 [[ 9.80520413e-01 1.96300219e-01 6.77820232e-03 1.99474653e+02] [-1.96299435e-01 9.80543682e-01 -7.87306586e-04 -7.41030105e+00] [-6.80087192e-03 -5.58587106e-04 9.99976718e-01 -1.44103088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:-7.41, Z:-1.44 [[ 9.79543372e-01 2.01118965e-01 6.77823698e-03 1.99532726e+02] [-2.01118297e-01 9.79566645e-01 -7.87008044e-04 -7.41148750e+00] [-6.79801710e-03 -5.92318966e-04 9.99976718e-01 -1.44034390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:-7.41, Z:-1.44 [[ 9.78395937e-01 2.06628761e-01 6.77829040e-03 1.99590838e+02] [-2.06628227e-01 9.78419213e-01 -7.86547704e-04 -7.40819715e+00] [-6.79453294e-03 -6.31031050e-04 9.99976718e-01 -1.44322834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-7.41, Z:-1.44 [[ 9.78591870e-01 2.05698822e-01 6.77833445e-03 1.99649836e+02] [-2.05698269e-01 9.78615146e-01 -7.86167917e-04 -7.40874350e+00] [-6.79509457e-03 -6.24954132e-04 9.99976718e-01 -1.44232314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-7.41, Z:-1.44 [[ 9.79266831e-01 2.02461173e-01 6.77836976e-03 1.99708459e+02] [-2.02460545e-01 9.79290105e-01 -7.85863398e-04 -7.41124884e+00] [-6.79709726e-03 -6.02782474e-04 9.99976718e-01 -1.43869286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:-7.41, Z:-1.44 [[ 9.80288762e-01 1.97453785e-01 6.77840652e-03 1.99767440e+02] [-1.97453040e-01 9.80312032e-01 -7.85546168e-04 -7.40893994e+00] [-6.80006253e-03 -5.68354893e-04 9.99976718e-01 -1.43710326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:-7.41, Z:-1.44 [[ 9.80914944e-01 1.94319134e-01 6.77845194e-03 1.99826951e+02] [-1.94318318e-01 9.80938212e-01 -7.85154057e-04 -7.40606962e+00] [-6.80181298e-03 -5.47008032e-04 9.99976718e-01 -1.43943192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:-7.41, Z:-1.44 [[ 9.81307505e-01 1.92326890e-01 6.77848862e-03 1.99884739e+02] [-1.92326029e-01 9.81330771e-01 -7.84837282e-04 -7.40715595e+00] [-6.80288477e-03 -5.33513080e-04 9.99976718e-01 -1.44277873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:-7.41, Z:-1.44 [[ 9.81947616e-01 1.89031559e-01 6.77853410e-03 1.99943998e+02] [-1.89030622e-01 9.81970880e-01 -7.84444231e-04 -7.41031354e+00] [-6.80460781e-03 -5.11067376e-04 9.99976718e-01 -1.44436815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:-7.42, Z:-1.44 [[ 9.82689109e-01 1.85138233e-01 6.77856963e-03 2.00002924e+02] [-1.85137206e-01 9.82712369e-01 -7.84137068e-04 -7.41570231e+00] [-6.80655797e-03 -4.84402487e-04 9.99976718e-01 -1.43871870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-7.42, Z:-1.44 [[ 9.82792651e-01 1.84587799e-01 6.77864416e-03 2.00060656e+02] [-1.84586764e-01 9.82815910e-01 -7.83492282e-04 -7.42283205e+00] [-6.80678244e-03 -4.81237530e-04 9.99976718e-01 -1.44192845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-7.43, Z:-1.44 [[ 9.82105887e-01 1.88207534e-01 6.77871192e-03 2.00117331e+02] [-1.88206589e-01 9.82129150e-01 -7.82905607e-04 -7.42877274e+00] [-6.80491931e-03 -5.06902040e-04 9.99976718e-01 -1.44244589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:-7.43, Z:-1.44 [[ 9.81825901e-01 1.89662723e-01 6.77877429e-03 2.00174659e+02] [-1.89661815e-01 9.81849165e-01 -7.82365209e-04 -7.43450528e+00] [-6.80411939e-03 -5.17528209e-04 9.99976718e-01 -1.44417427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.23, Y:-7.44, Z:-1.44 [[ 9.82172046e-01 1.87861969e-01 6.77882748e-03 2.00232574e+02] [-1.87861022e-01 9.82195309e-01 -7.81904035e-04 -7.43941346e+00] [-6.80502258e-03 -5.05513170e-04 9.99976718e-01 -1.44449720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:-7.45, Z:-1.44 [[ 9.82674493e-01 1.85215785e-01 6.77888135e-03 2.00290247e+02] [-1.85214779e-01 9.82697754e-01 -7.81436756e-04 -7.44581618e+00] [-6.80632589e-03 -4.87651042e-04 9.99976718e-01 -1.44429155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-7.45, Z:-1.44 [[ 9.83003180e-01 1.83463331e-01 6.77892587e-03 2.00347921e+02] [-1.83462286e-01 9.83026439e-01 -7.81050319e-04 -7.45194274e+00] [-6.80715745e-03 -4.75902291e-04 9.99976718e-01 -1.44461156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:-7.46, Z:-1.44 [[ 9.83649736e-01 1.79964559e-01 6.77898177e-03 2.00405723e+02] [-1.79963434e-01 9.83672991e-01 -7.80564874e-04 -7.46029582e+00] [-6.80877528e-03 -4.52166406e-04 9.99976718e-01 -1.44398723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:-7.47, Z:-1.45 [[ 9.83682694e-01 1.79784323e-01 6.77901899e-03 2.00462920e+02] [-1.79783196e-01 9.83705949e-01 -7.80241456e-04 -7.47069434e+00] [-6.80883649e-03 -4.51243683e-04 9.99976718e-01 -1.44552143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.52, Y:-7.48, Z:-1.45 [[ 9.83187913e-01 1.82470744e-01 6.77906494e-03 2.00519537e+02] [-1.82469684e-01 9.83211171e-01 -7.79842004e-04 -7.48440528e+00] [-6.80755073e-03 -4.70242604e-04 9.99976718e-01 -1.44821866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:-7.50, Z:-1.45 [[ 9.82753244e-01 1.84797470e-01 6.77911026e-03 2.00576289e+02] [-1.84796468e-01 9.82776505e-01 -7.79447872e-04 -7.49820314e+00] [-6.80639028e-03 -4.86750704e-04 9.99976718e-01 -1.44853232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:-7.51, Z:-1.45 [[ 9.82576920e-01 1.85732708e-01 6.77916349e-03 2.00634161e+02] [-1.85731730e-01 9.82600182e-01 -7.78984669e-04 -7.50734635e+00] [-6.80589021e-03 -4.93693406e-04 9.99976718e-01 -1.44683393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:-7.52, Z:-1.44 [[ 9.82572287e-01 1.85757214e-01 6.77919883e-03 2.00692727e+02] [-1.85756239e-01 9.82595549e-01 -7.78676925e-04 -7.51585644e+00] [-6.80585546e-03 -4.94172113e-04 9.99976718e-01 -1.44472447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.75, Y:-7.53, Z:-1.45 [[ 9.83616529e-01 1.80145957e-01 6.77923645e-03 2.00749387e+02] [-1.80144851e-01 9.83639785e-01 -7.78349317e-04 -7.52659856e+00] [-6.80854316e-03 -4.55647289e-04 9.99976718e-01 -1.44523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.81, Y:-7.54, Z:-1.44 [[ 9.84908350e-01 1.72943871e-01 6.77928287e-03 2.00807860e+02] [-1.72942598e-01 9.84931598e-01 -7.77944753e-04 -7.53618329e+00] [-6.81167069e-03 -4.06222511e-04 9.99976718e-01 -1.44186348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.87, Y:-7.54, Z:-1.44 [[ 9.86586977e-01 1.63095609e-01 6.77931844e-03 2.00866413e+02] [-1.63094106e-01 9.86610211e-01 -7.77634687e-04 -7.54488522e+00] [-6.81537360e-03 -3.38462627e-04 9.99976718e-01 -1.43873509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:-7.55, Z:-1.44 [[ 9.87461828e-01 1.57712328e-01 6.77935397e-03 2.00925171e+02] [-1.57710701e-01 9.87485053e-01 -7.77324806e-04 -7.55137853e+00] [-6.81710442e-03 -3.01598091e-04 9.99976718e-01 -1.43918510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:-7.56, Z:-1.44 [[ 9.88305369e-01 1.52336919e-01 6.77938943e-03 2.00983366e+02] [-1.52335167e-01 9.88328586e-01 -7.77015464e-04 -7.55607894e+00] [-6.81863250e-03 -2.64810868e-04 9.99976718e-01 -1.44243147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:-7.56, Z:-1.44 [[ 9.88748902e-01 1.49431083e-01 6.77942524e-03 2.01041429e+02] [-1.49429265e-01 9.88772113e-01 -7.76702831e-04 -7.56308149e+00] [-6.81937017e-03 -2.45080461e-04 9.99976718e-01 -1.44151809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:-7.57, Z:-1.44 [[ 9.89751649e-01 1.42638394e-01 6.77946140e-03 2.01100101e+02] [-1.42636419e-01 9.89774848e-01 -7.76387071e-04 -7.56804640e+00] [-6.82088298e-03 -1.98567713e-04 9.99976718e-01 -1.44416084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:-7.57, Z:-1.45 [[ 9.90374526e-01 1.38247372e-01 6.77949752e-03 2.01158422e+02] [-1.38245296e-01 9.90397716e-01 -7.76071590e-04 -7.57375482e+00] [-6.82168872e-03 -1.68632111e-04 9.99976718e-01 -1.45033979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:-7.58, Z:-1.45 [[ 9.90686173e-01 1.35996120e-01 6.77951511e-03 2.01217406e+02] [-1.35993993e-01 9.90709358e-01 -7.75917881e-04 -7.57948941e+00] [-6.82205088e-03 -1.53282214e-04 9.99976718e-01 -1.44799982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.28, Y:-7.58, Z:-1.45 [[ 9.91115076e-01 1.32834269e-01 6.77954749e-03 2.01277195e+02] [-1.32832070e-01 9.91138255e-01 -7.75634873e-04 -7.58365165e+00] [-6.82249976e-03 -1.31797909e-04 9.99976718e-01 -1.44900971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.34, Y:-7.59, Z:-1.45 [[ 9.91441262e-01 1.30377379e-01 6.77956618e-03 2.01336684e+02] [-1.30375123e-01 9.91464435e-01 -7.75471472e-04 -7.59032192e+00] [-6.82280269e-03 -1.15052360e-04 9.99976718e-01 -1.44831842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:-7.60, Z:-1.45 [[ 9.91913904e-01 1.26731384e-01 6.77958439e-03 2.01395785e+02] [-1.26729044e-01 9.91937069e-01 -7.75312265e-04 -7.59921503e+00] [-6.82317746e-03 -9.01272340e-05 9.99976718e-01 -1.45436672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:-7.61, Z:-1.45 [[ 9.91932141e-01 1.26588563e-01 6.77960252e-03 2.01455127e+02] [-1.26586222e-01 9.91955305e-01 -7.75153670e-04 -7.60507107e+00] [-6.82318828e-03 -8.93044269e-05 9.99976718e-01 -1.45215385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:-7.61, Z:-1.45 [[ 9.91644448e-01 1.28822847e-01 6.77962078e-03 2.01513337e+02] [-1.28820558e-01 9.91667617e-01 -7.74993933e-04 -7.61014970e+00] [-6.82296731e-03 -1.04836101e-04 9.99976718e-01 -1.44660824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:-7.62, Z:-1.45 [[ 9.91330905e-01 1.31213843e-01 6.77964775e-03 2.01570569e+02] [-1.31211612e-01 9.91354080e-01 -7.74757925e-04 -7.61536560e+00] [-6.82269042e-03 -1.21527038e-04 9.99976718e-01 -1.44757635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:-7.62, Z:-1.45 [[ 9.91428013e-01 1.30478085e-01 6.77969479e-03 2.01629740e+02] [-1.30475840e-01 9.91451187e-01 -7.74346104e-04 -7.61980553e+00] [-6.82277164e-03 -1.16877951e-04 9.99976718e-01 -1.45221848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:-7.63, Z:-1.45 [[ 9.92130592e-01 1.25023692e-01 6.77972091e-03 2.01689238e+02] [-1.25021321e-01 9.92153753e-01 -7.74117281e-04 -7.62525333e+00] [-6.82330855e-03 -7.95842254e-05 9.99976718e-01 -1.45239176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:-7.63, Z:-1.45 [[ 9.92691210e-01 1.20491479e-01 6.77973908e-03 2.01748114e+02] [-1.20489003e-01 9.92714360e-01 -7.73958169e-04 -7.63053474e+00] [-6.82359971e-03 -4.85825326e-05 9.99976718e-01 -1.44960881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:-7.63, Z:-1.45 [[ 9.92867527e-01 1.19029863e-01 6.77977549e-03 2.01806838e+02] [-1.19027355e-01 9.92890674e-01 -7.73639055e-04 -7.63479649e+00] [-6.82366201e-03 -3.88576478e-05 9.99976718e-01 -1.45255334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:-7.64, Z:-1.45 [[ 9.92646703e-01 1.20857593e-01 6.77981224e-03 2.01865580e+02] [-1.20855130e-01 9.92669854e-01 -7.73316864e-04 -7.63730324e+00] [-6.82357644e-03 -5.17446564e-05 9.99976718e-01 -1.45465511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:-7.64, Z:-1.45 [[ 9.92284193e-01 1.23798683e-01 6.77984967e-03 2.01923118e+02] [-1.23796291e-01 9.92307352e-01 -7.72988598e-04 -7.64032623e+00] [-6.82338964e-03 -7.22958725e-05 9.99976718e-01 -1.45495558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:-7.65, Z:-1.46 [[ 9.92284220e-01 1.23798462e-01 6.77989979e-03 2.01981105e+02] [-1.23796073e-01 9.92307380e-01 -7.72548741e-04 -7.64617078e+00] [-6.82338494e-03 -7.27370459e-05 9.99976718e-01 -1.46118595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:-7.65, Z:-1.46 [[ 9.92442441e-01 1.22523603e-01 6.77993610e-03 2.02040126e+02] [-1.22521186e-01 9.92465598e-01 -7.72229927e-04 -7.65185654e+00] [-6.82346973e-03 -6.42920593e-05 9.99976718e-01 -1.46477499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:-7.66, Z:-1.46 [[ 9.92771768e-01 1.19825909e-01 6.77996321e-03 2.02098403e+02] [-1.19823431e-01 9.92794918e-01 -7.71991824e-04 -7.65766183e+00] [-6.82361764e-03 -4.59867641e-05 9.99976718e-01 -1.45722865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:-7.66, Z:-1.46 [[ 9.92836247e-01 1.19290478e-01 6.77999004e-03 2.02156963e+02] [-1.19287989e-01 9.92859396e-01 -7.71756157e-04 -7.66462465e+00] [-6.82363997e-03 -4.25438882e-05 9.99976718e-01 -1.45783898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:-7.67, Z:-1.46 [[ 9.92683660e-01 1.20553654e-01 6.78002784e-03 2.02213777e+02] [-1.20551196e-01 9.92706812e-01 -7.71423888e-04 -7.67338696e+00] [-6.82357779e-03 -5.15605805e-05 9.99976718e-01 -1.46127962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:-7.68, Z:-1.46 [[ 9.92214318e-01 1.24357459e-01 6.78007707e-03 2.02272317e+02] [-1.24355094e-01 9.92237480e-01 -7.70990983e-04 -7.68027856e+00] [-6.82332506e-03 -7.81488263e-05 9.99976718e-01 -1.45680208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:-7.69, Z:-1.45 [[ 9.91504186e-01 1.29897957e-01 6.78010409e-03 2.02330622e+02] [-1.29895722e-01 9.91527361e-01 -7.70753273e-04 -7.68694775e+00] [-6.82277799e-03 -1.16501422e-04 9.99976718e-01 -1.45038114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.39, Y:-7.69, Z:-1.45 [[ 9.90561067e-01 1.36904353e-01 6.78014013e-03 2.02389056e+02] [-1.36902285e-01 9.90584257e-01 -7.70436158e-04 -7.69258301e+00] [-6.82177614e-03 -1.65052614e-04 9.99976718e-01 -1.45397029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:-7.70, Z:-1.45 [[ 9.90278033e-01 1.38936841e-01 6.78017574e-03 2.02448108e+02] [-1.38934823e-01 9.90301228e-01 -7.70122597e-04 -7.69859960e+00] [-6.82141476e-03 -1.79367023e-04 9.99976718e-01 -1.45276326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:-7.71, Z:-1.45 [[ 9.90000278e-01 1.40902372e-01 6.78019503e-03 2.02505548e+02] [-1.40900400e-01 9.90023477e-01 -7.69952750e-04 -7.70521046e+00] [-6.82104042e-03 -1.93078758e-04 9.99976718e-01 -1.45388392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:-7.71, Z:-1.45 [[ 9.89740881e-01 1.42713055e-01 6.78024325e-03 2.02564362e+02] [-1.42711128e-01 9.89764084e-01 -7.69527862e-04 -7.71029923e+00] [-6.82066292e-03 -2.05982981e-04 9.99976718e-01 -1.45442224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.62, Y:-7.72, Z:-1.46 [[ 9.89494533e-01 1.44411206e-01 6.78028115e-03 2.02621977e+02] [-1.44409322e-01 9.89517739e-01 -7.69193824e-04 -7.71605948e+00] [-6.82028868e-03 -2.18022721e-04 9.99976718e-01 -1.45897642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.68, Y:-7.73, Z:-1.46 [[ 9.89151252e-01 1.46744091e-01 6.78032785e-03 2.02680502e+02] [-1.46742264e-01 9.89174462e-01 -7.68781946e-04 -7.72550374e+00] [-6.81974136e-03 -2.34519038e-04 9.99976718e-01 -1.46439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:-7.74, Z:-1.46 [[ 9.88851879e-01 1.48748067e-01 6.78036488e-03 2.02737746e+02] [-1.48746290e-01 9.88875094e-01 -7.68455188e-04 -7.73511203e+00] [-6.81924018e-03 -2.48665764e-04 9.99976718e-01 -1.46499224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:-7.74, Z:-1.47 [[ 9.88782980e-01 1.49205376e-01 6.78041095e-03 2.02796346e+02] [-1.49203613e-01 9.88806195e-01 -7.68048473e-04 -7.74476928e+00] [-6.81910932e-03 -2.52228552e-04 9.99976718e-01 -1.47019520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.85, Y:-7.76, Z:-1.47 [[ 9.88253528e-01 1.52672821e-01 6.78043758e-03 2.02853908e+02] [-1.52671140e-01 9.88276749e-01 -7.67813362e-04 -7.75860842e+00] [-6.81817304e-03 -2.76382873e-04 9.99976718e-01 -1.46928468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:202.91, Y:-7.77, Z:-1.46 [[ 9.87416145e-01 1.57998045e-01 6.78047304e-03 2.02911606e+02] [-1.57996492e-01 9.87439375e-01 -7.67500064e-04 -7.77424479e+00] [-6.81656957e-03 -3.13449001e-04 9.99976718e-01 -1.45899146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.97, Y:-7.79, Z:-1.46 [[ 9.87131042e-01 1.59769618e-01 6.78050858e-03 2.02969291e+02] [-1.59768108e-01 9.87154275e-01 -7.67185911e-04 -7.78618697e+00] [-6.81598104e-03 -3.25996001e-04 9.99976718e-01 -1.46450647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.03, Y:-7.80, Z:-1.47 [[ 9.86962759e-01 1.60805898e-01 6.78054431e-03 2.03027452e+02] [-1.60804415e-01 9.86985994e-01 -7.66869994e-04 -7.79813838e+00] [-6.81561949e-03 -3.33469340e-04 9.99976718e-01 -1.46564498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.09, Y:-7.81, Z:-1.46 [[ 9.86841322e-01 1.61549465e-01 6.78057921e-03 2.03085511e+02] [-1.61548002e-01 9.86864558e-01 -7.66561301e-04 -7.81269835e+00] [-6.81535087e-03 -3.38914656e-04 9.99976718e-01 -1.45914932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.14, Y:-7.82, Z:-1.46 [[ 9.86196106e-01 1.65442629e-01 6.78061418e-03 2.03143740e+02] [-1.65441259e-01 9.86219348e-01 -7.66251903e-04 -7.82246496e+00] [-6.81394362e-03 -3.66118705e-04 9.99976718e-01 -1.46019350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:-7.83, Z:-1.46 [[ 9.84895550e-01 1.73016701e-01 6.78064921e-03 2.03202213e+02] [-1.73015513e-01 9.84918802e-01 -7.65941776e-04 -7.82741771e+00] [-6.81090961e-03 -4.18784851e-04 9.99976718e-01 -1.46122781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:203.26, Y:-7.83, Z:-1.46 [[ 9.84723300e-01 1.73994380e-01 6.78068504e-03 2.03260310e+02] [-1.73993217e-01 9.84746553e-01 -7.65624440e-04 -7.83214926e+00] [-6.81047057e-03 -4.25864975e-04 9.99976718e-01 -1.46059926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.32, Y:-7.84, Z:-1.46 [[ 9.85059882e-01 1.72078618e-01 6.78072911e-03 2.03319287e+02] [-1.72077412e-01 9.85083133e-01 -7.65233923e-04 -7.84086440e+00] [-6.81126227e-03 -4.13009077e-04 9.99976718e-01 -1.46462223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:203.38, Y:-7.85, Z:-1.47 [[ 9.86135276e-01 1.65804820e-01 6.78074697e-03 2.03376949e+02] [-1.65803467e-01 9.86158519e-01 -7.65075682e-04 -7.85038472e+00] [-6.81374462e-03 -3.69803236e-04 9.99976718e-01 -1.47255444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:-7.86, Z:-1.47 [[ 9.86307600e-01 1.64776636e-01 6.78077350e-03 2.03435357e+02] [-1.64775261e-01 9.86330841e-01 -7.64840404e-04 -7.86000524e+00] [-6.81411386e-03 -3.62935821e-04 9.99976718e-01 -1.46533711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:-7.87, Z:-1.47 [[ 9.85919216e-01 1.67084772e-01 6.78079970e-03 2.03493394e+02] [-1.67083452e-01 9.85942460e-01 -7.64608063e-04 -7.86954887e+00] [-6.81323271e-03 -3.79117642e-04 9.99976718e-01 -1.47239530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.55, Y:-7.88, Z:-1.47 [[ 9.85040174e-01 1.72191391e-01 6.78081402e-03 2.03552110e+02] [-1.72190193e-01 9.85063426e-01 -7.64481031e-04 -7.88009295e+00] [-6.81116895e-03 -4.14545149e-04 9.99976718e-01 -1.47020678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:-7.89, Z:-1.47 [[ 9.83061653e-01 1.83149683e-01 6.78083217e-03 2.03609568e+02] [-1.83148745e-01 9.83084916e-01 -7.64320062e-04 -7.88725481e+00] [-6.80611880e-03 -4.90527161e-04 9.99976718e-01 -1.46687436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:-7.89, Z:-1.47 [[ 9.81832863e-01 1.89626602e-01 6.78087691e-03 2.03668342e+02] [-1.89625820e-01 9.81856132e-01 -7.63922896e-04 -7.89211443e+00] [-6.80270568e-03 -5.35784739e-04 9.99976718e-01 -1.46964622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:-7.89, Z:-1.47 [[ 9.81133019e-01 1.93214953e-01 6.78091185e-03 2.03727774e+02] [-1.93214259e-01 9.81156291e-01 -7.63612673e-04 -7.89347999e+00] [-6.80067570e-03 -5.60963249e-04 9.99976718e-01 -1.46859240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:203.79, Y:-7.90, Z:-1.47 [[ 9.81713807e-01 1.90242003e-01 6.78094718e-03 2.03786727e+02] [-1.90241240e-01 9.81737077e-01 -7.63298779e-04 -7.89585463e+00] [-6.80231875e-03 -5.40674851e-04 9.99976718e-01 -1.46861648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.85, Y:-7.90, Z:-1.47 [[ 9.83011440e-01 1.83418991e-01 6.78098271e-03 2.03845460e+02] [-1.83418068e-01 9.83034704e-01 -7.62983014e-04 -7.89501574e+00] [-6.80588691e-03 -4.93733718e-04 9.99976718e-01 -1.47224326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:-7.90, Z:-1.47 [[ 9.83694124e-01 1.79721696e-01 6.78101791e-03 2.03903479e+02] [-1.79720688e-01 9.83717384e-01 -7.62670052e-04 -7.89566579e+00] [-6.80767356e-03 -4.68455158e-04 9.99976718e-01 -1.47159284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:-7.90, Z:-1.47 [[ 9.84302986e-01 1.76356595e-01 6.78106088e-03 2.03962424e+02] [-1.76355510e-01 9.84326243e-01 -7.62287797e-04 -7.89841080e+00] [-6.80921066e-03 -4.45555297e-04 9.99976718e-01 -1.46979521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-7.90, Z:-1.47 [[ 9.84580389e-01 1.74801243e-01 6.78109568e-03 2.04021365e+02] [-1.74800124e-01 9.84603644e-01 -7.61978087e-04 -7.90340037e+00] [-6.80988624e-03 -4.35107682e-04 9.99976718e-01 -1.47022283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:-7.91, Z:-1.47 [[ 9.85126315e-01 1.71697872e-01 6.78113042e-03 2.04080602e+02] [-1.71696682e-01 9.85149567e-01 -7.61668832e-04 -7.90699723e+00] [-6.81120461e-03 -4.13957581e-04 9.99976718e-01 -1.47167483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.14, Y:-7.91, Z:-1.47 [[ 9.85187905e-01 1.71344123e-01 6.78116586e-03 2.04137796e+02] [-1.71342926e-01 9.85211156e-01 -7.61353166e-04 -7.91155004e+00] [-6.81133365e-03 -4.11828871e-04 9.99976718e-01 -1.46569920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.20, Y:-7.92, Z:-1.47 [[ 9.84817222e-01 1.73461971e-01 6.78119747e-03 2.04196871e+02] [-1.73460826e-01 9.84840476e-01 -7.61071552e-04 -7.91574086e+00] [-6.81041471e-03 -4.26755744e-04 9.99976718e-01 -1.47287569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.26, Y:-7.92, Z:-1.48 [[ 9.84242045e-01 1.76696383e-01 6.78123249e-03 2.04255534e+02] [-1.76695316e-01 9.84265303e-01 -7.60759320e-04 -7.92052529e+00] [-6.80895527e-03 -4.49440712e-04 9.99976718e-01 -1.47800671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.31, Y:-7.92, Z:-1.48 [[ 9.83454548e-01 1.81028081e-01 6.78126737e-03 2.04314243e+02] [-1.81027119e-01 9.83477811e-01 -7.60448266e-04 -7.92321525e+00] [-6.80688848e-03 -4.79726993e-04 9.99976718e-01 -1.47782293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.37, Y:-7.93, Z:-1.47 [[ 9.83130924e-01 1.82777460e-01 6.78130244e-03 2.04373221e+02] [-1.82776542e-01 9.83154188e-01 -7.60135461e-04 -7.92726530e+00] [-6.80600152e-03 -4.92150334e-04 9.99976718e-01 -1.47416583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.43, Y:-7.93, Z:-1.48 [[ 9.83158850e-01 1.82627185e-01 6.78133708e-03 2.04432676e+02] [-1.82626265e-01 9.83182114e-01 -7.59826280e-04 -7.92637551e+00] [-6.80605426e-03 -4.91420333e-04 9.99976718e-01 -1.47664604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.49, Y:-7.93, Z:-1.47 [[ 9.83171887e-01 1.82556988e-01 6.78137165e-03 2.04491539e+02] [-1.82556069e-01 9.83195151e-01 -7.59517654e-04 -7.92669560e+00] [-6.80606698e-03 -4.91244144e-04 9.99976718e-01 -1.46606014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:-7.93, Z:-1.46 [[ 9.82859946e-01 1.84229042e-01 6.78140612e-03 2.04550824e+02] [-1.84228164e-01 9.82883211e-01 -7.59209747e-04 -7.92588003e+00] [-6.80519871e-03 -5.03129150e-04 9.99976718e-01 -1.46118849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:-7.92, Z:-1.47 [[ 9.82128009e-01 1.88091963e-01 6.78144076e-03 2.04609536e+02] [-1.88091179e-01 9.82151278e-01 -7.58900208e-04 -7.91831394e+00] [-6.80314374e-03 -5.30192039e-04 9.99976718e-01 -1.46651789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:-7.92, Z:-1.47 [[ 9.82114437e-01 1.88162814e-01 6.78149471e-03 2.04666753e+02] [-1.88162036e-01 9.82137706e-01 -7.58417831e-04 -7.91640228e+00] [-6.80306769e-03 -5.31166748e-04 9.99976718e-01 -1.46989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.73, Y:-7.92, Z:-1.46 [[ 9.82769781e-01 1.84709416e-01 6.78159029e-03 2.04725762e+02] [-1.84708561e-01 9.82793047e-01 -7.57562207e-04 -7.91604530e+00] [-6.80482866e-03 -5.08108542e-04 9.99976718e-01 -1.46468990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:-7.92, Z:-1.46 [[ 9.83209454e-01 1.82354543e-01 6.78162461e-03 2.04783699e+02] [-1.82353634e-01 9.83232718e-01 -7.57254823e-04 -7.91938140e+00] [-6.80600406e-03 -4.92113794e-04 9.99976718e-01 -1.46475923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.84, Y:-7.92, Z:-1.47 [[ 9.83036895e-01 1.83282491e-01 6.78167688e-03 2.04841767e+02] [-1.83281608e-01 9.83060161e-01 -7.56786402e-04 -7.92210850e+00] [-6.80550206e-03 -4.99007690e-04 9.99976718e-01 -1.47263407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:-7.93, Z:-1.47 [[ 9.82805759e-01 1.84517881e-01 6.78172000e-03 2.04900408e+02] [-1.84517029e-01 9.82829026e-01 -7.56399781e-04 -7.92777308e+00] [-6.80484055e-03 -5.07948769e-04 9.99976718e-01 -1.47151438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:-7.93, Z:-1.48 [[ 9.82521478e-01 1.86025681e-01 6.78175441e-03 2.04958573e+02] [-1.86024868e-01 9.82544746e-01 -7.56091138e-04 -7.93403675e+00] [-6.80402953e-03 -5.18699186e-04 9.99976718e-01 -1.47675371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:-7.94, Z:-1.48 [[ 9.82488647e-01 1.86198994e-01 6.78179018e-03 2.05016628e+02] [-1.86198187e-01 9.82511916e-01 -7.55770219e-04 -7.94005904e+00] [-6.80391331e-03 -5.20221373e-04 9.99976718e-01 -1.47970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:-7.94, Z:-1.48 [[ 9.82498270e-01 1.86148212e-01 6.78182545e-03 2.05075177e+02] [-1.86147405e-01 9.82521538e-01 -7.55453570e-04 -7.94439604e+00] [-6.80391590e-03 -5.20187386e-04 9.99976718e-01 -1.47822297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.13, Y:-7.95, Z:-1.47 [[ 9.82358524e-01 1.86884287e-01 6.78186042e-03 2.05134062e+02] [-1.86883501e-01 9.82381793e-01 -7.55139548e-04 -7.94612170e+00] [-6.80349991e-03 -5.25600046e-04 9.99976718e-01 -1.47159634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.19, Y:-7.95, Z:-1.48 [[ 9.82489971e-01 1.86192001e-01 6.78192973e-03 2.05193200e+02] [-1.86191203e-01 9.82513240e-01 -7.54516521e-04 -7.94795403e+00] [-6.80382069e-03 -5.21430738e-04 9.99976718e-01 -1.47923598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:-7.95, Z:-1.47 [[ 9.82385745e-01 1.86741141e-01 6.78196459e-03 2.05252168e+02] [-1.86740357e-01 9.82409014e-01 -7.54203048e-04 -7.94636029e+00] [-6.80350388e-03 -5.25548168e-04 9.99976718e-01 -1.46963200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:-7.95, Z:-1.47 [[ 9.82073977e-01 1.88373854e-01 6.78200809e-03 2.05309449e+02] [-1.88373112e-01 9.82097247e-01 -7.53811662e-04 -7.94764043e+00] [-6.80258989e-03 -5.37249153e-04 9.99976718e-01 -1.46696950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.37, Y:-7.95, Z:-1.47 [[ 9.81796163e-01 1.89816483e-01 6.78206828e-03 2.05367873e+02] [-1.89815779e-01 9.81819435e-01 -7.53269733e-04 -7.94803967e+00] [-6.80174946e-03 -5.47786242e-04 9.99976718e-01 -1.47041621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:-7.95, Z:-1.48 [[ 9.81788542e-01 1.89855892e-01 6.78220695e-03 2.05426632e+02] [-1.89855198e-01 9.81811814e-01 -7.52019116e-04 -7.94739805e+00] [-6.80162617e-03 -5.49313489e-04 9.99976718e-01 -1.47744507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:-7.95, Z:-1.48 [[ 9.82406097e-01 1.86634030e-01 6.78233242e-03 2.05484125e+02] [-1.86633267e-01 9.82429366e-01 -7.50885840e-04 -7.95075418e+00] [-6.80330339e-03 -5.28134028e-04 9.99976718e-01 -1.47807757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:-7.96, Z:-1.48 [[ 9.84119093e-01 1.77379846e-01 6.78237678e-03 2.05542924e+02] [-1.77378866e-01 9.84142355e-01 -7.50484999e-04 -7.95632677e+00] [-6.80794516e-03 -4.64483686e-04 9.99976718e-01 -1.47550325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:-7.96, Z:-1.48 [[ 9.85091472e-01 1.71897615e-01 6.78241309e-03 2.05599960e+02] [-1.71896508e-01 9.85114728e-01 -7.50156631e-04 -7.96423524e+00] [-6.81040517e-03 -4.26900225e-04 9.99976718e-01 -1.48224123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:-7.97, Z:-1.49 [[ 9.85819338e-01 1.67672989e-01 6.78245801e-03 2.05656952e+02] [-1.67671786e-01 9.85842589e-01 -7.49750281e-04 -7.97440749e+00] [-6.81214884e-03 -3.98108522e-04 9.99976718e-01 -1.48892588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:-7.99, Z:-1.48 [[ 9.86449231e-01 1.63926548e-01 6.78250196e-03 2.05713948e+02] [-1.63925259e-01 9.86472477e-01 -7.49352528e-04 -7.99269124e+00] [-6.81359028e-03 -3.72625163e-04 9.99976718e-01 -1.48054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:-8.01, Z:-1.48 [[ 9.86620726e-01 1.62891189e-01 6.78253815e-03 2.05770247e+02] [-1.62889877e-01 9.86643972e-01 -7.49024760e-04 -8.00936202e+00] [-6.81395992e-03 -3.65803453e-04 9.99976718e-01 -1.47939193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:-8.03, Z:-1.48 [[ 9.86609225e-01 1.62960835e-01 6.78258285e-03 2.05827031e+02] [-1.62959528e-01 9.86632470e-01 -7.48619771e-04 -8.02631324e+00] [-6.81391218e-03 -3.66691328e-04 9.99976718e-01 -1.47943774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.88, Y:-8.04, Z:-1.48 [[ 9.86190188e-01 1.65477819e-01 6.78263519e-03 2.05884681e+02] [-1.65476574e-01 9.86213437e-01 -7.48145313e-04 -8.04154649e+00] [-6.81292742e-03 -3.84553667e-04 9.99976718e-01 -1.47821223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:-8.05, Z:-1.48 [[ 9.85385340e-01 1.70204955e-01 6.78267100e-03 2.05941092e+02] [-1.70203824e-01 9.85408595e-01 -7.47820515e-04 -8.05396818e+00] [-6.81098506e-03 -4.17545167e-04 9.99976718e-01 -1.47707061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:-8.07, Z:-1.48 [[ 9.84242750e-01 1.76692397e-01 6.78276223e-03 2.05998506e+02] [-1.76691425e-01 9.84266012e-01 -7.46992103e-04 -8.06605314e+00] [-6.80803016e-03 -4.63234361e-04 9.99976718e-01 -1.47578188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:-8.08, Z:-1.47 [[ 9.83549412e-01 1.80511903e-01 6.78279650e-03 2.06055425e+02] [-1.80511024e-01 9.83572678e-01 -7.46680790e-04 -8.07577722e+00] [-6.80615809e-03 -4.89972089e-04 9.99976718e-01 -1.47458582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.11, Y:-8.08, Z:-1.48 [[ 9.83269564e-01 1.82030098e-01 6.78284738e-03 2.06113034e+02] [-1.82029258e-01 9.83292832e-01 -7.46218389e-04 -8.08338811e+00] [-6.80535941e-03 -5.00942842e-04 9.99976718e-01 -1.47574152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:-8.09, Z:-1.48 [[ 9.82839400e-01 1.84338562e-01 6.78289810e-03 2.06171396e+02] [-1.84337779e-01 9.82862669e-01 -7.45757061e-04 -8.09032801e+00] [-6.80412911e-03 -5.17384949e-04 9.99976718e-01 -1.48090530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:-8.10, Z:-1.48 [[ 9.82361515e-01 1.86868524e-01 6.78293248e-03 2.06230399e+02] [-1.86867804e-01 9.82384786e-01 -7.45444181e-04 -8.09535551e+00] [-6.80274973e-03 -5.35216023e-04 9.99976718e-01 -1.47916401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.29, Y:-8.10, Z:-1.48 [[ 9.81716444e-01 1.90228323e-01 6.78296784e-03 2.06286814e+02] [-1.90227685e-01 9.81739717e-01 -7.45122334e-04 -8.10182240e+00] [-6.80085230e-03 -5.58809420e-04 9.99976718e-01 -1.48052461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.34, Y:-8.11, Z:-1.49 [[ 9.81958987e-01 1.88972323e-01 6.78302910e-03 2.06344826e+02] [-1.88971659e-01 9.81982259e-01 -7.44564267e-04 -8.10905930e+00] [-6.80151628e-03 -5.50668688e-04 9.99976718e-01 -1.48520158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.40, Y:-8.12, Z:-1.48 [[ 9.82592497e-01 1.85650142e-01 6.78306265e-03 2.06402791e+02] [-1.85649401e-01 9.82615767e-01 -7.44258488e-04 -8.11882906e+00] [-6.80331600e-03 -5.27968713e-04 9.99976718e-01 -1.48448048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:-8.13, Z:-1.48 [[ 9.82995587e-01 1.83503854e-01 6.78309761e-03 2.06459969e+02] [-1.83503065e-01 9.83018856e-01 -7.43939702e-04 -8.12784369e+00] [-6.80442866e-03 -5.13429755e-04 9.99976718e-01 -1.48298476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:-8.13, Z:-1.48 [[ 9.82402009e-01 1.86655518e-01 6.78314094e-03 2.06517049e+02] [-1.86654806e-01 9.82425280e-01 -7.43544391e-04 -8.13315618e+00] [-6.80271580e-03 -5.35646352e-04 9.99976718e-01 -1.48438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:-8.14, Z:-1.49 [[ 9.82050536e-01 1.88495977e-01 6.78320007e-03 2.06575625e+02] [-1.88495312e-01 9.82073808e-01 -7.43004580e-04 -8.13874802e+00] [-6.80165650e-03 -5.48933369e-04 9.99976718e-01 -1.48967425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.63, Y:-8.14, Z:-1.49 [[ 9.82316216e-01 1.87106490e-01 6.78323388e-03 2.06632761e+02] [-1.87105794e-01 9.82339488e-01 -7.42695767e-04 -8.14494016e+00] [-6.80240170e-03 -5.39620269e-04 9.99976718e-01 -1.48827002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:206.69, Y:-8.15, Z:-1.49 [[ 9.83278926e-01 1.81979505e-01 6.78327581e-03 2.06691208e+02] [-1.81978690e-01 9.83302194e-01 -7.42312625e-04 -8.15119296e+00] [-6.80509567e-03 -5.04511285e-04 9.99976718e-01 -1.48700880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:-8.16, Z:-1.49 [[ 9.83496650e-01 1.80799134e-01 6.78330995e-03 2.06749844e+02] [-1.80798293e-01 9.83519917e-01 -7.42000572e-04 -8.15806678e+00] [-6.80567349e-03 -4.96655784e-04 9.99976718e-01 -1.48803603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:-8.16, Z:-1.49 [[ 9.83339165e-01 1.81653719e-01 6.78334418e-03 2.06807855e+02] [-1.81652901e-01 9.83362432e-01 -7.41687503e-04 -8.16350185e+00] [-6.80521612e-03 -5.02883780e-04 9.99976718e-01 -1.48785354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.87, Y:-8.17, Z:-1.49 [[ 9.82744650e-01 1.84843010e-01 6.78338655e-03 2.06866090e+02] [-1.84842270e-01 9.82767920e-01 -7.41299773e-04 -8.17053471e+00] [-6.80351877e-03 -5.25348185e-04 9.99976718e-01 -1.48996887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:-8.18, Z:-1.49 [[ 9.82749988e-01 1.84814626e-01 6.78341881e-03 2.06924408e+02] [-1.84813887e-01 9.82773259e-01 -7.41004405e-04 -8.17818034e+00] [-6.80351106e-03 -5.25447928e-04 9.99976718e-01 -1.48938248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.98, Y:-8.19, Z:-1.49 [[ 9.83138767e-01 1.82735187e-01 6.78345346e-03 2.06982396e+02] [-1.82734402e-01 9.83162036e-01 -7.40687114e-04 -8.18722753e+00] [-6.80458351e-03 -5.11372094e-04 9.99976718e-01 -1.48624748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:207.04, Y:-8.20, Z:-1.48 [[ 9.83913038e-01 1.78519236e-01 6.78348803e-03 2.07038946e+02] [-1.78518352e-01 9.83936304e-01 -7.40370388e-04 -8.19934121e+00] [-6.80669049e-03 -4.82517028e-04 9.99976718e-01 -1.48327988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.10, Y:-8.21, Z:-1.49 [[ 9.84116372e-01 1.77394901e-01 6.78353457e-03 2.07095077e+02] [-1.77393994e-01 9.84139636e-01 -7.39943671e-04 -8.20965020e+00] [-6.80720748e-03 -4.75167611e-04 9.99976718e-01 -1.48837695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:-8.22, Z:-1.48 [[ 9.84126672e-01 1.77337747e-01 6.78359971e-03 2.07151696e+02] [-1.77336843e-01 9.84149936e-01 -7.39346010e-04 -8.22480780e+00] [-6.80719318e-03 -4.75372029e-04 9.99976718e-01 -1.48433249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:-8.24, Z:-1.49 [[ 9.84141489e-01 1.77255497e-01 6.78364963e-03 2.07208762e+02] [-1.77254594e-01 9.84164754e-01 -7.38887684e-04 -8.23690447e+00] [-6.80720078e-03 -4.75263037e-04 9.99976718e-01 -1.48728675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:-8.25, Z:-1.49 [[ 9.84509316e-01 1.75200994e-01 6.78369910e-03 2.07266051e+02] [-1.75200045e-01 9.84532579e-01 -7.38433265e-04 -8.24964290e+00] [-6.80814701e-03 -4.61509961e-04 9.99976718e-01 -1.49053146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:-8.27, Z:-1.49 [[ 9.85287805e-01 1.70768622e-01 6.78373187e-03 2.07322272e+02] [-1.70767571e-01 9.85311063e-01 -7.38132123e-04 -8.26887498e+00] [-6.81013587e-03 -4.31168836e-04 9.99976718e-01 -1.48548586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:207.38, Y:-8.28, Z:-1.49 [[ 9.85610988e-01 1.68893342e-01 6.78377236e-03 2.07378329e+02] [-1.68892250e-01 9.85634244e-01 -7.37759779e-04 -8.28399990e+00] [-6.81092106e-03 -4.18582431e-04 9.99976718e-01 -1.48516698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.44, Y:-8.30, Z:-1.49 [[ 9.85173324e-01 1.71427834e-01 6.78381247e-03 2.07435543e+02] [-1.71426804e-01 9.85196583e-01 -7.37390743e-04 -8.30230044e+00] [-6.80979817e-03 -4.36469602e-04 9.99976718e-01 -1.49123600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.49, Y:-8.32, Z:-1.49 [[ 9.84385523e-01 1.75895203e-01 6.78384463e-03 2.07493616e+02] [-1.75894280e-01 9.84408786e-01 -7.37094769e-04 -8.31532205e+00] [-6.80772770e-03 -4.67654049e-04 9.99976718e-01 -1.49270572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:-8.33, Z:-1.49 [[ 9.83479406e-01 1.80892889e-01 6.78387694e-03 2.07551849e+02] [-1.80892086e-01 9.83502674e-01 -7.36797326e-04 -8.32892816e+00] [-6.80524251e-03 -5.02524657e-04 9.99976718e-01 -1.49164036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:-8.34, Z:-1.49 [[ 9.83068433e-01 1.83113174e-01 6.78389355e-03 2.07610144e+02] [-1.83112425e-01 9.83091703e-01 -7.36644331e-04 -8.33925867e+00] [-6.80407875e-03 -5.18043412e-04 9.99976718e-01 -1.49302237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.67, Y:-8.35, Z:-1.49 [[ 9.82827091e-01 1.84404142e-01 6.78391811e-03 2.07669028e+02] [-1.84403426e-01 9.82850362e-01 -7.36418078e-04 -8.34725440e+00] [-6.80337492e-03 -5.27206102e-04 9.99976718e-01 -1.49382101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:-8.36, Z:-1.49 [[ 9.81854628e-01 1.89513768e-01 6.78393439e-03 2.07727287e+02] [-1.89513173e-01 9.81877902e-01 -7.36268055e-04 -8.35604520e+00] [-6.80052821e-03 -5.62736737e-04 9.99976718e-01 -1.49280237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:-8.36, Z:-1.49 [[ 9.81174395e-01 1.93004621e-01 6.78395865e-03 2.07787223e+02] [-1.93004111e-01 9.81197672e-01 -7.36044460e-04 -8.36144270e+00] [-6.79846442e-03 -5.87143930e-04 9.99976718e-01 -1.48899780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:-8.37, Z:-1.49 [[ 9.80553951e-01 1.96132423e-01 6.78397557e-03 2.07845624e+02] [-1.96131988e-01 9.80577229e-01 -7.35888507e-04 -8.36737846e+00] [-6.79654356e-03 -6.08976234e-04 9.99976718e-01 -1.49301927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.90, Y:-8.37, Z:-1.49 [[ 9.81045828e-01 1.93657072e-01 6.78400071e-03 2.07904774e+02] [-1.93656580e-01 9.81069105e-01 -7.35656663e-04 -8.37333946e+00] [-6.79803862e-03 -5.92053476e-04 9.99976718e-01 -1.49298537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.96, Y:-8.38, Z:-1.49 [[ 9.82274365e-01 1.87326051e-01 6.78401722e-03 2.07964980e+02] [-1.87325410e-01 9.82297638e-01 -7.35504371e-04 -8.38268227e+00] [-6.80170322e-03 -5.48351717e-04 9.99976718e-01 -1.49236852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:-8.39, Z:-1.49 [[ 9.83693405e-01 1.79725521e-01 6.78401722e-03 2.08025220e+02] [-1.79724700e-01 9.83716672e-01 -7.35504371e-04 -8.39487600e+00] [-6.80573975e-03 -4.95744660e-04 9.99976718e-01 -1.49203268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:-8.40, Z:-1.49 [[ 9.83588007e-01 1.80301439e-01 6.78400043e-03 2.08085012e+02] [-1.80300631e-01 9.83611276e-01 -7.35659243e-04 -8.40388390e+00] [-6.80545974e-03 -4.99573947e-04 9.99976718e-01 -1.49267146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.15, Y:-8.41, Z:-1.49 [[ 9.83208939e-01 1.82357229e-01 6.78400043e-03 2.08145207e+02] [-1.82356468e-01 9.83232209e-01 -7.35659243e-04 -8.41341695e+00] [-6.80440051e-03 -5.13799616e-04 9.99976718e-01 -1.49146053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:-8.42, Z:-1.49 [[ 9.83456861e-01 1.81015412e-01 6.78398301e-03 2.08206911e+02] [-1.81014619e-01 9.83480130e-01 -7.35819812e-04 -8.42266852e+00] [-6.80510722e-03 -5.04353056e-04 9.99976718e-01 -1.49262190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:-8.43, Z:-1.49 [[ 9.83790171e-01 1.79195086e-01 6.78386191e-03 2.08268266e+02] [-1.79194243e-01 9.83813438e-01 -7.36934638e-04 -8.43095344e+00] [-6.80610957e-03 -4.90639944e-04 9.99976718e-01 -1.49397415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.33, Y:-8.44, Z:-1.50 [[ 9.84169144e-01 1.77101879e-01 6.78379654e-03 2.08328674e+02] [-1.77100982e-01 9.84192409e-01 -7.37535896e-04 -8.43693786e+00] [-6.80718005e-03 -4.75556958e-04 9.99976718e-01 -1.49793332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.39, Y:-8.44, Z:-1.50 [[ 9.84425421e-01 1.75671770e-01 6.78372656e-03 2.08390774e+02] [-1.75670834e-01 9.84448685e-01 -7.38178975e-04 -8.44236644e+00] [-6.80790790e-03 -4.65020755e-04 9.99976718e-01 -1.49649962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.45, Y:-8.45, Z:-1.50 [[ 9.84756200e-01 1.73807966e-01 6.78360870e-03 2.08452835e+02] [-1.73806979e-01 9.84779461e-01 -7.39260457e-04 -8.44844814e+00] [-6.80884788e-03 -4.51047218e-04 9.99976718e-01 -1.50239142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.51, Y:-8.45, Z:-1.50 [[ 9.84916137e-01 1.72899354e-01 6.78349068e-03 2.08513416e+02] [-1.72898339e-01 9.84939397e-01 -7.40341921e-04 -8.45456124e+00] [-6.80933186e-03 -4.43679562e-04 9.99976718e-01 -1.50395690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:-8.46, Z:-1.50 [[ 9.84946094e-01 1.72728627e-01 6.78338242e-03 2.08574973e+02] [-1.72727600e-01 9.84969353e-01 -7.41332507e-04 -8.46132150e+00] [-6.80947314e-03 -4.41504807e-04 9.99976718e-01 -1.50012244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:-8.47, Z:-1.50 [[ 9.84381032e-01 1.75920356e-01 6.78326160e-03 2.08636377e+02] [-1.75919397e-01 9.84404294e-01 -7.42436345e-04 -8.47217362e+00] [-6.80808152e-03 -4.62467035e-04 9.99976718e-01 -1.49537268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:-8.48, Z:-1.50 [[ 9.83868762e-01 1.78763105e-01 6.78313566e-03 2.08697171e+02] [-1.78762206e-01 9.83892027e-01 -7.43585222e-04 -8.48478084e+00] [-6.80679870e-03 -4.80978022e-04 9.99976718e-01 -1.49893205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:-8.50, Z:-1.50 [[ 9.83445078e-01 1.81079454e-01 6.78300137e-03 2.08757681e+02] [-1.81078601e-01 9.83468345e-01 -7.44808183e-04 -8.49524071e+00] [-6.80573659e-03 -4.95778454e-04 9.99976718e-01 -1.49658582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.82, Y:-8.50, Z:-1.50 [[ 9.83104826e-01 1.82917725e-01 6.78289416e-03 2.08818545e+02] [-1.82916909e-01 9.83128093e-01 -7.45783247e-04 -8.50340680e+00] [-6.80487078e-03 -5.07522926e-04 9.99976718e-01 -1.49583037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.88, Y:-8.51, Z:-1.50 [[ 9.82444680e-01 1.86430798e-01 6.78287813e-03 2.08878263e+02] [-1.86430064e-01 9.82467951e-01 -7.45929065e-04 -8.51034335e+00] [-6.80302453e-03 -5.31698363e-04 9.99976718e-01 -1.49925131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.94, Y:-8.52, Z:-1.50 [[ 9.82222157e-01 1.87599645e-01 6.78287813e-03 2.08939042e+02] [-1.87598939e-01 9.82245429e-01 -7.45929065e-04 -8.51501868e+00] [-6.80238706e-03 -5.39792682e-04 9.99976718e-01 -1.49978094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-8.52, Z:-1.50 [[ 9.82149056e-01 1.87981980e-01 6.78286193e-03 2.09000799e+02] [-1.87981282e-01 9.82172328e-01 -7.46076296e-04 -8.51695993e+00] [-6.80218819e-03 -5.42292949e-04 9.99976718e-01 -1.50215946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.06, Y:-8.52, Z:-1.50 [[ 9.82520926e-01 1.86028553e-01 6.78284501e-03 2.09061983e+02] [-1.86027807e-01 9.82544196e-01 -7.46230119e-04 -8.52271773e+00] [-6.80326511e-03 -5.28611077e-04 9.99976718e-01 -1.50178449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:-8.53, Z:-1.50 [[ 9.83272339e-01 1.82015110e-01 6.78282824e-03 2.09122975e+02] [-1.82014268e-01 9.83295606e-01 -7.46382490e-04 -8.52888105e+00] [-6.80537810e-03 -5.00674263e-04 9.99976718e-01 -1.49920491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.18, Y:-8.54, Z:-1.50 [[ 9.84467087e-01 1.75438164e-01 6.78279542e-03 2.09184784e+02] [-1.75437164e-01 9.84490347e-01 -7.46680612e-04 -8.54048542e+00] [-6.80859290e-03 -4.54871910e-04 9.99976718e-01 -1.50116114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.25, Y:-8.55, Z:-1.50 [[ 9.84530798e-01 1.75080274e-01 6.78265761e-03 2.09247065e+02] [-1.75079258e-01 9.84554058e-01 -7.47930348e-04 -8.55153150e+00] [-6.80884093e-03 -4.51142200e-04 9.99976718e-01 -1.50194818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:-8.57, Z:-1.50 [[ 9.83894998e-01 1.78618671e-01 6.78252104e-03 2.09309029e+02] [-1.78617729e-01 9.83918262e-01 -7.49166806e-04 -8.56846759e+00] [-6.80726149e-03 -4.74377034e-04 9.99976718e-01 -1.50220004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.37, Y:-8.58, Z:-1.50 [[ 9.83224086e-01 1.82275603e-01 6.78238245e-03 2.09370522e+02] [-1.82274740e-01 9.83247352e-01 -7.50419393e-04 -8.57903314e+00] [-6.80554273e-03 -4.98426576e-04 9.99976718e-01 -1.50364774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:209.43, Y:-8.59, Z:-1.51 [[ 9.81781853e-01 1.89890480e-01 6.78229693e-03 2.09431628e+02] [-1.89889792e-01 9.81805125e-01 -7.51191561e-04 -8.58890872e+00] [-6.80153801e-03 -5.50382708e-04 9.99976718e-01 -1.50548019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.49, Y:-8.60, Z:-1.51 [[ 9.81117395e-01 1.93294229e-01 6.78217937e-03 2.09493994e+02] [-1.93293614e-01 9.81140669e-01 -7.52251454e-04 -8.59745765e+00] [-6.79967787e-03 -5.72904972e-04 9.99976718e-01 -1.50657181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:-8.60, Z:-1.51 [[ 9.81146089e-01 1.93148533e-01 6.78204368e-03 2.09557007e+02] [-1.93147906e-01 9.81169363e-01 -7.53472747e-04 -8.60467538e+00] [-6.79986564e-03 -5.70670697e-04 9.99976718e-01 -1.50906328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:-8.61, Z:-1.51 [[ 9.81506788e-01 1.91307162e-01 6.78190834e-03 2.09619570e+02] [-1.91306483e-01 9.81530061e-01 -7.54688978e-04 -8.61217709e+00] [-6.80102431e-03 -5.56690679e-04 9.99976718e-01 -1.50774625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:-8.62, Z:-1.51 [[ 9.81795482e-01 1.89820018e-01 6.78177267e-03 2.09680923e+02] [-1.89819296e-01 9.81818753e-01 -7.55906227e-04 -8.61738163e+00] [-6.80195772e-03 -5.45165992e-04 9.99976718e-01 -1.50731863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:-8.62, Z:-1.51 [[ 9.81611415e-01 1.90769597e-01 6.78164676e-03 2.09743033e+02] [-1.90768890e-01 9.81634686e-01 -7.57034146e-04 -8.62013112e+00] [-6.80151879e-03 -5.50613864e-04 9.99976718e-01 -1.50606031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:-8.62, Z:-1.50 [[ 9.81292982e-01 1.92400868e-01 6.78153182e-03 2.09805799e+02] [-1.92400192e-01 9.81316255e-01 -7.58062371e-04 -8.62272201e+00] [-6.80067926e-03 -5.60886738e-04 9.99976718e-01 -1.50304182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:-8.62, Z:-1.51 [[ 9.80986341e-01 1.93958273e-01 6.78139383e-03 2.09866742e+02] [-1.93957626e-01 9.81009614e-01 -7.59294726e-04 -8.62411920e+00] [-6.79988404e-03 -5.70445294e-04 9.99976718e-01 -1.50603706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:-8.63, Z:-1.51 [[ 9.81317078e-01 1.92277940e-01 6.78128228e-03 2.09928661e+02] [-1.92277246e-01 9.81340350e-01 -7.60289732e-04 -8.62587967e+00] [-6.80093287e-03 -5.57800980e-04 9.99976718e-01 -1.51337966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:-8.63, Z:-1.51 [[ 9.81844254e-01 1.89567599e-01 6.78126546e-03 2.09990299e+02] [-1.89566840e-01 9.81867524e-01 -7.60439703e-04 -8.63096713e+00] [-6.80245906e-03 -5.38869712e-04 9.99976718e-01 -1.51118022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:-8.64, Z:-1.51 [[ 9.82298450e-01 1.87199815e-01 6.78114427e-03 2.10051374e+02] [-1.87198992e-01 9.82321718e-01 -7.61518915e-04 -8.63665316e+00] [-6.80382148e-03 -5.21384523e-04 9.99976718e-01 -1.51102863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:-8.65, Z:-1.51 [[ 9.82651426e-01 1.85338047e-01 6.78103331e-03 2.10113181e+02] [-1.85337174e-01 9.82674692e-01 -7.62505639e-04 -8.64626045e+00] [-6.80487113e-03 -5.07500295e-04 9.99976718e-01 -1.51282043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:-8.66, Z:-1.51 [[ 9.82571031e-01 1.85763799e-01 6.78091366e-03 2.10174925e+02] [-1.85762928e-01 9.82594297e-01 -7.63568204e-04 -8.65683579e+00] [-6.80473042e-03 -5.09382377e-04 9.99976718e-01 -1.51416528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:-8.67, Z:-1.51 [[ 9.82415392e-01 1.86585151e-01 6.78079500e-03 2.10236057e+02] [-1.86584292e-01 9.82438658e-01 -7.64620553e-04 -8.66865893e+00] [-6.80438198e-03 -5.14014836e-04 9.99976718e-01 -1.50906970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:-8.68, Z:-1.51 [[ 9.82238150e-01 1.87515972e-01 6.78067431e-03 2.10296907e+02] [-1.87515128e-01 9.82261417e-01 -7.65689326e-04 -8.67959634e+00] [-6.80397373e-03 -5.19389747e-04 9.99976718e-01 -1.50781250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:-8.69, Z:-1.51 [[ 9.81830178e-01 1.89640515e-01 6.78058890e-03 2.10359314e+02] [-1.89639716e-01 9.81853447e-01 -7.66444870e-04 -8.68985112e+00] [-6.80289359e-03 -5.33350252e-04 9.99976718e-01 -1.50822551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:-8.70, Z:-1.51 [[ 9.80578747e-01 1.96008536e-01 6.78044946e-03 2.10420832e+02] [-1.96007880e-01 9.80602020e-01 -7.67676465e-04 -8.69851909e+00] [-6.79939358e-03 -5.76254299e-04 9.99976718e-01 -1.50855083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:-8.70, Z:-1.51 [[ 9.79500960e-01 2.01325349e-01 6.78032904e-03 2.10484033e+02] [-2.01324812e-01 9.79524236e-01 -7.68738637e-04 -8.70361454e+00] [-6.79626320e-03 -6.12068237e-04 9.99976718e-01 -1.51195582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.55, Y:-8.70, Z:-1.51 [[ 9.78001293e-01 2.08488608e-01 6.78018729e-03 2.10545235e+02] [-2.08488233e-01 9.78024572e-01 -7.69986820e-04 -8.70145685e+00] [-6.79172325e-03 -6.60541160e-04 9.99976718e-01 -1.51376839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:-8.70, Z:-1.51 [[ 9.77771271e-01 2.09564715e-01 6.78018729e-03 2.10605236e+02] [-2.09564366e-01 9.77794551e-01 -7.69986820e-04 -8.70094873e+00] [-6.79099225e-03 -6.68014656e-04 9.99976718e-01 -1.51312056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:210.67, Y:-8.70, Z:-1.52 [[ 9.79393295e-01 2.01848467e-01 6.78019601e-03 2.10666064e+02] [-2.01847934e-01 9.79416571e-01 -7.69910029e-04 -8.69894999e+00] [-6.79604148e-03 -6.14523835e-04 9.99976718e-01 -1.51877633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:-8.70, Z:-1.52 [[ 9.81226975e-01 1.92737264e-01 6.78019601e-03 2.10727091e+02] [-1.92736515e-01 9.81250245e-01 -7.69910029e-04 -8.70220174e+00] [-6.80145935e-03 -5.51334859e-04 9.99976718e-01 -1.51864005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:-8.70, Z:-1.52 [[ 9.82724416e-01 1.84950675e-01 6.78017849e-03 2.10787596e+02] [-1.84949740e-01 9.82747679e-01 -7.70064275e-04 -8.70458277e+00] [-6.80562858e-03 -4.97231287e-04 9.99976718e-01 -1.51526476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:-8.71, Z:-1.52 [[ 9.83508103e-01 1.80736937e-01 6.78016977e-03 2.10847867e+02] [-1.80735902e-01 9.83531362e-01 -7.70141011e-04 -8.70761738e+00] [-6.80770254e-03 -4.67980173e-04 9.99976718e-01 -1.51648561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:-8.71, Z:-1.52 [[ 9.83405650e-01 1.81293563e-01 6.78016977e-03 2.10907977e+02] [-1.81292541e-01 9.83428910e-01 -7.70141011e-04 -8.71373079e+00] [-6.80743658e-03 -4.71833186e-04 9.99976718e-01 -1.52210916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.97, Y:-8.72, Z:-1.52 [[ 9.83364725e-01 1.81515416e-01 6.78016977e-03 2.10967351e+02] [-1.81514399e-01 9.83387985e-01 -7.70141011e-04 -8.72083131e+00] [-6.80732996e-03 -4.73368941e-04 9.99976718e-01 -1.52114057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.03, Y:-8.73, Z:-1.52 [[ 9.83990526e-01 1.78091757e-01 6.78016202e-03 2.11025746e+02] [-1.78090659e-01 9.84013782e-01 -7.70209245e-04 -8.73224750e+00] [-6.80894079e-03 -4.49604924e-04 9.99976718e-01 -1.51533014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.09, Y:-8.75, Z:-1.51 [[ 9.84281012e-01 1.76479232e-01 6.78017070e-03 2.11086213e+02] [-1.76478097e-01 9.84304266e-01 -7.70132830e-04 -8.74544345e+00] [-6.80966340e-03 -4.38524498e-04 9.99976718e-01 -1.51425758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.15, Y:-8.75, Z:-1.51 [[ 9.83713297e-01 1.79616758e-01 6.78015349e-03 2.11145121e+02] [-1.79615695e-01 9.83736555e-01 -7.70284361e-04 -8.75499568e+00] [-6.80824081e-03 -4.60083015e-04 9.99976718e-01 -1.51294818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:-8.76, Z:-1.52 [[ 9.82799253e-01 1.84552590e-01 6.78016200e-03 2.11204597e+02] [-1.84551645e-01 9.82822516e-01 -7.70209411e-04 -8.76350039e+00] [-6.80584002e-03 -4.94328819e-04 9.99976718e-01 -1.51574865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:-8.77, Z:-1.52 [[ 9.81298829e-01 1.92371091e-01 6.78016200e-03 2.11263213e+02] [-1.92370331e-01 9.81322099e-01 -7.70209411e-04 -8.77059982e+00] [-6.80168883e-03 -5.48496418e-04 9.99976718e-01 -1.51784003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.32, Y:-8.78, Z:-1.52 [[ 9.80304829e-01 1.97373937e-01 6.78018722e-03 2.11322928e+02] [-1.97373297e-01 9.80328103e-01 -7.69987360e-04 -8.77767753e+00] [-6.79878351e-03 -5.83405579e-04 9.99976718e-01 -1.51522033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:-8.78, Z:-1.51 [[ 9.79577683e-01 2.00951714e-01 6.78020371e-03 2.11382017e+02] [-2.00951160e-01 9.79600959e-01 -7.69842119e-04 -8.78212566e+00] [-6.79659515e-03 -6.08369642e-04 9.99976718e-01 -1.51399994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.44, Y:-8.78, Z:-1.52 [[ 9.78887076e-01 2.04289305e-01 6.78023646e-03 2.11441123e+02] [-2.04288833e-01 9.78910354e-01 -7.69553536e-04 -8.78151204e+00] [-6.79445523e-03 -6.31820582e-04 9.99976718e-01 -1.52016620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:-8.78, Z:-1.52 [[ 9.79102369e-01 2.03254960e-01 6.78026886e-03 2.11498820e+02] [-2.03254465e-01 9.79125646e-01 -7.69267952e-04 -8.78415700e+00] [-6.79509266e-03 -6.24927844e-04 9.99976718e-01 -1.52000663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.56, Y:-8.79, Z:-1.52 [[ 9.79390418e-01 2.01862421e-01 6.78031092e-03 2.11557460e+02] [-2.01861895e-01 9.79413694e-01 -7.68897061e-04 -8.79020028e+00] [-6.79594079e-03 -6.15636002e-04 9.99976718e-01 -1.51992169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:-8.80, Z:-1.52 [[ 9.80266820e-01 1.97562622e-01 6.78034265e-03 2.11616475e+02] [-1.97561996e-01 9.80290093e-01 -7.68617172e-04 -8.79540870e+00] [-6.79855275e-03 -5.86088117e-04 9.99976718e-01 -1.52132154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:-8.80, Z:-1.52 [[ 9.81763857e-01 1.89983564e-01 6.78037425e-03 2.11677281e+02] [-1.89982760e-01 9.81787126e-01 -7.68338314e-04 -8.80027620e+00] [-6.80285580e-03 -5.33827431e-04 9.99976718e-01 -1.51983227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:-8.81, Z:-1.52 [[ 9.82736185e-01 1.84888120e-01 6.78037425e-03 2.11737235e+02] [-1.84887195e-01 9.82759449e-01 -7.68338314e-04 -8.80801681e+00] [-6.80553349e-03 -4.98530515e-04 9.99976718e-01 -1.51740413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:-8.82, Z:-1.52 [[ 9.83804447e-01 1.79116824e-01 6.78037425e-03 2.11796620e+02] [-1.79115763e-01 9.83827705e-01 -7.68338314e-04 -8.81918969e+00] [-6.80834236e-03 -4.58577256e-04 9.99976718e-01 -1.52376080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:-8.83, Z:-1.53 [[ 9.84097954e-01 1.77497167e-01 6.78032895e-03 2.11856583e+02] [-1.77496065e-01 9.84121210e-01 -7.68737873e-04 -8.83012116e+00] [-6.80911433e-03 -4.46968343e-04 9.99976718e-01 -1.52542514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:-8.84, Z:-1.52 [[ 9.84323219e-01 1.76243660e-01 6.78032036e-03 2.11918127e+02] [-1.76242528e-01 9.84346474e-01 -7.68813676e-04 -8.84134603e+00] [-6.80968297e-03 -4.38219650e-04 9.99976718e-01 -1.52298076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:-8.85, Z:-1.52 [[ 9.83722920e-01 1.79564043e-01 6.78019055e-03 2.11978856e+02] [-1.79562982e-01 9.83746178e-01 -7.69956771e-04 -8.85144494e+00] [-6.80824309e-03 -4.60047109e-04 9.99976718e-01 -1.52216475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:-8.86, Z:-1.52 [[ 9.82221141e-01 1.87605064e-01 6.78007249e-03 2.12039412e+02] [-1.87604186e-01 9.82244407e-01 -7.70994987e-04 -8.85722442e+00] [-6.80433084e-03 -5.14682404e-04 9.99976718e-01 -1.52110948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:-8.86, Z:-1.52 [[ 9.80878932e-01 1.94500773e-01 6.78007249e-03 2.12098368e+02] [-1.94500059e-01 9.80902203e-01 -7.70994987e-04 -8.86003703e+00] [-6.80054716e-03 -5.62471756e-04 9.99976718e-01 -1.51945067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:-8.86, Z:-1.52 [[ 9.79687464e-01 2.00415826e-01 6.78009845e-03 2.12158323e+02] [-2.00415253e-01 9.79710739e-01 -7.70766594e-04 -8.86214601e+00] [-6.79700909e-03 -6.03724775e-04 9.99976718e-01 -1.52235641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:-8.86, Z:-1.53 [[ 9.79102844e-01 2.03252679e-01 6.78011575e-03 2.12216804e+02] [-2.03252174e-01 9.79126120e-01 -7.70614340e-04 -8.86176884e+00] [-6.79521786e-03 -6.23562577e-04 9.99976718e-01 -1.52745459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.28, Y:-8.87, Z:-1.53 [[ 9.79618488e-01 2.00752700e-01 6.78015855e-03 2.12276888e+02] [-2.00752139e-01 9.79641764e-01 -7.70237652e-04 -8.86511356e+00] [-6.79675377e-03 -6.06592289e-04 9.99976718e-01 -1.52553338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.34, Y:-8.87, Z:-1.52 [[ 9.80248819e-01 1.97651923e-01 6.78017591e-03 2.12335335e+02] [-1.97651289e-01 9.80272092e-01 -7.70084822e-04 -8.86835312e+00] [-6.79862597e-03 -5.85235774e-04 9.99976718e-01 -1.52302250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:-8.87, Z:-1.52 [[ 9.79942710e-01 1.99164036e-01 6.78020217e-03 2.12394033e+02] [-1.99163440e-01 9.79965985e-01 -7.69853536e-04 -8.87065500e+00] [-6.79769463e-03 -5.95956025e-04 9.99976718e-01 -1.52407062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:-8.87, Z:-1.53 [[ 9.79087866e-01 2.03324810e-01 6.78023723e-03 2.12453273e+02] [-2.03324315e-01 9.79111143e-01 -7.69544590e-04 -8.87041843e+00] [-6.79507333e-03 -6.25135318e-04 9.99976718e-01 -1.52576144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:-8.87, Z:-1.52 [[ 9.77892573e-01 2.08997951e-01 6.78027192e-03 2.12511910e+02] [-2.08997593e-01 9.77915852e-01 -7.69238837e-04 -8.86818405e+00] [-6.79130473e-03 -6.64827565e-04 9.99976718e-01 -1.52244883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.57, Y:-8.87, Z:-1.52 [[ 9.77785364e-01 2.09498947e-01 6.78031482e-03 2.12569895e+02] [-2.09498604e-01 9.77808644e-01 -7.68860534e-04 -8.86925992e+00] [-6.79092591e-03 -6.68685909e-04 9.99976718e-01 -1.52211143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:-8.87, Z:-1.53 [[ 9.78112001e-01 2.07968602e-01 6.78036539e-03 2.12628271e+02] [-2.07968225e-01 9.78135281e-01 -7.68414302e-04 -8.86997312e+00] [-6.79192065e-03 -6.58505301e-04 9.99976718e-01 -1.52525774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:-8.87, Z:-1.53 [[ 9.78536610e-01 2.05961475e-01 6.78041530e-03 2.12686817e+02] [-2.05961053e-01 9.78559888e-01 -7.67973607e-04 -8.86854643e+00] [-6.79321542e-03 -6.45011189e-04 9.99976718e-01 -1.52527889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-8.87, Z:-1.53 [[ 9.78571599e-01 2.05795166e-01 6.78046841e-03 2.12744142e+02] [-2.05794744e-01 9.78594878e-01 -7.67504444e-04 -8.86832146e+00] [-6.79328036e-03 -6.44326707e-04 9.99976718e-01 -1.52658871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-8.86, Z:-1.53 [[ 9.78702630e-01 2.05171114e-01 6.78052979e-03 2.12802061e+02] [-2.05170681e-01 9.78725908e-01 -7.66961837e-04 -8.86455609e+00] [-6.79363859e-03 -6.40538345e-04 9.99976718e-01 -1.52859044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-8.86, Z:-1.53 [[ 9.79007785e-01 2.03710041e-01 6.78060962e-03 2.12860023e+02] [-2.03709577e-01 9.79031062e-01 -7.66255366e-04 -8.86366164e+00] [-6.79452135e-03 -6.31105150e-04 9.99976718e-01 -1.52909359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-8.86, Z:-1.53 [[ 9.79704355e-01 2.00333221e-01 6.78066952e-03 2.12918376e+02] [-2.00332681e-01 9.79727631e-01 -7.65724970e-04 -8.86117421e+00] [-6.79660943e-03 -6.08205613e-04 9.99976718e-01 -1.52895138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-8.86, Z:-1.53 [[ 9.80150526e-01 1.98138761e-01 6.78072080e-03 2.12975494e+02] [-1.98138172e-01 9.80173800e-01 -7.65270602e-04 -8.86099916e+00] [-6.79791464e-03 -5.93439242e-04 9.99976718e-01 -1.53067361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.03, Y:-8.86, Z:-1.53 [[ 9.81009549e-01 1.93840880e-01 6.78078018e-03 2.13034582e+02] [-1.93840192e-01 9.81032821e-01 -7.64744103e-04 -8.85920107e+00] [-6.80040657e-03 -5.64166465e-04 9.99976718e-01 -1.52747936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:-8.86, Z:-1.53 [[ 9.81838824e-01 1.89595739e-01 6.78081709e-03 2.13093353e+02] [-1.89594953e-01 9.81862093e-01 -7.64416628e-04 -8.86131138e+00] [-6.80275740e-03 -5.35074775e-04 9.99976718e-01 -1.52894252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:-8.86, Z:-1.53 [[ 9.82583800e-01 1.85696248e-01 6.78085456e-03 2.13151278e+02] [-1.85695372e-01 9.82607065e-01 -7.64084126e-04 -8.86484271e+00] [-6.80480316e-03 -5.08396625e-04 9.99976718e-01 -1.52765320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:-8.87, Z:-1.53 [[ 9.83573281e-01 1.80381875e-01 6.78090065e-03 2.13208150e+02] [-1.80380876e-01 9.83596542e-01 -7.63674872e-04 -8.86926313e+00] [-6.80742353e-03 -4.72014598e-04 9.99976718e-01 -1.52839707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:-8.88, Z:-1.53 [[ 9.83957901e-01 1.78271893e-01 6.78096215e-03 2.13265903e+02] [-1.78270848e-01 9.83981160e-01 -7.63128413e-04 -8.87608528e+00] [-6.80838335e-03 -4.57961644e-04 9.99976718e-01 -1.52845987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:-8.88, Z:-1.53 [[ 9.83914270e-01 1.78512541e-01 6.78101478e-03 2.13324019e+02] [-1.78511505e-01 9.83937529e-01 -7.62660479e-04 -8.88421873e+00] [-6.80823939e-03 -4.60096622e-04 9.99976718e-01 -1.53038931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:-8.89, Z:-1.53 [[ 9.83723006e-01 1.79563542e-01 6.78105091e-03 2.13380472e+02] [-1.79562533e-01 9.83746266e-01 -7.62339104e-04 -8.89167188e+00] [-6.80772182e-03 -4.67692163e-04 9.99976718e-01 -1.53254292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:-8.90, Z:-1.53 [[ 9.83249552e-01 1.82138231e-01 6.78111323e-03 2.13437901e+02] [-1.82137286e-01 9.83272815e-01 -7.61784375e-04 -8.90025026e+00] [-6.80643435e-03 -4.86069416e-04 9.99976718e-01 -1.53323175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:-8.91, Z:-1.53 [[ 9.82756109e-01 1.84782157e-01 6.78116474e-03 2.13494190e+02] [-1.84781278e-01 9.82779375e-01 -7.61325549e-04 -8.90883804e+00] [-6.80506822e-03 -5.04834954e-04 9.99976718e-01 -1.53267863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:-8.92, Z:-1.53 [[ 9.82569819e-01 1.85770196e-01 6.78125067e-03 2.13551772e+02] [-1.85769346e-01 9.82593086e-01 -7.60559347e-04 -8.91673863e+00] [-6.80449928e-03 -5.12445842e-04 9.99976718e-01 -1.53283911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:-8.92, Z:-1.53 [[ 9.82605350e-01 1.85582164e-01 6.78130204e-03 2.13608653e+02] [-1.85581313e-01 9.82628617e-01 -7.60101029e-04 -8.92465461e+00] [-6.80456264e-03 -5.11603599e-04 9.99976718e-01 -1.53257495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:-8.93, Z:-1.53 [[ 9.82611717e-01 1.85548448e-01 6.78136128e-03 2.13666202e+02] [-1.85547599e-01 9.82634984e-01 -7.59572212e-04 -8.93365838e+00] [-6.80454027e-03 -5.11900749e-04 9.99976718e-01 -1.53047525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:-8.94, Z:-1.53 [[ 9.82508286e-01 1.86095354e-01 6.78141351e-03 2.13724073e+02] [-1.86094522e-01 9.82531553e-01 -7.59105577e-04 -8.94052461e+00] [-6.80421877e-03 -5.16156384e-04 9.99976718e-01 -1.53086813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:-8.95, Z:-1.53 [[ 9.82656846e-01 1.85309296e-01 6.78146620e-03 2.13781668e+02] [-1.85308448e-01 9.82680113e-01 -7.58634558e-04 -8.94735068e+00] [-6.80459401e-03 -5.11185537e-04 9.99976718e-01 -1.53014683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:-8.95, Z:-1.53 [[ 9.83148351e-01 1.82683689e-01 6.78152066e-03 2.13838013e+02] [-1.82682782e-01 9.83171616e-01 -7.58147429e-04 -8.95383761e+00] [-6.80589980e-03 -4.93495665e-04 9.99976718e-01 -1.53347177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:-8.96, Z:-1.53 [[ 9.83879917e-01 1.78701760e-01 6.78160035e-03 2.13895540e+02] [-1.78700764e-01 9.83903178e-01 -7.57434005e-04 -8.95807153e+00] [-6.80779292e-03 -4.66653056e-04 9.99976718e-01 -1.53423985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:-8.96, Z:-1.53 [[ 9.84086873e-01 1.77558540e-01 6.78165174e-03 2.13953776e+02] [-1.77557521e-01 9.84110133e-01 -7.56973560e-04 -8.96287446e+00] [-6.80829932e-03 -4.59205524e-04 9.99976718e-01 -1.53266143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.01, Y:-8.97, Z:-1.53 [[ 9.83972238e-01 1.78192714e-01 6.78168635e-03 2.14010909e+02] [-1.78191711e-01 9.83995499e-01 -7.56663386e-04 -8.96687679e+00] [-6.80798074e-03 -4.63904528e-04 9.99976718e-01 -1.53157344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-8.97, Z:-1.54 [[ 9.84225761e-01 1.76787044e-01 6.78174636e-03 2.14069670e+02] [-1.76786011e-01 9.84249021e-01 -7.56125093e-04 -8.96880816e+00] [-6.80860034e-03 -4.54720095e-04 9.99976718e-01 -1.53710009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:-8.97, Z:-1.53 [[ 9.84882632e-01 1.73090177e-01 6.78178094e-03 2.14128504e+02] [-1.73089060e-01 9.84905887e-01 -7.55814830e-04 -8.96982810e+00] [-6.81024010e-03 -4.29463188e-04 9.99976718e-01 -1.53443041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-8.97, Z:-1.53 [[ 9.85489331e-01 1.69601841e-01 6.78181694e-03 2.14187701e+02] [-1.69600644e-01 9.85512583e-01 -7.55491664e-04 -8.97413626e+00] [-6.81169871e-03 -4.05671545e-04 9.99976718e-01 -1.53403181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:-8.98, Z:-1.54 [[ 9.86490981e-01 1.63675139e-01 6.78185295e-03 2.14245656e+02] [-1.63673804e-01 9.86514225e-01 -7.55168292e-04 -8.97935964e+00] [-6.81399668e-03 -3.65044963e-04 9.99976718e-01 -1.53572330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:-8.98, Z:-1.54 [[ 9.87561223e-01 1.57088630e-01 6.78190702e-03 2.14303228e+02] [-1.57087143e-01 9.87584457e-01 -7.54682365e-04 -8.98461019e+00] [-6.81625799e-03 -3.20055359e-04 9.99976718e-01 -1.53792077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:-8.99, Z:-1.54 [[ 9.87654899e-01 1.56498581e-01 6.78195194e-03 2.14361208e+02] [-1.56497083e-01 9.87678133e-01 -7.54278519e-04 -8.98784876e+00] [-6.81642915e-03 -3.16388825e-04 9.99976718e-01 -1.53657090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:-8.99, Z:-1.54 [[ 9.86793140e-01 1.61843453e-01 6.78200650e-03 2.14418110e+02] [-1.61842084e-01 9.86816382e-01 -7.53787658e-04 -8.98854724e+00] [-6.81459071e-03 -3.53781579e-04 9.99976718e-01 -1.53788400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.48, Y:-8.99, Z:-1.54 [[ 9.86350060e-01 1.64522226e-01 6.78206966e-03 2.14476331e+02] [-1.64520924e-01 9.86373306e-01 -7.53218946e-04 -8.99381987e+00] [-6.81357373e-03 -3.72854814e-04 9.99976718e-01 -1.53582200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:-9.00, Z:-1.53 [[ 9.86389292e-01 1.64286846e-01 6.78210598e-03 2.14533333e+02] [-1.64285541e-01 9.86412538e-01 -7.52891781e-04 -9.00238638e+00] [-6.81364458e-03 -3.71557557e-04 9.99976718e-01 -1.53370853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:-9.01, Z:-1.54 [[ 9.86664063e-01 1.62628501e-01 6.78217202e-03 2.14589819e+02] [-1.62627161e-01 9.86687306e-01 -7.52296396e-04 -9.01136029e+00] [-6.81422788e-03 -3.60701562e-04 9.99976718e-01 -1.53581599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:-9.02, Z:-1.54 [[ 9.86720483e-01 1.62285825e-01 6.78223350e-03 2.14646961e+02] [-1.62284481e-01 9.86743727e-01 -7.51741728e-04 -9.01968106e+00] [-6.81432338e-03 -3.58892283e-04 9.99976718e-01 -1.53531349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.70, Y:-9.03, Z:-1.54 [[ 9.86429101e-01 1.64047646e-01 6.78228593e-03 2.14704414e+02] [-1.64046346e-01 9.86452346e-01 -7.51268398e-04 -9.02953128e+00] [-6.81364568e-03 -3.71536216e-04 9.99976718e-01 -1.53848597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.76, Y:-9.04, Z:-1.54 [[ 9.86068366e-01 1.66202218e-01 6.78232928e-03 2.14763002e+02] [-1.66200972e-01 9.86091615e-01 -7.50876861e-04 -9.03662737e+00] [-6.81279543e-03 -3.86813798e-04 9.99976718e-01 -1.54114560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.82, Y:-9.04, Z:-1.54 [[ 9.85751900e-01 1.68069007e-01 6.78236365e-03 2.14821853e+02] [-1.68067807e-01 9.85775151e-01 -7.50566217e-04 -9.04110951e+00] [-6.81203247e-03 -4.00024912e-04 9.99976718e-01 -1.53818473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:-9.04, Z:-1.54 [[ 9.85930937e-01 1.67015531e-01 6.78239958e-03 2.14879149e+02] [-1.67014308e-01 9.85954187e-01 -7.50241454e-04 -9.04369353e+00] [-6.81243723e-03 -3.93071513e-04 9.99976718e-01 -1.53835492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:-9.05, Z:-1.54 [[ 9.86902246e-01 1.61176782e-01 6.78246166e-03 2.14935790e+02] [-1.61175426e-01 9.86925489e-01 -7.49679747e-04 -9.04771059e+00] [-6.81461526e-03 -3.53305518e-04 9.99976718e-01 -1.53897532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.99, Y:-9.05, Z:-1.54 [[ 9.88070721e-01 1.53851381e-01 6.78252282e-03 2.14994397e+02] [-1.53849856e-01 9.88093953e-01 -7.49126044e-04 -9.05102864e+00] [-6.81702386e-03 -3.03300648e-04 9.99976718e-01 -1.53527327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.05, Y:-9.05, Z:-1.53 [[ 9.89328367e-01 1.45545113e-01 6.78255742e-03 2.15051640e+02] [-1.45543395e-01 9.89351585e-01 -7.48812628e-04 -9.05377792e+00] [-6.81931996e-03 -2.46334860e-04 9.99976718e-01 -1.52940703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:-9.06, Z:-1.53 [[ 9.89673283e-01 1.43180965e-01 6.78261747e-03 2.15109236e+02] [-1.43179195e-01 9.89696498e-01 -7.48268282e-04 -9.05627681e+00] [-6.81987054e-03 -2.30588585e-04 9.99976718e-01 -1.52909218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.17, Y:-9.06, Z:-1.53 [[ 9.89705407e-01 1.42958742e-01 6.78266916e-03 2.15165914e+02] [-1.42956970e-01 9.89728622e-01 -7.47799507e-04 -9.05785635e+00] [-6.81990628e-03 -2.29528616e-04 9.99976718e-01 -1.53054423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.22, Y:-9.06, Z:-1.53 [[ 9.89809703e-01 1.42234830e-01 6.78272885e-03 2.15223315e+02] [-1.42233045e-01 9.89832917e-01 -7.47257671e-04 -9.06287331e+00] [-6.82005435e-03 -2.25085282e-04 9.99976718e-01 -1.53218621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.28, Y:-9.07, Z:-1.54 [[ 9.89979246e-01 1.41049941e-01 6.78278469e-03 2.15279711e+02] [-1.41048132e-01 9.90002458e-01 -7.46750505e-04 -9.06838356e+00] [-6.82030263e-03 -2.17431605e-04 9.99976718e-01 -1.53624604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:-9.07, Z:-1.54 [[ 9.89615887e-01 1.43577119e-01 6.78284904e-03 2.15337520e+02] [-1.43575374e-01 9.89639104e-01 -7.46165501e-04 -9.07414867e+00] [-6.81970494e-03 -2.35432851e-04 9.99976718e-01 -1.53590400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:-9.08, Z:-1.54 [[ 9.88987749e-01 1.47841891e-01 6.78290149e-03 2.15395122e+02] [-1.47840249e-01 9.89010973e-01 -7.45688475e-04 -9.07721724e+00] [-6.81860799e-03 -2.65309078e-04 9.99976718e-01 -1.53774389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:-9.08, Z:-1.54 [[ 9.88285105e-01 1.52468169e-01 6.78295490e-03 2.15454272e+02] [-1.52466639e-01 9.88308337e-01 -7.45202303e-04 -9.08049195e+00] [-6.81727051e-03 -2.97701997e-04 9.99976718e-01 -1.54163077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:-9.08, Z:-1.54 [[ 9.87321421e-01 1.58588782e-01 6.78299016e-03 2.15512349e+02] [-1.58587398e-01 9.87344662e-01 -7.44881216e-04 -9.08069011e+00] [-6.81527893e-03 -3.40259576e-04 9.99976718e-01 -1.54325425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:-9.08, Z:-1.54 [[ 9.86990779e-01 1.60633720e-01 6.78303369e-03 2.15571434e+02] [-1.60632386e-01 9.87014023e-01 -7.44484634e-04 -9.08449121e+00] [-6.81453871e-03 -3.54775419e-04 9.99976718e-01 -1.54072736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:-9.09, Z:-1.54 [[ 9.87117535e-01 1.59852938e-01 6.78306846e-03 2.15629658e+02] [-1.59851588e-01 9.87140778e-01 -7.44167644e-04 -9.09188459e+00] [-6.81480087e-03 -3.49703335e-04 9.99976718e-01 -1.53761544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:-9.10, Z:-1.53 [[ 9.87710620e-01 1.56146474e-01 6.78310333e-03 2.15687668e+02] [-1.56145039e-01 9.87733858e-01 -7.43849736e-04 -9.10345483e+00] [-6.81605033e-03 -3.24439650e-04 9.99976718e-01 -1.53423745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.74, Y:-9.12, Z:-1.54 [[ 9.87416030e-01 1.57998646e-01 6.78313930e-03 2.15743327e+02] [-1.57997257e-01 9.87439271e-01 -7.43521542e-04 -9.11738469e+00] [-6.81541352e-03 -3.37552313e-04 9.99976718e-01 -1.53537924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.80, Y:-9.13, Z:-1.54 [[ 9.86431901e-01 1.64030770e-01 6.78320168e-03 2.15800351e+02] [-1.64029527e-01 9.86455150e-01 -7.42952054e-04 -9.12631152e+00] [-6.81319122e-03 -3.79773755e-04 9.99976718e-01 -1.53713023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:-9.13, Z:-1.54 [[ 9.84926757e-01 1.72838858e-01 6.78325366e-03 2.15858929e+02] [-1.72837826e-01 9.84950016e-01 -7.42477129e-04 -9.13357360e+00] [-6.80949470e-03 -4.41117228e-04 9.99976718e-01 -1.54061936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:-9.14, Z:-1.54 [[ 9.82964129e-01 1.83672284e-01 6.78328822e-03 2.15916092e+02] [-1.83671511e-01 9.82987398e-01 -7.42161278e-04 -9.13964029e+00] [-6.80420129e-03 -5.16378882e-04 9.99976718e-01 -1.54072401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:-9.14, Z:-1.54 [[ 9.82555303e-01 1.85846879e-01 6.78334772e-03 2.15974332e+02] [-1.85846161e-01 9.82578574e-01 -7.41617055e-04 -9.14388480e+00] [-6.80299934e-03 -5.31979361e-04 9.99976718e-01 -1.54034255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.03, Y:-9.15, Z:-1.54 [[ 9.82725953e-01 1.84942385e-01 6.78339891e-03 2.16031582e+02] [-1.84941649e-01 9.82749224e-01 -7.41148515e-04 -9.14833347e+00] [-6.80344979e-03 -5.26187097e-04 9.99976718e-01 -1.54377218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:-9.15, Z:-1.55 [[ 9.83378443e-01 1.81440961e-01 6.78344104e-03 2.16089302e+02] [-1.81440144e-01 9.83401711e-01 -7.40762700e-04 -9.15196674e+00] [-6.80525222e-03 -5.02338447e-04 9.99976718e-01 -1.54507847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:-9.16, Z:-1.54 [[ 9.83576232e-01 1.80365686e-01 6.78348275e-03 2.16147534e+02] [-1.80364846e-01 9.83599499e-01 -7.40380536e-04 -9.15566470e+00] [-6.80576948e-03 -4.95281124e-04 9.99976718e-01 -1.54305892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.21, Y:-9.16, Z:-1.54 [[ 9.83432566e-01 1.81147375e-01 6.78352376e-03 2.16206702e+02] [-1.81146557e-01 9.83455834e-01 -7.40004618e-04 -9.15983019e+00] [-6.80534591e-03 -5.01067332e-04 9.99976718e-01 -1.54484632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:-9.16, Z:-1.55 [[ 9.83179003e-01 1.82518578e-01 6.78355651e-03 2.16265210e+02] [-1.82517794e-01 9.83202272e-01 -7.39704247e-04 -9.16108813e+00] [-6.80461794e-03 -5.10858088e-04 9.99976718e-01 -1.54685768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.32, Y:-9.17, Z:-1.54 [[ 9.83485025e-01 1.80862345e-01 6.78368711e-03 2.16324230e+02] [-1.80861530e-01 9.83508293e-01 -7.38504637e-04 -9.16551215e+00] [-6.80538021e-03 -5.00599781e-04 9.99976718e-01 -1.54443111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.38, Y:-9.17, Z:-1.55 [[ 9.84871520e-01 1.73153310e-01 6.78380029e-03 2.16382552e+02] [-1.73152320e-01 9.84894781e-01 -7.37463515e-04 -9.17123126e+00] [-6.80902375e-03 -4.48323942e-04 9.99976718e-01 -1.54580423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.44, Y:-9.18, Z:-1.55 [[ 9.85957033e-01 1.66861343e-01 6.78383429e-03 2.16441147e+02] [-1.66860206e-01 9.85980288e-01 -7.37150594e-04 -9.18031945e+00] [-6.81172883e-03 -4.05153178e-04 9.99976718e-01 -1.54755681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.50, Y:-9.19, Z:-1.55 [[ 9.86877354e-01 1.61329066e-01 6.78386991e-03 2.16499425e+02] [-1.61327802e-01 9.86900602e-01 -7.36822668e-04 -9.18992907e+00] [-6.81387621e-03 -3.67273213e-04 9.99976718e-01 -1.54666562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.56, Y:-9.20, Z:-1.55 [[ 9.87374007e-01 1.58261013e-01 6.78390684e-03 2.16555053e+02] [-1.58259678e-01 9.87397251e-01 -7.36482468e-04 -9.20241536e+00] [-6.81496743e-03 -3.46435267e-04 9.99976718e-01 -1.54657424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:-9.21, Z:-1.55 [[ 9.86834753e-01 1.61589440e-01 6.78397069e-03 2.16613126e+02] [-1.61588188e-01 9.86858002e-01 -7.35893872e-04 -9.21271261e+00] [-6.81372844e-03 -3.70003883e-04 9.99976718e-01 -1.54717215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:-9.22, Z:-1.55 [[ 9.85994020e-01 1.66642642e-01 6.78400652e-03 2.16670367e+02] [-1.66641511e-01 9.86017275e-01 -7.35563382e-04 -9.22042913e+00] [-6.81172385e-03 -4.05236003e-04 9.99976718e-01 -1.55132037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.73, Y:-9.23, Z:-1.55 [[ 9.84976810e-01 1.72553358e-01 6.78405056e-03 2.16728909e+02] [-1.72552369e-01 9.85000071e-01 -7.35157051e-04 -9.23014124e+00] [-6.80914410e-03 -4.46491350e-04 9.99976718e-01 -1.54906298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:-9.24, Z:-1.55 [[ 9.84520150e-01 1.75140091e-01 6.78408451e-03 2.16786387e+02] [-1.75139165e-01 9.84543413e-01 -7.34843586e-04 -9.23808762e+00] [-6.80792629e-03 -4.64690582e-04 9.99976718e-01 -1.54921711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:-9.24, Z:-1.55 [[ 9.84032343e-01 1.77860402e-01 6.78413684e-03 2.16844159e+02] [-1.77859544e-01 9.84055610e-01 -7.34360145e-04 -9.24435639e+00] [-6.80658151e-03 -4.83989351e-04 9.99976718e-01 -1.55120462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:-9.25, Z:-1.55 [[ 9.83285822e-01 1.81942206e-01 6.78420197e-03 2.16903292e+02] [-1.81941449e-01 9.83309092e-01 -7.33757982e-04 -9.24765243e+00] [-6.80446903e-03 -5.12833714e-04 9.99976718e-01 -1.55371343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.96, Y:-9.25, Z:-1.55 [[ 9.83116450e-01 1.82855190e-01 6.78423517e-03 2.16960704e+02] [-1.82854457e-01 9.83139720e-01 -7.33450910e-04 -9.25201571e+00] [-6.80396637e-03 -5.19459984e-04 9.99976718e-01 -1.55258717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:-9.26, Z:-1.55 [[ 9.83360030e-01 1.81540698e-01 6.78428521e-03 2.17019774e+02] [-1.81539937e-01 9.83383300e-01 -7.32987760e-04 -9.25705344e+00] [-6.80461988e-03 -5.10827843e-04 9.99976718e-01 -1.55258548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.08, Y:-9.26, Z:-1.55 [[ 9.83425437e-01 1.81186047e-01 6.78431839e-03 2.17078291e+02] [-1.81185280e-01 9.83448706e-01 -7.32680500e-04 -9.26329056e+00] [-6.80478063e-03 -5.08681987e-04 9.99976718e-01 -1.55142712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.14, Y:-9.27, Z:-1.55 [[ 9.83573868e-01 1.80378544e-01 6.78435312e-03 2.17136627e+02] [-1.80377759e-01 9.83597137e-01 -7.32358767e-04 -9.27079074e+00] [-6.80517211e-03 -5.03417469e-04 9.99976718e-01 -1.54908316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:-9.28, Z:-1.55 [[ 9.83472335e-01 1.80931311e-01 6.78438807e-03 2.17193808e+02] [-1.80930542e-01 9.83495604e-01 -7.32034889e-04 -9.28070188e+00] [-6.80486387e-03 -5.07566949e-04 9.99976718e-01 -1.54563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:-9.29, Z:-1.55 [[ 9.83341566e-01 1.81640680e-01 6.78443114e-03 2.17250460e+02] [-1.81639930e-01 9.83364836e-01 -7.31635480e-04 -9.28916479e+00] [-6.80446578e-03 -5.12876021e-04 9.99976718e-01 -1.54502343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:-9.30, Z:-1.55 [[ 9.83123041e-01 1.82819738e-01 6.78448905e-03 2.17308964e+02] [-1.82819020e-01 9.83146312e-01 -7.31098045e-04 -9.29663729e+00] [-6.80380455e-03 -5.21574306e-04 9.99976718e-01 -1.54721513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.37, Y:-9.31, Z:-1.55 [[ 9.83164385e-01 1.82597270e-01 6.78452237e-03 2.17367086e+02] [-1.82596549e-01 9.83187656e-01 -7.30788738e-04 -9.30764651e+00] [-6.80389867e-03 -5.20344911e-04 9.99976718e-01 -1.55040731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.42, Y:-9.32, Z:-1.55 [[ 9.83763578e-01 1.79340995e-01 6.78455529e-03 2.17422954e+02] [-1.79340200e-01 9.83786846e-01 -7.30482973e-04 -9.31870388e+00] [-6.80556180e-03 -4.98120957e-04 9.99976718e-01 -1.55151921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:-9.33, Z:-1.55 [[ 9.84308387e-01 1.76326313e-01 6.78464327e-03 2.17480031e+02] [-1.76325451e-01 9.84331653e-01 -7.29664891e-04 -9.33039778e+00] [-6.80699825e-03 -4.78090016e-04 9.99976718e-01 -1.55067927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:-9.35, Z:-1.56 [[ 9.84650441e-01 1.74406072e-01 6.78469679e-03 2.17536006e+02] [-1.74405168e-01 9.84673705e-01 -7.29166918e-04 -9.34715600e+00] [-6.80788367e-03 -4.65311657e-04 9.99976718e-01 -1.55511553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:-9.36, Z:-1.55 [[ 9.84638836e-01 1.74471575e-01 6.78474087e-03 2.17593339e+02] [-1.74470675e-01 9.84662101e-01 -7.28756531e-04 -9.36344278e+00] [-6.80782450e-03 -4.66176340e-04 9.99976718e-01 -1.55384658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:-9.38, Z:-1.55 [[ 9.84427694e-01 1.75658995e-01 6.78477405e-03 2.17651275e+02] [-1.75658126e-01 9.84450960e-01 -7.28447482e-04 -9.37740874e+00] [-6.80723568e-03 -4.74696820e-04 9.99976718e-01 -1.55259448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:-9.39, Z:-1.55 [[ 9.84282388e-01 1.76471376e-01 6.78480781e-03 2.17708338e+02] [-1.76470529e-01 9.84305655e-01 -7.28132938e-04 -9.39141092e+00] [-6.80681932e-03 -4.80630194e-04 9.99976718e-01 -1.55263050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:-9.41, Z:-1.55 [[ 9.84170031e-01 1.77096912e-01 6.78484950e-03 2.17765460e+02] [-1.77096082e-01 9.84193298e-01 -7.27744236e-04 -9.41106066e+00] [-6.80648466e-03 -4.85346198e-04 9.99976718e-01 -1.54939740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:-9.43, Z:-1.55 [[ 9.83882874e-01 1.78685356e-01 6.78488403e-03 2.17823356e+02] [-1.78684566e-01 9.83906142e-01 -7.27422208e-04 -9.42652987e+00] [-6.80566876e-03 -4.96655803e-04 9.99976718e-01 -1.55024320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.88, Y:-9.44, Z:-1.55 [[ 9.83309478e-01 1.81814290e-01 6.78491872e-03 2.17880872e+02] [-1.81813576e-01 9.83332749e-01 -7.27098486e-04 -9.44131479e+00] [-6.80402967e-03 -5.18627504e-04 9.99976718e-01 -1.55342191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:-9.46, Z:-1.56 [[ 9.81986286e-01 1.88830344e-01 6.78495331e-03 2.17936816e+02] [-1.88829798e-01 9.82009562e-01 -7.26775576e-04 -9.45867227e+00] [-6.80012630e-03 -5.67517714e-04 9.99976718e-01 -1.55763034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.99, Y:-9.47, Z:-1.56 [[ 9.81149164e-01 1.93132807e-01 6.78499604e-03 2.17994935e+02] [-1.93132366e-01 9.81172442e-01 -7.26376383e-04 -9.47043331e+00] [-6.79753825e-03 -5.97718760e-04 9.99976718e-01 -1.55650012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:-9.48, Z:-1.56 [[ 9.80504902e-01 1.96377443e-01 6.78502902e-03 2.18052150e+02] [-1.96377082e-01 9.80528181e-01 -7.26068209e-04 -9.47976960e+00] [-6.79549559e-03 -6.20510759e-04 9.99976718e-01 -1.55572995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.11, Y:-9.49, Z:-1.55 [[ 9.80249960e-01 1.97646097e-01 6.78506965e-03 2.18110752e+02] [-1.97645768e-01 9.80273239e-01 -7.25688345e-04 -9.48959826e+00] [-6.79465167e-03 -6.29684329e-04 9.99976718e-01 -1.55482427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.17, Y:-9.50, Z:-1.56 [[ 9.80005630e-01 1.98854035e-01 6.78508657e-03 2.18169396e+02] [-1.98853736e-01 9.80028911e-01 -7.25530057e-04 -9.49683397e+00] [-6.79385558e-03 -6.38216271e-04 9.99976718e-01 -1.55751699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.23, Y:-9.50, Z:-1.56 [[ 9.79087082e-01 2.03328425e-01 6.78511173e-03 2.18228217e+02] [-2.03328234e-01 9.79110363e-01 -7.25294708e-04 -9.49787856e+00] [-6.79084624e-03 -6.69478104e-04 9.99976718e-01 -1.56016758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.29, Y:-9.50, Z:-1.56 [[ 9.78623766e-01 2.05546801e-01 6.78514481e-03 2.18287027e+02] [-2.05546664e-01 9.78647047e-01 -7.24985104e-04 -9.49841117e+00] [-6.78928031e-03 -6.85176231e-04 9.99976718e-01 -1.55715818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:-9.50, Z:-1.56 [[ 9.78797155e-01 2.04719540e-01 6.78517778e-03 2.18344638e+02] [-2.04719385e-01 9.78820437e-01 -7.24676388e-04 -9.49898497e+00] [-6.78982610e-03 -6.79746240e-04 9.99976718e-01 -1.55874876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:-9.50, Z:-1.56 [[ 9.80834944e-01 1.94722296e-01 6.78521872e-03 2.18404240e+02] [-1.94721907e-01 9.80858223e-01 -7.24292931e-04 -9.49659293e+00] [-6.79637356e-03 -6.10818910e-04 9.99976718e-01 -1.56225776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:-9.50, Z:-1.56 [[ 9.82383858e-01 1.86750948e-01 6.78525162e-03 2.18462343e+02] [-1.86750372e-01 9.82407133e-01 -7.23984563e-04 -9.49907909e+00] [-6.80108439e-03 -5.55917518e-04 9.99976718e-01 -1.56207497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.52, Y:-9.50, Z:-1.56 [[ 9.83888352e-01 1.78655175e-01 6.78529622e-03 2.18520777e+02] [-1.78654410e-01 9.83911621e-01 -7.23566328e-04 -9.50433792e+00] [-6.80540067e-03 -5.00314613e-04 9.99976718e-01 -1.56210084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:-9.51, Z:-1.56 [[ 9.85559588e-01 1.69192960e-01 6.78532891e-03 2.18578843e+02] [-1.69191974e-01 9.85582849e-01 -7.23259655e-04 -9.51031539e+00] [-6.80987424e-03 -4.35207706e-04 9.99976718e-01 -1.56416979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.64, Y:-9.52, Z:-1.56 [[ 9.86115361e-01 1.65923036e-01 6.78536213e-03 2.18637235e+02] [-1.65921975e-01 9.86138619e-01 -7.22947846e-04 -9.51819020e+00] [-6.81126134e-03 -4.12930708e-04 9.99976718e-01 -1.56436806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:-9.53, Z:-1.56 [[ 9.86002046e-01 1.66595091e-01 6.78538691e-03 2.18695686e+02] [-1.66594048e-01 9.86025304e-01 -7.22715160e-04 -9.52814661e+00] [-6.81096399e-03 -4.17806445e-04 9.99976718e-01 -1.56082300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:-9.54, Z:-1.56 [[ 9.85316050e-01 1.70605512e-01 6.78541245e-03 2.18754911e+02] [-1.70604565e-01 9.85339312e-01 -7.22475352e-04 -9.53809445e+00] [-6.80919191e-03 -4.45755776e-04 9.99976718e-01 -1.55739821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.81, Y:-9.55, Z:-1.56 [[ 9.84562064e-01 1.74904260e-01 6.78542994e-03 2.18812806e+02] [-1.74903415e-01 9.84585331e-01 -7.22311042e-04 -9.54612973e+00] [-6.80717006e-03 -4.75634820e-04 9.99976718e-01 -1.55681346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:-9.56, Z:-1.56 [[ 9.83693318e-01 1.79725938e-01 6.78546452e-03 2.18871254e+02] [-1.79725210e-01 9.83716589e-01 -7.21986018e-04 -9.55560214e+00] [-6.80473363e-03 -5.09306213e-04 9.99976718e-01 -1.56288739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:-9.56, Z:-1.56 [[ 9.83431505e-01 1.81153061e-01 6.78549889e-03 2.18929956e+02] [-1.81152369e-01 9.83454777e-01 -7.21662879e-04 -9.56221890e+00] [-6.80396274e-03 -5.19503185e-04 9.99976718e-01 -1.56402877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.99, Y:-9.57, Z:-1.56 [[ 9.82810326e-01 1.84493415e-01 6.78551549e-03 2.18987451e+02] [-1.84492803e-01 9.82833600e-01 -7.21506747e-04 -9.56694617e+00] [-6.80214586e-03 -5.42774489e-04 9.99976718e-01 -1.56190559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.05, Y:-9.57, Z:-1.56 [[ 9.81869451e-01 1.89436894e-01 6.78555667e-03 2.19046736e+02] [-1.89436401e-01 9.81892728e-01 -7.21119256e-04 -9.57044347e+00] [-6.79929534e-03 -5.77386468e-04 9.99976718e-01 -1.56119018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.10, Y:-9.57, Z:-1.56 [[ 9.81889594e-01 1.89332459e-01 6.78559043e-03 2.19104295e+02] [-1.89331966e-01 9.81912871e-01 -7.20801407e-04 -9.57271609e+00] [-6.79932969e-03 -5.76981777e-04 9.99976718e-01 -1.56447831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.16, Y:-9.58, Z:-1.56 [[ 9.82661717e-01 1.85283312e-01 6.78563208e-03 2.19162923e+02] [-1.85282726e-01 9.82684991e-01 -7.20409094e-04 -9.57717011e+00] [-6.80161859e-03 -5.49341974e-04 9.99976718e-01 -1.56307647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.22, Y:-9.58, Z:-1.56 [[ 9.83265398e-01 1.82052499e-01 6.78566526e-03 2.19220575e+02] [-1.82051839e-01 9.83288670e-01 -7.20096448e-04 -9.58276408e+00] [-6.80336313e-03 -5.27296919e-04 9.99976718e-01 -1.56058569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.28, Y:-9.59, Z:-1.56 [[ 9.83339653e-01 1.81650986e-01 6.78570637e-03 2.19279110e+02] [-1.81650318e-01 9.83362926e-01 -7.19708820e-04 -9.58693795e+00] [-6.80354789e-03 -5.24907502e-04 9.99976718e-01 -1.56191270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:-9.59, Z:-1.56 [[ 9.83086105e-01 1.83018209e-01 6.78573923e-03 2.19337838e+02] [-1.83017576e-01 9.83109378e-01 -7.19398918e-04 -9.58987049e+00] [-6.80278697e-03 -5.34678464e-04 9.99976718e-01 -1.56115462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:-9.59, Z:-1.56 [[ 9.82877128e-01 1.84137190e-01 6.78577216e-03 2.19397128e+02] [-1.84136586e-01 9.82900402e-01 -7.19088181e-04 -9.59323530e+00] [-6.80214906e-03 -5.42733589e-04 9.99976718e-01 -1.56030472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:-9.60, Z:-1.56 [[ 9.83135578e-01 1.82752260e-01 6.78580618e-03 2.19455440e+02] [-1.82751625e-01 9.83158851e-01 -7.18766962e-04 -9.59500279e+00] [-6.80288170e-03 -5.33471736e-04 9.99976718e-01 -1.56368368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.51, Y:-9.60, Z:-1.56 [[ 9.83366897e-01 1.81503441e-01 6.78584819e-03 2.19514468e+02] [-1.81502779e-01 9.83390169e-01 -7.18370105e-04 -9.59874980e+00] [-6.80352305e-03 -5.25228926e-04 9.99976718e-01 -1.56368589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:-9.60, Z:-1.57 [[ 9.83534264e-01 1.80594309e-01 6.78588085e-03 2.19572981e+02] [-1.80593628e-01 9.83557536e-01 -7.18061460e-04 -9.60175790e+00] [-6.80398206e-03 -5.19248790e-04 9.99976718e-01 -1.56530953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.63, Y:-9.61, Z:-1.57 [[ 9.83471101e-01 1.80937959e-01 6.78591443e-03 2.19630975e+02] [-1.80937289e-01 9.83494373e-01 -7.17743987e-04 -9.60634751e+00] [-6.80377580e-03 -5.21944490e-04 9.99976718e-01 -1.56741573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.69, Y:-9.61, Z:-1.57 [[ 9.83148032e-01 1.82685242e-01 6.78595609e-03 2.19689822e+02] [-1.82684615e-01 9.83171306e-01 -7.17349942e-04 -9.61033925e+00] [-6.80280656e-03 -5.34428595e-04 9.99976718e-01 -1.56594553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.75, Y:-9.61, Z:-1.56 [[ 9.82120652e-01 1.88130210e-01 6.78598882e-03 2.19748767e+02] [-1.88129714e-01 9.82143929e-01 -7.17040215e-04 -9.61039537e+00] [-6.79971464e-03 -5.72426133e-04 9.99976718e-01 -1.56330987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.81, Y:-9.61, Z:-1.57 [[ 9.81363451e-01 1.92040949e-01 6.78602279e-03 2.19806514e+02] [-1.92040549e-01 9.81386730e-01 -7.16718493e-04 -9.61021242e+00] [-6.79735202e-03 -5.99830206e-04 9.99976718e-01 -1.56672486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:219.87, Y:-9.61, Z:-1.57 [[ 9.80833431e-01 1.94729887e-01 6.78608124e-03 2.19865592e+02] [-1.94729554e-01 9.80856711e-01 -7.16164687e-04 -9.60725325e+00] [-6.79563200e-03 -6.19012308e-04 9.99976718e-01 -1.56774451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:-9.60, Z:-1.56 [[ 9.80904110e-01 1.94373549e-01 6.78613028e-03 2.19925712e+02] [-1.94373210e-01 9.80927389e-01 -7.15699670e-04 -9.60105686e+00] [-6.79581415e-03 -6.17009181e-04 9.99976718e-01 -1.56441936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:-9.60, Z:-1.56 [[ 9.81527966e-01 1.91198329e-01 6.78616374e-03 2.19983687e+02] [-1.91197917e-01 9.81551244e-01 -7.15382252e-04 -9.59883343e+00] [-6.79774736e-03 -5.95332687e-04 9.99976718e-01 -1.56460843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.04, Y:-9.59, Z:-1.56 [[ 9.82225229e-01 1.87583442e-01 6.78622155e-03 2.20042491e+02] [-1.87582948e-01 9.82248505e-01 -7.14833438e-04 -9.59349168e+00] [-6.79984690e-03 -5.70852010e-04 9.99976718e-01 -1.56412187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:-9.59, Z:-1.57 [[ 9.82567020e-01 1.85784814e-01 6.78627190e-03 2.20099909e+02] [-1.85784281e-01 9.82590296e-01 -7.14355155e-04 -9.59286208e+00] [-6.80084126e-03 -5.58880831e-04 9.99976718e-01 -1.56579762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.16, Y:-9.59, Z:-1.57 [[ 9.82902770e-01 1.84000248e-01 6.78633026e-03 2.20157543e+02] [-1.83999677e-01 9.82926045e-01 -7.13800304e-04 -9.59284526e+00] [-6.80180019e-03 -5.47086278e-04 9.99976718e-01 -1.56905883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-9.59, Z:-1.57 [[ 9.83534679e-01 1.80592023e-01 6.78641860e-03 2.20216404e+02] [-1.80591377e-01 9.83557953e-01 -7.12959421e-04 -9.59096284e+00] [-6.80359077e-03 -5.24348366e-04 9.99976718e-01 -1.56834894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:-9.59, Z:-1.57 [[ 9.84035270e-01 1.77844121e-01 6.78646740e-03 2.20274719e+02] [-1.77843413e-01 9.84058541e-01 -7.12494631e-04 -9.59130881e+00] [-6.80499419e-03 -5.05808677e-04 9.99976718e-01 -1.56870356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:-9.59, Z:-1.57 [[ 9.84753063e-01 1.73825625e-01 6.78651813e-03 2.20332387e+02] [-1.73824826e-01 9.84776331e-01 -7.12011123e-04 -9.59149198e+00] [-6.80696820e-03 -4.78510196e-04 9.99976718e-01 -1.56795681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.39, Y:-9.60, Z:-1.57 [[ 9.85141684e-01 1.71609454e-01 6.78657692e-03 2.20390069e+02] [-1.71608606e-01 9.85164951e-01 -7.11450246e-04 -9.59515128e+00] [-6.80798931e-03 -4.63755714e-04 9.99976718e-01 -1.56659446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:-9.60, Z:-1.57 [[ 9.85302652e-01 1.70682823e-01 6.78662663e-03 2.20448470e+02] [-1.70681956e-01 9.85325918e-01 -7.10975770e-04 -9.59861154e+00] [-6.80839047e-03 -4.57828398e-04 9.99976718e-01 -1.57251206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.51, Y:-9.60, Z:-1.58 [[ 9.85622545e-01 1.68825770e-01 6.78666059e-03 2.20505922e+02] [-1.68824861e-01 9.85645809e-01 -7.10651487e-04 -9.60315549e+00] [-6.80921985e-03 -4.45322904e-04 9.99976718e-01 -1.57644188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.56, Y:-9.61, Z:-1.58 [[ 9.86206987e-01 1.65377506e-01 6.78670255e-03 2.20563084e+02] [-1.65376519e-01 9.86230248e-01 -7.10250502e-04 -9.60982470e+00] [-6.81071080e-03 -4.21907235e-04 9.99976718e-01 -1.57773221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:-9.62, Z:-1.58 [[ 9.87479792e-01 1.57599493e-01 6.78675169e-03 2.20619997e+02] [-1.57598326e-01 9.87503045e-01 -7.09780649e-04 -9.62326723e+00] [-6.81379903e-03 -3.68686659e-04 9.99976718e-01 -1.57879222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.68, Y:-9.63, Z:-1.58 [[ 9.88055141e-01 1.53951221e-01 6.78680063e-03 2.20677562e+02] [-1.53949971e-01 9.88078389e-01 -7.09312413e-04 -9.63439134e+00] [-6.81509054e-03 -3.43987987e-04 9.99976718e-01 -1.57550170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.73, Y:-9.65, Z:-1.57 [[ 9.87602291e-01 1.56830013e-01 6.78683347e-03 2.20734347e+02] [-1.56828833e-01 9.87625544e-01 -7.08998054e-04 -9.64553309e+00] [-6.81404227e-03 -3.64163073e-04 9.99976718e-01 -1.57449520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:220.79, Y:-9.65, Z:-1.58 [[ 9.87169881e-01 1.59529198e-01 6.78688253e-03 2.20791749e+02] [-1.59528085e-01 9.87193136e-01 -7.08528064e-04 -9.65209161e+00] [-6.81299477e-03 -3.83260808e-04 9.99976718e-01 -1.57662046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:-9.66, Z:-1.58 [[ 9.86318893e-01 1.64708773e-01 6.78692290e-03 2.20848032e+02] [-1.64707784e-01 9.86342154e-01 -7.08141146e-04 -9.65917750e+00] [-6.81086521e-03 -4.19406042e-04 9.99976718e-01 -1.57827934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:-9.67, Z:-1.57 [[ 9.85612431e-01 1.68884789e-01 6.78697868e-03 2.20906439e+02] [-1.68883903e-01 9.85635697e-01 -7.07606145e-04 -9.66741099e+00] [-6.80899238e-03 -4.48786037e-04 9.99976718e-01 -1.57496885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:-9.67, Z:-1.57 [[ 9.85517549e-01 1.69437589e-01 6.78701113e-03 2.20963868e+02] [-1.69436718e-01 9.85540815e-01 -7.07294827e-04 -9.67495220e+00] [-6.80871881e-03 -4.52917428e-04 9.99976718e-01 -1.57460247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:-9.69, Z:-1.57 [[ 9.85636902e-01 1.68741916e-01 6.78705120e-03 2.21021395e+02] [-1.68741031e-01 9.85660167e-01 -7.06910041e-04 -9.68516691e+00] [-6.80901138e-03 -4.48497394e-04 9.99976718e-01 -1.57469040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.08, Y:-9.70, Z:-1.58 [[ 9.85925724e-01 1.67046108e-01 6.78710018e-03 2.21077271e+02] [-1.67045186e-01 9.85948988e-01 -7.06439462e-04 -9.69524377e+00] [-6.80974252e-03 -4.37255577e-04 9.99976718e-01 -1.57582971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.13, Y:-9.71, Z:-1.58 [[ 9.86196578e-01 1.65439549e-01 6.78715641e-03 2.21134845e+02] [-1.65438593e-01 9.86219840e-01 -7.05898867e-04 -9.70706379e+00] [-6.81041190e-03 -4.26702559e-04 9.99976718e-01 -1.57558092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.19, Y:-9.72, Z:-1.58 [[ 9.86069643e-01 1.66194445e-01 6.78720451e-03 2.21191356e+02] [-1.66193511e-01 9.86092906e-01 -7.05436044e-04 -9.72030359e+00] [-6.81005377e-03 -4.32380278e-04 9.99976718e-01 -1.57569352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:-9.73, Z:-1.58 [[ 9.85517391e-01 1.69438498e-01 6.78725387e-03 2.21248099e+02] [-1.69437643e-01 9.85540658e-01 -7.04960840e-04 -9.72918725e+00] [-6.80856215e-03 -4.55265131e-04 9.99976718e-01 -1.57598122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:221.31, Y:-9.74, Z:-1.58 [[ 9.84226245e-01 1.76784138e-01 6.78731069e-03 2.21306710e+02] [-1.76783461e-01 9.84249517e-01 -7.04413387e-04 -9.73609663e+00] [-6.80493638e-03 -5.06582130e-04 9.99976718e-01 -1.57702336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:-9.74, Z:-1.58 [[ 9.83183278e-01 1.82495407e-01 6.78734286e-03 2.21365676e+02] [-1.82494867e-01 9.83206554e-01 -7.04103225e-04 -9.74023047e+00] [-6.80185559e-03 -5.46392717e-04 9.99976718e-01 -1.57752853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.42, Y:-9.74, Z:-1.58 [[ 9.82359791e-01 1.86877428e-01 6.78737513e-03 2.21423454e+02] [-1.86876993e-01 9.82383069e-01 -7.03792059e-04 -9.74171710e+00] [-6.79932526e-03 -5.77027237e-04 9.99976718e-01 -1.57600684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.48, Y:-9.74, Z:-1.57 [[ 9.82056022e-01 1.88467239e-01 6.78742525e-03 2.21481931e+02] [-1.88466845e-01 9.82079301e-01 -7.03308351e-04 -9.74128450e+00] [-6.79834043e-03 -5.88516421e-04 9.99976718e-01 -1.57412175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:221.54, Y:-9.74, Z:-1.57 [[ 9.82283129e-01 1.87279962e-01 6.78746662e-03 2.21540106e+02] [-1.87279544e-01 9.82306408e-01 -7.02908875e-04 -9.74318598e+00] [-6.79901270e-03 -5.80698122e-04 9.99976718e-01 -1.57323815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.60, Y:-9.74, Z:-1.57 [[ 9.82606212e-01 1.85577374e-01 6.78750601e-03 2.21599485e+02] [-1.85576917e-01 9.82629490e-01 -7.02528248e-04 -9.74301173e+00] [-6.79997692e-03 -5.69295821e-04 9.99976718e-01 -1.56987874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.66, Y:-9.74, Z:-1.57 [[ 9.82763573e-01 1.84742222e-01 6.78753756e-03 2.21658045e+02] [-1.84741748e-01 9.82786850e-01 -7.02223317e-04 -9.74315174e+00] [-6.80043296e-03 -5.63822059e-04 9.99976718e-01 -1.57131195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.72, Y:-9.74, Z:-1.57 [[ 9.82785268e-01 1.84626772e-01 6.78758668e-03 2.21717152e+02] [-1.84626298e-01 9.82808546e-01 -7.01748252e-04 -9.74135308e+00] [-6.80045971e-03 -5.63499158e-04 9.99976718e-01 -1.57380168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:-9.74, Z:-1.58 [[ 9.83192228e-01 1.82447172e-01 6.78761933e-03 2.21774547e+02] [-1.82446648e-01 9.83215505e-01 -7.01432286e-04 -9.74229054e+00] [-6.80166690e-03 -5.48735626e-04 9.99976718e-01 -1.57500541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:-9.74, Z:-1.58 [[ 9.83888986e-01 1.78651589e-01 6.78767591e-03 2.21832601e+02] [-1.78650980e-01 9.83912260e-01 -7.00884321e-04 -9.74134927e+00] [-6.80369165e-03 -5.23032587e-04 9.99976718e-01 -1.57540233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:221.89, Y:-9.74, Z:-1.58 [[ 9.83988259e-01 1.78103997e-01 6.78772582e-03 2.21889462e+02] [-1.78103379e-01 9.84011532e-01 -7.00400625e-04 -9.74194246e+00] [-6.80394464e-03 -5.19730910e-04 9.99976718e-01 -1.57639940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.95, Y:-9.74, Z:-1.58 [[ 9.83995728e-01 1.78062719e-01 6.78781670e-03 2.21947617e+02] [-1.78062105e-01 9.84019003e-01 -6.99518821e-04 -9.74302082e+00] [-6.80389884e-03 -5.20329400e-04 9.99976718e-01 -1.57858744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.01, Y:-9.74, Z:-1.58 [[ 9.84085833e-01 1.77564067e-01 6.78794400e-03 2.22006101e+02] [-1.77563450e-01 9.84109107e-01 -6.98281311e-04 -9.74199620e+00] [-6.80406718e-03 -5.18122008e-04 9.99976718e-01 -1.58381450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.06, Y:-9.74, Z:-1.58 [[ 9.84263855e-01 1.76574594e-01 6.78798334e-03 2.22064612e+02] [-1.76573956e-01 9.84287128e-01 -6.97898665e-04 -9.74455391e+00] [-6.80455580e-03 -5.11664642e-04 9.99976718e-01 -1.57874265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.12, Y:-9.75, Z:-1.57 [[ 9.84619875e-01 1.74578417e-01 6.78809597e-03 2.22123430e+02] [-1.74577740e-01 9.84643147e-01 -6.96801444e-04 -9.74879345e+00] [-6.80549867e-03 -4.98965900e-04 9.99976718e-01 -1.57322478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.18, Y:-9.75, Z:-1.57 [[ 9.84940545e-01 1.72760079e-01 6.78812925e-03 2.22180101e+02] [-1.72759361e-01 9.84963816e-01 -6.96477092e-04 -9.75490588e+00] [-6.80638513e-03 -4.86724343e-04 9.99976718e-01 -1.57380392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.24, Y:-9.76, Z:-1.57 [[ 9.85225792e-01 1.71125860e-01 6.78818687e-03 2.22237952e+02] [-1.71125107e-01 9.85249062e-01 -6.95915068e-04 -9.76114205e+00] [-6.80714381e-03 -4.75995733e-04 9.99976718e-01 -1.57427021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:-9.77, Z:-1.58 [[ 9.85145141e-01 1.71589543e-01 6.78823464e-03 2.22296058e+02] [-1.71588804e-01 9.85168411e-01 -6.95448781e-04 -9.76676780e+00] [-6.80688607e-03 -4.79667078e-04 9.99976718e-01 -1.57647248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-9.77, Z:-1.58 [[ 9.85024035e-01 1.72283400e-01 6.78828347e-03 2.22352764e+02] [-1.72282681e-01 9.85047306e-01 -6.94971804e-04 -9.77250039e+00] [-6.80651245e-03 -4.84939743e-04 9.99976718e-01 -1.57611895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.41, Y:-9.78, Z:-1.58 [[ 9.85851243e-01 1.67485058e-01 6.78834013e-03 2.22410410e+02] [-1.67484230e-01 9.85874511e-01 -6.94417930e-04 -9.77962273e+00] [-6.80875613e-03 -4.52347138e-04 9.99976718e-01 -1.57791768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:-9.79, Z:-1.58 [[ 9.87120306e-01 1.59835602e-01 6.78838935e-03 2.22468073e+02] [-1.59834596e-01 9.87143566e-01 -6.93936473e-04 -9.78923960e+00] [-6.81203062e-03 -4.00020688e-04 9.99976718e-01 -1.57924729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.52, Y:-9.80, Z:-1.58 [[ 9.88792486e-01 1.49142002e-01 6.78843871e-03 2.22523435e+02] [-1.49140748e-01 9.88815734e-01 -6.93453267e-04 -9.80326668e+00] [-6.81593801e-03 -3.26751449e-04 9.99976718e-01 -1.57742472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.58, Y:-9.81, Z:-1.58 [[ 9.89193870e-01 1.46456147e-01 6.78850401e-03 2.22580523e+02] [-1.46454834e-01 9.89217116e-01 -6.92813435e-04 -9.81218595e+00] [-6.81677114e-03 -3.08882421e-04 9.99976718e-01 -1.57836630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.64, Y:-9.83, Z:-1.58 [[ 9.89573633e-01 1.43867786e-01 6.78855212e-03 2.22638254e+02] [-1.43866415e-01 9.89596875e-01 -6.92341635e-04 -9.82619968e+00] [-6.81753563e-03 -2.91521633e-04 9.99976718e-01 -1.58254131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:-9.84, Z:-1.58 [[ 9.89795554e-01 1.42332975e-01 6.78858526e-03 2.22694024e+02] [-1.42331571e-01 9.89818794e-01 -6.92016553e-04 -9.84457976e+00] [-6.81796605e-03 -2.81275097e-04 9.99976718e-01 -1.58444919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:-9.86, Z:-1.59 [[ 9.89726146e-01 1.42814809e-01 6.78864243e-03 2.22750872e+02] [-1.42813419e-01 9.89749387e-01 -6.91455266e-04 -9.85993656e+00] [-6.81780474e-03 -2.85157883e-04 9.99976718e-01 -1.58577196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.81, Y:-9.88, Z:-1.58 [[ 9.89323069e-01 1.45580836e-01 6.78869117e-03 2.22808552e+02] [-1.45579515e-01 9.89346313e-01 -6.90976382e-04 -9.87640999e+00] [-6.81695950e-03 -3.04695492e-04 9.99976718e-01 -1.58434290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:-9.90, Z:-1.58 [[ 9.88391318e-01 1.51777849e-01 6.78872378e-03 2.22865688e+02] [-1.51776676e-01 9.88414571e-01 -6.90655915e-04 -9.89751728e+00] [-6.81489977e-03 -3.47731618e-04 9.99976718e-01 -1.58152978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:-9.91, Z:-1.58 [[ 9.87531443e-01 1.57275432e-01 6.78875777e-03 2.22921898e+02] [-1.57274390e-01 9.87554702e-01 -6.90321677e-04 -9.91304432e+00] [-6.81284029e-03 -3.85983378e-04 9.99976718e-01 -1.58374698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:-9.93, Z:-1.58 [[ 9.85817533e-01 1.67683346e-01 6.78879926e-03 2.22979472e+02] [-1.67682553e-01 9.85840801e-01 -6.89913336e-04 -9.93168256e+00] [-6.80836228e-03 -4.58234529e-04 9.99976718e-01 -1.58481943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:-9.94, Z:-1.58 [[ 9.84746666e-01 1.73861769e-01 6.78883228e-03 2.23036116e+02] [-1.73861124e-01 9.84769940e-01 -6.89588243e-04 -9.94412013e+00] [-6.80533099e-03 -5.01244287e-04 9.99976718e-01 -1.58437864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.09, Y:-9.96, Z:-1.58 [[ 9.83919704e-01 1.78482291e-01 6.78887305e-03 2.23093317e+02] [-1.78481758e-01 9.83942980e-01 -6.89186655e-04 -9.95624611e+00] [-6.80287159e-03 -5.33585665e-04 9.99976718e-01 -1.58284498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:-9.97, Z:-1.58 [[ 9.83413208e-01 1.81252238e-01 6.78891265e-03 2.23150794e+02] [-1.81251774e-01 9.83436485e-01 -6.88796354e-04 -9.97095400e+00] [-6.80131028e-03 -5.53131028e-04 9.99976718e-01 -1.58036763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-9.98, Z:-1.58 [[ 9.83433527e-01 1.81141957e-01 6.78894391e-03 2.23209296e+02] [-1.81141491e-01 9.83456804e-01 -6.88488085e-04 -9.98121018e+00] [-6.80134717e-03 -5.52677159e-04 9.99976718e-01 -1.58213250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:-9.99, Z:-1.58 [[ 9.83000561e-01 1.83476995e-01 6.78897540e-03 2.23267716e+02] [-1.83476587e-01 9.83023839e-01 -6.88177493e-04 -9.99087477e+00] [-6.79998940e-03 -5.69139174e-04 9.99976718e-01 -1.58318924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:-9.99, Z:-1.58 [[ 9.81808428e-01 1.89752789e-01 6.78900676e-03 2.23325770e+02] [-1.89752532e-01 9.81831708e-01 -6.87867962e-04 -9.99478313e+00] [-6.79618697e-03 -6.12876658e-04 9.99976718e-01 -1.58233089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:-10.00, Z:-1.58 [[ 9.81212145e-01 1.92812435e-01 6.78904549e-03 2.23384754e+02] [-1.92812253e-01 9.81235427e-01 -6.87485484e-04 -9.99942825e+00] [-6.79420770e-03 -6.34442052e-04 9.99976718e-01 -1.58361073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.44, Y:-10.00, Z:-1.59 [[ 9.81522756e-01 1.91224969e-01 6.78907748e-03 2.23443694e+02] [-1.91224751e-01 9.81546037e-01 -6.87169450e-04 -1.00028878e+01] [-6.79519605e-03 -6.23767200e-04 9.99976718e-01 -1.58535738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:-10.01, Z:-1.59 [[ 9.82426883e-01 1.86524335e-01 6.78911049e-03 2.23500853e+02] [-1.86524009e-01 9.82450163e-01 -6.86843172e-04 -1.00082886e+01] [-6.79807567e-03 -5.91558908e-04 9.99976718e-01 -1.58623557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.56, Y:-10.02, Z:-1.58 [[ 9.84064572e-01 1.77681811e-01 6.78915115e-03 2.23558714e+02] [-1.77681278e-01 9.84087848e-01 -6.86441065e-04 -1.00189981e+01] [-6.80308923e-03 -5.30802717e-04 9.99976718e-01 -1.58488643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:-10.03, Z:-1.59 [[ 9.84760857e-01 1.73781364e-01 6.78918287e-03 2.23616912e+02] [-1.73780741e-01 9.84784130e-01 -6.86127153e-04 -1.00281668e+01] [-6.80511566e-03 -5.04158064e-04 9.99976718e-01 -1.58657029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.68, Y:-10.04, Z:-1.59 [[ 9.84594676e-01 1.74720435e-01 6.78921474e-03 2.23675125e+02] [-1.74719836e-01 9.84617951e-01 -6.85811673e-04 -1.00355674e+01] [-6.80460802e-03 -5.10963963e-04 9.99976718e-01 -1.58784639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:-10.04, Z:-1.59 [[ 9.83348523e-01 1.81602832e-01 6.78924672e-03 2.23732702e+02] [-1.81602399e-01 9.83371801e-01 -6.85494873e-04 -1.00405493e+01] [-6.80084159e-03 -5.58863119e-04 9.99976718e-01 -1.59133840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:-10.05, Z:-1.59 [[ 9.82979214e-01 1.83591314e-01 6.78928626e-03 2.23790819e+02] [-1.83590930e-01 9.83002493e-01 -6.85103068e-04 -1.00475644e+01] [-6.79966429e-03 -5.73009306e-04 9.99976718e-01 -1.59111688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-10.06, Z:-1.59 [[ 9.83588005e-01 1.80301252e-01 6.78931735e-03 2.23848713e+02] [-1.80300792e-01 9.83611283e-01 -6.84794801e-04 -1.00564145e+01] [-6.80151851e-03 -5.50563346e-04 9.99976718e-01 -1.59070409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:-10.07, Z:-1.59 [[ 9.85824154e-01 1.67644390e-01 6.78934825e-03 2.23906627e+02] [-1.67643633e-01 9.85847424e-01 -6.84488394e-04 -1.00680290e+01] [-6.80801212e-03 -4.63405816e-04 9.99976718e-01 -1.58598515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-10.08, Z:-1.58 [[ 9.87340645e-01 1.58468783e-01 6.78937122e-03 2.23965439e+02] [-1.58467811e-01 9.87363907e-01 -6.84260410e-04 -1.00806507e+01] [-6.81201401e-03 -4.00298681e-04 9.99976718e-01 -1.58220390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:-10.10, Z:-1.59 [[ 9.88865292e-01 1.48658466e-01 6.78937870e-03 2.24027379e+02] [-1.48657264e-01 9.88888543e-01 -6.84186255e-04 -1.00963936e+01] [-6.81564888e-03 -3.32722419e-04 9.99976718e-01 -1.58554728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:-10.11, Z:-1.59 [[ 9.89525744e-01 1.44196772e-01 6.78924662e-03 2.24088869e+02] [-1.44195456e-01 9.89548988e-01 -6.85494324e-04 -1.01075559e+01] [-6.81713820e-03 -3.00664233e-04 9.99976718e-01 -1.58681589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:-10.12, Z:-1.58 [[ 9.90077390e-01 1.40359071e-01 6.78912328e-03 2.24150921e+02] [-1.40357657e-01 9.90100630e-01 -6.86713715e-04 -1.01180737e+01] [-6.81830174e-03 -2.73005714e-04 9.99976718e-01 -1.58467588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-10.13, Z:-1.58 [[ 9.90726267e-01 1.35703253e-01 6.78899345e-03 2.24212410e+02] [-1.35701721e-01 9.90749499e-01 -6.87994844e-04 -1.01283039e+01] [-6.81955500e-03 -2.39663531e-04 9.99976718e-01 -1.58482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:-10.14, Z:-1.59 [[ 9.91082654e-01 1.33075484e-01 6.78887226e-03 2.24275211e+02] [-1.33073882e-01 9.91105881e-01 -6.89188688e-04 -1.01365240e+01] [-6.82020534e-03 -2.20378629e-04 9.99976718e-01 -1.58608113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:224.34, Y:-10.14, Z:-1.59 [[ 9.91453449e-01 1.30284198e-01 6.78874260e-03 2.24338145e+02] [-1.30282521e-01 9.91476670e-01 -6.90463510e-04 -1.01442545e+01] [-6.82083639e-03 -1.99892074e-04 9.99976718e-01 -1.58763257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:-10.16, Z:-1.59 [[ 9.91931490e-01 1.26593185e-01 6.78861337e-03 2.24399205e+02] [-1.26591414e-01 9.91954704e-01 -6.91731788e-04 -1.01550109e+01] [-6.82156550e-03 -1.73229620e-04 9.99976718e-01 -1.59176838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:-10.16, Z:-1.59 [[ 9.92013775e-01 1.25946762e-01 6.78850125e-03 2.24461936e+02] [-1.25944968e-01 9.92036988e-01 -6.92830297e-04 -1.01634170e+01] [-6.82170407e-03 -1.67680372e-04 9.99976718e-01 -1.59379826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.52, Y:-10.17, Z:-1.60 [[ 9.92175235e-01 1.24668447e-01 6.78836681e-03 2.24522544e+02] [-1.24666614e-01 9.92198445e-01 -6.94145113e-04 -1.01732875e+01] [-6.82194498e-03 -1.57569113e-04 9.99976718e-01 -1.59680875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.58, Y:-10.19, Z:-1.59 [[ 9.92052728e-01 1.25639582e-01 6.78825881e-03 2.24583125e+02] [-1.25637764e-01 9.92075939e-01 -6.95199619e-04 -1.01854502e+01] [-6.82181283e-03 -1.63186981e-04 9.99976718e-01 -1.59217037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:-10.20, Z:-1.59 [[ 9.91575852e-01 1.29349335e-01 6.78815315e-03 2.24645673e+02] [-1.29347597e-01 9.91599069e-01 -6.96229802e-04 -1.01958703e+01] [-6.82118321e-03 -1.87666640e-04 9.99976718e-01 -1.58923815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.71, Y:-10.21, Z:-1.59 [[ 9.90844165e-01 1.34839768e-01 6.78802334e-03 2.24707950e+02] [-1.34838151e-01 9.90867391e-01 -6.97493161e-04 -1.02051214e+01] [-6.82008079e-03 -2.24177484e-04 9.99976718e-01 -1.59027727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.77, Y:-10.22, Z:-1.59 [[ 9.89925887e-01 1.41423701e-01 6.78789427e-03 2.24770596e+02] [-1.41422229e-01 9.89949122e-01 -6.98746969e-04 -1.02160623e+01] [-6.81848936e-03 -2.68251425e-04 9.99976718e-01 -1.59158640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:-10.23, Z:-1.59 [[ 9.89869939e-01 1.41814772e-01 6.78776554e-03 2.24832897e+02] [-1.41813300e-01 9.89893175e-01 -6.99995249e-04 -1.02273166e+01] [-6.81843245e-03 -2.69691180e-04 9.99976718e-01 -1.58937889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:-10.24, Z:-1.59 [[ 9.90443026e-01 1.37755363e-01 6.78763193e-03 2.24893742e+02] [-1.37753788e-01 9.90466255e-01 -7.01288415e-04 -1.02430037e+01] [-6.81952662e-03 -2.40435789e-04 9.99976718e-01 -1.58882042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.96, Y:-10.26, Z:-1.59 [[ 9.90793158e-01 1.35214083e-01 6.78750747e-03 2.24955828e+02] [-1.35212440e-01 9.90816382e-01 -7.02491013e-04 -1.02570368e+01] [-6.82016027e-03 -2.21732160e-04 9.99976718e-01 -1.58974881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.02, Y:-10.27, Z:-1.59 [[ 9.90784237e-01 1.35279445e-01 6.78737590e-03 2.25016640e+02] [-1.35277795e-01 9.90807460e-01 -7.03759890e-04 -1.02717979e+01] [-6.82018692e-03 -2.20907039e-04 9.99976718e-01 -1.58759200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.08, Y:-10.29, Z:-1.59 [[ 9.90146448e-01 1.39871173e-01 6.78729427e-03 2.25077417e+02] [-1.39869625e-01 9.90169678e-01 -7.04546307e-04 -1.02863108e+01] [-6.81911870e-03 -2.51732284e-04 9.99976718e-01 -1.59366534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.14, Y:-10.30, Z:-1.60 [[ 9.89550832e-01 1.44024596e-01 6.78717764e-03 2.25138173e+02] [-1.44023138e-01 9.89574069e-01 -7.05668046e-04 -1.02969387e+01] [-6.81804855e-03 -2.79216220e-04 9.99976718e-01 -1.60100680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:225.20, Y:-10.31, Z:-1.60 [[ 9.89223716e-01 1.46254490e-01 6.78707129e-03 2.25200119e+02] [-1.46253077e-01 9.89246955e-01 -7.06689443e-04 -1.03074188e+01] [-6.81744611e-03 -2.93556106e-04 9.99976718e-01 -1.59725751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.26, Y:-10.32, Z:-1.60 [[ 9.89028319e-01 1.47570057e-01 6.78693853e-03 2.25260965e+02] [-1.47568667e-01 9.89051560e-01 -7.07962157e-04 -1.03191298e+01] [-6.81710615e-03 -3.01344848e-04 9.99976718e-01 -1.59983689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.32, Y:-10.33, Z:-1.60 [[ 9.88988281e-01 1.47838150e-01 6.78682148e-03 2.25321122e+02] [-1.47836758e-01 9.89011522e-01 -7.09082493e-04 -1.03289175e+01] [-6.81707408e-03 -3.02067409e-04 9.99976718e-01 -1.60290642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.38, Y:-10.34, Z:-1.60 [[ 9.89184786e-01 1.46517576e-01 6.78671366e-03 2.25382752e+02] [-1.46516146e-01 9.89208024e-01 -7.10112949e-04 -1.03377788e+01] [-6.81751563e-03 -2.91930205e-04 9.99976718e-01 -1.59859485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.44, Y:-10.35, Z:-1.60 [[ 9.89693166e-01 1.43043277e-01 6.78659796e-03 2.25443654e+02] [-1.43041758e-01 9.89716399e-01 -7.11217000e-04 -1.03493399e+01] [-6.81854210e-03 -2.66880297e-04 9.99976718e-01 -1.59654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:-10.36, Z:-1.60 [[ 9.90540651e-01 1.37051676e-01 6.78648265e-03 2.25505684e+02] [-1.37050009e-01 9.90563874e-01 -7.12315509e-04 -1.03641215e+01] [-6.82006858e-03 -2.24510041e-04 9.99976718e-01 -1.59818962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:-10.38, Z:-1.59 [[ 9.90651413e-01 1.36248755e-01 6.78635185e-03 2.25567061e+02] [-1.36247060e-01 9.90674633e-01 -7.13559560e-04 -1.03770187e+01] [-6.82028823e-03 -2.17731702e-04 9.99976718e-01 -1.59446484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:225.63, Y:-10.39, Z:-1.59 [[ 9.90234341e-01 1.39247608e-01 6.78623767e-03 2.25629658e+02] [-1.39245977e-01 9.90257566e-01 -7.14643822e-04 -1.03879879e+01] [-6.81963564e-03 -2.37291437e-04 9.99976718e-01 -1.59297785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:225.69, Y:-10.40, Z:-1.60 [[ 9.88770841e-01 1.49285541e-01 6.78610883e-03 2.25690339e+02] [-1.49284137e-01 9.88794081e-01 -7.15865182e-04 -1.03986011e+01] [-6.81693256e-03 -3.05231779e-04 9.99976718e-01 -1.59632546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:-10.41, Z:-1.60 [[ 9.87837948e-01 1.55338782e-01 6.78604547e-03 2.25752349e+02] [-1.55337516e-01 9.87861196e-01 -7.16465252e-04 -1.04073660e+01] [-6.81496583e-03 -3.46375885e-04 9.99976718e-01 -1.59586336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:-10.42, Z:-1.59 [[ 9.87471594e-01 1.57650887e-01 6.78591932e-03 2.25814718e+02] [-1.57649667e-01 9.87494844e-01 -7.17658063e-04 -1.04159604e+01] [-6.81419977e-03 -3.61130971e-04 9.99976718e-01 -1.59326957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:-10.43, Z:-1.60 [[ 9.87819045e-01 1.55458957e-01 6.78579442e-03 2.25875982e+02] [-1.55457677e-01 9.87842292e-01 -7.18837155e-04 -1.04288068e+01] [-6.81504439e-03 -3.44822805e-04 9.99976718e-01 -1.60094218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:-10.44, Z:-1.61 [[ 9.88038193e-01 1.54060000e-01 6.78568603e-03 2.25936981e+02] [-1.54058680e-01 9.88061438e-01 -7.19858826e-04 -1.04415961e+01] [-6.81557615e-03 -3.34145820e-04 9.99976718e-01 -1.60729690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:-10.46, Z:-1.60 [[ 9.87248685e-01 1.59040843e-01 6.78557859e-03 2.25997567e+02] [-1.59039634e-01 9.87271936e-01 -7.20870230e-04 -1.04593652e+01] [-6.81385912e-03 -3.67497747e-04 9.99976718e-01 -1.60388380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:-10.47, Z:-1.60 [[ 9.86100385e-01 1.66012011e-01 6.78547170e-03 2.26058097e+02] [-1.66010959e-01 9.86123644e-01 -7.21874945e-04 -1.04694544e+01] [-6.81115399e-03 -4.14621503e-04 9.99976718e-01 -1.60166121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:-10.48, Z:-1.60 [[ 9.84742361e-01 1.73886291e-01 6.78537372e-03 2.26119817e+02] [-1.73885418e-01 9.84765626e-01 -7.22794776e-04 -1.04756391e+01] [-6.80768690e-03 -4.68110914e-04 9.99976718e-01 -1.60248194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-10.48, Z:-1.60 [[ 9.83191603e-01 1.82450628e-01 6.78525965e-03 2.26182090e+02] [-1.82449951e-01 9.83214875e-01 -7.23863967e-04 -1.04798317e+01] [-6.80343766e-03 -5.26273318e-04 9.99976718e-01 -1.60279674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:-10.48, Z:-1.61 [[ 9.82924222e-01 1.83885658e-01 6.78513885e-03 2.26243902e+02] [-1.83885008e-01 9.82947495e-01 -7.24994547e-04 -1.04834822e+01] [-6.80275134e-03 -5.35070609e-04 9.99976718e-01 -1.60563128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:-10.48, Z:-1.60 [[ 9.83486975e-01 1.80851692e-01 6.78501097e-03 2.26306896e+02] [-1.80850961e-01 9.83510245e-01 -7.26189344e-04 -1.04832577e+01] [-6.80446038e-03 -5.12877996e-04 9.99976718e-01 -1.59917328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:-10.49, Z:-1.60 [[ 9.83870291e-01 1.78754625e-01 6.78489459e-03 2.26369758e+02] [-1.78753837e-01 9.83893560e-01 -7.27275128e-04 -1.04867271e+01] [-6.80561788e-03 -4.97281550e-04 9.99976718e-01 -1.60080755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:-10.49, Z:-1.60 [[ 9.83989768e-01 1.78095772e-01 6.78476166e-03 2.26432491e+02] [-1.78094960e-01 9.84013036e-01 -7.28513072e-04 -1.04912961e+01] [-6.80603902e-03 -4.91482450e-04 9.99976718e-01 -1.60227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:-10.49, Z:-1.61 [[ 9.84458156e-01 1.75488199e-01 6.78462513e-03 2.26494635e+02] [-1.75487317e-01 9.84481421e-01 -7.29782360e-04 -1.04932032e+01] [-6.80740559e-03 -4.72175465e-04 9.99976718e-01 -1.60714141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:-10.50, Z:-1.61 [[ 9.84897920e-01 1.73003060e-01 6.78449850e-03 2.26557573e+02] [-1.73002111e-01 9.84921182e-01 -7.30957723e-04 -1.04998187e+01] [-6.80865421e-03 -4.53813822e-04 9.99976718e-01 -1.60796966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.62, Y:-10.51, Z:-1.61 [[ 9.85329343e-01 1.70528763e-01 6.78436831e-03 2.26618731e+02] [-1.70527747e-01 9.85352603e-01 -7.32164066e-04 -1.05073458e+01] [-6.80985001e-03 -4.35500308e-04 9.99976718e-01 -1.61054186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.68, Y:-10.52, Z:-1.61 [[ 9.85650139e-01 1.68664687e-01 6.78425551e-03 2.26680797e+02] [-1.68663620e-01 9.85673397e-01 -7.33207819e-04 -1.05191456e+01] [-6.81072644e-03 -4.21570704e-04 9.99976718e-01 -1.60807324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:-10.53, Z:-1.61 [[ 9.85532697e-01 1.69349573e-01 6.78412020e-03 2.26742854e+02] [-1.69348514e-01 9.85555955e-01 -7.34457623e-04 -1.05300452e+01] [-6.81051016e-03 -4.25048674e-04 9.99976718e-01 -1.60797196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.81, Y:-10.54, Z:-1.61 [[ 9.85199455e-01 1.71277588e-01 6.78398479e-03 2.26805425e+02] [-1.71276566e-01 9.85222714e-01 -7.35706304e-04 -1.05414022e+01] [-6.80974591e-03 -4.37120167e-04 9.99976718e-01 -1.60896994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:226.87, Y:-10.55, Z:-1.61 [[ 9.84583708e-01 1.74782441e-01 6.78385058e-03 2.26866575e+02] [-1.74781493e-01 9.84606971e-01 -7.36941731e-04 -1.05521241e+01] [-6.80823105e-03 -4.60110710e-04 9.99976718e-01 -1.60644433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.93, Y:-10.56, Z:-1.61 [[ 9.83629187e-01 1.80076661e-01 6.78373211e-03 2.26927184e+02] [-1.80075831e-01 9.83652454e-01 -7.38030655e-04 -1.05596220e+01] [-6.80573684e-03 -4.95637702e-04 9.99976718e-01 -1.60530692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.99, Y:-10.57, Z:-1.60 [[ 9.82807143e-01 1.84510438e-01 6.78362235e-03 2.26988587e+02] [-1.84509706e-01 9.82830414e-01 -7.39038167e-04 -1.05654146e+01] [-6.80351062e-03 -5.25312173e-04 9.99976718e-01 -1.60472465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.05, Y:-10.57, Z:-1.60 [[ 9.81999411e-01 1.88762130e-01 6.78349849e-03 2.27051525e+02] [-1.88761491e-01 9.82022684e-01 -7.40173294e-04 -1.05689203e+01] [-6.80126608e-03 -5.53613550e-04 9.99976718e-01 -1.60421316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:-10.57, Z:-1.60 [[ 9.81683878e-01 1.90396296e-01 6.78336427e-03 2.27115076e+02] [-1.90395687e-01 9.81707152e-01 -7.41401353e-04 -1.05710058e+01] [-6.80043729e-03 -5.63701543e-04 9.99976718e-01 -1.60415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.18, Y:-10.58, Z:-1.60 [[ 9.82373879e-01 1.86803505e-01 6.78323073e-03 2.27176811e+02] [-1.86802802e-01 9.82397151e-01 -7.42621147e-04 -1.05754659e+01] [-6.80255077e-03 -5.37594893e-04 9.99976718e-01 -1.60306351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.24, Y:-10.58, Z:-1.60 [[ 9.83357424e-01 1.81554857e-01 6.78310676e-03 2.27237935e+02] [-1.81554023e-01 9.83380691e-01 -7.43751727e-04 -1.05827354e+01] [-6.80540795e-03 -5.00126537e-04 9.99976718e-01 -1.60485025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:-10.59, Z:-1.61 [[ 9.83992429e-01 1.78081137e-01 6.78298345e-03 2.27299296e+02] [-1.78080213e-01 9.84015692e-01 -7.44874661e-04 -1.05923956e+01] [-6.80721028e-03 -4.74964108e-04 9.99976718e-01 -1.60652913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.36, Y:-10.60, Z:-1.61 [[ 9.83699394e-01 1.79692779e-01 6.78286155e-03 2.27359736e+02] [-1.79691885e-01 9.83722659e-01 -7.45983024e-04 -1.05984591e+01] [-6.80650236e-03 -4.85002127e-04 9.99976718e-01 -1.61057899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:-10.61, Z:-1.61 [[ 9.83202776e-01 1.82390500e-01 6.78274900e-03 2.27421252e+02] [-1.82389663e-01 9.83226044e-01 -7.47004954e-04 -1.06090227e+01] [-6.80522207e-03 -5.02645961e-04 9.99976718e-01 -1.61402020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.48, Y:-10.62, Z:-1.61 [[ 9.83418498e-01 1.81223766e-01 6.78262860e-03 2.27482795e+02] [-1.81222893e-01 9.83441764e-01 -7.48096570e-04 -1.06215683e+01] [-6.80589311e-03 -4.93475574e-04 9.99976718e-01 -1.61012551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.54, Y:-10.64, Z:-1.61 [[ 9.84111699e-01 1.77420861e-01 6.78250827e-03 2.27543944e+02] [-1.77419891e-01 9.84134961e-01 -7.49185935e-04 -1.06360180e+01] [-6.80782472e-03 -4.66069237e-04 9.99976718e-01 -1.61055734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.60, Y:-10.66, Z:-1.61 [[ 9.84895903e-01 1.73014625e-01 6.78238030e-03 2.27604282e+02] [-1.73013543e-01 9.84919160e-01 -7.50342685e-04 -1.06587537e+01] [-6.80991656e-03 -4.34434212e-04 9.99976718e-01 -1.60689025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.67, Y:-10.67, Z:-1.60 [[ 9.84546233e-01 1.74993477e-01 6.78225875e-03 2.27665658e+02] [-1.74992434e-01 9.84569491e-01 -7.51439702e-04 -1.06742347e+01] [-6.80910210e-03 -4.47016842e-04 9.99976718e-01 -1.60452618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:-10.69, Z:-1.61 [[ 9.82568813e-01 1.85775487e-01 6.78211589e-03 2.27725472e+02] [-1.85774691e-01 9.82592081e-01 -7.52726918e-04 -1.06912786e+01] [-6.80389157e-03 -5.20339487e-04 9.99976718e-01 -1.60958530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.79, Y:-10.70, Z:-1.61 [[ 9.81300084e-01 1.92364626e-01 6.78200119e-03 2.27786796e+02] [-1.92363979e-01 9.81323357e-01 -7.53758929e-04 -1.07039345e+01] [-6.80033273e-03 -5.64949034e-04 9.99976718e-01 -1.60678316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.85, Y:-10.72, Z:-1.61 [[ 9.81433059e-01 1.91685046e-01 6.78188090e-03 2.27848055e+02] [-1.91684375e-01 9.81456331e-01 -7.54839668e-04 -1.07211103e+01] [-6.80081143e-03 -5.59155999e-04 9.99976718e-01 -1.60594248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:-10.73, Z:-1.61 [[ 9.82597249e-01 1.85625036e-01 6.78174396e-03 2.27909150e+02] [-1.85624214e-01 9.82620517e-01 -7.56068019e-04 -1.07335038e+01] [-6.80422590e-03 -5.15945534e-04 9.99976718e-01 -1.61011947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.97, Y:-10.75, Z:-1.60 [[ 9.84475872e-01 1.75388904e-01 6.78161581e-03 2.27969602e+02] [-1.75387832e-01 9.84499129e-01 -7.57215718e-04 -1.07488103e+01] [-6.80930209e-03 -4.43952287e-04 9.99976718e-01 -1.60401850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:-10.76, Z:-1.61 [[ 9.85625906e-01 1.68806356e-01 6.78148162e-03 2.28031371e+02] [-1.68805119e-01 9.85649155e-01 -7.58415621e-04 -1.07599007e+01] [-6.81218700e-03 -3.97234731e-04 9.99976718e-01 -1.60977002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.09, Y:-10.77, Z:-1.61 [[ 9.86742330e-01 1.62152973e-01 6.78143544e-03 2.28092599e+02] [-1.62151577e-01 9.86765570e-01 -7.58828249e-04 -1.07685150e+01] [-6.81473327e-03 -3.50852495e-04 9.99976718e-01 -1.61046264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:-10.77, Z:-1.61 [[ 9.87889141e-01 1.55013093e-01 6.78129953e-03 2.28155320e+02] [-1.55011521e-01 9.87912370e-01 -7.60040882e-04 -1.07748502e+01] [-6.81714598e-03 -3.00343418e-04 9.99976718e-01 -1.60626931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-10.78, Z:-1.61 [[ 9.88232841e-01 1.52806638e-01 6.78115715e-03 2.28217242e+02] [-1.52805006e-01 9.88256065e-01 -7.61309106e-04 -1.07784264e+01] [-6.81785277e-03 -2.83844097e-04 9.99976718e-01 -1.60575932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.28, Y:-10.78, Z:-1.61 [[ 9.88240293e-01 1.52758442e-01 6.78102372e-03 2.28280282e+02] [-1.52756800e-01 9.88263517e-01 -7.62495751e-04 -1.07788217e+01] [-6.81791601e-03 -2.82318459e-04 9.99976718e-01 -1.60501739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:-10.77, Z:-1.60 [[ 9.87973876e-01 1.54472133e-01 6.78088643e-03 2.28344906e+02] [-1.54470523e-01 9.87997102e-01 -7.63714739e-04 -1.07718360e+01] [-6.81746879e-03 -2.92916861e-04 9.99976718e-01 -1.60477059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.41, Y:-10.77, Z:-1.61 [[ 9.87987256e-01 1.54386540e-01 6.78074558e-03 2.28407362e+02] [-1.54384919e-01 9.88010482e-01 -7.64963226e-04 -1.07738189e+01] [-6.81754773e-03 -2.91070939e-04 9.99976718e-01 -1.60632292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.47, Y:-10.77, Z:-1.61 [[ 9.88497287e-01 1.51086520e-01 6.78061482e-03 2.28471370e+02] [-1.51084814e-01 9.88520507e-01 -7.66120556e-04 -1.07719259e+01] [-6.81852728e-03 -2.67139836e-04 9.99976718e-01 -1.60912707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:-10.77, Z:-1.61 [[ 9.90151931e-01 1.39832682e-01 6.78047711e-03 2.28533891e+02] [-1.39830704e-01 9.90175129e-01 -7.67337382e-04 -1.07691123e+01] [-6.82115864e-03 -1.88338295e-04 9.99976718e-01 -1.61367739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.60, Y:-10.77, Z:-1.61 [[ 9.91050699e-01 1.33313683e-01 6.78043208e-03 2.28596297e+02] [-1.33311549e-01 9.91073883e-01 -7.67735046e-04 -1.07708864e+01] [-6.82225874e-03 -1.43045549e-04 9.99976718e-01 -1.61302545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:228.66, Y:-10.77, Z:-1.61 [[ 9.91557707e-01 1.29488770e-01 6.78029674e-03 2.28660226e+02] [-1.29486539e-01 9.91580882e-01 -7.68928451e-04 -1.07692679e+01] [-6.82278022e-03 -1.15520226e-04 9.99976718e-01 -1.61051976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:-10.77, Z:-1.61 [[ 9.91628167e-01 1.28948086e-01 6.78015111e-03 2.28723868e+02] [-1.28945833e-01 9.91651339e-01 -7.70210434e-04 -1.07708963e+01] [-6.82286309e-03 -1.10509873e-04 9.99976718e-01 -1.61048741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-10.77, Z:-1.61 [[ 9.92105236e-01 1.25224725e-01 6.78000511e-03 2.28785747e+02] [-1.25222377e-01 9.92128400e-01 -7.71493548e-04 -1.07741386e+01] [-6.82324569e-03 -8.36055648e-05 9.99976718e-01 -1.61229052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-10.78, Z:-1.61 [[ 9.93351740e-01 1.14918906e-01 6.77987006e-03 2.28847431e+02] [-1.14916309e-01 9.93374876e-01 -7.72678566e-04 -1.07791974e+01] [-6.82374795e-03 -1.15760446e-05 9.99976718e-01 -1.60741744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:-10.78, Z:-1.61 [[ 9.93941063e-01 1.09705052e-01 6.77973571e-03 2.28909823e+02] [-1.09702326e-01 9.93964185e-01 -7.73855545e-04 -1.07847909e+01] [-6.82371035e-03 2.54140282e-05 9.99976718e-01 -1.60597245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:-10.79, Z:-1.61 [[ 9.94060687e-01 1.08615778e-01 6.77959398e-03 2.28971243e+02] [-1.08613017e-01 9.94083805e-01 -7.75095300e-04 -1.07898336e+01] [-6.82367216e-03 3.41396079e-05 9.99976718e-01 -1.60961932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:-10.80, Z:-1.61 [[ 9.93902649e-01 1.10052547e-01 6.77946229e-03 2.29033587e+02] [-1.10049812e-01 9.93925770e-01 -7.76245435e-04 -1.07955419e+01] [-6.82371006e-03 2.54338447e-05 9.99976718e-01 -1.60917508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:-10.80, Z:-1.61 [[ 9.93736635e-01 1.11541655e-01 6.77931945e-03 2.29096816e+02] [-1.11538947e-01 9.93759759e-01 -7.77490867e-04 -1.08009731e+01] [-6.82373748e-03 1.64630073e-05 9.99976718e-01 -1.60883735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:-10.81, Z:-1.61 [[ 9.93915211e-01 1.09939058e-01 6.77916370e-03 2.29158775e+02] [-1.09936303e-01 9.93938329e-01 -7.78846549e-04 -1.08057384e+01] [-6.82369630e-03 2.88312369e-05 9.99976718e-01 -1.61383076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.22, Y:-10.81, Z:-1.61 [[ 9.94025508e-01 1.08937291e-01 6.77906721e-03 2.29221004e+02] [-1.08934507e-01 9.94048623e-01 -7.79685481e-04 -1.08116237e+01] [-6.82365925e-03 3.65529141e-05 9.99976718e-01 -1.61035245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:-10.81, Z:-1.61 [[ 9.93799207e-01 1.10982800e-01 6.77897605e-03 2.29284654e+02] [-1.10980058e-01 9.93822327e-01 -7.80477241e-04 -1.08112571e+01] [-6.82371731e-03 2.33065058e-05 9.99976718e-01 -1.61274422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.35, Y:-10.81, Z:-1.62 [[ 9.93700681e-01 1.11861537e-01 6.77882806e-03 2.29347790e+02] [-1.11858807e-01 9.93723803e-01 -7.81760558e-04 -1.08127518e+01] [-6.82373173e-03 1.85643779e-05 9.99976718e-01 -1.61662509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.41, Y:-10.81, Z:-1.61 [[ 9.93994436e-01 1.09220470e-01 6.77868045e-03 2.29410693e+02] [-1.09217670e-01 9.94017549e-01 -7.83038379e-04 -1.08146734e+01] [-6.82365115e-03 3.79841101e-05 9.99976718e-01 -1.61447423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.47, Y:-10.81, Z:-1.62 [[ 9.94902397e-01 1.00614473e-01 6.77853398e-03 2.29473386e+02] [-1.00611464e-01 9.94925484e-01 -7.84304265e-04 -1.08147649e+01] [-6.82304856e-03 9.83079642e-05 9.99976718e-01 -1.61564076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:-10.82, Z:-1.62 [[ 9.95637482e-01 9.30594241e-02 6.77844318e-03 2.29536143e+02] [-9.30562347e-02 9.95660545e-01 -7.85088269e-04 -1.08189542e+01] [-6.82208829e-03 1.50886908e-04 9.99976718e-01 -1.62008651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:-10.82, Z:-1.62 [[ 9.96172573e-01 8.71450519e-02 6.77829311e-03 2.29599248e+02] [-8.71417168e-02 9.96195615e-01 -7.86381793e-04 -1.08245117e+01] [-6.82103515e-03 1.92699875e-04 9.99976718e-01 -1.61915015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:-10.83, Z:-1.62 [[ 9.96490737e-01 8.34282186e-02 6.77813919e-03 2.29661876e+02] [-8.34247885e-02 9.96513765e-01 -7.87706222e-04 -1.08307513e+01] [-6.82022594e-03 2.19477125e-04 9.99976718e-01 -1.61758550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:-10.84, Z:-1.62 [[ 9.96689260e-01 8.10220821e-02 6.77798537e-03 2.29723174e+02] [-8.10185875e-02 9.96712278e-01 -7.89027602e-04 -1.08367360e+01] [-6.81962990e-03 2.37272535e-04 9.99976718e-01 -1.61853017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.79, Y:-10.84, Z:-1.62 [[ 9.96674055e-01 8.12089194e-02 6.77788988e-03 2.29786358e+02] [-8.12054236e-02 9.96697073e-01 -7.89847020e-04 -1.08427587e+01] [-6.81964563e-03 2.36818613e-04 9.99976718e-01 -1.61618024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:-10.85, Z:-1.62 [[ 9.96675138e-01 8.11956366e-02 6.77774391e-03 2.29849608e+02] [-8.11921320e-02 9.96698155e-01 -7.91097648e-04 -1.08453598e+01] [-6.81959853e-03 2.38167879e-04 9.99976718e-01 -1.61511480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:-10.85, Z:-1.62 [[ 9.96827496e-01 7.93032634e-02 6.77759561e-03 2.29911535e+02] [-7.92997065e-02 9.96850505e-01 -7.92366130e-04 -1.08460817e+01] [-6.81908683e-03 2.52391003e-04 9.99976718e-01 -1.61802295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.97, Y:-10.85, Z:-1.62 [[ 9.96925235e-01 7.80649903e-02 6.77745761e-03 2.29974507e+02] [-7.80613968e-02 9.96948238e-01 -7.93544798e-04 -1.08486487e+01] [-6.81872248e-03 2.62047026e-04 9.99976718e-01 -1.61993594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-10.85, Z:-1.62 [[ 9.96953862e-01 7.76985522e-02 6.77731116e-03 2.30037763e+02] [-7.76949417e-02 9.96976862e-01 -7.94793549e-04 -1.08483167e+01] [-6.81857673e-03 2.65809702e-04 9.99976718e-01 -1.61809235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-10.85, Z:-1.62 [[ 9.97006152e-01 7.70246885e-02 6.77715871e-03 2.30099785e+02] [-7.70210537e-02 9.97029149e-01 -7.96091370e-04 -1.08506977e+01] [-6.81834347e-03 2.71724089e-04 9.99976718e-01 -1.61995885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:-10.85, Z:-1.62 [[ 9.97207718e-01 7.43696066e-02 6.77701653e-03 2.30162382e+02] [-7.43659024e-02 9.97230704e-01 -7.97299935e-04 -1.08532980e+01] [-6.81754384e-03 2.91094699e-04 9.99976718e-01 -1.62449128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-10.86, Z:-1.63 [[ 9.97664672e-01 6.79652542e-02 6.77686303e-03 2.30224598e+02] [-6.79613936e-02 9.97687632e-01 -7.98602463e-04 -1.08580839e+01] [-6.81546965e-03 3.36172409e-04 9.99976718e-01 -1.62694128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.29, Y:-10.87, Z:-1.63 [[ 9.97819857e-01 6.56476133e-02 6.77672058e-03 2.30286432e+02] [-6.56436912e-02 9.97842806e-01 -7.99809495e-04 -1.08651740e+01] [-6.81460746e-03 3.53216843e-04 9.99976718e-01 -1.62879344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:-10.87, Z:-1.63 [[ 9.97851934e-01 6.51582316e-02 6.77658115e-03 2.30349437e+02] [-6.51542903e-02 9.97874880e-01 -8.00989055e-04 -1.08724070e+01] [-6.81437114e-03 3.57745142e-04 9.99976718e-01 -1.62936922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-10.88, Z:-1.63 [[ 9.97966140e-01 6.33850382e-02 6.77643233e-03 2.30410963e+02] [-6.33810476e-02 9.97989078e-01 -8.02246086e-04 -1.08800381e+01] [-6.81365585e-03 3.71117049e-04 9.99976718e-01 -1.62844420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:-10.89, Z:-1.63 [[ 9.97957171e-01 6.35261160e-02 6.77629457e-03 2.30473129e+02] [-6.35221208e-02 9.97980107e-01 -8.03408084e-04 -1.08891104e+01] [-6.81364457e-03 3.71322256e-04 9.99976718e-01 -1.62921246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.54, Y:-10.90, Z:-1.63 [[ 9.97728671e-01 6.70192797e-02 6.77614973e-03 2.30535484e+02] [-6.70153565e-02 9.97751620e-01 -8.04627843e-04 -1.08993133e+01] [-6.81483994e-03 3.48694178e-04 9.99976718e-01 -1.62536145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:-10.91, Z:-1.63 [[ 9.97563262e-01 6.94379164e-02 6.77599979e-03 2.30598225e+02] [-6.94340403e-02 9.97586219e-01 -8.05888553e-04 -1.09051586e+01] [-6.81560323e-03 3.33439772e-04 9.99976718e-01 -1.62750664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.66, Y:-10.91, Z:-1.63 [[ 9.97433434e-01 7.12785545e-02 6.77584583e-03 2.30659818e+02] [-7.12747121e-02 9.97456397e-01 -8.07180962e-04 -1.09105771e+01] [-6.81614546e-03 3.22162819e-04 9.99976718e-01 -1.63093465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.72, Y:-10.92, Z:-1.63 [[ 9.97388889e-01 7.18991954e-02 6.77570314e-03 2.30723141e+02] [-7.18953591e-02 9.97411853e-01 -8.08376963e-04 -1.09150965e+01] [-6.81628827e-03 3.19124591e-04 9.99976718e-01 -1.62650175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:-10.92, Z:-1.63 [[ 9.97354943e-01 7.23685633e-02 6.77555074e-03 2.30785290e+02] [-7.23647292e-02 9.97377908e-01 -8.09652319e-04 -1.09173344e+01] [-6.81637799e-03 3.17199849e-04 9.99976718e-01 -1.62576116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:-10.92, Z:-1.63 [[ 9.97304935e-01 7.30545060e-02 6.77540950e-03 2.30848130e+02] [-7.30506797e-02 9.97327900e-01 -8.10832539e-04 -1.09152348e+01] [-6.81653990e-03 3.13699023e-04 9.99976718e-01 -1.62696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:-10.92, Z:-1.63 [[ 9.97444340e-01 7.11258346e-02 6.77531637e-03 2.30911216e+02] [-7.11219586e-02 9.97467297e-01 -8.11609998e-04 -1.09175581e+01] [-6.81588294e-03 3.27662028e-04 9.99976718e-01 -1.62552969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.97, Y:-10.92, Z:-1.63 [[ 9.97783604e-01 6.61964995e-02 6.77516914e-03 2.30973685e+02] [-6.61925018e-02 9.97806540e-01 -8.12837157e-04 -1.09215196e+01] [-6.81411506e-03 3.62570192e-04 9.99976718e-01 -1.62532441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:-10.93, Z:-1.63 [[ 9.98297535e-01 5.79321080e-02 6.77507763e-03 2.31036290e+02] [-5.79279154e-02 9.98320437e-01 -8.13599223e-04 -1.09257284e+01] [-6.81083197e-03 4.19747976e-04 9.99976718e-01 -1.62698993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-10.93, Z:-1.63 [[ 9.98476942e-01 5.47530582e-02 6.77493360e-03 2.31099123e+02] [-5.47487846e-02 9.98499828e-01 -8.14796771e-04 -1.09331244e+01] [-6.80938265e-03 4.42636407e-04 9.99976718e-01 -1.62716545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:-10.94, Z:-1.63 [[ 9.98633953e-01 5.18105296e-02 6.77479096e-03 2.31160682e+02] [-5.18061806e-02 9.98656825e-01 -8.15981115e-04 -1.09408835e+01] [-6.80796764e-03 4.63890402e-04 9.99976718e-01 -1.62803149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:-10.95, Z:-1.63 [[ 9.98697696e-01 5.05669385e-02 6.77465819e-03 2.31222966e+02] [-5.05625536e-02 9.98720562e-01 -8.17081925e-04 -1.09483588e+01] [-6.80730776e-03 4.73473819e-04 9.99976718e-01 -1.62889529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:-10.96, Z:-1.63 [[ 9.98662138e-01 5.12644054e-02 6.77451784e-03 2.31284693e+02] [-5.12600286e-02 9.98685005e-01 -8.18243913e-04 -1.09575520e+01] [-6.80755617e-03 4.69887237e-04 9.99976718e-01 -1.63224641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.35, Y:-10.97, Z:-1.64 [[ 9.98630318e-01 5.18805810e-02 6.77438700e-03 2.31346738e+02] [-5.18762110e-02 9.98653187e-01 -8.19325721e-04 -1.09660253e+01] [-6.80777026e-03 4.66773977e-04 9.99976718e-01 -1.63554741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.41, Y:-10.97, Z:-1.64 [[ 9.98538392e-01 5.36207849e-02 6.77433734e-03 2.31408573e+02] [-5.36164520e-02 9.98561267e-01 -8.19736127e-04 -1.09747141e+01] [-6.80854577e-03 4.55322062e-04 9.99976718e-01 -1.63975867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:-10.98, Z:-1.64 [[ 9.98483826e-01 5.46274679e-02 6.77418964e-03 2.31470275e+02] [-5.46231498e-02 9.98506704e-01 -8.20954870e-04 -1.09819122e+01] [-6.80892046e-03 4.49682584e-04 9.99976718e-01 -1.64038359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:-10.99, Z:-1.64 [[ 9.98501025e-01 5.43122041e-02 6.77406118e-03 2.31532512e+02] [-5.43078716e-02 9.98523900e-01 -8.22013529e-04 -1.09918887e+01] [-6.80870735e-03 4.52896506e-04 9.99976718e-01 -1.63882718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.59, Y:-11.00, Z:-1.63 [[ 9.98565803e-01 5.31079198e-02 6.77392561e-03 2.31593800e+02] [-5.31035522e-02 9.98588672e-01 -8.23129152e-04 -1.10003918e+01] [-6.80808006e-03 4.62229110e-04 9.99976718e-01 -1.63417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:231.66, Y:-11.01, Z:-1.63 [[ 9.98695133e-01 5.06176654e-02 6.77379394e-03 2.31655846e+02] [-5.06132335e-02 9.98717989e-01 -8.24211269e-04 -1.10086823e+01] [-6.80682952e-03 4.80292168e-04 9.99976718e-01 -1.62960246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:-11.02, Z:-1.63 [[ 9.98725539e-01 5.00141508e-02 6.77366012e-03 2.31718208e+02] [-5.00096977e-02 9.98748391e-01 -8.25309643e-04 -1.10183818e+01] [-6.80645931e-03 4.85509124e-04 9.99976718e-01 -1.63217832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:-11.03, Z:-1.63 [[ 9.98667471e-01 5.11605494e-02 6.77350399e-03 2.31780203e+02] [-5.11561139e-02 9.98690327e-01 -8.26589003e-04 -1.10268957e+01] [-6.80692166e-03 4.78981407e-04 9.99976718e-01 -1.63423935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:-11.03, Z:-1.63 [[ 9.98345112e-01 5.71065539e-02 6.77334411e-03 2.31842217e+02] [-5.71022458e-02 9.98367992e-01 -8.27897077e-04 -1.10313697e+01] [-6.80956831e-03 4.39753841e-04 9.99976718e-01 -1.63265594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:-11.04, Z:-1.63 [[ 9.98190731e-01 5.97443639e-02 6.77319585e-03 2.31905314e+02] [-5.97401081e-02 9.98213620e-01 -8.29108261e-04 -1.10365952e+01] [-6.81063090e-03 4.22976729e-04 9.99976718e-01 -1.63269569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.97, Y:-11.04, Z:-1.64 [[ 9.98284471e-01 5.81570377e-02 6.77304472e-03 2.31967993e+02] [-5.81527371e-02 9.98307352e-01 -8.30341042e-04 -1.10427869e+01] [-6.80987051e-03 4.35045479e-04 9.99976718e-01 -1.63531622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:-11.05, Z:-1.64 [[ 9.98459729e-01 5.50663041e-02 6.77289254e-03 2.32030454e+02] [-5.50619244e-02 9.98482595e-01 -8.31580456e-04 -1.10523365e+01] [-6.80840738e-03 4.57371099e-04 9.99976718e-01 -1.63730236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.09, Y:-11.06, Z:-1.64 [[ 9.98538958e-01 5.36104434e-02 6.77273822e-03 2.32091932e+02] [-5.36060218e-02 9.98561816e-01 -8.32835394e-04 -1.10615525e+01] [-6.80764645e-03 4.68559034e-04 9.99976718e-01 -1.63857615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:-11.07, Z:-1.64 [[ 9.98211922e-01 5.93893101e-02 6.77259890e-03 2.32153676e+02] [-5.93850133e-02 9.98234804e-01 -8.33966800e-04 -1.10680231e+01] [-6.81017265e-03 4.30284727e-04 9.99976718e-01 -1.63869067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:-11.07, Z:-1.64 [[ 9.97888877e-01 6.45904277e-02 6.77245106e-03 2.32215845e+02] [-6.45862420e-02 9.97911780e-01 -8.35165649e-04 -1.10738031e+01] [-6.81225240e-03 3.95995348e-04 9.99976718e-01 -1.63647802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.28, Y:-11.08, Z:-1.64 [[ 9.97708806e-01 6.73147388e-02 6.77231552e-03 2.32278925e+02] [-6.73106083e-02 9.97731719e-01 -8.36263317e-04 -1.10796447e+01] [-6.81324685e-03 3.78498598e-04 9.99976718e-01 -1.63905717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.34, Y:-11.09, Z:-1.64 [[ 9.97640689e-01 6.83168610e-02 6.77216041e-03 2.32340807e+02] [-6.83127450e-02 9.97663604e-01 -8.37517537e-04 -1.10853085e+01] [-6.81355453e-03 3.72916706e-04 9.99976718e-01 -1.64169034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.40, Y:-11.09, Z:-1.64 [[ 9.97596259e-01 6.89626233e-02 6.77202193e-03 2.32402665e+02] [-6.89585146e-02 9.97619176e-01 -8.38635764e-04 -1.10908003e+01] [-6.81373346e-03 3.69631328e-04 9.99976718e-01 -1.64113576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:-11.09, Z:-1.64 [[ 9.97649330e-01 6.81905827e-02 6.77187431e-03 2.32465216e+02] [-6.81864482e-02 9.97672242e-01 -8.39826113e-04 -1.10941101e+01] [-6.81337926e-03 3.76101902e-04 9.99976718e-01 -1.63701048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:-11.10, Z:-1.64 [[ 9.97768651e-01 6.64218572e-02 6.77173701e-03 2.32527346e+02] [-6.64176746e-02 9.97791554e-01 -8.40931672e-04 -1.10989446e+01] [-6.81263824e-03 3.89292234e-04 9.99976718e-01 -1.63765824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.59, Y:-11.10, Z:-1.64 [[ 9.97936598e-01 6.38489783e-02 6.77159110e-03 2.32590441e+02] [-6.38447287e-02 9.97959489e-01 -8.42104980e-04 -1.11048878e+01] [-6.81154114e-03 4.08036982e-04 9.99976718e-01 -1.63794886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.65, Y:-11.11, Z:-1.64 [[ 9.98106296e-01 6.11389383e-02 6.77143477e-03 2.32653474e+02] [-6.11346181e-02 9.98129174e-01 -8.43360176e-04 -1.11101212e+01] [-6.81032874e-03 4.27794023e-04 9.99976718e-01 -1.63586376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.71, Y:-11.11, Z:-1.64 [[ 9.98144238e-01 6.05163554e-02 6.77127240e-03 2.32714918e+02] [-6.05120121e-02 9.98167112e-01 -8.44661850e-04 -1.11121017e+01] [-6.80997727e-03 4.33351041e-04 9.99976718e-01 -1.63969832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.78, Y:-11.11, Z:-1.64 [[ 9.98091433e-01 6.13811281e-02 6.77119283e-03 2.32778140e+02] [-6.13768004e-02 9.98114309e-01 -8.45299212e-04 -1.11114627e+01] [-6.81030988e-03 4.28091751e-04 9.99976718e-01 -1.63611643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:232.84, Y:-11.11, Z:-1.63 [[ 9.97990261e-01 6.30046898e-02 6.77106174e-03 2.32841654e+02] [-6.30003922e-02 9.98013143e-01 -8.46347979e-04 -1.11106223e+01] [-6.81093251e-03 4.18067496e-04 9.99976718e-01 -1.63149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.90, Y:-11.11, Z:-1.63 [[ 9.97810146e-01 6.57956548e-02 6.77090541e-03 2.32904681e+02] [-6.57914127e-02 9.97833038e-01 -8.47596850e-04 -1.11113997e+01] [-6.81200130e-03 4.00273304e-04 9.99976718e-01 -1.63299282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:-11.11, Z:-1.64 [[ 9.98051717e-01 6.20236012e-02 6.77074820e-03 2.32966641e+02] [-6.20192642e-02 9.98074592e-01 -8.48850809e-04 -1.11105146e+01] [-6.81036053e-03 4.27280187e-04 9.99976718e-01 -1.63998000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-11.11, Z:-1.64 [[ 9.98626894e-01 5.19469409e-02 6.77067135e-03 2.33030149e+02] [-5.19423691e-02 9.98649723e-01 -8.49463295e-04 -1.11128552e+01] [-6.80565609e-03 4.96612181e-04 9.99976718e-01 -1.63904880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:-11.12, Z:-1.64 [[ 9.98870589e-01 4.70287784e-02 6.77051274e-03 2.33092240e+02] [-4.70240857e-02 9.98893394e-01 -8.50725638e-04 -1.11188559e+01] [-6.80302903e-03 5.31387648e-04 9.99976718e-01 -1.63932579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.16, Y:-11.13, Z:-1.64 [[ 9.98985688e-01 4.45169326e-02 6.77036602e-03 2.33155064e+02] [-4.45121747e-02 9.99008479e-01 -8.51891711e-04 -1.11254926e+01] [-6.80157666e-03 5.49663913e-04 9.99976718e-01 -1.63974477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:-11.13, Z:-1.64 [[ 9.99010080e-01 4.39661767e-02 6.77021515e-03 2.33217036e+02] [-4.39613982e-02 9.99032866e-01 -8.53088981e-04 -1.11347436e+01] [-6.80117451e-03 5.54616367e-04 9.99976718e-01 -1.64474056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:-11.14, Z:-1.65 [[ 9.99018157e-01 4.37822760e-02 6.77016704e-03 2.33278648e+02] [-4.37774907e-02 9.99040942e-01 -8.53470652e-04 -1.11442835e+01] [-6.80104094e-03 5.56251753e-04 9.99976718e-01 -1.64585438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:-11.16, Z:-1.65 [[ 9.99018082e-01 4.37840014e-02 6.77002486e-03 2.33340156e+02] [-4.37792086e-02 9.99040865e-01 -8.54596973e-04 -1.11575189e+01] [-6.80094917e-03 5.57371498e-04 9.99976718e-01 -1.64588022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:-11.17, Z:-1.65 [[ 9.98951189e-01 4.52845456e-02 6.76987392e-03 2.33400533e+02] [-4.52797790e-02 9.98973978e-01 -8.55790973e-04 -1.11705439e+01] [-6.80168199e-03 5.48355015e-04 9.99976718e-01 -1.64754965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:-11.18, Z:-1.65 [[ 9.98798131e-01 4.85434205e-02 6.76973339e-03 2.33462944e+02] [-4.85387208e-02 9.98820934e-01 -8.56901251e-04 -1.11825823e+01] [-6.80334834e-03 5.27277170e-04 9.99976718e-01 -1.64623247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:-11.19, Z:-1.64 [[ 9.98252653e-01 5.87010553e-02 6.76958333e-03 2.33524166e+02] [-5.86965798e-02 9.98275501e-01 -8.58085047e-04 -1.11930503e+01] [-6.80827969e-03 4.59234287e-04 9.99976718e-01 -1.64307109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:-11.20, Z:-1.64 [[ 9.97906865e-01 6.43122315e-02 6.76949041e-03 2.33587220e+02] [-6.43078796e-02 9.97929737e-01 -8.58817531e-04 -1.12003241e+01] [-6.81070825e-03 4.21688336e-04 9.99976718e-01 -1.64357051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-11.20, Z:-1.64 [[ 9.97735241e-01 6.69220750e-02 6.76933182e-03 2.33650338e+02] [-6.69177744e-02 9.97758123e-01 -8.60065708e-04 -1.12031375e+01] [-6.81171319e-03 4.05129247e-04 9.99976718e-01 -1.64280407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.71, Y:-11.21, Z:-1.64 [[ 9.97873734e-01 6.48242881e-02 6.76917376e-03 2.33712677e+02] [-6.48199310e-02 9.97896605e-01 -8.61307897e-04 -1.12064385e+01] [-6.81076919e-03 4.20699151e-04 9.99976718e-01 -1.64413567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:-11.21, Z:-1.65 [[ 9.98236097e-01 5.89819815e-02 6.76902669e-03 2.33775793e+02] [-5.89774829e-02 9.98258941e-01 -8.62462246e-04 -1.12085759e+01] [-6.80811114e-03 4.61720791e-04 9.99976718e-01 -1.64818851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:-11.21, Z:-1.65 [[ 9.98356687e-01 5.69043728e-02 6.76887188e-03 2.33837349e+02] [-5.68998185e-02 9.98379519e-01 -8.63675481e-04 -1.12125031e+01] [-6.80704997e-03 4.77108611e-04 9.99976718e-01 -1.64614932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:-11.22, Z:-1.64 [[ 9.98351743e-01 5.69910573e-02 6.76872851e-03 2.33900474e+02] [-5.69864974e-02 9.98374575e-01 -8.64797616e-04 -1.12163413e+01] [-6.80701218e-03 4.77646078e-04 9.99976718e-01 -1.64434329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:-11.22, Z:-1.64 [[ 9.98150145e-01 6.04191589e-02 6.76857660e-03 2.33961740e+02] [-6.04146694e-02 9.98172990e-01 -8.65985021e-04 -1.12200090e+01] [-6.80853242e-03 4.55461756e-04 9.99976718e-01 -1.64392720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:-11.23, Z:-1.65 [[ 9.97859211e-01 6.50475495e-02 6.76845475e-03 2.34023744e+02] [-6.50431595e-02 9.97882075e-01 -8.66936310e-04 -1.12258953e+01] [-6.81051175e-03 4.24838700e-04 9.99976718e-01 -1.64729819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:-11.23, Z:-1.64 [[ 9.97037647e-01 7.66167102e-02 6.76832467e-03 2.34084601e+02] [-7.66125789e-02 9.97060560e-01 -8.67950643e-04 -1.12283030e+01] [-6.81492911e-03 3.46840659e-04 9.99976718e-01 -1.64484552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:234.15, Y:-11.23, Z:-1.64 [[ 9.96306430e-01 8.56019137e-02 6.76827862e-03 2.34145211e+02] [-8.55979867e-02 9.96329379e-01 -8.68309628e-04 -1.12286497e+01] [-6.81776380e-03 2.85751442e-04 9.99976718e-01 -1.64128974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:-11.23, Z:-1.64 [[ 9.95548097e-01 9.40115740e-02 6.76827862e-03 2.34204325e+02] [-9.40078408e-02 9.95571078e-01 -8.68309628e-04 -1.12290524e+01] [-6.81993360e-03 2.28172739e-04 9.99976718e-01 -1.64026120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.26, Y:-11.23, Z:-1.64 [[ 9.95359817e-01 9.59844994e-02 6.76830595e-03 2.34263959e+02] [-9.59808133e-02 9.95382806e-01 -8.68096511e-04 -1.12322520e+01] [-6.82037918e-03 2.14440874e-04 9.99976718e-01 -1.64430730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:-11.24, Z:-1.65 [[ 9.95232188e-01 9.72989308e-02 6.76832624e-03 2.34323078e+02] [-9.72952761e-02 9.95255181e-01 -8.67938321e-04 -1.12372594e+01] [-6.82066123e-03 2.05273984e-04 9.99976718e-01 -1.64537362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:-11.24, Z:-1.64 [[ 9.94915461e-01 1.00485896e-01 6.76834634e-03 2.34382112e+02] [-1.00482316e-01 9.94938466e-01 -8.67781574e-04 -1.12394795e+01] [-6.82128793e-03 1.83270187e-04 9.99976718e-01 -1.64495274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:-11.24, Z:-1.65 [[ 9.94428665e-01 1.05194198e-01 6.76837622e-03 2.34440179e+02] [-1.05190729e-01 9.94451687e-01 -8.67548453e-04 -1.12374123e+01] [-6.82208421e-03 1.50744621e-04 9.99976718e-01 -1.64737561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:-11.24, Z:-1.65 [[ 9.94245864e-01 1.06908144e-01 6.76842446e-03 2.34498945e+02] [-1.06904717e-01 9.94268892e-01 -8.67171899e-04 -1.12389206e+01] [-6.82234163e-03 1.38605574e-04 9.99976718e-01 -1.65475064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:-11.24, Z:-1.65 [[ 9.94440974e-01 1.05077769e-01 6.76846556e-03 2.34556486e+02] [-1.05074302e-01 9.94463996e-01 -8.66851031e-04 -1.12431123e+01] [-6.82208208e-03 1.50840390e-04 9.99976718e-01 -1.65339589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:-11.25, Z:-1.65 [[ 9.94897004e-01 1.00668455e-01 6.76852183e-03 2.34614724e+02] [-1.00664889e-01 9.94920012e-01 -8.66411376e-04 -1.12494070e+01] [-6.82135812e-03 1.80637584e-04 9.99976718e-01 -1.65126393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:234.67, Y:-11.26, Z:-1.65 [[ 9.95587603e-01 9.35922560e-02 6.76856235e-03 2.34673633e+02] [-9.35885282e-02 9.95610585e-01 -8.66094716e-04 -1.12578453e+01] [-6.81991208e-03 2.28813373e-04 9.99976718e-01 -1.65028308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:-11.27, Z:-1.65 [[ 9.96022289e-01 8.88469870e-02 6.76858287e-03 2.34731380e+02] [-8.88431508e-02 9.96045252e-01 -8.65934384e-04 -1.12665033e+01] [-6.81875049e-03 2.61147718e-04 9.99976718e-01 -1.65038689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:-11.28, Z:-1.65 [[ 9.96462774e-01 8.37623229e-02 6.76860454e-03 2.34790036e+02] [-8.37583708e-02 9.96485718e-01 -8.65764951e-04 -1.12757572e+01] [-6.81733623e-03 2.95775256e-04 9.99976718e-01 -1.65039239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.85, Y:-11.28, Z:-1.65 [[ 9.96601259e-01 8.20982079e-02 6.76862444e-03 2.34849405e+02] [-8.20942185e-02 9.96624197e-01 -8.65609352e-04 -1.12828271e+01] [-6.81683987e-03 3.07002436e-04 9.99976718e-01 -1.65068059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:234.91, Y:-11.29, Z:-1.65 [[ 9.96679398e-01 8.11440858e-02 6.76864422e-03 2.34908070e+02] [-8.11400755e-02 9.96702332e-01 -8.65454650e-04 -1.12899557e+01] [-6.81655000e-03 3.13372517e-04 9.99976718e-01 -1.64794456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.97, Y:-11.30, Z:-1.65 [[ 9.97082004e-01 7.60372440e-02 6.76865402e-03 2.34967816e+02] [-7.60331168e-02 9.97104917e-01 -8.65377949e-04 -1.13019658e+01] [-6.81485917e-03 3.48210918e-04 9.99976718e-01 -1.65003212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:-11.32, Z:-1.66 [[ 9.97512439e-01 7.01649442e-02 6.76865402e-03 2.35027978e+02] [-7.01606821e-02 9.97535328e-01 -8.65377949e-04 -1.13181424e+01] [-6.81269070e-03 3.88331885e-04 9.99976718e-01 -1.65679145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.09, Y:-11.33, Z:-1.66 [[ 9.97607253e-01 6.88037442e-02 6.76863396e-03 2.35087595e+02] [-6.87994498e-02 9.97630135e-01 -8.65534848e-04 -1.13320131e+01] [-6.81214525e-03 3.97785550e-04 9.99976718e-01 -1.65980860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.15, Y:-11.35, Z:-1.66 [[ 9.97478240e-01 7.06494567e-02 6.76863396e-03 2.35147945e+02] [-7.06452047e-02 9.97501131e-01 -8.65534848e-04 -1.13461341e+01] [-6.81286960e-03 3.85180646e-04 9.99976718e-01 -1.65978360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.21, Y:-11.36, Z:-1.66 [[ 9.97164495e-01 7.49476870e-02 6.76861318e-03 2.35207194e+02] [-7.49435326e-02 9.97187403e-01 -8.65697359e-04 -1.13638175e+01] [-6.81445781e-03 3.55978888e-04 9.99976718e-01 -1.66372453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:-11.38, Z:-1.66 [[ 9.97085301e-01 7.59940100e-02 6.76853169e-03 2.35268082e+02] [-7.59898753e-02 9.97108213e-01 -8.66334001e-04 -1.13787824e+01] [-6.81479473e-03 3.49469019e-04 9.99976718e-01 -1.66164647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:-11.40, Z:-1.66 [[ 9.97040095e-01 7.65848348e-02 6.76838811e-03 2.35328857e+02] [-7.65807061e-02 9.97063009e-01 -8.67454321e-04 -1.13950157e+01] [-6.81494325e-03 3.46558799e-04 9.99976718e-01 -1.66466299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:235.39, Y:-11.41, Z:-1.67 [[ 9.96966891e-01 7.75319844e-02 6.76824191e-03 2.35390008e+02] [-7.75278698e-02 9.96989807e-01 -8.68593479e-04 -1.14066594e+01] [-6.81521197e-03 3.41231563e-04 9.99976718e-01 -1.66562236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.45, Y:-11.42, Z:-1.66 [[ 9.96996546e-01 7.71497288e-02 6.76809677e-03 2.35450365e+02] [-7.71455977e-02 9.97019458e-01 -8.69722933e-04 -1.14182160e+01] [-6.81502307e-03 3.44981889e-04 9.99976718e-01 -1.66106455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.51, Y:-11.43, Z:-1.66 [[ 9.96933869e-01 7.79554695e-02 6.76801470e-03 2.35512460e+02] [-7.79513526e-02 9.96956784e-01 -8.70361180e-04 -1.14294160e+01] [-6.81526758e-03 3.40116639e-04 9.99976718e-01 -1.66005168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:-11.44, Z:-1.66 [[ 9.96926826e-01 7.80454958e-02 6.76785305e-03 2.35574444e+02] [-7.80413725e-02 9.96949740e-01 -8.71616324e-04 -1.14395610e+01] [-6.81523507e-03 3.40765154e-04 9.99976718e-01 -1.65958579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.64, Y:-11.45, Z:-1.66 [[ 9.97026665e-01 7.67595408e-02 6.76768548e-03 2.35635977e+02] [-7.67553791e-02 9.97049572e-01 -8.72915459e-04 -1.14482367e+01] [-6.81472251e-03 3.50863724e-04 9.99976718e-01 -1.66090942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.70, Y:-11.46, Z:-1.66 [[ 9.97024651e-01 7.67857158e-02 6.76752939e-03 2.35697484e+02] [-7.67815466e-02 9.97047557e-01 -8.74123950e-04 -1.14564332e+01] [-6.81466887e-03 3.51901753e-04 9.99976718e-01 -1.66198698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.76, Y:-11.46, Z:-1.66 [[ 9.96794377e-01 7.97193372e-02 6.76738038e-03 2.35759207e+02] [-7.97152276e-02 9.96817293e-01 -8.75276017e-04 -1.14618944e+01] [-6.81561822e-03 3.33006945e-04 9.99976718e-01 -1.66206601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.82, Y:-11.47, Z:-1.66 [[ 9.96595416e-01 8.21692203e-02 6.76723694e-03 2.35819957e+02] [-8.21651595e-02 9.96618341e-01 -8.76383639e-04 -1.14666830e+01] [-6.81636422e-03 3.17368814e-04 9.99976718e-01 -1.66142357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:-11.47, Z:-1.66 [[ 9.96270586e-01 8.60181701e-02 6.76710455e-03 2.35881272e+02] [-8.60141910e-02 9.96293526e-01 -8.77404740e-04 -1.14692062e+01] [-6.81749520e-03 2.92065511e-04 9.99976718e-01 -1.66165953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.94, Y:-11.47, Z:-1.66 [[ 9.96215641e-01 8.66521950e-02 6.76708424e-03 2.35942199e+02] [-8.66482295e-02 9.96238583e-01 -8.77561316e-04 -1.14732423e+01] [-6.81767303e-03 2.87884440e-04 9.99976718e-01 -1.66417401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:-11.48, Z:-1.67 [[ 9.96403937e-01 8.44594672e-02 6.76706306e-03 2.36002854e+02] [-8.44554500e-02 9.96426870e-01 -8.77724631e-04 -1.14766272e+01] [-6.81701562e-03 3.03052921e-04 9.99976718e-01 -1.66823332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:-11.48, Z:-1.67 [[ 9.96651443e-01 8.14868538e-02 6.76705259e-03 2.36064473e+02] [-8.14827677e-02 9.96674364e-01 -8.77805386e-04 -1.14832317e+01] [-6.81607743e-03 3.23467831e-04 9.99976718e-01 -1.66818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:-11.49, Z:-1.67 [[ 9.96988518e-01 7.72535057e-02 6.76690979e-03 2.36126415e+02] [-7.72493148e-02 9.97011420e-01 -8.78904773e-04 -1.14895247e+01] [-6.81458482e-03 3.53518822e-04 9.99976718e-01 -1.66987469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:-11.50, Z:-1.67 [[ 9.97041584e-01 7.65655955e-02 6.76676670e-03 2.36187276e+02] [-7.65613814e-02 9.97064482e-01 -8.80005112e-04 -1.14980389e+01] [-6.81428085e-03 3.59328685e-04 9.99976718e-01 -1.67079228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:-11.51, Z:-1.67 [[ 9.97182037e-01 7.47140977e-02 6.76674619e-03 2.36247824e+02] [-7.47098400e-02 9.97204926e-01 -8.80162795e-04 -1.15056359e+01] [-6.81359320e-03 3.72140003e-04 9.99976718e-01 -1.67450572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:-11.51, Z:-1.67 [[ 9.97207125e-01 7.43785063e-02 6.76661428e-03 2.36308279e+02] [-7.43742341e-02 9.97230012e-01 -8.81175738e-04 -1.15130551e+01] [-6.81341137e-03 3.75452970e-04 9.99976718e-01 -1.66998292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.37, Y:-11.52, Z:-1.66 [[ 9.96713379e-01 8.07257869e-02 6.76660455e-03 2.36369127e+02] [-8.07216599e-02 9.96736293e-01 -8.81250471e-04 -1.15168692e+01] [-6.81565997e-03 3.32142584e-04 9.99976718e-01 -1.66236266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.43, Y:-11.52, Z:-1.66 [[ 9.96007906e-01 8.90082275e-02 6.76660455e-03 2.36429567e+02] [-8.90042911e-02 9.96030853e-01 -8.81250471e-04 -1.15179973e+01] [-6.81818544e-03 2.75475595e-04 9.99976718e-01 -1.66487630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.49, Y:-11.52, Z:-1.67 [[ 9.95790239e-01 9.14112332e-02 6.76660455e-03 2.36489253e+02] [-9.14073523e-02 9.95813195e-01 -8.81250471e-04 -1.15229400e+01] [-6.81883028e-03 2.59023211e-04 9.99976718e-01 -1.66638434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.55, Y:-11.53, Z:-1.66 [[ 9.95310906e-01 9.64904825e-02 6.76661482e-03 2.36548650e+02] [-9.64867192e-02 9.95333882e-01 -8.81171538e-04 -1.15267922e+01] [-6.82006567e-03 2.24151177e-04 9.99976718e-01 -1.66295181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.61, Y:-11.53, Z:-1.66 [[ 9.94846689e-01 1.01164610e-01 6.76663597e-03 2.36607135e+02] [-1.01160956e-01 9.94869682e-01 -8.81009138e-04 -1.15303582e+01] [-6.82104792e-03 1.91949660e-04 9.99976718e-01 -1.66446085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:-11.53, Z:-1.66 [[ 9.94243155e-01 1.06933438e-01 6.76666746e-03 2.36665658e+02] [-1.06929919e-01 9.94266170e-01 -8.80767230e-04 -1.15330326e+01] [-6.82205200e-03 1.52137587e-04 9.99976718e-01 -1.66234788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:-11.53, Z:-1.66 [[ 9.93629887e-01 1.12489378e-01 6.76670822e-03 2.36724429e+02] [-1.12485990e-01 9.93652921e-01 -8.80453909e-04 -1.15338371e+01] [-6.82280110e-03 1.13685444e-04 9.99976718e-01 -1.65851283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.78, Y:-11.54, Z:-1.66 [[ 9.93487693e-01 1.13738361e-01 6.76674955e-03 2.36783504e+02] [-1.13735003e-01 9.93510732e-01 -8.80136176e-04 -1.15374732e+01] [-6.82294354e-03 1.04788176e-04 9.99976718e-01 -1.66103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:-11.54, Z:-1.66 [[ 9.93581917e-01 1.12912285e-01 6.76679105e-03 2.36842509e+02] [-1.12908911e-01 9.93604954e-01 -8.79817032e-04 -1.15422194e+01] [-6.82285925e-03 1.10139286e-04 9.99976718e-01 -1.66215530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-11.55, Z:-1.67 [[ 9.93809875e-01 1.10887972e-01 6.76683211e-03 2.36900932e+02] [-1.10884554e-01 9.93832905e-01 -8.79501104e-04 -1.15496440e+01] [-6.82262650e-03 1.23719725e-04 9.99976718e-01 -1.66632232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:-11.56, Z:-1.67 [[ 9.93983662e-01 1.09319210e-01 6.76687276e-03 2.36959248e+02] [-1.09315757e-01 9.94006686e-01 -8.79188223e-04 -1.15600194e+01] [-6.82242893e-03 1.34172912e-04 9.99976718e-01 -1.67041349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:237.02, Y:-11.57, Z:-1.67 [[ 9.94093253e-01 1.08318111e-01 6.76691325e-03 2.37017503e+02] [-1.08314637e-01 9.94116274e-01 -8.78876461e-04 -1.15688130e+01] [-6.82229683e-03 1.40729406e-04 9.99976718e-01 -1.66881441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.07, Y:-11.58, Z:-1.67 [[ 9.93904535e-01 1.10036280e-01 6.76695587e-03 2.37074760e+02] [-1.10032848e-01 9.93927563e-01 -8.78548213e-04 -1.15828364e+01] [-6.82253613e-03 1.28605627e-04 9.99976718e-01 -1.66880702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:-11.60, Z:-1.67 [[ 9.93760145e-01 1.11332756e-01 6.76698747e-03 2.37132790e+02] [-1.11329355e-01 9.93783177e-01 -8.78304741e-04 -1.15953910e+01] [-6.82270239e-03 1.19459894e-04 9.99976718e-01 -1.66862691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:-11.61, Z:-1.67 [[ 9.93725724e-01 1.11639569e-01 6.76702813e-03 2.37190513e+02] [-1.11636178e-01 9.93748757e-01 -8.77991299e-04 -1.16105006e+01] [-6.82274437e-03 1.17037380e-04 9.99976718e-01 -1.66810186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:237.25, Y:-11.62, Z:-1.67 [[ 9.93861668e-01 1.10422788e-01 6.76704827e-03 2.37249122e+02] [-1.10419369e-01 9.93884698e-01 -8.77836092e-04 -1.16235319e+01] [-6.82259883e-03 1.25234442e-04 9.99976718e-01 -1.67127705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:-11.64, Z:-1.67 [[ 9.93821662e-01 1.10782268e-01 6.76706955e-03 2.37306365e+02] [-1.10778859e-01 9.93844693e-01 -8.77672028e-04 -1.16377607e+01] [-6.82264666e-03 1.22601233e-04 9.99976718e-01 -1.67100112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.36, Y:-11.65, Z:-1.67 [[ 9.93563275e-01 1.13076187e-01 6.76710097e-03 2.37363935e+02] [-1.13072833e-01 9.93586315e-01 -8.77429663e-04 -1.16524192e+01] [-6.82291532e-03 1.06606609e-04 9.99976718e-01 -1.66772991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:-11.66, Z:-1.67 [[ 9.93533279e-01 1.13339445e-01 6.76713181e-03 2.37422502e+02] [-1.13336099e-01 9.93556319e-01 -8.77191770e-04 -1.16643397e+01] [-6.82294700e-03 1.04558896e-04 9.99976718e-01 -1.66554213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:-11.68, Z:-1.67 [[ 9.93675133e-01 1.12088961e-01 6.76715239e-03 2.37482911e+02] [-1.12085586e-01 9.93698170e-01 -8.77032943e-04 -1.16789157e+01] [-6.82281266e-03 1.12985582e-04 9.99976718e-01 -1.66534966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.54, Y:-11.69, Z:-1.66 [[ 9.93841050e-01 1.10608196e-01 6.76713108e-03 2.37542784e+02] [-1.10604786e-01 9.93864081e-01 -8.77197379e-04 -1.16891998e+01] [-6.82263373e-03 1.23317677e-04 9.99976718e-01 -1.66279777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.60, Y:-11.70, Z:-1.66 [[ 9.93970745e-01 1.09436578e-01 6.76707914e-03 2.37603261e+02] [-1.09433138e-01 9.93993772e-01 -8.77597903e-04 -1.16978485e+01] [-6.82247582e-03 1.31763937e-04 9.99976718e-01 -1.66434940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.66, Y:-11.71, Z:-1.67 [[ 9.94121505e-01 1.08058501e-01 6.76705890e-03 2.37663689e+02] [-1.08055029e-01 9.94144527e-01 -8.77753894e-04 -1.17092821e+01] [-6.82228334e-03 1.41379278e-04 9.99976718e-01 -1.66945957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.72, Y:-11.72, Z:-1.67 [[ 9.94098114e-01 1.08273486e-01 6.76703856e-03 2.37724028e+02] [-1.08270018e-01 9.94121136e-01 -8.77910661e-04 -1.17178701e+01] [-6.82231051e-03 1.40061946e-04 9.99976718e-01 -1.66937145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:-11.72, Z:-1.67 [[ 9.93847447e-01 1.10550707e-01 6.76701800e-03 2.37784770e+02] [-1.10547290e-01 9.93870477e-01 -8.78069153e-04 -1.17217055e+01] [-6.82261057e-03 1.24591283e-04 9.99976718e-01 -1.67387539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.85, Y:-11.72, Z:-1.68 [[ 9.93811411e-01 1.10874191e-01 6.76701800e-03 2.37845644e+02] [-1.10870782e-01 9.93834442e-01 -8.78069153e-04 -1.17240234e+01] [-6.82265077e-03 1.22370570e-04 9.99976718e-01 -1.67819526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.91, Y:-11.73, Z:-1.67 [[ 9.94343260e-01 1.05998537e-01 6.76700749e-03 2.37906639e+02] [-1.05995014e-01 9.94366274e-01 -8.78150152e-04 -1.17291691e+01] [-6.82196665e-03 1.55913633e-04 9.99976718e-01 -1.67198676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.97, Y:-11.73, Z:-1.67 [[ 9.95050832e-01 9.91365183e-02 6.76698634e-03 2.37967200e+02] [-9.91328355e-02 9.95073821e-01 -8.78313072e-04 -1.17347685e+01] [-6.82072386e-03 2.03135609e-04 9.99976718e-01 -1.67329727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:-11.74, Z:-1.67 [[ 9.95887606e-01 9.03442532e-02 6.76697594e-03 2.38028202e+02] [-9.03403670e-02 9.95910562e-01 -8.78393192e-04 -1.17391586e+01] [-6.81866059e-03 2.63449803e-04 9.99976718e-01 -1.67406555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:-11.74, Z:-1.67 [[ 9.96138856e-01 8.75304962e-02 6.76695501e-03 2.38088803e+02] [-8.75265441e-02 9.96161800e-01 -8.78554378e-04 -1.17416122e+01] [-6.81788239e-03 2.82873967e-04 9.99976718e-01 -1.66867764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:-11.75, Z:-1.67 [[ 9.96139438e-01 8.75238695e-02 6.76694471e-03 2.38148787e+02] [-8.75199167e-02 9.96162382e-01 -8.78633736e-04 -1.17470501e+01] [-6.81787719e-03 2.82999278e-04 9.99976718e-01 -1.66674320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:-11.75, Z:-1.67 [[ 9.96296819e-01 8.57138116e-02 6.76693468e-03 2.38209505e+02] [-8.57098167e-02 9.96319756e-01 -8.78710969e-04 -1.17466621e+01] [-6.81734837e-03 2.95464212e-04 9.99976718e-01 -1.67286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:-11.74, Z:-1.67 [[ 9.96368227e-01 8.48797077e-02 6.76693468e-03 2.38271052e+02] [-8.48756935e-02 9.96391160e-01 -8.78710969e-04 -1.17444740e+01] [-6.81709863e-03 3.01171416e-04 9.99976718e-01 -1.67019236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:-11.74, Z:-1.67 [[ 9.96333706e-01 8.52839632e-02 6.76693468e-03 2.38331016e+02] [-8.52799583e-02 9.96356641e-01 -8.78710969e-04 -1.17443131e+01] [-6.81722027e-03 2.98405449e-04 9.99976718e-01 -1.67030102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:-11.74, Z:-1.67 [[ 9.96144847e-01 8.74622881e-02 6.76694480e-03 2.38391019e+02] [-8.74583339e-02 9.96167791e-01 -8.78633068e-04 -1.17429628e+01] [-6.81785971e-03 2.83420086e-04 9.99976718e-01 -1.67097481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:-11.74, Z:-1.68 [[ 9.96052021e-01 8.85131644e-02 6.76696542e-03 2.38451460e+02] [-8.85092355e-02 9.96074969e-01 -8.78474212e-04 -1.17353944e+01] [-6.81816140e-03 2.76067078e-04 9.99976718e-01 -1.67634048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:-11.73, Z:-1.68 [[ 9.96328226e-01 8.53479546e-02 6.76699615e-03 2.38510951e+02] [-8.53439544e-02 9.96351162e-01 -8.78237400e-04 -1.17332232e+01] [-6.81726025e-03 2.97490499e-04 9.99976718e-01 -1.67854376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.57, Y:-11.73, Z:-1.68 [[ 9.96949238e-01 7.77587588e-02 6.76703553e-03 2.38571381e+02] [-7.77545861e-02 9.96972143e-01 -8.77933892e-04 -1.17275444e+01] [-6.81481296e-03 3.49087478e-04 9.99976718e-01 -1.67911130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:-11.73, Z:-1.68 [[ 9.97374196e-01 7.21035375e-02 6.76707440e-03 2.38631065e+02] [-7.20992370e-02 9.97397077e-01 -8.77634173e-04 -1.17278910e+01] [-6.81274076e-03 3.87428777e-04 9.99976718e-01 -1.67792763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:-11.73, Z:-1.68 [[ 9.97665573e-01 6.79530041e-02 6.76711659e-03 2.38690513e+02] [-6.79486106e-02 9.97688437e-01 -8.77308746e-04 -1.17301477e+01] [-6.81108974e-03 4.15444562e-04 9.99976718e-01 -1.67581265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:-11.73, Z:-1.68 [[ 9.97856027e-01 6.50965081e-02 6.76713748e-03 2.38751129e+02] [-6.50920503e-02 9.97878878e-01 -8.77147562e-04 -1.17296408e+01] [-6.80988280e-03 4.34780128e-04 9.99976718e-01 -1.67666472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:-11.73, Z:-1.68 [[ 9.97881447e-01 6.47056629e-02 6.76715821e-03 2.38809934e+02] [-6.47011972e-02 9.97904297e-01 -8.76987587e-04 -1.17339287e+01] [-6.80972232e-03 4.37286405e-04 9.99976718e-01 -1.67925449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:-11.74, Z:-1.68 [[ 9.97953832e-01 6.35795124e-02 6.76718889e-03 2.38868156e+02] [-6.35750226e-02 9.97976677e-01 -8.76750833e-04 -1.17390243e+01] [-6.80924007e-03 4.44732668e-04 9.99976718e-01 -1.67740179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:-11.75, Z:-1.68 [[ 9.98072668e-01 6.16859240e-02 6.76722911e-03 2.38926244e+02] [-6.16813930e-02 9.98095505e-01 -8.76440235e-04 -1.17474164e+01] [-6.80840499e-03 4.57338925e-04 9.99976718e-01 -1.67577625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:238.99, Y:-11.76, Z:-1.68 [[ 9.98258905e-01 5.85948975e-02 6.76724982e-03 2.38985361e+02] [-5.85902968e-02 9.98281728e-01 -8.76280332e-04 -1.17554344e+01] [-6.80696740e-03 4.78259470e-04 9.99976718e-01 -1.67588038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:-11.76, Z:-1.68 [[ 9.98288942e-01 5.80809183e-02 6.76726949e-03 2.39044343e+02] [-5.80763069e-02 9.98311762e-01 -8.76128407e-04 -1.17612463e+01] [-6.80673107e-03 4.81611280e-04 9.99976718e-01 -1.67560934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:-11.76, Z:-1.67 [[ 9.97864571e-01 6.49653899e-02 6.76730906e-03 2.39102521e+02] [-6.49609381e-02 9.97887423e-01 -8.75822629e-04 -1.17593390e+01] [-6.80991076e-03 4.34341627e-04 9.99976718e-01 -1.67201735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.16, Y:-11.76, Z:-1.67 [[ 9.97522143e-01 7.00269686e-02 6.76735781e-03 2.39161026e+02] [-7.00226353e-02 9.97545019e-01 -8.75445815e-04 -1.17591051e+01] [-6.81204889e-03 3.99408358e-04 9.99976718e-01 -1.67212536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:-11.76, Z:-1.68 [[ 9.97443926e-01 7.11323868e-02 6.76740901e-03 2.39220195e+02] [-7.11280816e-02 9.97466807e-01 -8.75049808e-04 -1.17590163e+01] [-6.81251024e-03 3.91460296e-04 9.99976718e-01 -1.67544434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.28, Y:-11.76, Z:-1.68 [[ 9.97756023e-01 6.66117174e-02 6.76744870e-03 2.39279389e+02] [-6.66073106e-02 9.97778884e-01 -8.74742801e-04 -1.17591590e+01] [-6.81068553e-03 4.22018341e-04 9.99976718e-01 -1.68416102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.34, Y:-11.76, Z:-1.69 [[ 9.98092199e-01 6.13690773e-02 6.76748883e-03 2.39336813e+02] [-6.13645525e-02 9.98115037e-01 -8.74432191e-04 -1.17642483e+01] [-6.80839546e-03 4.57480024e-04 9.99976718e-01 -1.68507874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:-11.77, Z:-1.69 [[ 9.98342847e-01 5.71468315e-02 6.76753841e-03 2.39393847e+02] [-5.71422128e-02 9.98365666e-01 -8.74048281e-04 -1.17702152e+01] [-6.80642709e-03 4.85887729e-04 9.99976718e-01 -1.68958181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:-11.78, Z:-1.69 [[ 9.98347803e-01 5.70601808e-02 6.76758650e-03 2.39451243e+02] [-5.70555625e-02 9.98370622e-01 -8.73675792e-04 -1.17783341e+01] [-6.80641164e-03 4.86103853e-04 9.99976718e-01 -1.68933044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:-11.79, Z:-1.68 [[ 9.98240771e-01 5.89029962e-02 6.76763773e-03 2.39508991e+02] [-5.88984228e-02 9.98263599e-01 -8.73278814e-04 -1.17867983e+01] [-6.80732513e-03 4.73139329e-04 9.99976718e-01 -1.68493674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:-11.79, Z:-1.68 [[ 9.97952707e-01 6.35971202e-02 6.76768440e-03 2.39566848e+02] [-6.35926566e-02 9.97975557e-01 -8.72916949e-04 -1.17934438e+01] [-6.80949861e-03 4.40754802e-04 9.99976718e-01 -1.68262516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:-11.80, Z:-1.69 [[ 9.97792307e-01 6.60659521e-02 6.76773057e-03 2.39625777e+02] [-6.60615475e-02 9.97815169e-01 -8.72558885e-04 -1.17988333e+01] [-6.81059065e-03 4.23545788e-04 9.99976718e-01 -1.68670547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:-11.80, Z:-1.69 [[ 9.97872570e-01 6.48423618e-02 6.76776739e-03 2.39684963e+02] [-6.48379311e-02 9.97895426e-01 -8.72273137e-04 -1.18035156e+01] [-6.81008438e-03 4.31609401e-04 9.99976718e-01 -1.68579127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:-11.81, Z:-1.68 [[ 9.98120370e-01 6.09091484e-02 6.76780412e-03 2.39743897e+02] [-6.09046296e-02 9.98143209e-01 -8.71988078e-04 -1.18101032e+01] [-6.80834978e-03 4.58158460e-04 9.99976718e-01 -1.68292511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:-11.82, Z:-1.68 [[ 9.98238582e-01 5.89400549e-02 6.76784372e-03 2.39802842e+02] [-5.89354931e-02 9.98261413e-01 -8.71680603e-04 -1.18157159e+01] [-6.80745414e-03 4.71279001e-04 9.99976718e-01 -1.68039556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:-11.82, Z:-1.68 [[ 9.98038182e-01 6.22413256e-02 6.76788277e-03 2.39861888e+02] [-6.22368414e-02 9.98061028e-01 -8.71377336e-04 -1.18182207e+01] [-6.80899572e-03 4.48456206e-04 9.99976718e-01 -1.67795002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:-11.82, Z:-1.68 [[ 9.97787946e-01 6.61317570e-02 6.76792160e-03 2.39921607e+02] [-6.61273640e-02 9.97810810e-01 -8.71075617e-04 -1.18166434e+01] [-6.81071110e-03 4.21603936e-04 9.99976718e-01 -1.68230155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:-11.82, Z:-1.68 [[ 9.97799444e-01 6.59580424e-02 6.76796044e-03 2.39980251e+02] [-6.59536474e-02 9.97822308e-01 -8.70773798e-04 -1.18216409e+01] [-6.81065644e-03 4.22485936e-04 9.99976718e-01 -1.68436076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:-11.83, Z:-1.68 [[ 9.97938755e-01 6.38156300e-02 6.76799880e-03 2.40039583e+02] [-6.38111879e-02 9.97961610e-01 -8.70475533e-04 -1.18251218e+01] [-6.80975292e-03 4.36807227e-04 9.99976718e-01 -1.68341228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:-11.83, Z:-1.68 [[ 9.98270083e-01 5.84040738e-02 6.76803853e-03 2.40098528e+02] [-5.83995099e-02 9.98292913e-01 -8.70166523e-04 -1.18262603e+01] [-6.80730617e-03 4.73411073e-04 9.99976718e-01 -1.68485029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:-11.83, Z:-1.69 [[ 9.98446643e-01 5.53036587e-02 6.76807886e-03 2.40156429e+02] [-5.52990262e-02 9.98469459e-01 -8.69852689e-04 -1.18311596e+01] [-6.80582608e-03 4.94233327e-04 9.99976718e-01 -1.68522662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.21, Y:-11.84, Z:-1.68 [[ 9.98574704e-01 5.29410376e-02 6.76813258e-03 2.40214046e+02] [-5.29363538e-02 9.98597510e-01 -8.69434496e-04 -1.18365937e+01] [-6.80466911e-03 5.09915033e-04 9.99976718e-01 -1.68375030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.27, Y:-11.84, Z:-1.68 [[ 9.98485386e-01 5.45996784e-02 6.76818050e-03 2.40273195e+02] [-5.45950351e-02 9.98508201e-01 -8.69061347e-04 -1.18414400e+01] [-6.80553420e-03 4.98236003e-04 9.99976718e-01 -1.68420247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:-11.84, Z:-1.68 [[ 9.98116305e-01 6.09756742e-02 6.76821713e-03 2.40332603e+02] [-6.09711786e-02 9.98139149e-01 -8.68775970e-04 -1.18417889e+01] [-6.80859668e-03 4.54473286e-04 9.99976718e-01 -1.68230870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.39, Y:-11.84, Z:-1.68 [[ 9.97809965e-01 6.57986618e-02 6.76825543e-03 2.40390995e+02] [-6.57942787e-02 9.97832831e-01 -8.68477462e-04 -1.18414056e+01] [-6.81073213e-03 4.21262982e-04 9.99976718e-01 -1.68285191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-11.84, Z:-1.69 [[ 9.97709985e-01 6.72976671e-02 6.76831474e-03 2.40450376e+02] [-6.72933215e-02 9.97732858e-01 -8.68015000e-04 -1.18416937e+01] [-6.81138539e-03 4.10564853e-04 9.99976718e-01 -1.68603833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.51, Y:-11.84, Z:-1.69 [[ 9.98222618e-01 5.92097419e-02 6.76835486e-03 2.40507723e+02] [-5.92052132e-02 9.98245456e-01 -8.67702071e-04 -1.18386953e+01] [-6.80785590e-03 4.65437941e-04 9.99976718e-01 -1.68632331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:-11.84, Z:-1.69 [[ 9.98651374e-01 5.14744838e-02 6.76842395e-03 2.40566549e+02] [-5.14697818e-02 9.98674176e-01 -8.67162788e-04 -1.18408233e+01] [-6.80408697e-03 5.17624005e-04 9.99976718e-01 -1.68935770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:-11.84, Z:-1.69 [[ 9.99024363e-01 4.36406970e-02 6.76846224e-03 2.40625931e+02] [-4.36358184e-02 9.99047128e-01 -8.66863826e-04 -1.18398056e+01] [-6.79984330e-03 5.70670692e-04 9.99976718e-01 -1.69090054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-11.84, Z:-1.69 [[ 9.99010242e-01 4.39627615e-02 6.76850029e-03 2.40685133e+02] [-4.39578922e-02 9.99033009e-01 -8.66566636e-04 -1.18443533e+01] [-6.80005187e-03 5.68179938e-04 9.99976718e-01 -1.68644142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:-11.85, Z:-1.68 [[ 9.98941350e-01 4.55012870e-02 6.76853773e-03 2.40743796e+02] [-4.54964548e-02 9.98964125e-01 -8.66274105e-04 -1.18501205e+01] [-6.80094295e-03 5.57412553e-04 9.99976718e-01 -1.68491480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:-11.85, Z:-1.68 [[ 9.98675829e-01 5.09977936e-02 6.76857606e-03 2.40801687e+02] [-5.09930888e-02 9.98698631e-01 -8.65974477e-04 -1.18546481e+01] [-6.80393043e-03 5.19677178e-04 9.99976718e-01 -1.68408796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.86, Y:-11.86, Z:-1.68 [[ 9.98310158e-01 5.77149383e-02 6.76863548e-03 2.40859300e+02] [-5.77103901e-02 9.98332991e-01 -8.65509847e-04 -1.18625745e+01] [-6.80730495e-03 4.73426678e-04 9.99976718e-01 -1.68231019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.92, Y:-11.87, Z:-1.68 [[ 9.97707505e-01 6.73343839e-02 6.76869296e-03 2.40915942e+02] [-6.73300591e-02 9.97730382e-01 -8.65060055e-04 -1.18693605e+01] [-6.81157890e-03 4.07340413e-04 9.99976718e-01 -1.67888131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:-11.88, Z:-1.68 [[ 9.97329485e-01 7.27191957e-02 6.76878819e-03 2.40973059e+02] [-7.27149995e-02 9.97352386e-01 -8.64314238e-04 -1.18781670e+01] [-6.81371929e-03 3.69813644e-04 9.99976718e-01 -1.68131629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:-11.89, Z:-1.68 [[ 9.96934209e-01 7.79510505e-02 6.76884626e-03 2.41030287e+02] [-7.79469776e-02 9.96957132e-01 -8.63859261e-04 -1.18866637e+01] [-6.81558829e-03 3.33599741e-04 9.99976718e-01 -1.68356870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:-11.90, Z:-1.68 [[ 9.96082818e-01 8.81657599e-02 6.76890400e-03 2.41086685e+02] [-8.81619252e-02 9.96105782e-01 -8.63406604e-04 -1.18955430e+01] [-6.81866731e-03 2.63264876e-04 9.99976718e-01 -1.68309427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.14, Y:-11.91, Z:-1.69 [[ 9.95445452e-01 9.50922337e-02 6.76897060e-03 2.41143754e+02] [-9.50885624e-02 9.95468443e-01 -8.62884122e-04 -1.19050190e+01] [-6.82035020e-03 2.15302392e-04 9.99976718e-01 -1.68721839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.20, Y:-11.92, Z:-1.69 [[ 9.94703589e-01 1.02561929e-01 6.76902751e-03 2.41201159e+02] [-1.02558434e-01 9.94726608e-01 -8.62437514e-04 -1.19156969e+01] [-6.82178502e-03 1.63648833e-04 9.99976718e-01 -1.68824517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:-11.93, Z:-1.69 [[ 9.94247907e-01 1.06889097e-01 6.76908685e-03 2.41259360e+02] [-1.06885705e-01 9.94270941e-01 -8.61971476e-04 -1.19250334e+01] [-6.82244170e-03 1.33494717e-04 9.99976718e-01 -1.68509499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.32, Y:-11.93, Z:-1.68 [[ 9.93665318e-01 1.12175818e-01 6.76912644e-03 2.41315944e+02] [-1.12172551e-01 9.93688370e-01 -8.61660433e-04 -1.19319523e+01] [-6.82305969e-03 9.68919091e-05 9.99976718e-01 -1.68480914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:-11.94, Z:-1.68 [[ 9.92520709e-01 1.21888560e-01 6.76919482e-03 2.41372389e+02] [-1.21885522e-01 9.92543791e-01 -8.61122959e-04 -1.19375692e+01] [-6.82368333e-03 2.96155261e-05 9.99976718e-01 -1.68217308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.43, Y:-11.94, Z:-1.68 [[ 9.92125124e-01 1.25067644e-01 6.76925924e-03 2.41430284e+02] [-1.25064683e-01 9.92148217e-01 -8.60616248e-04 -1.19446730e+01] [-6.82374373e-03 7.24374291e-06 9.99976718e-01 -1.68191403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.49, Y:-11.95, Z:-1.69 [[ 9.91917310e-01 1.26705271e-01 6.76941329e-03 2.41487530e+02] [-1.26702357e-01 9.91940409e-01 -8.59402768e-04 -1.19534884e+01] [-6.82374545e-03 -5.24413719e-06 9.99976718e-01 -1.68577693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:-11.96, Z:-1.69 [[ 9.91458157e-01 1.30249360e-01 6.76957601e-03 2.41544869e+02] [-1.30246537e-01 9.91481267e-01 -8.58119144e-04 -1.19639275e+01] [-6.82367727e-03 -3.09246049e-05 9.99976718e-01 -1.68675515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.60, Y:-11.97, Z:-1.69 [[ 9.91117129e-01 1.32819453e-01 6.76973736e-03 2.41602385e+02] [-1.32816699e-01 9.91140248e-01 -8.56844299e-04 -1.19726070e+01] [-6.82356476e-03 -4.99011066e-05 9.99976718e-01 -1.68733220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:-11.99, Z:-1.69 [[ 9.90650131e-01 1.36258892e-01 6.76989738e-03 2.41658153e+02] [-1.36256227e-01 9.90673260e-01 -8.55578114e-04 -1.19863531e+01] [-6.82333644e-03 -7.48621028e-05 9.99976718e-01 -1.69033343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:-12.00, Z:-1.69 [[ 9.90550924e-01 1.36978227e-01 6.76996690e-03 2.41713732e+02] [-1.36975582e-01 9.90574055e-01 -8.55027736e-04 -1.19976224e+01] [-6.82327374e-03 -8.03716443e-05 9.99976718e-01 -1.68910268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.77, Y:-12.01, Z:-1.69 [[ 9.90638161e-01 1.36345887e-01 6.77003118e-03 2.41770608e+02] [-1.36343231e-01 9.90661291e-01 -8.54518471e-04 -1.20103800e+01] [-6.82331790e-03 -7.65293146e-05 9.99976718e-01 -1.68870684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:-12.02, Z:-1.69 [[ 9.90633926e-01 1.36376645e-01 6.77018849e-03 2.41826669e+02] [-1.36373998e-01 9.90657057e-01 -8.53270272e-04 -1.20242808e+01] [-6.82330114e-03 -7.79991888e-05 9.99976718e-01 -1.68964105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:-12.04, Z:-1.69 [[ 9.90389261e-01 1.38142225e-01 6.77025610e-03 2.41883567e+02] [-1.38139623e-01 9.90412398e-01 -8.52733500e-04 -1.20367212e+01] [-6.82314408e-03 -9.07025256e-05 9.99976718e-01 -1.69063823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.94, Y:-12.05, Z:-1.69 [[ 9.90052861e-01 1.40532892e-01 6.77040973e-03 2.41940604e+02] [-1.40530354e-01 9.90076004e-01 -8.51511947e-04 -1.20486006e+01] [-6.82288565e-03 -1.08406235e-04 9.99976718e-01 -1.68933814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:-12.06, Z:-1.69 [[ 9.89410356e-01 1.44987262e-01 6.77056705e-03 2.41995607e+02] [-1.44984837e-01 9.89433512e-01 -8.50259266e-04 -1.20640160e+01] [-6.82230269e-03 -1.40374234e-04 9.99976718e-01 -1.68856274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:-12.08, Z:-1.69 [[ 9.89054400e-01 1.47395907e-01 6.77063526e-03 2.42052323e+02] [-1.47393541e-01 9.89077561e-01 -8.49715734e-04 -1.20772036e+01] [-6.82192803e-03 -1.57532823e-04 9.99976718e-01 -1.69006098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:-12.09, Z:-1.69 [[ 9.88653059e-01 1.50064273e-01 6.77079931e-03 2.42108555e+02] [-1.50061979e-01 9.88676227e-01 -8.48406551e-04 -1.20904661e+01] [-6.82144383e-03 -1.77259813e-04 9.99976718e-01 -1.69245958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.16, Y:-12.11, Z:-1.69 [[ 9.87812689e-01 1.55499988e-01 6.77096521e-03 2.42163489e+02] [-1.55497831e-01 9.87835871e-01 -8.47080419e-04 -1.21075900e+01] [-6.82032331e-03 -2.16113618e-04 9.99976718e-01 -1.69129394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:-12.12, Z:-1.69 [[ 9.87021477e-01 1.60445494e-01 6.77103685e-03 2.42220324e+02] [-1.60443457e-01 9.87044670e-01 -8.46507388e-04 -1.21216292e+01] [-6.81913413e-03 -2.50847587e-04 9.99976718e-01 -1.69221529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:-12.14, Z:-1.69 [[ 9.86273193e-01 1.64982845e-01 6.77120241e-03 2.42277451e+02] [-1.64980923e-01 9.86296396e-01 -8.45180982e-04 -1.21353227e+01] [-6.81785290e-03 -2.83539880e-04 9.99976718e-01 -1.69386126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:-12.15, Z:-1.70 [[ 9.85561057e-01 1.69184965e-01 6.77136784e-03 2.42332191e+02] [-1.69183152e-01 9.85584268e-01 -8.43853529e-04 -1.21533739e+01] [-6.81652095e-03 -3.13932176e-04 9.99976718e-01 -1.69631578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.39, Y:-12.17, Z:-1.70 [[ 9.85495523e-01 1.69566275e-01 6.77143899e-03 2.42388385e+02] [-1.69564475e-01 9.85518735e-01 -8.43282210e-04 -1.21687292e+01] [-6.81637221e-03 -3.17144655e-04 9.99976718e-01 -1.69681071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:-12.19, Z:-1.70 [[ 9.85571515e-01 1.69124022e-01 6.77159844e-03 2.42443310e+02] [-1.69122220e-01 9.85594727e-01 -8.41999885e-04 -1.21852763e+01] [-6.81645412e-03 -3.15376656e-04 9.99976718e-01 -1.69739871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.50, Y:-12.21, Z:-1.70 [[ 9.85727440e-01 1.68212836e-01 6.77166746e-03 2.42499093e+02] [-1.68211017e-01 9.85750651e-01 -8.41444440e-04 -1.22059542e+01] [-6.81671736e-03 -3.09634192e-04 9.99976718e-01 -1.69843306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.56, Y:-12.22, Z:-1.70 [[ 9.85705700e-01 1.68340179e-01 6.77172620e-03 2.42555619e+02] [-1.68338366e-01 9.85728912e-01 -8.40971458e-04 -1.22212801e+01] [-6.81665558e-03 -3.10990961e-04 9.99976718e-01 -1.69755645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:-12.24, Z:-1.70 [[ 9.85429146e-01 1.69951584e-01 6.77178410e-03 2.42612421e+02] [-1.69949812e-01 9.85452361e-01 -8.40504951e-04 -1.22373209e+01] [-6.81611577e-03 -3.22605357e-04 9.99976718e-01 -1.69910442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:-12.25, Z:-1.70 [[ 9.84357489e-01 1.76052480e-01 6.77184554e-03 2.42667746e+02] [-1.76050855e-01 9.84380714e-01 -8.40009630e-04 -1.22538796e+01] [-6.81395993e-03 -3.65319429e-04 9.99976718e-01 -1.69759491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:-12.26, Z:-1.70 [[ 9.83288296e-01 1.81929292e-01 6.77191630e-03 2.42724908e+02] [-1.81927810e-01 9.83311531e-01 -8.39438796e-04 -1.22636698e+01] [-6.81162189e-03 -4.06589559e-04 9.99976718e-01 -1.69906175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:-12.27, Z:-1.70 [[ 9.82046758e-01 1.88516063e-01 6.77197260e-03 2.42782193e+02] [-1.88514739e-01 9.82070002e-01 -8.38984358e-04 -1.22718798e+01] [-6.80871317e-03 -4.52694781e-04 9.99976718e-01 -1.69968517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.84, Y:-12.28, Z:-1.70 [[ 9.80245470e-01 1.97668808e-01 6.77202950e-03 2.42839890e+02] [-1.97667705e-01 9.80268726e-01 -8.38524812e-04 -1.22752787e+01] [-6.80415893e-03 -5.16651379e-04 9.99976718e-01 -1.70254045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:-12.28, Z:-1.71 [[ 9.79956124e-01 1.99098302e-01 6.77208814e-03 2.42897448e+02] [-1.99097236e-01 9.79979382e-01 -8.38050961e-04 -1.22775935e+01] [-6.80336127e-03 -5.27050861e-04 9.99976718e-01 -1.70527119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.95, Y:-12.28, Z:-1.70 [[ 9.80651417e-01 1.95644923e-01 6.77215569e-03 2.42954920e+02] [-1.95643779e-01 9.80674671e-01 -8.37504731e-04 -1.22813966e+01] [-6.80513511e-03 -5.03629928e-04 9.99976718e-01 -1.70220834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:-12.29, Z:-1.70 [[ 9.82595735e-01 1.85633396e-01 6.77230840e-03 2.43013648e+02] [-1.85632023e-01 9.82618976e-01 -8.36268116e-04 -1.22864807e+01] [-6.80983803e-03 -4.35443822e-04 9.99976718e-01 -1.69924948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:-12.29, Z:-1.70 [[ 9.83503562e-01 1.80761940e-01 6.77234767e-03 2.43070424e+02] [-1.80760454e-01 9.83526796e-01 -8.35949924e-04 -1.22946338e+01] [-6.81189334e-03 -4.02012915e-04 9.99976718e-01 -1.70190407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.13, Y:-12.30, Z:-1.70 [[ 9.84045168e-01 1.77789878e-01 6.77245466e-03 2.43127668e+02] [-1.77788328e-01 9.84068399e-01 -8.35082216e-04 -1.23035787e+01] [-6.81302778e-03 -3.82304770e-04 9.99976718e-01 -1.70356937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:-12.31, Z:-1.71 [[ 9.84483468e-01 1.75346612e-01 6.77251240e-03 2.43184231e+02] [-1.75345008e-01 9.84506695e-01 -8.34613732e-04 -1.23147955e+01] [-6.81393049e-03 -3.65862817e-04 9.99976718e-01 -1.70616911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:-12.33, Z:-1.70 [[ 9.84410796e-01 1.75754136e-01 6.77256989e-03 2.43240864e+02] [-1.75752544e-01 9.84434024e-01 -8.34146918e-04 -1.23255618e+01] [-6.81375300e-03 -3.69153160e-04 9.99976718e-01 -1.70459397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:-12.34, Z:-1.70 [[ 9.84168737e-01 1.77104570e-01 6.77262752e-03 2.43297986e+02] [-1.77103014e-01 9.84191967e-01 -8.33678740e-04 -1.23369264e+01] [-6.81321392e-03 -3.78972191e-04 9.99976718e-01 -1.70270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:-12.35, Z:-1.70 [[ 9.83752429e-01 1.79402590e-01 6.77268826e-03 2.43353206e+02] [-1.79401091e-01 9.83775663e-01 -8.33185021e-04 -1.23526458e+01] [-6.81228143e-03 -3.95379872e-04 9.99976718e-01 -1.70329255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:-12.37, Z:-1.71 [[ 9.83783728e-01 1.79230872e-01 6.77275829e-03 2.43410388e+02] [-1.79229373e-01 9.83806962e-01 -8.32615365e-04 -1.23669868e+01] [-6.81231714e-03 -3.94763773e-04 9.99976718e-01 -1.70720692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.47, Y:-12.38, Z:-1.71 [[ 9.83837295e-01 1.78936596e-01 6.77279815e-03 2.43466803e+02] [-1.78935092e-01 9.83860529e-01 -8.32291040e-04 -1.23827933e+01] [-6.81241609e-03 -3.93052293e-04 9.99976718e-01 -1.70549560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:-12.40, Z:-1.70 [[ 9.83660770e-01 1.79904471e-01 6.77285804e-03 2.43523598e+02] [-1.79902993e-01 9.83684005e-01 -8.31803366e-04 -1.24034072e+01] [-6.81199727e-03 -4.00245097e-04 9.99976718e-01 -1.70285647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:-12.42, Z:-1.70 [[ 9.83345682e-01 1.81618826e-01 6.77289793e-03 2.43580402e+02] [-1.81617391e-01 9.83368920e-01 -8.31478463e-04 -1.24151352e+01] [-6.81126946e-03 -4.12445294e-04 9.99976718e-01 -1.70391372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:-12.43, Z:-1.71 [[ 9.82176489e-01 1.87838949e-01 6.77294733e-03 2.43637541e+02] [-1.87837664e-01 9.82199736e-01 -8.31075859e-04 -1.24316512e+01] [-6.80849550e-03 -4.55951435e-04 9.99976718e-01 -1.70860964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:243.69, Y:-12.44, Z:-1.71 [[ 9.81320342e-01 1.92261576e-01 6.77298528e-03 2.43694199e+02] [-1.92260398e-01 9.81343594e-01 -8.30766456e-04 -1.24438585e+01] [-6.80635019e-03 -4.86928824e-04 9.99976718e-01 -1.70883954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.75, Y:-12.45, Z:-1.71 [[ 9.80492398e-01 1.96440281e-01 6.77304223e-03 2.43751083e+02] [-1.96439205e-01 9.80515655e-01 -8.30301900e-04 -1.24541631e+01] [-6.80417868e-03 -5.16386330e-04 9.99976718e-01 -1.71386298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:-12.46, Z:-1.72 [[ 9.79534661e-01 2.01161558e-01 6.77310191e-03 2.43807799e+02] [-2.01160598e-01 9.79557923e-01 -8.29814826e-04 -1.24647999e+01] [-6.80157248e-03 -5.49648842e-04 9.99976718e-01 -1.71714828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:-12.47, Z:-1.72 [[ 9.78598868e-01 2.05665698e-01 6.77316089e-03 2.43864058e+02] [-2.05664848e-01 9.78622135e-01 -8.29333144e-04 -1.24722654e+01] [-6.79893054e-03 -5.81416626e-04 9.99976718e-01 -1.71616765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:243.92, Y:-12.48, Z:-1.72 [[ 9.77336237e-01 2.11584508e-01 6.77322868e-03 2.43922106e+02] [-2.11583803e-01 9.77359508e-01 -8.28779059e-04 -1.24781263e+01] [-6.79523626e-03 -6.23109674e-04 9.99976718e-01 -1.71788011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:-12.48, Z:-1.72 [[ 9.76283759e-01 2.16388874e-01 6.77328515e-03 2.43980734e+02] [-2.16388286e-01 9.76307034e-01 -8.28317339e-04 -1.24841785e+01] [-6.79204459e-03 -6.56986797e-04 9.99976718e-01 -1.71710885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:-12.49, Z:-1.72 [[ 9.76369091e-01 2.16003521e-01 6.77332343e-03 2.44037210e+02] [-2.16002926e-01 9.76392365e-01 -8.28004159e-04 -1.24895490e+01] [-6.79227310e-03 -6.54620013e-04 9.99976718e-01 -1.71650911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.09, Y:-12.50, Z:-1.72 [[ 9.76524375e-01 2.15300409e-01 6.77338965e-03 2.44094166e+02] [-2.15299801e-01 9.76547649e-01 -8.27462159e-04 -1.24951226e+01] [-6.79269068e-03 -6.50272473e-04 9.99976718e-01 -1.71636100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:-12.50, Z:-1.72 [[ 9.76403090e-01 2.15849776e-01 6.77345481e-03 2.44151110e+02] [-2.15849185e-01 9.76426365e-01 -8.26928367e-04 -1.24980171e+01] [-6.79227216e-03 -6.54629288e-04 9.99976718e-01 -1.71514255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:-12.50, Z:-1.72 [[ 9.76197839e-01 2.16776150e-01 6.77351893e-03 2.44208810e+02] [-2.16775584e-01 9.76221114e-01 -8.26402877e-04 -1.25023934e+01] [-6.79159662e-03 -6.61600818e-04 9.99976718e-01 -1.71626953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.27, Y:-12.51, Z:-1.72 [[ 9.76529806e-01 2.15275767e-01 6.77357480e-03 2.44266682e+02] [-2.15275169e-01 9.76553081e-01 -8.25944687e-04 -1.25050252e+01] [-6.79256121e-03 -6.51622851e-04 9.99976718e-01 -1.71888243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.32, Y:-12.51, Z:-1.72 [[ 9.77701541e-01 2.09890006e-01 6.77363038e-03 2.44324951e+02] [-2.09889283e-01 9.77724812e-01 -8.25488608e-04 -1.25069291e+01] [-6.79600829e-03 -6.14630937e-04 9.99976718e-01 -1.71568186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:-12.51, Z:-1.72 [[ 9.78648670e-01 2.05428573e-01 6.77368661e-03 2.44382462e+02] [-2.05427747e-01 9.78671937e-01 -8.25026955e-04 -1.25109311e+01] [-6.79870110e-03 -5.84091645e-04 9.99976718e-01 -1.71683385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:-12.51, Z:-1.72 [[ 9.79172100e-01 2.02918986e-01 6.77374256e-03 2.44440867e+02] [-2.02918103e-01 9.79195365e-01 -8.24567292e-04 -1.25124172e+01] [-6.80013768e-03 -5.67121706e-04 9.99976718e-01 -1.71907134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:-12.52, Z:-1.72 [[ 9.79253136e-01 2.02527557e-01 6.77380091e-03 2.44498666e+02] [-2.02526668e-01 9.79276401e-01 -8.24087634e-04 -1.25170331e+01] [-6.80032384e-03 -5.64884930e-04 9.99976718e-01 -1.72231202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:-12.52, Z:-1.72 [[ 9.79651840e-01 2.00590098e-01 6.77384916e-03 2.44556195e+02] [-2.00589166e-01 9.79675103e-01 -8.23690880e-04 -1.25211297e+01] [-6.80139561e-03 -5.51830470e-04 9.99976718e-01 -1.72296534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:-12.53, Z:-1.72 [[ 9.80677225e-01 1.95515458e-01 6.77390767e-03 2.44614134e+02] [-1.95514409e-01 9.80700483e-01 -8.23209446e-04 -1.25276871e+01] [-6.80412470e-03 -5.17093798e-04 9.99976718e-01 -1.72006528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.67, Y:-12.54, Z:-1.72 [[ 9.81606172e-01 1.90796846e-01 6.77395618e-03 2.44671663e+02] [-1.90795688e-01 9.81629425e-01 -8.22810046e-04 -1.25375189e+01] [-6.80650427e-03 -4.84766207e-04 9.99976718e-01 -1.71638057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:244.73, Y:-12.55, Z:-1.72 [[ 9.82121760e-01 1.88124854e-01 6.77401705e-03 2.44727742e+02] [-1.88123636e-01 9.82145010e-01 -8.22308640e-04 -1.25460320e+01] [-6.80776374e-03 -4.66745506e-04 9.99976718e-01 -1.71891458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:-12.56, Z:-1.72 [[ 9.81723296e-01 1.90193277e-01 6.77408739e-03 2.44783517e+02] [-1.90192112e-01 9.81746548e-01 -8.21728758e-04 -1.25578475e+01] [-6.80672420e-03 -4.81667723e-04 9.99976718e-01 -1.72080894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:-12.57, Z:-1.72 [[ 9.81342064e-01 1.92150630e-01 6.77415333e-03 2.44841176e+02] [-1.92149515e-01 9.81365319e-01 -8.21184796e-04 -1.25676476e+01] [-6.80571032e-03 -4.95787093e-04 9.99976718e-01 -1.72081933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:-12.58, Z:-1.72 [[ 9.81103083e-01 1.93367140e-01 6.77420825e-03 2.44898418e+02] [-1.93366056e-01 9.81126340e-01 -8.20731518e-04 -1.25797407e+01] [-6.80505665e-03 -5.04679710e-04 9.99976718e-01 -1.72199935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:-12.60, Z:-1.72 [[ 9.81269506e-01 1.92520821e-01 6.77426489e-03 2.44955886e+02] [-1.92519721e-01 9.81292762e-01 -8.20263736e-04 -1.25954063e+01] [-6.80545495e-03 -4.99279795e-04 9.99976718e-01 -1.72463245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:-12.61, Z:-1.73 [[ 9.80974200e-01 1.94019918e-01 6.77430283e-03 2.45013288e+02] [-1.94018855e-01 9.80997457e-01 -8.19950235e-04 -1.26070004e+01] [-6.80466053e-03 -5.09992456e-04 9.99976718e-01 -1.72828204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:-12.62, Z:-1.73 [[ 9.80162307e-01 1.98080690e-01 6.77434075e-03 2.45070509e+02] [-1.98079726e-01 9.80185569e-01 -8.19636837e-04 -1.26166529e+01] [-6.80246528e-03 -5.38482428e-04 9.99976718e-01 -1.72778013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:-12.62, Z:-1.72 [[ 9.78416684e-01 2.06530626e-01 6.77439812e-03 2.45127748e+02] [-2.06529866e-01 9.78439954e-01 -8.19162402e-04 -1.26238561e+01] [-6.79752391e-03 -5.97633374e-04 9.99976718e-01 -1.72418299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:-12.63, Z:-1.72 [[ 9.77197870e-01 2.12222593e-01 6.77444514e-03 2.45186513e+02] [-2.12221972e-01 9.77221144e-01 -8.18773380e-04 -1.26296009e+01] [-6.79389324e-03 -6.37582502e-04 9.99976718e-01 -1.72369382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:-12.63, Z:-1.73 [[ 9.76391930e-01 2.15900223e-01 6.77448217e-03 2.45243928e+02] [-2.15899691e-01 9.76415206e-01 -8.18466913e-04 -1.26338548e+01] [-6.79141458e-03 -6.63464118e-04 9.99976718e-01 -1.72613924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:-12.64, Z:-1.73 [[ 9.76144793e-01 2.17014860e-01 6.77454009e-03 2.45301280e+02] [-2.17014358e-01 9.76168069e-01 -8.17987171e-04 -1.26374498e+01] [-6.79060509e-03 -6.71698549e-04 9.99976718e-01 -1.72668142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:-12.64, Z:-1.72 [[ 9.76749661e-01 2.14275999e-01 6.77460673e-03 2.45358788e+02] [-2.14275435e-01 9.76772937e-01 -8.17434909e-04 -1.26418510e+01] [-6.79240919e-03 -6.53202536e-04 9.99976718e-01 -1.72301315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:-12.65, Z:-1.72 [[ 9.77354023e-01 2.11502290e-01 6.77466347e-03 2.45415604e+02] [-2.11501663e-01 9.77377296e-01 -8.16964362e-04 -1.26468672e+01] [-6.79419210e-03 -6.34389187e-04 9.99976718e-01 -1.72305044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:-12.65, Z:-1.73 [[ 9.77566108e-01 2.10519850e-01 6.77472911e-03 2.45474503e+02] [-2.10519204e-01 9.77589381e-01 -8.16419694e-04 -1.26522974e+01] [-6.79477579e-03 -6.28106356e-04 9.99976718e-01 -1.72847193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:-12.66, Z:-1.73 [[ 9.77685066e-01 2.09966700e-01 6.77476624e-03 2.45532736e+02] [-2.09966043e-01 9.77708338e-01 -8.16111452e-04 -1.26569109e+01] [-6.79510167e-03 -6.24570883e-04 9.99976718e-01 -1.72981671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:-12.66, Z:-1.73 [[ 9.77821318e-01 2.09331248e-01 6.77482154e-03 2.45591027e+02] [-2.09330579e-01 9.77844591e-01 -8.15652142e-04 -1.26624244e+01] [-6.79546408e-03 -6.20615262e-04 9.99976718e-01 -1.72642811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:-12.67, Z:-1.73 [[ 9.78549149e-01 2.05902073e-01 6.77485805e-03 2.45648428e+02] [-2.05901324e-01 9.78572419e-01 -8.15348742e-04 -1.26684297e+01] [-6.79757123e-03 -5.97093426e-04 9.99976718e-01 -1.72670700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:-12.67, Z:-1.73 [[ 9.78859071e-01 2.04423627e-01 6.77491266e-03 2.45706999e+02] [-2.04422847e-01 9.78882340e-01 -8.14894791e-04 -1.26741730e+01] [-6.79842610e-03 -5.87279774e-04 9.99976718e-01 -1.73150374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:-12.68, Z:-1.73 [[ 9.78820572e-01 2.04607890e-01 6.77494890e-03 2.45765989e+02] [-2.04607115e-01 9.78843841e-01 -8.14593351e-04 -1.26803472e+01] [-6.79828923e-03 -5.88862021e-04 9.99976718e-01 -1.73213536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:-12.68, Z:-1.73 [[ 9.78677273e-01 2.05292216e-01 6.77498484e-03 2.45824661e+02] [-2.05291460e-01 9.78700543e-01 -8.14294294e-04 -1.26839474e+01] [-6.79784963e-03 -5.93915213e-04 9.99976718e-01 -1.72693659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:-12.69, Z:-1.73 [[ 9.78666384e-01 2.05344121e-01 6.77502293e-03 2.45881498e+02] [-2.05343369e-01 9.78689654e-01 -8.13977311e-04 -1.26882226e+01] [-6.79779030e-03 -5.94593798e-04 9.99976718e-01 -1.72835888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:-12.69, Z:-1.73 [[ 9.78761742e-01 2.04889116e-01 6.77508865e-03 2.45940358e+02] [-2.04888357e-01 9.78785012e-01 -8.13429916e-04 -1.26928975e+01] [-6.79801816e-03 -5.91982699e-04 9.99976718e-01 -1.73387220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:-12.70, Z:-1.74 [[ 9.79075724e-01 2.03383441e-01 6.77512588e-03 2.45997711e+02] [-2.03382648e-01 9.79098993e-01 -8.13119687e-04 -1.26974224e+01] [-6.79889401e-03 -5.81837295e-04 9.99976718e-01 -1.73508518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:-12.70, Z:-1.73 [[ 9.79315070e-01 2.02227818e-01 6.77517199e-03 2.46056353e+02] [-2.02227000e-01 9.79338338e-01 -8.12735344e-04 -1.27020539e+01] [-6.79954337e-03 -5.74198733e-04 9.99976718e-01 -1.73109800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:-12.71, Z:-1.73 [[ 9.79662392e-01 2.00538509e-01 6.77520839e-03 2.46114113e+02] [-2.00537653e-01 9.79685659e-01 -8.12431730e-04 -1.27059984e+01] [-6.80049834e-03 -5.62775575e-04 9.99976718e-01 -1.72946639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.17, Y:-12.71, Z:-1.73 [[ 9.80858807e-01 1.94602408e-01 6.77526274e-03 2.46171525e+02] [-1.94601415e-01 9.80882067e-01 -8.11978234e-04 -1.27085576e+01] [-6.80374665e-03 -5.22039712e-04 9.99976718e-01 -1.73163648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:-12.71, Z:-1.73 [[ 9.82140906e-01 1.88024826e-01 6.77532557e-03 2.46230214e+02] [-1.88023680e-01 9.82164160e-01 -8.11453630e-04 -1.27130040e+01] [-6.80705538e-03 -4.76959841e-04 9.99976718e-01 -1.72927420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.29, Y:-12.72, Z:-1.72 [[ 9.83854672e-01 1.78840934e-01 6.77536311e-03 2.46287928e+02] [-1.78839573e-01 9.83877914e-01 -8.11140099e-04 -1.27200199e+01] [-6.81119517e-03 -4.13659068e-04 9.99976718e-01 -1.72450930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:-12.73, Z:-1.72 [[ 9.86486165e-01 1.63704431e-01 6.77540977e-03 2.46345595e+02] [-1.63702715e-01 9.86509383e-01 -8.10750101e-04 -1.27270821e+01] [-6.81672870e-03 -3.09359221e-04 9.99976718e-01 -1.72360784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.40, Y:-12.73, Z:-1.72 [[ 9.87642880e-01 1.56574695e-01 6.77546564e-03 2.46403517e+02] [-1.56572815e-01 9.87666086e-01 -8.10282961e-04 -1.27347357e+01] [-6.81876744e-03 -2.60583530e-04 9.99976718e-01 -1.72345270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:-12.74, Z:-1.72 [[ 9.88332836e-01 1.52158789e-01 6.77550443e-03 2.46461268e+02] [-1.52156808e-01 9.88356034e-01 -8.09958506e-04 -1.27429609e+01] [-6.81985299e-03 -2.30430536e-04 9.99976718e-01 -1.72321703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:-12.75, Z:-1.73 [[ 9.88554246e-01 1.50713616e-01 6.77555253e-03 2.46519167e+02] [-1.50711604e-01 9.88577441e-01 -8.09555886e-04 -1.27513040e+01] [-6.82016948e-03 -2.20864479e-04 9.99976718e-01 -1.72837833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.58, Y:-12.76, Z:-1.73 [[ 9.88860100e-01 1.48693628e-01 6.77559002e-03 2.46576297e+02] [-1.48691570e-01 9.88883290e-01 -8.09241982e-04 -1.27596933e+01] [-6.82059688e-03 -2.07246010e-04 9.99976718e-01 -1.73415271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.63, Y:-12.77, Z:-1.74 [[ 9.89209657e-01 1.46350075e-01 6.77563635e-03 2.46634745e+02] [-1.46347965e-01 9.89232844e-01 -8.08853913e-04 -1.27684484e+01] [-6.82105784e-03 -1.91474492e-04 9.99976718e-01 -1.73839337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:-12.78, Z:-1.73 [[ 9.89449442e-01 1.44720044e-01 6.77567462e-03 2.46691891e+02] [-1.44717898e-01 9.89472625e-01 -8.08533173e-04 -1.27750342e+01] [-6.82135551e-03 -1.80558694e-04 9.99976718e-01 -1.73433701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:-12.78, Z:-1.73 [[ 9.90613911e-01 1.36521679e-01 6.77572214e-03 2.46749934e+02] [-1.36519344e-01 9.90637076e-01 -8.08134772e-04 -1.27849704e+01] [-6.82260948e-03 -1.24467597e-04 9.99976718e-01 -1.73330154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.81, Y:-12.79, Z:-1.74 [[ 9.91778145e-01 1.27789670e-01 6.77575995e-03 2.46808247e+02] [-1.27787133e-01 9.91801289e-01 -8.07817667e-04 -1.27943640e+01] [-6.82343820e-03 -6.46790275e-05 9.99976718e-01 -1.73722094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.87, Y:-12.81, Z:-1.73 [[ 9.92942009e-01 1.18407157e-01 6.77579938e-03 2.46866256e+02] [-1.18404404e-01 9.92965128e-01 -8.07486771e-04 -1.28057227e+01] [-6.82374471e-03 -4.96950419e-07 9.99976718e-01 -1.73480613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.93, Y:-12.82, Z:-1.73 [[ 9.94049510e-01 1.08718259e-01 6.77582011e-03 2.46925845e+02] [-1.08715281e-01 9.94072601e-01 -8.07312818e-04 -1.28184077e+01] [-6.82342676e-03 6.58737242e-05 9.99976718e-01 -1.73315992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.99, Y:-12.83, Z:-1.74 [[ 9.95034392e-01 9.93007901e-02 6.77582011e-03 2.46985114e+02] [-9.92975940e-02 9.95057454e-01 -8.07312818e-04 -1.28346289e+01] [-6.82249710e-03 1.30481385e-04 9.99976718e-01 -1.73705758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.05, Y:-12.85, Z:-1.73 [[ 9.95182330e-01 9.78070462e-02 6.77581055e-03 2.47045530e+02] [-9.78038150e-02 9.95205387e-01 -8.07393042e-04 -1.28458391e+01] [-6.82229188e-03 1.40803168e-04 9.99976718e-01 -1.73282367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.11, Y:-12.85, Z:-1.74 [[ 9.94940076e-01 1.00241379e-01 6.77579181e-03 2.47105749e+02] [-1.00238204e-01 9.94963140e-01 -8.07550247e-04 -1.28526923e+01] [-6.82261305e-03 1.24270905e-04 9.99976718e-01 -1.73641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.16, Y:-12.86, Z:-1.74 [[ 9.94597287e-01 1.03587280e-01 6.77579181e-03 2.47164858e+02] [-1.03584182e-01 9.94620362e-01 -8.07550247e-04 -1.28575065e+01] [-6.82299244e-03 1.01322431e-04 9.99976718e-01 -1.73648098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.22, Y:-12.86, Z:-1.74 [[ 9.94644130e-01 1.03136526e-01 6.77578116e-03 2.47224719e+02] [-1.03133417e-01 9.94667204e-01 -8.07639603e-04 -1.28631283e+01] [-6.82294444e-03 1.04504530e-04 9.99976718e-01 -1.74106532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.28, Y:-12.87, Z:-1.74 [[ 9.94867064e-01 1.00963432e-01 6.77578116e-03 2.47283903e+02] [-1.00960273e-01 9.94890130e-01 -8.07639603e-04 -1.28696638e+01] [-6.82269987e-03 1.19409327e-04 9.99976718e-01 -1.74313643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:247.34, Y:-12.87, Z:-1.75 [[ 9.95742052e-01 9.19339685e-02 6.77579052e-03 2.47344581e+02] [-9.19306002e-02 9.95765089e-01 -8.07561074e-04 -1.28747458e+01] [-6.82133794e-03 1.81220032e-04 9.99976718e-01 -1.74520517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:-12.88, Z:-1.74 [[ 9.96197033e-01 8.68651846e-02 6.77577163e-03 2.47405922e+02] [-8.68616980e-02 9.96220053e-01 -8.07719542e-04 -1.28821973e+01] [-6.82032227e-03 2.16092783e-04 9.99976718e-01 -1.74241477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-12.89, Z:-1.74 [[ 9.96482189e-01 8.35304465e-02 6.77575284e-03 2.47467449e+02] [-8.35268818e-02 9.96505197e-01 -8.07877111e-04 -1.28878493e+01] [-6.81955525e-03 2.39077646e-04 9.99976718e-01 -1.74476791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.53, Y:-12.89, Z:-1.75 [[ 9.96603793e-01 8.20668570e-02 6.77573423e-03 2.47529160e+02] [-8.20632575e-02 9.96626795e-01 -8.08033197e-04 -1.28909182e+01] [-6.81919103e-03 2.49250127e-04 9.99976718e-01 -1.74644339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:-12.89, Z:-1.74 [[ 9.96450582e-01 8.39066559e-02 6.77571551e-03 2.47590305e+02] [-8.39030978e-02 9.96473591e-01 -8.08190079e-04 -1.28932454e+01] [-6.81963410e-03 2.36817953e-04 9.99976718e-01 -1.74391442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.65, Y:-12.89, Z:-1.74 [[ 9.96223508e-01 8.65610299e-02 6.77571551e-03 2.47651761e+02] [-8.65575330e-02 9.96246526e-01 -8.08190079e-04 -1.28923593e+01] [-6.82024081e-03 2.18648736e-04 9.99976718e-01 -1.74230313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.71, Y:-12.88, Z:-1.74 [[ 9.95999314e-01 8.91036244e-02 6.77571551e-03 2.47712086e+02] [-8.91001864e-02 9.96022341e-01 -8.08190079e-04 -1.28840873e+01] [-6.82077669e-03 2.01239249e-04 9.99976718e-01 -1.74454009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.77, Y:-12.88, Z:-1.75 [[ 9.96125122e-01 8.76859736e-02 6.77573662e-03 2.47772348e+02] [-8.76825040e-02 9.96148144e-01 -8.08013119e-04 -1.28795760e+01] [-6.82048888e-03 2.10768614e-04 9.99976718e-01 -1.74617175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.83, Y:-12.87, Z:-1.75 [[ 9.96517082e-01 8.31131400e-02 6.77577297e-03 2.47833226e+02] [-8.31095669e-02 9.96540088e-01 -8.07708174e-04 -1.28680714e+01] [-6.81946055e-03 2.41763436e-04 9.99976718e-01 -1.74565493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:-12.86, Z:-1.75 [[ 9.96832917e-01 7.92352427e-02 6.77579991e-03 2.47893107e+02] [-7.92315815e-02 9.96855910e-01 -8.07482133e-04 -1.28632357e+01] [-6.81847722e-03 2.68067428e-04 9.99976718e-01 -1.74845800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.95, Y:-12.85, Z:-1.75 [[ 9.97466515e-01 7.08141237e-02 6.77583534e-03 2.47953250e+02] [-7.08102706e-02 9.97489476e-01 -8.07184698e-04 -1.28545848e+01] [-6.81598452e-03 3.25340974e-04 9.99976718e-01 -1.75149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.01, Y:-12.85, Z:-1.75 [[ 9.97853175e-01 6.51393011e-02 6.77587159e-03 2.48012594e+02] [-6.51353195e-02 9.97876114e-01 -8.06880292e-04 -1.28518305e+01] [-6.81404003e-03 3.63799500e-04 9.99976718e-01 -1.75182838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.07, Y:-12.85, Z:-1.75 [[ 9.98091270e-01 6.13832598e-02 6.77590917e-03 2.48072425e+02] [-6.13791940e-02 9.98114194e-01 -8.06564590e-04 -1.28508800e+01] [-6.81264068e-03 3.89125232e-04 9.99976718e-01 -1.75292257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.13, Y:-12.85, Z:-1.75 [[ 9.98336060e-01 5.72642831e-02 6.77594637e-03 2.48132226e+02] [-5.72601248e-02 9.98358968e-01 -8.06251947e-04 -1.28491553e+01] [-6.81099626e-03 4.16918857e-04 9.99976718e-01 -1.75466123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.19, Y:-12.85, Z:-1.75 [[ 9.98440884e-01 5.54065570e-02 6.77598326e-03 2.48191507e+02] [-5.54023583e-02 9.98463785e-01 -8.05941762e-04 -1.28516178e+01] [-6.81022835e-03 4.29279754e-04 9.99976718e-01 -1.75370225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:-12.85, Z:-1.75 [[ 9.98597216e-01 5.25136801e-02 6.77602041e-03 2.48249573e+02] [-5.25094171e-02 9.98620104e-01 -8.05629306e-04 -1.28549340e+01] [-6.80897677e-03 4.48694300e-04 9.99976718e-01 -1.75233593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:-12.86, Z:-1.76 [[ 9.98835765e-01 4.77618978e-02 6.77606643e-03 2.48308655e+02] [-4.77575286e-02 9.98858634e-01 -8.05242020e-04 -1.28563070e+01] [-6.80679235e-03 4.80696343e-04 9.99976718e-01 -1.75711867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:-12.86, Z:-1.76 [[ 9.98819065e-01 4.81098668e-02 6.77608389e-03 2.48368101e+02] [-4.81055066e-02 9.98841935e-01 -8.05095096e-04 -1.28581489e+01] [-6.80696977e-03 4.78177384e-04 9.99976718e-01 -1.75806253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.43, Y:-12.86, Z:-1.76 [[ 9.98742073e-01 4.96825430e-02 6.77611792e-03 2.48427161e+02] [-4.96782207e-02 9.98764951e-01 -8.04808551e-04 -1.28583941e+01] [-6.80773402e-03 4.67170680e-04 9.99976718e-01 -1.75686033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.49, Y:-12.86, Z:-1.75 [[ 9.98613607e-01 5.22010305e-02 6.77615486e-03 2.48485545e+02] [-5.21967680e-02 9.98636496e-01 -8.04497439e-04 -1.28590230e+01] [-6.80891114e-03 4.49688706e-04 9.99976718e-01 -1.75408975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.54, Y:-12.86, Z:-1.75 [[ 9.98521837e-01 5.39279550e-02 6.77620062e-03 2.48544841e+02] [-5.39237347e-02 9.98544733e-01 -8.04111829e-04 -1.28624740e+01] [-6.80970355e-03 4.37525176e-04 9.99976718e-01 -1.75203400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.60, Y:-12.87, Z:-1.75 [[ 9.98419494e-01 5.57906548e-02 6.77623666e-03 2.48602385e+02] [-5.57864793e-02 9.98442398e-01 -8.03808008e-04 -1.28651511e+01] [-6.81052696e-03 4.24515198e-04 9.99976718e-01 -1.75190197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:-12.87, Z:-1.75 [[ 9.98371499e-01 5.66430305e-02 6.77628557e-03 2.48661765e+02] [-5.66388773e-02 9.98394407e-01 -8.03395438e-04 -1.28678286e+01] [-6.81091237e-03 4.18285900e-04 9.99976718e-01 -1.75167610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.72, Y:-12.87, Z:-1.75 [[ 9.98455554e-01 5.51415375e-02 6.77632115e-03 2.48720174e+02] [-5.51373519e-02 9.98478456e-01 -8.03095291e-04 -1.28716516e+01] [-6.81029459e-03 4.28226549e-04 9.99976718e-01 -1.75387918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.78, Y:-12.87, Z:-1.75 [[ 9.98574725e-01 5.29395819e-02 6.77635862e-03 2.48778178e+02] [-5.29353480e-02 9.98597619e-01 -8.02779005e-04 -1.28749394e+01] [-6.80935436e-03 4.42925923e-04 9.99976718e-01 -1.75445781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:248.84, Y:-12.88, Z:-1.76 [[ 9.98658804e-01 5.13290788e-02 6.77640492e-03 2.48836742e+02] [-5.13248105e-02 9.98681691e-01 -8.02387917e-04 -1.28762503e+01] [-6.80865736e-03 4.53514059e-04 9.99976718e-01 -1.75912570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.90, Y:-12.88, Z:-1.76 [[ 9.98745234e-01 4.96189148e-02 6.77644218e-03 2.48895511e+02] [-4.96146095e-02 9.98768115e-01 -8.02073118e-04 -1.28813276e+01] [-6.80789238e-03 4.64856171e-04 9.99976718e-01 -1.75990808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.95, Y:-12.89, Z:-1.76 [[ 9.98967592e-01 4.49202523e-02 6.77647903e-03 2.48953760e+02] [-4.49158415e-02 9.98990453e-01 -8.01761738e-04 -1.28864016e+01] [-6.80565319e-03 4.96562734e-04 9.99976718e-01 -1.76143870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:-12.89, Z:-1.76 [[ 9.99289932e-01 3.70636126e-02 6.77651551e-03 2.49011339e+02] [-3.70590243e-02 9.99312757e-01 -8.01453250e-04 -1.28920262e+01] [-6.80156315e-03 5.49753110e-04 9.99976718e-01 -1.76129377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.07, Y:-12.90, Z:-1.76 [[ 9.99390313e-01 3.42502635e-02 6.77656060e-03 2.49070357e+02] [-3.42456135e-02 9.99413126e-01 -8.01071804e-04 -1.28970069e+01] [-6.80002053e-03 5.68515926e-04 9.99976718e-01 -1.76380739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.13, Y:-12.90, Z:-1.77 [[ 9.99426056e-01 3.31909122e-02 6.77659727e-03 2.49128682e+02] [-3.31862401e-02 9.99448864e-01 -8.00761508e-04 -1.29015696e+01] [-6.79944045e-03 5.75412131e-04 9.99976718e-01 -1.76729379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.19, Y:-12.91, Z:-1.77 [[ 9.99455113e-01 3.23040953e-02 6.77663349e-03 2.49188403e+02] [-3.22994050e-02 9.99477918e-01 -8.00454862e-04 -1.29061384e+01] [-6.79895350e-03 5.81137474e-04 9.99976718e-01 -1.76664439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.25, Y:-12.91, Z:-1.76 [[ 9.99463822e-01 3.20335135e-02 6.77665202e-03 2.49246906e+02] [-3.20288181e-02 9.99486625e-01 -8.00297975e-04 -1.29098674e+01] [-6.79880941e-03 5.82820718e-04 9.99976718e-01 -1.76452859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.31, Y:-12.91, Z:-1.76 [[ 9.99398188e-01 3.40196854e-02 6.77667934e-03 2.49305401e+02] [-3.40150369e-02 9.99421001e-01 -8.00066583e-04 -1.29134616e+01] [-6.79997366e-03 5.69076095e-04 9.99976718e-01 -1.76266377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.36, Y:-12.91, Z:-1.76 [[ 9.99155557e-01 4.05246839e-02 6.77671568e-03 2.49364374e+02] [-4.05201861e-02 9.99178400e-01 -7.99758602e-04 -1.29097676e+01] [-6.80355790e-03 5.24489470e-04 9.99976718e-01 -1.76279871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:-12.91, Z:-1.76 [[ 9.99019997e-01 4.37392404e-02 6.77676068e-03 2.49423578e+02] [-4.37348187e-02 9.99042855e-01 -7.99377145e-04 -1.29074649e+01] [-6.80523849e-03 5.02213353e-04 9.99976718e-01 -1.76336065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:-12.90, Z:-1.76 [[ 9.98969010e-01 4.48886589e-02 6.77679716e-03 2.49481828e+02] [-4.48842656e-02 9.98991874e-01 -7.99067734e-04 -1.29049049e+01] [-6.80583437e-03 4.94072340e-04 9.99976718e-01 -1.76188435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:-12.90, Z:-1.76 [[ 9.99023595e-01 4.36569653e-02 6.77684234e-03 2.49542245e+02] [-4.36525463e-02 9.99046454e-01 -7.98684396e-04 -1.28963331e+01] [-6.80524845e-03 5.02078133e-04 9.99976718e-01 -1.76106379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.60, Y:-12.89, Z:-1.76 [[ 9.99077564e-01 4.24039621e-02 6.77687942e-03 2.49601320e+02] [-4.23995167e-02 9.99100417e-01 -7.98369683e-04 -1.28912570e+01] [-6.80463709e-03 5.10296826e-04 9.99976718e-01 -1.75944338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.66, Y:-12.88, Z:-1.76 [[ 9.99060391e-01 4.28066422e-02 6.77692530e-03 2.49660034e+02] [-4.28022086e-02 9.99083247e-01 -7.97979965e-04 -1.28848974e+01] [-6.80487138e-03 5.07162806e-04 9.99976718e-01 -1.75958029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.72, Y:-12.87, Z:-1.76 [[ 9.98919861e-01 4.59693717e-02 6.77697685e-03 2.49720912e+02] [-4.59650134e-02 9.98942732e-01 -7.97541945e-04 -1.28694001e+01] [-6.80647427e-03 4.85176657e-04 9.99976718e-01 -1.76081150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:249.78, Y:-12.86, Z:-1.76 [[ 9.98893786e-01 4.65325355e-02 6.77701154e-03 2.49781546e+02] [-4.65281921e-02 9.98916659e-01 -7.97247083e-04 -1.28609658e+01] [-6.80676765e-03 4.81043063e-04 9.99976718e-01 -1.75937788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:-12.85, Z:-1.76 [[ 9.98992485e-01 4.43631270e-02 6.77704760e-03 2.49841403e+02] [-4.43587360e-02 9.99015349e-01 -7.96940438e-04 -1.28546845e+01] [-6.80572934e-03 4.95516243e-04 9.99976718e-01 -1.75838086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.90, Y:-12.84, Z:-1.76 [[ 9.99251638e-01 3.80819576e-02 6.77708360e-03 2.49900326e+02] [-3.80774250e-02 9.99274474e-01 -7.96634137e-04 -1.28442408e+01] [-6.80250404e-03 5.37984074e-04 9.99976718e-01 -1.76259849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:-12.84, Z:-1.77 [[ 9.99436653e-01 3.28701638e-02 6.77713684e-03 2.49960779e+02] [-3.28655152e-02 9.99459466e-01 -7.96181026e-04 -1.28375681e+01] [-6.79964416e-03 5.72998405e-04 9.99976718e-01 -1.76575175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:-12.84, Z:-1.76 [[ 9.99495184e-01 3.10394304e-02 6.77717241e-03 2.50019554e+02] [-3.10347421e-02 9.99517990e-01 -7.95878120e-04 -1.28366022e+01] [-6.79860934e-03 5.85148551e-04 9.99976718e-01 -1.76320874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.08, Y:-12.84, Z:-1.77 [[ 9.99524690e-01 3.00743038e-02 6.77721619e-03 2.50078779e+02] [-3.00695960e-02 9.99547491e-01 -7.95505102e-04 -1.28365665e+01] [-6.79807370e-03 5.91338837e-04 9.99976718e-01 -1.76549415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:250.14, Y:-12.83, Z:-1.76 [[ 9.99567726e-01 2.86082000e-02 6.77725105e-03 2.50138561e+02] [-2.86034607e-02 9.99590521e-01 -7.95208026e-04 -1.28304537e+01] [-6.79722538e-03 6.01011444e-04 9.99976718e-01 -1.76420476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.20, Y:-12.83, Z:-1.77 [[ 9.99546531e-01 2.93393979e-02 6.77728740e-03 2.50196711e+02] [-2.93346774e-02 9.99569330e-01 -7.94898136e-04 -1.28325625e+01] [-6.79769045e-03 5.95728135e-04 9.99976718e-01 -1.76821425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.26, Y:-12.83, Z:-1.77 [[ 9.99490119e-01 3.12020710e-02 6.77733281e-03 2.50255226e+02] [-3.11973956e-02 9.99512927e-01 -7.94510752e-04 -1.28327195e+01] [-6.79882214e-03 5.82670514e-04 9.99976718e-01 -1.76922758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.31, Y:-12.83, Z:-1.77 [[ 9.99351951e-01 3.53517283e-02 6.77738611e-03 2.50312934e+02] [-3.53471507e-02 9.99374779e-01 -7.94055831e-04 -1.28332388e+01] [-6.80121999e-03 5.53979956e-04 9.99976718e-01 -1.76893925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.37, Y:-12.84, Z:-1.77 [[ 9.99235698e-01 3.84978581e-02 6.77744742e-03 2.50370453e+02] [-3.84933559e-02 9.99258541e-01 -7.93532221e-04 -1.28365653e+01] [-6.80297151e-03 5.32039027e-04 9.99976718e-01 -1.76727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.43, Y:-12.84, Z:-1.77 [[ 9.99129325e-01 4.11662066e-02 6.77750109e-03 2.50427037e+02] [-4.11617685e-02 9.99152181e-01 -7.93073492e-04 -1.28399124e+01] [-6.80440282e-03 5.13409052e-04 9.99976718e-01 -1.76811710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.49, Y:-12.84, Z:-1.77 [[ 9.99073178e-01 4.25070657e-02 6.77756298e-03 2.50485584e+02] [-4.25026619e-02 9.99096039e-01 -7.92544243e-04 -1.28415252e+01] [-6.80512506e-03 5.03745227e-04 9.99976718e-01 -1.76911242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.54, Y:-12.84, Z:-1.76 [[ 9.98995110e-01 4.43038820e-02 6.77759908e-03 2.50543718e+02] [-4.42995214e-02 9.99017980e-01 -7.92235437e-04 -1.28436068e+01] [-6.80604245e-03 4.91194932e-04 9.99976718e-01 -1.76374053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.60, Y:-12.84, Z:-1.76 [[ 9.98830929e-01 4.78627099e-02 6.77766237e-03 2.50603017e+02] [-4.78584344e-02 9.98853815e-01 -7.91693614e-04 -1.28448331e+01] [-6.80778652e-03 4.66399758e-04 9.99976718e-01 -1.76304285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:-12.84, Z:-1.77 [[ 9.98681197e-01 5.08913588e-02 6.77769804e-03 2.50662017e+02] [-5.08871548e-02 9.98704096e-01 -7.91388077e-04 -1.28408778e+01] [-6.80918961e-03 4.45446622e-04 9.99976718e-01 -1.76772012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.72, Y:-12.84, Z:-1.77 [[ 9.98719645e-01 5.01311616e-02 6.77774223e-03 2.50721323e+02] [-5.01269428e-02 9.98742541e-01 -7.91009495e-04 -1.28427132e+01] [-6.80887372e-03 4.50249225e-04 9.99976718e-01 -1.76801910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.78, Y:-12.84, Z:-1.77 [[ 9.98770767e-01 4.91021118e-02 6.77777731e-03 2.50778558e+02] [-4.90978715e-02 9.98793659e-01 -7.90708775e-04 -1.28424981e+01] [-6.80842647e-03 4.56962371e-04 9.99976718e-01 -1.76727644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:-12.85, Z:-1.77 [[ 9.98773168e-01 4.90532405e-02 6.77783795e-03 2.50837332e+02] [-4.90490025e-02 9.98796061e-01 -7.90188676e-04 -1.28450997e+01] [-6.80843916e-03 4.56773057e-04 9.99976718e-01 -1.76877704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.90, Y:-12.85, Z:-1.77 [[ 9.98760574e-01 4.93089779e-02 6.77787209e-03 2.50896534e+02] [-4.93047477e-02 9.98783469e-01 -7.89895667e-04 -1.28477721e+01] [-6.80857555e-03 4.54735377e-04 9.99976718e-01 -1.76844625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:250.96, Y:-12.85, Z:-1.77 [[ 9.98785265e-01 4.88062885e-02 6.77790665e-03 2.50955732e+02] [-4.88020489e-02 9.98808158e-01 -7.89599041e-04 -1.28458632e+01] [-6.80836585e-03 4.57864156e-04 9.99976718e-01 -1.76712104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.01, Y:-12.85, Z:-1.77 [[ 9.98821255e-01 4.80641338e-02 6.77794114e-03 2.51013760e+02] [-4.80598792e-02 9.98844145e-01 -7.89302850e-04 -1.28504422e+01] [-6.80804398e-03 4.62625430e-04 9.99976718e-01 -1.76853783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:-12.85, Z:-1.77 [[ 9.98928401e-01 4.57832815e-02 6.77799468e-03 2.51072337e+02] [-4.57789777e-02 9.98951282e-01 -7.88842805e-04 -1.28502456e+01] [-6.80700229e-03 4.77707814e-04 9.99976718e-01 -1.76905924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.13, Y:-12.85, Z:-1.77 [[ 9.99265771e-01 3.77091172e-02 6.77806132e-03 2.51131508e+02] [-3.77046325e-02 9.99288617e-01 -7.88269848e-04 -1.28470931e+01] [-6.80296448e-03 5.32126766e-04 9.99976718e-01 -1.77341746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.19, Y:-12.85, Z:-1.77 [[ 9.99557202e-01 2.89733939e-02 6.77809752e-03 2.51189402e+02] [-2.89687117e-02 9.99580008e-01 -7.87958373e-04 -1.28504484e+01] [-6.79808061e-03 5.91256713e-04 9.99976718e-01 -1.77435685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:-12.86, Z:-1.78 [[ 9.99830305e-01 1.71294673e-02 6.77814211e-03 2.51247889e+02] [-1.71245179e-02 9.99853055e-01 -7.87574629e-04 -1.28572231e+01] [-6.79063683e-03 6.71368566e-04 9.99976718e-01 -1.77631271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:-12.87, Z:-1.78 [[ 9.99874233e-01 1.43378569e-02 6.77817581e-03 2.51306297e+02] [-1.43328459e-02 9.99896970e-01 -7.87284556e-04 -1.28669451e+01] [-6.78876542e-03 6.90034992e-04 9.99976718e-01 -1.77638648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.36, Y:-12.88, Z:-1.78 [[ 9.99851340e-01 1.58541524e-02 6.77821077e-03 2.51363376e+02] [-1.58491779e-02 9.99874084e-01 -7.86983385e-04 -1.28778715e+01] [-6.78983424e-03 6.79437323e-04 9.99976718e-01 -1.77671916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:-12.89, Z:-1.78 [[ 9.99786522e-01 1.95183659e-02 6.77825409e-03 2.51420384e+02] [-1.95134774e-02 9.99809285e-01 -7.86610092e-04 -1.28937896e+01] [-6.79231472e-03 6.54174860e-04 9.99976718e-01 -1.78237478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:-12.91, Z:-1.78 [[ 9.99752004e-01 2.12128662e-02 6.77828871e-03 2.51476899e+02] [-2.12080182e-02 9.99774775e-01 -7.86311703e-04 -1.29073231e+01] [-6.79344200e-03 6.42362630e-04 9.99976718e-01 -1.78208684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:-12.92, Z:-1.78 [[ 9.99676300e-01 2.45224078e-02 6.77833158e-03 2.51534419e+02] [-2.45176377e-02 9.99699089e-01 -7.85941924e-04 -1.29212938e+01] [-6.79556509e-03 6.19498838e-04 9.99976718e-01 -1.77894506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.59, Y:-12.94, Z:-1.78 [[ 9.99461263e-01 3.21128833e-02 6.77836625e-03 2.51591311e+02] [-3.21082884e-02 9.99484087e-01 -7.85642796e-04 -1.29372565e+01] [-6.80009846e-03 5.67577803e-04 9.99976718e-01 -1.77655288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:-12.95, Z:-1.78 [[ 9.99340307e-01 3.56791890e-02 6.77840060e-03 2.51649617e+02] [-3.56746776e-02 9.99363148e-01 -7.85346319e-04 -1.29493133e+01] [-6.80210428e-03 5.43010975e-04 9.99976718e-01 -1.77849544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:-12.96, Z:-1.78 [[ 9.99306225e-01 3.66213226e-02 6.77842705e-03 2.51705152e+02] [-3.66168342e-02 9.99329070e-01 -7.85118008e-04 -1.29622850e+01] [-6.80263126e-03 5.36368773e-04 9.99976718e-01 -1.78026158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:-12.97, Z:-1.78 [[ 9.99367322e-01 3.49142731e-02 6.77851598e-03 2.51763250e+02] [-3.49097509e-02 9.99390161e-01 -7.84349437e-04 -1.29733243e+01] [-6.80176717e-03 5.47216892e-04 9.99976718e-01 -1.78454828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:-12.99, Z:-1.79 [[ 9.99459495e-01 3.21678249e-02 6.77855044e-03 2.51819549e+02] [-3.21632420e-02 9.99482322e-01 -7.84051478e-04 -1.29859705e+01] [-6.80026257e-03 5.65607536e-04 9.99976718e-01 -1.78850271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.88, Y:-13.00, Z:-1.79 [[ 9.99434043e-01 3.29491163e-02 6.77859310e-03 2.51876060e+02] [-3.29445537e-02 9.99456874e-01 -7.83682513e-04 -1.29973200e+01] [-6.80073311e-03 5.59921258e-04 9.99976718e-01 -1.78972958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.93, Y:-13.01, Z:-1.79 [[ 9.99354260e-01 3.52861646e-02 6.77863495e-03 2.51932833e+02] [-3.52816579e-02 9.99377102e-01 -7.83320380e-04 -1.30092532e+01] [-6.80205292e-03 5.43653080e-04 9.99976718e-01 -1.79124777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.99, Y:-13.02, Z:-1.79 [[ 9.99201342e-01 3.93792719e-02 6.77868650e-03 2.51990185e+02] [-3.93748618e-02 9.99224203e-01 -7.82874028e-04 -1.30222134e+01] [-6.80425662e-03 5.15338936e-04 9.99976718e-01 -1.78955632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.05, Y:-13.03, Z:-1.79 [[ 9.99105016e-01 4.17518420e-02 6.77872194e-03 2.52046529e+02] [-4.17474883e-02 9.99127887e-01 -7.82567042e-04 -1.30318310e+01] [-6.80548374e-03 4.98872042e-04 9.99976718e-01 -1.78889018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.10, Y:-13.04, Z:-1.79 [[ 9.99057346e-01 4.28773584e-02 6.77878355e-03 2.52103362e+02] [-4.28730340e-02 9.99080223e-01 -7.82033005e-04 -1.30423600e+01] [-6.80608008e-03 4.90668801e-04 9.99976718e-01 -1.79096179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.16, Y:-13.05, Z:-1.79 [[ 9.99008079e-01 4.40102847e-02 6.77883599e-03 2.52160880e+02] [-4.40059893e-02 9.99030962e-01 -7.81578106e-04 -1.30528716e+01] [-6.80666452e-03 4.82493458e-04 9.99976718e-01 -1.78858399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.22, Y:-13.06, Z:-1.79 [[ 9.98937052e-01 4.55939967e-02 6.77887056e-03 2.52218542e+02] [-4.55897396e-02 9.98959942e-01 -7.81278179e-04 -1.30599899e+01] [-6.80744174e-03 4.71400777e-04 9.99976718e-01 -1.78965938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.28, Y:-13.07, Z:-1.79 [[ 9.98866646e-01 4.71112485e-02 6.77891299e-03 2.52276985e+02] [-4.71070287e-02 9.98889542e-01 -7.80909904e-04 -1.30652876e+01] [-6.80817493e-03 4.60690408e-04 9.99976718e-01 -1.79106180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:-13.07, Z:-1.79 [[ 9.98805084e-01 4.83988715e-02 6.77894770e-03 2.52334631e+02] [-4.83946832e-02 9.98827986e-01 -7.80608444e-04 -1.30698413e+01] [-6.80878324e-03 4.51610656e-04 9.99976718e-01 -1.78933254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.39, Y:-13.08, Z:-1.79 [[ 9.98909407e-01 4.61956932e-02 6.77901079e-03 2.52392882e+02] [-4.61914581e-02 9.98932300e-01 -7.80060143e-04 -1.30751226e+01] [-6.80780826e-03 4.66077022e-04 9.99976718e-01 -1.79060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.45, Y:-13.08, Z:-1.79 [[ 9.99228431e-01 3.86857450e-02 6.77904611e-03 2.52449646e+02] [-3.86813400e-02 9.99251293e-01 -7.79753122e-04 -1.30828788e+01] [-6.80413592e-03 5.16928902e-04 9.99976718e-01 -1.79446582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.51, Y:-13.09, Z:-1.80 [[ 9.99369490e-01 3.48520677e-02 6.77910871e-03 2.52507584e+02] [-3.48475788e-02 9.99392335e-01 -7.79208485e-04 -1.30904431e+01] [-6.80214631e-03 5.42481661e-04 9.99976718e-01 -1.79543454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.57, Y:-13.10, Z:-1.79 [[ 9.99425181e-01 3.32167308e-02 6.77914375e-03 2.52565842e+02] [-3.32122065e-02 9.99448019e-01 -7.78903489e-04 -1.30968214e+01] [-6.80127442e-03 5.53305438e-04 9.99976718e-01 -1.79480523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.62, Y:-13.10, Z:-1.80 [[ 9.99372208e-01 3.47740174e-02 6.77917844e-03 2.52624709e+02] [-3.47695308e-02 9.99395054e-01 -7.78601506e-04 -1.31036142e+01] [-6.80215250e-03 5.42403853e-04 9.99976718e-01 -1.79723545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.68, Y:-13.11, Z:-1.80 [[ 9.99320906e-01 3.62183505e-02 6.77921333e-03 2.52681603e+02] [-3.62138989e-02 9.99343759e-01 -7.78297552e-04 -1.31110802e+01] [-6.80295318e-03 5.32267269e-04 9.99976718e-01 -1.79730106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:-13.12, Z:-1.80 [[ 9.99394167e-01 3.41370789e-02 6.77927384e-03 2.52739280e+02] [-3.41325833e-02 9.99417011e-01 -7.77770105e-04 -1.31228443e+01] [-6.80187240e-03 5.45904778e-04 9.99976718e-01 -1.79833263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:-13.13, Z:-1.80 [[ 9.99414634e-01 3.35325192e-02 6.77930732e-03 2.52796795e+02] [-3.35280118e-02 9.99437476e-01 -7.77478240e-04 -1.31338817e+01] [-6.80156460e-03 5.49726435e-04 9.99976718e-01 -1.79986041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.85, Y:-13.14, Z:-1.80 [[ 9.99402815e-01 3.38829273e-02 6.77935775e-03 2.52854138e+02] [-3.38784309e-02 9.99425659e-01 -7.77038229e-04 -1.31427757e+01] [-6.80179242e-03 5.46900191e-04 9.99976718e-01 -1.80124035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.91, Y:-13.16, Z:-1.81 [[ 9.99313194e-01 3.64304736e-02 6.77941036e-03 2.52911998e+02] [-3.64260385e-02 9.99336050e-01 -7.76578975e-04 -1.31560758e+01] [-6.80320031e-03 5.29098554e-04 9.99976718e-01 -1.80521411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.97, Y:-13.17, Z:-1.81 [[ 9.99260164e-01 3.78571612e-02 6.77944512e-03 2.52968813e+02] [-3.78527608e-02 9.99283026e-01 -7.76275351e-04 -1.31660897e+01] [-6.80397202e-03 5.19080319e-04 9.99976718e-01 -1.80907203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.03, Y:-13.18, Z:-1.81 [[ 9.99259696e-01 3.78695059e-02 6.77948823e-03 2.53025445e+02] [-3.78651083e-02 9.99282558e-01 -7.75898699e-04 -1.31768592e+01] [-6.80400724e-03 5.18618242e-04 9.99976718e-01 -1.80964953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.08, Y:-13.18, Z:-1.81 [[ 9.99301263e-01 3.67562846e-02 6.77954100e-03 2.53082891e+02] [-3.67518646e-02 9.99324121e-01 -7.75437324e-04 -1.31844188e+01] [-6.80346105e-03 5.25734724e-04 9.99976718e-01 -1.80859195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.14, Y:-13.19, Z:-1.81 [[ 9.99322094e-01 3.61854878e-02 6.77958458e-03 2.53139763e+02] [-3.61810573e-02 9.99344951e-01 -7.75056137e-04 -1.31907417e+01] [-6.80318940e-03 5.29238183e-04 9.99976718e-01 -1.80935832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.20, Y:-13.20, Z:-1.81 [[ 9.99279955e-01 3.73310582e-02 6.77965903e-03 2.53197081e+02] [-3.73266583e-02 9.99302817e-01 -7.74404380e-04 -1.31956224e+01] [-6.80384170e-03 5.20784758e-04 9.99976718e-01 -1.81039516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:-13.20, Z:-1.81 [[ 9.99394445e-01 3.41288591e-02 6.77970979e-03 2.53254599e+02] [-3.41243890e-02 9.99417294e-01 -7.73959682e-04 -1.32018303e+01] [-6.80217357e-03 5.42137553e-04 9.99976718e-01 -1.81025462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.31, Y:-13.21, Z:-1.81 [[ 9.99544421e-01 2.94106245e-02 6.77975191e-03 2.53312122e+02] [-2.94060490e-02 9.99567249e-01 -7.73590560e-04 -1.32101772e+01] [-6.79956975e-03 5.73872411e-04 9.99976718e-01 -1.81072137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.37, Y:-13.22, Z:-1.81 [[ 9.99621953e-01 2.66455668e-02 6.77980230e-03 2.53370413e+02] [-2.66409312e-02 9.99644768e-01 -7.73148694e-04 -1.32210064e+01] [-6.79799488e-03 5.92236160e-04 9.99976718e-01 -1.81133052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:-13.23, Z:-1.81 [[ 9.99563834e-01 2.87432813e-02 6.77983669e-03 2.53427545e+02] [-2.87386956e-02 9.99586660e-01 -7.72847037e-04 -1.32342993e+01] [-6.79924847e-03 5.77666284e-04 9.99976718e-01 -1.81143208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.48, Y:-13.24, Z:-1.81 [[ 9.99486641e-01 3.13127263e-02 6.77987922e-03 2.53484369e+02] [-3.13082018e-02 9.99509480e-01 -7.72473751e-04 -1.32448398e+01] [-6.80074181e-03 5.59811369e-04 9.99976718e-01 -1.81120945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:-13.26, Z:-1.81 [[ 9.99484593e-01 3.13780246e-02 6.77992135e-03 2.53541899e+02] [-3.13735041e-02 9.99507432e-01 -7.72103791e-04 -1.32563643e+01] [-6.80080887e-03 5.58995954e-04 9.99976718e-01 -1.81394203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.60, Y:-13.27, Z:-1.82 [[ 9.99521802e-01 3.01695080e-02 6.77995663e-03 2.53599373e+02] [-3.01649620e-02 9.99544636e-01 -7.71793863e-04 -1.32689199e+01] [-6.80015392e-03 5.66907659e-04 9.99976718e-01 -1.81874438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.66, Y:-13.28, Z:-1.82 [[ 9.99505811e-01 3.06946993e-02 6.77999150e-03 2.53656430e+02] [-3.06901674e-02 9.99528648e-01 -7.71487431e-04 -1.32762534e+01] [-6.80047631e-03 5.63027097e-04 9.99976718e-01 -1.81968625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.71, Y:-13.28, Z:-1.82 [[ 9.99450384e-01 3.24493746e-02 6.78003470e-03 2.53714716e+02] [-3.24448853e-02 9.99473229e-01 -7.71107524e-04 -1.32832537e+01] [-6.80148513e-03 5.50706263e-04 9.99976718e-01 -1.82129625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.77, Y:-13.29, Z:-1.82 [[ 9.99508091e-01 3.06203502e-02 6.78006995e-03 2.53771926e+02] [-3.06158212e-02 9.99530929e-01 -7.70797507e-04 -1.32923253e+01] [-6.80049170e-03 5.62840936e-04 9.99976718e-01 -1.82408181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.83, Y:-13.30, Z:-1.82 [[ 9.99653892e-01 2.54190292e-02 6.78011362e-03 2.53830160e+02] [-2.54143840e-02 9.99676706e-01 -7.70413217e-04 -1.33029384e+01] [-6.79750480e-03 5.97834160e-04 9.99976718e-01 -1.82340102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:-13.31, Z:-1.83 [[ 9.99687746e-01 2.40507933e-02 6.78014839e-03 2.53886846e+02] [-2.40461189e-02 9.99710554e-01 -7.70107042e-04 -1.33120633e+01] [-6.79670759e-03 6.06830319e-04 9.99976718e-01 -1.82778989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:-13.32, Z:-1.83 [[ 9.99669387e-01 2.48021447e-02 6.78019115e-03 2.53944156e+02] [-2.47974900e-02 9.99692199e-01 -7.69730375e-04 -1.33242630e+01] [-6.79719517e-03 6.01344170e-04 9.99976718e-01 -1.82576712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:-13.33, Z:-1.83 [[ 9.99644151e-01 2.57992289e-02 6.78023393e-03 2.54002014e+02] [-2.57945995e-02 9.99666968e-01 -7.69353386e-04 -1.33346598e+01] [-6.79782462e-03 5.94186194e-04 9.99976718e-01 -1.82643654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:-13.35, Z:-1.83 [[ 9.99570671e-01 2.85044081e-02 6.78026814e-03 2.54058794e+02] [-2.84998425e-02 9.99593501e-01 -7.69051789e-04 -1.33465817e+01] [-6.79943333e-03 5.75485038e-04 9.99976718e-01 -1.82771264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:-13.36, Z:-1.83 [[ 9.99462237e-01 3.20821443e-02 6.78031046e-03 2.54116432e+02] [-3.20776630e-02 9.99485084e-01 -7.68678480e-04 -1.33561363e+01] [-6.80148002e-03 5.50768599e-04 9.99976718e-01 -1.82827205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.17, Y:-13.37, Z:-1.83 [[ 9.99384988e-01 3.44045326e-02 6.78034516e-03 2.54173421e+02] [-3.44001064e-02 9.99407846e-01 -7.68372277e-04 -1.33659849e+01] [-6.80276564e-03 5.34655124e-04 9.99976718e-01 -1.83068589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.23, Y:-13.38, Z:-1.83 [[ 9.99488360e-01 3.12577155e-02 6.78038829e-03 2.54231309e+02] [-3.12532200e-02 9.99511204e-01 -7.67991497e-04 -1.33805261e+01] [-6.80107972e-03 5.55689595e-04 9.99976718e-01 -1.82830030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.29, Y:-13.39, Z:-1.83 [[ 9.99651648e-01 2.55070178e-02 6.78042295e-03 2.54289238e+02] [-2.55023930e-02 9.99674466e-01 -7.67685391e-04 -1.33935470e+01] [-6.79779706e-03 5.94500956e-04 9.99976718e-01 -1.82838804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.35, Y:-13.40, Z:-1.83 [[ 9.99674462e-01 2.45966700e-02 6.78045749e-03 2.54347057e+02] [-2.45920265e-02 9.99697276e-01 -7.67380155e-04 -1.34019418e+01] [-6.79727988e-03 6.00385153e-04 9.99976718e-01 -1.83040410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.41, Y:-13.41, Z:-1.83 [[ 9.99613147e-01 2.69737002e-02 6.78049187e-03 2.54405504e+02] [-2.69691130e-02 9.99635973e-01 -7.67076304e-04 -1.34085281e+01] [-6.79871447e-03 5.83915707e-04 9.99976718e-01 -1.82809796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.46, Y:-13.42, Z:-1.83 [[ 9.99599970e-01 2.74576885e-02 6.78052581e-03 2.54463479e+02] [-2.74531144e-02 9.99622798e-01 -7.66776146e-04 -1.34160957e+01] [-6.79902209e-03 5.80322862e-04 9.99976718e-01 -1.82802024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.52, Y:-13.42, Z:-1.83 [[ 9.99678647e-01 2.44259446e-02 6.78055962e-03 2.54520465e+02] [-2.44213033e-02 9.99701462e-01 -7.66477076e-04 -1.34236511e+01] [-6.79725729e-03 6.00640664e-04 9.99976718e-01 -1.83258802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.58, Y:-13.44, Z:-1.84 [[ 9.99865258e-01 1.49495816e-02 6.78060159e-03 2.54579116e+02] [-1.49447267e-02 9.99888028e-01 -7.66105626e-04 -1.34372297e+01] [-6.79129531e-03 6.64668162e-04 9.99976718e-01 -1.83778825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.64, Y:-13.45, Z:-1.84 [[ 9.99914141e-01 1.12130855e-02 6.78061819e-03 2.54637326e+02] [-1.12081465e-02 9.99936893e-01 -7.65958656e-04 -1.34503716e+01] [-6.78877905e-03 6.89894729e-04 9.99976718e-01 -1.83562641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.70, Y:-13.46, Z:-1.83 [[ 9.99886179e-01 1.34778130e-02 6.78061197e-03 2.54696967e+02] [-1.34729252e-02 9.99908943e-01 -7.66013673e-04 -1.34630810e+01] [-6.79031874e-03 6.74571808e-04 9.99976718e-01 -1.83145737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.76, Y:-13.47, Z:-1.83 [[ 9.99763578e-01 2.06594087e-02 6.78061197e-03 2.54755426e+02] [-2.06546845e-02 9.99786376e-01 -7.66013673e-04 -1.34749724e+01] [-6.79498886e-03 6.25781170e-04 9.99976718e-01 -1.83110334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.81, Y:-13.49, Z:-1.83 [[ 9.99511646e-01 3.05039765e-02 6.78062033e-03 2.54812999e+02] [-3.04994775e-02 9.99534489e-01 -7.65939675e-04 -1.34873769e+01] [-6.80082809e-03 5.58760248e-04 9.99976718e-01 -1.83143505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.87, Y:-13.50, Z:-1.83 [[ 9.99387901e-01 3.43197510e-02 6.78074100e-03 2.54870920e+02] [-3.43153465e-02 9.99410762e-01 -7.64869907e-04 -1.34996481e+01] [-6.80299568e-03 5.31718254e-04 9.99976718e-01 -1.83183737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.93, Y:-13.51, Z:-1.83 [[ 9.99411786e-01 3.36170129e-02 6.78077586e-03 2.54927421e+02] [-3.36125944e-02 9.99434645e-01 -7.64560771e-04 -1.35149559e+01] [-6.80264456e-03 5.36191577e-04 9.99976718e-01 -1.83299745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.98, Y:-13.53, Z:-1.83 [[ 9.99489136e-01 3.12327922e-02 6.78081900e-03 2.54984939e+02] [-3.12283218e-02 9.99511985e-01 -7.64177996e-04 -1.35291621e+01] [-6.80137727e-03 5.52034007e-04 9.99976718e-01 -1.83356760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.04, Y:-13.55, Z:-1.84 [[ 9.99599108e-01 2.74889814e-02 6.78085333e-03 2.55041940e+02] [-2.74844275e-02 9.99621940e-01 -7.63873185e-04 -1.35465931e+01] [-6.79928786e-03 5.77199083e-04 9.99976718e-01 -1.83538519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:-13.56, Z:-1.83 [[ 9.99613186e-01 2.69721802e-02 6.78087872e-03 2.55101015e+02] [-2.69676161e-02 9.99636016e-01 -7.63647741e-04 -1.35588681e+01] [-6.79900784e-03 5.80488217e-04 9.99976718e-01 -1.83423505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.16, Y:-13.57, Z:-1.83 [[ 9.99497335e-01 3.09692777e-02 6.78089572e-03 2.55158776e+02] [-3.09648059e-02 9.99520184e-01 -7.63496765e-04 -1.35706238e+01] [-6.80128708e-03 5.53143862e-04 9.99976718e-01 -1.83251866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.22, Y:-13.58, Z:-1.83 [[ 9.99450092e-01 3.24581701e-02 6.78092083e-03 2.55217571e+02] [-3.24537338e-02 9.99472947e-01 -7.63273702e-04 -1.35780633e+01] [-6.80212140e-03 5.42787772e-04 9.99976718e-01 -1.83493056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:255.28, Y:-13.58, Z:-1.83 [[ 9.99459414e-01 3.21698332e-02 6.78093760e-03 2.55276320e+02] [-3.21653913e-02 9.99482269e-01 -7.63124674e-04 -1.35840831e+01] [-6.80197649e-03 5.44600628e-04 9.99976718e-01 -1.83420002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.33, Y:-13.59, Z:-1.83 [[ 9.99494881e-01 3.10483562e-02 6.78097304e-03 2.55334353e+02] [-3.10438908e-02 9.99517731e-01 -7.62809664e-04 -1.35893049e+01] [-6.80138677e-03 5.51916568e-04 9.99976718e-01 -1.83112750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.39, Y:-13.59, Z:-1.83 [[ 9.99546030e-01 2.93556159e-02 6.78099944e-03 2.55392269e+02] [-2.93511134e-02 9.99568872e-01 -7.62574857e-04 -1.35948669e+01] [-6.80046182e-03 5.63198787e-04 9.99976718e-01 -1.83436272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.45, Y:-13.60, Z:-1.84 [[ 9.99537046e-01 2.96599406e-02 6.78102499e-03 2.55451385e+02] [-2.96554465e-02 9.99559890e-01 -7.62347603e-04 -1.36009781e+01] [-6.80065178e-03 5.60900346e-04 9.99976718e-01 -1.83778791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.51, Y:-13.61, Z:-1.84 [[ 9.99512763e-01 3.04672618e-02 6.78104156e-03 2.55509734e+02] [-3.04627872e-02 9.99535611e-01 -7.62200219e-04 -1.36072234e+01] [-6.80111467e-03 5.55259421e-04 9.99976718e-01 -1.83690584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:-13.61, Z:-1.84 [[ 9.99474037e-01 3.17122492e-02 6.78107645e-03 2.55567453e+02] [-3.17078052e-02 9.99496891e-01 -7.61889634e-04 -1.36149891e+01] [-6.80182607e-03 5.46475857e-04 9.99976718e-01 -1.84186069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.63, Y:-13.63, Z:-1.85 [[ 9.99482333e-01 3.14496936e-02 6.78110237e-03 2.55625721e+02] [-3.14452451e-02 9.99505186e-01 -7.61658893e-04 -1.36291567e+01] [-6.80170093e-03 5.48031181e-04 9.99976718e-01 -1.84651415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:255.68, Y:-13.64, Z:-1.85 [[ 9.99513334e-01 3.04485232e-02 6.78111888e-03 2.55684482e+02] [-3.04440529e-02 9.99536182e-01 -7.61511874e-04 -1.36395020e+01] [-6.80116059e-03 5.54696530e-04 9.99976718e-01 -1.84610404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:-13.65, Z:-1.84 [[ 9.99435815e-01 3.28947905e-02 6.78113551e-03 2.55742684e+02] [-3.28903770e-02 9.99458675e-01 -7.61363751e-04 -1.36521675e+01] [-6.80250962e-03 5.37900097e-04 9.99976718e-01 -1.84113916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:-13.66, Z:-1.84 [[ 9.99311096e-01 3.64876534e-02 6.78115626e-03 2.55802210e+02] [-3.64833234e-02 9.99333972e-01 -7.61178878e-04 -1.36580898e+01] [-6.80441346e-03 5.13255382e-04 9.99976718e-01 -1.83949751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:-13.66, Z:-1.84 [[ 9.99201096e-01 3.93850837e-02 6.78117360e-03 2.55861223e+02] [-3.93808211e-02 9.99223985e-01 -7.61024430e-04 -1.36637644e+01] [-6.80588431e-03 4.93368260e-04 9.99976718e-01 -1.83868482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.92, Y:-13.67, Z:-1.84 [[ 9.99265524e-01 3.77150951e-02 6.78120834e-03 2.55918408e+02] [-3.77107963e-02 9.99288405e-01 -7.60714715e-04 -1.36698476e+01] [-6.80507330e-03 5.04431221e-04 9.99976718e-01 -1.84027901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.98, Y:-13.68, Z:-1.84 [[ 9.99399115e-01 3.39915098e-02 6.78125131e-03 2.55976363e+02] [-3.39871284e-02 9.99421981e-01 -7.60331483e-04 -1.36772054e+01] [-6.80317644e-03 5.29399352e-04 9.99976718e-01 -1.84022162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.03, Y:-13.69, Z:-1.84 [[ 9.99547077e-01 2.93198618e-02 6.78128547e-03 2.56034923e+02] [-2.93153757e-02 9.99569923e-01 -7.60026733e-04 -1.36864155e+01] [-6.80065287e-03 5.60886569e-04 9.99976718e-01 -1.84235426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.09, Y:-13.69, Z:-1.85 [[ 9.99520517e-01 3.02117377e-02 6.78130269e-03 2.56092966e+02] [-3.02072730e-02 9.99543367e-01 -7.59873002e-04 -1.36927632e+01] [-6.80116321e-03 5.54663995e-04 9.99976718e-01 -1.84652456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.15, Y:-13.70, Z:-1.84 [[ 9.99317924e-01 3.63001419e-02 6.78132817e-03 2.56152932e+02] [-3.62958180e-02 9.99340801e-01 -7.59645603e-04 -1.36956180e+01] [-6.80443316e-03 5.12993614e-04 9.99976718e-01 -1.83890056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.21, Y:-13.70, Z:-1.84 [[ 9.99114751e-01 4.15178020e-02 6.78134537e-03 2.56211821e+02] [-4.15135986e-02 9.99137650e-01 -7.59491953e-04 -1.36984459e+01] [-6.80702992e-03 4.77301563e-04 9.99976718e-01 -1.83995153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.27, Y:-13.70, Z:-1.85 [[ 9.98941988e-01 4.54853557e-02 6.78137991e-03 2.56270231e+02] [-4.54812454e-02 9.98964904e-01 -7.59183493e-04 -1.37002870e+01] [-6.80889226e-03 4.49954664e-04 9.99976718e-01 -1.84606119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.33, Y:-13.70, Z:-1.84 [[ 9.98925783e-01 4.58398651e-02 6.78141421e-03 2.56329110e+02] [-4.58357650e-02 9.98948701e-01 -7.58876977e-04 -1.36988175e+01] [-6.80907173e-03 4.47230470e-04 9.99976718e-01 -1.84005690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.39, Y:-13.70, Z:-1.84 [[ 9.98924728e-01 4.58628295e-02 6.78145742e-03 2.56387665e+02] [-4.58587325e-02 9.98947647e-01 -7.58490603e-04 -1.37012047e+01] [-6.80910746e-03 4.46685977e-04 9.99976718e-01 -1.83894665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.45, Y:-13.70, Z:-1.84 [[ 9.98896409e-01 4.64755407e-02 6.78149249e-03 2.56445487e+02] [-4.64714600e-02 9.98919330e-01 -7.58176960e-04 -1.37018950e+01] [-6.80940062e-03 4.42194386e-04 9.99976718e-01 -1.84247349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:256.50, Y:-13.70, Z:-1.84 [[ 9.98858288e-01 4.72877470e-02 6.78153594e-03 2.56503499e+02] [-4.72836875e-02 9.98881213e-01 -7.57788108e-04 -1.37030120e+01] [-6.80978294e-03 4.36266906e-04 9.99976718e-01 -1.84207373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.56, Y:-13.71, Z:-1.84 [[ 9.98833281e-01 4.78130377e-02 6.78157921e-03 2.56561743e+02] [-4.78089929e-02 9.98856209e-01 -7.57400654e-04 -1.37085964e+01] [-6.81003613e-03 4.32296508e-04 9.99976718e-01 -1.84168089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.62, Y:-13.72, Z:-1.84 [[ 9.99000218e-01 4.41879509e-02 6.78161381e-03 2.56620368e+02] [-4.41838250e-02 9.99023131e-01 -7.57090754e-04 -1.37155092e+01] [-6.80844335e-03 4.56696190e-04 9.99976718e-01 -1.84465720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.68, Y:-13.72, Z:-1.85 [[ 9.99154745e-01 4.05438731e-02 6.78164844e-03 2.56677623e+02] [-4.05396657e-02 9.99177643e-01 -7.56780394e-04 -1.37240651e+01] [-6.80675432e-03 4.81214960e-04 9.99976718e-01 -1.84723030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.74, Y:-13.73, Z:-1.85 [[ 9.99157005e-01 4.04881108e-02 6.78169119e-03 2.56735529e+02] [-4.04839048e-02 9.99179904e-01 -7.56397112e-04 -1.37338023e+01] [-6.80675465e-03 4.81210133e-04 9.99976718e-01 -1.84538310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:-13.74, Z:-1.84 [[ 9.98975855e-01 4.47353361e-02 6.78172614e-03 2.56792544e+02] [-4.47312296e-02 9.98998771e-01 -7.56083650e-04 -1.37404368e+01] [-6.80875974e-03 4.51954362e-04 9.99976718e-01 -1.84245051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.85, Y:-13.75, Z:-1.84 [[ 9.98732500e-01 4.98738498e-02 6.78177773e-03 2.56851333e+02] [-4.98698643e-02 9.98755438e-01 -7.55620647e-04 -1.37462421e+01] [-6.81102310e-03 4.16456562e-04 9.99976718e-01 -1.83820150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:-13.75, Z:-1.84 [[ 9.98747091e-01 4.95808048e-02 6.78181113e-03 2.56909499e+02] [-4.95768146e-02 9.98770028e-01 -7.55320764e-04 -1.37540237e+01] [-6.81091910e-03 4.18153823e-04 9.99976718e-01 -1.83624598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:-13.76, Z:-1.84 [[ 9.98859212e-01 4.72681826e-02 6.78184468e-03 2.56967313e+02] [-4.72641413e-02 9.98882141e-01 -7.55019371e-04 -1.37623299e+01] [-6.80995192e-03 4.33619989e-04 9.99976718e-01 -1.83778303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.03, Y:-13.77, Z:-1.84 [[ 9.99011542e-01 4.39311396e-02 6.78187897e-03 2.57025304e+02] [-4.39270239e-02 9.99034457e-01 -7.54711258e-04 -1.37679512e+01] [-6.80848610e-03 4.56057499e-04 9.99976718e-01 -1.84052320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:-13.77, Z:-1.84 [[ 9.99053785e-01 4.29597419e-02 6.78192131e-03 2.57083810e+02] [-4.29556065e-02 9.99076697e-01 -7.54330618e-04 -1.37726661e+01] [-6.80806539e-03 4.62295317e-04 9.99976718e-01 -1.83846316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:-13.78, Z:-1.84 [[ 9.99123717e-01 4.13013746e-02 6.78195467e-03 2.57141458e+02] [-4.12972032e-02 9.99146622e-01 -7.54030554e-04 -1.37752475e+01] [-6.80730960e-03 4.73294050e-04 9.99976718e-01 -1.83906860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:257.20, Y:-13.78, Z:-1.84 [[ 9.99238286e-01 3.84298482e-02 6.78199611e-03 2.57200565e+02] [-3.84256135e-02 9.99261179e-01 -7.53657586e-04 -1.37791865e+01] [-6.80594838e-03 4.92481153e-04 9.99976718e-01 -1.84333374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:-13.78, Z:-1.85 [[ 9.99409756e-01 3.36770526e-02 6.78203016e-03 2.57258847e+02] [-3.36727111e-02 9.99432630e-01 -7.53351042e-04 -1.37829716e+01] [-6.80355288e-03 5.24537038e-04 9.99976718e-01 -1.84618745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:-13.79, Z:-1.85 [[ 9.99424815e-01 3.32271405e-02 6.78206387e-03 2.57318051e+02] [-3.32227908e-02 9.99447687e-01 -7.53047480e-04 -1.37867385e+01] [-6.80333966e-03 5.27295249e-04 9.99976718e-01 -1.84602443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:-13.79, Z:-1.84 [[ 9.99413312e-01 3.35713298e-02 6.78209756e-03 2.57376710e+02] [-3.35669899e-02 9.99436186e-01 -7.52743916e-04 -1.37905545e+01] [-6.80354434e-03 5.24647690e-04 9.99976718e-01 -1.83960219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.44, Y:-13.80, Z:-1.85 [[ 9.99438269e-01 3.28199444e-02 6.78213146e-03 2.57435194e+02] [-3.28155894e-02 9.99461140e-01 -7.52438342e-04 -1.37955533e+01] [-6.80317183e-03 5.29456032e-04 9.99976718e-01 -1.84746086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.49, Y:-13.80, Z:-1.85 [[ 9.99460391e-01 3.21392038e-02 6.78216606e-03 2.57491949e+02] [-3.21348354e-02 9.99483260e-01 -7.52126426e-04 -1.38037917e+01] [-6.80283418e-03 5.33776782e-04 9.99976718e-01 -1.85061295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.55, Y:-13.81, Z:-1.85 [[ 9.99542954e-01 2.94598866e-02 6.78220865e-03 2.57550241e+02] [-2.94554595e-02 9.99565811e-01 -7.51742120e-04 -1.38137942e+01] [-6.80141013e-03 5.51625467e-04 9.99976718e-01 -1.85264617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.61, Y:-13.82, Z:-1.85 [[ 9.99583330e-01 2.80565223e-02 6.78224292e-03 2.57608396e+02] [-2.80520651e-02 9.99606181e-01 -7.51432814e-04 -1.38227729e+01] [-6.80065454e-03 5.60863794e-04 9.99976718e-01 -1.85143748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.67, Y:-13.83, Z:-1.85 [[ 9.99556696e-01 2.89898735e-02 6.78226176e-03 2.57667406e+02] [-2.89854389e-02 9.99579552e-01 -7.51262780e-04 -1.38331532e+01] [-6.80118918e-03 5.54342908e-04 9.99976718e-01 -1.84712353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.72, Y:-13.84, Z:-1.85 [[ 9.99506881e-01 3.06593538e-02 6.78227876e-03 2.57724523e+02] [-3.06549584e-02 9.99529744e-01 -7.51109200e-04 -1.38396142e+01] [-6.80211788e-03 5.42828341e-04 9.99976718e-01 -1.84799513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:-13.84, Z:-1.85 [[ 9.99463852e-01 3.20313802e-02 6.78232079e-03 2.57783583e+02] [-3.20270187e-02 9.99486722e-01 -7.50729515e-04 -1.38448904e+01] [-6.80288647e-03 5.33109497e-04 9.99976718e-01 -1.84747173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.84, Y:-13.85, Z:-1.85 [[ 9.99488985e-01 3.12372886e-02 6.78235525e-03 2.57842064e+02] [-3.12329111e-02 9.99511852e-01 -7.50418033e-04 -1.38492953e+01] [-6.80248549e-03 5.38201860e-04 9.99976718e-01 -1.84600625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:-13.85, Z:-1.85 [[ 9.99588862e-01 2.78586659e-02 6.78238991e-03 2.57900669e+02] [-2.78542132e-02 9.99611715e-01 -7.50104711e-04 -1.38538607e+01] [-6.80065332e-03 5.60878181e-04 9.99976718e-01 -1.84610173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:-13.86, Z:-1.85 [[ 9.99748298e-01 2.13855115e-02 6.78241555e-03 2.57960038e+02] [-2.13809125e-02 9.99771121e-01 -7.49872796e-04 -1.38591114e+01] [-6.79689961e-03 6.04669818e-04 9.99976718e-01 -1.85089959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:-13.86, Z:-1.85 [[ 9.99755049e-01 2.10675227e-02 6.78243253e-03 2.58019655e+02] [-2.10629175e-02 9.99777871e-01 -7.49719122e-04 -1.38639270e+01] [-6.79672068e-03 6.06677661e-04 9.99976718e-01 -1.85132687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:-13.87, Z:-1.85 [[ 9.99676065e-01 2.45308823e-02 6.78244939e-03 2.58079853e+02] [-2.45263572e-02 9.99698903e-01 -7.49566644e-04 -1.38659341e+01] [-6.79879474e-03 5.82975057e-04 9.99976718e-01 -1.84897126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.14, Y:-13.86, Z:-1.85 [[ 9.99439925e-01 3.27694126e-02 6.78246644e-03 2.58138115e+02] [-3.27650769e-02 9.99462800e-01 -7.49412300e-04 -1.38624509e+01] [-6.80338070e-03 5.26764539e-04 9.99976718e-01 -1.85289191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:-13.86, Z:-1.85 [[ 9.99309636e-01 3.65273784e-02 6.78250872e-03 2.58197562e+02] [-3.65231314e-02 9.99332527e-01 -7.49029430e-04 -1.38596489e+01] [-6.80534166e-03 5.00793870e-04 9.99976718e-01 -1.85314221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:-13.86, Z:-1.85 [[ 9.99364716e-01 3.49880227e-02 6.78254205e-03 2.58256948e+02] [-3.49837424e-02 9.99387601e-01 -7.48727475e-04 -1.38611997e+01] [-6.80458493e-03 5.10973116e-04 9.99976718e-01 -1.85280749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.32, Y:-13.86, Z:-1.86 [[ 9.99483138e-01 3.14237872e-02 6.78257588e-03 2.58315989e+02] [-3.14194273e-02 9.99506008e-01 -7.48420907e-04 -1.38636751e+01] [-6.80274356e-03 5.34929426e-04 9.99976718e-01 -1.85513260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.37, Y:-13.87, Z:-1.86 [[ 9.99593456e-01 2.76933079e-02 6.78260941e-03 2.58374048e+02] [-2.76888648e-02 9.99616310e-01 -7.48116980e-04 -1.38680738e+01] [-6.80072482e-03 5.60010083e-04 9.99976718e-01 -1.85578963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.43, Y:-13.87, Z:-1.85 [[ 9.99667425e-01 2.48804049e-02 6.78265083e-03 2.58433196e+02] [-2.48759001e-02 9.99690267e-01 -7.47741232e-04 -1.38719990e+01] [-6.79915413e-03 5.78768008e-04 9.99976718e-01 -1.85353026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.49, Y:-13.88, Z:-1.86 [[ 9.99762967e-01 2.06882779e-02 6.78268473e-03 2.58491095e+02] [-2.06836793e-02 9.99785790e-01 -7.47433616e-04 -1.38778336e+01] [-6.79669493e-03 6.06965574e-04 9.99976718e-01 -1.85867633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.55, Y:-13.89, Z:-1.86 [[ 9.99832194e-01 1.70170411e-02 6.78269990e-03 2.58550420e+02] [-1.70123597e-02 9.99855000e-01 -7.47295876e-04 -1.38865547e+01] [-6.79443318e-03 6.31780744e-04 9.99976718e-01 -1.85645505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.61, Y:-13.90, Z:-1.85 [[ 9.99875124e-01 1.42734691e-02 6.78271673e-03 2.58609381e+02] [-1.42687261e-02 9.99897917e-01 -7.47143090e-04 -1.38956831e+01] [-6.79268866e-03 6.50269061e-04 9.99976718e-01 -1.85429699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.67, Y:-13.91, Z:-1.85 [[ 9.99868735e-01 1.47141777e-02 6.78273345e-03 2.58667721e+02] [-1.47094459e-02 9.99891531e-01 -7.46991347e-04 -1.39069744e+01] [-6.79298909e-03 6.47123043e-04 9.99976718e-01 -1.85349153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.73, Y:-13.91, Z:-1.85 [[ 9.99809639e-01 1.82942564e-02 6.78274174e-03 2.58727137e+02] [-1.82896067e-02 9.99832452e-01 -7.46916007e-04 -1.39145977e+01] [-6.79526958e-03 6.22720144e-04 9.99976718e-01 -1.85069661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.79, Y:-13.92, Z:-1.85 [[ 9.99703136e-01 2.34016040e-02 6.78275875e-03 2.58785647e+02] [-2.33970719e-02 9.99725972e-01 -7.46761491e-04 -1.39221403e+01] [-6.79837551e-03 5.87843109e-04 9.99976718e-01 -1.85293360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.84, Y:-13.93, Z:-1.85 [[ 9.99672015e-01 2.46952737e-02 6.78277527e-03 2.58843725e+02] [-2.46907722e-02 9.99694858e-01 -7.46611459e-04 -1.39306149e+01] [-6.79914333e-03 5.78894622e-04 9.99976718e-01 -1.85395448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.90, Y:-13.94, Z:-1.85 [[ 9.99634157e-01 2.61829138e-02 6.78279298e-03 2.58901978e+02] [-2.61784474e-02 9.99657007e-01 -7.46450521e-04 -1.39390688e+01] [-6.80001078e-03 5.68614449e-04 9.99976718e-01 -1.85481656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:-13.95, Z:-1.86 [[ 9.99473643e-01 3.17242855e-02 6.78282676e-03 2.58959894e+02] [-3.17199480e-02 9.99496517e-01 -7.46143431e-04 -1.39457229e+01] [-6.80308259e-03 5.30599781e-04 9.99976718e-01 -1.85722439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:259.02, Y:-13.95, Z:-1.86 [[ 9.99295189e-01 3.69204388e-02 6.78286022e-03 2.59018862e+02] [-3.69162223e-02 9.99318086e-01 -7.45839152e-04 -1.39507736e+01] [-6.80577160e-03 4.94915901e-04 9.99976718e-01 -1.85516357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:-13.96, Z:-1.86 [[ 9.99129466e-01 4.11619005e-02 6.78289301e-03 2.59077078e+02] [-4.11577832e-02 9.99152381e-01 -7.45540830e-04 -1.39588937e+01] [-6.80783158e-03 4.65722971e-04 9.99976718e-01 -1.85632298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:-13.97, Z:-1.86 [[ 9.99102321e-01 4.18156034e-02 6.78292684e-03 2.59134721e+02] [-4.18115032e-02 9.99125239e-01 -7.45232917e-04 -1.39653486e+01] [-6.80815576e-03 4.60959569e-04 9.99976718e-01 -1.85519159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.19, Y:-13.97, Z:-1.85 [[ 9.98975963e-01 4.47327297e-02 6.78296880e-03 2.59193665e+02] [-4.47286990e-02 9.98998893e-01 -7.44850781e-04 -1.39717446e+01] [-6.80949754e-03 4.40694656e-04 9.99976718e-01 -1.85392029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:-13.98, Z:-1.85 [[ 9.98768685e-01 4.91437253e-02 6.78300291e-03 2.59250846e+02] [-4.91397981e-02 9.98791633e-01 -7.44540088e-04 -1.39776638e+01] [-6.81139602e-03 4.10307931e-04 9.99976718e-01 -1.85313736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.31, Y:-13.99, Z:-1.85 [[ 9.98500100e-01 5.43280850e-02 6.78304900e-03 2.59309385e+02] [-5.43242798e-02 9.98523069e-01 -7.44119876e-04 -1.39850103e+01] [-6.81345752e-03 3.74519519e-04 9.99976718e-01 -1.85100420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:-13.99, Z:-1.85 [[ 9.98334829e-01 5.72848963e-02 6.78308306e-03 2.59366752e+02] [-5.72811612e-02 9.98357809e-01 -7.43809282e-04 -1.39933792e+01] [-6.81455298e-03 3.54027838e-04 9.99976718e-01 -1.85063771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:-14.00, Z:-1.85 [[ 9.98035545e-01 6.22819399e-02 6.78313391e-03 2.59423320e+02] [-6.22783231e-02 9.98058544e-01 -7.43345250e-04 -1.40017582e+01] [-6.81626175e-03 3.19442776e-04 9.99976718e-01 -1.85090359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.48, Y:-14.01, Z:-1.85 [[ 9.97215883e-01 7.42594892e-02 6.78319277e-03 2.59480928e+02] [-7.42561524e-02 9.97238924e-01 -7.42807774e-04 -1.40105953e+01] [-6.81962439e-03 2.37045913e-04 9.99976718e-01 -1.85297684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:-14.02, Z:-1.85 [[ 9.96619172e-01 8.18792623e-02 6.78324300e-03 2.59538671e+02] [-8.18761048e-02 9.96642239e-01 -7.42348807e-04 -1.40178207e+01] [-6.82124946e-03 1.84453539e-04 9.99976718e-01 -1.85470191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:-14.02, Z:-1.86 [[ 9.95977010e-01 8.93520195e-02 6.78329365e-03 2.59595166e+02] [-8.93490382e-02 9.96000100e-01 -7.41885696e-04 -1.40247298e+01] [-6.82245014e-03 1.32820333e-04 9.99976718e-01 -1.85847820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:-14.03, Z:-1.86 [[ 9.95833268e-01 9.09400217e-02 6.78335226e-03 2.59652854e+02] [-9.09370809e-02 9.95856364e-01 -7.41349420e-04 -1.40314696e+01] [-6.82266285e-03 1.21402163e-04 9.99976718e-01 -1.85811114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.71, Y:-14.04, Z:-1.86 [[ 9.96079669e-01 8.82002201e-02 6.78340433e-03 2.59711352e+02] [-8.81972190e-02 9.96102757e-01 -7.40872654e-04 -1.40411585e+01] [-6.82231289e-03 1.39690790e-04 9.99976718e-01 -1.86310727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.77, Y:-14.05, Z:-1.86 [[ 9.96360392e-01 8.49703085e-02 6.78343879e-03 2.59768417e+02] [-8.49672347e-02 9.96383471e-01 -7.40557056e-04 -1.40505433e+01] [-6.82183164e-03 1.61491683e-04 9.99976718e-01 -1.86484739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.83, Y:-14.06, Z:-1.86 [[ 9.96557732e-01 8.26236741e-02 6.78348155e-03 2.59826943e+02] [-8.26205487e-02 9.96580803e-01 -7.40165107e-04 -1.40588024e+01] [-6.82144265e-03 1.77162292e-04 9.99976718e-01 -1.86326207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.89, Y:-14.07, Z:-1.86 [[ 9.96576017e-01 8.24028331e-02 6.78351506e-03 2.59885610e+02] [-8.23997046e-02 9.96599088e-01 -7.39857884e-04 -1.40668237e+01] [-6.82141131e-03 1.78364986e-04 9.99976718e-01 -1.85992649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.94, Y:-14.07, Z:-1.86 [[ 9.96497291e-01 8.33494637e-02 6.78354900e-03 2.59944565e+02] [-8.33463593e-02 9.96520365e-01 -7.39546537e-04 -1.40724972e+01] [-6.82158554e-03 1.71572008e-04 9.99976718e-01 -1.85650584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.00, Y:-14.08, Z:-1.86 [[ 9.96750001e-01 8.02709093e-02 6.78358343e-03 2.60001616e+02] [-8.02677358e-02 9.96773066e-01 -7.39230651e-04 -1.40780276e+01] [-6.82103196e-03 1.92325270e-04 9.99976718e-01 -1.85662696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.06, Y:-14.08, Z:-1.86 [[ 9.97165203e-01 7.49369100e-02 6.78364287e-03 2.60059611e+02] [-7.49336168e-02 9.97188251e-01 -7.38684788e-04 -1.40817553e+01] [-6.81992372e-03 2.28267871e-04 9.99976718e-01 -1.85604383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.12, Y:-14.09, Z:-1.85 [[ 9.97516258e-01 7.01091724e-02 6.78369426e-03 2.60117737e+02] [-7.01057709e-02 9.97539290e-01 -7.38212520e-04 -1.40852665e+01] [-6.81875703e-03 2.60802875e-04 9.99976718e-01 -1.85301393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:-14.09, Z:-1.86 [[ 9.97969161e-01 6.33366747e-02 6.78373662e-03 2.60174654e+02] [-6.33331196e-02 9.97992170e-01 -7.37823095e-04 -1.40897425e+01] [-6.81684729e-03 3.06689492e-04 9.99976718e-01 -1.85587158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:-14.10, Z:-1.86 [[ 9.98132928e-01 6.07012191e-02 6.78379372e-03 2.60232943e+02] [-6.06976068e-02 9.98155928e-01 -7.37297665e-04 -1.40959047e+01] [-6.81603879e-03 3.24161034e-04 9.99976718e-01 -1.85889185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.29, Y:-14.11, Z:-1.86 [[ 9.98429951e-01 5.56022677e-02 6.78382599e-03 2.60290045e+02] [-5.55985400e-02 9.98452933e-01 -7.37000626e-04 -1.41053150e+01] [-6.81430986e-03 3.58672679e-04 9.99976718e-01 -1.86391731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.35, Y:-14.12, Z:-1.86 [[ 9.98623069e-01 5.20187009e-02 6.78387777e-03 2.60347379e+02] [-5.20148940e-02 9.98646038e-01 -7.36523695e-04 -1.41151040e+01] [-6.81300566e-03 3.82646870e-04 9.99976718e-01 -1.86396734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.40, Y:-14.12, Z:-1.87 [[ 9.98555344e-01 5.33029463e-02 6.78392041e-03 2.60404779e+02] [-5.32991716e-02 9.98578318e-01 -7.36130813e-04 -1.41229167e+01] [-6.81351377e-03 3.73490020e-04 9.99976718e-01 -1.86663219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.46, Y:-14.13, Z:-1.87 [[ 9.98428140e-01 5.56347668e-02 6.78396203e-03 2.60463509e+02] [-5.56310484e-02 9.98451123e-01 -7.35746970e-04 -1.41294276e+01] [-6.81438762e-03 3.57191559e-04 9.99976718e-01 -1.86921167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.52, Y:-14.14, Z:-1.87 [[ 9.98488352e-01 5.45434486e-02 6.78399605e-03 2.60521395e+02] [-5.45397071e-02 9.98511332e-01 -7.35433232e-04 -1.41354668e+01] [-6.81400999e-03 3.64324358e-04 9.99976718e-01 -1.87191579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:-14.14, Z:-1.87 [[ 9.98650769e-01 5.14841641e-02 6.78403797e-03 2.60580061e+02] [-5.14803549e-02 9.98673737e-01 -7.35046270e-04 -1.41418579e+01] [-6.81288380e-03 3.84809840e-04 9.99976718e-01 -1.87451986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.64, Y:-14.15, Z:-1.87 [[ 9.98959995e-01 4.50877530e-02 6.78407124e-03 2.60638107e+02] [-4.50837988e-02 9.98982938e-01 -7.34739123e-04 -1.41485714e+01] [-6.81029916e-03 4.28123288e-04 9.99976718e-01 -1.87401506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:-14.16, Z:-1.87 [[ 9.99120003e-01 4.13907715e-02 6.78410518e-03 2.60695146e+02] [-4.13867346e-02 9.99142932e-01 -7.34425551e-04 -1.41554741e+01] [-6.80868919e-03 4.53007298e-04 9.99976718e-01 -1.87289292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.75, Y:-14.16, Z:-1.87 [[ 9.99255814e-01 3.79709674e-02 6.78414709e-03 2.60752247e+02] [-3.79668546e-02 9.99278729e-01 -7.34038246e-04 -1.41635060e+01] [-6.80712603e-03 4.75919258e-04 9.99976718e-01 -1.87167901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.81, Y:-14.17, Z:-1.86 [[ 9.99362194e-01 3.50596513e-02 6.78418752e-03 2.60810349e+02] [-3.50554744e-02 9.99385099e-01 -7.33664408e-04 -1.41725605e+01] [-6.80573793e-03 4.95373562e-04 9.99976718e-01 -1.86337327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:-14.18, Z:-1.87 [[ 9.99358750e-01 3.51576797e-02 6.78422007e-03 2.60868037e+02] [-3.51535070e-02 9.99381655e-01 -7.33363324e-04 -1.41814300e+01] [-6.80580843e-03 4.94403927e-04 9.99976718e-01 -1.86693501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.93, Y:-14.19, Z:-1.87 [[ 9.99323805e-01 3.61373300e-02 6.78425325e-03 2.60925511e+02] [-3.61331818e-02 9.99346715e-01 -7.33056251e-04 -1.41923165e+01] [-6.80631189e-03 4.87423906e-04 9.99976718e-01 -1.87178583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:-14.20, Z:-1.87 [[ 9.99286369e-01 3.71581325e-02 6.78428656e-03 2.60982702e+02] [-3.71540098e-02 9.99309283e-01 -7.32747761e-04 -1.41997422e+01] [-6.80682808e-03 4.80161399e-04 9.99976718e-01 -1.87064775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-14.21, Z:-1.87 [[ 9.99147177e-01 4.07294872e-02 6.78432790e-03 2.61040313e+02] [-4.07254490e-02 9.99170106e-01 -7.32364889e-04 -1.42050662e+01] [-6.80852647e-03 4.55445512e-04 9.99976718e-01 -1.87278332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:-14.21, Z:-1.87 [[ 9.99075273e-01 4.24566898e-02 6.78436859e-03 2.61099277e+02] [-4.24526939e-02 9.99098210e-01 -7.31987670e-04 -1.42108212e+01] [-6.80932829e-03 4.43296059e-04 9.99976718e-01 -1.87496539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:-14.22, Z:-1.87 [[ 9.99094955e-01 4.19909732e-02 6.78440138e-03 2.61158126e+02] [-4.19869686e-02 9.99117891e-01 -7.31683663e-04 -1.42162273e+01] [-6.80914091e-03 4.46165009e-04 9.99976718e-01 -1.87315718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.22, Y:-14.22, Z:-1.88 [[ 9.99201131e-01 3.93836479e-02 6.78443448e-03 2.61216831e+02] [-3.93795855e-02 9.99224056e-01 -7.31376664e-04 -1.42203253e+01] [-6.80797441e-03 4.63624172e-04 9.99976718e-01 -1.87597692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.27, Y:-14.23, Z:-1.88 [[ 9.99243945e-01 3.82819774e-02 6.78446845e-03 2.61273968e+02] [-3.82778919e-02 9.99266866e-01 -7.31061405e-04 -1.42263688e+01] [-6.80748100e-03 4.70813532e-04 9.99976718e-01 -1.87994236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:-14.23, Z:-1.88 [[ 9.99128008e-01 4.11970154e-02 6.78451032e-03 2.61331847e+02] [-4.11929995e-02 9.99150941e-01 -7.30672618e-04 -1.42307564e+01] [-6.80885140e-03 4.50561147e-04 9.99976718e-01 -1.87828031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:-14.24, Z:-1.88 [[ 9.98914823e-01 4.60776067e-02 6.78455108e-03 2.61390008e+02] [-4.60737054e-02 9.98937776e-01 -7.30293979e-04 -1.42360225e+01] [-6.81099456e-03 4.16912073e-04 9.99976718e-01 -1.87923989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:-14.24, Z:-1.88 [[ 9.98652939e-01 5.14419806e-02 6.78458343e-03 2.61448299e+02] [-5.14382046e-02 9.98675913e-01 -7.29993230e-04 -1.42411994e+01] [-6.81315235e-03 3.80023094e-04 9.99976718e-01 -1.88050942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:261.51, Y:-14.25, Z:-1.88 [[ 9.98156003e-01 6.03205023e-02 6.78461686e-03 2.61505279e+02] [-6.03169329e-02 9.98179010e-01 -7.29682462e-04 -1.42470355e+01] [-6.81627695e-03 3.19109651e-04 9.99976718e-01 -1.87961022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:261.56, Y:-14.25, Z:-1.88 [[ 9.97711399e-01 6.72750479e-02 6.78467502e-03 2.61562953e+02] [-6.72716426e-02 9.97734431e-01 -7.29141269e-04 -1.42537296e+01] [-6.81835688e-03 2.71056323e-04 9.99976718e-01 -1.87980437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:-14.26, Z:-1.88 [[ 9.97147473e-01 7.51723734e-02 6.78471599e-03 2.61621518e+02] [-7.51691531e-02 9.97170531e-01 -7.28759793e-04 -1.42597977e+01] [-6.82030145e-03 2.16679631e-04 9.99976718e-01 -1.87522025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.68, Y:-14.26, Z:-1.87 [[ 9.96363663e-01 8.49318404e-02 6.78474854e-03 2.61678781e+02] [-8.49288482e-02 9.96386752e-01 -7.28456709e-04 -1.42635674e+01] [-6.82210273e-03 1.49586917e-04 9.99976718e-01 -1.87140250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:-14.27, Z:-1.87 [[ 9.96014943e-01 8.89280583e-02 6.78479704e-03 2.61736492e+02] [-8.89251617e-02 9.96038044e-01 -7.28004625e-04 -1.42690373e+01] [-6.82265602e-03 1.21764311e-04 9.99976718e-01 -1.87216665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:261.79, Y:-14.27, Z:-1.87 [[ 9.96076030e-01 8.82411995e-02 6.78484804e-03 2.61792833e+02] [-8.82382902e-02 9.96099129e-01 -7.27529003e-04 -1.42746120e+01] [-6.82257926e-03 1.25990810e-04 9.99976718e-01 -1.87461644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:-14.28, Z:-1.87 [[ 9.96145923e-01 8.74486389e-02 6.78490675e-03 2.61850729e+02] [-8.74457150e-02 9.96169021e-01 -7.26981113e-04 -1.42802897e+01] [-6.82248742e-03 1.30868251e-04 9.99976718e-01 -1.87442513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:-14.29, Z:-1.87 [[ 9.96160797e-01 8.72790397e-02 6.78495696e-03 2.61907771e+02] [-8.72761151e-02 9.96183895e-01 -7.26512211e-04 -1.42863090e+01] [-6.82247413e-03 1.31558299e-04 9.99976718e-01 -1.87286949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:-14.29, Z:-1.87 [[ 9.96114125e-01 8.78100962e-02 6.78504473e-03 2.61965276e+02] [-8.78071894e-02 9.96137225e-01 -7.25691519e-04 -1.42913991e+01] [-6.82255867e-03 1.27095865e-04 9.99976718e-01 -1.87403299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.02, Y:-14.29, Z:-1.87 [[ 9.96098941e-01 8.79821712e-02 6.78509536e-03 2.62023389e+02] [-8.79792716e-02 9.96122042e-01 -7.25217863e-04 -1.42948836e+01] [-6.82258928e-03 1.25440998e-04 9.99976718e-01 -1.87415020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.08, Y:-14.30, Z:-1.88 [[ 9.95883985e-01 9.03827994e-02 6.78514546e-03 2.62079936e+02] [-9.03799587e-02 9.95907093e-01 -7.24748790e-04 -1.42983291e+01] [-6.82287932e-03 1.08524546e-04 9.99976718e-01 -1.87629140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.14, Y:-14.30, Z:-1.88 [[ 9.95685900e-01 9.25394465e-02 6.78523479e-03 2.62137619e+02] [-9.25366616e-02 9.95709015e-01 -7.23911565e-04 -1.43035646e+01] [-6.82310982e-03 9.29055627e-05 9.99976718e-01 -1.88027831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:-14.31, Z:-1.88 [[ 9.95769116e-01 9.16396584e-02 6.78528426e-03 2.62194883e+02] [-9.16368557e-02 9.95792229e-01 -7.23447540e-04 -1.43095335e+01] [-6.82302982e-03 9.86046025e-05 9.99976718e-01 -1.88079804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:-14.32, Z:-1.88 [[ 9.96038462e-01 8.86642014e-02 6.78533342e-03 2.62250971e+02] [-8.86613329e-02 9.96061567e-01 -7.22986170e-04 -1.43167683e+01] [-6.82271283e-03 1.18525328e-04 9.99976718e-01 -1.87985436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.31, Y:-14.32, Z:-1.88 [[ 9.96041827e-01 8.86263875e-02 6.78539000e-03 2.62308576e+02] [-8.86235217e-02 9.96064932e-01 -7.22454778e-04 -1.43234153e+01] [-6.82271759e-03 1.18250019e-04 9.99976718e-01 -1.88010824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:-14.33, Z:-1.88 [[ 9.96043132e-01 8.86117222e-02 6.78543779e-03 2.62364748e+02] [-8.86088592e-02 9.96066237e-01 -7.22005605e-04 -1.43302877e+01] [-6.82272365e-03 1.17898822e-04 9.99976718e-01 -1.88077206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.42, Y:-14.34, Z:-1.88 [[ 9.96139358e-01 8.75233480e-02 6.78552168e-03 2.62421975e+02] [-8.75204651e-02 9.96162461e-01 -7.21216314e-04 -1.43383909e+01] [-6.82260525e-03 1.24559942e-04 9.99976718e-01 -1.88063321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:-14.35, Z:-1.88 [[ 9.96513432e-01 8.31560981e-02 6.78556837e-03 2.62479010e+02] [-8.31531169e-02 9.96536522e-01 -7.20776765e-04 -1.43467672e+01] [-6.82200369e-03 1.54022567e-04 9.99976718e-01 -1.88347764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:-14.35, Z:-1.88 [[ 9.96711219e-01 8.07508610e-02 6.78561671e-03 2.62537136e+02] [-8.07478272e-02 9.96734302e-01 -7.20321412e-04 -1.43521311e+01] [-6.82162351e-03 1.70028627e-04 9.99976718e-01 -1.88348255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.59, Y:-14.36, Z:-1.88 [[ 9.96849330e-01 7.90276418e-02 6.78566696e-03 2.62593364e+02] [-7.90245714e-02 9.96872409e-01 -7.19847747e-04 -1.43577814e+01] [-6.82133204e-03 1.81345321e-04 9.99976718e-01 -1.88277281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:-14.36, Z:-1.88 [[ 9.97245234e-01 7.38640496e-02 6.78572488e-03 2.62652348e+02] [-7.38608634e-02 9.97268297e-01 -7.19301384e-04 -1.43611493e+01] [-6.82031880e-03 2.16120379e-04 9.99976718e-01 -1.88024023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:-14.36, Z:-1.88 [[ 9.97535528e-01 6.98342614e-02 6.78575824e-03 2.62708988e+02] [-6.98309842e-02 9.97558578e-01 -7.18986538e-04 -1.43649327e+01] [-6.81940123e-03 2.43358440e-04 9.99976718e-01 -1.88164970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.77, Y:-14.37, Z:-1.88 [[ 9.97769893e-01 6.64017574e-02 6.78582638e-03 2.62768423e+02] [-6.63984052e-02 9.97792932e-01 -7.18342810e-04 -1.43669998e+01] [-6.81854883e-03 2.66172779e-04 9.99976718e-01 -1.87925825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.83, Y:-14.36, Z:-1.88 [[ 9.97990678e-01 6.29964998e-02 6.78588477e-03 2.62826691e+02] [-6.29930727e-02 9.98013706e-01 -7.17790783e-04 -1.43630488e+01] [-6.81762432e-03 2.88884777e-04 9.99976718e-01 -1.88143288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:-14.37, Z:-1.88 [[ 9.98096837e-01 6.12915615e-02 6.78592650e-03 2.62886143e+02] [-6.12880978e-02 9.98119860e-01 -7.17396038e-04 -1.43650322e+01] [-6.81713833e-03 3.00134189e-04 9.99976718e-01 -1.88214518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.95, Y:-14.37, Z:-1.89 [[ 9.98234905e-01 5.90002152e-02 6.78594239e-03 2.62945002e+02] [-5.89966997e-02 9.98257920e-01 -7.17245749e-04 -1.43666779e+01] [-6.81643839e-03 3.15631537e-04 9.99976718e-01 -1.88683990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.00, Y:-14.37, Z:-1.89 [[ 9.98538865e-01 5.36105057e-02 6.78597532e-03 2.63003005e+02] [-5.36068681e-02 9.98561861e-01 -7.16934017e-04 -1.43672981e+01] [-6.81465134e-03 3.52111595e-04 9.99976718e-01 -1.88959262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:-14.37, Z:-1.89 [[ 9.98776762e-01 4.89788593e-02 6.78602448e-03 2.63060655e+02] [-4.89751182e-02 9.98799742e-01 -7.16468445e-04 -1.43713784e+01] [-6.81297130e-03 3.83245683e-04 9.99976718e-01 -1.89000211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.12, Y:-14.38, Z:-1.89 [[ 9.99082777e-01 4.22794789e-02 6.78606475e-03 2.63118881e+02] [-4.22755864e-02 9.99105731e-01 -7.16086792e-04 -1.43774685e+01] [-6.81027196e-03 4.28545114e-04 9.99976718e-01 -1.89023167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:-14.39, Z:-1.89 [[ 9.99212102e-01 3.91040150e-02 6.78609634e-03 2.63177087e+02] [-3.91000516e-02 9.99235044e-01 -7.15787304e-04 -1.43851253e+01] [-6.80889543e-03 4.49886620e-04 9.99976718e-01 -1.89184303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.24, Y:-14.39, Z:-1.89 [[ 9.99238865e-01 3.84140506e-02 6.78612891e-03 2.63235729e+02] [-3.84100735e-02 9.99261805e-01 -7.15478379e-04 -1.43940969e+01] [-6.80860385e-03 4.54278094e-04 9.99976718e-01 -1.88801280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.29, Y:-14.40, Z:-1.89 [[ 9.99197087e-01 3.94858101e-02 6.78616119e-03 2.63294346e+02] [-3.94818597e-02 9.99220031e-01 -7.15172096e-04 -1.44014354e+01] [-6.80910735e-03 4.46667611e-04 9.99976718e-01 -1.88716376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.35, Y:-14.41, Z:-1.89 [[ 9.99192631e-01 3.95984008e-02 6.78619373e-03 2.63352695e+02] [-3.95944550e-02 9.99215576e-01 -7.14863168e-04 -1.44111417e+01] [-6.80917792e-03 4.45590367e-04 9.99976718e-01 -1.89056109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:-14.43, Z:-1.89 [[ 9.99365986e-01 3.49510079e-02 6.78622617e-03 2.63410667e+02] [-3.49469576e-02 9.99388913e-01 -7.14555125e-04 -1.44250711e+01] [-6.80705362e-03 4.76944129e-04 9.99976718e-01 -1.89128995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.47, Y:-14.44, Z:-1.89 [[ 9.99474753e-01 3.16885639e-02 6.78625937e-03 2.63467886e+02] [-3.16844408e-02 9.99497667e-01 -7.14239675e-04 -1.44358365e+01] [-6.80548363e-03 4.98845690e-04 9.99976718e-01 -1.89307991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.53, Y:-14.45, Z:-1.89 [[ 9.99494173e-01 3.10699908e-02 6.78630030e-03 2.63525525e+02] [-3.10658562e-02 9.99517085e-01 -7.13850550e-04 -1.44469633e+01] [-6.80520242e-03 5.02667236e-04 9.99976718e-01 -1.89475521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:-14.46, Z:-1.89 [[ 9.99338120e-01 3.57388762e-02 6.78633252e-03 2.63582233e+02] [-3.57348507e-02 9.99361052e-01 -7.13544096e-04 -1.44564084e+01] [-6.80749767e-03 4.70563236e-04 9.99976718e-01 -1.89395392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:-14.46, Z:-1.89 [[ 9.99267293e-01 3.76672643e-02 6.78637686e-03 2.63641337e+02] [-3.76632860e-02 9.99290232e-01 -7.13122128e-04 -1.44615517e+01] [-6.80842147e-03 4.57002365e-04 9.99976718e-01 -1.89278930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:-14.47, Z:-1.89 [[ 9.99253227e-01 3.80385646e-02 6.78640915e-03 2.63698680e+02] [-3.80345969e-02 9.99276169e-01 -7.12814773e-04 -1.44683378e+01] [-6.80861138e-03 4.54164127e-04 9.99976718e-01 -1.89337127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:-14.47, Z:-1.89 [[ 9.99177092e-01 3.99885451e-02 6.78644910e-03 2.63757087e+02] [-3.99846247e-02 9.99200041e-01 -7.12434181e-04 -1.44699189e+01] [-6.80950943e-03 4.40494293e-04 9.99976718e-01 -1.89488870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:-14.47, Z:-1.89 [[ 9.99075974e-01 4.24398553e-02 6.78648769e-03 2.63815893e+02] [-4.24359937e-02 9.99098934e-01 -7.12066411e-04 -1.44710374e+01] [-6.81059261e-03 4.23417094e-04 9.99976718e-01 -1.89467883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.87, Y:-14.47, Z:-1.90 [[ 9.98961158e-01 4.50616078e-02 6.78651906e-03 2.63874582e+02] [-4.50578085e-02 9.98984128e-01 -7.11767330e-04 -1.44705442e+01] [-6.81169820e-03 4.05242240e-04 9.99976718e-01 -1.89552696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.93, Y:-14.47, Z:-1.90 [[ 9.98912956e-01 4.61177747e-02 6.78655039e-03 2.63933880e+02] [-4.61140017e-02 9.98935930e-01 -7.11468422e-04 -1.44689294e+01] [-6.81214037e-03 3.97740028e-04 9.99976718e-01 -1.89954577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.99, Y:-14.47, Z:-1.90 [[ 9.98991271e-01 4.43890007e-02 6.78658157e-03 2.63992863e+02] [-4.43851900e-02 9.99014239e-01 -7.11170919e-04 -1.44678483e+01] [-6.81145978e-03 4.09229828e-04 9.99976718e-01 -1.89917740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:-14.47, Z:-1.90 [[ 9.99092294e-01 4.20538949e-02 6.78661252e-03 2.64051944e+02] [-4.20500325e-02 9.99115253e-01 -7.10875412e-04 -1.44677066e+01] [-6.81050317e-03 4.24852869e-04 9.99976718e-01 -1.89725957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:-14.46, Z:-1.90 [[ 9.99131411e-01 4.11140468e-02 6.78664431e-03 2.64110240e+02] [-4.11101648e-02 9.99154367e-01 -7.10571805e-04 -1.44645933e+01] [-6.81011978e-03 4.30954544e-04 9.99976718e-01 -1.89776990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.17, Y:-14.47, Z:-1.90 [[ 9.99100504e-01 4.18583887e-02 6.78669273e-03 2.64168210e+02] [-4.18545270e-02 9.99123463e-01 -7.10109017e-04 -1.44668853e+01] [-6.81046796e-03 4.25416462e-04 9.99976718e-01 -1.89790300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.23, Y:-14.47, Z:-1.90 [[ 9.99014072e-01 4.38728183e-02 6.78673273e-03 2.64226744e+02] [-4.38690055e-02 9.99037040e-01 -7.09726568e-04 -1.44692147e+01] [-6.81133508e-03 4.11299613e-04 9.99976718e-01 -1.89864494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.28, Y:-14.47, Z:-1.91 [[ 9.98639064e-01 5.17103409e-02 6.78678143e-03 2.64284630e+02] [-5.17067115e-02 9.98662061e-01 -7.09260537e-04 -1.44693317e+01] [-6.81437724e-03 3.57373129e-04 9.99976718e-01 -1.90525441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.34, Y:-14.47, Z:-1.90 [[ 9.98077037e-01 6.16130378e-02 6.78682164e-03 2.64344245e+02] [-6.16096394e-02 9.98100070e-01 -7.08875533e-04 -1.44665594e+01] [-6.81760313e-03 2.89378758e-04 9.99976718e-01 -1.90269363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.40, Y:-14.47, Z:-1.90 [[ 9.98036102e-01 6.22726066e-02 6.78685387e-03 2.64401086e+02] [-6.22692255e-02 9.98059137e-01 -7.08566843e-04 -1.44670863e+01] [-6.81780582e-03 2.84563157e-04 9.99976718e-01 -1.90386272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.46, Y:-14.47, Z:-1.90 [[ 9.98262578e-01 5.85300190e-02 6.78690989e-03 2.64459390e+02] [-5.85265552e-02 9.98285601e-01 -7.08029858e-04 -1.44714599e+01] [-6.81671542e-03 3.09585255e-04 9.99976718e-01 -1.90399266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:-14.48, Z:-1.90 [[ 9.98737520e-01 4.97725251e-02 6.78695775e-03 2.64517657e+02] [-4.97688626e-02 9.98760512e-01 -7.07570763e-04 -1.44800539e+01] [-6.81376298e-03 3.68898301e-04 9.99976718e-01 -1.89947817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.57, Y:-14.49, Z:-1.90 [[ 9.99043549e-01 4.31963315e-02 6.78699066e-03 2.64574608e+02] [-4.31925199e-02 9.99066517e-01 -7.07255020e-04 -1.44887791e+01] [-6.81120594e-03 4.13431336e-04 9.99976718e-01 -1.89988410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.63, Y:-14.50, Z:-1.90 [[ 9.99205451e-01 3.92734485e-02 6.78703116e-03 2.64633093e+02] [-3.92695494e-02 9.99228404e-01 -7.06866088e-04 -1.44979976e+01] [-6.80955538e-03 4.39780792e-04 9.99976718e-01 -1.90282269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:264.69, Y:-14.51, Z:-1.90 [[ 9.99236715e-01 3.84697797e-02 6.78706230e-03 2.64690765e+02] [-3.84658641e-02 9.99259665e-01 -7.06567002e-04 -1.45092102e+01] [-6.80921908e-03 4.44957473e-04 9.99976718e-01 -1.90194395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:-14.52, Z:-1.90 [[ 9.99203333e-01 3.93272745e-02 6.78709407e-03 2.64749108e+02] [-3.93233807e-02 9.99226287e-01 -7.06261648e-04 -1.45184356e+01] [-6.80961816e-03 4.38807509e-04 9.99976718e-01 -1.90176068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:-14.53, Z:-1.90 [[ 9.99235944e-01 3.84897884e-02 6.78712592e-03 2.64806337e+02] [-3.84858774e-02 9.99258895e-01 -7.05955504e-04 -1.45284078e+01] [-6.80926802e-03 4.44207618e-04 9.99976718e-01 -1.90246026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:-14.54, Z:-1.90 [[ 9.99323411e-01 3.61476817e-02 6.78716545e-03 2.64864865e+02] [-3.61437195e-02 9.99346353e-01 -7.05575221e-04 -1.45379618e+01] [-6.80823395e-03 4.59784433e-04 9.99976718e-01 -1.90361421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:-14.55, Z:-1.91 [[ 9.99356486e-01 3.52214240e-02 6.78719761e-03 2.64921526e+02] [-3.52174426e-02 9.99379425e-01 -7.05265690e-04 -1.45480346e+01] [-6.80782611e-03 4.65784098e-04 9.99976718e-01 -1.90638531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.98, Y:-14.56, Z:-1.91 [[ 9.99248318e-01 3.81671682e-02 6.78723735e-03 2.64979641e+02] [-3.81632571e-02 9.99271269e-01 -7.04883086e-04 -1.45550981e+01] [-6.80919467e-03 4.45330154e-04 9.99976718e-01 -1.90625648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.04, Y:-14.56, Z:-1.91 [[ 9.99037489e-01 4.33362325e-02 6.78726872e-03 2.65037601e+02] [-4.33324422e-02 9.99060460e-01 -7.04580940e-04 -1.45610779e+01] [-6.81142569e-03 4.09793843e-04 9.99976718e-01 -1.90757641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:-14.57, Z:-1.91 [[ 9.99018571e-01 4.37701739e-02 6.78731048e-03 2.65095228e+02] [-4.37663962e-02 9.99041544e-01 -7.04178419e-04 -1.45672377e+01] [-6.81162715e-03 4.06431198e-04 9.99976718e-01 -1.90841203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.15, Y:-14.58, Z:-1.91 [[ 9.99256528e-01 3.79515876e-02 6.78735799e-03 2.65153368e+02] [-3.79476793e-02 9.99279480e-01 -7.03720116e-04 -1.45768693e+01] [-6.80917486e-03 4.45632435e-04 9.99976718e-01 -1.90591902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.21, Y:-14.59, Z:-1.91 [[ 9.99469117e-01 3.18656008e-02 6.78739011e-03 2.65210688e+02] [-3.18615549e-02 9.99492044e-01 -7.03410222e-04 -1.45885555e+01] [-6.80635701e-03 4.86779990e-04 9.99976718e-01 -1.90770686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:-14.60, Z:-1.91 [[ 9.99529472e-01 2.99126330e-02 6.78742968e-03 2.65269020e+02] [-2.99085449e-02 9.99552392e-01 -7.03028164e-04 -1.45998631e+01] [-6.80542100e-03 4.99695224e-04 9.99976718e-01 -1.90950356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.33, Y:-14.61, Z:-1.91 [[ 9.99389834e-01 3.42620919e-02 6.78746027e-03 2.65327575e+02] [-3.42581056e-02 9.99412772e-01 -7.02732696e-04 -1.46070170e+01] [-6.80755158e-03 4.69778381e-04 9.99976718e-01 -1.90559500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.39, Y:-14.61, Z:-1.91 [[ 9.99142748e-01 4.08374672e-02 6.78749287e-03 2.65385347e+02] [-4.08336341e-02 9.99165712e-01 -7.02417683e-04 -1.46107504e+01] [-6.81051511e-03 4.24657534e-04 9.99976718e-01 -1.90582950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.44, Y:-14.62, Z:-1.91 [[ 9.99250814e-01 3.81017004e-02 6.78753335e-03 2.65443398e+02] [-3.80978070e-02 9.99273768e-01 -7.02026298e-04 -1.46196142e+01] [-6.80935243e-03 4.42910214e-04 9.99976718e-01 -1.90853859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.50, Y:-14.63, Z:-1.91 [[ 9.99445398e-01 3.26010142e-02 6.78756444e-03 2.65502062e+02] [-3.25969966e-02 9.99468330e-01 -7.01725653e-04 -1.46284357e+01] [-6.80683266e-03 4.80082259e-04 9.99976718e-01 -1.91034031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:-14.64, Z:-1.91 [[ 9.99620315e-01 2.67049639e-02 6.78759531e-03 2.65560138e+02] [-2.67008131e-02 9.99643224e-01 -7.01426873e-04 -1.46376860e+01] [-6.80390524e-03 5.19926237e-04 9.99976718e-01 -1.90999613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:-14.64, Z:-1.91 [[ 9.99590525e-01 2.77976616e-02 6.78762707e-03 2.65618395e+02] [-2.77935380e-02 9.99613439e-01 -7.01119381e-04 -1.46441947e+01] [-6.80449272e-03 5.12180120e-04 9.99976718e-01 -1.90828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-14.65, Z:-1.91 [[ 9.99450712e-01 3.24376607e-02 6.78765887e-03 2.65677303e+02] [-3.24336455e-02 9.99473645e-01 -7.00811438e-04 -1.46480424e+01] [-6.80681884e-03 4.80277969e-04 9.99976718e-01 -1.90814260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:-14.65, Z:-1.91 [[ 9.99429271e-01 3.30916748e-02 6.78769084e-03 2.65735587e+02] [-3.30876768e-02 9.99452207e-01 -7.00501614e-04 -1.46533661e+01] [-6.80715337e-03 4.75512897e-04 9.99976718e-01 -1.91043538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.79, Y:-14.66, Z:-1.92 [[ 9.99525613e-01 3.00412318e-02 6.78772258e-03 2.65793935e+02] [-3.00371658e-02 9.99548537e-01 -7.00193934e-04 -1.46580297e+01] [-6.80569287e-03 4.95977822e-04 9.99976718e-01 -1.91745809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.85, Y:-14.66, Z:-1.92 [[ 9.99622640e-01 2.66177327e-02 6.78775398e-03 2.65850937e+02] [-2.66135903e-02 9.99645551e-01 -6.99889435e-04 -1.46642090e+01] [-6.80397753e-03 5.18978822e-04 9.99976718e-01 -1.91688129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.91, Y:-14.67, Z:-1.91 [[ 9.99697436e-01 2.36423947e-02 6.78779265e-03 2.65909327e+02] [-2.36381866e-02 9.99720334e-01 -6.99514136e-04 -1.46701771e+01] [-6.80243253e-03 5.38851378e-04 9.99976718e-01 -1.91279789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.97, Y:-14.67, Z:-1.91 [[ 9.99651224e-01 2.55216562e-02 6.78782295e-03 2.65968229e+02] [-2.55174931e-02 9.99674131e-01 -6.99220026e-04 -1.46740103e+01] [-6.80345627e-03 5.25767929e-04 9.99976718e-01 -1.91329475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:-14.68, Z:-1.92 [[ 9.99542229e-01 2.94831796e-02 6.78785443e-03 2.66026082e+02] [-2.94791094e-02 9.99565152e-01 -6.98914294e-04 -1.46787446e+01] [-6.80550896e-03 4.98494447e-04 9.99976718e-01 -1.91603571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.08, Y:-14.68, Z:-1.92 [[ 9.99503398e-01 3.07714489e-02 6.78789347e-03 2.66083839e+02] [-3.07674108e-02 9.99526327e-01 -6.98534921e-04 -1.46833594e+01] [-6.80617316e-03 4.89342120e-04 9.99976718e-01 -1.91687848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:-14.69, Z:-1.92 [[ 9.99444016e-01 3.26432754e-02 6.78793198e-03 2.66142375e+02] [-3.26392828e-02 9.99466953e-01 -6.98160562e-04 -1.46892664e+01] [-6.80710394e-03 4.76219165e-04 9.99976718e-01 -1.91923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.20, Y:-14.70, Z:-1.92 [[ 9.99423692e-01 3.32597081e-02 6.78797948e-03 2.66201202e+02] [-3.32557328e-02 9.99446632e-01 -6.97698439e-04 -1.46956355e+01] [-6.80742847e-03 4.71557117e-04 9.99976718e-01 -1.91755236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:-14.70, Z:-1.92 [[ 9.99384351e-01 3.44215426e-02 6.78801039e-03 2.66259574e+02] [-3.44175960e-02 9.99407296e-01 -6.97397519e-04 -1.47031213e+01] [-6.80799261e-03 4.63341168e-04 9.99976718e-01 -1.91577783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:-14.71, Z:-1.92 [[ 9.99407662e-01 3.37379165e-02 6.78804048e-03 2.66318019e+02] [-3.37339563e-02 9.99430605e-01 -6.97104555e-04 -1.47103720e+01] [-6.80769426e-03 4.67704173e-04 9.99976718e-01 -1.91781817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:-14.72, Z:-1.92 [[ 9.99535711e-01 2.97032642e-02 6.78807220e-03 2.66375100e+02] [-2.96992134e-02 9.99558638e-01 -6.96795522e-04 -1.47223361e+01] [-6.80577331e-03 4.94871603e-04 9.99976718e-01 -1.92327528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.43, Y:-14.74, Z:-1.93 [[ 9.99640640e-01 2.59328263e-02 6.78811149e-03 2.66432558e+02] [-2.59286916e-02 9.99663552e-01 -6.96412563e-04 -1.47354575e+01] [-6.80388759e-03 5.20155451e-04 9.99976718e-01 -1.92505100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.49, Y:-14.75, Z:-1.92 [[ 9.99735062e-01 2.19938039e-02 6.78814244e-03 2.66491170e+02] [-2.19895811e-02 9.99757958e-01 -6.96110695e-04 -1.47532642e+01] [-6.80180955e-03 5.46657860e-04 9.99976718e-01 -1.92466936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:-14.77, Z:-1.92 [[ 9.99757944e-01 2.09278566e-02 6.78815834e-03 2.66547952e+02] [-2.09236103e-02 9.99780835e-01 -6.95955693e-04 -1.47698403e+01] [-6.80123547e-03 5.53754452e-04 9.99976718e-01 -1.92283440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-14.78, Z:-1.92 [[ 9.99733033e-01 2.20858285e-02 6.78818984e-03 2.66605510e+02] [-2.20816108e-02 9.99755929e-01 -6.95648261e-04 -1.47830975e+01] [-6.80189701e-03 5.45568380e-04 9.99976718e-01 -1.92317330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.66, Y:-14.80, Z:-1.92 [[ 9.99652613e-01 2.54671033e-02 6.78820700e-03 2.66663687e+02] [-2.54629642e-02 9.99675524e-01 -6.95480789e-04 -1.48001970e+01] [-6.80371627e-03 5.22391316e-04 9.99976718e-01 -1.92234482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:-14.81, Z:-1.92 [[ 9.99665928e-01 2.49389731e-02 6.78822236e-03 2.66722314e+02] [-2.49348229e-02 9.99688837e-01 -6.95330798e-04 -1.48134110e+01] [-6.80345096e-03 5.25835384e-04 9.99976718e-01 -1.92189196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:-14.83, Z:-1.93 [[ 9.99724923e-01 2.24499240e-02 6.78823823e-03 2.66780433e+02] [-2.24457179e-02 9.99747821e-01 -6.95175877e-04 -1.48313824e+01] [-6.80213303e-03 5.42617770e-04 9.99976718e-01 -1.93049036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:-14.85, Z:-1.93 [[ 9.99749439e-01 2.13302244e-02 6.78824605e-03 2.66838844e+02] [-2.13259931e-02 9.99772334e-01 -6.95099544e-04 -1.48468492e+01] [-6.80152722e-03 5.50159290e-04 9.99976718e-01 -1.93463884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:-14.86, Z:-1.93 [[ 9.99748119e-01 2.13920058e-02 6.78825362e-03 2.66897863e+02] [-2.13877765e-02 9.99771014e-01 -6.95025524e-04 -1.48645167e+01] [-6.80156720e-03 5.49664809e-04 9.99976718e-01 -1.93067074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:-14.88, Z:-1.93 [[ 9.99665810e-01 2.49437050e-02 6.78825362e-03 2.66955834e+02] [-2.49395570e-02 9.99688719e-01 -6.95025524e-04 -1.48779616e+01] [-6.80347708e-03 5.25497215e-04 9.99976718e-01 -1.93027838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:-14.89, Z:-1.93 [[ 9.99391784e-01 3.42049968e-02 6.78826154e-03 2.67015196e+02] [-3.42010618e-02 9.99414731e-01 -6.94948194e-04 -1.48881828e+01] [-6.80805928e-03 4.62359762e-04 9.99976718e-01 -1.92621599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.07, Y:-14.90, Z:-1.92 [[ 9.99229954e-01 3.86447635e-02 6.78827673e-03 2.67073556e+02] [-3.86409316e-02 9.99252919e-01 -6.94799752e-04 -1.48951343e+01] [-6.81005571e-03 4.31959388e-04 9.99976718e-01 -1.92402039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.13, Y:-14.90, Z:-1.92 [[ 9.99239255e-01 3.84035076e-02 6.78829937e-03 2.67132636e+02] [-3.83996715e-02 9.99262219e-01 -6.94578486e-04 -1.49019744e+01] [-6.80996535e-03 4.33381623e-04 9.99976718e-01 -1.92170197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.19, Y:-14.91, Z:-1.92 [[ 9.99396293e-01 3.40729895e-02 6.78831558e-03 2.67191020e+02] [-3.40690550e-02 9.99419240e-01 -6.94420025e-04 -1.49089213e+01] [-6.80803417e-03 4.62729301e-04 9.99976718e-01 -1.92389867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.25, Y:-14.92, Z:-1.93 [[ 9.99680922e-01 2.43304862e-02 6.78833963e-03 2.67250975e+02] [-2.43263299e-02 9.99703830e-01 -6.94184900e-04 -1.49200486e+01] [-6.80321898e-03 5.28828012e-04 9.99976718e-01 -1.92571146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.31, Y:-14.93, Z:-1.92 [[ 9.99763909e-01 2.06408514e-02 6.78833963e-03 2.67310666e+02] [-2.06366106e-02 9.99786801e-01 -6.94184900e-04 -1.49296320e+01] [-6.80122093e-03 5.53932688e-04 9.99976718e-01 -1.92435156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.37, Y:-14.93, Z:-1.92 [[ 9.99617751e-01 2.68005495e-02 6.78833963e-03 2.67370535e+02] [-2.67964498e-02 9.99640670e-01 -6.94184900e-04 -1.49328288e+01] [-6.80450491e-03 5.12016147e-04 9.99976718e-01 -1.92303822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:-14.93, Z:-1.92 [[ 9.99441289e-01 3.27265612e-02 6.78833184e-03 2.67429318e+02] [-3.27225969e-02 9.99464231e-01 -6.94261070e-04 -1.49321182e+01] [-6.80741564e-03 4.71741332e-04 9.99976718e-01 -1.92365177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:-14.93, Z:-1.92 [[ 9.99473600e-01 3.17244447e-02 6.78835500e-03 2.67488712e+02] [-3.17204589e-02 9.99496539e-01 -6.94034477e-04 -1.49344362e+01] [-6.80695519e-03 4.78339401e-04 9.99976718e-01 -1.92303566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.55, Y:-14.94, Z:-1.93 [[ 9.99674532e-01 2.45916471e-02 6.78837030e-03 2.67548476e+02] [-2.45874988e-02 9.99697441e-01 -6.93884813e-04 -1.49363833e+01] [-6.80338019e-03 5.26749929e-04 9.99976718e-01 -1.92827090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.61, Y:-14.94, Z:-1.93 [[ 9.99719463e-01 2.26917170e-02 6.78838621e-03 2.67607566e+02] [-2.26875262e-02 9.99742364e-01 -6.93729116e-04 -1.49408890e+01] [-6.80237919e-03 5.39522810e-04 9.99976718e-01 -1.92954816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.67, Y:-14.94, Z:-1.93 [[ 9.99729866e-01 2.22286651e-02 6.78839407e-03 2.67666695e+02] [-2.22244642e-02 9.99752765e-01 -6.93652212e-04 -1.49426258e+01] [-6.80213471e-03 5.42596412e-04 9.99976718e-01 -1.93275837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:-14.94, Z:-1.94 [[ 9.99726196e-01 2.23931066e-02 6.78840156e-03 2.67727308e+02] [-2.23889100e-02 9.99749096e-01 -6.93578942e-04 -1.49449463e+01] [-6.80222971e-03 5.41404125e-04 9.99976718e-01 -1.93665414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.79, Y:-14.95, Z:-1.93 [[ 9.99736960e-01 2.19072775e-02 6.78840156e-03 2.67786859e+02] [-2.19030698e-02 9.99759858e-01 -6.93578942e-04 -1.49460227e+01] [-6.80196581e-03 5.44709670e-04 9.99976718e-01 -1.93448076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:-14.95, Z:-1.93 [[ 9.99763991e-01 2.06368699e-02 6.78841698e-03 2.67846265e+02] [-2.06326341e-02 9.99786884e-01 -6.93428015e-04 -1.49503933e+01] [-6.80128044e-03 5.53201436e-04 9.99976718e-01 -1.93282318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-14.96, Z:-1.93 [[ 9.99831445e-01 1.70587143e-02 6.78842461e-03 2.67905145e+02] [-1.70543970e-02 9.99854323e-01 -6.93353265e-04 -1.49563021e+01] [-6.79926341e-03 5.77463908e-04 9.99976718e-01 -1.93169292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:-14.97, Z:-1.94 [[ 9.99891295e-01 1.30887462e-02 6.78843212e-03 2.67964814e+02] [-1.30843387e-02 9.99914156e-01 -6.93279733e-04 -1.49657219e+01] [-6.79692354e-03 6.04382225e-04 9.99976718e-01 -1.93846374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.03, Y:-14.98, Z:-1.94 [[ 9.99916191e-01 1.10239922e-02 6.78843212e-03 2.68025700e+02] [-1.10195375e-02 9.99939043e-01 -6.93279733e-04 -1.49759049e+01] [-6.79566103e-03 6.18416248e-04 9.99976718e-01 -1.93994624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.09, Y:-14.99, Z:-1.94 [[ 9.99836173e-01 1.67793059e-02 6.78841720e-03 2.68086021e+02] [-1.67749818e-02 9.99859050e-01 -6.93425799e-04 -1.49856943e+01] [-6.79909557e-03 5.79436622e-04 9.99976718e-01 -1.93748114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.15, Y:-14.99, Z:-1.94 [[ 9.99772898e-01 2.02007456e-02 6.78839493e-03 2.68146303e+02] [-2.01964983e-02 9.99795789e-01 -6.93643722e-04 -1.49925898e+01] [-6.80102079e-03 5.56384388e-04 9.99976718e-01 -1.94113847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.21, Y:-15.00, Z:-1.94 [[ 9.99732320e-01 2.21180133e-02 6.78838762e-03 2.68205962e+02] [-2.21138095e-02 9.99755219e-01 -6.93715274e-04 -1.49998171e+01] [-6.80206956e-03 5.43412469e-04 9.99976718e-01 -1.94154976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.27, Y:-15.01, Z:-1.94 [[ 9.99695748e-01 2.37134798e-02 6.78838762e-03 2.68265975e+02] [-2.37093125e-02 9.99718654e-01 -6.93715274e-04 -1.50071131e+01] [-6.80292814e-03 5.32556206e-04 9.99976718e-01 -1.94149702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:268.33, Y:-15.02, Z:-1.94 [[ 9.99704491e-01 2.33419826e-02 6.78838762e-03 2.68325888e+02] [-2.33378068e-02 9.99727396e-01 -6.93715274e-04 -1.50156715e+01] [-6.80272977e-03 5.35084196e-04 9.99976718e-01 -1.94484753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:-15.02, Z:-1.95 [[ 9.99732375e-01 2.21155245e-02 6.78838762e-03 2.68385019e+02] [-2.21113206e-02 9.99755274e-01 -6.93715274e-04 -1.50243073e+01] [-6.80206820e-03 5.43429403e-04 9.99976718e-01 -1.94502276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:-15.03, Z:-1.94 [[ 9.99797611e-01 1.89381896e-02 6.78838090e-03 2.68445329e+02] [-1.89339125e-02 9.99820497e-01 -6.93781030e-04 -1.50337808e+01] [-6.80030132e-03 5.65110006e-04 9.99976718e-01 -1.94227076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.50, Y:-15.04, Z:-1.95 [[ 9.99847789e-01 1.60722156e-02 6.78838090e-03 2.68504880e+02] [-1.60678729e-02 9.99870663e-01 -6.93781030e-04 -1.50430500e+01] [-6.79865351e-03 5.84600587e-04 9.99976718e-01 -1.94587553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:268.57, Y:-15.05, Z:-1.95 [[ 9.99905299e-01 1.19712881e-02 6.78837309e-03 2.68565069e+02] [-1.19668511e-02 9.99928154e-01 -6.93857462e-04 -1.50540628e+01] [-6.79619174e-03 6.12556303e-04 9.99976718e-01 -1.94955896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:-15.07, Z:-1.95 [[ 9.99904815e-01 1.20115924e-02 6.78835716e-03 2.68625352e+02] [-1.20071553e-02 9.99927671e-01 -6.94013248e-04 -1.50678676e+01] [-6.79620237e-03 6.12438330e-04 9.99976718e-01 -1.95381469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:-15.08, Z:-1.95 [[ 9.99886842e-01 1.34247123e-02 6.78829393e-03 2.68686379e+02] [-1.34203034e-02 9.99909702e-01 -6.94631150e-04 -1.50795914e+01] [-6.79700619e-03 6.03451583e-04 9.99976718e-01 -1.95161418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:-15.10, Z:-1.95 [[ 9.99829270e-01 1.71858073e-02 6.78818428e-03 2.68746311e+02] [-1.71814771e-02 9.99852145e-01 -6.95701106e-04 -1.50958725e+01] [-6.79913680e-03 5.78951296e-04 9.99976718e-01 -1.94996482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:-15.11, Z:-1.95 [[ 9.99794928e-01 1.90793944e-02 6.78808272e-03 2.68806635e+02] [-1.90751009e-02 9.99817811e-01 -6.96690549e-04 -1.51087458e+01] [-6.80013844e-03 5.67064315e-04 9.99976718e-01 -1.95203699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.87, Y:-15.13, Z:-1.94 [[ 9.99727318e-01 2.23430470e-02 6.78806699e-03 2.68866469e+02] [-2.23388272e-02 9.99750214e-01 -6.96843786e-04 -1.51264202e+01] [-6.80194105e-03 5.45016314e-04 9.99976718e-01 -1.94452638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:-15.14, Z:-1.94 [[ 9.99613114e-01 2.69730765e-02 6.78796529e-03 2.68927011e+02] [-2.69689561e-02 9.99636028e-01 -6.97833081e-04 -1.51360446e+01] [-6.80431737e-03 5.14498760e-04 9.99976718e-01 -1.94170127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:-15.15, Z:-1.94 [[ 9.99501798e-01 3.08233531e-02 6.78794997e-03 2.68986513e+02] [-3.08193200e-02 9.99524728e-01 -6.97982075e-04 -1.51456834e+01] [-6.80623800e-03 4.88434337e-04 9.99976718e-01 -1.94095581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.05, Y:-15.16, Z:-1.95 [[ 9.99666047e-01 2.49342630e-02 6.78794236e-03 2.69047493e+02] [-2.49300943e-02 9.99688953e-01 -6.98056103e-04 -1.51583100e+01] [-6.80323650e-03 5.28598942e-04 9.99976718e-01 -1.94574875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.11, Y:-15.17, Z:-1.95 [[ 9.99750155e-01 2.12967841e-02 6.78783688e-03 2.69107799e+02] [-2.12925253e-02 9.99773044e-01 -6.99080200e-04 -1.51681304e+01] [-6.80118450e-03 5.54375350e-04 9.99976718e-01 -1.94974563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.17, Y:-15.18, Z:-1.96 [[ 9.99790791e-01 1.92950764e-02 6.78782168e-03 2.69167777e+02] [-1.92907707e-02 9.99813671e-01 -6.99227821e-04 -1.51808661e+01] [-6.80004857e-03 5.68139225e-04 9.99976718e-01 -1.95620986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.23, Y:-15.19, Z:-1.95 [[ 9.99749600e-01 2.13228568e-02 6.78772347e-03 2.69229319e+02] [-2.13185912e-02 9.99772488e-01 -7.00179825e-04 -1.51918480e+01] [-6.80110902e-03 5.55299798e-04 9.99976718e-01 -1.95495868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:269.29, Y:-15.20, Z:-1.95 [[ 9.99707861e-01 2.31974263e-02 6.78761906e-03 2.69290895e+02] [-2.31931967e-02 9.99730756e-01 -7.01190574e-04 -1.52030965e+01] [-6.80205735e-03 5.43559145e-04 9.99976718e-01 -1.95487240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.35, Y:-15.22, Z:-1.95 [[ 9.99715489e-01 2.28663729e-02 6.78750789e-03 2.69350725e+02] [-2.28621285e-02 9.99738381e-01 -7.02265045e-04 -1.52175184e+01] [-6.80179040e-03 5.46888365e-04 9.99976718e-01 -1.95399887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.41, Y:-15.23, Z:-1.96 [[ 9.99758817e-01 2.08863370e-02 6.78739765e-03 2.69411895e+02] [-2.08820401e-02 9.99781699e-01 -7.03328932e-04 -1.52348219e+01] [-6.80060592e-03 5.61424591e-04 9.99976718e-01 -1.95588806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:-15.25, Z:-1.95 [[ 9.99759653e-01 2.08463017e-02 6.78735754e-03 2.69472866e+02] [-2.08420012e-02 9.99782534e-01 -7.03715777e-04 -1.52468494e+01] [-6.80055139e-03 5.62084526e-04 9.99976718e-01 -1.95448750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:-15.26, Z:-1.95 [[ 9.99711018e-01 2.30610880e-02 6.78724568e-03 2.69534680e+02] [-2.30568310e-02 9.99733908e-01 -7.04792998e-04 -1.52553228e+01] [-6.80169294e-03 5.48096949e-04 9.99976718e-01 -1.95202259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.60, Y:-15.26, Z:-1.95 [[ 9.99615868e-01 2.68710074e-02 6.78713376e-03 2.69596781e+02] [-2.68668304e-02 9.99638772e-01 -7.05869115e-04 -1.52619573e+01] [-6.80364948e-03 5.23249196e-04 9.99976718e-01 -1.95083686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.66, Y:-15.27, Z:-1.95 [[ 9.99526624e-01 3.00077339e-02 6.78702122e-03 2.69658913e+02] [-3.00036215e-02 9.99549540e-01 -7.06949578e-04 -1.52675519e+01] [-6.80517789e-03 5.02979709e-04 9.99976718e-01 -1.95234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.72, Y:-15.27, Z:-1.96 [[ 9.99518636e-01 3.02726639e-02 6.78690304e-03 2.69719857e+02] [-3.02685499e-02 9.99541552e-01 -7.08082341e-04 -1.52718116e+01] [-6.80522713e-03 5.02311782e-04 9.99976718e-01 -1.95641835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.78, Y:-15.28, Z:-1.96 [[ 9.99686952e-01 2.40818844e-02 6.78679398e-03 2.69782194e+02] [-2.40776216e-02 9.99709841e-01 -7.09126137e-04 -1.52771435e+01] [-6.80190182e-03 5.45494290e-04 9.99976718e-01 -1.95982422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:-15.29, Z:-1.96 [[ 9.99778286e-01 1.99328997e-02 6.78668176e-03 2.69843904e+02] [-1.99285347e-02 9.99801155e-01 -7.10198471e-04 -1.52859252e+01] [-6.79948858e-03 5.74792387e-04 9.99976718e-01 -1.96085452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.91, Y:-15.30, Z:-1.96 [[ 9.99836549e-01 1.67576283e-02 6.78656895e-03 2.69906068e+02] [-1.67531834e-02 9.99859403e-01 -7.11274807e-04 -1.52985980e+01] [-6.79753406e-03 5.97461914e-04 9.99976718e-01 -1.96000432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:-15.31, Z:-1.96 [[ 9.99813007e-01 1.81078955e-02 6.78643834e-03 2.69966472e+02] [-1.81034731e-02 9.99835865e-01 -7.12518874e-04 -1.53086341e+01] [-6.79822666e-03 5.89527533e-04 9.99976718e-01 -1.96375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.03, Y:-15.32, Z:-1.96 [[ 9.99714906e-01 2.28921897e-02 6.78633353e-03 2.70027316e+02] [-2.28878700e-02 9.99737784e-01 -7.13515747e-04 -1.53199425e+01] [-6.80088798e-03 5.57987608e-04 9.99976718e-01 -1.96379347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.09, Y:-15.33, Z:-1.96 [[ 9.99536379e-01 2.96811977e-02 6.78621402e-03 2.70088281e+02] [-2.96770258e-02 9.99559285e-01 -7.14650530e-04 -1.53300934e+01] [-6.80443492e-03 5.12924554e-04 9.99976718e-01 -1.96454282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.15, Y:-15.34, Z:-1.97 [[ 9.99490965e-01 3.11730573e-02 6.78610339e-03 2.70149737e+02] [-3.11689125e-02 9.99513875e-01 -7.15699555e-04 -1.53393836e+01] [-6.80511504e-03 5.03819776e-04 9.99976718e-01 -1.96610963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.21, Y:-15.35, Z:-1.96 [[ 9.99493877e-01 3.10795649e-02 6.78599112e-03 2.70212353e+02] [-3.10754108e-02 9.99516786e-01 -7.16762463e-04 -1.53507515e+01] [-6.80498870e-03 5.05522232e-04 9.99976718e-01 -1.96445313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.27, Y:-15.36, Z:-1.96 [[ 9.99432546e-01 3.29930039e-02 6.78585649e-03 2.70272997e+02] [-3.29888851e-02 9.99455461e-01 -7.18034766e-04 -1.53605056e+01] [-6.80585145e-03 4.93769474e-04 9.99976718e-01 -1.96230251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.34, Y:-15.37, Z:-1.96 [[ 9.99171834e-01 4.01198109e-02 6.78574929e-03 2.70335139e+02] [-4.01158488e-02 9.99194777e-01 -7.19046399e-04 -1.53669494e+01] [-6.80913326e-03 4.46234817e-04 9.99976718e-01 -1.96322983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.40, Y:-15.37, Z:-1.96 [[ 9.98901119e-01 4.63735944e-02 6.78562660e-03 2.70397172e+02] [-4.63697682e-02 9.98924084e-01 -7.20202399e-04 -1.53716453e+01] [-6.81172421e-03 4.04763050e-04 9.99976718e-01 -1.96057826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.46, Y:-15.37, Z:-1.96 [[ 9.98707205e-01 5.03773217e-02 6.78551080e-03 2.70458899e+02] [-5.03735802e-02 9.98730185e-01 -7.21291767e-04 -1.53737666e+01] [-6.81323121e-03 3.78548812e-04 9.99976718e-01 -1.95844917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.52, Y:-15.38, Z:-1.96 [[ 9.98803855e-01 4.84233117e-02 6.78540406e-03 2.70521045e+02] [-4.84195184e-02 9.98826826e-01 -7.22294563e-04 -1.53757232e+01] [-6.81241949e-03 3.92884598e-04 9.99976718e-01 -1.95993146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:270.58, Y:-15.38, Z:-1.96 [[ 9.98940106e-01 4.55260919e-02 6.78528900e-03 2.70583033e+02] [-4.55222247e-02 9.98963064e-01 -7.23373813e-04 -1.53775337e+01] [-6.81118547e-03 4.13725663e-04 9.99976718e-01 -1.95929808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.65, Y:-15.37, Z:-1.96 [[ 9.98946584e-01 4.53837350e-02 6.78517435e-03 2.70645672e+02] [-4.53798573e-02 9.98969541e-01 -7.24447607e-04 -1.53748227e+01] [-6.81106064e-03 4.15774218e-04 9.99976718e-01 -1.95944599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:-15.37, Z:-1.96 [[ 9.98936429e-01 4.56067219e-02 6.78505675e-03 2.70707661e+02] [-4.56028419e-02 9.98959386e-01 -7.25547340e-04 -1.53745404e+01] [-6.81108596e-03 4.15357799e-04 9.99976718e-01 -1.96274337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.77, Y:-15.37, Z:-1.96 [[ 9.98979954e-01 4.46431881e-02 6.78503935e-03 2.70768130e+02] [-4.46392848e-02 9.99002907e-01 -7.25710050e-04 -1.53719444e+01] [-6.81067204e-03 4.22090488e-04 9.99976718e-01 -1.96419367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:-15.37, Z:-1.97 [[ 9.99115120e-01 4.15083111e-02 6.78503072e-03 2.70829682e+02] [-4.15043352e-02 9.99138060e-01 -7.25790675e-04 -1.53734557e+01] [-6.80930878e-03 4.43540248e-04 9.99976718e-01 -1.96594514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.89, Y:-15.37, Z:-1.97 [[ 9.99369729e-01 3.48440759e-02 6.78492162e-03 2.70891490e+02] [-3.48399403e-02 9.99392641e-01 -7.26809186e-04 -1.53749598e+01] [-6.80612573e-03 4.89964835e-04 9.99976718e-01 -1.96589784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:-15.38, Z:-1.97 [[ 9.99499963e-01 3.08834698e-02 6.78490499e-03 2.70951610e+02] [-3.08792424e-02 9.99522858e-01 -7.26964442e-04 -1.53820277e+01] [-6.80411881e-03 5.17088208e-04 9.99976718e-01 -1.96537338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:-15.39, Z:-1.97 [[ 9.99638514e-01 2.60155246e-02 6.78489681e-03 2.71012610e+02] [-2.60111852e-02 9.99661388e-01 -7.27040705e-04 -1.53914030e+01] [-6.80151371e-03 5.50294682e-04 9.99976718e-01 -1.96745865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:-15.40, Z:-1.97 [[ 9.99684465e-01 2.41854559e-02 6.78488032e-03 2.71073647e+02] [-2.41810736e-02 9.99707331e-01 -7.27194615e-04 -1.54029553e+01] [-6.80048212e-03 5.62899470e-04 9.99976718e-01 -1.96921633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:-15.42, Z:-1.96 [[ 9.99685844e-01 2.41284091e-02 6.78476553e-03 2.71134297e+02] [-2.41240183e-02 9.99708708e-01 -7.28264033e-04 -1.54185872e+01] [-6.80036104e-03 5.64359437e-04 9.99976718e-01 -1.96414171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.20, Y:-15.43, Z:-1.97 [[ 9.99509483e-01 3.05738755e-02 6.78465186e-03 2.71195492e+02] [-3.05696251e-02 9.99532374e-01 -7.29321458e-04 -1.54336807e+01] [-6.80377736e-03 5.21559450e-04 9.99976718e-01 -1.96576630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:-15.44, Z:-1.97 [[ 9.99228225e-01 3.86901046e-02 6.78453801e-03 2.71256472e+02] [-3.86860331e-02 9.99251148e-01 -7.30379015e-04 -1.54446443e+01] [-6.80771584e-03 4.67348465e-04 9.99976718e-01 -1.96531904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.32, Y:-15.45, Z:-1.97 [[ 9.98694380e-01 5.06310869e-02 6.78442283e-03 2.71316277e+02] [-5.06272824e-02 9.98717349e-01 -7.31447307e-04 -1.54515623e+01] [-6.81275476e-03 3.87015424e-04 9.99976718e-01 -1.96641737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:-15.46, Z:-1.97 [[ 9.98474047e-01 5.48046510e-02 6.78441462e-03 2.71377341e+02] [-5.48009421e-02 9.98497031e-01 -7.31523499e-04 -1.54584353e+01] [-6.81430875e-03 3.58614915e-04 9.99976718e-01 -1.96537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:-15.47, Z:-1.97 [[ 9.98555654e-01 5.32970638e-02 6.78439802e-03 2.71437762e+02] [-5.32933191e-02 9.98578633e-01 -7.31677440e-04 -1.54672805e+01] [-6.81375116e-03 3.69057556e-04 9.99976718e-01 -1.96505732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.50, Y:-15.47, Z:-1.97 [[ 9.98626106e-01 5.19603157e-02 6.78429093e-03 2.71498646e+02] [-5.19565335e-02 9.98649078e-01 -7.32669009e-04 -1.54742052e+01] [-6.81319560e-03 3.79174160e-04 9.99976718e-01 -1.96647989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:-15.48, Z:-1.97 [[ 9.98830647e-01 4.78676597e-02 6.78427474e-03 2.71559526e+02] [-4.78637824e-02 9.98853604e-01 -7.32818959e-04 -1.54813643e+01] [-6.81157560e-03 4.07240985e-04 9.99976718e-01 -1.96549609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.62, Y:-15.49, Z:-1.97 [[ 9.98899052e-01 4.64183020e-02 6.78421242e-03 2.71621835e+02] [-4.64143875e-02 9.98922002e-01 -7.33395417e-04 -1.54877707e+01] [-6.81094202e-03 4.17702923e-04 9.99976718e-01 -1.96653042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.68, Y:-15.49, Z:-1.97 [[ 9.98924883e-01 4.58590753e-02 6.78408993e-03 2.71682961e+02] [-4.58551403e-02 9.98947830e-01 -7.34526680e-04 -1.54926580e+01] [-6.81063663e-03 4.22651582e-04 9.99976718e-01 -1.97293194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:271.74, Y:-15.50, Z:-1.97 [[ 9.99012117e-01 4.39177212e-02 6.78402048e-03 2.71744275e+02] [-4.39137373e-02 9.99035056e-01 -7.35167592e-04 -1.54961551e+01] [-6.80976117e-03 4.36529639e-04 9.99976718e-01 -1.96820973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:271.81, Y:-15.50, Z:-1.97 [[ 9.99071075e-01 4.25554482e-02 6.78391786e-03 2.71806563e+02] [-4.25514266e-02 9.99094007e-01 -7.36113364e-04 -1.55004696e+01] [-6.80909731e-03 4.46764186e-04 9.99976718e-01 -1.97139326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.87, Y:-15.50, Z:-1.97 [[ 9.99091547e-01 4.20720841e-02 6.78380007e-03 2.71867278e+02] [-4.20680441e-02 9.99114476e-01 -7.37197236e-04 -1.55012260e+01] [-6.80880828e-03 4.51146327e-04 9.99976718e-01 -1.97205652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.93, Y:-15.50, Z:-1.97 [[ 9.99024681e-01 4.36310294e-02 6.78379171e-03 2.71927543e+02] [-4.36270246e-02 9.99047616e-01 -7.37274146e-04 -1.55025413e+01] [-6.80949897e-03 4.40598421e-04 9.99976718e-01 -1.97468074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:-15.50, Z:-1.97 [[ 9.98949792e-01 4.53132777e-02 6.78374844e-03 2.71989389e+02] [-4.53093088e-02 9.98972734e-01 -7.37672122e-04 -1.55017396e+01] [-6.81020606e-03 4.29530460e-04 9.99976718e-01 -1.97126601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.05, Y:-15.50, Z:-1.97 [[ 9.98974364e-01 4.47682990e-02 6.78373176e-03 2.72050560e+02] [-4.47643167e-02 9.98997303e-01 -7.37825475e-04 -1.54993524e+01] [-6.80996092e-03 4.33399619e-04 9.99976718e-01 -1.96780575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.11, Y:-15.50, Z:-1.97 [[ 9.99110098e-01 4.16292313e-02 6.78372349e-03 2.72111990e+02] [-4.16251764e-02 9.99133024e-01 -7.37901463e-04 -1.55024014e+01] [-6.80856044e-03 4.54871117e-04 9.99976718e-01 -1.96772118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:-15.50, Z:-1.97 [[ 9.99316590e-01 3.63364013e-02 6.78370606e-03 2.72172360e+02] [-3.63322239e-02 9.99339494e-01 -7.38061636e-04 -1.55041779e+01] [-6.80604389e-03 4.91090110e-04 9.99976718e-01 -1.96751207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:-15.51, Z:-1.97 [[ 9.99436954e-01 3.28596458e-02 6.78369752e-03 2.72232798e+02] [-3.28553883e-02 9.99459843e-01 -7.38140199e-04 -1.55091147e+01] [-6.80428828e-03 5.14843577e-04 9.99976718e-01 -1.96912170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.29, Y:-15.51, Z:-1.97 [[ 9.99434890e-01 3.29223652e-02 6.78368909e-03 2.72293502e+02] [-3.29181086e-02 9.99457780e-01 -7.38217666e-04 -1.55149605e+01] [-6.80431470e-03 5.14494278e-04 9.99976718e-01 -1.96789824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.35, Y:-15.52, Z:-1.97 [[ 9.99378139e-01 3.46022614e-02 6.78368909e-03 2.72354239e+02] [-3.45980432e-02 9.99401036e-01 -7.38217666e-04 -1.55182685e+01] [-6.80516990e-03 5.03056229e-04 9.99976718e-01 -1.96566863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:-15.52, Z:-1.97 [[ 9.99388082e-01 3.43138870e-02 6.78368081e-03 2.72415790e+02] [-3.43096617e-02 9.99410978e-01 -7.38293743e-04 -1.55232217e+01] [-6.80501879e-03 5.05096174e-04 9.99976718e-01 -1.96518930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:-15.53, Z:-1.97 [[ 9.99475734e-01 3.16581465e-02 6.78366419e-03 2.72476682e+02] [-3.16538594e-02 9.99498618e-01 -7.38446395e-04 -1.55319621e+01] [-6.80364083e-03 5.23330101e-04 9.99976718e-01 -1.97028212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:-15.54, Z:-1.97 [[ 9.99546206e-01 2.93489999e-02 6.78364766e-03 2.72537734e+02] [-2.93446588e-02 9.99569080e-01 -7.38598254e-04 -1.55396857e+01] [-6.80240156e-03 5.39199257e-04 9.99976718e-01 -1.97163313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:-15.55, Z:-1.97 [[ 9.99527232e-01 2.99882456e-02 6.78363111e-03 2.72599124e+02] [-2.99839182e-02 9.99550108e-01 -7.38750162e-04 -1.55459609e+01] [-6.80273303e-03 5.35001064e-04 9.99976718e-01 -1.97427428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.66, Y:-15.55, Z:-1.98 [[ 9.99510669e-01 3.05353084e-02 6.78361457e-03 2.72659350e+02] [-3.05309925e-02 9.99533547e-01 -7.38902020e-04 -1.55484931e+01] [-6.80301294e-03 5.31429967e-04 9.99976718e-01 -1.97516536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.72, Y:-15.55, Z:-1.98 [[ 9.99511943e-01 3.04935709e-02 6.78360639e-03 2.72719932e+02] [-3.04892535e-02 9.99534821e-01 -7.38977151e-04 -1.55513907e+01] [-6.80298485e-03 5.31789393e-04 9.99976718e-01 -1.97507857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.78, Y:-15.55, Z:-1.98 [[ 9.99535710e-01 2.97043421e-02 6.78360639e-03 2.72780893e+02] [-2.97000066e-02 9.99558584e-01 -7.38977151e-04 -1.55537888e+01] [-6.80256283e-03 5.37160896e-04 9.99976718e-01 -1.97947770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.84, Y:-15.56, Z:-1.98 [[ 9.99591669e-01 2.77574984e-02 6.78360639e-03 2.72841009e+02] [-2.77531184e-02 9.99614535e-01 -7.38977151e-04 -1.55602012e+01] [-6.80150370e-03 5.50409172e-04 9.99976718e-01 -1.97572330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.90, Y:-15.57, Z:-1.98 [[ 9.99616178e-01 2.68603596e-02 6.78360639e-03 2.72900420e+02] [-2.68559591e-02 9.99639041e-01 -7.38977151e-04 -1.55676738e+01] [-6.80100697e-03 5.56513260e-04 9.99976718e-01 -1.97719847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.96, Y:-15.57, Z:-1.98 [[ 9.99629367e-01 2.63649940e-02 6.78356249e-03 2.72961250e+02] [-2.63605794e-02 9.99652226e-01 -7.39379913e-04 -1.55730778e+01] [-6.80069709e-03 5.60287237e-04 9.99976718e-01 -1.97827153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.02, Y:-15.58, Z:-1.98 [[ 9.99675231e-01 2.45645320e-02 6.78354570e-03 2.73020879e+02] [-2.45600752e-02 9.99698082e-01 -7.39533886e-04 -1.55805110e+01] [-6.79966393e-03 5.72689316e-04 9.99976718e-01 -1.97508638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.08, Y:-15.59, Z:-1.97 [[ 9.99702153e-01 2.34433211e-02 6.78353738e-03 2.73082191e+02] [-2.34388382e-02 9.99724999e-01 -7.39610244e-04 -1.55858362e+01] [-6.79901082e-03 5.80391718e-04 9.99976718e-01 -1.97479480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:-15.60, Z:-1.98 [[ 9.99773566e-01 2.01692743e-02 6.78352077e-03 2.73142824e+02] [-2.01647155e-02 9.99796398e-01 -7.39762500e-04 -1.55970389e+01] [-6.79706010e-03 6.02807226e-04 9.99976718e-01 -1.98114963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.20, Y:-15.61, Z:-1.98 [[ 9.99854533e-01 1.56492456e-02 6.78341379e-03 2.73203530e+02] [-1.56445771e-02 9.99877342e-01 -7.40742161e-04 -1.56101564e+01] [-6.79417381e-03 6.34510767e-04 9.99976718e-01 -1.98028853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.26, Y:-15.63, Z:-1.98 [[ 9.99922805e-01 1.04101503e-02 6.78329919e-03 2.73263334e+02] [-1.04053554e-02 9.99945588e-01 -7.41790166e-04 -1.56295948e+01] [-6.79065224e-03 6.71150265e-04 9.99976718e-01 -1.97914527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:273.32, Y:-15.64, Z:-1.98 [[ 9.99905160e-01 1.19858333e-02 6.78317735e-03 2.73324483e+02] [-1.19810667e-02 9.99927948e-01 -7.42902649e-04 -1.56407035e+01] [-6.79159292e-03 6.61562492e-04 9.99976718e-01 -1.97787974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:-15.65, Z:-1.98 [[ 9.99824209e-01 1.74797559e-02 6.78306181e-03 2.73386273e+02] [-1.74751075e-02 9.99847022e-01 -7.43956094e-04 -1.56490208e+01] [-6.79502832e-03 6.25290579e-04 9.99976718e-01 -1.98106615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.45, Y:-15.66, Z:-1.98 [[ 9.99702606e-01 2.34241411e-02 6.78294664e-03 2.73448109e+02] [-2.34196214e-02 9.99725445e-01 -7.45004632e-04 -1.56573532e+01] [-6.79853545e-03 5.85929030e-04 9.99976718e-01 -1.98177705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.51, Y:-15.66, Z:-1.98 [[ 9.99495696e-01 3.10217254e-02 6.78282764e-03 2.73509414e+02] [-3.10173721e-02 9.99518567e-01 -7.46086463e-04 -1.56594472e+01] [-6.80270706e-03 5.35324719e-04 9.99976718e-01 -1.97736342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.57, Y:-15.66, Z:-1.98 [[ 9.99465554e-01 3.19781346e-02 6.78271792e-03 2.73570687e+02] [-3.19737965e-02 9.99488428e-01 -7.47082671e-04 -1.56637400e+01] [-6.80313838e-03 5.29814153e-04 9.99976718e-01 -1.98041270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.63, Y:-15.67, Z:-1.98 [[ 9.99676988e-01 2.44931494e-02 6.78270159e-03 2.73632132e+02] [-2.44886391e-02 9.99699829e-01 -7.47230882e-04 -1.56731656e+01] [-6.79896766e-03 5.80890386e-04 9.99976718e-01 -1.98383952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.69, Y:-15.68, Z:-1.99 [[ 9.99764342e-01 2.06217600e-02 6.78258762e-03 2.73692824e+02] [-2.06171544e-02 9.99787164e-01 -7.48263970e-04 -1.56845327e+01] [-6.79657456e-03 6.08249980e-04 9.99976718e-01 -1.98649979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:-15.70, Z:-1.98 [[ 9.99715734e-01 2.28571230e-02 6.78252307e-03 2.73754494e+02] [-2.28525645e-02 9.99738566e-01 -7.48848611e-04 -1.56965301e+01] [-6.79786641e-03 5.93637693e-04 9.99976718e-01 -1.98277621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:-15.71, Z:-1.98 [[ 9.99579370e-01 2.81972028e-02 6.78240557e-03 2.73814630e+02] [-2.81927591e-02 9.99602224e-01 -7.49911259e-04 -1.57064831e+01] [-6.80085309e-03 5.58381097e-04 9.99976718e-01 -1.98297250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.88, Y:-15.71, Z:-1.98 [[ 9.99319072e-01 3.62683418e-02 6.78229716e-03 2.73875248e+02] [-3.62640763e-02 9.99341960e-01 -7.50890501e-04 -1.57138051e+01] [-6.80506769e-03 5.04425457e-04 9.99976718e-01 -1.98032183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.94, Y:-15.72, Z:-1.99 [[ 9.99214185e-01 3.90514126e-02 6.78227222e-03 2.73936174e+02] [-3.90472093e-02 9.99237085e-01 -7.51115716e-04 -1.57211225e+01] [-6.80643005e-03 4.85696675e-04 9.99976718e-01 -1.98524691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.00, Y:-15.73, Z:-1.99 [[ 9.99223253e-01 3.88187087e-02 6.78225499e-03 2.73996025e+02] [-3.88144990e-02 9.99246151e-01 -7.51271268e-04 -1.57287009e+01] [-6.80630557e-03 4.87437891e-04 9.99976718e-01 -1.98721966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.06, Y:-15.74, Z:-1.99 [[ 9.99390614e-01 3.42403641e-02 6.78224650e-03 2.74056233e+02] [-3.42360490e-02 9.99413492e-01 -7.51347849e-04 -1.57376948e+01] [-6.80399509e-03 5.18692665e-04 9.99976718e-01 -1.98517907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.12, Y:-15.75, Z:-1.99 [[ 9.99608209e-01 2.71556995e-02 6.78213826e-03 2.74117493e+02] [-2.71512158e-02 9.99631055e-01 -7.52323629e-04 -1.57493541e+01] [-6.80006590e-03 5.67885575e-04 9.99976718e-01 -1.98539653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.18, Y:-15.76, Z:-1.99 [[ 9.99689937e-01 2.39589988e-02 6.78202379e-03 2.74179317e+02] [-2.39544351e-02 9.99712768e-01 -7.53354203e-04 -1.57605275e+01] [-6.79812538e-03 5.90661068e-04 9.99976718e-01 -1.98521363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.24, Y:-15.77, Z:-1.99 [[ 9.99710140e-01 2.31006809e-02 6.78191017e-03 2.74240614e+02] [-2.30960907e-02 9.99732965e-01 -7.54375585e-04 -1.57730295e+01] [-6.79752576e-03 5.97521309e-04 9.99976718e-01 -1.98586293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.30, Y:-15.78, Z:-1.98 [[ 9.99671475e-01 2.47174034e-02 6.78179039e-03 2.74300981e+02] [-2.47128430e-02 9.99694306e-01 -7.55450855e-04 -1.57836610e+01] [-6.79839002e-03 5.87605349e-04 9.99976718e-01 -1.98447835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.36, Y:-15.80, Z:-1.98 [[ 9.99474515e-01 3.16970230e-02 6.78172470e-03 2.74362009e+02] [-3.16926181e-02 9.99497377e-01 -7.56040165e-04 -1.57981652e+01] [-6.80228027e-03 5.40712267e-04 9.99976718e-01 -1.98464112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:-15.81, Z:-1.99 [[ 9.99265582e-01 3.77134727e-02 6.78160728e-03 2.74422955e+02] [-3.77091984e-02 9.99288468e-01 -7.57091897e-04 -1.58135493e+01] [-6.80533452e-03 5.00806901e-04 9.99976718e-01 -1.99137171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.48, Y:-15.83, Z:-1.99 [[ 9.99133989e-01 4.10522109e-02 6.78148944e-03 2.74484369e+02] [-4.10480060e-02 9.99156888e-01 -7.58145991e-04 -1.58263910e+01] [-6.80689545e-03 4.79122809e-04 9.99976718e-01 -1.99137096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.55, Y:-15.84, Z:-1.99 [[ 9.98943557e-01 4.54508751e-02 6.78136877e-03 2.74545485e+02] [-4.54467637e-02 9.98966474e-01 -7.59223837e-04 -1.58412043e+01] [-6.80886743e-03 4.50230497e-04 9.99976718e-01 -1.98908951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.61, Y:-15.85, Z:-1.99 [[ 9.98458517e-01 5.50872376e-02 6.78124718e-03 2.74607683e+02] [-5.50833402e-02 9.98481471e-01 -7.60308247e-04 -1.58486814e+01] [-6.81283294e-03 3.85602500e-04 9.99976718e-01 -1.98778030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:-15.85, Z:-1.99 [[ 9.97956810e-01 6.35312720e-02 6.78112624e-03 2.74668797e+02] [-6.35275616e-02 9.97979794e-01 -7.61385430e-04 -1.58509041e+01] [-6.81579875e-03 3.29041360e-04 9.99976718e-01 -1.98534321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.73, Y:-15.85, Z:-1.98 [[ 9.97881498e-01 6.47034263e-02 6.78110873e-03 2.74731342e+02] [-6.46997419e-02 9.97904486e-01 -7.61541323e-04 -1.58524398e+01] [-6.81617316e-03 3.21192012e-04 9.99976718e-01 -1.98422818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:274.79, Y:-15.85, Z:-1.98 [[ 9.98016611e-01 6.25848386e-02 6.78098653e-03 2.74792972e+02] [-6.25810980e-02 9.98039591e-01 -7.62627903e-04 -1.58505339e+01] [-6.81542196e-03 3.36753734e-04 9.99976718e-01 -1.98332638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:274.86, Y:-15.85, Z:-1.98 [[ 9.98207744e-01 5.94585607e-02 6.78087416e-03 2.74855010e+02] [-5.94547414e-02 9.98230710e-01 -7.63625697e-04 -1.58511411e+01] [-6.81428091e-03 3.59101964e-04 9.99976718e-01 -1.98470714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:274.92, Y:-15.85, Z:-1.99 [[ 9.98742605e-01 4.96712164e-02 6.78085745e-03 2.74916592e+02] [-4.96671711e-02 9.98765532e-01 -7.63774038e-04 -1.58479756e+01] [-6.81042429e-03 4.26027665e-04 9.99976718e-01 -1.98860454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:274.98, Y:-15.85, Z:-1.99 [[ 9.99327899e-01 3.60245788e-02 6.78084047e-03 2.74979144e+02] [-3.60202197e-02 9.99350769e-01 -7.63924773e-04 -1.58522823e+01] [-6.80395821e-03 5.19163975e-04 9.99976718e-01 -1.99131624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:275.04, Y:-15.86, Z:-1.99 [[ 9.99562536e-01 2.87881635e-02 6.78072298e-03 2.75039239e+02] [-2.87836319e-02 9.99585373e-01 -7.64966234e-04 -1.58611759e+01] [-6.79993348e-03 5.69457754e-04 9.99976718e-01 -1.99137611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:-15.88, Z:-2.00 [[ 9.99778635e-01 1.99174158e-02 6.78061576e-03 2.75100014e+02] [-1.99126754e-02 9.99801430e-01 -7.65915434e-04 -1.58758617e+01] [-6.79452439e-03 6.30725687e-04 9.99976718e-01 -1.99597192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-15.90, Z:-2.00 [[ 9.99831855e-01 1.70377972e-02 6.78049105e-03 2.75159449e+02] [-1.70329837e-02 9.99854634e-01 -7.67017842e-04 -1.58970059e+01] [-6.79257370e-03 6.51396878e-04 9.99976718e-01 -2.00173982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-15.91, Z:-2.00 [[ 9.99665094e-01 2.49745022e-02 6.78037667e-03 2.75221110e+02] [-2.49698629e-02 9.99687909e-01 -7.68027652e-04 -1.59146798e+01] [-6.79744169e-03 5.98465360e-04 9.99976718e-01 -1.99897255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:275.28, Y:-15.93, Z:-2.00 [[ 9.99259499e-01 3.78745438e-02 6.78032467e-03 2.75281107e+02] [-3.78701962e-02 9.99282371e-01 -7.68486410e-04 -1.59261124e+01] [-6.80456499e-03 5.11145119e-04 9.99976718e-01 -2.00104973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:275.34, Y:-15.93, Z:-2.00 [[ 9.99151189e-01 4.06316211e-02 6.78029873e-03 2.75342613e+02] [-4.06273351e-02 9.99174073e-01 -7.68715240e-04 -1.59345947e+01] [-6.80593285e-03 4.92597278e-04 9.99976718e-01 -1.99863890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.40, Y:-15.95, Z:-2.00 [[ 9.99071951e-01 4.25354641e-02 6.78018626e-03 2.75404236e+02] [-4.25312151e-02 9.99094842e-01 -7.69705966e-04 -1.59461564e+01] [-6.80678892e-03 4.80622081e-04 9.99976718e-01 -1.99609425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:275.46, Y:-15.96, Z:-2.00 [[ 9.99146055e-01 4.07577235e-02 6.78005436e-03 2.75464545e+02] [-4.07534259e-02 9.99168937e-01 -7.70866049e-04 -1.59638991e+01] [-6.80583845e-03 4.93897329e-04 9.99976718e-01 -1.99657889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:275.52, Y:-15.98, Z:-1.99 [[ 9.99085463e-01 4.22169335e-02 6.77993140e-03 2.75524541e+02] [-4.22126620e-02 9.99108350e-01 -7.71946006e-04 -1.59784192e+01] [-6.80647527e-03 4.85041080e-04 9.99976718e-01 -1.98917184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.59, Y:-15.99, Z:-1.99 [[ 9.98947784e-01 4.53581040e-02 6.77986611e-03 2.75586452e+02] [-4.53539007e-02 9.98970684e-01 -7.72519036e-04 -1.59898345e+01] [-6.80792748e-03 4.64212805e-04 9.99976718e-01 -1.98799013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.65, Y:-16.00, Z:-1.99 [[ 9.98955869e-01 4.51797192e-02 6.77972495e-03 2.75648040e+02] [-4.51755034e-02 9.98978766e-01 -7.73755863e-04 -1.59991990e+01] [-6.80775934e-03 4.66670473e-04 9.99976718e-01 -1.99020605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.71, Y:-16.01, Z:-1.99 [[ 9.99201571e-01 3.93733095e-02 6.77959311e-03 2.75709889e+02] [-3.93689529e-02 9.99224442e-01 -7.74909359e-04 -1.60107237e+01] [-6.80484589e-03 5.07385167e-04 9.99976718e-01 -1.98728338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.77, Y:-16.02, Z:-1.99 [[ 9.99441928e-01 3.27089045e-02 6.77945182e-03 2.75771293e+02] [-3.27043872e-02 9.99464767e-01 -7.76143503e-04 -1.60210407e+01] [-6.80121004e-03 5.53992541e-04 9.99976718e-01 -1.98778660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.83, Y:-16.03, Z:-1.99 [[ 9.99521699e-01 3.01730795e-02 6.77932121e-03 2.75831320e+02] [-3.01684966e-02 9.99544525e-01 -7.77282615e-04 -1.60321013e+01] [-6.79968641e-03 5.72388910e-04 9.99976718e-01 -1.99138387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:-16.04, Z:-1.99 [[ 9.99432988e-01 3.29809781e-02 6.77921006e-03 2.75893872e+02] [-3.29764529e-02 9.99455826e-01 -7.78250858e-04 -1.60404143e+01] [-6.80118846e-03 5.54255280e-04 9.99976718e-01 -1.99118835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.96, Y:-16.05, Z:-1.99 [[ 9.99204910e-01 3.92885653e-02 6.77906989e-03 2.75955394e+02] [-3.92841760e-02 9.99227775e-01 -7.79469903e-04 -1.60474589e+01] [-6.80445918e-03 5.12539980e-04 9.99976718e-01 -1.99288300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.02, Y:-16.05, Z:-2.00 [[ 9.99045504e-01 4.31523628e-02 6.77894624e-03 2.76017420e+02] [-4.31480548e-02 9.99068384e-01 -7.80543793e-04 -1.60531966e+01] [-6.80631318e-03 4.87300424e-04 9.99976718e-01 -1.99641394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.08, Y:-16.06, Z:-2.00 [[ 9.98799351e-01 4.85170421e-02 6.77882271e-03 2.76079149e+02] [-4.85128497e-02 9.98822253e-01 -7.81615192e-04 -1.60566323e+01] [-6.80876062e-03 4.51816739e-04 9.99976718e-01 -1.99868921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.14, Y:-16.06, Z:-2.00 [[ 9.98537398e-01 5.36387333e-02 6.77869048e-03 2.76141904e+02] [-5.36346507e-02 9.98560319e-01 -7.82760249e-04 -1.60594101e+01] [-6.81091760e-03 4.18042686e-04 9.99976718e-01 -1.99857794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:276.20, Y:-16.07, Z:-2.00 [[ 9.98442555e-01 5.53761206e-02 6.77864556e-03 2.76204257e+02] [-5.53720753e-02 9.98465483e-01 -7.83149071e-04 -1.60653315e+01] [-6.81161137e-03 4.06581687e-04 9.99976718e-01 -2.00323604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:-16.07, Z:-2.00 [[ 9.98526368e-01 5.38436916e-02 6.77860077e-03 2.76266021e+02] [-5.38396084e-02 9.98549289e-01 -7.83536533e-04 -1.60733844e+01] [-6.81095548e-03 4.17424677e-04 9.99976718e-01 -2.00269379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:276.33, Y:-16.08, Z:-2.00 [[ 9.98579261e-01 5.28536778e-02 6.77847570e-03 2.76328632e+02] [-5.28495646e-02 9.98602177e-01 -7.84617041e-04 -1.60833682e+01] [-6.81047049e-03 4.25262816e-04 9.99976718e-01 -2.00452819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:-16.09, Z:-2.00 [[ 9.98635889e-01 5.17727301e-02 6.77833331e-03 2.76389836e+02] [-5.17685838e-02 9.98658799e-01 -7.85845252e-04 -1.60932784e+01] [-6.80992756e-03 4.33868555e-04 9.99976718e-01 -2.00243334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.45, Y:-16.10, Z:-2.00 [[ 9.98638557e-01 5.17212582e-02 6.77820638e-03 2.76450938e+02] [-5.17171033e-02 9.98661465e-01 -7.86938558e-04 -1.61023950e+01] [-6.80983497e-03 4.35317986e-04 9.99976718e-01 -1.99645234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.51, Y:-16.11, Z:-2.00 [[ 9.98557428e-01 5.32646350e-02 6.77808726e-03 2.76513569e+02] [-5.32605087e-02 9.98580341e-01 -7.87963275e-04 -1.61103782e+01] [-6.81043526e-03 4.25822206e-04 9.99976718e-01 -1.99592878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.58, Y:-16.12, Z:-2.00 [[ 9.98451201e-01 5.52201015e-02 6.77793941e-03 2.76575495e+02] [-5.52160114e-02 9.98474120e-01 -7.89232956e-04 -1.61180647e+01] [-6.81117862e-03 4.13759812e-04 9.99976718e-01 -1.99702090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.64, Y:-16.12, Z:-2.00 [[ 9.98682061e-01 5.08743844e-02 6.77780248e-03 2.76636140e+02] [-5.08701866e-02 9.98704961e-01 -7.90407159e-04 -1.61244875e+01] [-6.80923644e-03 4.44577373e-04 9.99976718e-01 -1.99888797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.70, Y:-16.13, Z:-2.00 [[ 9.98946907e-01 4.53777409e-02 6.77773169e-03 2.76698684e+02] [-4.53734132e-02 9.98969783e-01 -7.91013700e-04 -1.61340456e+01] [-6.80664357e-03 4.82651868e-04 9.99976718e-01 -2.00127634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:276.76, Y:-16.15, Z:-2.00 [[ 9.99266204e-01 3.76977061e-02 6.77758866e-03 2.76760545e+02] [-3.76931944e-02 9.99289045e-01 -7.92237346e-04 -1.61477776e+01] [-6.80263563e-03 5.36187039e-04 9.99976718e-01 -2.00105448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.82, Y:-16.16, Z:-2.00 [[ 9.99314391e-01 3.63979914e-02 6.77744371e-03 2.76822992e+02] [-3.63934417e-02 9.99337224e-01 -7.93475429e-04 -1.61565854e+01] [-6.80183270e-03 5.46276913e-04 9.99976718e-01 -2.00004403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:-16.16, Z:-2.00 [[ 9.99203680e-01 3.93201389e-02 6.77729805e-03 2.76885972e+02] [-3.93156475e-02 9.99226525e-01 -7.94717621e-04 -1.61618110e+01] [-6.80330438e-03 5.27630911e-04 9.99976718e-01 -1.99883397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:276.95, Y:-16.17, Z:-2.00 [[ 9.99193964e-01 3.95662974e-02 6.77714964e-03 2.76947490e+02] [-3.95618031e-02 9.99216808e-01 -7.95981202e-04 -1.61676852e+01] [-6.80333586e-03 5.27223353e-04 9.99976718e-01 -2.00224517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:277.01, Y:-16.17, Z:-2.00 [[ 9.99339040e-01 3.57149082e-02 6.77701164e-03 2.77009753e+02] [-3.57103180e-02 9.99361865e-01 -7.97154415e-04 -1.61743857e+01] [-6.80115729e-03 5.54618287e-04 9.99976718e-01 -2.00349086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.07, Y:-16.19, Z:-2.00 [[ 9.99567124e-01 2.86293249e-02 6.77688386e-03 2.77071722e+02] [-2.86245658e-02 9.99589914e-01 -7.98239231e-04 -1.61857349e+01] [-6.79695781e-03 6.03908335e-04 9.99976718e-01 -2.00403373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.13, Y:-16.20, Z:-2.00 [[ 9.99638247e-01 2.60278729e-02 6.77673845e-03 2.77131915e+02] [-2.60230461e-02 9.99661024e-01 -7.99471809e-04 -1.61989289e+01] [-6.79524984e-03 6.22831221e-04 9.99976718e-01 -2.00478365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.19, Y:-16.21, Z:-2.01 [[ 9.99513670e-01 3.04384841e-02 6.77662196e-03 2.77193300e+02] [-3.04337513e-02 9.99536466e-01 -8.00458023e-04 -1.62085985e+01] [-6.79784549e-03 5.93830708e-04 9.99976718e-01 -2.00522252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.25, Y:-16.22, Z:-2.00 [[ 9.99131157e-01 4.11218858e-02 6.77649524e-03 2.77254749e+02] [-4.11173897e-02 9.99154001e-01 -8.01529364e-04 -1.62157373e+01] [-6.80372273e-03 5.22201166e-04 9.99976718e-01 -2.00226612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:277.32, Y:-16.22, Z:-2.00 [[ 9.98974113e-01 4.47750144e-02 6.77636813e-03 2.77315980e+02] [-4.47705946e-02 9.98996972e-01 -8.02602538e-04 -1.62237120e+01] [-6.80550778e-03 4.98397128e-04 9.99976718e-01 -2.00127709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.38, Y:-16.23, Z:-2.00 [[ 9.99029671e-01 4.35178066e-02 6.77623967e-03 2.77377224e+02] [-4.35133508e-02 9.99052522e-01 -8.03685672e-04 -1.62320295e+01] [-6.80479397e-03 5.08048939e-04 9.99976718e-01 -2.00406405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:277.44, Y:-16.25, Z:-2.01 [[ 9.99315870e-01 3.63575976e-02 6.77614840e-03 2.77437069e+02] [-3.63529730e-02 9.99338688e-01 -8.04454465e-04 -1.62466438e+01] [-6.80091528e-03 5.57570975e-04 9.99976718e-01 -2.01058174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.50, Y:-16.26, Z:-2.01 [[ 9.99480880e-01 3.14969057e-02 6.77607606e-03 2.77497920e+02] [-3.14921661e-02 9.99503675e-01 -8.05063316e-04 -1.62609528e+01] [-6.79806992e-03 5.91252079e-04 9.99976718e-01 -2.01109512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.56, Y:-16.28, Z:-2.01 [[ 9.99487388e-01 3.12897501e-02 6.77594681e-03 2.77559226e+02] [-3.12849984e-02 9.99510180e-01 -8.06149723e-04 -1.62755198e+01] [-6.79785203e-03 5.93750995e-04 9.99976718e-01 -2.00692733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:277.62, Y:-16.29, Z:-2.00 [[ 9.99276802e-01 3.74160513e-02 6.77581828e-03 2.77618926e+02] [-3.74114321e-02 9.99299621e-01 -8.07228558e-04 -1.62905895e+01] [-6.80127595e-03 5.53151706e-04 9.99976718e-01 -2.00399221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.68, Y:-16.30, Z:-2.01 [[ 9.99098607e-01 4.19054015e-02 6.77570007e-03 2.77679731e+02] [-4.19008782e-02 9.99121446e-01 -8.08219591e-04 -1.63019213e+01] [-6.80361601e-03 5.23583285e-04 9.99976718e-01 -2.00755084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:277.74, Y:-16.31, Z:-2.01 [[ 9.98871111e-01 4.70169733e-02 6.77557044e-03 2.77740838e+02] [-4.70125596e-02 9.98893970e-01 -8.09304831e-04 -1.63134784e+01] [-6.80612752e-03 4.89854306e-04 9.99976718e-01 -2.00950194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:277.80, Y:-16.33, Z:-2.01 [[ 9.98775635e-01 4.90033098e-02 6.77543221e-03 2.77802927e+02] [-4.89989338e-02 9.98798502e-01 -8.10460448e-04 -1.63263716e+01] [-6.80700679e-03 4.77479195e-04 9.99976718e-01 -2.00878485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:-16.34, Z:-2.01 [[ 9.98745570e-01 4.96123163e-02 6.77528592e-03 2.77864769e+02] [-4.96079460e-02 9.98768438e-01 -8.11681574e-04 -1.63358441e+01] [-6.80721114e-03 4.74555358e-04 9.99976718e-01 -2.01087582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:277.92, Y:-16.35, Z:-2.02 [[ 9.98753846e-01 4.94454419e-02 6.77515581e-03 2.77924926e+02] [-4.94410605e-02 9.98776712e-01 -8.12766113e-04 -1.63460086e+01] [-6.80705543e-03 4.76782393e-04 9.99976718e-01 -2.01804590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.99, Y:-16.35, Z:-2.01 [[ 9.98746672e-01 4.95901665e-02 6.77503586e-03 2.77986118e+02] [-4.95857816e-02 9.98769537e-01 -8.13764775e-04 -1.63547659e+01] [-6.80705416e-03 4.76799412e-04 9.99976718e-01 -2.01484553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:278.05, Y:-16.36, Z:-2.01 [[ 9.98586642e-01 5.27145121e-02 6.77490601e-03 2.78049400e+02] [-5.27101914e-02 9.98609519e-01 -8.14844403e-04 -1.63584971e+01] [-6.80843976e-03 4.56586143e-04 9.99976718e-01 -2.01277206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.11, Y:-16.36, Z:-2.01 [[ 9.98433279e-01 5.55435946e-02 6.77475635e-03 2.78111589e+02] [-5.55393304e-02 9.98456167e-01 -8.16086817e-04 -1.63634019e+01] [-6.80962565e-03 4.38542805e-04 9.99976718e-01 -2.00914350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:278.17, Y:-16.37, Z:-2.01 [[ 9.98669360e-01 5.11235175e-02 6.77462104e-03 2.78172100e+02] [-5.11191445e-02 9.98692227e-01 -8.17208505e-04 -1.63688918e+01] [-6.80753995e-03 4.69808263e-04 9.99976718e-01 -2.00658705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.23, Y:-16.38, Z:-2.01 [[ 9.99079183e-01 4.23661677e-02 6.77449644e-03 2.78231992e+02] [-4.23615874e-02 9.99102010e-01 -8.18240153e-04 -1.63797844e+01] [-6.80307871e-03 5.30508281e-04 9.99976718e-01 -2.01109137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.29, Y:-16.39, Z:-2.01 [[ 9.99187396e-01 3.97323068e-02 6.77437412e-03 2.78294209e+02] [-3.97276596e-02 9.99210209e-01 -8.19251589e-04 -1.63915592e+01] [-6.80157454e-03 5.49455832e-04 9.99976718e-01 -2.01003554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:278.35, Y:-16.40, Z:-2.00 [[ 9.99147417e-01 4.07252765e-02 6.77422424e-03 2.78354039e+02] [-4.07206436e-02 9.99170234e-01 -8.20489083e-04 -1.64037165e+01] [-6.80201786e-03 5.43938778e-04 9.99976718e-01 -2.00418953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-16.41, Z:-2.01 [[ 9.99018847e-01 4.37659025e-02 6.77415297e-03 2.78415903e+02] [-4.37613351e-02 9.99041677e-01 -8.21077052e-04 -1.64140109e+01] [-6.80359632e-03 5.23825472e-04 9.99976718e-01 -2.00605157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-16.43, Z:-2.01 [[ 9.98845846e-01 4.75509052e-02 6.77400459e-03 2.78476683e+02] [-4.75464161e-02 9.98868691e-01 -8.22299385e-04 -1.64284668e+01] [-6.80544218e-03 4.99270684e-04 9.99976718e-01 -2.00827929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:-16.44, Z:-2.01 [[ 9.98606925e-01 5.23289920e-02 6.77386629e-03 2.78537510e+02] [-5.23246045e-02 9.98629790e-01 -8.23437118e-04 -1.64434172e+01] [-6.80767430e-03 4.67850134e-04 9.99976718e-01 -2.01018059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:-16.46, Z:-2.01 [[ 9.98501081e-01 5.43112078e-02 6.77373104e-03 2.78598256e+02] [-5.43068582e-02 9.98523953e-01 -8.24548215e-04 -1.64568981e+01] [-6.80851490e-03 4.55452233e-04 9.99976718e-01 -2.01469381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.66, Y:-16.47, Z:-2.02 [[ 9.98501083e-01 5.43111915e-02 6.77360079e-03 2.78657268e+02] [-5.43068347e-02 9.98523954e-01 -8.25616792e-04 -1.64741901e+01] [-6.80844287e-03 4.56526442e-04 9.99976718e-01 -2.01894423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:-16.49, Z:-2.02 [[ 9.98558430e-01 5.32464196e-02 6.77348053e-03 2.78718475e+02] [-5.32420318e-02 9.98581295e-01 -8.26602287e-04 -1.64914459e+01] [-6.80788457e-03 4.64776817e-04 9.99976718e-01 -2.01999680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:-16.51, Z:-2.02 [[ 9.98560681e-01 5.32042069e-02 6.77332544e-03 2.78779123e+02] [-5.31998095e-02 9.98583544e-01 -8.27871104e-04 -1.65125257e+01] [-6.80777755e-03 4.66339910e-04 9.99976718e-01 -2.02129799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.84, Y:-16.53, Z:-2.02 [[ 9.98400009e-01 5.61386421e-02 6.77316867e-03 2.78839835e+02] [-5.61343033e-02 9.98422883e-01 -8.29151766e-04 -1.65270965e+01] [-6.80903404e-03 4.47618026e-04 9.99976718e-01 -2.02332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:-16.54, Z:-2.02 [[ 9.97847901e-01 6.52203387e-02 6.77302349e-03 2.78901005e+02] [-6.52162002e-02 9.97870812e-01 -8.30335956e-04 -1.65382308e+01] [-6.81275725e-03 3.86838135e-04 9.99976718e-01 -2.01784116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:-16.54, Z:-2.02 [[ 9.97221465e-01 7.41854229e-02 6.77288459e-03 2.78963268e+02] [-7.41814828e-02 9.97244412e-01 -8.31467410e-04 -1.65430983e+01] [-6.81590407e-03 3.26734527e-04 9.99976718e-01 -2.01843633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.03, Y:-16.55, Z:-2.02 [[ 9.96956582e-01 7.76640401e-02 6.77273639e-03 2.79026372e+02] [-7.76601719e-02 9.96979541e-01 -8.32672830e-04 -1.65491810e+01] [-6.81694835e-03 3.04166787e-04 9.99976718e-01 -2.01957844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.09, Y:-16.55, Z:-2.02 [[ 9.96944179e-01 7.78231095e-02 6.77258215e-03 2.79088177e+02] [-7.78192364e-02 9.96967136e-01 -8.33925523e-04 -1.65537653e+01] [-6.81694050e-03 3.04340024e-04 9.99976718e-01 -2.02280778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.15, Y:-16.56, Z:-2.03 [[ 9.97096859e-01 7.58418626e-02 6.77244440e-03 2.79149469e+02] [-7.58379364e-02 9.97119807e-01 -8.35042645e-04 -1.65602077e+01] [-6.81626965e-03 3.19010191e-04 9.99976718e-01 -2.02768978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:279.21, Y:-16.57, Z:-2.02 [[ 9.97151913e-01 7.51145723e-02 6.77230840e-03 2.79211453e+02] [-7.51106219e-02 9.97174857e-01 -8.36144210e-04 -1.65666723e+01] [-6.81598227e-03 3.25090502e-04 9.99976718e-01 -2.02498073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.27, Y:-16.57, Z:-2.02 [[ 9.97045566e-01 7.65132416e-02 6.77217112e-03 2.79273745e+02] [-7.65093159e-02 9.97068515e-01 -8.37254622e-04 -1.65731600e+01] [-6.81637966e-03 3.16646830e-04 9.99976718e-01 -2.02478470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.34, Y:-16.57, Z:-2.02 [[ 9.96559139e-01 8.26076357e-02 6.77201585e-03 2.79336444e+02] [-8.26038418e-02 9.96582110e-01 -8.38508612e-04 -1.65722903e+01] [-6.81813706e-03 2.76228895e-04 9.99976718e-01 -2.02466335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:279.40, Y:-16.57, Z:-2.02 [[ 9.96158154e-01 8.73102138e-02 6.77187163e-03 2.79399486e+02] [-8.73065205e-02 9.96181141e-01 -8.39671705e-04 -1.65667054e+01] [-6.81932273e-03 2.45217267e-04 9.99976718e-01 -2.01774775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:279.46, Y:-16.56, Z:-2.02 [[ 9.96113331e-01 8.78201334e-02 6.77173271e-03 2.79462820e+02] [-8.78164443e-02 9.96136319e-01 -8.40790558e-04 -1.65645781e+01] [-6.81940723e-03 2.42853195e-04 9.99976718e-01 -2.01937740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:-16.56, Z:-2.02 [[ 9.96536035e-01 8.28859264e-02 6.77157054e-03 2.79527158e+02] [-8.28821146e-02 9.96559003e-01 -8.42094682e-04 -1.65585115e+01] [-6.81806738e-03 2.77935610e-04 9.99976718e-01 -2.01878154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:-16.56, Z:-2.02 [[ 9.96912675e-01 7.82257455e-02 6.77140561e-03 2.79589629e+02] [-7.82218174e-02 9.96935623e-01 -8.43418805e-04 -1.65572101e+01] [-6.81663253e-03 3.11143243e-04 9.99976718e-01 -2.01532117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:-16.55, Z:-2.02 [[ 9.97408172e-01 7.16316241e-02 6.77125278e-03 2.79653128e+02] [-7.16275360e-02 9.97431092e-01 -8.44643951e-04 -1.65548371e+01] [-6.81436127e-03 3.57446627e-04 9.99976718e-01 -2.01837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.72, Y:-16.55, Z:-2.02 [[ 9.97749139e-01 6.67143785e-02 6.77109010e-03 2.79716239e+02] [-6.67101687e-02 9.97772037e-01 -8.45946127e-04 -1.65523249e+01] [-6.81244113e-03 3.92341457e-04 9.99976718e-01 -2.02068434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:-16.56, Z:-2.02 [[ 9.97897196e-01 6.44619259e-02 6.77093957e-03 2.79779238e+02] [-6.44576563e-02 9.97920083e-01 -8.47149237e-04 -1.65563034e+01] [-6.81146545e-03 4.08928953e-04 9.99976718e-01 -2.02071951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:-16.56, Z:-2.02 [[ 9.98017394e-01 6.25734553e-02 6.77078529e-03 2.79841353e+02] [-6.25691340e-02 9.98040272e-01 -8.48380536e-04 -1.65584233e+01] [-6.81060249e-03 4.23056360e-04 9.99976718e-01 -2.02410650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:-16.57, Z:-2.03 [[ 9.97954675e-01 6.35659042e-02 6.77065014e-03 2.79904009e+02] [-6.35615985e-02 9.97977556e-01 -8.49457768e-04 -1.65652386e+01] [-6.81095342e-03 4.17367006e-04 9.99976718e-01 -2.02823942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.97, Y:-16.57, Z:-2.03 [[ 9.97874981e-01 6.48049578e-02 6.77049535e-03 2.79965368e+02] [-6.48006721e-02 9.97897865e-01 -8.50689711e-04 -1.65727480e+01] [-6.81139176e-03 4.10149331e-04 9.99976718e-01 -2.03026063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:280.03, Y:-16.58, Z:-2.03 [[ 9.97724348e-01 6.70841806e-02 6.77036063e-03 2.80028104e+02] [-6.70799399e-02 9.97747241e-01 -8.51760543e-04 -1.65804500e+01] [-6.81224829e-03 3.95666848e-04 9.99976718e-01 -2.02802101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:280.09, Y:-16.59, Z:-2.03 [[ 9.97516525e-01 7.01066853e-02 6.77020492e-03 2.80090822e+02] [-7.01025057e-02 9.97539428e-01 -8.52996423e-04 -1.65851417e+01] [-6.81334709e-03 3.76269699e-04 9.99976718e-01 -2.02688816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.15, Y:-16.59, Z:-2.02 [[ 9.97249257e-01 7.38111529e-02 6.77004768e-03 2.80152658e+02] [-7.38070499e-02 9.97272174e-01 -8.54242539e-04 -1.65889955e+01] [-6.81463280e-03 3.52215489e-04 9.99976718e-01 -2.02266312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.22, Y:-16.60, Z:-2.02 [[ 9.97381546e-01 7.20015322e-02 6.76991052e-03 2.80215500e+02] [-7.19973803e-02 9.97404454e-01 -8.55328135e-04 -1.65956530e+01] [-6.81392385e-03 3.65672675e-04 9.99976718e-01 -2.02213581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.28, Y:-16.60, Z:-2.03 [[ 9.97779848e-01 6.62536407e-02 6.76974705e-03 2.80275663e+02] [-6.62493481e-02 9.97802731e-01 -8.56620028e-04 -1.66038939e+01] [-6.81162629e-03 4.06226873e-04 9.99976718e-01 -2.02609833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.34, Y:-16.61, Z:-2.02 [[ 9.97921286e-01 6.40880456e-02 6.76966742e-03 2.80337469e+02] [-6.40836991e-02 9.97944159e-01 -8.57248870e-04 -1.66145219e+01] [-6.81068947e-03 4.21641565e-04 9.99976718e-01 -2.02441713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.40, Y:-16.62, Z:-2.02 [[ 9.97919213e-01 6.41203396e-02 6.76950957e-03 2.80398548e+02] [-6.41159855e-02 9.97942084e-01 -8.58493592e-04 -1.66231946e+01] [-6.81062539e-03 4.22673472e-04 9.99976718e-01 -2.02432156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.46, Y:-16.63, Z:-2.03 [[ 9.97821164e-01 6.56285005e-02 6.76941208e-03 2.80460781e+02] [-6.56241757e-02 9.97844041e-01 -8.59261620e-04 -1.66326416e+01] [-6.81120955e-03 4.13152342e-04 9.99976718e-01 -2.02788484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.52, Y:-16.64, Z:-2.03 [[ 9.97518085e-01 7.00845795e-02 6.76924978e-03 2.80522785e+02] [-7.00803483e-02 9.97540979e-01 -8.60538296e-04 -1.66412494e+01] [-6.81291452e-03 3.84011130e-04 9.99976718e-01 -2.02999254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.58, Y:-16.65, Z:-2.03 [[ 9.97308151e-01 7.30111711e-02 6.76908754e-03 2.80583722e+02] [-7.30069985e-02 9.97331056e-01 -8.61812645e-04 -1.66505592e+01] [-6.81394317e-03 3.65302012e-04 9.99976718e-01 -2.03134549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.65, Y:-16.66, Z:-2.03 [[ 9.97080876e-01 7.60520062e-02 6.76898652e-03 2.80646131e+02] [-7.60478981e-02 9.97103793e-01 -8.62605361e-04 -1.66589047e+01] [-6.81498500e-03 3.45320112e-04 9.99976718e-01 -2.03101022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:-16.66, Z:-2.03 [[ 9.96993169e-01 7.71932938e-02 6.76882579e-03 2.80708534e+02] [-7.71892034e-02 9.97016088e-01 -8.63864737e-04 -1.66639618e+01] [-6.81531278e-03 3.38786970e-04 9.99976718e-01 -2.03287757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:-16.67, Z:-2.03 [[ 9.97080942e-01 7.60511660e-02 6.76866292e-03 2.80770491e+02] [-7.60470407e-02 9.97103856e-01 -8.65139006e-04 -1.66698020e+01] [-6.81485473e-03 3.47876831e-04 9.99976718e-01 -2.03434320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.83, Y:-16.67, Z:-2.04 [[ 9.97121485e-01 7.55177581e-02 6.76851188e-03 2.80832935e+02] [-7.55136126e-02 9.97144395e-01 -8.66319071e-04 -1.66732381e+01] [-6.81460616e-03 3.52710574e-04 9.99976718e-01 -2.03504133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.90, Y:-16.67, Z:-2.03 [[ 9.97062866e-01 7.62878184e-02 6.76836484e-03 2.80896128e+02] [-7.62836828e-02 9.97085777e-01 -8.67466332e-04 -1.66724386e+01] [-6.81481743e-03 3.48602670e-04 9.99976718e-01 -2.03154659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-16.67, Z:-2.03 [[ 9.97058620e-01 7.63433032e-02 6.76820632e-03 2.80958566e+02] [-7.63391605e-02 9.97081530e-01 -8.68701453e-04 -1.66732485e+01] [-6.81477305e-03 3.49467083e-04 9.99976718e-01 -2.03285960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-16.67, Z:-2.03 [[ 9.97209793e-01 7.43425985e-02 6.76805860e-03 2.81022507e+02] [-7.43384021e-02 9.97232694e-01 -8.69850820e-04 -1.66728177e+01] [-6.81399627e-03 3.64297095e-04 9.99976718e-01 -2.03134366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.08, Y:-16.68, Z:-2.03 [[ 9.97423511e-01 7.14180306e-02 6.76790231e-03 2.81084962e+02] [-7.14137588e-02 9.97446398e-01 -8.71065111e-04 -1.66750337e+01] [-6.81282953e-03 3.85499479e-04 9.99976718e-01 -2.03365032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:281.15, Y:-16.68, Z:-2.03 [[ 9.97530267e-01 6.99111209e-02 6.76775686e-03 2.81147407e+02] [-6.99068069e-02 9.97553145e-01 -8.72193756e-04 -1.66823828e+01] [-6.81217318e-03 3.96927398e-04 9.99976718e-01 -2.03365778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.21, Y:-16.69, Z:-2.04 [[ 9.97581854e-01 6.91711247e-02 6.76760336e-03 2.81209950e+02] [-6.91667857e-02 9.97604728e-01 -8.73383165e-04 -1.66903748e+01] [-6.81180600e-03 4.03177826e-04 9.99976718e-01 -2.03601189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.27, Y:-16.70, Z:-2.04 [[ 9.97488624e-01 7.05028142e-02 6.76745089e-03 2.81271988e+02] [-7.04984978e-02 9.97511502e-01 -8.74563009e-04 -1.66983591e+01] [-6.81226925e-03 3.95271531e-04 9.99976718e-01 -2.03770314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.33, Y:-16.71, Z:-2.04 [[ 9.97171523e-01 7.48542371e-02 6.76729924e-03 2.81333973e+02] [-7.48500126e-02 9.97194419e-01 -8.75734844e-04 -1.67054646e+01] [-6.81386550e-03 3.66725415e-04 9.99976718e-01 -2.03685833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.40, Y:-16.71, Z:-2.04 [[ 9.97055228e-01 7.63876877e-02 6.76715817e-03 2.81396585e+02] [-7.63834910e-02 9.97078128e-01 -8.76823623e-04 -1.67117711e+01] [-6.81436393e-03 3.57342412e-04 9.99976718e-01 -2.03918561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.46, Y:-16.72, Z:-2.04 [[ 9.97118530e-01 7.55568924e-02 6.76700798e-03 2.81457762e+02] [-7.55526688e-02 9.97141426e-01 -8.77981226e-04 -1.67206936e+01] [-6.81400152e-03 3.64185837e-04 9.99976718e-01 -2.03524198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.52, Y:-16.73, Z:-2.04 [[ 9.97116705e-01 7.55809908e-02 6.76687809e-03 2.81519492e+02] [-7.55767611e-02 9.97139599e-01 -8.78981170e-04 -1.67307453e+01] [-6.81395637e-03 3.65028079e-04 9.99976718e-01 -2.03534299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.58, Y:-16.74, Z:-2.04 [[ 9.97150052e-01 7.51397780e-02 6.76671536e-03 2.81581550e+02] [-7.51355296e-02 9.97172943e-01 -8.80232169e-04 -1.67389366e+01] [-6.81372591e-03 3.69302811e-04 9.99976718e-01 -2.03528213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:-16.75, Z:-2.04 [[ 9.97196678e-01 7.45184461e-02 6.76655091e-03 2.81642543e+02] [-7.45141750e-02 9.97219565e-01 -8.81494486e-04 -1.67477045e+01] [-6.81342456e-03 3.74819414e-04 9.99976718e-01 -2.03740111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.70, Y:-16.76, Z:-2.04 [[ 9.97047542e-01 7.64880022e-02 6.76644905e-03 2.81702844e+02] [-7.64837709e-02 9.97070436e-01 -8.82275721e-04 -1.67577340e+01] [-6.81410981e-03 3.62147300e-04 9.99976718e-01 -2.04012853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.76, Y:-16.77, Z:-2.04 [[ 9.96710147e-01 8.07657107e-02 6.76637010e-03 2.81763386e+02] [-8.07615737e-02 9.96733058e-01 -8.82880728e-04 -1.67663890e+01] [-6.81557125e-03 3.33513482e-04 9.99976718e-01 -2.04423879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.82, Y:-16.77, Z:-2.04 [[ 9.96839671e-01 7.91510426e-02 6.76624094e-03 2.81824918e+02] [-7.91468618e-02 9.96862575e-01 -8.83869528e-04 -1.67748032e+01] [-6.81497156e-03 3.45549474e-04 9.99976718e-01 -2.04256539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.89, Y:-16.78, Z:-2.04 [[ 9.97076341e-01 7.61116924e-02 6.76609718e-03 2.81885973e+02] [-7.61074343e-02 9.97099230e-01 -8.84968621e-04 -1.67849764e+01] [-6.81382675e-03 3.67430978e-04 9.99976718e-01 -2.04415657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.95, Y:-16.79, Z:-2.04 [[ 9.97238044e-01 7.39628640e-02 6.76594416e-03 2.81948124e+02] [-7.39585487e-02 9.97260923e-01 -8.86137007e-04 -1.67943221e+01] [-6.81295295e-03 3.83290126e-04 9.99976718e-01 -2.04369089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.01, Y:-16.80, Z:-2.04 [[ 9.97126549e-01 7.54511083e-02 6.76578365e-03 2.82009646e+02] [-7.54468188e-02 9.97149432e-01 -8.87360826e-04 -1.68038759e+01] [-6.81344968e-03 3.74354185e-04 9.99976718e-01 -2.04304557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:-16.81, Z:-2.04 [[ 9.97114951e-01 7.56042399e-02 6.76563406e-03 2.82072083e+02] [-7.55999462e-02 9.97137833e-01 -8.88499929e-04 -1.68114282e+01] [-6.81344405e-03 3.74454992e-04 9.99976718e-01 -2.04291605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.13, Y:-16.82, Z:-2.04 [[ 9.97069351e-01 7.62032662e-02 6.76547529e-03 2.82134521e+02] [-7.61989782e-02 9.97092235e-01 -8.89707200e-04 -1.68193468e+01] [-6.81360147e-03 3.71577476e-04 9.99976718e-01 -2.03873798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.20, Y:-16.83, Z:-2.04 [[ 9.96867104e-01 7.88048638e-02 6.76531680e-03 2.82196232e+02] [-7.88006274e-02 9.96889998e-01 -8.90910717e-04 -1.68251232e+01] [-6.81448475e-03 3.55008379e-04 9.99976718e-01 -2.03677026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.26, Y:-16.83, Z:-2.04 [[ 9.96682753e-01 8.11031621e-02 6.76516967e-03 2.82259761e+02] [-8.10989709e-02 9.96705654e-01 -8.92026609e-04 -1.68283029e+01] [-6.81522904e-03 3.40419238e-04 9.99976718e-01 -2.03670126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.32, Y:-16.83, Z:-2.03 [[ 9.96794378e-01 7.97195276e-02 6.76501399e-03 2.82321779e+02] [-7.97152966e-02 9.96817272e-01 -8.93205668e-04 -1.68309803e+01] [-6.81468873e-03 3.51067292e-04 9.99976718e-01 -2.03300352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:282.38, Y:-16.83, Z:-2.04 [[ 9.97012490e-01 7.69436893e-02 6.76491742e-03 2.82384559e+02] [-7.69393896e-02 9.97035371e-01 -8.93936449e-04 -1.68323531e+01] [-6.81364472e-03 3.70777187e-04 9.99976718e-01 -2.04213738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:-16.84, Z:-2.04 [[ 9.97013802e-01 7.69266977e-02 6.76477455e-03 2.82446489e+02] [-7.69223903e-02 9.97036682e-01 -8.95016305e-04 -1.68374161e+01] [-6.81357902e-03 3.71980980e-04 9.99976718e-01 -2.04325162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.51, Y:-16.84, Z:-2.03 [[ 9.96464688e-01 8.37398677e-02 6.76463090e-03 2.82507583e+02] [-8.37357095e-02 9.96487595e-01 -8.96100740e-04 -1.68378456e+01] [-6.81591014e-03 3.26491577e-04 9.99976718e-01 -2.03360001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.57, Y:-16.83, Z:-2.04 [[ 9.95579709e-01 9.36764784e-02 6.76462075e-03 2.82569162e+02] [-9.36725484e-02 9.95602657e-01 -8.96177346e-04 -1.68326507e+01] [-6.81882513e-03 2.58556717e-04 9.99976718e-01 -2.03750485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.63, Y:-16.83, Z:-2.04 [[ 9.95149164e-01 9.81446946e-02 6.76462075e-03 2.82629936e+02] [-9.81408677e-02 9.95172129e-01 -8.96177346e-04 -1.68317742e+01] [-6.81991709e-03 2.27944387e-04 9.99976718e-01 -2.03923186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:-16.83, Z:-2.04 [[ 9.94900452e-01 1.00634638e-01 6.76464140e-03 2.82689321e+02] [-1.00630869e-01 9.94923427e-01 -8.96021470e-04 -1.68275737e+01] [-6.82047100e-03 2.10720421e-04 9.99976718e-01 -2.04064912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.75, Y:-16.83, Z:-2.04 [[ 9.94862362e-01 1.01010492e-01 6.76467209e-03 2.82748780e+02] [-1.01006734e-01 9.94885339e-01 -8.95789696e-04 -1.68294272e+01] [-6.82055724e-03 2.07910021e-04 9.99976718e-01 -2.04249221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.81, Y:-16.83, Z:-2.04 [[ 9.94806388e-01 1.01560275e-01 6.76469205e-03 2.82807223e+02] [-1.01556531e-01 9.94829367e-01 -8.95638903e-04 -1.68332142e+01] [-6.82067565e-03 2.03988647e-04 9.99976718e-01 -2.04143484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.87, Y:-16.83, Z:-2.04 [[ 9.93808076e-01 1.10904219e-01 6.76472170e-03 2.82866768e+02] [-1.10900692e-01 9.93831090e-01 -8.95414944e-04 -1.68330407e+01] [-6.82229603e-03 1.39658286e-04 9.99976718e-01 -2.03867099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.93, Y:-16.83, Z:-2.04 [[ 9.92521552e-01 1.21881939e-01 6.76476307e-03 2.82925955e+02] [-1.21878669e-01 9.92544603e-01 -8.95102266e-04 -1.68323465e+01] [-6.82342588e-03 6.39279691e-05 9.99976718e-01 -2.04032314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:-16.83, Z:-2.04 [[ 9.90452570e-01 1.37687853e-01 6.76479424e-03 2.82983596e+02] [-1.37684953e-01 9.90475670e-01 -8.94866656e-04 -1.68274176e+01] [-6.82357638e-03 -4.50873947e-05 9.99976718e-01 -2.04433715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.04, Y:-16.83, Z:-2.05 [[ 9.90161241e-01 1.39767497e-01 6.76486695e-03 2.83042745e+02] [-1.39764649e-01 9.90184348e-01 -8.94316657e-04 -1.68273894e+01] [-6.82346177e-03 -5.99715634e-05 9.99976718e-01 -2.04843751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.10, Y:-16.83, Z:-2.04 [[ 9.90861083e-01 1.34716558e-01 6.76490821e-03 2.83101156e+02] [-1.34713594e-01 9.90884175e-01 -8.94004438e-04 -1.68294065e+01] [-6.82367769e-03 -2.54908928e-05 9.99976718e-01 -2.04414547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:283.16, Y:-16.84, Z:-2.04 [[ 9.91036635e-01 1.33418980e-01 6.76495920e-03 2.83159243e+02] [-1.33415988e-01 9.91059724e-01 -8.93618436e-04 -1.68354572e+01] [-6.82370425e-03 -1.69451077e-05 9.99976718e-01 -2.04338522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:283.22, Y:-16.84, Z:-2.04 [[ 9.91028858e-01 1.33476729e-01 6.76501920e-03 2.83216932e+02] [-1.33473742e-01 9.91051947e-01 -8.93163956e-04 -1.68379352e+01] [-6.82370206e-03 -1.78011729e-05 9.99976718e-01 -2.04070967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:283.27, Y:-16.84, Z:-2.04 [[ 9.90882530e-01 1.34558706e-01 6.76507887e-03 2.83274422e+02] [-1.34555747e-01 9.90905623e-01 -8.92711793e-04 -1.68434670e+01] [-6.82367684e-03 -2.57077205e-05 9.99976718e-01 -2.03998034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:-16.85, Z:-2.04 [[ 9.90437600e-01 1.37795476e-01 6.76513865e-03 2.83332614e+02] [-1.37792595e-01 9.90460703e-01 -8.92258497e-04 -1.68485999e+01] [-6.82355317e-03 -4.84596480e-05 9.99976718e-01 -2.03771493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.39, Y:-16.85, Z:-2.04 [[ 9.90464909e-01 1.37599043e-01 6.76520087e-03 2.83390962e+02] [-1.37596161e-01 9.90488012e-01 -8.91786520e-04 -1.68501786e+01] [-6.82355933e-03 -4.75824173e-05 9.99976718e-01 -2.03955499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:283.45, Y:-16.85, Z:-2.04 [[ 9.91393835e-01 1.30738271e-01 6.76526584e-03 2.83447502e+02] [-1.30735233e-01 9.91416918e-01 -8.91293376e-04 -1.68537588e+01] [-6.82372516e-03 -8.35849583e-07 9.99976718e-01 -2.04242402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:-16.86, Z:-2.04 [[ 9.92153644e-01 1.24841405e-01 6.76536342e-03 2.83505422e+02] [-1.24838235e-01 9.92176709e-01 -8.90552103e-04 -1.68595732e+01] [-6.82361379e-03 3.89884853e-05 9.99976718e-01 -2.04428493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:-16.87, Z:-2.05 [[ 9.93215717e-01 1.16089489e-01 6.76542776e-03 2.83562526e+02] [-1.16086119e-01 9.93238753e-01 -8.90062999e-04 -1.68653309e+01] [-6.82301200e-03 9.86523081e-05 9.99976718e-01 -2.04713519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-16.87, Z:-2.05 [[ 9.93929702e-01 1.09808817e-01 6.76550185e-03 2.83621695e+02] [-1.09805305e-01 9.93952717e-01 -8.89499484e-04 -1.68690224e+01] [-6.82226383e-03 1.41211959e-04 9.99976718e-01 -2.04992901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.68, Y:-16.87, Z:-2.05 [[ 9.94029595e-01 1.08900833e-01 6.76554394e-03 2.83681267e+02] [-1.08897302e-01 9.94052608e-01 -8.89179244e-04 -1.68688932e+01] [-6.82213896e-03 1.47121001e-04 9.99976718e-01 -2.05002510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:-16.87, Z:-2.05 [[ 9.93943273e-01 1.09685899e-01 6.76558623e-03 2.83740239e+02] [-1.09682388e-01 9.93966289e-01 -8.88857347e-04 -1.68687415e+01] [-6.82225976e-03 1.41408124e-04 9.99976718e-01 -2.05135355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:-16.87, Z:-2.05 [[ 9.94040329e-01 1.08802809e-01 6.76562852e-03 2.83798788e+02] [-1.08799281e-01 9.94063342e-01 -8.88535357e-04 -1.68667786e+01] [-6.82213844e-03 1.47144462e-04 9.99976718e-01 -2.05122008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:-16.87, Z:-2.05 [[ 9.94520971e-01 1.04318094e-01 6.76568077e-03 2.83857157e+02] [-1.04314464e-01 9.94543968e-01 -8.88137300e-04 -1.68692092e+01] [-6.82141579e-03 1.77512806e-04 9.99976718e-01 -2.04935018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.92, Y:-16.87, Z:-2.05 [[ 9.95165784e-01 9.79759534e-02 6.76573112e-03 2.83916375e+02] [-9.79721798e-02 9.95188758e-01 -8.87753620e-04 -1.68724453e+01] [-6.82015805e-03 2.20608602e-04 9.99976718e-01 -2.05195479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:-16.87, Z:-2.05 [[ 9.95388442e-01 9.56873726e-02 6.76577207e-03 2.83974840e+02] [-9.56835483e-02 9.95411408e-01 -8.87441361e-04 -1.68746085e+01] [-6.81964364e-03 2.35975795e-04 9.99976718e-01 -2.05281777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.03, Y:-16.88, Z:-2.05 [[ 9.95292819e-01 9.66769271e-02 6.76582255e-03 2.84034303e+02] [-9.66731282e-02 9.95315789e-01 -8.87056341e-04 -1.68771399e+01] [-6.81988789e-03 2.28807576e-04 9.99976718e-01 -2.04906384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.09, Y:-16.88, Z:-2.05 [[ 9.95155640e-01 9.80789240e-02 6.76586253e-03 2.84092180e+02] [-9.80751595e-02 9.95178616e-01 -8.86751319e-04 -1.68836245e+01] [-6.82021332e-03 2.18892529e-04 9.99976718e-01 -2.04996087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:-16.89, Z:-2.06 [[ 9.95245514e-01 9.71626950e-02 6.76592192e-03 2.84150240e+02] [-9.71589125e-02 9.95268487e-01 -8.86297970e-04 -1.68909859e+01] [-6.82002396e-03 2.24714464e-04 9.99976718e-01 -2.05528873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:-16.90, Z:-2.06 [[ 9.95425542e-01 9.53006362e-02 6.76596176e-03 2.84206555e+02] [-9.52968128e-02 9.95448508e-01 -8.85993667e-04 -1.68993690e+01] [-6.81960231e-03 2.37166135e-04 9.99976718e-01 -2.05700451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.26, Y:-16.91, Z:-2.06 [[ 9.95524881e-01 9.42572628e-02 6.76603075e-03 2.84263754e+02] [-9.42534189e-02 9.95547844e-01 -8.85466527e-04 -1.69056635e+01] [-6.81936898e-03 2.43782429e-04 9.99976718e-01 -2.05713854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:-16.91, Z:-2.06 [[ 9.95706903e-01 9.23145937e-02 6.76609177e-03 2.84321827e+02] [-9.23107081e-02 9.95729858e-01 -8.85000003e-04 -1.69115735e+01] [-6.81889801e-03 2.56617890e-04 9.99976718e-01 -2.05676357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.38, Y:-16.92, Z:-2.06 [[ 9.95663243e-01 9.27842974e-02 6.76613261e-03 2.84379885e+02] [-9.27804248e-02 9.95686201e-01 -8.84687708e-04 -1.69174849e+01] [-6.81902999e-03 2.53086375e-04 9.99976718e-01 -2.05625503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:284.44, Y:-16.92, Z:-2.05 [[ 9.95732710e-01 9.20358018e-02 6.76618316e-03 2.84438732e+02] [-9.20319146e-02 9.95755665e-01 -8.84300857e-04 -1.69223804e+01] [-6.81885256e-03 2.57822498e-04 9.99976718e-01 -2.05426664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.50, Y:-16.92, Z:-2.05 [[ 9.96215309e-01 8.66560817e-02 6.76622397e-03 2.84497998e+02] [-8.66520727e-02 9.96238243e-01 -8.83988558e-04 -1.69248260e+01] [-6.81737406e-03 2.94335603e-04 9.99976718e-01 -2.05387334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.56, Y:-16.93, Z:-2.06 [[ 9.96775084e-01 7.99603023e-02 6.76626504e-03 2.84555774e+02] [-7.99561414e-02 9.96797991e-01 -8.83674058e-04 -1.69298641e+01] [-6.81525824e-03 3.39819840e-04 9.99976718e-01 -2.05995974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.61, Y:-16.94, Z:-2.06 [[ 9.97444744e-01 7.11210177e-02 6.76631574e-03 2.84614259e+02] [-7.11166565e-02 9.97467614e-01 -8.83285633e-04 -1.69393144e+01] [-6.81200099e-03 3.99830860e-04 9.99976718e-01 -2.06282643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.67, Y:-16.95, Z:-2.06 [[ 9.97808398e-01 6.58226227e-02 6.76635423e-03 2.84672424e+02] [-6.58181420e-02 9.97831245e-01 -8.82990687e-04 -1.69488243e+01] [-6.80980043e-03 4.35706659e-04 9.99976718e-01 -2.06394578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.73, Y:-16.96, Z:-2.06 [[ 9.97753269e-01 6.66530553e-02 6.76639301e-03 2.84729992e+02] [-6.66485957e-02 9.97776120e-01 -8.82693417e-04 -1.69590561e+01] [-6.81017958e-03 4.29739650e-04 9.99976718e-01 -2.06134251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:284.79, Y:-16.96, Z:-2.06 [[ 9.97201445e-01 7.44546373e-02 6.76643195e-03 2.84788939e+02] [-7.44503586e-02 9.97224331e-01 -8.82394815e-04 -1.69643808e+01] [-6.81334896e-03 3.76162100e-04 9.99976718e-01 -2.05573523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.85, Y:-16.97, Z:-2.06 [[ 9.96743250e-01 8.03561381e-02 6.76647147e-03 2.84847213e+02] [-8.03519970e-02 9.96766160e-01 -8.82091692e-04 -1.69697473e+01] [-6.81547127e-03 3.35519444e-04 9.99976718e-01 -2.05838350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.91, Y:-16.97, Z:-2.07 [[ 9.96493154e-01 8.34002904e-02 6.76651090e-03 2.84905626e+02] [-8.33962213e-02 9.96516078e-01 -8.81789084e-04 -1.69739420e+01] [-6.81647837e-03 3.14395345e-04 9.99976718e-01 -2.06606950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.96, Y:-16.98, Z:-2.07 [[ 9.96736084e-01 8.04449703e-02 6.76655039e-03 2.84963793e+02] [-8.04408354e-02 9.96758995e-01 -8.81485957e-04 -1.69826972e+01] [-6.81553108e-03 3.34301895e-04 9.99976718e-01 -2.06824332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.02, Y:-16.99, Z:-2.07 [[ 9.96893627e-01 7.84685257e-02 6.76659173e-03 2.85019912e+02] [-7.84643474e-02 9.96916531e-01 -8.81168538e-04 -1.69911974e+01] [-6.81487115e-03 3.47495096e-04 9.99976718e-01 -2.07056648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.08, Y:-17.00, Z:-2.07 [[ 9.97387565e-01 7.19184135e-02 6.76666307e-03 2.85078057e+02] [-7.19140886e-02 9.97410441e-01 -8.80620374e-04 -1.70023627e+01] [-6.81247322e-03 3.91701403e-04 9.99976718e-01 -2.06809650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-17.01, Z:-2.07 [[ 9.97764981e-01 6.64774787e-02 6.76670236e-03 2.85136208e+02] [-6.64730311e-02 9.97787834e-01 -8.80318373e-04 -1.70137012e+01] [-6.81025463e-03 4.28547628e-04 9.99976718e-01 -2.06595019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.19, Y:-17.02, Z:-2.07 [[ 9.98013927e-01 6.26291715e-02 6.76674287e-03 2.85192943e+02] [-6.26246379e-02 9.98036763e-01 -8.80006808e-04 -1.70241784e+01] [-6.80857225e-03 4.54494228e-04 9.99976718e-01 -2.07113011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.25, Y:-17.03, Z:-2.07 [[ 9.98062732e-01 6.18465375e-02 6.76679282e-03 2.85250592e+02] [-6.18419887e-02 9.98085565e-01 -8.79622608e-04 -1.70335676e+01] [-6.80823984e-03 4.59446618e-04 9.99976718e-01 -2.07195078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.31, Y:-17.04, Z:-2.07 [[ 9.98055912e-01 6.19564842e-02 6.76682991e-03 2.85308521e+02] [-6.19519397e-02 9.98078746e-01 -8.79337148e-04 -1.70428335e+01] [-6.80830975e-03 4.58409400e-04 9.99976718e-01 -2.06650216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.37, Y:-17.06, Z:-2.07 [[ 9.98279902e-01 5.82361359e-02 6.76686865e-03 2.85365109e+02] [-5.82315084e-02 9.98302719e-01 -8.79038933e-04 -1.70560536e+01] [-6.80657520e-03 4.83481931e-04 9.99976718e-01 -2.07479044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:-17.07, Z:-2.07 [[ 9.98447502e-01 5.52882773e-02 6.76691655e-03 2.85421728e+02] [-5.52835850e-02 9.98470307e-01 -8.78670085e-04 -1.70742342e+01] [-6.80514539e-03 5.03206546e-04 9.99976718e-01 -2.07217842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:-17.09, Z:-2.07 [[ 9.98134508e-01 6.06771196e-02 6.76695504e-03 2.85478713e+02] [-6.06725524e-02 9.98157337e-01 -8.78373537e-04 -1.70903967e+01] [-6.80778300e-03 4.66166504e-04 9.99976718e-01 -2.06958913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:-17.10, Z:-2.07 [[ 9.97683174e-01 6.76941052e-02 6.76699492e-03 2.85535459e+02] [-6.76897008e-02 9.97706036e-01 -8.78066182e-04 -1.71020083e+01] [-6.81091158e-03 4.17975995e-04 9.99976718e-01 -2.07079053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.59, Y:-17.11, Z:-2.07 [[ 9.96896581e-01 7.84309486e-02 6.76704987e-03 2.85593556e+02] [-7.84267934e-02 9.96919489e-01 -8.77642522e-04 -1.71094304e+01] [-6.81503823e-03 3.44200808e-04 9.99976718e-01 -2.06814327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.65, Y:-17.12, Z:-2.07 [[ 9.96584903e-01 8.22966454e-02 6.76708939e-03 2.85650912e+02] [-8.22925811e-02 9.96607827e-01 -8.77337645e-04 -1.71177159e+01] [-6.81633620e-03 3.17460199e-04 9.99976718e-01 -2.07212261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:285.71, Y:-17.13, Z:-2.07 [[ 9.96893293e-01 7.84727233e-02 6.76713857e-03 2.85709385e+02] [-7.84685736e-02 9.96916202e-01 -8.76958136e-04 -1.71265981e+01] [-6.81508738e-03 3.43225972e-04 9.99976718e-01 -2.07272150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:-17.14, Z:-2.07 [[ 9.97188056e-01 7.46336784e-02 6.76717901e-03 2.85766219e+02] [-7.46294427e-02 9.97210949e-01 -8.76645982e-04 -1.71374300e+01] [-6.81373232e-03 3.69150104e-04 9.99976718e-01 -2.06993459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.82, Y:-17.15, Z:-2.08 [[ 9.97654203e-01 6.81197237e-02 6.76722898e-03 2.85823642e+02] [-6.81153411e-02 9.97677068e-01 -8.76260083e-04 -1.71515303e+01] [-6.81119976e-03 4.13252444e-04 9.99976718e-01 -2.07520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.88, Y:-17.16, Z:-2.07 [[ 9.97787742e-01 6.61349052e-02 6.76726883e-03 2.85880840e+02] [-6.61304793e-02 9.97810599e-01 -8.75952182e-04 -1.71642502e+01] [-6.81038359e-03 4.26491618e-04 9.99976718e-01 -2.07284205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:-17.17, Z:-2.06 [[ 9.97501033e-01 7.03270351e-02 6.76729840e-03 2.85939176e+02] [-7.03227068e-02 9.97523910e-01 -8.75723707e-04 -1.71712089e+01] [-6.81212901e-03 3.97640561e-04 9.99976718e-01 -2.06282806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.00, Y:-17.18, Z:-2.06 [[ 9.97290406e-01 7.32533158e-02 6.76733779e-03 2.85996399e+02] [-7.32490567e-02 9.97313295e-01 -8.75419242e-04 -1.71761363e+01] [-6.81328331e-03 3.77346103e-04 9.99976718e-01 -2.06464776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:-17.18, Z:-2.07 [[ 9.97333292e-01 7.26670959e-02 6.76738652e-03 2.86054762e+02] [-7.26628259e-02 9.97356179e-01 -8.75042303e-04 -1.71794309e+01] [-6.81308155e-03 3.80971392e-04 9.99976718e-01 -2.06773683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:-17.19, Z:-2.07 [[ 9.97891342e-01 6.45528543e-02 6.76742393e-03 2.86112438e+02] [-6.45484002e-02 9.97914194e-01 -8.74752908e-04 -1.71884726e+01] [-6.80977620e-03 4.36081966e-04 9.99976718e-01 -2.07092061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.17, Y:-17.20, Z:-2.07 [[ 9.98391655e-01 5.62876982e-02 6.76746315e-03 2.86170430e+02] [-5.62830571e-02 9.98414469e-01 -8.74449401e-04 -1.71989330e+01] [-6.80595387e-03 4.92149469e-04 9.99976718e-01 -2.07294379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.23, Y:-17.22, Z:-2.07 [[ 9.98667252e-01 5.11656197e-02 6.76749233e-03 2.86227766e+02] [-5.11608632e-02 9.98690043e-01 -8.74223504e-04 -1.72154886e+01] [-6.80335739e-03 5.26827635e-04 9.99976718e-01 -2.07449433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.29, Y:-17.23, Z:-2.07 [[ 9.98031153e-01 6.23539832e-02 6.76751064e-03 2.86286448e+02] [-6.23494833e-02 9.98053995e-01 -8.74081730e-04 -1.72266925e+01] [-6.80884351e-03 4.50410005e-04 9.99976718e-01 -2.07180199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:-17.23, Z:-2.07 [[ 9.97344192e-01 7.25173335e-02 6.76752962e-03 2.86344931e+02] [-7.25130676e-02 9.97367080e-01 -8.73934800e-04 -1.72346786e+01] [-6.81308667e-03 3.80879464e-04 9.99976718e-01 -2.07303548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.40, Y:-17.25, Z:-2.07 [[ 9.96866621e-01 7.88107920e-02 6.76756735e-03 2.86401686e+02] [-7.88066726e-02 9.96889535e-01 -8.73642478e-04 -1.72471437e+01] [-6.81536953e-03 3.37575560e-04 9.99976718e-01 -2.07187704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:-17.27, Z:-2.07 [[ 9.96772846e-01 7.99880763e-02 6.76761923e-03 2.86458656e+02] [-7.99839867e-02 9.96795766e-01 -8.73240453e-04 -1.72652937e+01] [-6.81578302e-03 3.29121206e-04 9.99976718e-01 -2.07156776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:-17.28, Z:-2.07 [[ 9.96111876e-01 8.78369522e-02 6.76765623e-03 2.86516629e+02] [-8.78330452e-02 9.96134827e-01 -8.72953554e-04 -1.72797335e+01] [-6.81817565e-03 2.75135546e-04 9.99976718e-01 -2.07151035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:-17.29, Z:-2.07 [[ 9.94933055e-01 1.00311586e-01 6.76768573e-03 2.86573548e+02] [-1.00307969e-01 9.94956054e-01 -8.72724820e-04 -1.72892054e+01] [-6.82109430e-03 1.89449963e-04 9.99976718e-01 -2.07056688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.63, Y:-17.30, Z:-2.07 [[ 9.92895220e-01 1.18799326e-01 6.76773455e-03 2.86630885e+02] [-1.18796139e-01 9.92918283e-01 -8.72346050e-04 -1.72972933e+01] [-6.82344149e-03 6.21674865e-05 9.99976718e-01 -2.06890479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:-17.31, Z:-2.07 [[ 9.91856862e-01 1.27177681e-01 6.76778302e-03 2.86688627e+02] [-1.27174692e-01 9.91879951e-01 -8.71969852e-04 -1.73070297e+01] [-6.82372340e-03 4.17855938e-06 9.99976718e-01 -2.06818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.75, Y:-17.32, Z:-2.07 [[ 9.92143124e-01 1.24924848e-01 6.76782219e-03 2.86746875e+02] [-1.24921809e-01 9.92166207e-01 -8.71665707e-04 -1.73181608e+01] [-6.82369718e-03 1.93685482e-05 9.99976718e-01 -2.07144277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:286.81, Y:-17.33, Z:-2.07 [[ 9.92193856e-01 1.24521277e-01 6.76786245e-03 2.86805239e+02] [-1.24518230e-01 9.92216938e-01 -8.71353077e-04 -1.73289051e+01] [-6.82368975e-03 2.18289151e-05 9.99976718e-01 -2.06910575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.86, Y:-17.34, Z:-2.07 [[ 9.92055273e-01 1.25620584e-01 6.76790322e-03 2.86863395e+02] [-1.25617565e-01 9.92078358e-01 -8.71036230e-04 -1.73379939e+01] [-6.82371040e-03 1.39485645e-05 9.99976718e-01 -2.06517096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.92, Y:-17.35, Z:-2.06 [[ 9.91757745e-01 1.27948311e-01 6.76794415e-03 2.86921469e+02] [-1.27945348e-01 9.91780838e-01 -8.70718157e-04 -1.73464189e+01] [-6.82372423e-03 -2.38549315e-06 9.99976718e-01 -2.06438737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:286.98, Y:-17.35, Z:-2.06 [[ 9.91060309e-01 1.33242854e-01 6.76798492e-03 2.86980171e+02] [-1.33240017e-01 9.91083417e-01 -8.70401132e-04 -1.73513400e+01] [-6.82361235e-03 -3.91464095e-05 9.99976718e-01 -2.06474095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:287.04, Y:-17.35, Z:-2.07 [[ 9.90336898e-01 1.38517228e-01 6.76802524e-03 2.87037127e+02] [-1.38514516e-01 9.90360021e-01 -8.70087472e-04 -1.73543122e+01] [-6.82330373e-03 -7.57900129e-05 9.99976718e-01 -2.06954460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:-17.36, Z:-2.07 [[ 9.89747092e-01 1.42670552e-01 6.76809546e-03 2.87095823e+02] [-1.42667941e-01 9.89770227e-01 -8.69540940e-04 -1.73565962e+01] [-6.82291726e-03 -1.04964626e-04 9.99976718e-01 -2.07234289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:-17.36, Z:-2.07 [[ 9.89516851e-01 1.44258776e-01 6.76813509e-03 2.87154318e+02] [-1.44256204e-01 9.89539990e-01 -8.69232360e-04 -1.73601597e+01] [-6.82273472e-03 -1.16225409e-04 9.99976718e-01 -2.07447119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:-17.36, Z:-2.08 [[ 9.89692106e-01 1.43051487e-01 6.76817584e-03 2.87212850e+02] [-1.43048889e-01 9.89715242e-01 -8.68914955e-04 -1.73632643e+01] [-6.82286636e-03 -1.08221764e-04 9.99976718e-01 -2.07648915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:-17.37, Z:-2.08 [[ 9.89915095e-01 1.41500160e-01 6.76821658e-03 2.87269033e+02] [-1.41497527e-01 9.89938228e-01 -8.68597459e-04 -1.73693059e+01] [-6.82302301e-03 -9.78481749e-05 9.99976718e-01 -2.07923536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.33, Y:-17.38, Z:-2.07 [[ 9.89750233e-01 1.42648750e-01 6.76828688e-03 2.87327612e+02] [-1.42646149e-01 9.89773369e-01 -8.68049313e-04 -1.73786804e+01] [-6.82289626e-03 -1.06318046e-04 9.99976718e-01 -2.07478824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.38, Y:-17.39, Z:-2.08 [[ 9.89133199e-01 1.46866282e-01 6.76832737e-03 2.87384437e+02] [-1.46863781e-01 9.89156346e-01 -8.67733489e-04 -1.73879949e+01] [-6.82237476e-03 -1.35718149e-04 9.99976718e-01 -2.07747556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.44, Y:-17.40, Z:-2.08 [[ 9.88267747e-01 1.52581285e-01 6.76837747e-03 2.87442202e+02] [-1.52578921e-01 9.88290909e-01 -8.67342545e-04 -1.73958511e+01] [-6.82146616e-03 -1.75545068e-04 9.99976718e-01 -2.07861383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.50, Y:-17.40, Z:-2.07 [[ 9.87383962e-01 1.58199560e-01 6.76843601e-03 2.87500851e+02] [-1.58197331e-01 9.87407136e-01 -8.66885490e-04 -1.74029753e+01] [-6.82034292e-03 -2.14799680e-04 9.99976718e-01 -2.07166308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.56, Y:-17.41, Z:-2.07 [[ 9.87001372e-01 1.60569238e-01 6.76847550e-03 2.87557582e+02] [-1.60567066e-01 9.87024552e-01 -8.66577081e-04 -1.74095681e+01] [-6.81979712e-03 -2.31481486e-04 9.99976718e-01 -2.07386966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.62, Y:-17.42, Z:-2.08 [[ 9.86729673e-01 1.62230510e-01 6.76854376e-03 2.87616188e+02] [-1.62228381e-01 9.86752858e-01 -8.66043534e-04 -1.74155291e+01] [-6.81937859e-03 -2.43499044e-04 9.99976718e-01 -2.07805894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.67, Y:-17.42, Z:-2.08 [[ 9.86014429e-01 1.66522464e-01 6.76858452e-03 2.87674748e+02] [-1.66520439e-01 9.86037623e-01 -8.65724858e-04 -1.74191804e+01] [-6.81824163e-03 -2.73490462e-04 9.99976718e-01 -2.07781747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:287.73, Y:-17.42, Z:-2.08 [[ 9.85445566e-01 1.69856475e-01 6.76862540e-03 2.87731959e+02] [-1.69854530e-01 9.85468766e-01 -8.65405140e-04 -1.74221076e+01] [-6.81726359e-03 -2.96872029e-04 9.99976718e-01 -2.07793741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.79, Y:-17.43, Z:-2.08 [[ 9.85223907e-01 1.71137482e-01 6.76869626e-03 2.87788801e+02] [-1.71135571e-01 9.85247110e-01 -8.64850589e-04 -1.74258255e+01] [-6.81684678e-03 -3.06293220e-04 9.99976718e-01 -2.07745754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:287.85, Y:-17.43, Z:-2.08 [[ 9.85978704e-01 1.66733854e-01 6.76876506e-03 2.87847179e+02] [-1.66731843e-01 9.86001899e-01 -8.64311747e-04 -1.74306337e+01] [-6.81812524e-03 -2.76375698e-04 9.99976718e-01 -2.08009459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:287.91, Y:-17.44, Z:-2.08 [[ 9.86471378e-01 1.63793787e-01 6.76880504e-03 2.87905121e+02] [-1.63791708e-01 9.86494567e-01 -8.63998520e-04 -1.74382864e+01] [-6.81890699e-03 -2.56364332e-04 9.99976718e-01 -2.08077866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:-17.45, Z:-2.08 [[ 9.86863158e-01 1.61416508e-01 6.76886531e-03 2.87962434e+02] [-1.61414377e-01 9.86886343e-01 -8.63526158e-04 -1.74508481e+01] [-6.81948810e-03 -2.40410024e-04 9.99976718e-01 -2.07933579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.02, Y:-17.46, Z:-2.08 [[ 9.86196258e-01 1.65442201e-01 6.76892576e-03 2.88019678e+02] [-1.65440168e-01 9.86219451e-01 -8.63051976e-04 -1.74617742e+01] [-6.81843147e-03 -2.68713587e-04 9.99976718e-01 -2.07799459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.08, Y:-17.47, Z:-2.08 [[ 9.85211862e-01 1.71206798e-01 6.76898635e-03 2.88077515e+02] [-1.71204904e-01 9.85235067e-01 -8.62576517e-04 -1.74697770e+01] [-6.81672168e-03 -3.09063040e-04 9.99976718e-01 -2.07959682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.14, Y:-17.47, Z:-2.08 [[ 9.83836717e-01 1.78939919e-01 6.76904725e-03 2.88136927e+02] [-1.78938210e-01 9.83859936e-01 -8.62098325e-04 -1.74715485e+01] [-6.81405820e-03 -3.63077216e-04 9.99976718e-01 -2.08130415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.19, Y:-17.47, Z:-2.08 [[ 9.83166245e-01 1.82587825e-01 6.76908721e-03 2.88194902e+02] [-1.82586205e-01 9.83189471e-01 -8.61784509e-04 -1.74741800e+01] [-6.81264663e-03 -3.88664502e-04 9.99976718e-01 -2.08495137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.25, Y:-17.48, Z:-2.08 [[ 9.83628583e-01 1.80080508e-01 6.76913663e-03 2.88253174e+02] [-1.80078832e-01 9.83651804e-01 -8.61396133e-04 -1.74760241e+01] [-6.81359411e-03 -3.71684358e-04 9.99976718e-01 -2.08421889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.31, Y:-17.48, Z:-2.08 [[ 9.85148523e-01 1.71570876e-01 6.76919792e-03 2.88311666e+02] [-1.71569002e-01 9.85171729e-01 -8.60914194e-04 -1.74784318e+01] [-6.81653023e-03 -3.13256183e-04 9.99976718e-01 -2.08134268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.37, Y:-17.48, Z:-2.09 [[ 9.86041670e-01 1.66361062e-01 6.76924895e-03 2.88369909e+02] [-1.66359068e-01 9.86064866e-01 -8.60512790e-04 -1.74814910e+01] [-6.81807438e-03 -2.77624477e-04 9.99976718e-01 -2.08646833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.43, Y:-17.49, Z:-2.08 [[ 9.86028693e-01 1.66437956e-01 6.76929960e-03 2.88429163e+02] [-1.66435966e-01 9.86051890e-01 -8.60114162e-04 -1.74857321e+01] [-6.81803631e-03 -2.78557678e-04 9.99976718e-01 -2.08430113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:-17.49, Z:-2.08 [[ 9.85523606e-01 1.69403064e-01 6.76933984e-03 2.88487127e+02] [-1.69401146e-01 9.85546809e-01 -8.59797357e-04 -1.74853106e+01] [-6.81715358e-03 -2.99383338e-04 9.99976718e-01 -2.07905755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:288.55, Y:-17.48, Z:-2.09 [[ 9.84602493e-01 1.74677146e-01 6.76938964e-03 2.88546409e+02] [-1.74675356e-01 9.84625706e-01 -8.59405076e-04 -1.74847046e+01] [-6.81543348e-03 -3.36273163e-04 9.99976718e-01 -2.08559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.61, Y:-17.49, Z:-2.09 [[ 9.84255791e-01 1.76620245e-01 6.76952737e-03 2.88605626e+02] [-1.76618508e-01 9.84279008e-01 -8.58318839e-04 -1.74887288e+01] [-6.81470017e-03 -3.50818536e-04 9.99976718e-01 -2.08813879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.66, Y:-17.49, Z:-2.09 [[ 9.84199393e-01 1.76934241e-01 6.76965891e-03 2.88663909e+02] [-1.76932518e-01 9.84222612e-01 -8.57280077e-04 -1.74923744e+01] [-6.81453357e-03 -3.54038267e-04 9.99976718e-01 -2.08621624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.72, Y:-17.49, Z:-2.08 [[ 9.84427514e-01 1.75660586e-01 6.76970902e-03 2.88722819e+02] [-1.75658836e-01 9.84450730e-01 -8.56884164e-04 -1.74929485e+01] [-6.81496576e-03 -3.45618857e-04 9.99976718e-01 -2.08105672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.78, Y:-17.50, Z:-2.08 [[ 9.84525062e-01 1.75113025e-01 6.76985275e-03 2.88780090e+02] [-1.75111270e-01 9.84548278e-01 -8.55747097e-04 -1.74969534e+01] [-6.81509933e-03 -3.42973050e-04 9.99976718e-01 -2.08310431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:-17.50, Z:-2.08 [[ 9.84045723e-01 1.77786902e-01 6.76992373e-03 2.88839595e+02] [-1.77785214e-01 9.84068944e-01 -8.55185219e-04 -1.74984939e+01] [-6.81411243e-03 -3.62050982e-04 9.99976718e-01 -2.08040350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.90, Y:-17.50, Z:-2.08 [[ 9.83721264e-01 1.79573496e-01 6.77006310e-03 2.88896258e+02] [-1.79571857e-01 9.83744488e-01 -8.54080517e-04 -1.75029180e+01] [-6.81338248e-03 -3.75535638e-04 9.99976718e-01 -2.08185716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:-17.51, Z:-2.09 [[ 9.83438474e-01 1.81115800e-01 6.77013170e-03 2.88954775e+02] [-1.81114202e-01 9.83461701e-01 -8.53536402e-04 -1.75076910e+01] [-6.81275416e-03 -3.86766463e-04 9.99976718e-01 -2.08693602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.01, Y:-17.51, Z:-2.09 [[ 9.83126732e-01 1.82800417e-01 6.77027124e-03 2.89012389e+02] [-1.82798867e-01 9.83149962e-01 -8.52428051e-04 -1.75132203e+01] [-6.81201612e-03 -3.99553107e-04 9.99976718e-01 -2.08506411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.07, Y:-17.52, Z:-2.08 [[ 9.82770378e-01 1.84706649e-01 6.77032051e-03 2.89069527e+02] [-1.84705146e-01 9.82793612e-01 -8.52036624e-04 -1.75199832e+01] [-6.81120457e-03 -4.13156685e-04 9.99976718e-01 -2.08249974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:-17.53, Z:-2.09 [[ 9.82330214e-01 1.87033455e-01 6.77036827e-03 2.89127508e+02] [-1.87032009e-01 9.82353451e-01 -8.51656933e-04 -1.75263445e+01] [-6.81018297e-03 -4.29667243e-04 9.99976718e-01 -2.08577168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.19, Y:-17.53, Z:-2.09 [[ 9.81387130e-01 1.91920455e-01 6.77051983e-03 2.89186625e+02] [-1.91919134e-01 9.81410374e-01 -8.50450295e-04 -1.75283155e+01] [-6.80787721e-03 -4.64771328e-04 9.99976718e-01 -2.09041628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.25, Y:-17.53, Z:-2.09 [[ 9.81144829e-01 1.93155332e-01 6.77065076e-03 2.89246026e+02] [-1.93154047e-01 9.81168076e-01 -8.49406676e-04 -1.75305677e+01] [-6.80721381e-03 -4.74387627e-04 9.99976718e-01 -2.09372340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.31, Y:-17.53, Z:-2.10 [[ 9.81449497e-01 1.91601257e-01 6.77078071e-03 2.89305622e+02] [-1.91599942e-01 9.81472742e-01 -8.48369582e-04 -1.75285859e+01] [-6.80788538e-03 -4.64649289e-04 9.99976718e-01 -2.09805572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:-17.53, Z:-2.10 [[ 9.82688076e-01 1.85144000e-01 6.77091825e-03 2.89363724e+02] [-1.85142540e-01 9.82711312e-01 -8.47270451e-04 -1.75273308e+01] [-6.81072499e-03 -4.20982434e-04 9.99976718e-01 -2.09706945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:-17.53, Z:-2.09 [[ 9.84350292e-01 1.76092751e-01 6.77096695e-03 2.89422752e+02] [-1.76091080e-01 9.84373514e-01 -8.46881075e-04 -1.75321280e+01] [-6.81429014e-03 -3.58679251e-04 9.99976718e-01 -2.09117889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:-17.54, Z:-2.10 [[ 9.86332667e-01 1.64626920e-01 6.77110459e-03 2.89479683e+02] [-1.64624986e-01 9.86355868e-01 -8.45779147e-04 -1.75422627e+01] [-6.81795676e-03 -2.80473396e-04 9.99976718e-01 -2.09989798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:-17.56, Z:-2.09 [[ 9.87310312e-01 1.58658433e-01 6.77115336e-03 2.89536269e+02] [-1.58656362e-01 9.87333502e-01 -8.45388494e-04 -1.75561997e+01] [-6.81951458e-03 -2.39625779e-04 9.99976718e-01 -2.09225686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.59, Y:-17.57, Z:-2.08 [[ 9.87037816e-01 1.60344940e-01 6.77119914e-03 2.89594278e+02] [-1.60342911e-01 9.87061010e-01 -8.45021668e-04 -1.75685996e+01] [-6.81908161e-03 -2.51645440e-04 9.99976718e-01 -2.08432105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.65, Y:-17.58, Z:-2.08 [[ 9.85582305e-01 1.69061142e-01 6.77133555e-03 2.89651013e+02] [-1.69059325e-01 9.85605516e-01 -8.43927156e-04 -1.75789626e+01] [-6.81654096e-03 -3.12997746e-04 9.99976718e-01 -2.08465001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:-17.59, Z:-2.09 [[ 9.84069221e-01 1.77656732e-01 6.77149018e-03 2.89709037e+02] [-1.77655126e-01 9.84092448e-01 -8.42684588e-04 -1.75899144e+01] [-6.81348094e-03 -3.73729977e-04 9.99976718e-01 -2.09312729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.77, Y:-17.61, Z:-2.09 [[ 9.83237180e-01 1.82205360e-01 6.77163222e-03 2.89765066e+02] [-1.82203870e-01 9.83260414e-01 -8.41541636e-04 -1.76063648e+01] [-6.81161130e-03 -4.06382574e-04 9.99976718e-01 -2.09298051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.82, Y:-17.62, Z:-2.09 [[ 9.83557540e-01 1.80468029e-01 6.77168215e-03 2.89821445e+02] [-1.80466501e-01 9.83580772e-01 -8.41139724e-04 -1.76201352e+01] [-6.81229518e-03 -3.94752463e-04 9.99976718e-01 -2.09077876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:-17.64, Z:-2.09 [[ 9.84200396e-01 1.76928584e-01 6.77172928e-03 2.89878965e+02] [-1.76926975e-01 9.84223622e-01 -8.40760082e-04 -1.76363414e+01] [-6.81365042e-03 -3.70625169e-04 9.99976718e-01 -2.09369369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:-17.65, Z:-2.10 [[ 9.84090744e-01 1.77537458e-01 6.77185996e-03 2.89936092e+02] [-1.77535870e-01 9.84113972e-01 -8.39706232e-04 -1.76546523e+01] [-6.81336131e-03 -3.75900918e-04 9.99976718e-01 -2.09747456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:-17.67, Z:-2.10 [[ 9.83728615e-01 1.79533148e-01 6.77199873e-03 2.89992223e+02] [-1.79531615e-01 9.83751847e-01 -8.38585585e-04 -1.76693257e+01] [-6.81252017e-03 -3.90847235e-04 9.99976718e-01 -2.09898155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:-17.69, Z:-2.10 [[ 9.83690526e-01 1.79741726e-01 6.77204797e-03 2.90048714e+02] [-1.79740201e-01 9.83713758e-01 -8.38187731e-04 -1.76896396e+01] [-6.81241407e-03 -3.92691932e-04 9.99976718e-01 -2.09566047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:-17.71, Z:-2.10 [[ 9.83290234e-01 1.81918812e-01 6.77218544e-03 2.90104832e+02] [-1.81917346e-01 9.83313469e-01 -8.37075587e-04 -1.77085990e+01] [-6.81146096e-03 -4.08889751e-04 9.99976718e-01 -2.09520899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:-17.72, Z:-2.09 [[ 9.82699414e-01 1.85083759e-01 6.77223385e-03 2.90162326e+02] [-1.85082371e-01 9.82722655e-01 -8.36683729e-04 -1.77200844e+01] [-6.81008420e-03 -4.31212485e-04 9.99976718e-01 -2.09479706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:-17.73, Z:-2.10 [[ 9.80971285e-01 1.94034722e-01 6.77236831e-03 2.90219245e+02] [-1.94033552e-01 9.80994537e-01 -8.35594015e-04 -1.77318032e+01] [-6.80579056e-03 -4.94372946e-04 9.99976718e-01 -2.09505346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.28, Y:-17.74, Z:-2.10 [[ 9.79354326e-01 2.02037714e-01 6.77252157e-03 2.90276376e+02] [-2.02036743e-01 9.79377587e-01 -8.34349967e-04 -1.77387487e+01] [-6.80142599e-03 -5.51173949e-04 9.99976718e-01 -2.09673928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-17.74, Z:-2.10 [[ 9.76652123e-01 2.14720197e-01 6.77256856e-03 2.90335097e+02] [-2.14719530e-01 9.76675395e-01 -8.33968316e-04 -1.77372342e+01] [-6.79367092e-03 -6.39705815e-04 9.99976718e-01 -2.09749619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.39, Y:-17.74, Z:-2.10 [[ 9.75415646e-01 2.20269039e-01 6.77261483e-03 2.90393155e+02] [-2.20268507e-01 9.75438922e-01 -8.33592390e-04 -1.77364081e+01] [-6.78988671e-03 -6.78694698e-04 9.99976718e-01 -2.09964443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.45, Y:-17.73, Z:-2.10 [[ 9.75650038e-01 2.19228494e-01 6.77275959e-03 2.90452233e+02] [-2.19227945e-01 9.75673314e-01 -8.32414602e-04 -1.77279940e+01] [-6.79048979e-03 -6.72632829e-04 9.99976718e-01 -2.09936183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.51, Y:-17.72, Z:-2.10 [[ 9.76472900e-01 2.15533765e-01 6.77290390e-03 2.90510261e+02] [-2.15533137e-01 9.76496173e-01 -8.31238742e-04 -1.77233139e+01] [-6.79287476e-03 -6.48103120e-04 9.99976718e-01 -2.10052534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.57, Y:-17.72, Z:-2.10 [[ 9.77444484e-01 2.11083887e-01 6.77300190e-03 2.90570229e+02] [-2.11083158e-01 9.77467754e-01 -8.30439500e-04 -1.77181643e+01] [-6.79568336e-03 -6.17958119e-04 9.99976718e-01 -2.09991815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:290.63, Y:-17.71, Z:-2.10 [[ 9.79253257e-01 2.02526993e-01 6.77314009e-03 2.90629492e+02] [-2.02526069e-01 9.79276521e-01 -8.29310848e-04 -1.77086221e+01] [-6.80073490e-03 -5.59632086e-04 9.99976718e-01 -2.09817510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.69, Y:-17.70, Z:-2.10 [[ 9.81070234e-01 1.93533767e-01 6.77321321e-03 2.90688325e+02] [-1.93532632e-01 9.81093489e-01 -8.28713234e-04 -1.77043885e+01] [-6.80553937e-03 -4.97811897e-04 9.99976718e-01 -2.09691325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:-17.71, Z:-2.10 [[ 9.82230360e-01 1.87557033e-01 6.77337156e-03 2.90747753e+02] [-1.87555766e-01 9.82253608e-01 -8.27416937e-04 -1.77061209e+01] [-6.80835652e-03 -4.57670859e-04 9.99976718e-01 -2.09879578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:290.81, Y:-17.71, Z:-2.10 [[ 9.83407289e-01 1.81284925e-01 6.77350976e-03 2.90806539e+02] [-1.81283518e-01 9.83430528e-01 -8.26284103e-04 -1.77095323e+01] [-6.81106913e-03 -4.15351867e-04 9.99976718e-01 -2.09654641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.86, Y:-17.71, Z:-2.10 [[ 9.83724416e-01 1.79556097e-01 6.77364913e-03 2.90864470e+02] [-1.79554656e-01 9.83747653e-01 -8.25139932e-04 -1.77148173e+01] [-6.81172034e-03 -4.04529945e-04 9.99976718e-01 -2.10085840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.92, Y:-17.72, Z:-2.10 [[ 9.84104642e-01 1.77460335e-01 6.77369829e-03 2.90922706e+02] [-1.77458848e-01 9.84127876e-01 -8.24736210e-04 -1.77231380e+01] [-6.81254328e-03 -3.90425962e-04 9.99976718e-01 -2.10412825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.98, Y:-17.73, Z:-2.10 [[ 9.85045950e-01 1.72158622e-01 6.77383381e-03 2.90980358e+02] [-1.72157017e-01 9.85069177e-01 -8.23621632e-04 -1.77341525e+01] [-6.81448846e-03 -3.54857871e-04 9.99976718e-01 -2.10188033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.04, Y:-17.75, Z:-2.10 [[ 9.85588542e-01 1.69024672e-01 6.77397488e-03 2.91037625e+02] [-1.69023002e-01 9.85611764e-01 -8.22459737e-04 -1.77451995e+01] [-6.81552532e-03 -3.34350675e-04 9.99976718e-01 -2.10358118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.10, Y:-17.76, Z:-2.10 [[ 9.85870529e-01 1.67372081e-01 6.77402474e-03 2.91095764e+02] [-1.67370374e-01 9.85893748e-01 -8.22048887e-04 -1.77573643e+01] [-6.81605667e-03 -3.23337284e-04 9.99976718e-01 -2.10224441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.15, Y:-17.77, Z:-2.10 [[ 9.86016983e-01 1.66507117e-01 6.77415707e-03 2.91153413e+02] [-1.66505398e-01 9.86040201e-01 -8.20956968e-04 -1.77704184e+01] [-6.81628638e-03 -3.18456205e-04 9.99976718e-01 -2.09989977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.21, Y:-17.78, Z:-2.10 [[ 9.85823065e-01 1.67651406e-01 6.77429079e-03 2.91211260e+02] [-1.67649722e-01 9.85846286e-01 -8.19852070e-04 -1.77847825e+01] [-6.81585876e-03 -3.27478883e-04 9.99976718e-01 -2.09638047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.27, Y:-17.80, Z:-2.10 [[ 9.85311676e-01 1.70631207e-01 6.77442534e-03 2.91267966e+02] [-1.70629600e-01 9.85334902e-01 -8.18738726e-04 -1.77971039e+01] [-6.81478011e-03 -3.49204663e-04 9.99976718e-01 -2.09545156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:-17.81, Z:-2.10 [[ 9.84585359e-01 1.74773499e-01 6.77457821e-03 2.91324614e+02] [-1.74771998e-01 9.84608592e-01 -8.17471873e-04 -1.78112386e+01] [-6.81318034e-03 -3.79135734e-04 9.99976718e-01 -2.10259056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.38, Y:-17.82, Z:-2.10 [[ 9.84211020e-01 1.76869363e-01 6.77464737e-03 2.91381840e+02] [-1.76867916e-01 9.84234257e-01 -8.16898365e-04 -1.78232583e+01] [-6.81232431e-03 -3.94217387e-04 9.99976718e-01 -2.10362228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.44, Y:-17.84, Z:-2.10 [[ 9.83342820e-01 1.81634249e-01 6.77479618e-03 2.91439166e+02] [-1.81632923e-01 9.83366064e-01 -8.15662373e-04 -1.78361789e+01] [-6.81025687e-03 -4.28450293e-04 9.99976718e-01 -2.10043871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:-17.84, Z:-2.10 [[ 9.81952677e-01 1.89005400e-01 6.77492742e-03 2.91496155e+02] [-1.89004256e-01 9.81975930e-01 -8.14570812e-04 -1.78449330e+01] [-6.80677394e-03 -4.80620128e-04 9.99976718e-01 -2.10041768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.55, Y:-17.85, Z:-2.10 [[ 9.80970926e-01 1.94036444e-01 6.77507467e-03 2.91554691e+02] [-1.94035427e-01 9.80994185e-01 -8.13344190e-04 -1.78517604e+01] [-6.80412727e-03 -5.16737504e-04 9.99976718e-01 -2.09819930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.61, Y:-17.86, Z:-2.10 [[ 9.80180812e-01 1.97989073e-01 6.77520653e-03 2.91612416e+02] [-1.97988158e-01 9.80204076e-01 -8.12244363e-04 -1.78578151e+01] [-6.80190056e-03 -5.45264319e-04 9.99976718e-01 -2.09926193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.67, Y:-17.86, Z:-2.10 [[ 9.79758249e-01 2.00069661e-01 6.77525277e-03 2.91670940e+02] [-2.00068798e-01 9.79781515e-01 -8.11858446e-04 -1.78649555e+01] [-6.80069567e-03 -5.60091667e-04 9.99976718e-01 -2.09533338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.73, Y:-17.87, Z:-2.09 [[ 9.79239471e-01 2.02593565e-01 6.77537705e-03 2.91729118e+02] [-2.02592768e-01 9.79262739e-01 -8.10819924e-04 -1.78726641e+01] [-6.79914119e-03 -5.78655520e-04 9.99976718e-01 -2.09335298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:-17.88, Z:-2.10 [[ 9.79590142e-01 2.00891131e-01 6.77550728e-03 2.91787359e+02] [-2.00890302e-01 9.79613409e-01 -8.09730186e-04 -1.78848384e+01] [-6.80004540e-03 -5.67929998e-04 9.99976718e-01 -2.09667127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:-17.90, Z:-2.10 [[ 9.80619226e-01 1.95806091e-01 6.77557890e-03 2.91843955e+02] [-1.95805145e-01 9.80642489e-01 -8.09130435e-04 -1.79020337e+01] [-6.80285323e-03 -5.33244349e-04 9.99976718e-01 -2.10307602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:-17.92, Z:-2.10 [[ 9.80859649e-01 1.94598147e-01 6.77570722e-03 2.91900995e+02] [-1.94597180e-01 9.80882911e-01 -8.08054511e-04 -1.79185711e+01] [-6.80342133e-03 -5.25945456e-04 9.99976718e-01 -2.10093173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:-17.93, Z:-2.10 [[ 9.80290670e-01 1.97444397e-01 6.77583940e-03 2.91958053e+02] [-1.97443505e-01 9.80313935e-01 -8.06944586e-04 -1.79286744e+01] [-6.80177647e-03 -5.46805230e-04 9.99976718e-01 -2.10312431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:-17.93, Z:-2.11 [[ 9.79964798e-01 1.99055474e-01 6.77590970e-03 2.92015229e+02] [-1.99054624e-01 9.79988064e-01 -8.06353814e-04 -1.79346406e+01] [-6.80081977e-03 -5.58577806e-04 9.99976718e-01 -2.10500576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:-17.94, Z:-2.11 [[ 9.80733705e-01 1.95231877e-01 6.77597735e-03 2.92072335e+02] [-1.95230940e-01 9.80756968e-01 -8.05784930e-04 -1.79417742e+01] [-6.80290191e-03 -5.32619990e-04 9.99976718e-01 -2.10505479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.13, Y:-17.95, Z:-2.10 [[ 9.83096895e-01 1.82960599e-01 6.77602161e-03 2.92129872e+02] [-1.82959375e-01 9.83120145e-01 -8.05412604e-04 -1.79528881e+01] [-6.80900212e-03 -4.47938046e-04 9.99976718e-01 -2.10361984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:-17.97, Z:-2.10 [[ 9.86213281e-01 1.65340407e-01 6.77605821e-03 2.92187255e+02] [-1.65338768e-01 9.86236505e-01 -8.05104570e-04 -1.79658046e+01] [-6.81591228e-03 -3.26340299e-04 9.99976718e-01 -2.09962341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.24, Y:-17.98, Z:-2.10 [[ 9.87774324e-01 1.55743279e-01 6.77609541e-03 2.92244985e+02] [-1.55741417e-01 9.87797532e-01 -8.04791368e-04 -1.79793146e+01] [-6.81875116e-03 -2.60366450e-04 9.99976718e-01 -2.09789344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:-17.99, Z:-2.10 [[ 9.88788247e-01 1.49170665e-01 6.77613318e-03 2.92302793e+02] [-1.49168651e-01 9.88811441e-01 -8.04473216e-04 -1.79936330e+01] [-6.82032182e-03 -2.15332985e-04 9.99976718e-01 -2.09934369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:-18.01, Z:-2.10 [[ 9.89285823e-01 1.45834301e-01 6.77617088e-03 2.92358634e+02] [-1.45832211e-01 9.89309011e-01 -8.04155524e-04 -1.80068684e+01] [-6.82100037e-03 -1.92644323e-04 9.99976718e-01 -2.10152504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:-18.02, Z:-2.10 [[ 9.89601878e-01 1.43673958e-01 6.77623610e-03 2.92416481e+02] [-1.43671821e-01 9.89625061e-01 -8.03605576e-04 -1.80225722e+01] [-6.82139026e-03 -1.78304596e-04 9.99976718e-01 -2.09824892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.47, Y:-18.04, Z:-2.10 [[ 9.90221409e-01 1.39340028e-01 6.77627447e-03 2.92472814e+02] [-1.39337792e-01 9.90244583e-01 -8.03281902e-04 -1.80421212e+01] [-6.82209841e-03 -1.48764185e-04 9.99976718e-01 -2.09708491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.53, Y:-18.06, Z:-2.10 [[ 9.90762435e-01 1.35439577e-01 6.77632655e-03 2.92529915e+02] [-1.35437253e-01 9.90785600e-01 -8.02842353e-04 -1.80577812e+01] [-6.82262339e-03 -1.22341008e-04 9.99976718e-01 -2.09854326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.59, Y:-18.07, Z:-2.10 [[ 9.91382586e-01 1.30822970e-01 6.77636400e-03 2.92587793e+02] [-1.30820540e-01 9.91405740e-01 -8.02526067e-04 -1.80728079e+01] [-6.82311502e-03 -9.08772320e-05 9.99976718e-01 -2.10010877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.64, Y:-18.09, Z:-2.10 [[ 9.91626608e-01 1.28960270e-01 6.77640167e-03 2.92644504e+02] [-1.28957799e-01 9.91649758e-01 -8.02207882e-04 -1.80922853e+01] [-6.82327002e-03 -7.83791645e-05 9.99976718e-01 -2.09980527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.70, Y:-18.11, Z:-2.11 [[ 9.91480826e-01 1.30076327e-01 6.77643901e-03 2.92702298e+02] [-1.30073884e-01 9.91503980e-01 -8.01892350e-04 -1.81061426e+01] [-6.82317346e-03 -8.63768540e-05 9.99976718e-01 -2.10570865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.76, Y:-18.12, Z:-2.10 [[ 9.91300203e-01 1.31445757e-01 6.77645619e-03 2.92760103e+02] [-1.31443347e-01 9.91323360e-01 -8.01747176e-04 -1.81219935e+01] [-6.82304558e-03 -9.59479413e-05 9.99976718e-01 -2.10321672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.82, Y:-18.14, Z:-2.10 [[ 9.91365452e-01 1.30952739e-01 6.77647472e-03 2.92818533e+02] [-1.30950318e-01 9.91388608e-01 -8.01590527e-04 -1.81367705e+01] [-6.82309031e-03 -9.27123662e-05 9.99976718e-01 -2.10401587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.88, Y:-18.15, Z:-2.11 [[ 9.91590252e-01 1.29239509e-01 6.77648387e-03 2.92877080e+02] [-1.29237049e-01 9.91613404e-01 -8.01513134e-04 -1.81534197e+01] [-6.82323940e-03 -8.10001679e-05 9.99976718e-01 -2.10701729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.94, Y:-18.17, Z:-2.10 [[ 9.91223354e-01 1.32024020e-01 6.77648387e-03 2.92935435e+02] [-1.32021625e-01 9.91246512e-01 -8.01513134e-04 -1.81673615e+01] [-6.82298499e-03 -1.00163878e-04 9.99976718e-01 -2.10489717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.00, Y:-18.17, Z:-2.11 [[ 9.90411597e-01 1.37981693e-01 6.77649315e-03 2.92995260e+02] [-1.37979437e-01 9.90434769e-01 -8.01434640e-04 -1.81747134e+01] [-6.82225774e-03 -1.41266550e-04 9.99976718e-01 -2.10598183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:-18.18, Z:-2.10 [[ 9.88599221e-01 1.50418284e-01 6.77649315e-03 2.93055163e+02] [-1.50416321e-01 9.88622419e-01 -8.01434641e-04 -1.81799074e+01] [-6.81994348e-03 -2.26997506e-04 9.99976718e-01 -2.10306647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.11, Y:-18.18, Z:-2.10 [[ 9.88054565e-01 1.53955368e-01 6.77651191e-03 2.93114939e+02] [-1.53953489e-01 9.88077771e-01 -8.01276020e-04 -1.81840250e+01] [-6.81908153e-03 -2.51563221e-04 9.99976718e-01 -2.10408046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:-18.19, Z:-2.11 [[ 9.88308902e-01 1.52314124e-01 6.77653048e-03 2.93173657e+02] [-1.52312207e-01 9.88332105e-01 -8.01118902e-04 -1.81876813e+01] [-6.81948436e-03 -2.40395368e-04 9.99976718e-01 -2.10738314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:-18.19, Z:-2.11 [[ 9.89602885e-01 1.43667008e-01 6.77655799e-03 2.93233646e+02] [-1.43664890e-01 9.89626070e-01 -8.00886174e-04 -1.81944077e+01] [-6.82131937e-03 -1.80994187e-04 9.99976718e-01 -2.10561637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:-18.20, Z:-2.11 [[ 9.90470009e-01 1.37561767e-01 6.77655799e-03 2.93293569e+02] [-1.37559506e-01 9.90493181e-01 -8.00886174e-04 -1.82015011e+01] [-6.82230579e-03 -1.38926235e-04 9.99976718e-01 -2.10828420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.35, Y:-18.21, Z:-2.11 [[ 9.91468064e-01 1.30173562e-01 6.77654845e-03 2.93353564e+02] [-1.30171128e-01 9.91491218e-01 -8.00966845e-04 -1.82077877e+01] [-6.82315299e-03 -8.79779071e-05 9.99976718e-01 -2.10684294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:-18.21, Z:-2.11 [[ 9.91784325e-01 1.27741655e-01 6.77653916e-03 2.93414124e+02] [-1.27739163e-01 9.91807474e-01 -8.01045421e-04 -1.82144547e+01] [-6.82334906e-03 -7.11651493e-05 9.99976718e-01 -2.10519605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:293.47, Y:-18.22, Z:-2.11 [[ 9.92075072e-01 1.25463659e-01 6.77653916e-03 2.93474249e+02] [-1.25461114e-01 9.92098215e-01 -8.01045421e-04 -1.82196642e+01] [-6.82349449e-03 -5.54949563e-05 9.99976718e-01 -2.10699199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.53, Y:-18.23, Z:-2.11 [[ 9.92483695e-01 1.22189176e-01 6.77653916e-03 2.93534348e+02] [-1.22186554e-01 9.92506828e-01 -8.01045421e-04 -1.82264865e+01] [-6.82364047e-03 -3.29774524e-05 9.99976718e-01 -2.10533487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.60, Y:-18.23, Z:-2.10 [[ 9.93552232e-01 1.13172611e-01 6.77653916e-03 2.93595927e+02] [-1.13169780e-01 9.93575342e-01 -8.01045421e-04 -1.82336303e+01] [-6.82365862e-03 2.89810207e-05 9.99976718e-01 -2.10089549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:-18.24, Z:-2.10 [[ 9.94544335e-01 1.04094406e-01 6.77640554e-03 2.93656854e+02] [-1.04091356e-01 9.94567417e-01 -8.02174206e-04 -1.82399299e+01] [-6.82309400e-03 9.24325708e-05 9.99976718e-01 -2.10168232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:-18.25, Z:-2.10 [[ 9.94959250e-01 1.00050849e-01 6.77628268e-03 2.93718869e+02] [-1.00047698e-01 9.94982318e-01 -8.03210764e-04 -1.82472978e+01] [-6.82264336e-03 1.21210496e-04 9.99976718e-01 -2.10164160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.78, Y:-18.25, Z:-2.11 [[ 9.95177369e-01 9.78574838e-02 6.77614525e-03 2.93779910e+02] [-9.78542744e-02 9.95200429e-01 -8.04368442e-04 -1.82545193e+01] [-6.82233613e-03 1.37414493e-04 9.99976718e-01 -2.10505381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:-18.26, Z:-2.11 [[ 9.95289705e-01 9.67082662e-02 6.77601925e-03 2.93841909e+02] [-9.67050229e-02 9.95312760e-01 -8.05428488e-04 -1.82629528e+01] [-6.82215001e-03 1.46359586e-04 9.99976718e-01 -2.10760964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:-18.27, Z:-2.11 [[ 9.95338996e-01 9.61996386e-02 6.77589235e-03 2.93902119e+02] [-9.61963763e-02 9.95362048e-01 -8.06494673e-04 -1.82706699e+01] [-6.82205058e-03 1.50919308e-04 9.99976718e-01 -2.10829492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.96, Y:-18.28, Z:-2.11 [[ 9.94959521e-01 1.00048194e-01 6.77577524e-03 2.93963466e+02] [-1.00045014e-01 9.94982584e-01 -8.07477402e-04 -1.82807195e+01] [-6.82256501e-03 1.25524798e-04 9.99976718e-01 -2.11061218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.02, Y:-18.29, Z:-2.11 [[ 9.94483430e-01 1.04674728e-01 6.77564395e-03 2.94024716e+02] [-1.04671647e-01 9.94506507e-01 -8.08577555e-04 -1.82902013e+01] [-6.82305963e-03 9.48991655e-05 9.99976718e-01 -2.11122087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.09, Y:-18.30, Z:-2.11 [[ 9.93354112e-01 1.14898653e-01 6.77551144e-03 2.94085208e+02] [-1.14895803e-01 9.93377219e-01 -8.09686366e-04 -1.82976818e+01] [-6.82367059e-03 2.58274554e-05 9.99976718e-01 -2.11076750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.15, Y:-18.30, Z:-2.11 [[ 9.92512022e-01 1.21958922e-01 6.77551144e-03 2.94145125e+02] [-1.21956236e-01 9.92535148e-01 -8.09686366e-04 -1.83044114e+01] [-6.82368173e-03 -2.26924220e-05 9.99976718e-01 -2.11045758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.20, Y:-18.31, Z:-2.11 [[ 9.91823314e-01 1.27438641e-01 6.77551144e-03 2.94204634e+02] [-1.27436083e-01 9.91846454e-01 -8.09686367e-04 -1.83120173e+01] [-6.82345233e-03 -6.03788241e-05 9.99976718e-01 -2.10855177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:-18.32, Z:-2.11 [[ 9.91780733e-01 1.27769597e-01 6.77550172e-03 2.94264312e+02] [-1.27767046e-01 9.91803875e-01 -8.09767719e-04 -1.83186466e+01] [-6.82343256e-03 -6.25738189e-05 9.99976718e-01 -2.10798034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:-18.32, Z:-2.11 [[ 9.91631107e-01 1.28925720e-01 6.77550172e-03 2.94325319e+02] [-1.28923196e-01 9.91654251e-01 -8.09767719e-04 -1.83211159e+01] [-6.82335497e-03 -7.05284754e-05 9.99976718e-01 -2.10602060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.39, Y:-18.33, Z:-2.11 [[ 9.91409450e-01 1.30619276e-01 6.77550172e-03 2.94385426e+02] [-1.30616792e-01 9.91432599e-01 -8.09767719e-04 -1.83272400e+01] [-6.82322455e-03 -8.21829281e-05 9.99976718e-01 -2.10758836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.44, Y:-18.33, Z:-2.11 [[ 9.90822253e-01 1.35001321e-01 6.77550172e-03 2.94444767e+02] [-1.34998939e-01 9.90845412e-01 -8.09767719e-04 -1.83335424e+01] [-6.82279451e-03 -1.12349666e-04 9.99976718e-01 -2.10778893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:-18.34, Z:-2.11 [[ 9.90501128e-01 1.37337572e-01 6.77551112e-03 2.94503858e+02] [-1.37335245e-01 9.90524293e-01 -8.09689033e-04 -1.83409384e+01] [-6.82250909e-03 -1.28518581e-04 9.99976718e-01 -2.10729917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:-18.35, Z:-2.11 [[ 9.89860401e-01 1.41881920e-01 6.77552981e-03 2.94562212e+02] [-1.41879700e-01 9.89883577e-01 -8.09532630e-04 -1.83476834e+01] [-6.82184373e-03 -1.59985845e-04 9.99976718e-01 -2.11091677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:-18.36, Z:-2.11 [[ 9.88983011e-01 1.47873920e-01 6.77556738e-03 2.94620509e+02] [-1.47871844e-01 9.89006200e-01 -8.09218064e-04 -1.83569567e+01] [-6.82074039e-03 -2.01612722e-04 9.99976718e-01 -2.11181911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:-18.36, Z:-2.11 [[ 9.88511871e-01 1.50991299e-01 6.77560471e-03 2.94678299e+02] [-1.50989298e-01 9.88535066e-01 -8.08905352e-04 -1.83642583e+01] [-6.82006052e-03 -2.23431256e-04 9.99976718e-01 -2.11214904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:-18.37, Z:-2.12 [[ 9.87639012e-01 1.56599085e-01 6.77565074e-03 2.94737463e+02] [-1.56597218e-01 9.87662218e-01 -8.08519644e-04 -1.83707365e+01] [-6.81866768e-03 -2.62522510e-04 9.99976718e-01 -2.11558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:-18.37, Z:-2.12 [[ 9.87102127e-01 1.59948370e-01 6.77566973e-03 2.94795545e+02] [-1.59946583e-01 9.87125340e-01 -8.08360430e-04 -1.83747822e+01] [-6.81773122e-03 -2.85810918e-04 9.99976718e-01 -2.11826665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:-18.37, Z:-2.12 [[ 9.86547881e-01 1.63332078e-01 6.77571657e-03 2.94854167e+02] [-1.63330373e-01 9.86571101e-01 -8.07967650e-04 -1.83745747e+01] [-6.81669319e-03 -3.09581538e-04 9.99976718e-01 -2.11774492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.91, Y:-18.38, Z:-2.12 [[ 9.86480512e-01 1.63738473e-01 6.77576246e-03 2.94913033e+02] [-1.63736780e-01 9.86503733e-01 -8.07582606e-04 -1.83773830e+01] [-6.81654730e-03 -3.12777026e-04 9.99976718e-01 -2.11588661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:-18.38, Z:-2.12 [[ 9.86735783e-01 1.62193043e-01 6.77580023e-03 2.94970691e+02] [-1.62191316e-01 9.86759001e-01 -8.07265586e-04 -1.83805686e+01] [-6.81701473e-03 -3.02418115e-04 9.99976718e-01 -2.11563942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:-18.39, Z:-2.11 [[ 9.87286869e-01 1.58804048e-01 6.77584676e-03 2.95029344e+02] [-1.58802244e-01 9.87310081e-01 -8.06874875e-04 -1.83860255e+01] [-6.81799681e-03 -2.79402698e-04 9.99976718e-01 -2.11254872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:-18.39, Z:-2.11 [[ 9.88025679e-01 1.54140664e-01 6.77588274e-03 2.95087087e+02] [-1.54138752e-01 9.88048883e-01 -8.06572623e-04 -1.83930252e+01] [-6.81922901e-03 -2.47511646e-04 9.99976718e-01 -2.11113623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.15, Y:-18.40, Z:-2.11 [[ 9.88120482e-01 1.53531757e-01 6.77592737e-03 2.95145470e+02] [-1.53529834e-01 9.88143684e-01 -8.06197467e-04 -1.83996048e+01] [-6.81936675e-03 -2.43686772e-04 9.99976718e-01 -2.10873983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:-18.40, Z:-2.11 [[ 9.87614718e-01 1.56752212e-01 6.77596534e-03 2.95203592e+02] [-1.56750366e-01 9.87637926e-01 -8.05878245e-04 -1.84041918e+01] [-6.81852355e-03 -2.66237834e-04 9.99976718e-01 -2.10768920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:-18.41, Z:-2.12 [[ 9.86270226e-01 1.65000387e-01 6.77601232e-03 2.95262339e+02] [-1.64998738e-01 9.86293449e-01 -8.05482997e-04 -1.84064519e+01] [-6.81604157e-03 -3.23609583e-04 9.99976718e-01 -2.11635678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:-18.41, Z:-2.12 [[ 9.85812312e-01 1.67714553e-01 6.77604954e-03 2.95321381e+02] [-1.67712971e-01 9.85835540e-01 -8.05169798e-04 -1.84121209e+01] [-6.81510915e-03 -3.42685099e-04 9.99976718e-01 -2.11751843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.38, Y:-18.42, Z:-2.12 [[ 9.86034543e-01 1.66403021e-01 6.77608658e-03 2.95378707e+02] [-1.66401410e-01 9.86057769e-01 -8.04857972e-04 -1.84206849e+01] [-6.81554361e-03 -3.33932598e-04 9.99976718e-01 -2.12040723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.44, Y:-18.43, Z:-2.12 [[ 9.86201423e-01 1.65411116e-01 6.77613248e-03 2.95436673e+02] [-1.65409484e-01 9.86224648e-01 -8.04471358e-04 -1.84305727e+01] [-6.81585737e-03 -3.27465781e-04 9.99976718e-01 -2.12427220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.50, Y:-18.44, Z:-2.12 [[ 9.86029770e-01 1.66431297e-01 6.77617017e-03 2.95495128e+02] [-1.66429691e-01 9.86052996e-01 -8.04153753e-04 -1.84402944e+01] [-6.81549925e-03 -3.34836369e-04 9.99976718e-01 -2.12251311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.55, Y:-18.45, Z:-2.13 [[ 9.85535567e-01 1.69333191e-01 6.77620761e-03 2.95551842e+02] [-1.69331655e-01 9.85558798e-01 -8.03838144e-04 -1.84516808e+01] [-6.81446750e-03 -3.55215369e-04 9.99976718e-01 -2.12624407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.61, Y:-18.46, Z:-2.13 [[ 9.85021563e-01 1.72298005e-01 6.77625588e-03 2.95609256e+02] [-1.72296542e-01 9.85044799e-01 -8.03431041e-04 -1.84589270e+01] [-6.81334517e-03 -3.76128556e-04 9.99976718e-01 -2.12685212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.67, Y:-18.46, Z:-2.12 [[ 9.84634663e-01 1.74495448e-01 6.77630045e-03 2.95667758e+02] [-1.74494040e-01 9.84657903e-01 -8.03054886e-04 -1.84648239e+01] [-6.81246721e-03 -3.91708363e-04 9.99976718e-01 -2.11880112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.73, Y:-18.47, Z:-2.12 [[ 9.84693390e-01 1.74163744e-01 6.77633754e-03 2.95726067e+02] [-1.74162331e-01 9.84716628e-01 -8.02741843e-04 -1.84695263e+01] [-6.81258078e-03 -3.89728151e-04 9.99976718e-01 -2.11901855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:-18.48, Z:-2.12 [[ 9.85114314e-01 1.71766903e-01 6.77637438e-03 2.95784019e+02] [-1.71765435e-01 9.85137550e-01 -8.02430741e-04 -1.84754884e+01] [-6.81349189e-03 -3.73460882e-04 9.99976718e-01 -2.11924171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.84, Y:-18.48, Z:-2.12 [[ 9.86455806e-01 1.63887229e-01 6.77642003e-03 2.95842016e+02] [-1.63885577e-01 9.86479029e-01 -8.02044990e-04 -1.84844089e+01] [-6.81624118e-03 -3.19375574e-04 9.99976718e-01 -2.12022172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.90, Y:-18.50, Z:-2.12 [[ 9.87357550e-01 1.58363971e-01 6.77645720e-03 2.95899226e+02] [-1.58362192e-01 9.87380764e-01 -8.01730833e-04 -1.84952567e+01] [-6.81790877e-03 -2.81539627e-04 9.99976718e-01 -2.12193492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.96, Y:-18.51, Z:-2.12 [[ 9.87712225e-01 1.56136608e-01 6.77650339e-03 2.95956423e+02] [-1.56134779e-01 9.87735434e-01 -8.01340215e-04 -1.85108885e+01] [-6.81851107e-03 -2.66554336e-04 9.99976718e-01 -2.12278848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.01, Y:-18.53, Z:-2.12 [[ 9.87023172e-01 1.60434834e-01 6.77654028e-03 2.96014141e+02] [-1.60433109e-01 9.87046390e-01 -8.01028200e-04 -1.85267530e+01] [-6.81727244e-03 -2.96548027e-04 9.99976718e-01 -2.12222798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.07, Y:-18.54, Z:-2.12 [[ 9.86668285e-01 1.62603116e-01 6.77656785e-03 2.96072436e+02] [-1.62601442e-01 9.86691507e-01 -8.00794860e-04 -1.85377367e+01] [-6.81659368e-03 -3.11760816e-04 9.99976718e-01 -2.12131972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.13, Y:-18.55, Z:-2.12 [[ 9.85417884e-01 1.70016683e-01 6.77658677e-03 2.96130610e+02] [-1.70015186e-01 9.85441117e-01 -8.00634722e-04 -1.85534354e+01] [-6.81404850e-03 -3.63162883e-04 9.99976718e-01 -2.12231852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.19, Y:-18.57, Z:-2.13 [[ 9.84706572e-01 1.74089187e-01 6.77660494e-03 2.96188685e+02] [-1.74087786e-01 9.84729812e-01 -8.00480913e-04 -1.85653847e+01] [-6.81247997e-03 -3.91485337e-04 9.99976718e-01 -2.12536153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.25, Y:-18.58, Z:-2.13 [[ 9.83951562e-01 1.78307039e-01 6.77663177e-03 2.96246095e+02] [-1.78305740e-01 9.83974808e-01 -8.00253686e-04 -1.85793482e+01] [-6.81072581e-03 -4.20901477e-04 9.99976718e-01 -2.12953718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:-18.59, Z:-2.13 [[ 9.83461234e-01 1.80991930e-01 6.77665824e-03 2.96304846e+02] [-1.80990696e-01 9.83484483e-01 -8.00029449e-04 -1.85902771e+01] [-6.80953710e-03 -4.39714142e-04 9.99976718e-01 -2.13081231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.36, Y:-18.61, Z:-2.13 [[ 9.83659625e-01 1.79910584e-01 6.77667564e-03 2.96362931e+02] [-1.79909325e-01 9.83682873e-01 -7.99882029e-04 -1.86071193e+01] [-6.81000701e-03 -4.32375486e-04 9.99976718e-01 -2.12758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.42, Y:-18.62, Z:-2.13 [[ 9.84076083e-01 1.77618521e-01 6.77669290e-03 2.96424428e+02] [-1.77617209e-01 9.84099328e-01 -7.99735795e-04 -1.86201981e+01] [-6.81098682e-03 -4.16656412e-04 9.99976718e-01 -2.12591613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.48, Y:-18.63, Z:-2.13 [[ 9.83798832e-01 1.79147803e-01 6.77656308e-03 2.96484236e+02] [-1.79146520e-01 9.83822079e-01 -8.00834313e-04 -1.86321976e+01] [-6.81040009e-03 -4.26137834e-04 9.99976718e-01 -2.13022886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:-18.64, Z:-2.13 [[ 9.83244239e-01 1.82167084e-01 6.77644333e-03 2.96545324e+02] [-1.82165865e-01 9.83267489e-01 -8.01846332e-04 -1.86402840e+01] [-6.80912643e-03 -4.46025875e-04 9.99976718e-01 -2.13100360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:-18.65, Z:-2.13 [[ 9.82890731e-01 1.84064912e-01 6.77642521e-03 2.96606925e+02] [-1.84063737e-01 9.82913983e-01 -8.01999480e-04 -1.86474879e+01] [-6.80826305e-03 -4.59016291e-04 9.99976718e-01 -2.13175606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.67, Y:-18.66, Z:-2.13 [[ 9.83180551e-01 1.82510510e-01 6.77629542e-03 2.96668029e+02] [-1.82509290e-01 9.83203801e-01 -8.03094566e-04 -1.86566489e+01] [-6.80905261e-03 -4.47149912e-04 9.99976718e-01 -2.13319619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.73, Y:-18.67, Z:-2.13 [[ 9.83899619e-01 1.78593460e-01 6.77616556e-03 2.96728722e+02] [-1.78592141e-01 9.83922863e-01 -8.04188826e-04 -1.86653540e+01] [-6.81084708e-03 -4.18928833e-04 9.99976718e-01 -2.13309057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.79, Y:-18.67, Z:-2.13 [[ 9.84583489e-01 1.74783976e-01 6.77604634e-03 2.96790184e+02] [-1.74782560e-01 9.84606728e-01 -8.05192117e-04 -1.86726746e+01] [-6.81247549e-03 -3.91555864e-04 9.99976718e-01 -2.12810176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.85, Y:-18.68, Z:-2.13 [[ 9.84377865e-01 1.75938359e-01 6.77591716e-03 2.96852197e+02] [-1.75936963e-01 9.84401105e-01 -8.06277727e-04 -1.86791966e+01] [-6.81207552e-03 -3.98452338e-04 9.99976718e-01 -2.12785515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.91, Y:-18.68, Z:-2.13 [[ 9.83739637e-01 1.79472605e-01 6.77578811e-03 2.96912959e+02] [-1.79471284e-01 9.83762881e-01 -8.07360789e-04 -1.86838972e+01] [-6.81066797e-03 -4.21826585e-04 9.99976718e-01 -2.13000773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.97, Y:-18.69, Z:-2.13 [[ 9.83401118e-01 1.81318314e-01 6.77576978e-03 2.96972786e+02] [-1.81317036e-01 9.83424364e-01 -8.07514544e-04 -1.86888450e+01] [-6.80987427e-03 -4.34451789e-04 9.99976718e-01 -2.13392978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.03, Y:-18.69, Z:-2.13 [[ 9.82781054e-01 1.84649636e-01 6.77576978e-03 2.97033428e+02] [-1.84648437e-01 9.82804305e-01 -8.07514544e-04 -1.86923468e+01] [-6.80836298e-03 -4.57525303e-04 9.99976718e-01 -2.13006758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.09, Y:-18.69, Z:-2.13 [[ 9.82432629e-01 1.86494554e-01 6.77576978e-03 2.97094749e+02] [-1.86493398e-01 9.82455882e-01 -8.07514544e-04 -1.86924106e+01] [-6.80749194e-03 -4.70307697e-04 9.99976718e-01 -2.13320739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:-18.70, Z:-2.13 [[ 9.82577034e-01 1.85732229e-01 6.77576978e-03 2.97155445e+02] [-1.85731056e-01 9.82600286e-01 -8.07514544e-04 -1.86972929e+01] [-6.80785481e-03 -4.65025628e-04 9.99976718e-01 -2.13292354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.21, Y:-18.70, Z:-2.13 [[ 9.82996444e-01 1.83499535e-01 6.77576978e-03 2.97214777e+02] [-1.83498308e-01 9.83019694e-01 -8.07514544e-04 -1.87029051e+01] [-6.80889368e-03 -4.49558368e-04 9.99976718e-01 -2.12596645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:-18.71, Z:-2.13 [[ 9.82926697e-01 1.83872776e-01 6.77576501e-03 2.97274994e+02] [-1.83871558e-01 9.82949947e-01 -8.07554586e-04 -1.87093369e+01] [-6.80872516e-03 -4.52103507e-04 9.99976718e-01 -2.12719869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:-18.71, Z:-2.13 [[ 9.82731437e-01 1.84913527e-01 6.77576501e-03 2.97333645e+02] [-1.84912334e-01 9.82754688e-01 -8.07554586e-04 -1.87147745e+01] [-6.80824259e-03 -4.59313246e-04 9.99976718e-01 -2.13294016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.39, Y:-18.72, Z:-2.13 [[ 9.82175061e-01 1.87846317e-01 6.77579227e-03 2.97393211e+02] [-1.87845195e-01 9.82198315e-01 -8.07325825e-04 -1.87214858e+01] [-6.80682493e-03 -4.79864731e-04 9.99976718e-01 -2.13319636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:-18.73, Z:-2.13 [[ 9.82613659e-01 1.85538369e-01 6.77581007e-03 2.97451907e+02] [-1.85537193e-01 9.82636911e-01 -8.07176399e-04 -1.87294369e+01] [-6.80792326e-03 -4.64022226e-04 9.99976718e-01 -2.13183686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.51, Y:-18.74, Z:-2.13 [[ 9.83521702e-01 1.80663083e-01 6.77582785e-03 2.97511724e+02] [-1.80661793e-01 9.83544948e-01 -8.07027137e-04 -1.87391946e+01] [-6.81013126e-03 -4.30404505e-04 9.99976718e-01 -2.13024616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.57, Y:-18.75, Z:-2.13 [[ 9.84413540e-01 1.75738640e-01 6.77582785e-03 2.97572063e+02] [-1.75737234e-01 9.84436780e-01 -8.07027137e-04 -1.87536282e+01] [-6.81220000e-03 -3.96316802e-04 9.99976718e-01 -2.12866512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.63, Y:-18.77, Z:-2.13 [[ 9.84241379e-01 1.76700307e-01 6.77570822e-03 2.97631985e+02] [-1.76698916e-01 9.84264619e-01 -8.08030243e-04 -1.87657194e+01] [-6.81186906e-03 -4.01963501e-04 9.99976718e-01 -2.12831571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.69, Y:-18.78, Z:-2.13 [[ 9.83611432e-01 1.80173916e-01 6.77570822e-03 2.97691807e+02] [-1.80172608e-01 9.83634677e-01 -8.08030243e-04 -1.87781546e+01] [-6.81040754e-03 -4.26009234e-04 9.99976718e-01 -2.13210772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:-18.79, Z:-2.13 [[ 9.83553448e-01 1.80490176e-01 6.77570822e-03 2.97751746e+02] [-1.80488876e-01 9.83576694e-01 -8.08030242e-04 -1.87920734e+01] [-6.81027021e-03 -4.28199027e-04 9.99976718e-01 -2.13467118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.81, Y:-18.80, Z:-2.13 [[ 9.83823381e-01 1.79012977e-01 6.77559324e-03 2.97813358e+02] [-1.79011635e-01 9.83846624e-01 -8.08993245e-04 -1.88048529e+01] [-6.81096483e-03 -4.17003555e-04 9.99976718e-01 -2.13398759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:-18.82, Z:-2.13 [[ 9.83871713e-01 1.78747157e-01 6.77544752e-03 2.97874664e+02] [-1.78745800e-01 9.83894955e-01 -8.10211831e-04 -1.88150014e+01] [-6.81115170e-03 -4.13938285e-04 9.99976718e-01 -2.13441800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.94, Y:-18.82, Z:-2.14 [[ 9.83599094e-01 1.80241277e-01 6.77531194e-03 2.97936952e+02] [-1.80239948e-01 9.83622338e-01 -8.11343995e-04 -1.88212964e+01] [-6.81058585e-03 -4.23144653e-04 9.99976718e-01 -2.13542214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.00, Y:-18.83, Z:-2.14 [[ 9.83463594e-01 1.80979158e-01 6.77516200e-03 2.97999783e+02] [-1.80977837e-01 9.83486839e-01 -8.12594147e-04 -1.88285221e+01] [-6.81034527e-03 -4.26997405e-04 9.99976718e-01 -2.13722820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:-18.83, Z:-2.14 [[ 9.83590798e-01 1.80286554e-01 6.77501258e-03 2.98061377e+02] [-1.80285209e-01 9.83614041e-01 -8.13838097e-04 -1.88346106e+01] [-6.81072156e-03 -4.20950895e-04 9.99976718e-01 -2.14114901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.12, Y:-18.84, Z:-2.14 [[ 9.83749758e-01 1.79417151e-01 6.77488190e-03 2.98122228e+02] [-1.79415777e-01 9.83773000e-01 -8.14924491e-04 -1.88375921e+01] [-6.81115732e-03 -4.13838930e-04 9.99976718e-01 -2.14386602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:-18.84, Z:-2.14 [[ 9.83504994e-01 1.80754057e-01 6.77480901e-03 2.98184270e+02] [-1.80752711e-01 9.83528237e-01 -8.15530028e-04 -1.88416448e+01] [-6.81062632e-03 -4.22487237e-04 9.99976718e-01 -2.14473915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:-18.84, Z:-2.15 [[ 9.82960760e-01 1.83690630e-01 6.77468064e-03 2.98244427e+02] [-1.83689346e-01 9.82984007e-01 -8.16594956e-04 -1.88424216e+01] [-6.80940356e-03 -4.41755858e-04 9.99976718e-01 -2.14819101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.31, Y:-18.84, Z:-2.14 [[ 9.82667121e-01 1.85255049e-01 6.77468972e-03 2.98305221e+02] [-1.85253803e-01 9.82690369e-01 -8.16519641e-04 -1.88444963e+01] [-6.80868673e-03 -4.52670029e-04 9.99976718e-01 -2.14323179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:-18.85, Z:-2.14 [[ 9.82886001e-01 1.84090228e-01 6.77468972e-03 2.98364362e+02] [-1.84088954e-01 9.82909248e-01 -8.16519641e-04 -1.88482813e+01] [-6.80921847e-03 -4.44599816e-04 9.99976718e-01 -2.14370167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:-18.85, Z:-2.14 [[ 9.83466097e-01 1.80965574e-01 6.77469891e-03 2.98423374e+02] [-1.80964227e-01 9.83489340e-01 -8.16443399e-04 -1.88537320e+01] [-6.81059231e-03 -4.23033745e-04 9.99976718e-01 -2.14372817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:-18.86, Z:-2.14 [[ 9.83132414e-01 1.82769691e-01 6.77470774e-03 2.98482617e+02] [-1.82768386e-01 9.83155659e-01 -8.16370114e-04 -1.88604509e+01] [-6.80979997e-03 -4.35602481e-04 9.99976718e-01 -2.14139699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.54, Y:-18.87, Z:-2.14 [[ 9.82749694e-01 1.84816509e-01 6.77472555e-03 2.98542976e+02] [-1.84815255e-01 9.82772942e-01 -8.16222331e-04 -1.88668777e+01] [-6.80886832e-03 -4.49930381e-04 9.99976718e-01 -2.13837037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.60, Y:-18.87, Z:-2.14 [[ 9.81788109e-01 1.89858399e-01 6.77472555e-03 2.98602886e+02] [-1.89857264e-01 9.81811363e-01 -8.16222331e-04 -1.88721419e+01] [-6.80646919e-03 -4.84873476e-04 9.99976718e-01 -2.13960289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:298.66, Y:-18.88, Z:-2.14 [[ 9.80404870e-01 1.96876593e-01 6.77474450e-03 2.98662737e+02] [-1.96875625e-01 9.80428132e-01 -8.16064931e-04 -1.88777805e+01] [-6.80281418e-03 -5.33708027e-04 9.99976718e-01 -2.14423419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:-18.88, Z:-2.14 [[ 9.80118479e-01 1.98297428e-01 6.77475410e-03 2.98721565e+02] [-1.98296495e-01 9.80141742e-01 -8.15985228e-04 -1.88849573e+01] [-6.80202706e-03 -5.43647791e-04 9.99976718e-01 -2.14199902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.78, Y:-18.89, Z:-2.14 [[ 9.81459120e-01 1.91551819e-01 6.77474699e-03 2.98781256e+02] [-1.91550725e-01 9.81482376e-01 -8.16044269e-04 -1.88919077e+01] [-6.80560954e-03 -4.96793607e-04 9.99976718e-01 -2.14336035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.84, Y:-18.90, Z:-2.15 [[ 9.84153970e-01 1.77186529e-01 6.77474699e-03 2.98843011e+02] [-1.77185095e-01 9.84177208e-01 -8.16044269e-04 -1.89025139e+01] [-6.81214363e-03 -3.97270984e-04 9.99976718e-01 -2.14696881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.90, Y:-18.91, Z:-2.14 [[ 9.86295127e-01 1.64851528e-01 6.77461465e-03 2.98904949e+02] [-1.64849796e-01 9.86318345e-01 -8.17141500e-04 -1.89149935e+01] [-6.81663373e-03 -3.10851161e-04 9.99976718e-01 -2.14467467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.97, Y:-18.93, Z:-2.15 [[ 9.89048553e-01 1.47434956e-01 6.77446303e-03 2.98965245e+02] [-1.47432806e-01 9.89071735e-01 -8.18396554e-04 -1.89323619e+01] [-6.82109016e-03 -1.89344168e-04 9.99976718e-01 -2.14710706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.03, Y:-18.95, Z:-2.15 [[ 9.90013333e-01 1.40810890e-01 6.77441546e-03 2.99025346e+02] [-1.40808583e-01 9.90036501e-01 -8.18790095e-04 -1.89482924e+01] [-6.82221314e-03 -1.43282728e-04 9.99976718e-01 -2.14725884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.09, Y:-18.97, Z:-2.15 [[ 9.90055083e-01 1.40517051e-01 6.77427253e-03 2.99086874e+02] [-1.40514729e-01 9.90078249e-01 -8.19970981e-04 -1.89664529e+01] [-6.82227978e-03 -1.40068629e-04 9.99976718e-01 -2.14852798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.15, Y:-18.98, Z:-2.15 [[ 9.89310457e-01 1.45667191e-01 6.77412119e-03 2.99148590e+02] [-1.45664981e-01 9.89333634e-01 -8.21219346e-04 -1.89784697e+01] [-6.82149065e-03 -1.74311347e-04 9.99976718e-01 -2.14855105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.21, Y:-18.99, Z:-2.15 [[ 9.87955452e-01 1.54590226e-01 6.77397105e-03 2.99209975e+02] [-1.54588217e-01 9.87978647e-01 -8.22455914e-04 -1.89892610e+01] [-6.81968240e-03 -2.34626300e-04 9.99976718e-01 -2.15078559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.27, Y:-19.00, Z:-2.16 [[ 9.87172765e-01 1.59511902e-01 6.77383193e-03 2.99271480e+02] [-1.59510000e-01 9.87195969e-01 -8.23600150e-04 -1.89998026e+01] [-6.81847360e-03 -2.67458297e-04 9.99976718e-01 -2.15518140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.33, Y:-19.01, Z:-2.16 [[ 9.87212156e-01 1.59267938e-01 6.77370380e-03 2.99333425e+02] [-1.59266023e-01 9.87235359e-01 -8.24652585e-04 -1.90085534e+01] [-6.81858062e-03 -2.64713807e-04 9.99976718e-01 -2.15656874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:-19.01, Z:-2.16 [[ 9.87292035e-01 1.58772027e-01 6.77356949e-03 2.99394643e+02] [-1.58770093e-01 9.87315236e-01 -8.25754355e-04 -1.90149564e+01] [-6.81875505e-03 -2.60179562e-04 9.99976718e-01 -2.15886181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-19.02, Z:-2.15 [[ 9.87363980e-01 1.58324011e-01 6.77342659e-03 2.99456745e+02] [-1.58322058e-01 9.87387179e-01 -8.26924882e-04 -1.90226339e+01] [-6.81891664e-03 -2.55906994e-04 9.99976718e-01 -2.15409287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.52, Y:-19.03, Z:-2.15 [[ 9.87373759e-01 1.58263020e-01 6.77329226e-03 2.99518309e+02] [-1.58261058e-01 9.87396958e-01 -8.28023680e-04 -1.90329203e+01] [-6.81897370e-03 -2.54379547e-04 9.99976718e-01 -2.15353990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.58, Y:-19.04, Z:-2.15 [[ 9.86900574e-01 1.61187411e-01 6.77314911e-03 2.99580538e+02] [-1.61185510e-01 9.86923778e-01 -8.29192951e-04 -1.90426162e+01] [-6.81823738e-03 -2.73402492e-04 9.99976718e-01 -2.15418467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:-19.05, Z:-2.15 [[ 9.85443821e-01 1.69866427e-01 6.77299472e-03 2.99642272e+02] [-1.69864721e-01 9.85467040e-01 -8.30452188e-04 -1.90506295e+01] [-6.81562900e-03 -3.32128883e-04 9.99976718e-01 -2.15050407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.70, Y:-19.06, Z:-2.15 [[ 9.84514830e-01 1.75170424e-01 6.77285535e-03 2.99702889e+02] [-1.75168836e-01 9.84538058e-01 -8.31587256e-04 -1.90585949e+01] [-6.81380334e-03 -3.67683199e-04 9.99976718e-01 -2.15374430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:-19.07, Z:-2.15 [[ 9.83969551e-01 1.78207891e-01 6.77272743e-03 2.99764730e+02] [-1.78206367e-01 9.83992783e-01 -8.32627803e-04 -1.90690887e+01] [-6.81269575e-03 -3.87662745e-04 9.99976718e-01 -2.15140810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.83, Y:-19.08, Z:-2.15 [[ 9.83723342e-01 1.79562018e-01 6.77257475e-03 2.99826038e+02] [-1.79560518e-01 9.83746576e-01 -8.33867845e-04 -1.90781650e+01] [-6.81222821e-03 -3.95791769e-04 9.99976718e-01 -2.14738694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.89, Y:-19.09, Z:-2.15 [[ 9.82954238e-01 1.83725610e-01 6.77244050e-03 2.99886599e+02] [-1.83724201e-01 9.82977477e-01 -8.34956706e-04 -1.90854550e+01] [-6.81055941e-03 -4.23536990e-04 9.99976718e-01 -2.14951016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:-19.09, Z:-2.15 [[ 9.82125508e-01 1.88105351e-01 6.77231664e-03 2.99949517e+02] [-1.88104038e-01 9.82148752e-01 -8.35960182e-04 -1.90928138e+01] [-6.80867092e-03 -4.52882288e-04 9.99976718e-01 -2.15008138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.01, Y:-19.10, Z:-2.15 [[ 9.81860807e-01 1.89482171e-01 6.77216824e-03 3.00011467e+02] [-1.89480883e-01 9.81884053e-01 -8.37160652e-04 -1.91012278e+01] [-6.80811102e-03 -4.61221184e-04 9.99976718e-01 -2.15190108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:-19.11, Z:-2.16 [[ 9.82233331e-01 1.87541522e-01 6.77203499e-03 3.00072647e+02] [-1.87540180e-01 9.82256575e-01 -8.38237170e-04 -1.91093177e+01] [-6.80908016e-03 -4.46684174e-04 9.99976718e-01 -2.15609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.14, Y:-19.12, Z:-2.16 [[ 9.82705107e-01 1.85053544e-01 6.77190195e-03 3.00135275e+02] [-1.85052136e-01 9.82728346e-01 -8.39310563e-04 -1.91160946e+01] [-6.81025740e-03 -4.28360146e-04 9.99976718e-01 -2.15686228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.20, Y:-19.12, Z:-2.16 [[ 9.82820866e-01 1.84437763e-01 6.77174382e-03 3.00195374e+02] [-1.84436332e-01 9.82844104e-01 -8.40584478e-04 -1.91246677e+01] [-6.81060401e-03 -4.22811629e-04 9.99976718e-01 -2.15703329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.26, Y:-19.13, Z:-2.16 [[ 9.83065251e-01 1.83130710e-01 6.77163539e-03 3.00257142e+02] [-1.83129243e-01 9.83088487e-01 -8.41457016e-04 -1.91349428e+01] [-6.81121341e-03 -4.12877309e-04 9.99976718e-01 -2.15991870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.32, Y:-19.14, Z:-2.16 [[ 9.82763882e-01 1.84741167e-01 6.77150598e-03 3.00319355e+02] [-1.84739730e-01 9.82787119e-01 -8.42497206e-04 -1.91429540e+01] [-6.81059277e-03 -4.22990364e-04 9.99976718e-01 -2.16114022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.38, Y:-19.15, Z:-2.16 [[ 9.82162060e-01 1.87914440e-01 6.77135757e-03 3.00380786e+02] [-1.87913070e-01 9.82185301e-01 -8.43688274e-04 -1.91491924e+01] [-6.80926909e-03 -4.43787979e-04 9.99976718e-01 -2.16055221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.44, Y:-19.15, Z:-2.16 [[ 9.81642742e-01 1.90608704e-01 6.77122790e-03 3.00443245e+02] [-1.90607391e-01 9.81665986e-01 -8.44727695e-04 -1.91532521e+01] [-6.80809657e-03 -4.61425274e-04 9.99976718e-01 -2.15927137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.51, Y:-19.16, Z:-2.16 [[ 9.81374382e-01 1.91985612e-01 6.77109468e-03 3.00506092e+02] [-1.91984324e-01 9.81397628e-01 -8.45794192e-04 -1.91577989e+01] [-6.80751658e-03 -4.69903283e-04 9.99976718e-01 -2.15822189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:-19.16, Z:-2.16 [[ 9.80399906e-01 1.96901444e-01 6.77093886e-03 3.00568973e+02] [-1.96900264e-01 9.80423158e-01 -8.47039779e-04 -1.91596429e+01] [-6.80516862e-03 -5.02761929e-04 9.99976718e-01 -2.15512039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.63, Y:-19.16, Z:-2.16 [[ 9.79173461e-01 2.02912519e-01 6.77079952e-03 3.00631090e+02] [-2.02911474e-01 9.79196719e-01 -8.48152122e-04 -1.91604043e+01] [-6.80204536e-03 -5.43384864e-04 9.99976718e-01 -2.15656704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.69, Y:-19.16, Z:-2.16 [[ 9.78377897e-01 2.06714411e-01 6.77070159e-03 3.00692188e+02] [-2.06713451e-01 9.78401159e-01 -8.48933160e-04 -1.91624151e+01] [-6.79994901e-03 -5.69017652e-04 9.99976718e-01 -2.16240873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.75, Y:-19.16, Z:-2.16 [[ 9.77593606e-01 2.10392248e-01 6.77070159e-03 3.00753702e+02] [-2.10391376e-01 9.77616872e-01 -8.48933160e-04 -1.91600976e+01] [-6.79776107e-03 -5.94585595e-04 9.99976718e-01 -2.16483941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.81, Y:-19.16, Z:-2.16 [[ 9.77823026e-01 2.09323405e-01 6.77070159e-03 3.00813991e+02] [-2.09322507e-01 9.77846290e-01 -8.48933160e-04 -1.91597585e+01] [-6.79840702e-03 -5.87153838e-04 9.99976718e-01 -2.16428743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.87, Y:-19.16, Z:-2.17 [[ 9.78278542e-01 2.07184103e-01 6.77072081e-03 3.00873719e+02] [-2.07183155e-01 9.78301804e-01 -8.48779893e-04 -1.91628821e+01] [-6.79966208e-03 -5.72436141e-04 9.99976718e-01 -2.16738379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:300.93, Y:-19.17, Z:-2.17 [[ 9.78831141e-01 2.04557458e-01 6.77074006e-03 3.00932506e+02] [-2.04556449e-01 9.78854401e-01 -8.48626319e-04 -1.91680155e+01] [-6.80116155e-03 -5.54336672e-04 9.99976718e-01 -2.16669736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.99, Y:-19.17, Z:-2.16 [[ 9.78815974e-01 2.04630022e-01 6.77076307e-03 3.00992010e+02] [-2.04629015e-01 9.78839234e-01 -8.48442692e-04 -1.91715805e+01] [-6.80110538e-03 -5.55025320e-04 9.99976718e-01 -2.16473852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.05, Y:-19.18, Z:-2.16 [[ 9.78525642e-01 2.06013896e-01 6.77078212e-03 3.01051795e+02] [-2.06012923e-01 9.78548903e-01 -8.48290598e-04 -1.91770320e+01] [-6.80030107e-03 -5.64794517e-04 9.99976718e-01 -2.16291641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.11, Y:-19.18, Z:-2.16 [[ 9.77929947e-01 2.08823308e-01 6.77080156e-03 3.01111626e+02] [-2.08822404e-01 9.77953212e-01 -8.48135441e-04 -1.91757634e+01] [-6.79863758e-03 -5.84478011e-04 9.99976718e-01 -2.16165316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:-19.18, Z:-2.16 [[ 9.77803103e-01 2.09416444e-01 6.77084008e-03 3.01169405e+02] [-2.09415556e-01 9.77826368e-01 -8.47827829e-04 -1.91768065e+01] [-6.79825505e-03 -5.88910555e-04 9.99976718e-01 -2.16035155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.23, Y:-19.18, Z:-2.16 [[ 9.78935257e-01 2.04058611e-01 6.77088781e-03 3.01228751e+02] [-2.04057598e-01 9.78958517e-01 -8.47446476e-04 -1.91765538e+01] [-6.80134704e-03 -5.52055868e-04 9.99976718e-01 -2.15523358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.29, Y:-19.18, Z:-2.16 [[ 9.79300473e-01 2.02298635e-01 6.77095591e-03 3.01286621e+02] [-2.02297584e-01 9.79323731e-01 -8.46901995e-04 -1.91790775e+01] [-6.80228492e-03 -5.40376497e-04 9.99976718e-01 -2.15585278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.35, Y:-19.18, Z:-2.16 [[ 9.78960742e-01 2.03936309e-01 6.77100733e-03 3.01345612e+02] [-2.03935300e-01 9.78984002e-01 -8.46490702e-04 -1.91778427e+01] [-6.80133804e-03 -5.52166245e-04 9.99976718e-01 -2.15813215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:-19.18, Z:-2.16 [[ 9.78479407e-01 2.06233371e-01 6.77104532e-03 3.01403888e+02] [-2.06232419e-01 9.78502669e-01 -8.46186693e-04 -1.91756120e+01] [-6.79999785e-03 -5.68432799e-04 9.99976718e-01 -2.16455994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.46, Y:-19.18, Z:-2.17 [[ 9.78219787e-01 2.07461323e-01 6.77109219e-03 3.01462833e+02] [-2.07460403e-01 9.78243051e-01 -8.45811487e-04 -1.91753484e+01] [-6.79924705e-03 -5.77343979e-04 9.99976718e-01 -2.16764575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.52, Y:-19.17, Z:-2.17 [[ 9.78131059e-01 2.07879253e-01 6.77113031e-03 3.01522267e+02] [-2.07878344e-01 9.78154323e-01 -8.45506165e-04 -1.91692895e+01] [-6.79897358e-03 -5.80555514e-04 9.99976718e-01 -2.17035336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.58, Y:-19.17, Z:-2.17 [[ 9.78996770e-01 2.03763285e-01 6.77117752e-03 3.01581810e+02] [-2.03762281e-01 9.79020030e-01 -8.45127950e-04 -1.91711648e+01] [-6.80132446e-03 -5.52333045e-04 9.99976718e-01 -2.16964243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:-19.18, Z:-2.16 [[ 9.81284263e-01 1.92445698e-01 6.77121588e-03 3.01639211e+02] [-1.92444428e-01 9.81307510e-01 -8.44820486e-04 -1.91773249e+01] [-6.80722706e-03 -4.74073717e-04 9.99976718e-01 -2.16287115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:-19.19, Z:-2.16 [[ 9.82797823e-01 1.84560527e-01 6.77126356e-03 3.01696703e+02] [-1.84559073e-01 9.82821060e-01 -8.44438148e-04 -1.91882978e+01] [-6.81079038e-03 -4.19786152e-04 9.99976718e-01 -2.16297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:-19.20, Z:-2.16 [[ 9.82816966e-01 1.84458561e-01 6.77130243e-03 3.01755084e+02] [-1.84457106e-01 9.82840202e-01 -8.44126374e-04 -1.91978406e+01] [-6.81081459e-03 -4.19393128e-04 9.99976718e-01 -2.16118812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.81, Y:-19.21, Z:-2.16 [[ 9.82042519e-01 1.88538168e-01 6.77134095e-03 3.01813110e+02] [-1.88536812e-01 9.82065761e-01 -8.43817213e-04 -1.92096850e+01] [-6.80899386e-03 -4.47982654e-04 9.99976718e-01 -2.16406274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.87, Y:-19.22, Z:-2.17 [[ 9.81768885e-01 1.89957905e-01 6.77138130e-03 3.01870623e+02] [-1.89956585e-01 9.81792129e-01 -8.43493365e-04 -1.92183129e+01] [-6.80831709e-03 -4.58152928e-04 9.99976718e-01 -2.16683487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:-19.23, Z:-2.17 [[ 9.81468955e-01 1.91501534e-01 6.77143112e-03 3.01928086e+02] [-1.91500253e-01 9.81492202e-01 -8.43093171e-04 -1.92294257e+01] [-6.80756048e-03 -4.69261002e-04 9.99976718e-01 -2.16761527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:-19.24, Z:-2.17 [[ 9.81748404e-01 1.90063723e-01 6.77146928e-03 3.01984799e+02] [-1.90062410e-01 9.81771649e-01 -8.42786594e-04 -1.92437757e+01] [-6.80821972e-03 -4.59597378e-04 9.99976718e-01 -2.17029057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:-19.26, Z:-2.17 [[ 9.82360854e-01 1.86872412e-01 6.77151689e-03 3.02041487e+02] [-1.86871026e-01 9.82384095e-01 -8.42403888e-04 -1.92614838e+01] [-6.80965254e-03 -4.37855707e-04 9.99976718e-01 -2.16741255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:-19.28, Z:-2.17 [[ 9.82595563e-01 1.85634333e-01 6.77155682e-03 3.02099020e+02] [-1.85632920e-01 9.82618802e-01 -8.42082762e-04 -1.92786284e+01] [-6.81017853e-03 -4.29597078e-04 9.99976718e-01 -2.16685255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:-19.30, Z:-2.17 [[ 9.82783629e-01 1.84636088e-01 6.77157688e-03 3.02156565e+02] [-1.84634652e-01 9.82806866e-01 -8.41921428e-04 -1.93006002e+01] [-6.81060133e-03 -4.22841146e-04 9.99976718e-01 -2.16716241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.22, Y:-19.32, Z:-2.17 [[ 9.82683141e-01 1.85170166e-01 6.77156727e-03 3.02215053e+02] [-1.85168742e-01 9.82706379e-01 -8.41998717e-04 -1.93152173e+01] [-6.81037540e-03 -4.26464651e-04 9.99976718e-01 -2.16639327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.27, Y:-19.33, Z:-2.16 [[ 9.82102352e-01 1.88226236e-01 6.77158576e-03 3.02274205e+02] [-1.88224886e-01 9.82125595e-01 -8.41850049e-04 -1.93298953e+01] [-6.80900595e-03 -4.47798043e-04 9.99976718e-01 -2.16251888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.33, Y:-19.34, Z:-2.16 [[ 9.82117144e-01 1.88149038e-01 6.77158576e-03 3.02333697e+02] [-1.88147686e-01 9.82140387e-01 -8.41850049e-04 -1.93415383e+01] [-6.80904113e-03 -4.47262827e-04 9.99976718e-01 -2.15839859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.39, Y:-19.35, Z:-2.16 [[ 9.82814493e-01 1.84471725e-01 6.77158576e-03 3.02392922e+02] [-1.84470286e-01 9.82837731e-01 -8.41850049e-04 -1.93505461e+01] [-6.81066751e-03 -4.21773930e-04 9.99976718e-01 -2.15778889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.45, Y:-19.36, Z:-2.16 [[ 9.83994855e-01 1.78068166e-01 6.77157617e-03 3.02454623e+02] [-1.78066576e-01 9.84018082e-01 -8.41927113e-04 -1.93604893e+01] [-6.81327382e-03 -3.77339436e-04 9.99976718e-01 -2.15857402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:-19.37, Z:-2.16 [[ 9.85855461e-01 1.67460916e-01 6.77144144e-03 3.02515449e+02] [-1.67459068e-01 9.85878669e-01 -8.43009324e-04 -1.93716690e+01] [-6.81699079e-03 -3.02853929e-04 9.99976718e-01 -2.15921632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:-19.38, Z:-2.16 [[ 9.87143930e-01 1.59690360e-01 6.77129776e-03 3.02577569e+02] [-1.59688321e-01 9.87167122e-01 -8.44161883e-04 -1.93827419e+01] [-6.81920704e-03 -2.47987893e-04 9.99976718e-01 -2.16208529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.64, Y:-19.39, Z:-2.16 [[ 9.87376710e-01 1.58244698e-01 6.77114561e-03 3.02639433e+02] [-1.58242617e-01 9.87399898e-01 -8.45380550e-04 -1.93922850e+01] [-6.81960547e-03 -2.36774736e-04 9.99976718e-01 -2.16385470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:-19.40, Z:-2.17 [[ 9.87425924e-01 1.57937325e-01 6.77099075e-03 3.02700403e+02] [-1.57935229e-01 9.87449111e-01 -8.46619020e-04 -1.94029966e+01] [-6.81972154e-03 -2.33404405e-04 9.99976718e-01 -2.16956717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:302.76, Y:-19.41, Z:-2.17 [[ 9.87660165e-01 1.56465822e-01 6.77085482e-03 3.02761544e+02] [-1.56463683e-01 9.87683349e-01 -8.47704768e-04 -1.94112215e+01] [-6.82009738e-03 -2.22148650e-04 9.99976718e-01 -2.17443879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.82, Y:-19.42, Z:-2.17 [[ 9.88419210e-01 1.51596910e-01 6.77071714e-03 3.02822649e+02] [-1.51594650e-01 9.88442382e-01 -8.48802987e-04 -1.94234378e+01] [-6.82113969e-03 -1.87431315e-04 9.99976718e-01 -2.17043913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:-19.43, Z:-2.17 [[ 9.89493193e-01 1.44420842e-01 6.77057892e-03 3.02885037e+02] [-1.44418406e-01 9.89516347e-01 -8.49904108e-04 -1.94322685e+01] [-6.82234239e-03 -1.36821886e-04 9.99976718e-01 -2.17118082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:-19.44, Z:-2.17 [[ 9.89978632e-01 1.41054845e-01 6.77041771e-03 3.02946037e+02] [-1.41052322e-01 9.90001777e-01 -8.51186354e-04 -1.94416424e+01] [-6.82278952e-03 -1.12326834e-04 9.99976718e-01 -2.17037301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.01, Y:-19.45, Z:-2.17 [[ 9.90813599e-01 1.35065081e-01 6.77026741e-03 3.03008438e+02] [-1.35062410e-01 9.90836727e-01 -8.52380134e-04 -1.94505438e+01] [-6.82335640e-03 -6.98588046e-05 9.99976718e-01 -2.16577505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:-19.46, Z:-2.17 [[ 9.91368641e-01 1.30928922e-01 6.77010971e-03 3.03070603e+02] [-1.30926146e-01 9.91391757e-01 -8.53630859e-04 -1.94575367e+01] [-6.82359593e-03 -4.01215053e-05 9.99976718e-01 -2.16654187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:-19.47, Z:-2.17 [[ 9.92158990e-01 1.24798665e-01 6.76995225e-03 3.03133128e+02] [-1.24795737e-01 9.92182087e-01 -8.54877852e-04 -1.94654173e+01] [-6.82371296e-03 3.31356740e-06 9.99976718e-01 -2.16517894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:-19.47, Z:-2.17 [[ 9.92867846e-01 1.19027775e-01 6.76979158e-03 3.03194836e+02] [-1.19024704e-01 9.92890924e-01 -8.56148280e-04 -1.94728566e+01] [-6.82357004e-03 4.42696583e-05 9.99976718e-01 -2.16740961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.26, Y:-19.48, Z:-2.17 [[ 9.93042710e-01 1.17559977e-01 6.76969158e-03 3.03258069e+02] [-1.17556867e-01 9.93065783e-01 -8.56938251e-04 -1.94780326e+01] [-6.82349071e-03 5.51525512e-05 9.99976718e-01 -2.16872719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.32, Y:-19.48, Z:-2.17 [[ 9.93020520e-01 1.17747273e-01 6.76953091e-03 3.03320846e+02] [-1.17744158e-01 9.93043593e-01 -8.58205640e-04 -1.94794625e+01] [-6.82349067e-03 5.51430938e-05 9.99976718e-01 -2.16622929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.38, Y:-19.48, Z:-2.17 [[ 9.93093693e-01 1.17128527e-01 6.76938099e-03 3.03384200e+02] [-1.17125390e-01 9.93116763e-01 -8.59386537e-04 -1.94801966e+01] [-6.82344442e-03 6.05849612e-05 9.99976718e-01 -2.16640486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.45, Y:-19.48, Z:-2.17 [[ 9.93206967e-01 1.16164105e-01 6.76922339e-03 3.03447537e+02] [-1.16160937e-01 9.93230032e-01 -8.60626164e-04 -1.94823225e+01] [-6.82336983e-03 6.84605723e-05 9.99976718e-01 -2.17021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.51, Y:-19.48, Z:-2.17 [[ 9.93507466e-01 1.13565373e-01 6.76905843e-03 3.03510219e+02] [-1.13562136e-01 9.93530522e-01 -8.61921684e-04 -1.94799525e+01] [-6.82315061e-03 8.76168945e-05 9.99976718e-01 -2.17221319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.57, Y:-19.48, Z:-2.17 [[ 9.93644610e-01 1.12359115e-01 6.76890935e-03 3.03572460e+02] [-1.12355842e-01 9.93667661e-01 -8.63090844e-04 -1.94817442e+01] [-6.82302244e-03 9.70790566e-05 9.99976718e-01 -2.17376922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.64, Y:-19.48, Z:-2.17 [[ 9.93924714e-01 1.09853754e-01 6.76875109e-03 3.03636171e+02] [-1.09850414e-01 9.93947755e-01 -8.64330185e-04 -1.94801813e+01] [-6.82273487e-03 1.15529022e-04 9.99976718e-01 -2.17394449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:-19.48, Z:-2.17 [[ 9.93937404e-01 1.09738885e-01 6.76858195e-03 3.03698939e+02] [-1.09735534e-01 9.93960444e-01 -8.65652747e-04 -1.94817603e+01] [-6.82269848e-03 1.17650692e-04 9.99976718e-01 -2.17459798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.76, Y:-19.48, Z:-2.17 [[ 9.94028442e-01 1.08911180e-01 6.76842496e-03 3.03760191e+02] [-1.08907802e-01 9.94051477e-01 -8.66878511e-04 -1.94825151e+01] [-6.82257559e-03 1.24567613e-04 9.99976718e-01 -2.17410735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.82, Y:-19.48, Z:-2.17 [[ 9.94147601e-01 1.07818073e-01 6.76829421e-03 3.03821573e+02] [-1.07814662e-01 9.94170632e-01 -8.67898124e-04 -1.94829002e+01] [-6.82241444e-03 1.33097488e-04 9.99976718e-01 -2.17305166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.88, Y:-19.48, Z:-2.17 [[ 9.94122942e-01 1.08045206e-01 6.76827378e-03 3.03882421e+02] [-1.08041799e-01 9.94145973e-01 -8.68057457e-04 -1.94802839e+01] [-6.82244157e-03 1.31699356e-04 9.99976718e-01 -2.17019849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.94, Y:-19.48, Z:-2.17 [[ 9.94234201e-01 1.07016561e-01 6.76826369e-03 3.03943213e+02] [-1.07013130e-01 9.94257228e-01 -8.68136125e-04 -1.94803065e+01] [-6.82230004e-03 1.38837544e-04 9.99976718e-01 -2.16693805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.00, Y:-19.48, Z:-2.17 [[ 9.94508069e-01 1.04440847e-01 6.76826369e-03 3.04004853e+02] [-1.04437357e-01 9.94531088e-01 -8.68136125e-04 -1.94779808e+01] [-6.82191752e-03 1.56508813e-04 9.99976718e-01 -2.17279228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.06, Y:-19.48, Z:-2.18 [[ 9.94939484e-01 1.00247767e-01 6.76826369e-03 3.04064822e+02] [-1.00244179e-01 9.94962487e-01 -8.68136125e-04 -1.94808053e+01] [-6.82119718e-03 1.85263870e-04 9.99976718e-01 -2.17733208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.12, Y:-19.48, Z:-2.18 [[ 9.95812811e-01 9.11648808e-02 6.76827401e-03 3.04124999e+02] [-9.11610837e-02 9.95835781e-01 -8.68055666e-04 -1.94846708e+01] [-6.81922562e-03 2.47417760e-04 9.99976718e-01 -2.17715016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:-19.49, Z:-2.18 [[ 9.96573712e-01 8.24319501e-02 6.76827401e-03 3.04186200e+02] [-8.24279518e-02 9.96596648e-01 -8.68055666e-04 -1.94885010e+01] [-6.81679471e-03 3.07186494e-04 9.99976718e-01 -2.18010251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:-19.49, Z:-2.18 [[ 9.96842080e-01 7.91205327e-02 6.76825401e-03 3.04246433e+02] [-7.91164572e-02 9.96865002e-01 -8.68211580e-04 -1.94936484e+01] [-6.81572891e-03 3.29989559e-04 9.99976718e-01 -2.18342778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.31, Y:-19.50, Z:-2.18 [[ 9.97085355e-01 7.59933202e-02 6.76825401e-03 3.04307343e+02] [-7.59891728e-02 9.97108265e-01 -8.68211580e-04 -1.94979152e+01] [-6.81466029e-03 3.51367029e-04 9.99976718e-01 -2.18296582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.37, Y:-19.50, Z:-2.18 [[ 9.97163357e-01 7.49628559e-02 6.76825401e-03 3.04367779e+02] [-7.49586849e-02 9.97186262e-01 -8.68211580e-04 -1.95036803e+01] [-6.81429353e-03 3.58409355e-04 9.99976718e-01 -2.17799177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.43, Y:-19.51, Z:-2.18 [[ 9.97516221e-01 7.01111976e-02 6.76825401e-03 3.04427726e+02] [-7.01069151e-02 9.97539105e-01 -8.68211580e-04 -1.95145361e+01] [-6.81246940e-03 3.91553725e-04 9.99976718e-01 -2.18195702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.49, Y:-19.52, Z:-2.18 [[ 9.97626090e-01 6.85301051e-02 6.76823400e-03 3.04487191e+02] [-6.85257853e-02 9.97648968e-01 -8.68367494e-04 -1.95231044e+01] [-6.81183098e-03 4.02507517e-04 9.99976718e-01 -2.18187294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.55, Y:-19.53, Z:-2.17 [[ 9.97287473e-01 7.32931645e-02 6.76822416e-03 3.04547213e+02] [-7.32889535e-02 9.97310371e-01 -8.68444227e-04 -1.95285328e+01] [-6.81367117e-03 3.70052483e-04 9.99976718e-01 -2.17179398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:-19.53, Z:-2.17 [[ 9.96912329e-01 7.82304245e-02 6.76822416e-03 3.04608164e+02] [-7.82263269e-02 9.96935247e-01 -8.68444227e-04 -1.95325090e+01] [-6.81541998e-03 3.36309442e-04 9.99976718e-01 -2.17280300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.67, Y:-19.53, Z:-2.18 [[ 9.96651182e-01 8.14899544e-02 6.76822416e-03 3.04667640e+02] [-8.14859318e-02 9.96674114e-01 -8.68444227e-04 -1.95325570e+01] [-6.81648329e-03 3.14020913e-04 9.99976718e-01 -2.17769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:-19.53, Z:-2.18 [[ 9.96805776e-01 7.95766073e-02 6.76825408e-03 3.04727605e+02] [-7.95725423e-02 9.96828700e-01 -8.68210969e-04 -1.95348882e+01] [-6.81587920e-03 3.26870525e-04 9.99976718e-01 -2.17830881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:-19.53, Z:-2.18 [[ 9.97068431e-01 7.62150493e-02 6.76827427e-03 3.04787317e+02] [-7.62109081e-02 9.97091342e-01 -8.68053527e-04 -1.95319549e+01] [-6.81474642e-03 3.49692440e-04 9.99976718e-01 -2.17842043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.85, Y:-19.53, Z:-2.18 [[ 9.97160003e-01 7.50074550e-02 6.76830412e-03 3.04847550e+02] [-7.50032876e-02 9.97182909e-01 -8.67820739e-04 -1.95321664e+01] [-6.81433021e-03 3.57711070e-04 9.99976718e-01 -2.17787859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:-19.53, Z:-2.18 [[ 9.97346189e-01 7.24897819e-02 6.76832387e-03 3.04908287e+02] [-7.24855577e-02 9.97369085e-01 -8.67666676e-04 -1.95261919e+01] [-6.81341395e-03 3.74758322e-04 9.99976718e-01 -2.18011286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.97, Y:-19.53, Z:-2.18 [[ 9.97920324e-01 6.41031719e-02 6.76834360e-03 3.04969033e+02] [-6.40987564e-02 9.97943183e-01 -8.67512705e-04 -1.95250497e+01] [-6.81003268e-03 4.31866151e-04 9.99976718e-01 -2.18474225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.03, Y:-19.53, Z:-2.19 [[ 9.98347335e-01 5.70682810e-02 6.76836345e-03 3.05028719e+02] [-5.70637056e-02 9.98370162e-01 -8.67357843e-04 -1.95287877e+01] [-6.80683074e-03 4.79696492e-04 9.99976718e-01 -2.18789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.09, Y:-19.53, Z:-2.19 [[ 9.98657595e-01 5.13536459e-02 6.76838351e-03 3.05088315e+02] [-5.13489409e-02 9.98680396e-01 -8.67201243e-04 -1.95338841e+01] [-6.80398587e-03 5.18487783e-04 9.99976718e-01 -2.18889210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:305.15, Y:-19.54, Z:-2.19 [[ 9.98472256e-01 5.48392429e-02 6.76839337e-03 3.05148017e+02] [-5.48346181e-02 9.98495074e-01 -8.67124299e-04 -1.95402405e+01] [-6.80575988e-03 4.94657290e-04 9.99976718e-01 -2.18540332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.21, Y:-19.55, Z:-2.19 [[ 9.98246350e-01 5.88082745e-02 6.76841297e-03 3.05207455e+02] [-5.88037415e-02 9.98269186e-01 -8.66971298e-04 -1.95474812e+01] [-6.80768319e-03 4.67442928e-04 9.99976718e-01 -2.18625194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:305.27, Y:-19.55, Z:-2.19 [[ 9.98083474e-01 6.15107131e-02 6.76843264e-03 3.05266506e+02] [-6.15062429e-02 9.98106322e-01 -8.66817675e-04 -1.95532337e+01] [-6.80893399e-03 4.48855534e-04 9.99976718e-01 -2.18503144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.33, Y:-19.56, Z:-2.18 [[ 9.98025906e-01 6.24377934e-02 6.76847206e-03 3.05325369e+02] [-6.24333466e-02 9.98048760e-01 -8.66509802e-04 -1.95591626e+01] [-6.80936810e-03 4.42220869e-04 9.99976718e-01 -2.18265004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.38, Y:-19.56, Z:-2.19 [[ 9.97987268e-01 6.30523598e-02 6.76851106e-03 3.05384841e+02] [-6.30479291e-02 9.98010124e-01 -8.66205022e-04 -1.95607820e+01] [-6.80965884e-03 4.37720978e-04 9.99976718e-01 -2.18563373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:-19.56, Z:-2.19 [[ 9.98120404e-01 6.09085021e-02 6.76853051e-03 3.05444521e+02] [-6.09040233e-02 9.98143251e-01 -8.66053028e-04 -1.95612581e+01] [-6.80871304e-03 4.52194459e-04 9.99976718e-01 -2.18625243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.50, Y:-19.56, Z:-2.19 [[ 9.98323587e-01 5.74821971e-02 6.76855020e-03 3.05504130e+02] [-5.74776410e-02 9.98346418e-01 -8.65899104e-04 -1.95625494e+01] [-6.80713163e-03 4.75407200e-04 9.99976718e-01 -2.18600166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.56, Y:-19.56, Z:-2.19 [[ 9.98488438e-01 5.45437975e-02 6.76859072e-03 3.05563729e+02] [-5.45391764e-02 9.98511256e-01 -8.65582225e-04 -1.95588962e+01] [-6.80572617e-03 4.95120481e-04 9.99976718e-01 -2.18993840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.62, Y:-19.56, Z:-2.19 [[ 9.98538683e-01 5.36160809e-02 6.76861130e-03 3.05622576e+02] [-5.36114396e-02 9.98561498e-01 -8.65421308e-04 -1.95577145e+01] [-6.80527513e-03 5.01281658e-04 9.99976718e-01 -2.19296805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:-19.56, Z:-2.19 [[ 9.98610894e-01 5.22538849e-02 6.76865931e-03 3.05681208e+02] [-5.22492151e-02 9.98633702e-01 -8.65045601e-04 -1.95614706e+01] [-6.80461330e-03 5.10186824e-04 9.99976718e-01 -2.19344017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.74, Y:-19.56, Z:-2.19 [[ 9.98857382e-01 4.73087221e-02 6.76869711e-03 3.05741676e+02] [-4.73039414e-02 9.98880168e-01 -8.64749796e-04 -1.95624573e+01] [-6.80202751e-03 5.43575666e-04 9.99976718e-01 -2.19480473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.80, Y:-19.57, Z:-2.20 [[ 9.99040605e-01 4.32672428e-02 6.76871600e-03 3.05799350e+02] [-4.32623709e-02 9.99063371e-01 -8.64601896e-04 -1.95674572e+01] [-6.79978516e-03 5.70941699e-04 9.99976718e-01 -2.19544949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.86, Y:-19.57, Z:-2.20 [[ 9.99091805e-01 4.20683770e-02 6.76876246e-03 3.05858278e+02] [-4.20634802e-02 9.99114566e-01 -8.64238006e-04 -1.95743380e+01] [-6.79912626e-03 5.78735404e-04 9.99976718e-01 -2.19758095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.92, Y:-19.58, Z:-2.20 [[ 9.98995820e-01 4.42892123e-02 6.76882103e-03 3.05916088e+02] [-4.42843692e-02 9.99018593e-01 -8.63779024e-04 -1.95828023e+01] [-6.80043415e-03 5.63158665e-04 9.99976718e-01 -2.19878333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.97, Y:-19.59, Z:-2.19 [[ 9.98855470e-01 4.73490452e-02 6.76886002e-03 3.05974444e+02] [-4.73442740e-02 9.98878258e-01 -8.63473339e-04 -1.95912187e+01] [-6.80215175e-03 5.42018305e-04 9.99976718e-01 -2.19304744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:-19.60, Z:-2.19 [[ 9.98769479e-01 4.91295236e-02 6.76888905e-03 3.06032776e+02] [-4.91247946e-02 9.98792275e-01 -8.63245715e-04 -1.96009467e+01] [-6.80312495e-03 5.29663188e-04 9.99976718e-01 -2.19434592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.09, Y:-19.61, Z:-2.20 [[ 9.98834270e-01 4.77941745e-02 6.76892787e-03 3.06089825e+02] [-4.77894171e-02 9.98857060e-01 -8.62941278e-04 -1.96098860e+01] [-6.80243496e-03 5.38452205e-04 9.99976718e-01 -2.19725125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.15, Y:-19.62, Z:-2.19 [[ 9.98924767e-01 4.58638258e-02 6.76897596e-03 3.06147260e+02] [-4.58590268e-02 9.98947549e-01 -8.62563830e-04 -1.96178757e+01] [-6.80141243e-03 5.51217723e-04 9.99976718e-01 -2.19309923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:-19.62, Z:-2.19 [[ 9.99011235e-01 4.39400937e-02 6.76902339e-03 3.06206408e+02] [-4.39352534e-02 9.99034009e-01 -8.62191456e-04 -1.96229732e+01] [-6.80036935e-03 5.63940194e-04 9.99976718e-01 -2.19444578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:-19.63, Z:-2.19 [[ 9.99176443e-01 4.00076980e-02 6.76905323e-03 3.06265357e+02] [-4.00027697e-02 9.99199197e-01 -8.61957153e-04 -1.96305625e+01] [-6.79811747e-03 5.90466405e-04 9.99976718e-01 -2.19323174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.32, Y:-19.64, Z:-2.20 [[ 9.99450536e-01 3.24469766e-02 6.76907299e-03 3.06324448e+02] [-3.24418773e-02 9.99473252e-01 -8.61801952e-04 -1.96405228e+01] [-6.79347026e-03 6.41726987e-04 9.99976718e-01 -2.19786060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.38, Y:-19.66, Z:-2.21 [[ 9.99646152e-01 2.57244949e-02 6.76908275e-03 3.06382672e+02] [-2.57192434e-02 9.99668834e-01 -8.61725241e-04 -1.96562597e+01] [-6.78900851e-03 6.87324634e-04 9.99976718e-01 -2.20892670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.44, Y:-19.67, Z:-2.21 [[ 9.99698380e-01 2.36078107e-02 6.76909231e-03 3.06441887e+02] [-2.36025117e-02 9.99721051e-01 -8.61650199e-04 -1.96711993e+01] [-6.78754575e-03 7.01622727e-04 9.99976718e-01 -2.20621658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.50, Y:-19.69, Z:-2.20 [[ 9.99582645e-01 2.80840777e-02 6.76909231e-03 3.06500988e+02] [-2.80788803e-02 9.99605339e-01 -8.61650199e-04 -1.96888969e+01] [-6.79061946e-03 6.71222052e-04 9.99976718e-01 -2.19939425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.56, Y:-19.70, Z:-2.20 [[ 9.99390138e-01 3.42568420e-02 6.76905242e-03 3.06559407e+02] [-3.42517828e-02 9.99412864e-01 -8.61963414e-04 -1.97047523e+01] [-6.79460621e-03 6.29585623e-04 9.99976718e-01 -2.20099809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.62, Y:-19.72, Z:-2.21 [[ 9.99265802e-01 3.77098951e-02 6.76906210e-03 3.06619044e+02] [-3.77049149e-02 9.99288545e-01 -8.61887444e-04 -1.97175697e+01] [-6.79674790e-03 6.06027739e-04 9.99976718e-01 -2.20501027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:-19.73, Z:-2.20 [[ 9.99093062e-01 4.20384802e-02 6.76906210e-03 3.06677688e+02] [-4.20335986e-02 9.99115826e-01 -8.61887444e-04 -1.97327799e+01] [-6.79930950e-03 5.76577727e-04 9.99976718e-01 -2.20463410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:-19.74, Z:-2.20 [[ 9.99121484e-01 4.13574619e-02 6.76906210e-03 3.06736773e+02] [-4.13525647e-02 9.99144245e-01 -8.61887444e-04 -1.97438588e+01] [-6.79891491e-03 5.81212184e-04 9.99976718e-01 -2.20064847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.80, Y:-19.76, Z:-2.20 [[ 9.99145149e-01 4.07817546e-02 6.76907191e-03 3.06796238e+02] [-4.07768449e-02 9.99167907e-01 -8.61810379e-04 -1.97587667e+01] [-6.79858555e-03 5.85052265e-04 9.99976718e-01 -2.19934572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.86, Y:-19.77, Z:-2.20 [[ 9.99080253e-01 4.23417971e-02 6.76907191e-03 3.06855832e+02] [-4.23369230e-02 9.99103019e-01 -8.61810379e-04 -1.97704454e+01] [-6.79949078e-03 5.74436056e-04 9.99976718e-01 -2.20043368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.92, Y:-19.78, Z:-2.21 [[ 9.98940147e-01 4.55276112e-02 6.76907191e-03 3.06915165e+02] [-4.55228096e-02 9.98962928e-01 -8.61810379e-04 -1.97838911e+01] [-6.80128806e-03 5.52749815e-04 9.99976718e-01 -2.20667800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.97, Y:-19.79, Z:-2.20 [[ 9.98776176e-01 4.89931620e-02 6.76906230e-03 3.06974905e+02] [-4.89884390e-02 9.98798974e-01 -8.61885860e-04 -1.97948467e+01] [-6.80315899e-03 5.29225268e-04 9.99976718e-01 -2.20254128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.03, Y:-19.81, Z:-2.20 [[ 9.98681336e-01 5.08897691e-02 6.76906230e-03 3.07034045e+02] [-5.08850894e-02 9.98704143e-01 -8.61885860e-04 -1.98057735e+01] [-6.80415173e-03 5.16304982e-04 9.99976718e-01 -2.20098588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:-19.82, Z:-2.20 [[ 9.98634633e-01 5.17981646e-02 6.76906230e-03 3.07093469e+02] [-5.17935057e-02 9.98657444e-01 -8.61885860e-04 -1.98158532e+01] [-6.80461855e-03 5.10115603e-04 9.99976718e-01 -2.20310682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:307.15, Y:-19.82, Z:-2.20 [[ 9.98635015e-01 5.17908057e-02 6.76906230e-03 3.07152865e+02] [-5.17861466e-02 9.98657825e-01 -8.61885860e-04 -1.98239290e+01] [-6.80461480e-03 5.10165746e-04 9.99976718e-01 -2.20326253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.21, Y:-19.83, Z:-2.20 [[ 9.98541914e-01 5.35558145e-02 6.76907197e-03 3.07213176e+02] [-5.35511962e-02 9.98564733e-01 -8.61809853e-04 -1.98309937e+01] [-6.80551148e-03 4.98061359e-04 9.99976718e-01 -2.19743555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:-19.84, Z:-2.20 [[ 9.98636938e-01 5.17537026e-02 6.76907197e-03 3.07271933e+02] [-5.17490431e-02 9.98659749e-01 -8.61809853e-04 -1.98394242e+01] [-6.80460157e-03 5.10342155e-04 9.99976718e-01 -2.19829141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:307.33, Y:-19.85, Z:-2.20 [[ 9.98934814e-01 4.56444526e-02 6.76908171e-03 3.07331573e+02] [-4.56396542e-02 9.98957596e-01 -8.61733386e-04 -1.98509896e+01] [-6.80135894e-03 5.51876932e-04 9.99976718e-01 -2.20076234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.39, Y:-19.87, Z:-2.21 [[ 9.99061314e-01 4.27863319e-02 6.76908171e-03 3.07391383e+02] [-4.27814684e-02 9.99084082e-01 -8.61733386e-04 -1.98663135e+01] [-6.79975220e-03 5.71333234e-04 9.99976718e-01 -2.20591250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.45, Y:-19.88, Z:-2.20 [[ 9.99051630e-01 4.30118709e-02 6.76895766e-03 3.07451328e+02] [-4.30070060e-02 9.99074398e-01 -8.62706701e-04 -1.98786301e+01] [-6.79979893e-03 5.70775934e-04 9.99976718e-01 -2.20378030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.51, Y:-19.89, Z:-2.20 [[ 9.98887265e-01 4.66734952e-02 6.76883702e-03 3.07511617e+02] [-4.66687074e-02 9.98910049e-01 -8.63652160e-04 -1.98883185e+01] [-6.80176899e-03 5.46798269e-04 9.99976718e-01 -2.19812894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.57, Y:-19.90, Z:-2.20 [[ 9.98801674e-01 4.84705927e-02 6.76881751e-03 3.07572908e+02] [-4.84658448e-02 9.98824467e-01 -8.63805044e-04 -1.98956183e+01] [-6.80272969e-03 5.34713465e-04 9.99976718e-01 -2.20033956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.63, Y:-19.90, Z:-2.21 [[ 9.98565837e-01 5.31079250e-02 6.76879794e-03 3.07633473e+02] [-5.31032820e-02 9.98588652e-01 -8.63958375e-04 -1.98969498e+01] [-6.80512785e-03 5.03273932e-04 9.99976718e-01 -2.20704826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:-19.90, Z:-2.21 [[ 9.98546334e-01 5.34733875e-02 6.76878825e-03 3.07695010e+02] [-5.34687523e-02 9.98569149e-01 -8.64034285e-04 -1.98954444e+01] [-6.80530597e-03 5.00859605e-04 9.99976718e-01 -2.20775707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:-19.90, Z:-2.21 [[ 9.98677786e-01 5.09594342e-02 6.76878825e-03 3.07754837e+02] [-5.09547416e-02 9.98700590e-01 -8.64034285e-04 -1.98994031e+01] [-6.80402352e-03 5.17989990e-04 9.99976718e-01 -2.20845126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:-19.90, Z:-2.21 [[ 9.98753843e-01 4.94463761e-02 6.76879808e-03 3.07815896e+02] [-4.94416495e-02 9.98776640e-01 -8.63957270e-04 -1.99016088e+01] [-6.80323696e-03 5.28220101e-04 9.99976718e-01 -2.20772729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:-19.90, Z:-2.21 [[ 9.98655390e-01 5.13964482e-02 6.76879808e-03 3.07875405e+02] [-5.13917661e-02 9.98678196e-01 -8.63957270e-04 -1.99033524e+01] [-6.80425540e-03 5.14935096e-04 9.99976718e-01 -2.20879790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:307.94, Y:-19.90, Z:-2.21 [[ 9.98578625e-01 5.28669391e-02 6.76878656e-03 3.07935423e+02] [-5.28622900e-02 9.98601438e-01 -8.64047571e-04 -1.99021294e+01] [-6.80499954e-03 5.05005878e-04 9.99976718e-01 -2.20901515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:-19.91, Z:-2.21 [[ 9.98572753e-01 5.29777404e-02 6.76880631e-03 3.07994908e+02] [-5.29730948e-02 9.98595566e-01 -8.63892834e-04 -1.99074610e+01] [-6.80506706e-03 5.04095227e-04 9.99976718e-01 -2.20801016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.05, Y:-19.91, Z:-2.21 [[ 9.98563445e-01 5.31528875e-02 6.76882645e-03 3.08054167e+02] [-5.31482471e-02 9.98586260e-01 -8.63734969e-04 -1.99126196e+01] [-6.80516709e-03 5.02742906e-04 9.99976718e-01 -2.21228147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.11, Y:-19.92, Z:-2.21 [[ 9.98458385e-01 5.50911552e-02 6.76884636e-03 3.08112314e+02] [-5.50865601e-02 9.98481209e-01 -8.63578900e-04 -1.99212800e+01] [-6.80614146e-03 4.89375133e-04 9.99976718e-01 -2.21138897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.17, Y:-19.93, Z:-2.21 [[ 9.98212594e-01 5.93784494e-02 6.76887596e-03 3.08170564e+02] [-5.93739539e-02 9.98235437e-01 -8.63346843e-04 -1.99307149e+01] [-6.80819605e-03 4.59908762e-04 9.99976718e-01 -2.21233952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.23, Y:-19.94, Z:-2.21 [[ 9.97491472e-01 7.04623628e-02 6.76890515e-03 3.08228831e+02] [-7.04581229e-02 9.97514365e-01 -8.63117920e-04 -1.99403552e+01] [-6.81289745e-03 3.84028414e-04 9.99976718e-01 -2.21264485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:-19.95, Z:-2.21 [[ 9.97005273e-01 7.70367851e-02 6.76894403e-03 3.08287779e+02] [-7.70326983e-02 9.97028194e-01 -8.62812859e-04 -1.99462577e+01] [-6.81529637e-03 3.38798946e-04 9.99976718e-01 -2.21039831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.35, Y:-19.95, Z:-2.21 [[ 9.96617928e-01 8.18955787e-02 6.76898313e-03 3.08345912e+02] [-8.18916057e-02 9.96640869e-01 -8.62506048e-04 -1.99484085e+01] [-6.81688066e-03 3.05266093e-04 9.99976718e-01 -2.21004343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.40, Y:-19.95, Z:-2.21 [[ 9.96970500e-01 7.74854943e-02 6.76903195e-03 3.08404737e+02] [-7.74814224e-02 9.96993423e-01 -8.62122718e-04 -1.99492668e+01] [-6.81548234e-03 3.35036693e-04 9.99976718e-01 -2.20946705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:-19.95, Z:-2.21 [[ 9.97229459e-01 7.40782450e-02 6.76907006e-03 3.08463793e+02] [-7.40740968e-02 9.97252368e-01 -8.61823417e-04 -1.99510065e+01] [-6.81431351e-03 3.58022949e-04 9.99976718e-01 -2.20802529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:-19.95, Z:-2.21 [[ 9.97162307e-01 7.49767447e-02 6.76910775e-03 3.08523283e+02] [-7.49726192e-02 9.97185221e-01 -8.61527271e-04 -1.99481857e+01] [-6.81464871e-03 3.51584783e-04 9.99976718e-01 -2.20660178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.58, Y:-19.95, Z:-2.21 [[ 9.96845600e-01 7.90760890e-02 6.76914661e-03 3.08582752e+02] [-7.90720598e-02 9.96868531e-01 -8.61221856e-04 -1.99455233e+01] [-6.81605129e-03 3.23254853e-04 9.99976718e-01 -2.20578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.64, Y:-19.95, Z:-2.20 [[ 9.96541415e-01 8.28214132e-02 6.76918656e-03 3.08641034e+02] [-8.28174724e-02 9.96564361e-01 -8.60907672e-04 -1.99474791e+01] [-6.81723167e-03 2.97323229e-04 9.99976718e-01 -2.20190568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.70, Y:-19.95, Z:-2.20 [[ 9.96112136e-01 8.78338791e-02 6.76923645e-03 3.08699402e+02] [-8.78300564e-02 9.96135102e-01 -8.60515268e-04 -1.99469632e+01] [-6.81865643e-03 2.62627283e-04 9.99976718e-01 -2.20314540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.76, Y:-19.95, Z:-2.20 [[ 9.95529716e-01 9.42059480e-02 6.76929538e-03 3.08757066e+02] [-9.42022755e-02 9.95552707e-01 -8.60051404e-04 -1.99454752e+01] [-6.82021230e-03 2.18523702e-04 9.99976718e-01 -2.20117596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:-19.95, Z:-2.20 [[ 9.95048133e-01 9.91634398e-02 6.76936365e-03 3.08815289e+02] [-9.91598855e-02 9.95071142e-01 -8.59513772e-04 -1.99486850e+01] [-6.82123076e-03 1.84008251e-04 9.99976718e-01 -2.20277473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:-19.95, Z:-2.21 [[ 9.94779291e-01 1.01825029e-01 6.76942431e-03 3.08872916e+02] [-1.01821539e-01 9.94802310e-01 -8.59035717e-04 -1.99546804e+01] [-6.82171028e-03 1.65277738e-04 9.99976718e-01 -2.21299282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.93, Y:-19.96, Z:-2.21 [[ 9.94361753e-01 1.05824753e-01 6.76947445e-03 3.08929891e+02] [-1.05821358e-01 9.94384786e-01 -8.58640390e-04 -1.99614247e+01] [-6.82232781e-03 1.37444181e-04 9.99976718e-01 -2.21294971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:-19.97, Z:-2.21 [[ 9.93158442e-01 1.16578229e-01 6.76953211e-03 3.08988489e+02] [-1.16575087e-01 9.93181510e-01 -8.58185607e-04 -1.99658560e+01] [-6.82341988e-03 6.31554824e-05 9.99976718e-01 -2.21068896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.05, Y:-19.97, Z:-2.21 [[ 9.91760003e-01 1.27930723e-01 6.76957221e-03 3.09046574e+02] [-1.27927847e-01 9.91783106e-01 -8.57869161e-04 -1.99664118e+01] [-6.82369518e-03 -1.52164778e-05 9.99976718e-01 -2.21436266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:-19.97, Z:-2.21 [[ 9.91118289e-01 1.32810800e-01 6.76964368e-03 3.09105094e+02] [-1.32808042e-01 9.91141407e-01 -8.57304779e-04 -1.99702605e+01] [-6.82353350e-03 -4.93726778e-05 9.99976718e-01 -2.21376800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:-19.97, Z:-2.21 [[ 9.90812344e-01 1.35074317e-01 6.76968390e-03 3.09164035e+02] [-1.35071614e-01 9.90835468e-01 -8.56987106e-04 -1.99700263e+01] [-6.82339986e-03 -6.52787269e-05 9.99976718e-01 -2.21095240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:-19.97, Z:-2.21 [[ 9.90954042e-01 1.34030804e-01 6.76972388e-03 3.09221895e+02] [-1.34028079e-01 9.90977164e-01 -8.56671130e-04 -1.99724315e+01] [-6.82346210e-03 -5.84113699e-05 9.99976718e-01 -2.21161686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:-19.98, Z:-2.21 [[ 9.91546351e-01 1.29576246e-01 6.76978361e-03 3.09279564e+02] [-1.29573420e-01 9.91569461e-01 -8.56198833e-04 -1.99750515e+01] [-6.82365372e-03 -2.82231870e-05 9.99976718e-01 -2.20562583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:-19.98, Z:-2.21 [[ 9.92046586e-01 1.25689067e-01 6.76983280e-03 3.09337814e+02] [-1.25686153e-01 9.92069684e-01 -8.55809735e-04 -1.99793387e+01] [-6.82371182e-03 -1.87111646e-06 9.99976718e-01 -2.20582253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.40, Y:-19.98, Z:-2.21 [[ 9.92294937e-01 1.23713079e-01 6.76989209e-03 3.09396805e+02] [-1.23710123e-01 9.92318031e-01 -8.55340507e-04 -1.99826833e+01] [-6.82370279e-03 1.12458726e-05 9.99976718e-01 -2.20865773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:-19.99, Z:-2.21 [[ 9.92399263e-01 1.22873393e-01 6.76993150e-03 3.09454610e+02] [-1.22870419e-01 9.92422354e-01 -8.55028417e-04 -1.99854392e+01] [-6.82369160e-03 1.67052479e-05 9.99976718e-01 -2.20836637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:-19.99, Z:-2.20 [[ 9.92457076e-01 1.22405550e-01 6.76999212e-03 3.09511499e+02] [-1.22402568e-01 9.92480167e-01 -8.54548163e-04 -1.99877768e+01] [-6.82368435e-03 1.94379467e-05 9.99976718e-01 -2.20280074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.57, Y:-19.99, Z:-2.20 [[ 9.93212426e-01 1.16117370e-01 6.77006192e-03 3.09569159e+02] [-1.16114246e-01 9.93235497e-01 -8.53994831e-04 -1.99913719e+01] [-6.82342945e-03 6.20976432e-05 9.99976718e-01 -2.20153796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.63, Y:-20.00, Z:-2.21 [[ 9.93780942e-01 1.11146774e-01 6.77012154e-03 3.09626702e+02] [-1.11143538e-01 9.93803998e-01 -8.53521961e-04 -1.99962990e+01] [-6.82304006e-03 9.57585971e-05 9.99976718e-01 -2.20824606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.68, Y:-20.00, Z:-2.21 [[ 9.93944979e-01 1.09670158e-01 6.77018183e-03 3.09683985e+02] [-1.09666891e-01 9.93968030e-01 -8.53043422e-04 -2.00028569e+01] [-6.82289771e-03 1.05413430e-04 9.99976718e-01 -2.21214929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.74, Y:-20.01, Z:-2.21 [[ 9.94016819e-01 1.09017097e-01 6.77023172e-03 3.09742817e+02] [-1.09013817e-01 9.94039869e-01 -8.52647343e-04 -2.00085850e+01] [-6.82283338e-03 1.09496997e-04 9.99976718e-01 -2.21115349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.80, Y:-20.01, Z:-2.21 [[ 9.94334054e-01 1.06084648e-01 6.77027163e-03 3.09799840e+02] [-1.06081303e-01 9.94357094e-01 -8.52330299e-04 -2.00149487e+01] [-6.82248678e-03 1.29301804e-04 9.99976718e-01 -2.20658953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:-20.02, Z:-2.20 [[ 9.94629662e-01 1.03276316e-01 6.77034607e-03 3.09856813e+02] [-1.03272909e-01 9.94652694e-01 -8.51738612e-04 -2.00173603e+01] [-6.82210738e-03 1.47971152e-04 9.99976718e-01 -2.20340484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:-20.02, Z:-2.21 [[ 9.95145166e-01 9.81848234e-02 6.77041369e-03 3.09915028e+02] [-9.81813030e-02 9.95168180e-01 -8.51200753e-04 -2.00167753e+01] [-6.82127527e-03 1.82340277e-04 9.99976718e-01 -2.20579326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.97, Y:-20.02, Z:-2.21 [[ 9.95973576e-01 8.93912522e-02 6.77047110e-03 3.09973868e+02] [-8.93875317e-02 9.95996559e-01 -8.50743832e-04 -2.00164168e+01] [-6.81941498e-03 2.42122677e-04 9.99976718e-01 -2.21095612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.03, Y:-20.02, Z:-2.21 [[ 9.96708920e-01 8.07805023e-02 6.77052779e-03 3.10032979e+02] [-8.07765864e-02 9.96731870e-01 -8.50292457e-04 -2.00217113e+01] [-6.81708787e-03 3.00593953e-04 9.99976718e-01 -2.21366202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.09, Y:-20.03, Z:-2.21 [[ 9.97369268e-01 7.21713435e-02 6.77055611e-03 3.10091107e+02] [-7.21672311e-02 9.97392184e-01 -8.50066926e-04 -2.00262913e+01] [-6.81425021e-03 3.59218340e-04 9.99976718e-01 -2.21239550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.15, Y:-20.03, Z:-2.21 [[ 9.97203748e-01 7.44234074e-02 6.77061333e-03 3.10148729e+02] [-7.44193498e-02 9.97226674e-01 -8.49610929e-04 -2.00294866e+01] [-6.81506715e-03 3.43370561e-04 9.99976718e-01 -2.21395456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.21, Y:-20.03, Z:-2.22 [[ 9.96800768e-01 7.96391006e-02 6.77066028e-03 3.10207755e+02] [-7.96351655e-02 9.96823715e-01 -8.49236576e-04 -2.00325115e+01] [-6.81678717e-03 3.07337020e-04 9.99976718e-01 -2.21681566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.27, Y:-20.03, Z:-2.21 [[ 9.96301978e-01 8.56535202e-02 6.77069832e-03 3.10266314e+02] [-8.56497258e-02 9.96324949e-01 -8.48933164e-04 -2.00307406e+01] [-6.81852978e-03 2.65885336e-04 9.99976718e-01 -2.21421092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.33, Y:-20.03, Z:-2.22 [[ 9.96527110e-01 8.29932237e-02 6.77074531e-03 3.10325488e+02] [-8.29893705e-02 9.96550071e-01 -8.48558272e-04 -2.00314397e+01] [-6.81781131e-03 2.83711431e-04 9.99976718e-01 -2.21621120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:-20.04, Z:-2.22 [[ 9.96864685e-01 7.88349963e-02 6.77078527e-03 3.10383750e+02] [-7.88310496e-02 9.96887630e-01 -8.48239315e-04 -2.00352974e+01] [-6.81658302e-03 3.11831708e-04 9.99976718e-01 -2.21689444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.44, Y:-20.04, Z:-2.22 [[ 9.97269758e-01 7.35335621e-02 6.77083471e-03 3.10443072e+02] [-7.35294961e-02 9.97292682e-01 -8.47844504e-04 -2.00385492e+01] [-6.81484893e-03 3.47673620e-04 9.99976718e-01 -2.21585994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.50, Y:-20.04, Z:-2.22 [[ 9.97329710e-01 7.27159236e-02 6.77087322e-03 3.10502187e+02] [-7.27118409e-02 9.97352631e-01 -8.47536789e-04 -2.00403871e+01] [-6.81457764e-03 3.52950963e-04 9.99976718e-01 -2.22151341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:-20.04, Z:-2.22 [[ 9.97288688e-01 7.32763842e-02 6.77091202e-03 3.10558884e+02] [-7.32723165e-02 9.97311611e-01 -8.47226753e-04 -2.00441343e+01] [-6.81479089e-03 3.48809248e-04 9.99976718e-01 -2.22161776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.62, Y:-20.05, Z:-2.22 [[ 9.97506343e-01 7.02513232e-02 6.77100976e-03 3.10616916e+02] [-7.02471912e-02 9.97529256e-01 -8.46444838e-04 -2.00474156e+01] [-6.81374420e-03 3.68689678e-04 9.99976718e-01 -2.22121428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.68, Y:-20.06, Z:-2.22 [[ 9.98026494e-01 6.24281157e-02 6.77106581e-03 3.10675261e+02] [-6.24238073e-02 9.98049374e-01 -8.45996239e-04 -2.00571798e+01] [-6.81067195e-03 4.21650953e-04 9.99976718e-01 -2.22029346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.73, Y:-20.07, Z:-2.22 [[ 9.98391139e-01 5.62964177e-02 6.77110340e-03 3.10731072e+02] [-5.62919708e-02 9.98413992e-01 -8.45695324e-04 -2.00664246e+01] [-6.80797399e-03 4.63175962e-04 9.99976718e-01 -2.21903064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.79, Y:-20.08, Z:-2.22 [[ 9.98862538e-01 4.71993868e-02 6.77116834e-03 3.10788773e+02] [-4.71947355e-02 9.98885350e-01 -8.45174999e-04 -2.00828083e+01] [-6.80351260e-03 5.24650146e-04 9.99976718e-01 -2.22449292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.85, Y:-20.10, Z:-2.22 [[ 9.99151865e-01 4.06165297e-02 6.77119581e-03 3.10845273e+02] [-4.06117296e-02 9.99174646e-01 -8.44954862e-04 -2.01013187e+01] [-6.79992632e-03 5.69248252e-04 9.99976718e-01 -2.22232142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.90, Y:-20.12, Z:-2.22 [[ 9.99260748e-01 3.78431932e-02 6.77123301e-03 3.10901598e+02] [-3.78383319e-02 9.99283517e-01 -8.44656706e-04 -2.01172549e+01] [-6.79834604e-03 5.87820130e-04 9.99976718e-01 -2.22217040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.96, Y:-20.14, Z:-2.22 [[ 9.99401308e-01 3.39289693e-02 6.77127891e-03 3.10958894e+02] [-3.39240213e-02 9.99424058e-01 -8.44288540e-04 -2.01370341e+01] [-6.79602489e-03 6.14074061e-04 9.99976718e-01 -2.22390238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.02, Y:-20.16, Z:-2.22 [[ 9.99392452e-01 3.41888290e-02 6.77130615e-03 3.11015565e+02] [-3.41838884e-02 9.99415204e-01 -8.44070027e-04 -2.01574168e+01] [-6.79620408e-03 6.12087640e-04 9.99976718e-01 -2.22052994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.07, Y:-20.17, Z:-2.22 [[ 9.99247880e-01 3.81814471e-02 6.77134222e-03 3.11072443e+02] [-3.81765993e-02 9.99270652e-01 -8.43780555e-04 -2.01731725e+01] [-6.79862032e-03 5.84639112e-04 9.99976718e-01 -2.21741480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.13, Y:-20.18, Z:-2.22 [[ 9.99252354e-01 3.80641790e-02 6.77138008e-03 3.11129723e+02] [-3.80593307e-02 9.99275125e-01 -8.43476611e-04 -2.01849875e+01] [-6.79857793e-03 5.85131796e-04 9.99976718e-01 -2.21988420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:-20.20, Z:-2.22 [[ 9.99346962e-01 3.54936182e-02 6.77141764e-03 3.11187083e+02] [-3.54887133e-02 9.99369722e-01 -8.43174974e-04 -2.02010219e+01] [-6.79707709e-03 6.02315450e-04 9.99976718e-01 -2.22305628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.25, Y:-20.21, Z:-2.22 [[ 9.99396858e-01 3.40597545e-02 6.77145395e-03 3.11245095e+02] [-3.40548189e-02 9.99419611e-01 -8.42883263e-04 -2.02149676e+01] [-6.79623227e-03 6.11774247e-04 9.99976718e-01 -2.22122941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:-20.23, Z:-2.22 [[ 9.99442395e-01 3.26962647e-02 6.77149334e-03 3.11302344e+02] [-3.26913002e-02 9.99465141e-01 -8.42566727e-04 -2.02278201e+01] [-6.79542033e-03 6.20727986e-04 9.99976718e-01 -2.22035478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.36, Y:-20.24, Z:-2.22 [[ 9.99452313e-01 3.23916708e-02 6.77152255e-03 3.11359251e+02] [-3.23867010e-02 9.99475058e-01 -8.42331914e-04 -2.02420257e+01] [-6.79525243e-03 6.22563304e-04 9.99976718e-01 -2.22426519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:311.42, Y:-20.26, Z:-2.23 [[ 9.99409451e-01 3.36882004e-02 6.77155031e-03 3.11417065e+02] [-3.36832616e-02 9.99432203e-01 -8.42108656e-04 -2.02590947e+01] [-6.79607457e-03 6.13523450e-04 9.99976718e-01 -2.22837444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:-20.27, Z:-2.23 [[ 9.99423570e-01 3.32666918e-02 6.77156874e-03 3.11474445e+02] [-3.32617444e-02 9.99446320e-01 -8.41960494e-04 -2.02738141e+01] [-6.79582870e-03 6.16240975e-04 9.99976718e-01 -2.22906707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:-20.29, Z:-2.23 [[ 9.99485777e-01 3.13421099e-02 6.77159060e-03 3.11531918e+02] [-3.13371199e-02 9.99508517e-01 -8.41784638e-04 -2.02937955e+01] [-6.79464578e-03 6.29149626e-04 9.99976718e-01 -2.22951607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:-20.31, Z:-2.23 [[ 9.99475060e-01 3.16820091e-02 6.77160870e-03 3.11590193e+02] [-3.16770278e-02 9.99497803e-01 -8.41638948e-04 -2.03127526e+01] [-6.79487283e-03 6.26692701e-04 9.99976718e-01 -2.23407926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:-20.33, Z:-2.23 [[ 9.99283288e-01 3.72431912e-02 6.77161771e-03 3.11648930e+02] [-3.72383370e-02 9.99306058e-01 -8.41566472e-04 -2.03272509e+01] [-6.79826122e-03 5.88799529e-04 9.99976718e-01 -2.22788482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.71, Y:-20.34, Z:-2.23 [[ 9.99066126e-01 4.26734207e-02 6.77163636e-03 3.11708337e+02] [-4.26686914e-02 9.99088922e-01 -8.41416389e-04 -2.03368690e+01] [-6.80137299e-03 5.51693750e-04 9.99976718e-01 -2.22621184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:-20.34, Z:-2.23 [[ 9.98804877e-01 4.84041533e-02 6.77165598e-03 3.11766269e+02] [-4.83995558e-02 9.98827701e-01 -8.41258447e-04 -2.03447533e+01] [-6.80443798e-03 5.12507898e-04 9.99976718e-01 -2.22669811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.83, Y:-20.35, Z:-2.22 [[ 9.98785034e-01 4.88118954e-02 6.77168515e-03 3.11825440e+02] [-4.88073088e-02 9.98807859e-01 -8.41023628e-04 -2.03488482e+01] [-6.80466430e-03 5.09494084e-04 9.99976718e-01 -2.22385756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:-20.36, Z:-2.23 [[ 9.99015105e-01 4.38516049e-02 6.77172342e-03 3.11883264e+02] [-4.38469072e-02 9.99037908e-01 -8.40715359e-04 -2.03553326e+01] [-6.80207512e-03 5.42968214e-04 9.99976718e-01 -2.22742341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:-20.36, Z:-2.23 [[ 9.99236302e-01 3.84831951e-02 6.77174321e-03 3.11943395e+02] [-3.84783760e-02 9.99259080e-01 -8.40555912e-04 -2.03644641e+01] [-6.79907316e-03 5.79348300e-04 9.99976718e-01 -2.22862974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:-20.38, Z:-2.23 [[ 9.99472213e-01 3.17716752e-02 6.77174321e-03 3.12001537e+02] [-3.17667032e-02 9.99494957e-01 -8.40555912e-04 -2.03776287e+01] [-6.79502906e-03 6.24996320e-04 9.99976718e-01 -2.23203754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:-20.39, Z:-2.23 [[ 9.99547254e-01 2.93160502e-02 6.77175248e-03 3.12061537e+02] [-2.93110228e-02 9.99569986e-01 -8.40481244e-04 -2.03914018e+01] [-6.79348012e-03 6.41613728e-04 9.99976718e-01 -2.23125546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:-20.40, Z:-2.23 [[ 9.99477315e-01 3.16107765e-02 6.77173378e-03 3.12120435e+02] [-3.16058003e-02 9.99500058e-01 -8.40631816e-04 -2.04038814e+01] [-6.79492134e-03 6.26166364e-04 9.99976718e-01 -2.23278957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.18, Y:-20.42, Z:-2.23 [[ 9.99459752e-01 3.21612679e-02 6.77173378e-03 3.12179798e+02] [-3.21563042e-02 9.99482499e-01 -8.40631816e-04 -2.04161393e+01] [-6.79526519e-03 6.22423734e-04 9.99976718e-01 -2.23068279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.24, Y:-20.43, Z:-2.23 [[ 9.99430486e-01 3.30582370e-02 6.77173378e-03 3.12239334e+02] [-3.30532937e-02 9.99453237e-01 -8.40631816e-04 -2.04298852e+01] [-6.79582106e-03 6.16324958e-04 9.99976718e-01 -2.22839037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:-20.44, Z:-2.23 [[ 9.99419107e-01 3.34004965e-02 6.77173378e-03 3.12298755e+02] [-3.33955610e-02 9.99441859e-01 -8.40631816e-04 -2.04407881e+01] [-6.79603172e-03 6.13997649e-04 9.99976718e-01 -2.23008017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:-20.45, Z:-2.23 [[ 9.99501995e-01 3.08205245e-02 6.77173378e-03 3.12357716e+02] [-3.08155304e-02 9.99524735e-01 -8.40631816e-04 -2.04520810e+01] [-6.79442413e-03 6.31538609e-04 9.99976718e-01 -2.23303581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.42, Y:-20.46, Z:-2.23 [[ 9.99624011e-01 2.65702805e-02 6.77172431e-03 3.12417418e+02] [-2.65651892e-02 9.99646730e-01 -8.40708151e-04 -2.04642013e+01] [-6.79166991e-03 6.60499917e-04 9.99976718e-01 -2.22803736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:-20.48, Z:-2.23 [[ 9.99605588e-01 2.72545830e-02 6.77165921e-03 3.12477411e+02] [-2.72495037e-02 9.99628309e-01 -8.41232168e-04 -2.04759277e+01] [-6.79206968e-03 6.56376024e-04 9.99976718e-01 -2.23017692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:-20.49, Z:-2.23 [[ 9.99454941e-01 3.23104710e-02 6.77164989e-03 3.12537768e+02] [-3.23055062e-02 9.99477687e-01 -8.41307214e-04 -2.04868156e+01] [-6.79529600e-03 6.22087074e-04 9.99976718e-01 -2.23452676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.60, Y:-20.49, Z:-2.24 [[ 9.99082919e-01 4.22784306e-02 6.77163120e-03 3.12597725e+02] [-4.22736919e-02 9.99105714e-01 -8.41457616e-04 -2.04939188e+01] [-6.80115093e-03 5.54424080e-04 9.99976718e-01 -2.23526219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:-20.50, Z:-2.23 [[ 9.98678597e-01 5.09431473e-02 6.77163120e-03 3.12657904e+02] [-5.09386065e-02 9.98701432e-01 -8.41457616e-04 -2.04991632e+01] [-6.80570427e-03 4.95408254e-04 9.99976718e-01 -2.22993359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.72, Y:-20.50, Z:-2.24 [[ 9.98034238e-01 6.23041342e-02 6.77163120e-03 3.12716413e+02] [-6.22998535e-02 9.98057123e-01 -8.41457616e-04 -2.05025951e+01] [-6.81090104e-03 4.17931878e-04 9.99976718e-01 -2.23598123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.78, Y:-20.51, Z:-2.23 [[ 9.97496721e-01 7.03877577e-02 6.77164993e-03 3.12776223e+02] [-7.03836637e-02 9.97519640e-01 -8.41306796e-04 -2.05070352e+01] [-6.81407150e-03 3.62587239e-04 9.99976718e-01 -2.22894332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.84, Y:-20.51, Z:-2.23 [[ 9.97315760e-01 7.29069231e-02 6.77166815e-03 3.12835236e+02] [-7.29028879e-02 9.97338689e-01 -8.41160187e-04 -2.05092986e+01] [-6.81497304e-03 3.45228148e-04 9.99976718e-01 -2.22651157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.89, Y:-20.51, Z:-2.22 [[ 9.97032013e-01 7.66896984e-02 6.77170667e-03 3.12894830e+02] [-7.66857523e-02 9.97054958e-01 -8.40849927e-04 -2.05069532e+01] [-6.81624824e-03 3.19060875e-04 9.99976718e-01 -2.22351396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.95, Y:-20.50, Z:-2.22 [[ 9.96716052e-01 8.06923530e-02 6.77174518e-03 3.12954088e+02] [-8.06885012e-02 9.96739013e-01 -8.40539665e-04 -2.05042456e+01] [-6.81748773e-03 2.91377407e-04 9.99976718e-01 -2.22171862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.01, Y:-20.50, Z:-2.23 [[ 9.96651527e-01 8.14854401e-02 6.77178431e-03 3.13013176e+02] [-8.14816087e-02 9.96674491e-01 -8.40224329e-04 -2.04987202e+01] [-6.81773073e-03 2.85634981e-04 9.99976718e-01 -2.22536593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:-20.50, Z:-2.23 [[ 9.97450835e-01 7.10350241e-02 6.77183252e-03 3.13072808e+02] [-7.10309548e-02 9.97473758e-01 -8.39835562e-04 -2.04993045e+01] [-6.81438298e-03 3.56684952e-04 9.99976718e-01 -2.22785929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:-20.51, Z:-2.23 [[ 9.97719857e-01 6.71507973e-02 6.77187037e-03 3.13131270e+02] [-6.71466409e-02 9.97742764e-01 -8.39530288e-04 -2.05053183e+01] [-6.81295979e-03 3.82907691e-04 9.99976718e-01 -2.23144994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:-20.51, Z:-2.24 [[ 9.98180687e-01 5.99120830e-02 6.77190795e-03 3.13188941e+02] [-5.99077626e-02 9.98203564e-01 -8.39227001e-04 -2.05096026e+01] [-6.81002249e-03 4.32010330e-04 9.99976718e-01 -2.23805049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:-20.51, Z:-2.24 [[ 9.98029326e-01 6.23827233e-02 6.77195424e-03 3.13248214e+02] [-6.23784621e-02 9.98052215e-01 -8.38853329e-04 -2.05125228e+01] [-6.81109389e-03 4.14776132e-04 9.99976718e-01 -2.23736640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.31, Y:-20.51, Z:-2.24 [[ 9.97902832e-01 6.43745191e-02 6.77199113e-03 3.13307624e+02] [-6.43703056e-02 9.97925729e-01 -8.38555409e-04 -2.05122820e+01] [-6.81192579e-03 4.00881679e-04 9.99976718e-01 -2.23691608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:-20.52, Z:-2.24 [[ 9.98033964e-01 6.23084847e-02 6.77202969e-03 3.13366855e+02] [-6.23042258e-02 9.98056852e-01 -8.38243939e-04 -2.05150608e+01] [-6.81110034e-03 4.14669854e-04 9.99976718e-01 -2.23650874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:-20.52, Z:-2.24 [[ 9.98358530e-01 5.68716503e-02 6.77206870e-03 3.13424434e+02] [-5.68672690e-02 9.98381396e-01 -8.37928611e-04 -2.05215414e+01] [-6.80876179e-03 4.51444123e-04 9.99976718e-01 -2.23654874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:-20.53, Z:-2.23 [[ 9.98706659e-01 5.03899561e-02 6.77211658e-03 3.13482251e+02] [-5.03854291e-02 9.98729496e-01 -8.37541525e-04 -2.05301029e+01] [-6.80571626e-03 4.95242299e-04 9.99976718e-01 -2.23309160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:-20.54, Z:-2.23 [[ 9.98786082e-01 4.87903789e-02 6.77215426e-03 3.13540096e+02] [-4.87858173e-02 9.98808912e-01 -8.37236682e-04 -2.05380230e+01] [-6.80493713e-03 5.05835264e-04 9.99976718e-01 -2.23281538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:-20.55, Z:-2.24 [[ 9.98965597e-01 4.49652496e-02 6.77219207e-03 3.13598082e+02] [-4.49606027e-02 9.98988410e-01 -8.36930785e-04 -2.05479442e+01] [-6.80297419e-03 5.31583224e-04 9.99976718e-01 -2.23750358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:-20.56, Z:-2.24 [[ 9.99277601e-01 3.73953752e-02 6.77222005e-03 3.13656760e+02] [-3.73905571e-02 9.99300378e-01 -8.36704286e-04 -2.05624099e+01] [-6.79877093e-03 5.82882771e-04 9.99976718e-01 -2.23876584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.71, Y:-20.58, Z:-2.24 [[ 9.99326503e-01 3.60649011e-02 6.77223865e-03 3.13714816e+02] [-3.60600538e-02 9.99349275e-01 -8.36553679e-04 -2.05778679e+01] [-6.79800201e-03 5.91782973e-04 9.99976718e-01 -2.24007003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.77, Y:-20.59, Z:-2.24 [[ 9.99203955e-01 3.93140215e-02 6.77225715e-03 3.13773298e+02] [-3.93092492e-02 9.99226743e-01 -8.36403914e-04 -2.05874086e+01] [-6.79990286e-03 5.69525755e-04 9.99976718e-01 -2.24048347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.83, Y:-20.59, Z:-2.24 [[ 9.98825880e-01 4.79687090e-02 6.77226631e-03 3.13832858e+02] [-4.79641348e-02 9.98848708e-01 -8.36329741e-04 -2.05935644e+01] [-6.80458712e-03 5.10521895e-04 9.99976718e-01 -2.23657470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:-20.60, Z:-2.24 [[ 9.98554823e-01 5.33141839e-02 6.77228494e-03 3.13891203e+02] [-5.33097330e-02 9.98577675e-01 -8.36178877e-04 -2.05993418e+01] [-6.80723274e-03 4.73941748e-04 9.99976718e-01 -2.23774580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.95, Y:-20.61, Z:-2.24 [[ 9.98744997e-01 4.96242633e-02 6.77232260e-03 3.13949822e+02] [-4.96197300e-02 9.98767833e-01 -8.35873744e-04 -2.06052889e+01] [-6.80545758e-03 4.98783901e-04 9.99976718e-01 -2.23731982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:-20.61, Z:-2.24 [[ 9.98987345e-01 4.44794342e-02 6.77235062e-03 3.14009231e+02] [-4.44747849e-02 9.99010158e-01 -8.35646646e-04 -2.06135022e+01] [-6.80281615e-03 5.33601587e-04 9.99976718e-01 -2.23857540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.07, Y:-20.63, Z:-2.24 [[ 9.99527202e-01 2.99917803e-02 6.77236969e-03 3.14067917e+02] [-2.99868018e-02 9.99549946e-01 -8.35492098e-04 -2.06283346e+01] [-6.79437965e-03 6.32015372e-04 9.99976718e-01 -2.24175291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.13, Y:-20.64, Z:-2.24 [[ 9.99637354e-01 2.60633123e-02 6.77236969e-03 3.14128750e+02] [-2.60582445e-02 9.99660077e-01 -8.35492098e-04 -2.06396840e+01] [-6.79184330e-03 6.58713045e-04 9.99976718e-01 -2.23901470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.19, Y:-20.65, Z:-2.23 [[ 9.99643261e-01 2.58357412e-02 6.77235052e-03 3.14188540e+02] [-2.58306671e-02 9.99665983e-01 -8.35647433e-04 -2.06515846e+01] [-6.79167801e-03 6.60414993e-04 9.99976718e-01 -2.23426169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:-20.67, Z:-2.23 [[ 9.99556795e-01 2.89887661e-02 6.77234106e-03 3.14247143e+02] [-2.89837632e-02 9.99579533e-01 -8.35724101e-04 -2.06668519e+01] [-6.79372013e-03 6.39065774e-04 9.99976718e-01 -2.23466490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.31, Y:-20.68, Z:-2.24 [[ 9.99523145e-01 3.01267026e-02 6.77233165e-03 3.14305786e+02] [-3.01217251e-02 9.99545888e-01 -8.35800378e-04 -2.06841386e+01] [-6.79443616e-03 6.31407510e-04 9.99976718e-01 -2.23922522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.36, Y:-20.70, Z:-2.24 [[ 9.99532861e-01 2.98026110e-02 6.77233165e-03 3.14364766e+02] [-2.97976261e-02 9.99555603e-01 -8.35800378e-04 -2.07006522e+01] [-6.79423107e-03 6.33610536e-04 9.99976718e-01 -2.24419993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:-20.72, Z:-2.25 [[ 9.99545911e-01 2.93616624e-02 6.77233165e-03 3.14424028e+02] [-2.93566675e-02 9.99568651e-01 -8.35800378e-04 -2.07231911e+01] [-6.79395089e-03 6.36607761e-04 9.99976718e-01 -2.24727823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:314.48, Y:-20.75, Z:-2.25 [[ 9.99432037e-01 3.30111938e-02 6.77231295e-03 3.14483394e+02] [-3.30062809e-02 9.99454795e-01 -8.35951863e-04 -2.07459323e+01] [-6.79621642e-03 6.11948210e-04 9.99976718e-01 -2.24704165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:314.54, Y:-20.77, Z:-2.25 [[ 9.99209428e-01 3.91746684e-02 6.77229407e-03 3.14542165e+02] [-3.91698949e-02 9.99232215e-01 -8.36104785e-04 -2.07655330e+01] [-6.79984853e-03 5.70173737e-04 9.99976718e-01 -2.24905945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:-20.78, Z:-2.25 [[ 9.99009223e-01 4.39853405e-02 6.77221945e-03 3.14601047e+02] [-4.39806728e-02 9.99032032e-01 -8.36708731e-04 -2.07845689e+01] [-6.80246707e-03 5.38032972e-04 9.99976718e-01 -2.24621309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.66, Y:-20.79, Z:-2.25 [[ 9.98777100e-01 4.89738960e-02 6.77214895e-03 3.14661432e+02] [-4.89693384e-02 9.98799931e-01 -8.37278929e-04 -2.07934568e+01] [-6.80502672e-03 5.04627367e-04 9.99976718e-01 -2.24542510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:-20.80, Z:-2.24 [[ 9.98527329e-01 5.38266816e-02 6.77212990e-03 3.14722586e+02] [-5.38222339e-02 9.98550182e-01 -8.37432992e-04 -2.07974529e+01] [-6.80738778e-03 4.71708569e-04 9.99976718e-01 -2.24467520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:-20.80, Z:-2.23 [[ 9.98623987e-01 5.20026033e-02 6.77211104e-03 3.14783665e+02] [-5.19981129e-02 9.98646832e-01 -8.37585465e-04 -2.08015311e+01] [-6.80650386e-03 4.84295942e-04 9.99976718e-01 -2.23410255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.84, Y:-20.81, Z:-2.23 [[ 9.98852603e-01 4.74090332e-02 6.77209208e-03 3.14844585e+02] [-4.74044368e-02 9.98875426e-01 -8.37738738e-04 -2.08085372e+01] [-6.80419275e-03 5.15750309e-04 9.99976718e-01 -2.23058560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:-20.81, Z:-2.24 [[ 9.98744857e-01 4.96271130e-02 6.77201783e-03 3.14905796e+02] [-4.96225632e-02 9.98767690e-01 -8.38338537e-04 -2.08100424e+01] [-6.80527693e-03 5.01241420e-04 9.99976718e-01 -2.23661331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:-20.81, Z:-2.24 [[ 9.98585127e-01 5.27435614e-02 6.77199882e-03 3.14967418e+02] [-5.27390818e-02 9.98607974e-01 -8.38492115e-04 -2.08110828e+01] [-6.80679708e-03 4.80156756e-04 9.99976718e-01 -2.24089728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.03, Y:-20.81, Z:-2.24 [[ 9.98547969e-01 5.34424444e-02 6.77197933e-03 3.15028164e+02] [-5.34379798e-02 9.98570818e-01 -8.38649457e-04 -2.08141347e+01] [-6.80712042e-03 4.75550817e-04 9.99976718e-01 -2.24436294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.09, Y:-20.82, Z:-2.25 [[ 9.98709216e-01 5.03392787e-02 6.77196967e-03 3.15089276e+02] [-5.03347426e-02 9.98732051e-01 -8.38727427e-04 -2.08158787e+01] [-6.80560410e-03 4.96779461e-04 9.99976718e-01 -2.25134710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.15, Y:-20.82, Z:-2.26 [[ 9.98897062e-01 4.64628928e-02 6.77196967e-03 3.15149702e+02] [-4.64582680e-02 9.98919880e-01 -8.38727427e-04 -2.08220707e+01] [-6.80362483e-03 5.23188381e-04 9.99976718e-01 -2.25838080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:-20.83, Z:-2.26 [[ 9.98971181e-01 4.48410462e-02 6.77196967e-03 3.15210345e+02] [-4.48363844e-02 9.98993992e-01 -8.38727427e-04 -2.08290833e+01] [-6.80276643e-03 5.34233893e-04 9.99976718e-01 -2.25767548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:-20.84, Z:-2.26 [[ 9.98788181e-01 4.87474088e-02 6.77195084e-03 3.15270177e+02] [-4.87428352e-02 9.98811009e-01 -8.38879504e-04 -2.08363845e+01] [-6.80479225e-03 5.07778851e-04 9.99976718e-01 -2.25701596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.33, Y:-20.84, Z:-2.25 [[ 9.98365323e-01 5.67522875e-02 6.77195084e-03 3.15330376e+02] [-5.67478971e-02 9.98388187e-01 -8.38879504e-04 -2.08412322e+01] [-6.80864405e-03 4.53214239e-04 9.99976718e-01 -2.25064686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.39, Y:-20.85, Z:-2.25 [[ 9.98143328e-01 6.05312940e-02 6.77195084e-03 3.15390278e+02] [-6.05269902e-02 9.98166208e-01 -8.38879504e-04 -2.08453013e+01] [-6.81031095e-03 4.27436179e-04 9.99976718e-01 -2.24847128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:315.45, Y:-20.85, Z:-2.25 [[ 9.98226947e-01 5.91363128e-02 6.77196977e-03 3.15449812e+02] [-5.91319780e-02 9.98249821e-01 -8.38726596e-04 -2.08511833e+01] [-6.80971681e-03 4.36799521e-04 9.99976718e-01 -2.24925557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.51, Y:-20.86, Z:-2.25 [[ 9.98422349e-01 5.57400544e-02 6.77198874e-03 3.15509890e+02] [-5.57356429e-02 9.98445209e-01 -8.38573423e-04 -2.08584084e+01] [-6.80820184e-03 4.59809301e-04 9.99976718e-01 -2.24563201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:-20.86, Z:-2.24 [[ 9.98493657e-01 5.44477526e-02 6.77198874e-03 3.15570573e+02] [-5.44433114e-02 9.98516511e-01 -8.38573423e-04 -2.08646503e+01] [-6.80760101e-03 4.68620752e-04 9.99976718e-01 -2.24428104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.63, Y:-20.87, Z:-2.24 [[ 9.98384592e-01 5.64122920e-02 6.77198874e-03 3.15630167e+02] [-5.64078958e-02 9.98407455e-01 -8.38573423e-04 -2.08690454e+01] [-6.80850989e-03 4.55225149e-04 9.99976718e-01 -2.24423219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:-20.87, Z:-2.24 [[ 9.98245619e-01 5.88202681e-02 6.77200827e-03 3.15689354e+02] [-5.88159282e-02 9.98268493e-01 -8.38415721e-04 -2.08720648e+01] [-6.80959832e-03 4.38642869e-04 9.99976718e-01 -2.24273537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.75, Y:-20.87, Z:-2.24 [[ 9.97895417e-01 6.44893492e-02 6.77203743e-03 3.15749215e+02] [-6.44851408e-02 9.97918315e-01 -8.38180122e-04 -2.08690131e+01] [-6.81199387e-03 3.99720315e-04 9.99976718e-01 -2.24389388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:-20.86, Z:-2.25 [[ 9.97422509e-01 7.14316331e-02 6.77207579e-03 3.15808470e+02] [-7.14275863e-02 9.97445436e-01 -8.37870032e-04 -2.08634579e+01] [-6.81462652e-03 3.51997402e-04 9.99976718e-01 -2.24819742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:315.87, Y:-20.86, Z:-2.25 [[ 9.97141766e-01 7.52491593e-02 6.77212335e-03 3.15868475e+02] [-7.52452029e-02 9.97164710e-01 -8.37485426e-04 -2.08585185e+01] [-6.81594249e-03 3.25521901e-04 9.99976718e-01 -2.24805357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:-20.86, Z:-2.25 [[ 9.97002332e-01 7.70745553e-02 6.77216170e-03 3.15926477e+02] [-7.70706430e-02 9.97025283e-01 -8.37175229e-04 -2.08584310e+01] [-6.81654135e-03 3.12730799e-04 9.99976718e-01 -2.25091261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.99, Y:-20.85, Z:-2.25 [[ 9.96677663e-01 8.11650930e-02 6.77220928e-03 3.15985848e+02] [-8.11612775e-02 9.96700630e-01 -8.36790181e-04 -2.08543089e+01] [-6.81778341e-03 2.84368925e-04 9.99976718e-01 -2.24760132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.05, Y:-20.85, Z:-2.25 [[ 9.96409506e-01 8.43933180e-02 6.77224755e-03 3.16045136e+02] [-8.43895791e-02 9.96432486e-01 -8.36480334e-04 -2.08516443e+01] [-6.81868081e-03 2.61969837e-04 9.99976718e-01 -2.24550971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.10, Y:-20.85, Z:-2.24 [[ 9.96339031e-01 8.52213104e-02 6.77228638e-03 3.16102741e+02] [-8.52175926e-02 9.96362014e-01 -8.36165835e-04 -2.08532761e+01] [-6.81890804e-03 2.55986715e-04 9.99976718e-01 -2.24444692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:-20.85, Z:-2.24 [[ 9.96074010e-01 8.82649497e-02 6.77233411e-03 3.16162165e+02] [-8.82613048e-02 9.96097005e-01 -8.35779074e-04 -2.08541994e+01] [-6.81967172e-03 2.34762769e-04 9.99976718e-01 -2.24221996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:-20.86, Z:-2.24 [[ 9.95680671e-01 9.25966301e-02 6.77237218e-03 3.16220182e+02] [-9.25930874e-02 9.95703682e-01 -8.35470487e-04 -2.08584960e+01] [-6.82063767e-03 2.04786967e-04 9.99976718e-01 -2.24198894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.28, Y:-20.86, Z:-2.24 [[ 9.95178889e-01 9.78422861e-02 6.77243125e-03 3.16276686e+02] [-9.78388680e-02 9.95201919e-01 -8.34991359e-04 -2.08633009e+01] [-6.82163404e-03 1.68358765e-04 9.99976718e-01 -2.24392960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.33, Y:-20.87, Z:-2.25 [[ 9.94776705e-01 1.01850092e-01 6.77249915e-03 3.16333411e+02] [-1.01846770e-01 9.94799748e-01 -8.34440249e-04 -2.08713733e+01] [-6.82226827e-03 1.40324557e-04 9.99976718e-01 -2.24825780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:-20.88, Z:-2.25 [[ 9.94399545e-01 1.05468843e-01 6.77259016e-03 3.16391368e+02] [-1.05465610e-01 9.94422601e-01 -8.33700944e-04 -2.08805901e+01] [-6.82274620e-03 1.14756483e-04 9.99976718e-01 -2.25381597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.45, Y:-20.89, Z:-2.26 [[ 9.93923714e-01 1.09862558e-01 6.77262877e-03 3.16447635e+02] [-1.09859429e-01 9.93946785e-01 -8.33387156e-04 -2.08941637e+01] [-6.82319064e-03 8.42861278e-05 9.99976718e-01 -2.25689801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.51, Y:-20.91, Z:-2.25 [[ 9.93360252e-01 1.14845725e-01 6.77267692e-03 3.16505825e+02] [-1.14842715e-01 9.93383338e-01 -8.32995725e-04 -2.09062172e+01] [-6.82353040e-03 4.96722387e-05 9.99976718e-01 -2.25412475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:-20.92, Z:-2.25 [[ 9.92875213e-01 1.18966136e-01 6.77271538e-03 3.16562757e+02] [-1.18963224e-01 9.92898312e-01 -8.32682871e-04 -2.09175450e+01] [-6.82367873e-03 2.10461276e-05 9.99976718e-01 -2.25337824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:-20.93, Z:-2.25 [[ 9.91862759e-01 1.27131418e-01 6.77276319e-03 3.16620112e+02] [-1.27128698e-01 9.91885881e-01 -8.32293839e-04 -2.09303304e+01] [-6.82361888e-03 -3.54913038e-05 9.99976718e-01 -2.25274219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:-20.94, Z:-2.25 [[ 9.91053257e-01 1.33295053e-01 6.77280280e-03 3.16677506e+02] [-1.33292480e-01 9.91076396e-01 -8.31971396e-04 -2.09412511e+01] [-6.82326266e-03 -7.82357170e-05 9.99976718e-01 -2.24579467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:-20.95, Z:-2.24 [[ 9.90892585e-01 1.34484249e-01 6.77285202e-03 3.16734741e+02] [-1.34481706e-01 9.90915728e-01 -8.31570505e-04 -2.09501837e+01] [-6.82315872e-03 -8.68276474e-05 9.99976718e-01 -2.24326306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:-20.96, Z:-2.25 [[ 9.90368986e-01 1.38287381e-01 6.77290835e-03 3.16791500e+02] [-1.38284930e-01 9.90392138e-01 -8.31111448e-04 -2.09588386e+01] [-6.82276741e-03 -1.13484158e-04 9.99976718e-01 -2.24520879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:-20.97, Z:-2.25 [[ 9.89807412e-01 1.42251230e-01 6.77301012e-03 3.16848617e+02] [-1.42248878e-01 9.89830575e-01 -8.30281277e-04 -2.09683745e+01] [-6.82224103e-03 -1.41634527e-04 9.99976718e-01 -2.24731308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.91, Y:-20.98, Z:-2.25 [[ 9.89746780e-01 1.42672478e-01 6.77306805e-03 3.16905784e+02] [-1.42670139e-01 9.89769944e-01 -8.29808461e-04 -2.09767652e+01] [-6.82217001e-03 -1.45014307e-04 9.99976718e-01 -2.24866548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.96, Y:-20.99, Z:-2.25 [[ 9.89522051e-01 1.44222868e-01 6.77312599e-03 3.16961137e+02] [-1.44220569e-01 9.89545219e-01 -8.29335220e-04 -2.09907972e+01] [-6.82192355e-03 -1.56178594e-04 9.99976718e-01 -2.25093942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.02, Y:-21.00, Z:-2.25 [[ 9.89110328e-01 1.47020006e-01 6.77319325e-03 3.17018719e+02] [-1.47017776e-01 9.89133503e-01 -8.28785554e-04 -2.10023102e+01] [-6.82144042e-03 -1.76019454e-04 9.99976718e-01 -2.25441404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.07, Y:-21.01, Z:-2.25 [[ 9.88659357e-01 1.50022661e-01 6.77323346e-03 3.17074864e+02] [-1.50020503e-01 9.88682539e-01 -8.28456813e-04 -2.10140310e+01] [-6.82086495e-03 -1.97062312e-04 9.99976718e-01 -2.25450150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.13, Y:-21.03, Z:-2.25 [[ 9.88680114e-01 1.49885803e-01 6.77330318e-03 3.17131452e+02] [-1.49883646e-01 9.88703296e-01 -8.27886426e-04 -2.10255830e+01] [-6.82087560e-03 -1.96692528e-04 9.99976718e-01 -2.25466482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:317.19, Y:-21.04, Z:-2.25 [[ 9.88853574e-01 1.48737121e-01 6.77336158e-03 3.17188872e+02] [-1.48734940e-01 9.88876753e-01 -8.27408359e-04 -2.10391530e+01] [-6.82108614e-03 -1.89249818e-04 9.99976718e-01 -2.25169016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.25, Y:-21.05, Z:-2.25 [[ 9.88412060e-01 1.51643398e-01 6.77340059e-03 3.17246273e+02] [-1.51641287e-01 9.88435246e-01 -8.27088881e-04 -2.10484081e+01] [-6.82049045e-03 -2.09622558e-04 9.99976718e-01 -2.25100752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.30, Y:-21.06, Z:-2.25 [[ 9.88584921e-01 1.50512375e-01 6.77345962e-03 3.17304451e+02] [-1.50510241e-01 9.88608104e-01 -8.26605156e-04 -2.10567280e+01] [-6.82071138e-03 -2.02305645e-04 9.99976718e-01 -2.25340448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.36, Y:-21.06, Z:-2.25 [[ 9.89223819e-01 1.46254423e-01 6.77349872e-03 3.17362747e+02] [-1.46252192e-01 9.89246993e-01 -8.26284608e-04 -2.10632889e+01] [-6.82151102e-03 -1.73258618e-04 9.99976718e-01 -2.25163824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:-21.07, Z:-2.25 [[ 9.91008679e-01 1.33626033e-01 6.77353789e-03 3.17419097e+02] [-1.33623508e-01 9.91031824e-01 -8.25963388e-04 -2.10687154e+01] [-6.82316182e-03 -8.65670109e-05 9.99976718e-01 -2.24639100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:-21.08, Z:-2.24 [[ 9.92547299e-01 1.21671596e-01 6.77360590e-03 3.17476422e+02] [-1.21668796e-01 9.92570412e-01 -8.25405249e-04 -2.10760375e+01] [-6.82370918e-03 -4.88272382e-06 9.99976718e-01 -2.24431807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.53, Y:-21.09, Z:-2.25 [[ 9.93344809e-01 1.14979165e-01 6.77366490e-03 3.17534540e+02] [-1.14976213e-01 9.93367903e-01 -8.24920820e-04 -2.10872667e+01] [-6.82359000e-03 4.06204754e-05 9.99976718e-01 -2.25225973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.59, Y:-21.09, Z:-2.25 [[ 9.93584923e-01 1.12885418e-01 6.77370316e-03 3.17592719e+02] [-1.12882419e-01 9.93608011e-01 -8.24606513e-04 -2.10949618e+01] [-6.82349178e-03 5.46845991e-05 9.99976718e-01 -2.25146573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.65, Y:-21.10, Z:-2.25 [[ 9.93739081e-01 1.11520201e-01 6.77374115e-03 3.17651226e+02] [-1.11517173e-01 9.93762165e-01 -8.24294352e-04 -2.11046091e+01] [-6.82341314e-03 6.37450473e-05 9.99976718e-01 -2.25159593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:-21.11, Z:-2.26 [[ 9.93931255e-01 1.09794248e-01 6.77377956e-03 3.17710028e+02] [-1.09791182e-01 9.93954334e-01 -8.23978555e-04 -2.11108268e+01] [-6.82329566e-03 7.52767741e-05 9.99976718e-01 -2.25686207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.77, Y:-21.12, Z:-2.26 [[ 9.94314637e-01 1.06266261e-01 6.77381767e-03 3.17768478e+02] [-1.06263115e-01 9.94337705e-01 -8.23665182e-04 -2.11194417e+01] [-6.82299014e-03 9.91753784e-05 9.99976718e-01 -2.25962517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.83, Y:-21.13, Z:-2.26 [[ 9.95246455e-01 9.71525067e-02 6.77385543e-03 3.17826343e+02] [-9.71491518e-02 9.95269493e-01 -8.23354551e-04 -2.11289494e+01] [-6.82180262e-03 1.61366389e-04 9.99976718e-01 -2.26292732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.88, Y:-21.14, Z:-2.26 [[ 9.95971580e-01 8.94132364e-02 6.77389404e-03 3.17884462e+02] [-8.94097047e-02 9.95994592e-01 -8.23036769e-04 -2.11413523e+01] [-6.82035221e-03 2.14069365e-04 9.99976718e-01 -2.26132405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.94, Y:-21.15, Z:-2.26 [[ 9.96135906e-01 8.75635198e-02 6.77393332e-03 3.17941707e+02] [-8.75599475e-02 9.96158912e-01 -8.22713298e-04 -2.11534653e+01] [-6.81995372e-03 2.26409011e-04 9.99976718e-01 -2.26063271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.00, Y:-21.16, Z:-2.26 [[ 9.96252548e-01 8.62262884e-02 6.77398202e-03 3.17999525e+02] [-8.62226880e-02 9.96275550e-01 -8.22312117e-04 -2.11644475e+01] [-6.81965759e-03 2.35159604e-04 9.99976718e-01 -2.26259496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.06, Y:-21.18, Z:-2.26 [[ 9.96070172e-01 8.83081276e-02 6.77402114e-03 3.18057150e+02] [-8.83045774e-02 9.96093181e-01 -8.21989796e-04 -2.11773432e+01] [-6.82014464e-03 2.20582444e-04 9.99976718e-01 -2.26333607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.12, Y:-21.19, Z:-2.26 [[ 9.95399871e-01 9.55678261e-02 6.77405005e-03 3.18115512e+02] [-9.55644453e-02 9.95422906e-01 -8.21751463e-04 -2.11879413e+01] [-6.82157758e-03 1.70612964e-04 9.99976718e-01 -2.26368879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.17, Y:-21.20, Z:-2.26 [[ 9.94982814e-01 9.98163847e-02 6.77408687e-03 3.18172315e+02] [-9.98131044e-02 9.95005864e-01 -8.21447818e-04 -2.11988381e+01] [-6.82225011e-03 1.41183823e-04 9.99976718e-01 -2.26174699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.23, Y:-21.21, Z:-2.26 [[ 9.94924583e-01 1.00395143e-01 6.77413913e-03 3.18230641e+02] [-1.00391879e-01 9.94947635e-01 -8.21016636e-04 -2.12093952e+01] [-6.82233979e-03 1.36781081e-04 9.99976718e-01 -2.25795892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.29, Y:-21.22, Z:-2.26 [[ 9.94782379e-01 1.01794541e-01 6.77417865e-03 3.18287354e+02] [-1.01791311e-01 9.94805436e-01 -8.20690362e-04 -2.12190817e+01] [-6.82253155e-03 1.26855783e-04 9.99976718e-01 -2.25727777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.35, Y:-21.23, Z:-2.26 [[ 9.94693998e-01 1.02654567e-01 6.77422734e-03 3.18345460e+02] [-1.02651360e-01 9.94717058e-01 -8.20288299e-04 -2.12251085e+01] [-6.82264583e-03 1.20552197e-04 9.99976718e-01 -2.25601667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.40, Y:-21.23, Z:-2.26 [[ 9.94823268e-01 1.01394159e-01 6.77426518e-03 3.18404061e+02] [-1.01390926e-01 9.94846324e-01 -8.19975648e-04 -2.12285059e+01] [-6.82249356e-03 1.28881835e-04 9.99976718e-01 -2.25839097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.46, Y:-21.23, Z:-2.26 [[ 9.94966051e-01 9.99833261e-02 6.77430402e-03 3.18461842e+02] [-9.99800618e-02 9.94989103e-01 -8.19654704e-04 -2.12345814e+01] [-6.82231048e-03 1.38233270e-04 9.99976718e-01 -2.26288854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.52, Y:-21.24, Z:-2.26 [[ 9.95686736e-01 9.25312434e-02 6.77435207e-03 3.18520893e+02] [-9.25278094e-02 9.95709764e-01 -8.19257319e-04 -2.12448981e+01] [-6.82109540e-03 1.88907689e-04 9.99976718e-01 -2.26069405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:-21.25, Z:-2.26 [[ 9.96217381e-01 8.66316202e-02 6.77437113e-03 3.18579528e+02] [-8.66280509e-02 9.96240388e-01 -8.19099692e-04 -2.12548729e+01] [-6.81986206e-03 2.29150782e-04 9.99976718e-01 -2.26095395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.64, Y:-21.26, Z:-2.27 [[ 9.96502632e-01 8.32863232e-02 6.77438998e-03 3.18638606e+02] [-8.32826778e-02 9.96525627e-01 -8.18943822e-04 -2.12634075e+01] [-6.81906004e-03 2.51890337e-04 9.99976718e-01 -2.26552214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.70, Y:-21.27, Z:-2.26 [[ 9.96477435e-01 8.35872518e-02 6.77440909e-03 3.18698034e+02] [-8.35836144e-02 9.96500431e-01 -8.18785686e-04 -2.12708683e+01] [-6.81914162e-03 2.49671863e-04 9.99976718e-01 -2.26488648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.76, Y:-21.28, Z:-2.27 [[ 9.96439426e-01 8.40391445e-02 6.77441855e-03 3.18756877e+02] [-8.40355181e-02 9.96462423e-01 -8.18707429e-04 -2.12791560e+01] [-6.81925700e-03 2.46500588e-04 9.99976718e-01 -2.26808797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.82, Y:-21.29, Z:-2.27 [[ 9.96549719e-01 8.27210102e-02 6.77443786e-03 3.18816269e+02] [-8.27173544e-02 9.96572711e-01 -8.18547571e-04 -2.12865002e+01] [-6.81893099e-03 2.55359774e-04 9.99976718e-01 -2.27033839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.88, Y:-21.29, Z:-2.27 [[ 9.96784511e-01 7.98420072e-02 6.77442678e-03 3.18876960e+02] [-7.98382844e-02 9.96807493e-01 -8.18639253e-04 -2.12902906e+01] [-6.81816118e-03 2.75148316e-04 9.99976718e-01 -2.26738882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:318.94, Y:-21.29, Z:-2.26 [[ 9.96590511e-01 8.22281014e-02 6.77442678e-03 3.18936078e+02] [-8.22244336e-02 9.96613502e-01 -8.18639253e-04 -2.12896596e+01] [-6.81880035e-03 2.58824707e-04 9.99976718e-01 -2.26436757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.00, Y:-21.29, Z:-2.26 [[ 9.96534615e-01 8.29027590e-02 6.77444731e-03 3.18996519e+02] [-8.28991079e-02 9.96557609e-01 -8.18469376e-04 -2.12910477e+01] [-6.81898038e-03 2.54037426e-04 9.99976718e-01 -2.25973200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.06, Y:-21.29, Z:-2.27 [[ 9.97073942e-01 7.61423695e-02 6.77446579e-03 3.19055353e+02] [-7.61385636e-02 9.97096911e-01 -8.18316330e-04 -2.12910637e+01] [-6.81710746e-03 3.00123794e-04 9.99976718e-01 -2.26570395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.12, Y:-21.30, Z:-2.27 [[ 9.97923008e-01 6.40607208e-02 6.77449324e-03 3.19115810e+02] [-6.40566385e-02 9.97945929e-01 -8.18089040e-04 -2.12956352e+01] [-6.81298533e-03 3.82438612e-04 9.99976718e-01 -2.26598999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.18, Y:-21.30, Z:-2.26 [[ 9.98291073e-01 5.80434277e-02 6.77449324e-03 3.19175261e+02] [-5.80392074e-02 9.98313969e-01 -8.18089040e-04 -2.13019305e+01] [-6.81055593e-03 4.23504768e-04 9.99976718e-01 -2.26443380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.23, Y:-21.31, Z:-2.27 [[ 9.98313973e-01 5.76482161e-02 6.77450259e-03 3.19234927e+02] [-5.76439872e-02 9.98336868e-01 -8.18011623e-04 -2.13091753e+01] [-6.81039261e-03 4.26123094e-04 9.99976718e-01 -2.26838579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:-21.32, Z:-2.27 [[ 9.98118860e-01 6.09331376e-02 6.77450259e-03 3.19294637e+02] [-6.09289840e-02 9.98141768e-01 -8.18011623e-04 -2.13180620e+01] [-6.81175801e-03 4.03709269e-04 9.99976718e-01 -2.27244510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:-21.33, Z:-2.27 [[ 9.97768941e-01 6.64172196e-02 6.77450259e-03 3.19352754e+02] [-6.64131919e-02 9.97791871e-01 -8.18011623e-04 -2.13261856e+01] [-6.81387368e-03 3.66270250e-04 9.99976718e-01 -2.26931567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:-21.33, Z:-2.27 [[ 9.97555563e-01 6.95485717e-02 6.77452989e-03 3.19412194e+02] [-6.95446176e-02 9.97578507e-01 -8.17785433e-04 -2.13322864e+01] [-6.81500123e-03 3.44654317e-04 9.99976718e-01 -2.27092503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:-21.34, Z:-2.27 [[ 9.97597676e-01 6.89418713e-02 6.77454784e-03 3.19471788e+02] [-6.89379042e-02 9.97620618e-01 -8.17636786e-04 -2.13373940e+01] [-6.81479801e-03 3.48649428e-04 9.99976718e-01 -2.27171647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:-21.34, Z:-2.27 [[ 9.97729706e-01 6.70040232e-02 6.77456565e-03 3.19531081e+02] [-6.70000126e-02 9.97752640e-01 -8.17489137e-04 -2.13438847e+01] [-6.81411582e-03 3.61737213e-04 9.99976718e-01 -2.27162022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:-21.35, Z:-2.27 [[ 9.98211439e-01 5.93972089e-02 6.77458347e-03 3.19591428e+02] [-5.93930247e-02 9.98234342e-01 -8.17341442e-04 -2.13519627e+01] [-6.81116967e-03 4.13516573e-04 9.99976718e-01 -2.26793026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:-21.36, Z:-2.27 [[ 9.98518141e-01 5.39965452e-02 6.77458347e-03 3.19649779e+02] [-5.39922371e-02 9.98541021e-01 -8.17341442e-04 -2.13617788e+01] [-6.80883311e-03 4.50355340e-04 9.99976718e-01 -2.27091921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.71, Y:-21.37, Z:-2.27 [[ 9.98596606e-01 5.25254616e-02 6.77459239e-03 3.19709208e+02] [-5.25211203e-02 9.98619479e-01 -8.17267528e-04 -2.13714344e+01] [-6.80816728e-03 4.60311398e-04 9.99976718e-01 -2.27251083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:319.77, Y:-21.38, Z:-2.27 [[ 9.98524044e-01 5.38872766e-02 6.77459239e-03 3.19768722e+02] [-5.38829665e-02 9.98546923e-01 -8.17267528e-04 -2.13802339e+01] [-6.80878871e-03 4.51026142e-04 9.99976718e-01 -2.26942435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.83, Y:-21.39, Z:-2.27 [[ 9.98459941e-01 5.50622491e-02 6.77459239e-03 3.19828208e+02] [-5.50579660e-02 9.98482825e-01 -8.17267528e-04 -2.13867357e+01] [-6.80931474e-03 4.43013611e-04 9.99976718e-01 -2.27004659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:319.89, Y:-21.39, Z:-2.27 [[ 9.98356537e-01 5.69063304e-02 6.77460163e-03 3.19887938e+02] [-5.69020901e-02 9.98379429e-01 -8.17190892e-04 -2.13944630e+01] [-6.81012624e-03 4.30358877e-04 9.99976718e-01 -2.27369417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.95, Y:-21.40, Z:-2.27 [[ 9.98171632e-01 6.00624431e-02 6.77460163e-03 3.19945887e+02] [-6.00582751e-02 9.98194538e-01 -8.17190892e-04 -2.14001613e+01] [-6.81145283e-03 4.08825878e-04 9.99976718e-01 -2.27092927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.01, Y:-21.40, Z:-2.27 [[ 9.98002643e-01 6.28078783e-02 6.77462908e-03 3.20005283e+02] [-6.28037749e-02 9.98025560e-01 -8.16963269e-04 -2.14031074e+01] [-6.81256471e-03 3.89859222e-04 9.99976718e-01 -2.27003283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.06, Y:-21.40, Z:-2.28 [[ 9.98007581e-01 6.27293581e-02 6.77464771e-03 3.20064646e+02] [-6.27252539e-02 9.98030498e-01 -8.16808752e-04 -2.14034854e+01] [-6.81254292e-03 3.90239829e-04 9.99976718e-01 -2.27584844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:-21.40, Z:-2.28 [[ 9.98024773e-01 6.24552262e-02 6.77467540e-03 3.20124874e+02] [-6.24511173e-02 9.98047690e-01 -8.16579041e-04 -2.14035473e+01] [-6.81244876e-03 3.91880064e-04 9.99976718e-01 -2.27507831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.18, Y:-21.40, Z:-2.27 [[ 9.98005346e-01 6.27648984e-02 6.77469344e-03 3.20184702e+02] [-6.27607976e-02 9.98028264e-01 -8.16429309e-04 -2.14020999e+01] [-6.81257864e-03 3.89615651e-04 9.99976718e-01 -2.27464673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:320.24, Y:-21.40, Z:-2.28 [[ 9.97978250e-01 6.31942768e-02 6.77471128e-03 3.20244519e+02] [-6.31901869e-02 9.98001169e-01 -8.16281317e-04 -2.14044687e+01] [-6.81275408e-03 3.86535729e-04 9.99976718e-01 -2.27972975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.30, Y:-21.41, Z:-2.28 [[ 9.97923720e-01 6.40496112e-02 6.77472983e-03 3.20304227e+02] [-6.40455420e-02 9.97946643e-01 -8.16127335e-04 -2.14058474e+01] [-6.81309153e-03 3.80541582e-04 9.99976718e-01 -2.27786351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.36, Y:-21.41, Z:-2.28 [[ 9.98005366e-01 6.27645807e-02 6.77474832e-03 3.20363551e+02] [-6.27604829e-02 9.98028284e-01 -8.15973752e-04 -2.14069272e+01] [-6.81260470e-03 3.89159706e-04 9.99976718e-01 -2.27690386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:-21.41, Z:-2.28 [[ 9.98002610e-01 6.28083755e-02 6.77476717e-03 3.20423065e+02] [-6.28042798e-02 9.98025529e-01 -8.15817249e-04 -2.14081357e+01] [-6.81263075e-03 3.88703371e-04 9.99976718e-01 -2.27889901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.48, Y:-21.41, Z:-2.28 [[ 9.97948794e-01 6.36577325e-02 6.77480367e-03 3.20482210e+02] [-6.36536584e-02 9.97971716e-01 -8.15514011e-04 -2.14118703e+01] [-6.81297622e-03 3.82600185e-04 9.99976718e-01 -2.28414462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.54, Y:-21.41, Z:-2.29 [[ 9.97940784e-01 6.37831758e-02 6.77484034e-03 3.20540233e+02] [-6.37791066e-02 9.97963707e-01 -8.15209309e-04 -2.14136228e+01] [-6.81304142e-03 3.81437353e-04 9.99976718e-01 -2.28811224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.60, Y:-21.42, Z:-2.29 [[ 9.98020070e-01 6.25303142e-02 6.77488834e-03 3.20599118e+02] [-6.25262189e-02 9.98042989e-01 -8.14810164e-04 -2.14190574e+01] [-6.81258015e-03 3.89588745e-04 9.99976718e-01 -2.28912064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:320.66, Y:-21.42, Z:-2.29 [[ 9.98316094e-01 5.76114268e-02 6.77492431e-03 3.20657492e+02] [-5.76072207e-02 9.98338993e-01 -8.14511013e-04 -2.14234285e+01] [-6.81059625e-03 4.22854894e-04 9.99976718e-01 -2.28555097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.72, Y:-21.43, Z:-2.28 [[ 9.98448851e-01 5.52629341e-02 6.77496102e-03 3.20717531e+02] [-5.52586762e-02 9.98471740e-01 -8.14205518e-04 -2.14261951e+01] [-6.80960250e-03 4.38567187e-04 9.99976718e-01 -2.28118752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:320.78, Y:-21.42, Z:-2.28 [[ 9.98590463e-01 5.26420694e-02 6.77497913e-03 3.20776825e+02] [-5.26377525e-02 9.98613341e-01 -8.14054762e-04 -2.14242334e+01] [-6.80843807e-03 4.56287646e-04 9.99976718e-01 -2.27987929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:320.84, Y:-21.43, Z:-2.28 [[ 9.98749817e-01 4.95267775e-02 6.77499857e-03 3.20836008e+02] [-4.95223903e-02 9.98772682e-01 -8.13892997e-04 -2.14253086e+01] [-6.80699299e-03 4.77361359e-04 9.99976718e-01 -2.27838382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:320.89, Y:-21.43, Z:-2.28 [[ 9.99020079e-01 4.37376419e-02 6.77503411e-03 3.20894978e+02] [-4.37331243e-02 9.99042918e-01 -8.13597009e-04 -2.14254604e+01] [-6.80413466e-03 5.16506339e-04 9.99976718e-01 -2.27932216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:320.95, Y:-21.42, Z:-2.28 [[ 9.99186395e-01 3.97573366e-02 6.77506053e-03 3.20954491e+02] [-3.97527295e-02 9.99209217e-01 -8.13376975e-04 -2.14248028e+01] [-6.80204063e-03 5.43388059e-04 9.99976718e-01 -2.28190446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:321.01, Y:-21.42, Z:-2.29 [[ 9.99139488e-01 4.09191984e-02 6.77509726e-03 3.21014018e+02] [-4.09146199e-02 9.99162316e-01 -8.13070927e-04 -2.14245649e+01] [-6.80269207e-03 5.35170741e-04 9.99976718e-01 -2.28804307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.07, Y:-21.43, Z:-2.29 [[ 9.99080781e-01 4.23283761e-02 6.77511654e-03 3.21071488e+02] [-4.23238309e-02 9.99103615e-01 -8.12910249e-04 -2.14274485e+01] [-6.80345259e-03 5.25414120e-04 9.99976718e-01 -2.29203266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.13, Y:-21.43, Z:-2.29 [[ 9.98973093e-01 4.47979487e-02 6.77516045e-03 3.21131013e+02] [-4.47934624e-02 9.98995939e-01 -8.12544118e-04 -2.14292059e+01] [-6.80475808e-03 5.08226816e-04 9.99976718e-01 -2.29128184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:321.19, Y:-21.43, Z:-2.29 [[ 9.98867012e-01 4.71040277e-02 6.77519572e-03 3.21189745e+02] [-4.70995962e-02 9.98889868e-01 -8.12249842e-04 -2.14312680e+01] [-6.80593460e-03 4.92220590e-04 9.99976718e-01 -2.28835974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:321.25, Y:-21.43, Z:-2.28 [[ 9.98779606e-01 4.89223314e-02 6.77523258e-03 3.21249596e+02] [-4.89179435e-02 9.98802471e-01 -8.11942278e-04 -2.14279874e+01] [-6.80684115e-03 4.79520944e-04 9.99976718e-01 -2.27967942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:321.31, Y:-21.43, Z:-2.28 [[ 9.98919624e-01 4.59747802e-02 6.77526963e-03 3.21307190e+02] [-4.59703269e-02 9.98942476e-01 -8.11633021e-04 -2.14308916e+01] [-6.80541927e-03 4.99294792e-04 9.99976718e-01 -2.27860112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:321.37, Y:-21.44, Z:-2.28 [[ 9.99361853e-01 3.50710986e-02 6.77531873e-03 3.21366270e+02] [-3.50663990e-02 9.99384655e-01 -8.11222981e-04 -2.14351041e+01] [-6.79960005e-03 5.73119271e-04 9.99976718e-01 -2.28253233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.42, Y:-21.44, Z:-2.28 [[ 9.99554122e-01 2.90800957e-02 6.77535484e-03 3.21424707e+02] [-2.90752615e-02 9.99576896e-01 -8.10921266e-04 -2.14421047e+01] [-6.79606983e-03 6.13564481e-04 9.99976718e-01 -2.28387265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:321.48, Y:-21.45, Z:-2.29 [[ 9.99563190e-01 2.87667118e-02 6.77539088e-03 3.21482860e+02] [-2.87618726e-02 9.99585963e-01 -8.10619984e-04 -2.14520518e+01] [-6.79590449e-03 6.15392968e-04 9.99976718e-01 -2.28632018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:321.54, Y:-21.46, Z:-2.29 [[ 9.99479546e-01 3.15393688e-02 6.77541752e-03 3.21541398e+02] [-3.15345942e-02 9.99502332e-01 -8.10397289e-04 -2.14606077e+01] [-6.79760503e-03 5.96315472e-04 9.99976718e-01 -2.28819638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.60, Y:-21.47, Z:-2.29 [[ 9.99235227e-01 3.85104417e-02 6.77545370e-03 3.21599174e+02] [-3.85058282e-02 9.99258047e-01 -8.10094699e-04 -2.14713159e+01] [-6.80162374e-03 5.48580705e-04 9.99976718e-01 -2.29171226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.66, Y:-21.48, Z:-2.29 [[ 9.98943546e-01 4.54520142e-02 6.77549012e-03 3.21656866e+02] [-4.54475614e-02 9.98966398e-01 -8.09789968e-04 -2.14811742e+01] [-6.80529354e-03 5.01004958e-04 9.99976718e-01 -2.29260516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:321.71, Y:-21.49, Z:-2.29 [[ 9.98689961e-01 5.07193650e-02 6.77552664e-03 3.21713705e+02] [-5.07150349e-02 9.98712837e-01 -8.09484266e-04 -2.14904456e+01] [-6.80786196e-03 4.64802740e-04 9.99976718e-01 -2.29418091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:321.77, Y:-21.50, Z:-2.30 [[ 9.98511609e-01 5.41170851e-02 6.77557204e-03 3.21771874e+02] [-5.41128354e-02 9.98534499e-01 -8.09104082e-04 -2.14987073e+01] [-6.80942879e-03 4.41254404e-04 9.99976718e-01 -2.29557415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:321.83, Y:-21.51, Z:-2.29 [[ 9.98450727e-01 5.52289526e-02 6.77560866e-03 3.21830079e+02] [-5.52247304e-02 9.98473623e-01 -8.08797299e-04 -2.15108215e+01] [-6.80993555e-03 4.33363089e-04 9.99976718e-01 -2.29416239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.89, Y:-21.53, Z:-2.29 [[ 9.98363283e-01 5.67877253e-02 6.77564533e-03 3.21886548e+02] [-5.67835410e-02 9.98386186e-01 -8.08490003e-04 -2.15254861e+01] [-6.81062300e-03 4.22421599e-04 9.99976718e-01 -2.28948451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:321.94, Y:-21.53, Z:-2.29 [[ 9.98188029e-01 5.97892028e-02 6.77569071e-03 3.21943509e+02] [-5.97850900e-02 9.98210945e-01 -8.08109486e-04 -2.15344178e+01] [-6.81188485e-03 4.01559937e-04 9.99976718e-01 -2.29028492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.00, Y:-21.54, Z:-2.29 [[ 9.97914025e-01 6.42003703e-02 6.77573926e-03 3.22002207e+02] [-6.41963615e-02 9.97936959e-01 -8.07702232e-04 -2.15412062e+01] [-6.81361541e-03 3.71039579e-04 9.99976718e-01 -2.29184038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:322.06, Y:-21.55, Z:-2.29 [[ 9.97862247e-01 6.50001888e-02 6.77577490e-03 3.22060598e+02] [-6.49962005e-02 9.97885185e-01 -8.07403140e-04 -2.15452320e+01] [-6.81392674e-03 3.65277488e-04 9.99976718e-01 -2.28804016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.12, Y:-21.55, Z:-2.29 [[ 9.98023788e-01 6.24708490e-02 6.77581105e-03 3.22118988e+02] [-6.24668045e-02 9.98046716e-01 -8.07099598e-04 -2.15461445e+01] [-6.81299617e-03 3.82241334e-04 9.99976718e-01 -2.28857018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.18, Y:-21.55, Z:-2.29 [[ 9.98184026e-01 5.98559785e-02 6.77585576e-03 3.22177606e+02] [-5.98518766e-02 9.98206944e-01 -8.06724105e-04 -2.15491814e+01] [-6.81199353e-03 3.99711432e-04 9.99976718e-01 -2.28836533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:-21.55, Z:-2.29 [[ 9.98518814e-01 5.39839419e-02 6.77589383e-03 3.22235847e+02] [-5.39797074e-02 9.98541707e-01 -8.06404243e-04 -2.15492584e+01] [-6.80954547e-03 4.39449042e-04 9.99976718e-01 -2.28658617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:322.29, Y:-21.55, Z:-2.29 [[ 9.98677197e-01 5.09700204e-02 6.77594101e-03 3.22294552e+02] [-5.09657195e-02 9.98700078e-01 -8.06007612e-04 -2.15514660e+01] [-6.80821504e-03 4.59600713e-04 9.99976718e-01 -2.28706926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:322.35, Y:-21.55, Z:-2.29 [[ 9.98894223e-01 4.65232924e-02 6.77597764e-03 3.22353783e+02] [-4.65188918e-02 9.98917085e-01 -8.05699499e-04 -2.15530469e+01] [-6.80612363e-03 4.89597605e-04 9.99976718e-01 -2.29401598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.41, Y:-21.56, Z:-2.30 [[ 9.99092868e-01 4.20419548e-02 6.77601399e-03 3.22412389e+02] [-4.20374537e-02 9.99115711e-01 -8.05393674e-04 -2.15589037e+01] [-6.80388236e-03 5.19816701e-04 9.99976718e-01 -2.29680185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:322.47, Y:-21.57, Z:-2.30 [[ 9.99140383e-01 4.08971787e-02 6.77605043e-03 3.22470514e+02] [-4.08926535e-02 9.99163221e-01 -8.05086972e-04 -2.15664522e+01] [-6.80330616e-03 5.27304224e-04 9.99976718e-01 -2.29720684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.53, Y:-21.58, Z:-2.30 [[ 9.99132365e-01 4.10925940e-02 6.77608678e-03 3.22528589e+02] [-4.10880753e-02 9.99155204e-01 -8.04780981e-04 -2.15752259e+01] [-6.80343290e-03 5.25666362e-04 9.99976718e-01 -2.30156097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.59, Y:-21.58, Z:-2.30 [[ 9.99009055e-01 4.39885465e-02 6.77612274e-03 3.22587258e+02] [-4.39840961e-02 9.99031907e-01 -8.04478024e-04 -2.15829169e+01] [-6.80495065e-03 5.05639196e-04 9.99976718e-01 -2.29986605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.65, Y:-21.59, Z:-2.30 [[ 9.98920801e-01 4.59490619e-02 6.77615857e-03 3.22645343e+02] [-4.59446584e-02 9.98943663e-01 -8.04176096e-04 -2.15861453e+01] [-6.80595180e-03 4.91979939e-04 9.99976718e-01 -2.29761536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:322.70, Y:-21.59, Z:-2.30 [[ 9.99039671e-01 4.32876336e-02 6.77620289e-03 3.22703750e+02] [-4.32831717e-02 9.99062521e-01 -8.03802482e-04 -2.15898214e+01] [-6.80464505e-03 5.09735013e-04 9.99976718e-01 -2.29764557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.76, Y:-21.59, Z:-2.30 [[ 9.99107151e-01 4.17011164e-02 6.77623838e-03 3.22761255e+02] [-4.16966203e-02 9.99129995e-01 -8.03503176e-04 -2.15942851e+01] [-6.80385000e-03 5.20239530e-04 9.99976718e-01 -2.29798648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:322.82, Y:-21.60, Z:-2.30 [[ 9.99109713e-01 4.16396957e-02 6.77628220e-03 3.22820031e+02] [-4.16352006e-02 9.99132556e-01 -8.03133510e-04 -2.15977992e+01] [-6.80384639e-03 5.20286621e-04 9.99976718e-01 -2.29593980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:322.88, Y:-21.60, Z:-2.30 [[ 9.99150044e-01 4.06604251e-02 6.77631754e-03 3.22878251e+02] [-4.06559096e-02 9.99172884e-01 -8.02835226e-04 -2.16025991e+01] [-6.80335636e-03 5.26655498e-04 9.99976718e-01 -2.29849231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.94, Y:-21.61, Z:-2.30 [[ 9.99120046e-01 4.13909866e-02 6.77635359e-03 3.22935691e+02] [-4.13864899e-02 9.99142890e-01 -8.02530779e-04 -2.16100394e+01] [-6.80376305e-03 5.21375100e-04 9.99976718e-01 -2.30011373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.99, Y:-21.62, Z:-2.30 [[ 9.98966074e-01 4.49540116e-02 6.77639831e-03 3.22992725e+02] [-4.49495990e-02 9.98988934e-01 -8.02153016e-04 -2.16172161e+01] [-6.80560692e-03 4.96727263e-04 9.99976718e-01 -2.30177559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.05, Y:-21.62, Z:-2.30 [[ 9.98789385e-01 4.87221129e-02 6.77644146e-03 3.23050911e+02] [-4.87177890e-02 9.98812262e-01 -8.01788299e-04 -2.16228764e+01] [-6.80745765e-03 4.70684397e-04 9.99976718e-01 -2.30371642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.11, Y:-21.63, Z:-2.30 [[ 9.98662603e-01 5.12550944e-02 6.77647725e-03 3.23109883e+02] [-5.12508306e-02 9.98685491e-01 -8.01485763e-04 -2.16287946e+01] [-6.80864973e-03 4.53113771e-04 9.99976718e-01 -2.30489573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.17, Y:-21.63, Z:-2.31 [[ 9.98677163e-01 5.09706061e-02 6.77651388e-03 3.23168002e+02] [-5.09663378e-02 9.98700050e-01 -8.01175908e-04 -2.16329393e+01] [-6.80854117e-03 4.54741988e-04 9.99976718e-01 -2.30727693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.23, Y:-21.64, Z:-2.31 [[ 9.98778519e-01 4.89443428e-02 6.77655927e-03 3.23226002e+02] [-4.89400307e-02 9.98801398e-01 -8.00791820e-04 -2.16394651e+01] [-6.80763110e-03 4.68168649e-04 9.99976718e-01 -2.30677784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.28, Y:-21.65, Z:-2.30 [[ 9.98965315e-01 4.49708419e-02 6.77659484e-03 3.23284219e+02] [-4.49664409e-02 9.98988177e-01 -8.00490661e-04 -2.16463307e+01] [-6.80573687e-03 4.94943054e-04 9.99976718e-01 -2.30074905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.34, Y:-21.65, Z:-2.30 [[ 9.99241267e-01 3.83532038e-02 6.77663059e-03 3.23341886e+02] [-3.83486535e-02 9.99264099e-01 -8.00187939e-04 -2.16510511e+01] [-6.80233343e-03 5.39706152e-04 9.99976718e-01 -2.29664365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.40, Y:-21.66, Z:-2.29 [[ 9.99496311e-01 3.10032331e-02 6.77667461e-03 3.23399617e+02] [-3.09985175e-02 9.99519110e-01 -7.99814927e-04 -2.16565046e+01] [-6.79821263e-03 5.89345203e-04 9.99976718e-01 -2.29244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.46, Y:-21.66, Z:-2.29 [[ 9.99603510e-01 2.73294558e-02 6.77671691e-03 3.23457729e+02] [-2.73246588e-02 9.99626292e-01 -7.99456387e-04 -2.16637964e+01] [-6.79603311e-03 6.13967933e-04 9.99976718e-01 -2.29311939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.52, Y:-21.68, Z:-2.30 [[ 9.99776614e-01 2.00199455e-02 6.77675273e-03 3.23515442e+02] [-2.00149841e-02 9.99799361e-01 -7.99152642e-04 -2.16750547e+01] [-6.79139204e-03 6.63337524e-04 9.99976718e-01 -2.30124173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.57, Y:-21.69, Z:-2.30 [[ 9.99884285e-01 1.36195667e-02 6.77677090e-03 3.23574464e+02] [-1.36144609e-02 9.99907000e-01 -7.98998525e-04 -2.16879550e+01] [-6.78702267e-03 7.06643986e-04 9.99976718e-01 -2.30406677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.63, Y:-21.71, Z:-2.30 [[ 9.99887010e-01 1.34179902e-02 6.77677090e-03 3.23632969e+02] [-1.34128798e-02 9.99909724e-01 -7.98998525e-04 -2.17050031e+01] [-6.78688008e-03 7.08012232e-04 9.99976718e-01 -2.30302119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.69, Y:-21.72, Z:-2.31 [[ 9.99725538e-01 2.24259942e-02 6.77673192e-03 3.23692315e+02] [-2.24210864e-02 9.99748296e-01 -7.99329007e-04 -2.17213793e+01] [-6.79295194e-03 6.47167930e-04 9.99976718e-01 -2.30677168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.75, Y:-21.73, Z:-2.31 [[ 9.99603492e-01 2.73301144e-02 6.77673192e-03 3.23750967e+02] [-2.73253183e-02 9.99626274e-01 -7.99329007e-04 -2.17344246e+01] [-6.79604503e-03 6.13835710e-04 9.99976718e-01 -2.30895514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.81, Y:-21.75, Z:-2.30 [[ 9.99451039e-01 3.24298543e-02 6.77674927e-03 3.23807852e+02] [-3.24251755e-02 9.99473846e-01 -7.99181840e-04 -2.17525660e+01] [-6.79910101e-03 5.79005835e-04 9.99976718e-01 -2.30445246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.87, Y:-21.77, Z:-2.31 [[ 9.99197436e-01 3.94785963e-02 6.77677512e-03 3.23865569e+02] [-3.94740800e-02 9.99220275e-01 -7.98962587e-04 -2.17701482e+01] [-6.80303303e-03 5.30814405e-04 9.99976718e-01 -2.30555787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.92, Y:-21.78, Z:-2.30 [[ 9.99001009e-01 4.41707882e-02 6.77679332e-03 3.23924327e+02] [-4.41663802e-02 9.99023870e-01 -7.98808206e-04 -2.17814192e+01] [-6.80546228e-03 4.98703774e-04 9.99976718e-01 -2.30471556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.98, Y:-21.79, Z:-2.30 [[ 9.98639654e-01 5.17002489e-02 6.77681147e-03 3.23982129e+02] [-5.16960144e-02 9.98662548e-01 -7.98654218e-04 -2.17906068e+01] [-6.80903843e-03 4.47233629e-04 9.99976718e-01 -2.30158097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.04, Y:-21.80, Z:-2.30 [[ 9.98418029e-01 5.58167835e-02 6.77684760e-03 3.24040549e+02] [-5.58126455e-02 9.98440940e-01 -7.98347480e-04 -2.17970077e+01] [-6.81084328e-03 4.18850725e-04 9.99976718e-01 -2.29995490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.10, Y:-21.80, Z:-2.30 [[ 9.98351839e-01 5.69884233e-02 6.77688356e-03 3.24099563e+02] [-5.69843142e-02 9.98374755e-01 -7.98042162e-04 -2.17999681e+01] [-6.81134863e-03 4.10550797e-04 9.99976718e-01 -2.30025123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.16, Y:-21.80, Z:-2.30 [[ 9.98464678e-01 5.49759935e-02 6.77691903e-03 3.24157889e+02] [-5.49718403e-02 9.98487587e-01 -7.97740811e-04 -2.18044148e+01] [-6.81052612e-03 4.23976312e-04 9.99976718e-01 -2.30395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.22, Y:-21.81, Z:-2.31 [[ 9.98752441e-01 4.94735658e-02 6.77695438e-03 3.24215213e+02] [-4.94692885e-02 9.98775327e-01 -7.97440401e-04 -2.18093552e+01] [-6.80810705e-03 4.61194436e-04 9.99976718e-01 -2.30604539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.27, Y:-21.81, Z:-2.31 [[ 9.98950277e-01 4.53036037e-02 6.77700133e-03 3.24273621e+02] [-4.52992335e-02 9.98973145e-01 -7.97041233e-04 -2.18139267e+01] [-6.80615117e-03 4.89211595e-04 9.99976718e-01 -2.30784394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.33, Y:-21.82, Z:-2.31 [[ 9.99014178e-01 4.38719021e-02 6.77702718e-03 3.24332708e+02] [-4.38675007e-02 9.99037040e-01 -7.96821373e-04 -2.18192872e+01] [-6.80545924e-03 4.98744604e-04 9.99976718e-01 -2.30764211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.39, Y:-21.82, Z:-2.31 [[ 9.99177149e-01 3.99887037e-02 6.77706207e-03 3.24391909e+02] [-3.99842155e-02 9.99199994e-01 -7.96524535e-04 -2.18236003e+01] [-6.80349236e-03 5.24893604e-04 9.99976718e-01 -2.30556226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.45, Y:-21.83, Z:-2.30 [[ 9.99258741e-01 3.78951240e-02 6.77709867e-03 3.24450426e+02] [-3.78905900e-02 9.99281577e-01 -7.96212937e-04 -2.18301637e+01] [-6.80240244e-03 5.38834469e-04 9.99976718e-01 -2.30410732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.51, Y:-21.83, Z:-2.30 [[ 9.99261123e-01 3.78322330e-02 6.77712587e-03 3.24509697e+02] [-3.78276991e-02 9.99283959e-01 -7.95981343e-04 -2.18333918e+01] [-6.80238693e-03 5.39030133e-04 9.99976718e-01 -2.30390161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.57, Y:-21.84, Z:-2.30 [[ 9.99274904e-01 3.74664736e-02 6.77715910e-03 3.24568888e+02] [-3.74619333e-02 9.99297739e-01 -7.95698394e-04 -2.18372343e+01] [-6.80221177e-03 5.41235954e-04 9.99976718e-01 -2.29734075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.63, Y:-21.84, Z:-2.30 [[ 9.99276470e-01 3.74246768e-02 6.77719281e-03 3.24627339e+02] [-3.74201375e-02 9.99299305e-01 -7.95411162e-04 -2.18424724e+01] [-6.80221207e-03 5.41232172e-04 9.99976718e-01 -2.30115392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.69, Y:-21.85, Z:-2.31 [[ 9.99216532e-01 3.89921941e-02 6.77721101e-03 3.24686037e+02] [-3.89876916e-02 9.99239374e-01 -7.95256035e-04 -2.18466744e+01] [-6.80306487e-03 5.30405164e-04 9.99976718e-01 -2.30512283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.74, Y:-21.85, Z:-2.31 [[ 9.99126631e-01 4.12315863e-02 6.77724403e-03 3.24744654e+02] [-4.12271369e-02 9.99149484e-01 -7.94974498e-04 -2.18510324e+01] [-6.80425794e-03 5.14873825e-04 9.99976718e-01 -2.30582466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.80, Y:-21.86, Z:-2.30 [[ 9.98957252e-01 4.51494958e-02 6.77727850e-03 3.24803095e+02] [-4.51451380e-02 9.98980122e-01 -7.94680602e-04 -2.18557362e+01] [-6.80624593e-03 4.87890777e-04 9.99976718e-01 -2.30196231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.86, Y:-21.86, Z:-2.31 [[ 9.98782487e-01 4.88631895e-02 6.77731487e-03 3.24860963e+02] [-4.88589189e-02 9.98805374e-01 -7.94370272e-04 -2.18600830e+01] [-6.80803398e-03 4.62270839e-04 9.99976718e-01 -2.30749751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.92, Y:-21.86, Z:-2.31 [[ 9.98749132e-01 4.95402723e-02 6.77735990e-03 3.24918307e+02] [-4.95360199e-02 9.98772022e-01 -7.93985933e-04 -2.18640536e+01] [-6.80837173e-03 4.57269327e-04 9.99976718e-01 -2.30971328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.98, Y:-21.87, Z:-2.31 [[ 9.98758354e-01 4.93540047e-02 6.77740339e-03 3.24976935e+02] [-4.93497504e-02 9.98781243e-01 -7.93614466e-04 -2.18703794e+01] [-6.80831144e-03 4.58165911e-04 9.99976718e-01 -2.30664713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.04, Y:-21.88, Z:-2.31 [[ 9.98745813e-01 4.96071213e-02 6.77743846e-03 3.25035974e+02] [-4.96028749e-02 9.98768705e-01 -7.93314855e-04 -2.18757668e+01] [-6.80844750e-03 4.56139458e-04 9.99976718e-01 -2.30672391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:325.09, Y:-21.87, Z:-2.31 [[ 9.98584200e-01 5.27604143e-02 6.77747514e-03 3.25094273e+02] [-5.27562423e-02 9.98607105e-01 -7.93001418e-04 -2.18710884e+01] [-6.80987391e-03 4.34324566e-04 9.99976718e-01 -2.30619480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.15, Y:-21.87, Z:-2.31 [[ 9.98574158e-01 5.29501277e-02 6.77752273e-03 3.25152785e+02] [-5.29459628e-02 9.98597064e-01 -7.92594460e-04 -2.18705207e+01] [-6.80998228e-03 4.32621879e-04 9.99976718e-01 -2.30731200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.21, Y:-21.87, Z:-2.31 [[ 9.99022228e-01 4.36881258e-02 6.77756554e-03 3.25211950e+02] [-4.36837511e-02 9.99045095e-01 -7.92228176e-04 -2.18736511e+01] [-6.80570458e-03 4.95384071e-04 9.99976718e-01 -2.30969499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.27, Y:-21.88, Z:-2.31 [[ 9.99599181e-01 2.74870975e-02 6.77759955e-03 3.25269647e+02] [-2.74823547e-02 9.99621975e-01 -7.91937102e-04 -2.18829613e+01] [-6.79680551e-03 6.05355284e-04 9.99976718e-01 -2.31216259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.33, Y:-21.90, Z:-2.31 [[ 9.99794972e-01 1.90808087e-02 6.77763544e-03 3.25327500e+02] [-1.90758765e-02 9.99817726e-01 -7.91629899e-04 -2.18963534e+01] [-6.79150498e-03 6.62178256e-04 9.99976718e-01 -2.30831169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.39, Y:-21.91, Z:-2.31 [[ 9.99760342e-01 2.08163814e-02 6.77766204e-03 3.25385708e+02] [-2.08114902e-02 9.99783104e-01 -7.91402039e-04 -2.19079742e+01] [-6.79266612e-03 6.50159126e-04 9.99976718e-01 -2.30654535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.44, Y:-21.92, Z:-2.31 [[ 9.99565266e-01 2.86939529e-02 6.77765566e-03 3.25443878e+02] [-2.86892409e-02 9.99588066e-01 -7.91456729e-04 -2.19212987e+01] [-6.79757373e-03 5.96666859e-04 9.99976718e-01 -2.30536580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.50, Y:-21.93, Z:-2.31 [[ 9.99480157e-01 3.15195044e-02 6.77768118e-03 3.25502825e+02] [-3.15148583e-02 9.99502970e-01 -7.91238134e-04 -2.19313908e+01] [-6.79925190e-03 5.77229153e-04 9.99976718e-01 -2.30805208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.56, Y:-21.94, Z:-2.31 [[ 9.99499602e-01 3.08967425e-02 6.77769896e-03 3.25561168e+02] [-3.08920832e-02 9.99522413e-01 -7.91085723e-04 -2.19445822e+01] [-6.79890399e-03 5.81312625e-04 9.99976718e-01 -2.31115558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.62, Y:-21.96, Z:-2.31 [[ 9.99555713e-01 2.90247924e-02 6.77771733e-03 3.25618365e+02] [-2.90200914e-02 9.99578516e-01 -7.90928308e-04 -2.19577553e+01] [-6.79781716e-03 5.93886933e-04 9.99976718e-01 -2.31213540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.68, Y:-21.97, Z:-2.31 [[ 9.99536717e-01 2.96717667e-02 6.77774473e-03 3.25677387e+02] [-2.96670821e-02 9.99559523e-01 -7.90693486e-04 -2.19697069e+01] [-6.79822056e-03 5.89251262e-04 9.99976718e-01 -2.31178533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.74, Y:-21.98, Z:-2.32 [[ 9.99451225e-01 3.24239289e-02 6.77776176e-03 3.25736210e+02] [-3.24193081e-02 9.99474043e-01 -7.90547461e-04 -2.19832443e+01] [-6.79982961e-03 5.70383282e-04 9.99976718e-01 -2.31713665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.80, Y:-22.00, Z:-2.32 [[ 9.99420074e-01 3.33702927e-02 6.77777864e-03 3.25795316e+02] [-3.33656944e-02 9.99442898e-01 -7.90402746e-04 -2.19957715e+01] [-6.80037869e-03 5.63799081e-04 9.99976718e-01 -2.31938123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.85, Y:-22.01, Z:-2.31 [[ 9.99349245e-01 3.54280565e-02 6.77778735e-03 3.25853531e+02] [-3.54235058e-02 9.99372078e-01 -7.90328048e-04 -2.20089006e+01] [-6.80153121e-03 5.49720749e-04 9.99976718e-01 -2.31191020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.91, Y:-22.02, Z:-2.31 [[ 9.99249137e-01 3.81474017e-02 6.77780467e-03 3.25912754e+02] [-3.81429141e-02 9.99271982e-01 -7.90179492e-04 -2.20192597e+01] [-6.80301360e-03 5.31060954e-04 9.99976718e-01 -2.31280853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.97, Y:-22.03, Z:-2.32 [[ 9.99183317e-01 3.98341665e-02 6.77782279e-03 3.25971047e+02] [-3.98297185e-02 9.99206170e-01 -7.90024006e-04 -2.20252617e+01] [-6.80391230e-03 5.19420033e-04 9.99976718e-01 -2.31618704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.03, Y:-22.03, Z:-2.32 [[ 9.99227660e-01 3.87058658e-02 6.77784961e-03 3.26030873e+02] [-3.87013936e-02 9.99250508e-01 -7.89793851e-04 -2.20290131e+01] [-6.80333932e-03 5.26871637e-04 9.99976718e-01 -2.31546641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.09, Y:-22.03, Z:-2.32 [[ 9.99335537e-01 3.58126499e-02 6.77786764e-03 3.26089094e+02] [-3.58081127e-02 9.99358372e-01 -7.89639042e-04 -2.20317789e+01] [-6.80179784e-03 5.46411708e-04 9.99976718e-01 -2.31851750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.15, Y:-22.04, Z:-2.32 [[ 9.99451282e-01 3.24221477e-02 6.77789435e-03 3.26148206e+02] [-3.24175345e-02 9.99474102e-01 -7.89409740e-04 -2.20367574e+01] [-6.79992423e-03 5.69253953e-04 9.99976718e-01 -2.31911230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.21, Y:-22.04, Z:-2.32 [[ 9.99562289e-01 2.87974001e-02 6.77791220e-03 3.26207379e+02] [-2.87927052e-02 9.99585093e-01 -7.89256433e-04 -2.20421831e+01] [-6.79782853e-03 5.93756539e-04 9.99976718e-01 -2.31699043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.27, Y:-22.05, Z:-2.32 [[ 9.99632972e-01 2.62293956e-02 6.77792988e-03 3.26266699e+02] [-2.62246432e-02 9.99655763e-01 -7.89104569e-04 -2.20453033e+01] [-6.79629441e-03 6.11066153e-04 9.99976718e-01 -2.32156008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.33, Y:-22.05, Z:-2.32 [[ 9.99685850e-01 2.41300761e-02 6.77793862e-03 3.26327061e+02] [-2.41252764e-02 9.99708632e-01 -7.89029493e-04 -2.20505657e+01] [-6.79500309e-03 6.25261977e-04 9.99976718e-01 -2.32106286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.39, Y:-22.06, Z:-2.32 [[ 9.99743138e-01 2.16267832e-02 6.77793862e-03 3.26386813e+02] [-2.16219264e-02 9.99765907e-01 -7.89029493e-04 -2.20568059e+01] [-6.79341613e-03 6.42274731e-04 9.99976718e-01 -2.31842860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.45, Y:-22.07, Z:-2.32 [[ 9.99793423e-01 1.91617219e-02 6.77793862e-03 3.26446848e+02] [-1.91568089e-02 9.99816180e-01 -7.89029493e-04 -2.20681339e+01] [-6.79181187e-03 6.59022822e-04 9.99976718e-01 -2.31979149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:-22.08, Z:-2.32 [[ 9.99735725e-01 2.19668025e-02 6.77793862e-03 3.26506545e+02] [-2.19619534e-02 9.99758496e-01 -7.89029493e-04 -2.20816637e+01] [-6.79363418e-03 6.39964199e-04 9.99976718e-01 -2.32034340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:-22.09, Z:-2.32 [[ 9.99634699e-01 2.61634783e-02 6.77793862e-03 3.26565228e+02] [-2.61587249e-02 9.99657491e-01 -7.89029493e-04 -2.20932390e+01] [-6.79626087e-03 6.11439028e-04 9.99976718e-01 -2.32015890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.62, Y:-22.11, Z:-2.31 [[ 9.99540325e-01 2.95499311e-02 6.77793862e-03 3.26624174e+02] [-2.95452549e-02 9.99563132e-01 -7.89029493e-04 -2.21066702e+01] [-6.79829333e-03 5.88410871e-04 9.99976718e-01 -2.31446237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.68, Y:-22.12, Z:-2.32 [[ 9.99554026e-01 2.90827901e-02 6.77795647e-03 3.26682618e+02] [-2.90781043e-02 9.99576831e-01 -7.88876185e-04 -2.21186138e+01] [-6.79803097e-03 5.91434242e-04 9.99976718e-01 -2.31539570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.74, Y:-22.13, Z:-2.32 [[ 9.99584844e-01 2.80035598e-02 6.77794730e-03 3.26741396e+02] [-2.79988488e-02 9.99607644e-01 -7.88954939e-04 -2.21334247e+01] [-6.79738148e-03 5.98852677e-04 9.99976718e-01 -2.32251434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.80, Y:-22.15, Z:-2.32 [[ 9.99575465e-01 2.83363684e-02 6.77794730e-03 3.26800220e+02] [-2.83316650e-02 9.99598266e-01 -7.88954939e-04 -2.21452913e+01] [-6.79758049e-03 5.96589467e-04 9.99976718e-01 -2.32280426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.86, Y:-22.16, Z:-2.32 [[ 9.99507836e-01 3.06291573e-02 6.77795590e-03 3.26859531e+02] [-3.06245067e-02 9.99530648e-01 -7.88881012e-04 -2.21581839e+01] [-6.79893742e-03 5.80921197e-04 9.99976718e-01 -2.32202588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:326.92, Y:-22.17, Z:-2.32 [[ 9.99329771e-01 3.59731611e-02 6.77795590e-03 3.26918441e+02] [-3.59686325e-02 9.99352608e-01 -7.88881012e-04 -2.21673162e+01] [-6.80194645e-03 5.44558476e-04 9.99976718e-01 -2.32413105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.98, Y:-22.18, Z:-2.33 [[ 9.99122457e-01 4.13324824e-02 6.77797407e-03 3.26976644e+02] [-4.13280775e-02 9.99145319e-01 -7.88724923e-04 -2.21762331e+01] [-6.80478102e-03 5.07912146e-04 9.99976718e-01 -2.32600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.03, Y:-22.19, Z:-2.32 [[ 9.98564300e-01 5.31356578e-02 6.77800112e-03 3.27034925e+02] [-5.31315249e-02 9.98587212e-01 -7.88492350e-04 -2.21858162e+01] [-6.81032230e-03 4.27234775e-04 9.99976718e-01 -2.32242328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.09, Y:-22.19, Z:-2.32 [[ 9.97926980e-01 6.39984380e-02 6.77803725e-03 3.27092168e+02] [-6.39945568e-02 9.97949936e-01 -7.88181696e-04 -2.21921532e+01] [-6.81458424e-03 3.52790290e-04 9.99976718e-01 -2.31782924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.15, Y:-22.20, Z:-2.32 [[ 9.97799698e-01 6.59531629e-02 6.77808692e-03 3.27150367e+02] [-6.59493296e-02 9.97822662e-01 -7.87754249e-04 -2.22016171e+01] [-6.81528362e-03 3.39010663e-04 9.99976718e-01 -2.31775065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.21, Y:-22.22, Z:-2.32 [[ 9.97858846e-01 6.50521335e-02 6.77812258e-03 3.27208202e+02] [-6.50482815e-02 9.97881807e-01 -7.87447372e-04 -2.22170429e+01] [-6.81499034e-03 3.44856101e-04 9.99976718e-01 -2.31525453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.27, Y:-22.23, Z:-2.32 [[ 9.97612501e-01 6.87266602e-02 6.77814046e-03 3.27266510e+02] [-6.87228939e-02 9.97635477e-01 -7.87293394e-04 -2.22282906e+01] [-6.81622143e-03 3.19600305e-04 9.99976718e-01 -2.31533114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.32, Y:-22.24, Z:-2.32 [[ 9.96426635e-01 8.41903591e-02 6.77817739e-03 3.27323694e+02] [-8.41869516e-02 9.96449666e-01 -7.86975323e-04 -2.22372779e+01] [-6.82036834e-03 2.13529081e-04 9.99976718e-01 -2.31767014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.38, Y:-22.24, Z:-2.32 [[ 9.95164652e-01 9.79865866e-02 6.77822284e-03 3.27382312e+02] [-9.79835012e-02 9.95187728e-01 -7.86583678e-04 -2.22443572e+01] [-6.82267884e-03 1.18626266e-04 9.99976718e-01 -2.31657340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.44, Y:-22.25, Z:-2.32 [[ 9.94439530e-01 1.05090798e-01 6.77825866e-03 3.27439602e+02] [-1.05087880e-01 9.94462628e-01 -7.86274906e-04 -2.22510871e+01] [-6.82335518e-03 6.95900150e-05 9.99976718e-01 -2.31624847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:327.50, Y:-22.25, Z:-2.32 [[ 9.93535967e-01 1.13315209e-01 6.77831338e-03 3.27497415e+02] [-1.13312485e-01 9.93559089e-01 -7.85802852e-04 -2.22534707e+01] [-6.82369828e-03 1.26558653e-05 9.99976718e-01 -2.32136120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:327.56, Y:-22.25, Z:-2.32 [[ 9.93022569e-01 1.17729487e-01 6.77835868e-03 3.27557000e+02] [-1.17726868e-01 9.93045703e-01 -7.85411890e-04 -2.22546089e+01] [-6.82368610e-03 -1.80632088e-05 9.99976718e-01 -2.32269659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.61, Y:-22.26, Z:-2.32 [[ 9.92620762e-01 1.21070538e-01 6.77842720e-03 3.27614969e+02] [-1.21068002e-01 9.92643905e-01 -7.84820106e-04 -2.22550185e+01] [-6.82358304e-03 -4.16219032e-05 9.99976718e-01 -2.32137141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:327.67, Y:-22.26, Z:-2.32 [[ 9.93088842e-01 1.17169122e-01 6.77849246e-03 3.27672668e+02] [-1.17166498e-01 9.93111976e-01 -7.84256028e-04 -2.22576286e+01] [-6.82369263e-03 -1.53763127e-05 9.99976718e-01 -2.32424282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.73, Y:-22.26, Z:-2.33 [[ 9.93773120e-01 1.11216176e-01 6.77853825e-03 3.27729042e+02] [-1.11213417e-01 9.93796237e-01 -7.83860062e-04 -2.22644952e+01] [-6.82366373e-03 2.51146585e-05 9.99976718e-01 -2.32501022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.79, Y:-22.27, Z:-2.32 [[ 9.93723528e-01 1.11658411e-01 6.77860160e-03 3.27787529e+02] [-1.11655665e-01 9.93746647e-01 -7.83311864e-04 -2.22727047e+01] [-6.82367597e-03 2.15261596e-05 9.99976718e-01 -2.32141309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.85, Y:-22.28, Z:-2.32 [[ 9.92635595e-01 1.20948853e-01 6.77863723e-03 3.27845745e+02] [-1.20946326e-01 9.92658740e-01 -7.83003363e-04 -2.22791667e+01] [-6.82357685e-03 -4.26142562e-05 9.99976718e-01 -2.31793972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:-22.29, Z:-2.32 [[ 9.91693938e-01 1.28441363e-01 6.77867271e-03 3.27903725e+02] [-1.28439013e-01 9.91717100e-01 -7.82696093e-04 -2.22873313e+01] [-6.82305620e-03 -9.44510610e-05 9.99976718e-01 -2.32232852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.96, Y:-22.30, Z:-2.33 [[ 9.90903507e-01 1.34403453e-01 6.77870782e-03 3.27961550e+02] [-1.34401245e-01 9.90926684e-01 -7.82391901e-04 -2.22968018e+01] [-6.82235864e-03 -1.35791889e-04 9.99976718e-01 -2.32583855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:-22.30, Z:-2.33 [[ 9.90743966e-01 1.35574488e-01 6.77874357e-03 3.28020359e+02] [-1.35572309e-01 9.90767146e-01 -7.82082029e-04 -2.23041269e+01] [-6.82218679e-03 -1.44166864e-04 9.99976718e-01 -2.32532631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.08, Y:-22.31, Z:-2.32 [[ 9.89831528e-01 1.42083054e-01 6.77877923e-03 3.28078496e+02] [-1.42081029e-01 9.89854722e-01 -7.81772881e-04 -2.23129095e+01] [-6.82108330e-03 -1.89312482e-04 9.99976718e-01 -2.32236132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.14, Y:-22.32, Z:-2.33 [[ 9.89197574e-01 1.46431580e-01 6.77881459e-03 3.28137380e+02] [-1.46429659e-01 9.89220776e-01 -7.81466155e-04 -2.23198119e+01] [-6.82017555e-03 -2.19595084e-04 9.99976718e-01 -2.32554778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.19, Y:-22.33, Z:-2.32 [[ 9.89629467e-01 1.43483680e-01 6.77884093e-03 3.28194292e+02] [-1.43481692e-01 9.89652663e-01 -7.81237559e-04 -2.23341731e+01] [-6.82079282e-03 -1.99503855e-04 9.99976718e-01 -2.32135006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.25, Y:-22.35, Z:-2.32 [[ 9.90928333e-01 1.34220291e-01 6.77888431e-03 3.28250644e+02] [-1.34218088e-01 9.90951510e-01 -7.80860964e-04 -2.23518270e+01] [-6.82235303e-03 -1.36071641e-04 9.99976718e-01 -2.32461560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.31, Y:-22.37, Z:-2.33 [[ 9.91403252e-01 1.30666133e-01 6.77892709e-03 3.28308576e+02] [-1.30663850e-01 9.91426421e-01 -7.80489391e-04 -2.23673174e+01] [-6.82279096e-03 -1.11980991e-04 9.99976718e-01 -2.32654547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.37, Y:-22.39, Z:-2.32 [[ 9.91195141e-01 1.32235544e-01 6.77895478e-03 3.28365677e+02] [-1.32233300e-01 9.91218314e-01 -7.80248824e-04 -2.23889882e+01] [-6.82260076e-03 -1.23024716e-04 9.99976718e-01 -2.32241450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:328.42, Y:-22.41, Z:-2.32 [[ 9.90799602e-01 1.35167279e-01 6.77899160e-03 3.28423036e+02] [-1.35165105e-01 9.90822782e-01 -7.79928794e-04 -2.24052912e+01] [-6.82220017e-03 -1.43529975e-04 9.99976718e-01 -2.32339088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.48, Y:-22.43, Z:-2.32 [[ 9.89513796e-01 1.44279219e-01 6.77902853e-03 3.28479697e+02] [-1.44277261e-01 9.89536995e-01 -7.79607695e-04 -2.24255084e+01] [-6.82058071e-03 -2.06627100e-04 9.99976718e-01 -2.32310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.54, Y:-22.44, Z:-2.32 [[ 9.88390825e-01 1.51781492e-01 6.77906495e-03 3.28536637e+02] [-1.51779711e-01 9.88414039e-01 -7.79290826e-04 -2.24422089e+01] [-6.81880489e-03 -2.58680620e-04 9.99976718e-01 -2.32464227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.59, Y:-22.46, Z:-2.33 [[ 9.88187463e-01 1.53099911e-01 6.77910093e-03 3.28593619e+02] [-1.53098164e-01 9.88210679e-01 -7.78977762e-04 -2.24554163e+01] [-6.81844135e-03 -2.68091846e-04 9.99976718e-01 -2.32622897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.65, Y:-22.47, Z:-2.33 [[ 9.88072556e-01 1.53839748e-01 6.77914535e-03 3.28651178e+02] [-1.53838021e-01 9.88095773e-01 -7.78590950e-04 -2.24698938e+01] [-6.81822311e-03 -2.73585953e-04 9.99976718e-01 -2.32615994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.71, Y:-22.48, Z:-2.33 [[ 9.87728087e-01 1.56036111e-01 6.77918162e-03 3.28709412e+02] [-1.56034438e-01 9.87751309e-01 -7.78275009e-04 -2.24795134e+01] [-6.81758453e-03 -2.89061708e-04 9.99976718e-01 -2.32845600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.77, Y:-22.49, Z:-2.33 [[ 9.87389464e-01 1.58164748e-01 6.77921777e-03 3.28767402e+02] [-1.58163127e-01 9.87412690e-01 -7.77959994e-04 -2.24872259e+01] [-6.81693150e-03 -3.04072783e-04 9.99976718e-01 -2.33107254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.82, Y:-22.50, Z:-2.33 [[ 9.87540568e-01 1.57218535e-01 6.77925416e-03 3.28823706e+02] [-1.57216894e-01 9.87563792e-01 -7.77642833e-04 -2.25000797e+01] [-6.81720581e-03 -2.97859439e-04 9.99976718e-01 -2.33436119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.88, Y:-22.52, Z:-2.34 [[ 9.87822887e-01 1.55434824e-01 6.77930213e-03 3.28880928e+02] [-1.55433144e-01 9.87846108e-01 -7.77224364e-04 -2.25162793e+01] [-6.81771496e-03 -2.85968231e-04 9.99976718e-01 -2.33694419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.94, Y:-22.53, Z:-2.34 [[ 9.87376915e-01 1.58243068e-01 6.77933741e-03 3.28939005e+02] [-1.58241456e-01 9.87400141e-01 -7.76916532e-04 -2.25269898e+01] [-6.81686037e-03 -3.05662777e-04 9.99976718e-01 -2.33537774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.00, Y:-22.54, Z:-2.33 [[ 9.85997444e-01 1.66622571e-01 6.77937246e-03 3.28997259e+02] [-1.66621158e-01 9.86020683e-01 -7.76610555e-04 -2.25370425e+01] [-6.81400231e-03 -3.63850869e-04 9.99976718e-01 -2.33361730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.06, Y:-22.55, Z:-2.33 [[ 9.84571306e-01 1.74852462e-01 6.77940706e-03 3.29055563e+02] [-1.74851245e-01 9.84594556e-01 -7.76308403e-04 -2.25463706e+01] [-6.81070672e-03 -4.21056789e-04 9.99976718e-01 -2.33448229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.11, Y:-22.55, Z:-2.33 [[ 9.84051543e-01 1.77754325e-01 6.77944145e-03 3.29114103e+02] [-1.77753179e-01 9.84074797e-01 -7.76007942e-04 -2.25532170e+01] [-6.80941624e-03 -4.41435456e-04 9.99976718e-01 -2.33437216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.17, Y:-22.56, Z:-2.34 [[ 9.83671664e-01 1.79844646e-01 6.77947583e-03 3.29171345e+02] [-1.79843552e-01 9.83694920e-01 -7.75707499e-04 -2.25609579e+01] [-6.80844277e-03 -4.56203525e-04 9.99976718e-01 -2.33821556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.23, Y:-22.57, Z:-2.34 [[ 9.83816434e-01 1.79051007e-01 6.77951841e-03 3.29228499e+02] [-1.79049897e-01 9.83839689e-01 -7.75335173e-04 -2.25684548e+01] [-6.80878383e-03 -4.51084586e-04 9.99976718e-01 -2.33820813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.29, Y:-22.58, Z:-2.33 [[ 9.83989397e-01 1.78098016e-01 6.77956038e-03 3.29286676e+02] [-1.78096885e-01 9.84012652e-01 -7.74967988e-04 -2.25763610e+01] [-6.80919345e-03 -4.44858305e-04 9.99976718e-01 -2.33120622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:-22.58, Z:-2.34 [[ 9.83041687e-01 1.83256865e-01 6.77959568e-03 3.29345598e+02] [-1.83255858e-01 9.83064947e-01 -7.74659072e-04 -2.25806200e+01] [-6.80674446e-03 -4.80878464e-04 9.99976718e-01 -2.33548798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.40, Y:-22.58, Z:-2.34 [[ 9.82717549e-01 1.84987177e-01 6.77963083e-03 3.29404117e+02] [-1.84986214e-01 9.82740811e-01 -7.74351308e-04 -2.25849063e+01] [-6.80586496e-03 -4.93169619e-04 9.99976718e-01 -2.33798387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.46, Y:-22.59, Z:-2.33 [[ 9.83337054e-01 1.81665284e-01 6.77966627e-03 3.29462452e+02] [-1.81664244e-01 9.83360312e-01 -7.74040955e-04 -2.25885529e+01] [-6.80747110e-03 -4.70479794e-04 9.99976718e-01 -2.33303951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.52, Y:-22.59, Z:-2.33 [[ 9.84138819e-01 1.77270474e-01 6.77971099e-03 3.29520606e+02] [-1.77269333e-01 9.84162073e-01 -7.73649010e-04 -2.25913919e+01] [-6.80947955e-03 -4.40456821e-04 9.99976718e-01 -2.33299653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:-22.59, Z:-2.33 [[ 9.85218738e-01 1.71166799e-01 6.77975540e-03 3.29579861e+02] [-1.71165517e-01 9.85241984e-01 -7.73259683e-04 -2.25928713e+01] [-6.81205605e-03 -3.98630408e-04 9.99976718e-01 -2.33258980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:-22.59, Z:-2.33 [[ 9.85864924e-01 1.67404857e-01 6.77979021e-03 3.29639027e+02] [-1.67403488e-01 9.85888166e-01 -7.72954315e-04 -2.25938563e+01] [-6.81351124e-03 -3.72931979e-04 9.99976718e-01 -2.33278277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.70, Y:-22.60, Z:-2.34 [[ 9.85592041e-01 1.69004034e-01 6.77982531e-03 3.29698556e+02] [-1.69002705e-01 9.85615284e-01 -7.72646295e-04 -2.25952137e+01] [-6.81287979e-03 -3.84294779e-04 9.99976718e-01 -2.33667509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.76, Y:-22.59, Z:-2.34 [[ 9.84430398e-01 1.75644027e-01 6.77985147e-03 3.29758330e+02] [-1.75642856e-01 9.84453651e-01 -7.72416678e-04 -2.25892639e+01] [-6.81011991e-03 -4.30442019e-04 9.99976718e-01 -2.33958797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:-22.59, Z:-2.34 [[ 9.83574437e-01 1.80375608e-01 6.77988662e-03 3.29817040e+02] [-1.80374551e-01 9.83597695e-01 -7.72108037e-04 -2.25883237e+01] [-6.80795031e-03 -4.63493274e-04 9.99976718e-01 -2.34040131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.88, Y:-22.59, Z:-2.34 [[ 9.82992101e-01 1.83522648e-01 6.77993914e-03 3.29876169e+02] [-1.83521668e-01 9.83015362e-01 -7.71646635e-04 -2.25887132e+01] [-6.80639896e-03 -4.85743195e-04 9.99976718e-01 -2.33827403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.93, Y:-22.59, Z:-2.34 [[ 9.82806158e-01 1.84515818e-01 6.77997483e-03 3.29934866e+02] [-1.84514865e-01 9.82829420e-01 -7.71332871e-04 -2.25863121e+01] [-6.80588185e-03 -4.92935444e-04 9.99976718e-01 -2.33528080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.99, Y:-22.59, Z:-2.34 [[ 9.82785663e-01 1.84624952e-01 6.78001900e-03 3.29992043e+02] [-1.84624004e-01 9.82808925e-01 -7.70944445e-04 -2.25863094e+01] [-6.80579876e-03 -4.94081104e-04 9.99976718e-01 -2.33660877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.05, Y:-22.58, Z:-2.34 [[ 9.82698196e-01 1.85089943e-01 6.78007954e-03 3.30051155e+02] [-1.85089009e-01 9.82721459e-01 -7.70411647e-04 -2.25848365e+01] [-6.80552510e-03 -4.97836066e-04 9.99976718e-01 -2.33835060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:330.11, Y:-22.59, Z:-2.34 [[ 9.82611722e-01 1.85548469e-01 6.78011479e-03 3.30109615e+02] [-1.85547549e-01 9.82634985e-01 -7.70101273e-04 -2.25865773e+01] [-6.80526911e-03 -5.01323141e-04 9.99976718e-01 -2.33799462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.17, Y:-22.59, Z:-2.34 [[ 9.82931219e-01 1.83848440e-01 6.78016779e-03 3.30167358e+02] [-1.83847482e-01 9.82954481e-01 -7.69634346e-04 -2.25878039e+01] [-6.80609239e-03 -4.90019154e-04 9.99976718e-01 -2.34270378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.23, Y:-22.59, Z:-2.34 [[ 9.83858729e-01 1.78818427e-01 6.78021165e-03 3.30226134e+02] [-1.78817352e-01 9.83881986e-01 -7.69247810e-04 -2.25940754e+01] [-6.80848379e-03 -4.55588323e-04 9.99976718e-01 -2.34443915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.28, Y:-22.60, Z:-2.34 [[ 9.84537107e-01 1.75044891e-01 6.78024576e-03 3.30284645e+02] [-1.75043730e-01 9.84560359e-01 -7.68947078e-04 -2.26025537e+01] [-6.81016146e-03 -4.29782573e-04 9.99976718e-01 -2.34441542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.34, Y:-22.61, Z:-2.35 [[ 9.85018137e-01 1.72317432e-01 6.78028234e-03 3.30341809e+02] [-1.72316208e-01 9.85041387e-01 -7.68624369e-04 -2.26142145e+01] [-6.81130609e-03 -4.11243599e-04 9.99976718e-01 -2.34837406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.40, Y:-22.62, Z:-2.35 [[ 9.84142196e-01 1.77251698e-01 6.78032752e-03 3.30399524e+02] [-1.77250594e-01 9.84165452e-01 -7.68225561e-04 -2.26233085e+01] [-6.80913339e-03 -4.45773888e-04 9.99976718e-01 -2.34922092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.46, Y:-22.63, Z:-2.35 [[ 9.83287134e-01 1.81935262e-01 6.78036328e-03 3.30457057e+02] [-1.81934271e-01 9.83310394e-01 -7.67909825e-04 -2.26292950e+01] [-6.80691157e-03 -4.78504601e-04 9.99976718e-01 -2.34715929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.52, Y:-22.64, Z:-2.34 [[ 9.82692347e-01 1.85120981e-01 6.78040750e-03 3.30515963e+02] [-1.85120068e-01 9.82715611e-01 -7.67519195e-04 -2.26363701e+01] [-6.80529620e-03 -5.00954257e-04 9.99976718e-01 -2.34368735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:330.57, Y:-22.65, Z:-2.34 [[ 9.82836758e-01 1.84352738e-01 6.78044234e-03 3.30573713e+02] [-1.84351809e-01 9.82860022e-01 -7.67211312e-04 -2.26456687e+01] [-6.80566321e-03 -4.95943332e-04 9.99976718e-01 -2.34494507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.63, Y:-22.66, Z:-2.35 [[ 9.82879627e-01 1.84124044e-01 6.78049461e-03 3.30629277e+02] [-1.84123113e-01 9.82902890e-01 -7.66749071e-04 -2.26588665e+01] [-6.80574469e-03 -4.94823732e-04 9.99976718e-01 -2.34906400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.69, Y:-22.67, Z:-2.35 [[ 9.82180144e-01 1.87819566e-01 6.78055510e-03 3.30687167e+02] [-1.87818726e-01 9.82203410e-01 -7.66213798e-04 -2.26705519e+01] [-6.80379428e-03 -5.20955242e-04 9.99976718e-01 -2.34706079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.75, Y:-22.68, Z:-2.35 [[ 9.80834419e-01 1.94725102e-01 6.78059014e-03 3.30745915e+02] [-1.94724427e-01 9.80857691e-01 -7.65903506e-04 -2.26779002e+01] [-6.79993463e-03 -5.69122012e-04 9.99976718e-01 -2.35126240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.80, Y:-22.68, Z:-2.35 [[ 9.80053051e-01 1.98620341e-01 6.78062533e-03 3.30803837e+02] [-1.98619761e-01 9.80076326e-01 -7.65591915e-04 -2.26825659e+01] [-6.79759248e-03 -5.96445490e-04 9.99976718e-01 -2.35139774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:-22.68, Z:-2.35 [[ 9.79471374e-01 2.01469227e-01 6.78066880e-03 3.30862799e+02] [-2.01468717e-01 9.79494651e-01 -7.65206721e-04 -2.26846671e+01] [-6.79579442e-03 -6.16594563e-04 9.99976718e-01 -2.34789691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.92, Y:-22.69, Z:-2.35 [[ 9.79913356e-01 1.99308397e-01 6.78070316e-03 3.30921110e+02] [-1.99307839e-01 9.79936631e-01 -7.64902078e-04 -2.26865368e+01] [-6.79711082e-03 -6.01909529e-04 9.99976718e-01 -2.34934602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.98, Y:-22.69, Z:-2.35 [[ 9.81613121e-01 1.90760850e-01 6.78075533e-03 3.30979372e+02] [-1.90760092e-01 9.81636390e-01 -7.64439293e-04 -2.26909316e+01] [-6.80206128e-03 -5.43113869e-04 9.99976718e-01 -2.35367382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.04, Y:-22.70, Z:-2.35 [[ 9.82901630e-01 1.84006540e-01 6.78079172e-03 3.31037156e+02] [-1.84005624e-01 9.82924894e-01 -7.64116357e-04 -2.26964159e+01] [-6.80561139e-03 -4.96652599e-04 9.99976718e-01 -2.35403179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.10, Y:-22.70, Z:-2.35 [[ 9.83170400e-01 1.82565017e-01 6.78083684e-03 3.31096236e+02] [-1.82564069e-01 9.83193662e-01 -7.63715830e-04 -2.26986400e+01] [-6.80630359e-03 -4.87074368e-04 9.99976718e-01 -2.34993713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:-22.70, Z:-2.35 [[ 9.83655504e-01 1.79932960e-01 6.78087147e-03 3.31153951e+02] [-1.79931952e-01 9.83678763e-01 -7.63408214e-04 -2.27004345e+01] [-6.80756156e-03 -4.69164751e-04 9.99976718e-01 -2.35075573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.21, Y:-22.71, Z:-2.35 [[ 9.84914919e-01 1.72906393e-01 6.78092324e-03 3.31212709e+02] [-1.72905223e-01 9.84938172e-01 -7.62948064e-04 -2.27054498e+01] [-6.81070874e-03 -4.21018111e-04 9.99976718e-01 -2.35497983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.27, Y:-22.71, Z:-2.36 [[ 9.86271204e-01 1.64994339e-01 6.78095819e-03 3.31269378e+02] [-1.64992983e-01 9.86294446e-01 -7.62637276e-04 -2.27135864e+01] [-6.81385224e-03 -3.66643338e-04 9.99976718e-01 -2.35552561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.33, Y:-22.72, Z:-2.35 [[ 9.87964099e-01 1.54534648e-01 6.78101881e-03 3.31326907e+02] [-1.54533050e-01 9.87987326e-01 -7.62097963e-04 -2.27239494e+01] [-6.81733118e-03 -2.94966093e-04 9.99976718e-01 -2.35226302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.38, Y:-22.74, Z:-2.36 [[ 9.88272667e-01 1.52548852e-01 6.78106146e-03 3.31384595e+02] [-1.52547210e-01 9.88295891e-01 -7.61718223e-04 -2.27415694e+01] [-6.81789442e-03 -2.81646708e-04 9.99976718e-01 -2.35518447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.44, Y:-22.76, Z:-2.35 [[ 9.87595883e-01 1.56870611e-01 6.78108683e-03 3.31442247e+02] [-1.56869072e-01 9.87619114e-01 -7.61492341e-04 -2.27582012e+01] [-6.81658673e-03 -3.11696101e-04 9.99976718e-01 -2.35432931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.50, Y:-22.77, Z:-2.35 [[ 9.87267387e-01 1.58924898e-01 6.78112196e-03 3.31500173e+02] [-1.58923410e-01 9.87290621e-01 -7.61179374e-04 -2.27733297e+01] [-6.81590846e-03 -3.26191456e-04 9.99976718e-01 -2.35197579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.56, Y:-22.79, Z:-2.35 [[ 9.86538953e-01 1.63385772e-01 6.78115694e-03 3.31556605e+02] [-1.63384391e-01 9.86562194e-01 -7.60867589e-04 -2.27927336e+01] [-6.81434801e-03 -3.57309681e-04 9.99976718e-01 -2.35331011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.61, Y:-22.81, Z:-2.35 [[ 9.85750428e-01 1.68077687e-01 6.78120018e-03 3.31614417e+02] [-1.68076419e-01 9.85773675e-01 -7.60482030e-04 -2.28061453e+01] [-6.81254869e-03 -3.90114357e-04 9.99976718e-01 -2.35237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.67, Y:-22.82, Z:-2.36 [[ 9.84154186e-01 1.77185082e-01 6.78123476e-03 3.31670599e+02] [-1.77184032e-01 9.84177444e-01 -7.60173576e-04 -2.28201895e+01] [-6.80862971e-03 -4.53398507e-04 9.99976718e-01 -2.35556636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.73, Y:-22.83, Z:-2.36 [[ 9.83225922e-01 1.82265740e-01 6.78127791e-03 3.31727926e+02] [-1.82264812e-01 9.83249186e-01 -7.59788450e-04 -2.28310897e+01] [-6.80616939e-03 -4.88944645e-04 9.99976718e-01 -2.35827049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:-22.84, Z:-2.36 [[ 9.82416972e-01 1.86576810e-01 6.78131919e-03 3.31786432e+02] [-1.86575987e-01 9.82440240e-01 -7.59419855e-04 -2.28407434e+01] [-6.80393098e-03 -5.19164365e-04 9.99976718e-01 -2.35637990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.84, Y:-22.85, Z:-2.35 [[ 9.81463431e-01 1.91529491e-01 6.78135408e-03 3.31844424e+02] [-1.91528788e-01 9.81486703e-01 -7.59108146e-04 -2.28481474e+01] [-6.80120045e-03 -5.53787639e-04 9.99976718e-01 -2.35289904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.90, Y:-22.85, Z:-2.36 [[ 9.80873924e-01 1.94525982e-01 6.78138944e-03 3.31902514e+02] [-1.94525352e-01 9.80897197e-01 -7.58792102e-04 -2.28526071e+01] [-6.79945068e-03 -5.74872779e-04 9.99976718e-01 -2.35772487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.96, Y:-22.86, Z:-2.36 [[ 9.80760201e-01 1.95098542e-01 6.78143671e-03 3.31961395e+02] [-1.95097928e-01 9.80783474e-01 -7.58369460e-04 -2.28570447e+01] [-6.79907783e-03 -5.79265665e-04 9.99976718e-01 -2.36267552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.02, Y:-22.86, Z:-2.36 [[ 9.80835961e-01 1.94717305e-01 6.78147127e-03 3.32020146e+02] [-1.94716684e-01 9.80859235e-01 -7.58060292e-04 -2.28608732e+01] [-6.79927617e-03 -5.76932805e-04 9.99976718e-01 -2.36228714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.08, Y:-22.87, Z:-2.36 [[ 9.81640194e-01 1.90621458e-01 6.78150554e-03 3.32078516e+02] [-1.90620742e-01 9.81663465e-01 -7.57753609e-04 -2.28655232e+01] [-6.80160032e-03 -5.48854220e-04 9.99976718e-01 -2.35748725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.14, Y:-22.87, Z:-2.36 [[ 9.82578849e-01 1.85722415e-01 6.78154005e-03 3.32137373e+02] [-1.85721585e-01 9.82602116e-01 -7.57444604e-04 -2.28711897e+01] [-6.80423005e-03 -5.15229317e-04 9.99976718e-01 -2.35848468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.19, Y:-22.88, Z:-2.36 [[ 9.84068866e-01 1.77658318e-01 6.78157524e-03 3.32194785e+02] [-1.77657300e-01 9.84092125e-01 -7.57129393e-04 -2.28786325e+01] [-6.80820512e-03 -4.59728881e-04 9.99976718e-01 -2.35875706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.25, Y:-22.88, Z:-2.36 [[ 9.85233926e-01 1.71079279e-01 6.78162223e-03 3.32253438e+02] [-1.71078108e-01 9.85257179e-01 -7.56708280e-04 -2.28847146e+01] [-6.81109909e-03 -4.14652432e-04 9.99976718e-01 -2.35614601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.31, Y:-22.89, Z:-2.36 [[ 9.85929712e-01 1.67022789e-01 6.78165812e-03 3.32311427e+02] [-1.67021524e-01 9.85952960e-01 -7.56386495e-04 -2.28934445e+01] [-6.81272967e-03 -3.86938956e-04 9.99976718e-01 -2.35786139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.37, Y:-22.91, Z:-2.36 [[ 9.86912139e-01 1.61116228e-01 6.78169390e-03 3.32369232e+02] [-1.61114827e-01 9.86935378e-01 -7.56065581e-04 -2.29064306e+01] [-6.81490807e-03 -3.46461136e-04 9.99976718e-01 -2.36141156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.43, Y:-22.92, Z:-2.36 [[ 9.87409856e-01 1.58037287e-01 6.78172048e-03 3.32427192e+02] [-1.58035815e-01 9.87433091e-01 -7.55827043e-04 -2.29225360e+01] [-6.81594408e-03 -3.25443650e-04 9.99976718e-01 -2.36288021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.49, Y:-22.93, Z:-2.36 [[ 9.87261954e-01 1.58958616e-01 6.78173785e-03 3.32485903e+02] [-1.58957166e-01 9.87285191e-01 -7.55671194e-04 -2.29331419e+01] [-6.81562979e-03 -3.31960409e-04 9.99976718e-01 -2.36038033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.54, Y:-22.94, Z:-2.36 [[ 9.86617332e-01 1.62911778e-01 6.78175536e-03 3.32544246e+02] [-1.62910422e-01 9.86640575e-01 -7.55513997e-04 -2.29440097e+01] [-6.81423713e-03 -3.59415424e-04 9.99976718e-01 -2.35866140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.60, Y:-22.95, Z:-2.36 [[ 9.86100482e-01 1.66011588e-01 6.78177273e-03 3.32603211e+02] [-1.66010306e-01 9.86123728e-01 -7.55358053e-04 -2.29524352e+01] [-6.81306520e-03 -3.80985229e-04 9.99976718e-01 -2.36136207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.66, Y:-22.96, Z:-2.36 [[ 9.85579162e-01 1.69079043e-01 6.78179027e-03 3.32661788e+02] [-1.69077835e-01 9.85602412e-01 -7.55200533e-04 -2.29620989e+01] [-6.81183743e-03 -4.02340508e-04 9.99976718e-01 -2.35817697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.72, Y:-22.98, Z:-2.36 [[ 9.85335553e-01 1.70492974e-01 6.78180770e-03 3.32720446e+02] [-1.70491801e-01 9.85358806e-01 -7.55043943e-04 -2.29750857e+01] [-6.81124363e-03 -4.12270968e-04 9.99976718e-01 -2.36419787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.78, Y:-22.99, Z:-2.37 [[ 9.85193984e-01 1.71309135e-01 6.78182495e-03 3.32778952e+02] [-1.71307982e-01 9.85217238e-01 -7.54889034e-04 -2.29857117e+01] [-6.81089023e-03 -4.18068613e-04 9.99976718e-01 -2.36628397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.84, Y:-23.00, Z:-2.36 [[ 9.84890417e-01 1.73045871e-01 6.78183349e-03 3.32836441e+02] [-1.73044759e-01 9.84913672e-01 -7.54812270e-04 -2.29953666e+01] [-6.81013767e-03 -4.30153370e-04 9.99976718e-01 -2.36373428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.89, Y:-23.00, Z:-2.36 [[ 9.83939763e-01 1.78371940e-01 6.78182829e-03 3.32894728e+02] [-1.78370954e-01 9.83963024e-01 -7.54858967e-04 -2.30042788e+01] [-6.80771394e-03 -4.66945427e-04 9.99976718e-01 -2.35606537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.95, Y:-23.01, Z:-2.36 [[ 9.83243232e-01 1.82172317e-01 6.78186058e-03 3.32953928e+02] [-1.82171423e-01 9.83266497e-01 -7.54568809e-04 -2.30101572e+01] [-6.80583784e-03 -4.93536518e-04 9.99976718e-01 -2.36390428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.01, Y:-23.02, Z:-2.37 [[ 9.84462998e-01 1.75461138e-01 6.78187782e-03 3.33013923e+02] [-1.75460086e-01 9.84486256e-01 -7.54413815e-04 -2.30199473e+01] [-6.80903581e-03 -4.47256380e-04 9.99976718e-01 -2.36697291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.07, Y:-23.03, Z:-2.37 [[ 9.85611834e-01 1.68888478e-01 6.78187782e-03 3.33073930e+02] [-1.68887271e-01 9.85635085e-01 -7.54413815e-04 -2.30312111e+01] [-6.81186852e-03 -4.01813651e-04 9.99976718e-01 -2.36635126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:-23.04, Z:-2.37 [[ 9.85974386e-01 1.66758860e-01 6.78176558e-03 3.33134645e+02] [-1.66757596e-01 9.85997634e-01 -7.55421460e-04 -2.30398144e+01] [-6.81277803e-03 -3.86084714e-04 9.99976718e-01 -2.36562952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.19, Y:-23.04, Z:-2.37 [[ 9.84582626e-01 1.74788618e-01 6.78174836e-03 3.33194343e+02] [-1.74787543e-01 9.84605883e-01 -7.55575969e-04 -2.30404882e+01] [-6.80941541e-03 -4.41438159e-04 9.99976718e-01 -2.36505055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.25, Y:-23.05, Z:-2.37 [[ 9.83908207e-01 1.78545927e-01 6.78176566e-03 3.33253654e+02] [-1.78544941e-01 9.83931468e-01 -7.55420655e-04 -2.30458404e+01] [-6.80766992e-03 -4.67585368e-04 9.99976718e-01 -2.36605515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:-23.05, Z:-2.37 [[ 9.84009258e-01 1.77988168e-01 6.78178320e-03 3.33313885e+02] [-1.77987170e-01 9.84032518e-01 -7.55263179e-04 -2.30464743e+01] [-6.80792311e-03 -4.63884438e-04 9.99976718e-01 -2.36816867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:-23.05, Z:-2.37 [[ 9.84273813e-01 1.76519313e-01 6.78179188e-03 3.33372360e+02] [-1.76518281e-01 9.84297072e-01 -7.55185270e-04 -2.30487285e+01] [-6.80860267e-03 -4.53801158e-04 9.99976718e-01 -2.36510483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.43, Y:-23.05, Z:-2.36 [[ 9.84103522e-01 1.77466238e-01 6.78181732e-03 3.33432668e+02] [-1.77465230e-01 9.84126782e-01 -7.54956684e-04 -2.30501478e+01] [-6.80814738e-03 -4.60581238e-04 9.99976718e-01 -2.36346223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.49, Y:-23.05, Z:-2.36 [[ 9.83546434e-01 1.80528167e-01 6.78183469e-03 3.33491552e+02] [-1.80527232e-01 9.83569697e-01 -7.54800601e-04 -2.30518283e+01] [-6.80666986e-03 -4.81924405e-04 9.99976718e-01 -2.36398352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.55, Y:-23.06, Z:-2.36 [[ 9.83312761e-01 1.81796643e-01 6.78187051e-03 3.33549007e+02] [-1.81795740e-01 9.83336026e-01 -7.54478694e-04 -2.30552548e+01] [-6.80601928e-03 -4.91026641e-04 9.99976718e-01 -2.36362079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.61, Y:-23.05, Z:-2.37 [[ 9.82812646e-01 1.84481190e-01 6.78191466e-03 3.33608459e+02] [-1.84480354e-01 9.82835912e-01 -7.54081577e-04 -2.30514908e+01] [-6.80462315e-03 -5.10009105e-04 9.99976718e-01 -2.36633626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.67, Y:-23.05, Z:-2.37 [[ 9.82845985e-01 1.84303487e-01 6.78194933e-03 3.33668539e+02] [-1.84302649e-01 9.82869251e-01 -7.53769652e-04 -2.30471015e+01] [-6.80469184e-03 -5.09091752e-04 9.99976718e-01 -2.37227241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.73, Y:-23.05, Z:-2.38 [[ 9.82972541e-01 1.83627306e-01 6.78198357e-03 3.33727745e+02] [-1.83626454e-01 9.82995808e-01 -7.53461432e-04 -2.30487298e+01] [-6.80501751e-03 -5.04719694e-04 9.99976718e-01 -2.37539685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.79, Y:-23.05, Z:-2.37 [[ 9.82780597e-01 1.84651839e-01 6.78201810e-03 3.33786196e+02] [-1.84651013e-01 9.82803865e-01 -7.53150531e-04 -2.30479722e+01] [-6.80446423e-03 -5.12124784e-04 9.99976718e-01 -2.37050184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:333.84, Y:-23.05, Z:-2.37 [[ 9.82691481e-01 1.85125514e-01 6.78206087e-03 3.33844947e+02] [-1.85124702e-01 9.82714749e-01 -7.52765129e-04 -2.30505421e+01] [-6.80418728e-03 -5.15791119e-04 9.99976718e-01 -2.36835881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.90, Y:-23.06, Z:-2.37 [[ 9.83173428e-01 1.82548662e-01 6.78209511e-03 3.33902527e+02] [-1.82547791e-01 9.83196693e-01 -7.52456553e-04 -2.30563186e+01] [-6.80549342e-03 -4.98261194e-04 9.99976718e-01 -2.36829170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.96, Y:-23.07, Z:-2.36 [[ 9.83895506e-01 1.78615888e-01 6.78213754e-03 3.33960833e+02] [-1.78614927e-01 9.83918768e-01 -7.52073932e-04 -2.30674325e+01] [-6.80740477e-03 -4.71428841e-04 9.99976718e-01 -2.36468220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.02, Y:-23.08, Z:-2.36 [[ 9.84421123e-01 1.75695918e-01 6.78217163e-03 3.34017748e+02] [-1.75694890e-01 9.84444382e-01 -7.51766340e-04 -2.30808949e+01] [-6.80875304e-03 -4.51538235e-04 9.99976718e-01 -2.36085193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:334.08, Y:-23.09, Z:-2.36 [[ 9.83202289e-01 1.82393151e-01 6.78221715e-03 3.34075425e+02] [-1.82392284e-01 9.83225554e-01 -7.51355483e-04 -2.30871871e+01] [-6.80549131e-03 -4.98289644e-04 9.99976718e-01 -2.36342874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.13, Y:-23.10, Z:-2.37 [[ 9.82530281e-01 1.85979160e-01 6.78226776e-03 3.34131324e+02] [-1.85978381e-01 9.82553550e-01 -7.50898401e-04 -2.30962596e+01] [-6.80359271e-03 -5.23574762e-04 9.99976718e-01 -2.36778226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.19, Y:-23.11, Z:-2.37 [[ 9.83425086e-01 1.81188026e-01 6.78232597e-03 3.34188963e+02] [-1.81187137e-01 9.83448351e-01 -7.50372229e-04 -2.31117116e+01] [-6.80602575e-03 -4.90935350e-04 9.99976718e-01 -2.37098570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.25, Y:-23.13, Z:-2.37 [[ 9.84606308e-01 1.74655142e-01 6.78235900e-03 3.34246849e+02] [-1.74654100e-01 9.84629566e-01 -7.50073602e-04 -2.31279730e+01] [-6.80911541e-03 -4.46039610e-04 9.99976718e-01 -2.36948466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.30, Y:-23.14, Z:-2.38 [[ 9.84525117e-01 1.75112230e-01 6.78237697e-03 3.34304923e+02] [-1.75111201e-01 9.84548376e-01 -7.49911031e-04 -2.31381695e+01] [-6.80889683e-03 -4.49363932e-04 9.99976718e-01 -2.37590284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.36, Y:-23.15, Z:-2.38 [[ 9.83582467e-01 1.80331723e-01 6.78240368e-03 3.34361527e+02] [-1.80330819e-01 9.83605731e-01 -7.49669372e-04 -2.31498484e+01] [-6.80640030e-03 -4.85714762e-04 9.99976718e-01 -2.37877917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.42, Y:-23.16, Z:-2.38 [[ 9.83121539e-01 1.82827891e-01 6.78244394e-03 3.34419641e+02] [-1.82827048e-01 9.83144806e-01 -7.49304931e-04 -2.31605979e+01] [-6.80511837e-03 -5.03356388e-04 9.99976718e-01 -2.37604596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.48, Y:-23.17, Z:-2.37 [[ 9.82662629e-01 1.85278590e-01 6.78247571e-03 3.34478770e+02] [-1.85277807e-01 9.82685897e-01 -7.49017242e-04 -2.31698202e+01] [-6.80382009e-03 -5.20610976e-04 9.99976718e-01 -2.37340617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.54, Y:-23.17, Z:-2.38 [[ 9.81972705e-01 1.88901046e-01 6.78249320e-03 3.34537076e+02] [-1.88900350e-01 9.81995976e-01 -7.48858907e-04 -2.31744231e+01] [-6.80184126e-03 -5.45856333e-04 9.99976718e-01 -2.37541773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.60, Y:-23.18, Z:-2.38 [[ 9.82075644e-01 1.88365145e-01 6.78252799e-03 3.34595728e+02] [-1.88364438e-01 9.82098915e-01 -7.48543652e-04 -2.31801296e+01] [-6.80211291e-03 -5.42460587e-04 9.99976718e-01 -2.37764367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.65, Y:-23.19, Z:-2.38 [[ 9.82987322e-01 1.83548146e-01 6.78255374e-03 3.34654484e+02] [-1.83547327e-01 9.83010589e-01 -7.48310232e-04 -2.31884119e+01] [-6.80467311e-03 -5.09340139e-04 9.99976718e-01 -2.37903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.71, Y:-23.20, Z:-2.38 [[ 9.83951814e-01 1.78305425e-01 6.78257091e-03 3.34714659e+02] [-1.78304484e-01 9.83975077e-01 -7.48154627e-04 -2.31989673e+01] [-6.80728076e-03 -4.73214702e-04 9.99976718e-01 -2.37884065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:-23.21, Z:-2.38 [[ 9.83798364e-01 1.79150150e-01 6.78257091e-03 3.34773279e+02] [-1.79149229e-01 9.83821627e-01 -7.48154627e-04 -2.32071693e+01] [-6.80687196e-03 -4.79059048e-04 9.99976718e-01 -2.37906851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:334.83, Y:-23.22, Z:-2.38 [[ 9.83295064e-01 1.81892314e-01 6.78257953e-03 3.34832769e+02] [-1.81891458e-01 9.83318330e-01 -7.48076409e-04 -2.32161321e+01] [-6.80550413e-03 -4.98113440e-04 9.99976718e-01 -2.37723436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.89, Y:-23.22, Z:-2.38 [[ 9.82503286e-01 1.86121707e-01 6.78259663e-03 3.34891202e+02] [-1.86120952e-01 9.82526555e-01 -7.47921389e-04 -2.32246177e+01] [-6.80328571e-03 -5.27548116e-04 9.99976718e-01 -2.38222179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.95, Y:-23.23, Z:-2.38 [[ 9.82567171e-01 1.85784149e-01 6.78262197e-03 3.34949912e+02] [-1.85783388e-01 9.82590441e-01 -7.47691469e-04 -2.32329950e+01] [-6.80344874e-03 -5.25441397e-04 9.99976718e-01 -2.38163680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.01, Y:-23.25, Z:-2.38 [[ 9.83222411e-01 1.82284632e-01 6.78263864e-03 3.35009642e+02] [-1.82283789e-01 9.83245677e-01 -7.47540285e-04 -2.32465470e+01] [-6.80526522e-03 -5.01366709e-04 9.99976718e-01 -2.38207046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.07, Y:-23.26, Z:-2.38 [[ 9.83071857e-01 1.83094841e-01 6.78263864e-03 3.35068436e+02] [-1.83094016e-01 9.83095124e-01 -7.47540285e-04 -2.32589394e+01] [-6.80484974e-03 -5.06974733e-04 9.99976718e-01 -2.38380734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.13, Y:-23.27, Z:-2.38 [[ 9.81649679e-01 1.90572570e-01 6.78262922e-03 3.35127932e+02] [-1.90571922e-01 9.81672951e-01 -7.47625677e-04 -2.32654518e+01] [-6.80080059e-03 -5.58672183e-04 9.99976718e-01 -2.38275176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.19, Y:-23.26, Z:-2.39 [[ 9.78975979e-01 2.03862767e-01 6.78264547e-03 3.35187155e+02] [-2.03862436e-01 9.78999259e-01 -7.47478250e-04 -2.32637381e+01] [-6.79258787e-03 -6.50963374e-04 9.99976718e-01 -2.38766570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.25, Y:-23.26, Z:-2.39 [[ 9.77901498e-01 2.08956107e-01 6.78267760e-03 3.35245442e+02] [-2.08955899e-01 9.77924779e-01 -7.47186553e-04 -2.32635098e+01] [-6.78907769e-03 -6.86605646e-04 9.99976718e-01 -2.38538296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.30, Y:-23.26, Z:-2.38 [[ 9.78270651e-01 2.07220965e-01 6.78272185e-03 3.35304212e+02] [-2.07220719e-01 9.78293931e-01 -7.46784688e-04 -2.32613899e+01] [-6.79024507e-03 -6.74962953e-04 9.99976718e-01 -2.38322897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.36, Y:-23.26, Z:-2.39 [[ 9.80743771e-01 1.95181069e-01 6.78276072e-03 3.35362654e+02] [-1.95180539e-01 9.80767047e-01 -7.46431451e-04 -2.32622739e+01] [-6.79799749e-03 -5.91804897e-04 9.99976718e-01 -2.38548129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.42, Y:-23.27, Z:-2.38 [[ 9.81625091e-01 1.90699170e-01 6.78279938e-03 3.35421573e+02] [-1.90698536e-01 9.81648365e-01 -7.46079997e-04 -2.32685001e+01] [-6.80060076e-03 -5.61099068e-04 9.99976718e-01 -2.38373370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.48, Y:-23.27, Z:-2.38 [[ 9.83500847e-01 1.80776316e-01 6.78283032e-03 3.35479045e+02] [-1.80775449e-01 9.83524113e-01 -7.45798623e-04 -2.32744463e+01] [-6.80589990e-03 -4.92675619e-04 9.99976718e-01 -2.37991796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.54, Y:-23.28, Z:-2.38 [[ 9.83955295e-01 1.78286201e-01 6.78286870e-03 3.35538406e+02] [-1.78285277e-01 9.83978559e-01 -7.45449357e-04 -2.32814638e+01] [-6.80710071e-03 -4.75796784e-04 9.99976718e-01 -2.38054661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.60, Y:-23.29, Z:-2.38 [[ 9.84045189e-01 1.77789366e-01 6.78288590e-03 3.35596529e+02] [-1.77788432e-01 9.84068452e-01 -7.45292880e-04 -2.32850415e+01] [-6.80732917e-03 -4.72516776e-04 9.99976718e-01 -2.38253059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.66, Y:-23.29, Z:-2.38 [[ 9.84166702e-01 1.77115482e-01 6.78291138e-03 3.35655285e+02] [-1.77114534e-01 9.84189965e-01 -7.45060871e-04 -2.32887097e+01] [-6.80763513e-03 -4.68088086e-04 9.99976718e-01 -2.38104697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.71, Y:-23.29, Z:-2.38 [[ 9.85015109e-01 1.72334637e-01 6.78294501e-03 3.35714561e+02] [-1.72333578e-01 9.85038366e-01 -7.44754652e-04 -2.32942066e+01] [-6.80980809e-03 -4.35334595e-04 9.99976718e-01 -2.37932511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:-23.30, Z:-2.38 [[ 9.87458405e-01 1.57733605e-01 6.78296220e-03 3.35773748e+02] [-1.57732203e-01 9.87481644e-01 -7.44598034e-04 -2.33008798e+01] [-6.81549880e-03 -3.34631982e-04 9.99976718e-01 -2.38037291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.83, Y:-23.31, Z:-2.38 [[ 9.89582510e-01 1.43806982e-01 6.78297071e-03 3.35833477e+02] [-1.43805253e-01 9.89605727e-01 -7.44520474e-04 -2.33102744e+01] [-6.81953390e-03 -2.38662381e-04 9.99976718e-01 -2.38407656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.89, Y:-23.32, Z:-2.39 [[ 9.90279066e-01 1.38929342e-01 6.78296249e-03 3.35893160e+02] [-1.38927498e-01 9.90302275e-01 -7.44595320e-04 -2.33194512e+01] [-6.82062933e-03 -2.04982852e-04 9.99976718e-01 -2.38683865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.95, Y:-23.33, Z:-2.39 [[ 9.90714483e-01 1.35789562e-01 6.78296249e-03 3.35953105e+02] [-1.35787644e-01 9.90737685e-01 -7.44595320e-04 -2.33291019e+01] [-6.82124483e-03 -1.83361131e-04 9.99976718e-01 -2.38577485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.01, Y:-23.34, Z:-2.39 [[ 9.90509105e-01 1.37279659e-01 6.78295477e-03 3.36012971e+02] [-1.37277775e-01 9.90532310e-01 -7.44665705e-04 -2.33367949e+01] [-6.82096331e-03 -1.93550780e-04 9.99976718e-01 -2.38774954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.07, Y:-23.34, Z:-2.39 [[ 9.90204394e-01 1.39460563e-01 6.78295477e-03 3.36073477e+02] [-1.39458731e-01 9.90227604e-01 -7.44665705e-04 -2.33396099e+01] [-6.82052055e-03 -2.08571012e-04 9.99976718e-01 -2.39249736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.13, Y:-23.34, Z:-2.39 [[ 9.90118618e-01 1.40068248e-01 6.78295477e-03 3.36134473e+02] [-1.40066430e-01 9.90141829e-01 -7.44665705e-04 -2.33429032e+01] [-6.82039126e-03 -2.12756883e-04 9.99976718e-01 -2.39064997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.20, Y:-23.34, Z:-2.39 [[ 9.90436273e-01 1.37804141e-01 6.78295477e-03 3.36195485e+02] [-1.37802270e-01 9.90459479e-01 -7.44665705e-04 -2.33437430e+01] [-6.82085986e-03 -1.97162639e-04 9.99976718e-01 -2.39056983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.26, Y:-23.35, Z:-2.39 [[ 9.91027969e-01 1.33482416e-01 6.78295477e-03 3.36256465e+02] [-1.33480444e-01 9.91051168e-01 -7.44665705e-04 -2.33472429e+01] [-6.82165502e-03 -1.67407271e-04 9.99976718e-01 -2.38785599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.32, Y:-23.35, Z:-2.39 [[ 9.92006765e-01 1.26002258e-01 6.78294603e-03 3.36317538e+02] [-1.26000110e-01 9.92029948e-01 -7.44745302e-04 -2.33514746e+01] [-6.82272518e-03 -1.15859568e-04 9.99976718e-01 -2.38618806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.38, Y:-23.36, Z:-2.38 [[ 9.92288746e-01 1.23762018e-01 6.78292805e-03 3.36377493e+02] [-1.23759817e-01 9.92311923e-01 -7.44909047e-04 -2.33581971e+01] [-6.82297182e-03 -1.00289072e-04 9.99976718e-01 -2.38215753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.44, Y:-23.36, Z:-2.38 [[ 9.92206532e-01 1.24419408e-01 6.78291931e-03 3.36437655e+02] [-1.24417221e-01 9.92229711e-01 -7.44988614e-04 -2.33622793e+01] [-6.82290511e-03 -1.04729403e-04 9.99976718e-01 -2.38478824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.50, Y:-23.37, Z:-2.39 [[ 9.92685575e-01 1.20537717e-01 6.78291931e-03 3.36498397e+02] [-1.20535440e-01 9.92708745e-01 -7.44988614e-04 -2.33663737e+01] [-6.82326254e-03 -7.80427101e-05 9.99976718e-01 -2.38711535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:336.56, Y:-23.37, Z:-2.39 [[ 9.94312062e-01 1.06289773e-01 6.78291931e-03 3.36559694e+02] [-1.06287164e-01 9.94335197e-01 -7.44988614e-04 -2.33745421e+01] [-6.82368007e-03 1.98139057e-05 9.99976718e-01 -2.38789622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.62, Y:-23.39, Z:-2.39 [[ 9.95918103e-01 9.00062553e-02 6.78279646e-03 3.36620956e+02] [-9.00032605e-02 9.95941191e-01 -7.46105433e-04 -2.33893521e+01] [-6.82242054e-03 1.32586111e-04 9.99976718e-01 -2.39011560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.68, Y:-23.40, Z:-2.39 [[ 9.96401616e-01 8.44855956e-02 6.78265506e-03 3.36683316e+02] [-8.44824642e-02 9.96424686e-01 -7.47388623e-04 -2.34026990e+01] [-6.82154851e-03 1.71683818e-04 9.99976718e-01 -2.38977048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.75, Y:-23.42, Z:-2.40 [[ 9.96194781e-01 8.68904766e-02 6.78251589e-03 3.36745144e+02] [-8.68873923e-02 9.96217858e-01 -7.48649426e-04 -2.34190316e+01] [-6.82191396e-03 1.56485532e-04 9.99976718e-01 -2.39522710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.81, Y:-23.43, Z:-2.40 [[ 9.95633587e-01 9.31008061e-02 6.78237570e-03 3.36807543e+02] [-9.30978571e-02 9.95656681e-01 -7.49917368e-04 -2.34298624e+01] [-6.82273559e-03 1.15218275e-04 9.99976718e-01 -2.39879717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.87, Y:-23.44, Z:-2.40 [[ 9.94640883e-01 1.03167418e-01 6.78223460e-03 3.36868886e+02] [-1.03164694e-01 9.94664004e-01 -7.51191272e-04 -2.34418372e+01] [-6.82354309e-03 4.74783941e-05 9.99976718e-01 -2.39718683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.93, Y:-23.45, Z:-2.40 [[ 9.94257704e-01 1.06797098e-01 6.78210265e-03 3.36930935e+02] [-1.06794450e-01 9.94280835e-01 -7.52380730e-04 -2.34506879e+01] [-6.82366677e-03 2.37694122e-05 9.99976718e-01 -2.39698036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.99, Y:-23.45, Z:-2.40 [[ 9.94148764e-01 1.07806495e-01 6.78196278e-03 3.36993568e+02] [-1.07803862e-01 9.94171896e-01 -7.53639400e-04 -2.34546873e+01] [-6.82368402e-03 1.81078971e-05 9.99976718e-01 -2.39712307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.06, Y:-23.46, Z:-2.40 [[ 9.95100983e-01 9.86308301e-02 6.78182216e-03 3.37056262e+02] [-9.86279754e-02 9.95124089e-01 -7.54902728e-04 -2.34561748e+01] [-6.82321128e-03 8.23270575e-05 9.99976718e-01 -2.39972821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.12, Y:-23.46, Z:-2.40 [[ 9.95992948e-01 8.91743018e-02 6.78173491e-03 3.37119009e+02] [-8.91712225e-02 9.96016025e-01 -7.55685728e-04 -2.34626738e+01] [-6.82210439e-03 1.47922064e-04 9.99976718e-01 -2.39891468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.18, Y:-23.47, Z:-2.40 [[ 9.97087964e-01 7.59578960e-02 6.78159092e-03 3.37181806e+02] [-7.59545022e-02 9.97110997e-01 -7.56975709e-04 -2.34703271e+01] [-6.81949716e-03 2.39679006e-04 9.99976718e-01 -2.39707909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.24, Y:-23.48, Z:-2.40 [[ 9.97472809e-01 7.07248765e-02 6.78144694e-03 3.37243274e+02] [-7.07213531e-02 9.97495822e-01 -7.58263323e-04 -2.34784243e+01] [-6.81809307e-03 2.76753942e-04 9.99976718e-01 -2.39838806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.31, Y:-23.49, Z:-2.40 [[ 9.97218391e-01 7.42259689e-02 6.78131404e-03 3.37306104e+02] [-7.42225183e-02 9.97241416e-01 -7.59450019e-04 -2.34869192e+01] [-6.81897813e-03 2.54011320e-04 9.99976718e-01 -2.39969083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.37, Y:-23.49, Z:-2.40 [[ 9.96953182e-01 7.77069444e-02 6.78116889e-03 3.37368730e+02] [-7.77035654e-02 9.96976217e-01 -7.60743876e-04 -2.34931101e+01] [-6.81977919e-03 2.31505027e-04 9.99976718e-01 -2.40104808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.43, Y:-23.50, Z:-2.40 [[ 9.96865358e-01 7.88256064e-02 6.78102415e-03 3.37430920e+02] [-7.88222445e-02 9.96888396e-01 -7.62031838e-04 -2.34980258e+01] [-6.81999191e-03 2.25147597e-04 9.99976718e-01 -2.40287844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.49, Y:-23.50, Z:-2.40 [[ 9.96792983e-01 7.97356171e-02 6.78088939e-03 3.37493335e+02] [-7.97322681e-02 9.96816023e-01 -7.63229131e-04 -2.35019176e+01] [-6.82015574e-03 2.20125751e-04 9.99976718e-01 -2.39969510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.56, Y:-23.50, Z:-2.40 [[ 9.96696403e-01 8.09339301e-02 6.78075602e-03 3.37556152e+02] [-8.09306007e-02 9.96719446e-01 -7.64412197e-04 -2.35047615e+01] [-6.82037827e-03 2.13116229e-04 9.99976718e-01 -2.40124595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.62, Y:-23.51, Z:-2.40 [[ 9.96855962e-01 7.89443777e-02 6.78061455e-03 3.37619482e+02] [-7.89409938e-02 9.96878996e-01 -7.65665066e-04 -2.35073391e+01] [-6.81989718e-03 2.27989334e-04 9.99976718e-01 -2.40284302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.68, Y:-23.51, Z:-2.40 [[ 9.97100451e-01 7.57939081e-02 6.78047316e-03 3.37682491e+02] [-7.57904430e-02 9.97123473e-01 -7.66915096e-04 -2.35109343e+01] [-6.81909644e-03 2.50796323e-04 9.99976718e-01 -2.40265086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.75, Y:-23.51, Z:-2.40 [[ 9.97538170e-01 6.97970331e-02 6.78033102e-03 3.37746355e+02] [-6.97934211e-02 9.97561170e-01 -7.68169720e-04 -2.35098197e+01] [-6.81741092e-03 2.93056119e-04 9.99976718e-01 -2.40348393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.81, Y:-23.51, Z:-2.40 [[ 9.97886893e-01 6.46202650e-02 6.78018228e-03 3.37809077e+02] [-6.46165248e-02 9.97909872e-01 -7.69480324e-04 -2.35071757e+01] [-6.81573485e-03 3.29742513e-04 9.99976718e-01 -2.40176496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.87, Y:-23.51, Z:-2.41 [[ 9.98127038e-01 6.07984136e-02 6.78004441e-03 3.37872080e+02] [-6.07945773e-02 9.98150001e-01 -7.70693257e-04 -2.35055825e+01] [-6.81435826e-03 3.57059844e-04 9.99976718e-01 -2.40740949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.93, Y:-23.51, Z:-2.40 [[ 9.98205398e-01 5.94980278e-02 6.77991863e-03 3.37934943e+02] [-5.94941540e-02 9.98228356e-01 -7.71798183e-04 -2.35091465e+01] [-6.81382749e-03 3.67047590e-04 9.99976718e-01 -2.40418477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.00, Y:-23.51, Z:-2.40 [[ 9.98073538e-01 6.16704806e-02 6.77977031e-03 3.37996256e+02] [-6.16666480e-02 9.98096502e-01 -7.73098883e-04 -2.35094806e+01] [-6.81454241e-03 3.53523828e-04 9.99976718e-01 -2.39733434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.06, Y:-23.51, Z:-2.40 [[ 9.97843346e-01 6.52893073e-02 6.77965115e-03 3.38058298e+02] [-6.52855510e-02 9.97866322e-01 -7.74142378e-04 -2.35080171e+01] [-6.81572878e-03 3.29859559e-04 9.99976718e-01 -2.40164039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:338.12, Y:-23.51, Z:-2.40 [[ 9.97730222e-01 6.69958372e-02 6.77958233e-03 3.38119937e+02] [-6.69921161e-02 9.97753204e-01 -7.74744613e-04 -2.35111091e+01] [-6.81625466e-03 3.18807548e-04 9.99976718e-01 -2.40427949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.18, Y:-23.51, Z:-2.41 [[ 9.97637195e-01 6.83671368e-02 6.77956458e-03 3.38180211e+02] [-6.83634462e-02 9.97660182e-01 -7.74899967e-04 -2.35121219e+01] [-6.81667932e-03 3.09594632e-04 9.99976718e-01 -2.40580285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.24, Y:-23.51, Z:-2.41 [[ 9.97654998e-01 6.81068401e-02 6.77956458e-03 3.38240546e+02] [-6.81031435e-02 9.97677985e-01 -7.74899967e-04 -2.35149623e+01] [-6.81659831e-03 3.11373166e-04 9.99976718e-01 -2.40519106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.30, Y:-23.52, Z:-2.41 [[ 9.97869812e-01 6.48835568e-02 6.77956458e-03 3.38300005e+02] [-6.48797860e-02 9.97892786e-01 -7.74899967e-04 -2.35163671e+01] [-6.81555685e-03 3.33392586e-04 9.99976718e-01 -2.40779134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.36, Y:-23.52, Z:-2.41 [[ 9.98170379e-01 6.00827052e-02 6.77957343e-03 3.38360762e+02] [-6.00788244e-02 9.98193335e-01 -7.74822492e-04 -2.35170676e+01] [-6.81387845e-03 3.66096060e-04 9.99976718e-01 -2.41001874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.42, Y:-23.52, Z:-2.41 [[ 9.98235644e-01 5.89884432e-02 6.77957343e-03 3.38421771e+02] [-5.89845372e-02 9.98258596e-01 -7.74822492e-04 -2.35177739e+01] [-6.81347303e-03 3.73565428e-04 9.99976718e-01 -2.40873690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.48, Y:-23.51, Z:-2.41 [[ 9.98383501e-01 5.64306814e-02 6.77957343e-03 3.38483593e+02] [-5.64267166e-02 9.98406443e-01 -7.74822492e-04 -2.35134323e+01] [-6.81249355e-03 3.91020924e-04 9.99976718e-01 -2.40626729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.54, Y:-23.51, Z:-2.41 [[ 9.98601017e-01 5.24408876e-02 6.77957343e-03 3.38543164e+02] [-5.24368312e-02 9.98623942e-01 -7.74822492e-04 -2.35130170e+01] [-6.81087673e-03 4.18239181e-04 9.99976718e-01 -2.40938687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.60, Y:-23.51, Z:-2.41 [[ 9.99088434e-01 4.21466368e-02 6.77958227e-03 3.38604293e+02] [-4.21423449e-02 9.99111316e-01 -7.74745173e-04 -2.35131157e+01] [-6.80621027e-03 4.88331447e-04 9.99976718e-01 -2.41071431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.66, Y:-23.51, Z:-2.41 [[ 9.99355193e-01 3.52595527e-02 6.77957358e-03 3.38664790e+02] [-3.52551027e-02 9.99378045e-01 -7.74821200e-04 -2.35145184e+01] [-6.80267684e-03 5.35307027e-04 9.99976718e-01 -2.41068343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:338.73, Y:-23.52, Z:-2.41 [[ 9.99423625e-01 3.32634177e-02 6.77956505e-03 3.38726517e+02] [-3.32589215e-02 9.99446469e-01 -7.74895781e-04 -2.35168209e+01] [-6.80158803e-03 5.48968129e-04 9.99976718e-01 -2.40940732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.79, Y:-23.52, Z:-2.41 [[ 9.99266253e-01 3.76960676e-02 6.77954723e-03 3.38785781e+02] [-3.76916717e-02 9.99289116e-01 -7.75051691e-04 -2.35200876e+01] [-6.80394416e-03 5.18950530e-04 9.99976718e-01 -2.41131407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.85, Y:-23.53, Z:-2.41 [[ 9.99255896e-01 3.79696237e-02 6.77955606e-03 3.38846197e+02] [-3.79652346e-02 9.99278760e-01 -7.74974393e-04 -2.35267710e+01] [-6.80409186e-03 5.17010294e-04 9.99976718e-01 -2.41123114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.91, Y:-23.54, Z:-2.41 [[ 9.99291067e-01 3.70324407e-02 6.77954775e-03 3.38907089e+02] [-3.70280296e-02 9.99313927e-01 -7.75047121e-04 -2.35371426e+01] [-6.80359837e-03 5.23464369e-04 9.99976718e-01 -2.41232142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.97, Y:-23.54, Z:-2.41 [[ 9.99194920e-01 3.95417589e-02 6.77953015e-03 3.38966074e+02] [-3.95374043e-02 9.99217790e-01 -7.75201044e-04 -2.35445505e+01] [-6.80487995e-03 5.06531920e-04 9.99976718e-01 -2.41256866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:339.03, Y:-23.55, Z:-2.41 [[ 9.98910623e-01 4.61692987e-02 6.77953885e-03 3.39026286e+02] [-4.61650964e-02 9.98933523e-01 -7.75124984e-04 -2.35471251e+01] [-6.80809560e-03 4.61302517e-04 9.99976718e-01 -2.41148582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.09, Y:-23.55, Z:-2.41 [[ 9.98718853e-01 5.01466807e-02 6.77953885e-03 3.39085833e+02] [-5.01425696e-02 9.98741769e-01 -7.75124984e-04 -2.35493632e+01] [-6.80987857e-03 4.34188437e-04 9.99976718e-01 -2.40976425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.15, Y:-23.55, Z:-2.41 [[ 9.98658598e-01 5.13326573e-02 6.77955654e-03 3.39145854e+02] [-5.13285744e-02 9.98681519e-01 -7.74970220e-04 -2.35485307e+01] [-6.81039910e-03 4.25945702e-04 9.99976718e-01 -2.41102237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.21, Y:-23.55, Z:-2.41 [[ 9.98842682e-01 4.76165401e-02 6.77957455e-03 3.39206066e+02] [-4.76123731e-02 9.98865587e-01 -7.74812569e-04 -2.35494850e+01] [-6.80877761e-03 4.51124231e-04 9.99976718e-01 -2.41317467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.27, Y:-23.55, Z:-2.41 [[ 9.98903085e-01 4.63321136e-02 6.77956581e-03 3.39265619e+02] [-4.63279166e-02 9.98925985e-01 -7.74889064e-04 -2.35514893e+01] [-6.80818670e-03 4.59955917e-04 9.99976718e-01 -2.41138437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.33, Y:-23.56, Z:-2.41 [[ 9.98910755e-01 4.61664500e-02 6.77958306e-03 3.39325494e+02] [-4.61622503e-02 9.98933655e-01 -7.74738116e-04 -2.35559133e+01] [-6.80812059e-03 4.60933427e-04 9.99976718e-01 -2.41023866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:339.38, Y:-23.56, Z:-2.41 [[ 9.98948127e-01 4.53505912e-02 6.77960090e-03 3.39384252e+02] [-4.53463738e-02 9.98971024e-01 -7.74581990e-04 -2.35559844e+01] [-6.80775260e-03 4.66336912e-04 9.99976718e-01 -2.41144641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.44, Y:-23.56, Z:-2.42 [[ 9.99066291e-01 4.26682960e-02 6.77962749e-03 3.39442830e+02] [-4.26640187e-02 9.99089176e-01 -7.74349157e-04 -2.35566407e+01] [-6.80649260e-03 4.84379986e-04 9.99976718e-01 -2.41641434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.50, Y:-23.56, Z:-2.41 [[ 9.99199837e-01 3.94172748e-02 6.77965316e-03 3.39502811e+02] [-3.94129246e-02 9.99222709e-01 -7.74124383e-04 -2.35602222e+01] [-6.80489727e-03 5.06298999e-04 9.99976718e-01 -2.41087019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.56, Y:-23.56, Z:-2.41 [[ 9.99234218e-01 3.85358754e-02 6.77967095e-03 3.39561547e+02] [-3.85315061e-02 9.99257086e-01 -7.73968529e-04 -2.35600943e+01] [-6.80445979e-03 5.12144906e-04 9.99976718e-01 -2.41022370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.62, Y:-23.56, Z:-2.41 [[ 9.99139348e-01 4.09218662e-02 6.77969054e-03 3.39621187e+02] [-4.09175526e-02 9.99162227e-01 -7.73796885e-04 -2.35596810e+01] [-6.80567591e-03 4.95722571e-04 9.99976718e-01 -2.41161221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:-23.55, Z:-2.41 [[ 9.98985190e-01 4.45266747e-02 6.77970764e-03 3.39680971e+02] [-4.45224447e-02 9.99008085e-01 -7.73647033e-04 -2.35529191e+01] [-6.80743067e-03 4.71012770e-04 9.99976718e-01 -2.41070247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.74, Y:-23.55, Z:-2.42 [[ 9.99178625e-01 3.99513629e-02 6.77974213e-03 3.39740786e+02] [-3.99470302e-02 9.99201500e-01 -7.73344689e-04 -2.35480729e+01] [-6.80522468e-03 5.01878919e-04 9.99976718e-01 -2.41695377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.80, Y:-23.55, Z:-2.42 [[ 9.99376994e-01 3.46360882e-02 6.77976779e-03 3.39799126e+02] [-3.46316354e-02 9.99399846e-01 -7.73119662e-04 -2.35485963e+01] [-6.80247672e-03 5.37843558e-04 9.99976718e-01 -2.41883022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:-23.54, Z:-2.41 [[ 9.99495256e-01 3.10365564e-02 6.77981272e-03 3.39860157e+02] [-3.10320240e-02 9.99518092e-01 -7.72725454e-04 -2.35444175e+01] [-6.80052821e-03 5.61944114e-04 9.99976718e-01 -2.41407469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:-23.54, Z:-2.42 [[ 9.99457013e-01 3.22445800e-02 6.77982974e-03 3.39919903e+02] [-3.22400762e-02 9.99479855e-01 -7.72576065e-04 -2.35427049e+01] [-6.80121464e-03 5.53574339e-04 9.99976718e-01 -2.41533334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:-23.54, Z:-2.42 [[ 9.99464450e-01 3.20132413e-02 6.77984657e-03 3.39980128e+02] [-3.20087331e-02 9.99487291e-01 -7.72428339e-04 -2.35373238e+01] [-6.80109842e-03 5.55000366e-04 9.99976718e-01 -2.41731735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.04, Y:-23.54, Z:-2.42 [[ 9.99581907e-01 2.81077396e-02 6.77988042e-03 3.40039591e+02] [-2.81031443e-02 9.99604730e-01 -7.72131148e-04 -2.35389354e+01] [-6.79890340e-03 5.81272368e-04 9.99976718e-01 -2.41678337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:340.10, Y:-23.54, Z:-2.42 [[ 9.99840402e-01 1.65288615e-02 6.77991484e-03 3.40099131e+02] [-1.65240041e-02 9.99863171e-01 -7.71828796e-04 -2.35431788e+01] [-6.79174460e-03 6.59674273e-04 9.99976718e-01 -2.42136181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.16, Y:-23.55, Z:-2.42 [[ 9.99935781e-01 9.08108445e-03 6.77992338e-03 3.40158894e+02] [-9.07605813e-03 9.99958514e-01 -7.71753785e-04 -2.35534797e+01] [-6.78665046e-03 7.10169245e-04 9.99976718e-01 -2.42193016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.22, Y:-23.56, Z:-2.42 [[ 9.99906173e-01 1.19028396e-02 6.77992338e-03 3.40219479e+02] [-1.18978775e-02 9.99928920e-01 -7.71753785e-04 -2.35630662e+01] [-6.78862752e-03 6.91014676e-04 9.99976718e-01 -2.41983596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.28, Y:-23.57, Z:-2.42 [[ 9.99782102e-01 1.97429286e-02 6.77981459e-03 3.40278784e+02] [-1.97381385e-02 9.99804885e-01 -7.72708248e-04 -2.35728243e+01] [-6.79374728e-03 6.38718956e-04 9.99976718e-01 -2.42199702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:340.34, Y:-23.58, Z:-2.42 [[ 9.99755122e-01 2.10649165e-02 6.77981459e-03 3.40338075e+02] [-2.10601566e-02 9.99777912e-01 -7.72708248e-04 -2.35821094e+01] [-6.79458591e-03 6.29735071e-04 9.99976718e-01 -2.42413370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.40, Y:-23.59, Z:-2.42 [[ 9.99717838e-01 2.27657291e-02 6.77983133e-03 3.40395867e+02] [-2.27610090e-02 9.99740636e-01 -7.72561416e-04 -2.35936954e+01] [-6.79566081e-03 6.18027626e-04 9.99976718e-01 -2.42011581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.45, Y:-23.60, Z:-2.42 [[ 9.99612077e-01 2.70135071e-02 6.77985620e-03 3.40454720e+02] [-2.70088854e-02 9.99634895e-01 -7.72343087e-04 -2.36012055e+01] [-6.79824453e-03 5.88927118e-04 9.99976718e-01 -2.41702909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.51, Y:-23.60, Z:-2.41 [[ 9.99120328e-01 4.13836208e-02 6.77987294e-03 3.40512262e+02] [-4.13793286e-02 9.99143210e-01 -7.72196049e-04 -2.35990227e+01] [-6.80602029e-03 4.90970179e-04 9.99976718e-01 -2.41479653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:-23.59, Z:-2.42 [[ 9.98376136e-01 5.65607812e-02 6.78000678e-03 3.40570438e+02] [-5.65568451e-02 9.98399083e-01 -7.71019134e-04 -2.35944453e+01] [-6.81276200e-03 3.86311311e-04 9.99976718e-01 -2.41597151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.63, Y:-23.59, Z:-2.42 [[ 9.97987175e-01 6.30525900e-02 6.78006404e-03 3.40629101e+02] [-6.30488067e-02 9.98010147e-01 -7.70515290e-04 -2.35947795e+01] [-6.81515570e-03 3.41489430e-04 9.99976718e-01 -2.41503352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.69, Y:-23.59, Z:-2.42 [[ 9.97560695e-01 6.94743837e-02 6.78011551e-03 3.40687642e+02] [-6.94707514e-02 9.97583692e-01 -7.70062150e-04 -2.35915459e+01] [-6.81723225e-03 2.97164014e-04 9.99976718e-01 -2.41591511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.75, Y:-23.59, Z:-2.41 [[ 9.97277961e-01 7.34213727e-02 6.78016660e-03 3.40745755e+02] [-7.34178345e-02 9.97300972e-01 -7.69612071e-04 -2.35908292e+01] [-6.81837271e-03 2.69732008e-04 9.99976718e-01 -2.41416445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.80, Y:-23.59, Z:-2.42 [[ 9.96803422e-01 7.96050674e-02 6.78020887e-03 3.40803769e+02] [-7.96016746e-02 9.96826455e-01 -7.69239492e-04 -2.35868719e+01] [-6.81992693e-03 2.27064578e-04 9.99976718e-01 -2.41604046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.86, Y:-23.58, Z:-2.42 [[ 9.96574857e-01 8.24171183e-02 6.78029591e-03 3.40862053e+02] [-8.24137957e-02 9.96597901e-01 -7.68471520e-04 -2.35837624e+01] [-6.82056388e-03 2.07049474e-04 9.99976718e-01 -2.41612630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.92, Y:-23.59, Z:-2.41 [[ 9.96779583e-01 7.99029983e-02 6.78034655e-03 3.40920191e+02] [-7.98996206e-02 9.96802619e-01 -7.68024425e-04 -2.35857686e+01] [-6.82003465e-03 2.23803949e-04 9.99976718e-01 -2.41484641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.98, Y:-23.59, Z:-2.42 [[ 9.97056341e-01 7.63719780e-02 6.78039737e-03 3.40978028e+02] [-7.63685218e-02 9.97079365e-01 -7.67575469e-04 -2.35903097e+01] [-6.81921556e-03 2.47507064e-04 9.99976718e-01 -2.41642912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.04, Y:-23.60, Z:-2.42 [[ 9.96982907e-01 7.73247017e-02 6.78045116e-03 3.41036075e+02] [-7.73212707e-02 9.97005934e-01 -7.67100024e-04 -2.35958881e+01] [-6.81946583e-03 2.40512512e-04 9.99976718e-01 -2.41777603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.09, Y:-23.60, Z:-2.42 [[ 9.96982460e-01 7.73304591e-02 6.78050443e-03 3.41094436e+02] [-7.73270314e-02 9.97005488e-01 -7.66628911e-04 -2.36030124e+01] [-6.81948389e-03 2.39999299e-04 9.99976718e-01 -2.42275848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.15, Y:-23.61, Z:-2.43 [[ 9.97091995e-01 7.59050639e-02 6.78053992e-03 3.41150820e+02] [-7.59016054e-02 9.97115018e-01 -7.66314864e-04 -2.36109612e+01] [-6.81914536e-03 2.49432550e-04 9.99976718e-01 -2.42552868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.21, Y:-23.62, Z:-2.43 [[ 9.97533798e-01 6.98594685e-02 6.78063505e-03 3.41207755e+02] [-6.98558762e-02 9.97556801e-01 -7.65472219e-04 -2.36244621e+01] [-6.81754409e-03 2.89917207e-04 9.99976718e-01 -2.42564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.27, Y:-23.64, Z:-2.42 [[ 9.97700154e-01 6.74420189e-02 6.78067847e-03 3.41265278e+02] [-6.74383735e-02 9.97723148e-01 -7.65087358e-04 -2.36402112e+01] [-6.81683891e-03 3.06049847e-04 9.99976718e-01 -2.42263733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.32, Y:-23.65, Z:-2.42 [[ 9.97640156e-01 6.83238015e-02 6.78071229e-03 3.41322588e+02] [-6.83201785e-02 9.97663154e-01 -7.64787543e-04 -2.36529397e+01] [-6.81712000e-03 2.99723289e-04 9.99976718e-01 -2.42330048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.38, Y:-23.67, Z:-2.42 [[ 9.97504112e-01 7.02820577e-02 6.78076314e-03 3.41379723e+02] [-7.02784829e-02 9.97527118e-01 -7.64336398e-04 -2.36677367e+01] [-6.81771425e-03 2.85886954e-04 9.99976718e-01 -2.42077381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:-23.68, Z:-2.42 [[ 9.97348853e-01 7.24519593e-02 6.78081604e-03 3.41436379e+02] [-7.24484378e-02 9.97371867e-01 -7.63866797e-04 -2.36776866e+01] [-6.81833880e-03 2.70582145e-04 9.99976718e-01 -2.42124729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.49, Y:-23.69, Z:-2.42 [[ 9.97325864e-01 7.27677184e-02 6.78087725e-03 3.41494941e+02] [-7.27642078e-02 9.97348879e-01 -7.63323067e-04 -2.36865326e+01] [-6.81844561e-03 2.67876675e-04 9.99976718e-01 -2.42457360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.55, Y:-23.70, Z:-2.42 [[ 9.97782779e-01 6.62083510e-02 6.78091238e-03 3.41552002e+02] [-6.62046913e-02 9.97805771e-01 -7.63010850e-04 -2.36956670e+01] [-6.81655120e-03 3.12390875e-04 9.99976718e-01 -2.41987377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:-23.70, Z:-2.42 [[ 9.98136078e-01 6.06497245e-02 6.78096318e-03 3.41609543e+02] [-6.06459399e-02 9.98159050e-01 -7.62559120e-04 -2.37042754e+01] [-6.81472877e-03 3.49899883e-04 9.99976718e-01 -2.41878140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.67, Y:-23.71, Z:-2.42 [[ 9.98369195e-01 5.66830470e-02 6.78101573e-03 3.41667014e+02] [-5.66791742e-02 9.98392153e-01 -7.62091597e-04 -2.37127457e+01] [-6.81331056e-03 3.76506403e-04 9.99976718e-01 -2.42342369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.73, Y:-23.72, Z:-2.43 [[ 9.98530374e-01 5.37690380e-02 6.78105896e-03 3.41725228e+02] [-5.37651008e-02 9.98553320e-01 -7.61706690e-04 -2.37193727e+01] [-6.81220518e-03 3.96002947e-04 9.99976718e-01 -2.42754187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.78, Y:-23.73, Z:-2.43 [[ 9.98905942e-01 4.62702441e-02 6.78109364e-03 3.41783682e+02] [-4.62661369e-02 9.98928859e-01 -7.61397891e-04 -2.37289478e+01] [-6.80906019e-03 4.46829871e-04 9.99976718e-01 -2.43069998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.84, Y:-23.74, Z:-2.43 [[ 9.99254302e-01 3.80112615e-02 6.78112811e-03 3.41841629e+02] [-3.80069670e-02 9.99277184e-01 -7.61090694e-04 -2.37408434e+01] [-6.80515663e-03 5.02793038e-04 9.99976718e-01 -2.43332848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.90, Y:-23.75, Z:-2.44 [[ 9.99365600e-01 3.49630292e-02 6.78116251e-03 3.41898859e+02] [-3.49586671e-02 9.99388469e-01 -7.60784108e-04 -2.37519830e+01] [-6.80361494e-03 5.23241064e-04 9.99976718e-01 -2.43602687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.96, Y:-23.76, Z:-2.44 [[ 9.99289807e-01 3.70661214e-02 6.78120951e-03 3.41957091e+02] [-3.70618102e-02 9.99312686e-01 -7.60364916e-04 -2.37647572e+01] [-6.80473247e-03 5.08501011e-04 9.99976718e-01 -2.43618534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.02, Y:-23.78, Z:-2.43 [[ 9.99064778e-01 4.27034326e-02 6.78124355e-03 3.42015433e+02] [-4.26992526e-02 9.99087682e-01 -7.60061230e-04 -2.37766943e+01] [-6.80751412e-03 4.69796374e-04 9.99976718e-01 -2.43321961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.07, Y:-23.79, Z:-2.43 [[ 9.98927668e-01 4.57987810e-02 6.78127803e-03 3.42072270e+02] [-4.57946741e-02 9.98950585e-01 -7.59753494e-04 -2.37860556e+01] [-6.80895744e-03 4.48392369e-04 9.99976718e-01 -2.43082400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.13, Y:-23.80, Z:-2.43 [[ 9.98972796e-01 4.48036547e-02 6.78132086e-03 3.42129871e+02] [-4.47995275e-02 9.98995709e-01 -7.59371021e-04 -2.37951323e+01] [-6.80853303e-03 4.54791021e-04 9.99976718e-01 -2.42640060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.19, Y:-23.80, Z:-2.43 [[ 9.99175572e-01 4.00273596e-02 6.78136233e-03 3.42187909e+02] [-4.00231255e-02 9.99198465e-01 -7.59000459e-04 -2.38035838e+01] [-6.80630762e-03 4.86963403e-04 9.99976718e-01 -2.42779238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.25, Y:-23.81, Z:-2.43 [[ 9.99503342e-01 3.07747131e-02 6.78139502e-03 3.42245624e+02] [-3.07702691e-02 9.99526195e-01 -7.58708263e-04 -2.38134124e+01] [-6.80153100e-03 5.49666095e-04 9.99976718e-01 -2.42831176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.30, Y:-23.82, Z:-2.43 [[ 9.99619735e-01 2.67282272e-02 6.78142958e-03 3.42303893e+02] [-2.67236928e-02 9.99642571e-01 -7.58399284e-04 -2.38227972e+01] [-6.79927637e-03 5.76886050e-04 9.99976718e-01 -2.42761367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.36, Y:-23.83, Z:-2.43 [[ 9.99617499e-01 2.68116884e-02 6.78145518e-03 3.42362828e+02] [-2.68071574e-02 9.99640336e-01 -7.58170331e-04 -2.38341204e+01] [-6.79934396e-03 5.76088794e-04 9.99976718e-01 -2.42703367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.42, Y:-23.85, Z:-2.43 [[ 9.99514821e-01 3.03995893e-02 6.78147217e-03 3.42420402e+02] [-3.03951414e-02 9.99537674e-01 -7.58018257e-04 -2.38485377e+01] [-6.80138036e-03 5.51526677e-04 9.99976718e-01 -2.43425683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.48, Y:-23.86, Z:-2.44 [[ 9.99418732e-01 3.34097271e-02 6.78149756e-03 3.42479215e+02] [-3.34053496e-02 9.99441598e-01 -7.57791121e-04 -2.38587064e+01] [-6.80302835e-03 5.30812345e-04 9.99976718e-01 -2.43915066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.54, Y:-23.87, Z:-2.44 [[ 9.99137482e-01 4.09671004e-02 6.78151422e-03 3.42536287e+02] [-4.09628969e-02 9.99160381e-01 -7.57641946e-04 -2.38735717e+01] [-6.80685873e-03 4.79197998e-04 9.99976718e-01 -2.44123277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:-23.89, Z:-2.44 [[ 9.98891580e-01 4.65792020e-02 6.78154817e-03 3.42593751e+02] [-4.65751293e-02 9.98914503e-01 -7.57337987e-04 -2.38852342e+01] [-6.80946301e-03 4.40647055e-04 9.99976718e-01 -2.44253900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.65, Y:-23.90, Z:-2.44 [[ 9.98248858e-01 5.87641681e-02 6.78158203e-03 3.42650387e+02] [-5.87603774e-02 9.98271829e-01 -7.57034606e-04 -2.38989585e+01] [-6.81434881e-03 3.57220611e-04 9.99976718e-01 -2.43747284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.71, Y:-23.91, Z:-2.44 [[ 9.97736867e-01 6.68965890e-02 6.78162421e-03 3.42708452e+02] [-6.68929882e-02 9.97759869e-01 -7.56656552e-04 -2.39110834e+01] [-6.81705023e-03 3.01301029e-04 9.99976718e-01 -2.43705465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.77, Y:-23.93, Z:-2.43 [[ 9.96989180e-01 7.72436673e-02 6.78165738e-03 3.42766081e+02] [-7.72403074e-02 9.97012218e-01 -7.56359188e-04 -2.39256752e+01] [-6.81981922e-03 2.30264626e-04 9.99976718e-01 -2.43449951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.82, Y:-23.94, Z:-2.43 [[ 9.96234033e-01 8.64393417e-02 6.78169168e-03 3.42823591e+02] [-8.64361966e-02 9.96257102e-01 -7.56051535e-04 -2.39363579e+01] [-6.82166109e-03 1.67020635e-04 9.99976718e-01 -2.42985964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.88, Y:-23.94, Z:-2.43 [[ 9.95610121e-01 9.33514565e-02 6.78174135e-03 3.42880702e+02] [-9.33484746e-02 9.95633211e-01 -7.55605758e-04 -2.39432039e+01] [-6.82266381e-03 1.19223531e-04 9.99976718e-01 -2.42848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.94, Y:-23.95, Z:-2.43 [[ 9.94942931e-01 1.00212631e-01 6.78179344e-03 3.42937796e+02] [-1.00209812e-01 9.94966041e-01 -7.55137898e-04 -2.39498853e+01] [-6.82332853e-03 7.17168690e-05 9.99976718e-01 -2.42970306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.00, Y:-23.96, Z:-2.43 [[ 9.94861836e-01 1.01014522e-01 6.78184555e-03 3.42995080e+02] [-1.01011724e-01 9.94884949e-01 -7.54669593e-04 -2.39553656e+01] [-6.82338866e-03 6.57460623e-05 9.99976718e-01 -2.42943408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:-23.96, Z:-2.43 [[ 9.94821824e-01 1.01407808e-01 6.78189936e-03 3.43052521e+02] [-1.01405023e-01 9.94844939e-01 -7.54185704e-04 -2.39585088e+01] [-6.82341858e-03 6.25617360e-05 9.99976718e-01 -2.43319607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.11, Y:-23.96, Z:-2.44 [[ 9.95171890e-01 9.79127913e-02 6.78195806e-03 3.43111500e+02] [-9.79099285e-02 9.95194995e-01 -7.53657487e-04 -2.39624694e+01] [-6.82316343e-03 8.59977161e-05 9.99976718e-01 -2.44121513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.17, Y:-23.97, Z:-2.44 [[ 9.95600778e-01 9.34510346e-02 6.78199291e-03 3.43169139e+02] [-9.34480704e-02 9.95623870e-01 -7.53343821e-04 -2.39678162e+01] [-6.82271478e-03 1.16265543e-04 9.99976718e-01 -2.43993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.23, Y:-23.97, Z:-2.44 [[ 9.96412870e-01 8.43528138e-02 6.78203593e-03 3.43227487e+02] [-8.43496414e-02 9.96435934e-01 -7.52956298e-04 -2.39749258e+01] [-6.82137829e-03 1.78193046e-04 9.99976718e-01 -2.44064548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.28, Y:-23.99, Z:-2.44 [[ 9.96840087e-01 7.91444590e-02 6.78207099e-03 3.43284280e+02] [-7.91411683e-02 9.96863135e-01 -7.52640396e-04 -2.39858282e+01] [-6.82036386e-03 2.13521096e-04 9.99976718e-01 -2.44378455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.34, Y:-24.00, Z:-2.44 [[ 9.96970527e-01 7.74840021e-02 6.78211430e-03 3.43341110e+02] [-7.74806756e-02 9.96993570e-01 -7.52249905e-04 -2.40029746e+01] [-6.82001168e-03 2.24488186e-04 9.99976718e-01 -2.43904531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:343.40, Y:-24.02, Z:-2.44 [[ 9.96335617e-01 8.52604265e-02 6.78215746e-03 3.43397436e+02] [-8.52572825e-02 9.96358686e-01 -7.51860570e-04 -2.40233283e+01] [-6.82156544e-03 1.70877151e-04 9.99976718e-01 -2.43543429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.45, Y:-24.04, Z:-2.43 [[ 9.95642330e-01 9.30072701e-02 6.78220485e-03 3.43454629e+02] [-9.30043086e-02 9.95665423e-01 -7.51432864e-04 -2.40392165e+01] [-6.82269557e-03 1.17384095e-04 9.99976718e-01 -2.43261751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.51, Y:-24.06, Z:-2.43 [[ 9.94401471e-01 1.05450064e-01 6.78223700e-03 3.43511842e+02] [-1.05447393e-01 9.94424599e-01 -7.51142526e-04 -2.40589786e+01] [-6.82363134e-03 3.17680206e-05 9.99976718e-01 -2.43091952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.57, Y:-24.07, Z:-2.43 [[ 9.93544896e-01 1.13236660e-01 6.78226900e-03 3.43569242e+02] [-1.13234173e-01 9.93568044e-01 -7.50853458e-04 -2.40747232e+01] [-6.82366989e-03 -2.19779986e-05 9.99976718e-01 -2.43268854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.63, Y:-24.09, Z:-2.43 [[ 9.92042835e-01 1.25717990e-01 6.78230386e-03 3.43625956e+02] [-1.25715796e-01 9.92066014e-01 -7.50538493e-04 -2.40906288e+01] [-6.82284934e-03 -1.08076393e-04 9.99976718e-01 -2.43279177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.68, Y:-24.11, Z:-2.43 [[ 9.90916719e-01 1.34305829e-01 6.78234704e-03 3.43682242e+02] [-1.34303838e-01 9.90939916e-01 -7.50148121e-04 -2.41059375e+01] [-6.82164766e-03 -1.67560924e-04 9.99976718e-01 -2.43472903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.74, Y:-24.12, Z:-2.44 [[ 9.90627636e-01 1.36421719e-01 6.78240226e-03 3.43739301e+02] [-1.36419781e-01 9.90650837e-01 -7.49648483e-04 -2.41189321e+01] [-6.82126081e-03 -1.82631328e-04 9.99976718e-01 -2.43867784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.80, Y:-24.14, Z:-2.44 [[ 9.90607533e-01 1.36567617e-01 6.78244758e-03 3.43796566e+02] [-1.36565686e-01 9.90630735e-01 -7.49238262e-04 -2.41393246e+01] [-6.82122271e-03 -1.84048537e-04 9.99976718e-01 -2.44260393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.85, Y:-24.16, Z:-2.44 [[ 9.90357229e-01 1.38371081e-01 6.78248403e-03 3.43852631e+02] [-1.38369194e-01 9.90380435e-01 -7.48908153e-04 -2.41588571e+01] [-6.82086671e-03 -1.96800245e-04 9.99976718e-01 -2.44270802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.91, Y:-24.17, Z:-2.44 [[ 9.88823235e-01 1.48938266e-01 6.78252897e-03 3.43909343e+02] [-1.48936630e-01 9.88846459e-01 -7.48500911e-04 -2.41734129e+01] [-6.81836018e-03 -2.70031914e-04 9.99976718e-01 -2.44020801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.97, Y:-24.18, Z:-2.44 [[ 9.87682426e-01 1.56324733e-01 6.78257256e-03 3.43966907e+02] [-1.56323273e-01 9.87705662e-01 -7.48105658e-04 -2.41822356e+01] [-6.81613274e-03 -3.21383134e-04 9.99976718e-01 -2.44221643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:-24.19, Z:-2.44 [[ 9.86724839e-01 1.62259323e-01 6.78261506e-03 3.44025527e+02] [-1.62258006e-01 9.86748084e-01 -7.47720122e-04 -2.41895151e+01] [-6.81405698e-03 -3.62739576e-04 9.99976718e-01 -2.44088056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.08, Y:-24.19, Z:-2.44 [[ 9.86428289e-01 1.64052512e-01 6.78265002e-03 3.44084497e+02] [-1.64051239e-01 9.86451536e-01 -7.47402869e-04 -2.41939802e+01] [-6.81336885e-03 -3.75442805e-04 9.99976718e-01 -2.43782020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.14, Y:-24.20, Z:-2.44 [[ 9.87263791e-01 1.58947168e-01 6.78268577e-03 3.44141558e+02] [-1.58945777e-01 9.87287031e-01 -7.47078367e-04 -2.42027357e+01] [-6.81520368e-03 -3.40515837e-04 9.99976718e-01 -2.43718350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:-24.21, Z:-2.44 [[ 9.87940094e-01 1.54687962e-01 6.78273345e-03 3.44199492e+02] [-1.54686474e-01 9.87963328e-01 -7.46645216e-04 -2.42113072e+01] [-6.81658894e-03 -3.11556376e-04 9.99976718e-01 -2.43629380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.26, Y:-24.22, Z:-2.44 [[ 9.88577645e-01 1.50559734e-01 6.78276769e-03 3.44257432e+02] [-1.50558151e-01 9.88600873e-01 -7.46334009e-04 -2.42239279e+01] [-6.81781791e-03 -2.83391843e-04 9.99976718e-01 -2.43878414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.32, Y:-24.24, Z:-2.44 [[ 9.88815370e-01 1.48990460e-01 6.78280170e-03 3.44316175e+02] [-1.48988843e-01 9.88838596e-01 -7.46024780e-04 -2.42383991e+01] [-6.81824669e-03 -2.72881005e-04 9.99976718e-01 -2.44187677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.37, Y:-24.25, Z:-2.45 [[ 9.88764722e-01 1.49326211e-01 6.78281935e-03 3.44373517e+02] [-1.49324602e-01 9.88787948e-01 -7.45864301e-04 -2.42528121e+01] [-6.81814712e-03 -2.75357489e-04 9.99976718e-01 -2.44518884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.43, Y:-24.27, Z:-2.45 [[ 9.88352406e-01 1.52031298e-01 6.78284554e-03 3.44431786e+02] [-1.52029754e-01 9.88375636e-01 -7.45626069e-04 -2.42725817e+01] [-6.81735777e-03 -2.94253022e-04 9.99976718e-01 -2.44650176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.49, Y:-24.29, Z:-2.45 [[ 9.87708367e-01 1.56160732e-01 6.78284554e-03 3.44491313e+02] [-1.56159285e-01 9.87731604e-01 -7.45626069e-04 -2.42869220e+01] [-6.81606842e-03 -3.22743203e-04 9.99976718e-01 -2.44803404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.55, Y:-24.30, Z:-2.45 [[ 9.86044334e-01 1.66344716e-01 6.78284554e-03 3.44549963e+02] [-1.66343510e-01 9.86067584e-01 -7.45626069e-04 -2.43008130e+01] [-6.81237507e-03 -3.93061972e-04 9.99976718e-01 -2.44882691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.61, Y:-24.31, Z:-2.45 [[ 9.84491431e-01 1.75301497e-01 6.78286256e-03 3.44609032e+02] [-1.75300503e-01 9.84514692e-01 -7.45471230e-04 -2.43090773e+01] [-6.80851006e-03 -4.55129180e-04 9.99976718e-01 -2.44723051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.67, Y:-24.31, Z:-2.44 [[ 9.83727848e-01 1.79536944e-01 6.78287950e-03 3.44667720e+02] [-1.79536051e-01 9.83751112e-01 -7.45316979e-04 -2.43146954e+01] [-6.80647719e-03 -4.84582332e-04 9.99976718e-01 -2.44336173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.73, Y:-24.32, Z:-2.44 [[ 9.83561997e-01 1.80443314e-01 6.78290449e-03 3.44726709e+02] [-1.80442444e-01 9.83585263e-01 -7.45089542e-04 -2.43177438e+01] [-6.80601132e-03 -4.91082104e-04 9.99976718e-01 -2.44415853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.79, Y:-24.32, Z:-2.44 [[ 9.84010119e-01 1.77983364e-01 6.78293687e-03 3.44786496e+02] [-1.77982438e-01 9.84033382e-01 -7.44794667e-04 -2.43189955e+01] [-6.80719737e-03 -4.74358149e-04 9.99976718e-01 -2.44167235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.85, Y:-24.32, Z:-2.44 [[ 9.84225060e-01 1.76790904e-01 6.78295401e-03 3.44845941e+02] [-1.76789951e-01 9.84248322e-01 -7.44638506e-04 -2.43236743e+01] [-6.80775642e-03 -4.66266226e-04 9.99976718e-01 -2.44259132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.91, Y:-24.33, Z:-2.45 [[ 9.84866867e-01 1.73179808e-01 6.78297135e-03 3.44905216e+02] [-1.73178770e-01 9.84890126e-01 -7.44480549e-04 -2.43265390e+01] [-6.80941050e-03 -4.41452409e-04 9.99976718e-01 -2.44801453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.96, Y:-24.33, Z:-2.45 [[ 9.85436345e-01 1.69909390e-01 6.78298863e-03 3.44964705e+02] [-1.69908276e-01 9.85459600e-01 -7.44323045e-04 -2.43321751e+01] [-6.81082874e-03 -4.19002923e-04 9.99976718e-01 -2.45104790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.02, Y:-24.34, Z:-2.45 [[ 9.86318547e-01 1.64711003e-01 6.78300598e-03 3.45023124e+02] [-1.64709768e-01 9.86341796e-01 -7.44164892e-04 -2.43414288e+01] [-6.81293445e-03 -3.83243708e-04 9.99976718e-01 -2.45123391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.08, Y:-24.36, Z:-2.46 [[ 9.86890805e-01 1.61246797e-01 6.78299757e-03 3.45082742e+02] [-1.61245480e-01 9.86914050e-01 -7.44241553e-04 -2.43557559e+01] [-6.81424217e-03 -3.59242555e-04 9.99976718e-01 -2.45581984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.14, Y:-24.37, Z:-2.45 [[ 9.86802179e-01 1.61788291e-01 6.78299757e-03 3.45142118e+02] [-1.61786986e-01 9.86825424e-01 -7.44241552e-04 -2.43694327e+01] [-6.81404402e-03 -3.62981548e-04 9.99976718e-01 -2.45409896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.20, Y:-24.39, Z:-2.45 [[ 9.85876273e-01 1.67337877e-01 6.78295889e-03 3.45201454e+02] [-1.67336701e-01 9.85899525e-01 -7.44593900e-04 -2.43861630e+01] [-6.81191471e-03 -4.00960504e-04 9.99976718e-01 -2.45204361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.26, Y:-24.41, Z:-2.45 [[ 9.84569720e-01 1.74861254e-01 6.78295889e-03 3.45260852e+02] [-1.74860256e-01 9.84592980e-01 -7.44593900e-04 -2.44056571e+01] [-6.80865433e-03 -4.52965319e-04 9.99976718e-01 -2.45080325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.32, Y:-24.42, Z:-2.45 [[ 9.83324324e-01 1.81734051e-01 6.78294225e-03 3.45319316e+02] [-1.81733214e-01 9.83347591e-01 -7.44745493e-04 -2.44247090e+01] [-6.80533553e-03 -5.00359538e-04 9.99976718e-01 -2.44861796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.38, Y:-24.44, Z:-2.45 [[ 9.82592572e-01 1.85649747e-01 6.78293403e-03 3.45380897e+02] [-1.85649002e-01 9.82615842e-01 -7.44820363e-04 -2.44404695e+01] [-6.80329414e-03 -5.27389979e-04 9.99976718e-01 -2.44851042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.44, Y:-24.46, Z:-2.45 [[ 9.81353996e-01 1.92089374e-01 6.78279718e-03 3.45441855e+02] [-1.92088773e-01 9.81377270e-01 -7.46064451e-04 -2.44577494e+01] [-6.79979404e-03 -5.70745860e-04 9.99976718e-01 -2.44778375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.50, Y:-24.47, Z:-2.45 [[ 9.80215431e-01 1.97817351e-01 6.78267029e-03 3.45502249e+02] [-1.97816878e-01 9.80238708e-01 -7.47216300e-04 -2.44673928e+01] [-6.79644831e-03 -6.09293716e-04 9.99976718e-01 -2.45322264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.56, Y:-24.48, Z:-2.46 [[ 9.79431021e-01 2.01665246e-01 6.78256444e-03 3.45564540e+02] [-2.01664857e-01 9.79454300e-01 -7.48175913e-04 -2.44757704e+01] [-6.79409298e-03 -6.35018192e-04 9.99976718e-01 -2.45587199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.63, Y:-24.49, Z:-2.46 [[ 9.79824043e-01 1.99746950e-01 6.78243078e-03 3.45626073e+02] [-1.99746508e-01 9.79847320e-01 -7.49385557e-04 -2.44865051e+01] [-6.79543411e-03 -6.20500878e-04 9.99976718e-01 -2.45614865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.69, Y:-24.50, Z:-2.46 [[ 9.80489879e-01 1.96452532e-01 6.78230636e-03 3.45686244e+02] [-1.96452004e-01 9.80513155e-01 -7.50509943e-04 -2.44982831e+01] [-6.79758019e-03 -5.96530272e-04 9.99976718e-01 -2.46003111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.75, Y:-24.51, Z:-2.46 [[ 9.80091205e-01 1.98431930e-01 6.78220187e-03 3.45748214e+02] [-1.98431443e-01 9.80114482e-01 -7.51453038e-04 -2.45065236e+01] [-6.79644655e-03 -6.09309588e-04 9.99976718e-01 -2.45784958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.81, Y:-24.51, Z:-2.46 [[ 9.79608057e-01 2.00803533e-01 6.78207794e-03 3.45811072e+02] [-2.00803095e-01 9.79631334e-01 -7.52569858e-04 -2.45133734e+01] [-6.79505475e-03 -6.24638743e-04 9.99976718e-01 -2.45754690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.87, Y:-24.52, Z:-2.46 [[ 9.79991418e-01 1.98924169e-01 6.78194244e-03 3.45872995e+02] [-1.98923677e-01 9.80014695e-01 -7.53789035e-04 -2.45198685e+01] [-6.79635010e-03 -6.10382142e-04 9.99976718e-01 -2.45688741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.94, Y:-24.53, Z:-2.46 [[ 9.81103844e-01 1.93363010e-01 6.78181697e-03 3.45935308e+02] [-1.93362379e-01 9.81127117e-01 -7.54916195e-04 -2.45286596e+01] [-6.79979740e-03 -5.70697079e-04 9.99976718e-01 -2.45793979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.00, Y:-24.54, Z:-2.46 [[ 9.82266618e-01 1.87366754e-01 6.78168473e-03 3.45996770e+02] [-1.87365973e-01 9.82289886e-01 -7.56102289e-04 -2.45381435e+01] [-6.80324875e-03 -5.27962916e-04 9.99976718e-01 -2.45602007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.06, Y:-24.55, Z:-2.45 [[ 9.82389385e-01 1.86722003e-01 6.78156128e-03 3.46058070e+02] [-1.86721198e-01 9.82412653e-01 -7.57207882e-04 -2.45450081e+01] [-6.80367898e-03 -5.22388262e-04 9.99976718e-01 -2.45493928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.12, Y:-24.55, Z:-2.46 [[ 9.82395279e-01 1.86690993e-01 6.78143974e-03 3.46120316e+02] [-1.86690181e-01 9.82418547e-01 -7.58294817e-04 -2.45516410e+01] [-6.80377899e-03 -5.21082961e-04 9.99976718e-01 -2.45547164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.18, Y:-24.56, Z:-2.45 [[ 9.83029849e-01 1.83320291e-01 6.78130511e-03 3.46183239e+02] [-1.83319390e-01 9.83053114e-01 -7.59496907e-04 -2.45585387e+01] [-6.80561429e-03 -4.96536586e-04 9.99976718e-01 -2.45327032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:-24.56, Z:-2.46 [[ 9.84062327e-01 1.77694547e-01 6.78116642e-03 3.46245486e+02] [-1.77693505e-01 9.84085586e-01 -7.60733117e-04 -2.45641866e+01] [-6.80842626e-03 -4.56360426e-04 9.99976718e-01 -2.45573522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.31, Y:-24.57, Z:-2.46 [[ 9.84227648e-01 1.76776569e-01 6.78102243e-03 3.46307161e+02] [-1.76775496e-01 9.84250905e-01 -7.62014533e-04 -2.45702336e+01] [-6.80893377e-03 -4.48722831e-04 9.99976718e-01 -2.45690737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.37, Y:-24.58, Z:-2.46 [[ 9.83899626e-01 1.78593237e-01 6.78093269e-03 3.46369261e+02] [-1.78592201e-01 9.83922885e-01 -7.62812216e-04 -2.45753815e+01] [-6.80814796e-03 -4.60491042e-04 9.99976718e-01 -2.45907872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.43, Y:-24.58, Z:-2.46 [[ 9.83412615e-01 1.81255754e-01 6.78080055e-03 3.46431738e+02] [-1.81254774e-01 9.83435877e-01 -7.63985050e-04 -2.45783484e+01] [-6.80695922e-03 -4.77739933e-04 9.99976718e-01 -2.46120701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.49, Y:-24.58, Z:-2.46 [[ 9.83575008e-01 1.80372464e-01 6.78067444e-03 3.46493988e+02] [-1.80371455e-01 9.83598268e-01 -7.65102725e-04 -2.45844568e+01] [-6.80746309e-03 -4.70504196e-04 9.99976718e-01 -2.46167395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.56, Y:-24.59, Z:-2.46 [[ 9.84244510e-01 1.76682678e-01 6.78053424e-03 3.46556023e+02] [-1.76681573e-01 9.84267766e-01 -7.66343139e-04 -2.45920722e+01] [-6.80926085e-03 -4.43726429e-04 9.99976718e-01 -2.46002343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.62, Y:-24.60, Z:-2.46 [[ 9.83826609e-01 1.78995053e-01 6.78040182e-03 3.46617985e+02] [-1.78993995e-01 9.83849867e-01 -7.67512993e-04 -2.45996813e+01] [-6.80827846e-03 -4.58551502e-04 9.99976718e-01 -2.45718225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.68, Y:-24.61, Z:-2.46 [[ 9.82869824e-01 1.84176374e-01 6.78027064e-03 3.46679862e+02] [-1.84175431e-01 9.82893087e-01 -7.68670089e-04 -2.46067059e+01] [-6.80585201e-03 -4.93256631e-04 9.99976718e-01 -2.45711255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.74, Y:-24.62, Z:-2.46 [[ 9.81710951e-01 1.90256770e-01 6.78018527e-03 3.46742470e+02] [-1.90255965e-01 9.81734219e-01 -7.69422386e-04 -2.46158849e+01] [-6.80272771e-03 -5.34620309e-04 9.99976718e-01 -2.45607631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.80, Y:-24.62, Z:-2.46 [[ 9.81502380e-01 1.91329842e-01 6.78005189e-03 3.46804771e+02] [-1.91329054e-01 9.81525649e-01 -7.70595895e-04 -2.46239006e+01] [-6.80223282e-03 -5.40879212e-04 9.99976718e-01 -2.45753227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.87, Y:-24.63, Z:-2.46 [[ 9.81767108e-01 1.89966784e-01 6.77991847e-03 3.46867326e+02] [-1.89965957e-01 9.81790375e-01 -7.71767977e-04 -2.46318881e+01] [-6.80306898e-03 -5.30257284e-04 9.99976718e-01 -2.46028383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.93, Y:-24.64, Z:-2.46 [[ 9.82418242e-01 1.86570181e-01 6.77978566e-03 3.46929737e+02] [-1.86569265e-01 9.82441506e-01 -7.72932951e-04 -2.46413825e+01] [-6.80494907e-03 -5.05556199e-04 9.99976718e-01 -2.45719967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.99, Y:-24.65, Z:-2.46 [[ 9.82521026e-01 1.86028142e-01 6.77964794e-03 3.46992039e+02] [-1.86027204e-01 9.82544289e-01 -7.74139018e-04 -2.46497793e+01] [-6.80531601e-03 -5.00591092e-04 9.99976718e-01 -2.46031099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.05, Y:-24.66, Z:-2.46 [[ 9.82214176e-01 1.87641548e-01 6.77950593e-03 3.47053158e+02] [-1.87640641e-01 9.82237440e-01 -7.75380727e-04 -2.46575999e+01] [-6.80457819e-03 -5.10520894e-04 9.99976718e-01 -2.46273630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.12, Y:-24.66, Z:-2.46 [[ 9.81598784e-01 1.90834661e-01 6.77937346e-03 3.47115752e+02] [-1.90833821e-01 9.81622050e-01 -7.76537192e-04 -2.46637157e+01] [-6.80297269e-03 -5.31485780e-04 9.99976718e-01 -2.46329370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.18, Y:-24.67, Z:-2.46 [[ 9.81485086e-01 1.91418565e-01 6.77923130e-03 3.47177296e+02] [-1.91417731e-01 9.81508353e-01 -7.77776286e-04 -2.46708299e+01] [-6.80275297e-03 -5.34289247e-04 9.99976718e-01 -2.46336785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.24, Y:-24.68, Z:-2.46 [[ 9.81626994e-01 1.90689507e-01 6.77909937e-03 3.47240425e+02] [-1.90688647e-01 9.81650260e-01 -7.78924549e-04 -2.46772061e+01] [-6.80323739e-03 -5.28083925e-04 9.99976718e-01 -2.46245588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.30, Y:-24.68, Z:-2.46 [[ 9.81854082e-01 1.89516775e-01 6.77895275e-03 3.47302197e+02] [-1.89515879e-01 9.81877346e-01 -7.80198465e-04 -2.46808594e+01] [-6.80396083e-03 -5.18678139e-04 9.99976718e-01 -2.46465103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.36, Y:-24.69, Z:-2.46 [[ 9.81914482e-01 1.89203586e-01 6.77886170e-03 3.47364787e+02] [-1.89202677e-01 9.81937746e-01 -7.80988802e-04 -2.46857247e+01] [-6.80418606e-03 -5.15714562e-04 9.99976718e-01 -2.46456591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.43, Y:-24.69, Z:-2.47 [[ 9.81970564e-01 1.88912309e-01 6.77871969e-03 3.47427549e+02] [-1.88911385e-01 9.81993827e-01 -7.82219407e-04 -2.46904979e+01] [-6.80443177e-03 -5.12460890e-04 9.99976718e-01 -2.46731034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.49, Y:-24.69, Z:-2.47 [[ 9.82072890e-01 1.88379641e-01 6.77857714e-03 3.47489831e+02] [-1.88378695e-01 9.82096153e-01 -7.83452802e-04 -2.46939506e+01] [-6.80480109e-03 -5.07531758e-04 9.99976718e-01 -2.46780192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:-24.70, Z:-2.46 [[ 9.82044234e-01 1.88528975e-01 6.77844506e-03 3.47552231e+02] [-1.88528025e-01 9.82067497e-01 -7.84593891e-04 -2.46986448e+01] [-6.80480925e-03 -5.07420956e-04 9.99976718e-01 -2.46476973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.62, Y:-24.70, Z:-2.47 [[ 9.82060102e-01 1.88446307e-01 6.77831421e-03 3.47615556e+02] [-1.88445347e-01 9.82083364e-01 -7.85722714e-04 -2.47028855e+01] [-6.80493616e-03 -5.05714847e-04 9.99976718e-01 -2.46582010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.68, Y:-24.71, Z:-2.47 [[ 9.82077583e-01 1.88355189e-01 6.77817286e-03 3.47677633e+02] [-1.88354219e-01 9.82100844e-01 -7.86940169e-04 -2.47109336e+01] [-6.80507356e-03 -5.03861160e-04 9.99976718e-01 -2.46502951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.74, Y:-24.72, Z:-2.46 [[ 9.81814827e-01 1.89720068e-01 6.77802986e-03 3.47738653e+02] [-1.89719122e-01 9.81838089e-01 -7.88169974e-04 -2.47189550e+01] [-6.80445955e-03 -5.12084909e-04 9.99976718e-01 -2.46490785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.80, Y:-24.73, Z:-2.46 [[ 9.80296742e-01 1.97414178e-01 6.77789676e-03 3.47801639e+02] [-1.97413407e-01 9.80320011e-01 -7.89312930e-04 -2.47268910e+01] [-6.80032939e-03 -5.64286794e-04 9.99976718e-01 -2.46249615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.86, Y:-24.73, Z:-2.47 [[ 9.78907997e-01 2.04189116e-01 6.77775347e-03 3.47864467e+02] [-2.04188497e-01 9.78931271e-01 -7.90541426e-04 -2.47292936e+01] [-6.79637477e-03 -6.10071972e-04 9.99976718e-01 -2.46553763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.93, Y:-24.73, Z:-2.47 [[ 9.78822410e-01 2.04599006e-01 6.77760257e-03 3.47926767e+02] [-2.04598388e-01 9.78845684e-01 -7.91832994e-04 -2.47341906e+01] [-6.79623527e-03 -6.11622684e-04 9.99976718e-01 -2.46670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.99, Y:-24.74, Z:-2.46 [[ 9.79942070e-01 1.99167282e-01 6.77746242e-03 3.47988416e+02] [-1.99166527e-01 9.79965339e-01 -7.93030759e-04 -2.47379087e+01] [-6.79962404e-03 -5.72719447e-04 9.99976718e-01 -2.46485918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.05, Y:-24.74, Z:-2.47 [[ 9.81411929e-01 1.91793360e-01 6.77732966e-03 3.48051474e+02] [-1.91792422e-01 9.81435192e-01 -7.94163719e-04 -2.47423582e+01] [-6.80382517e-03 -5.20438723e-04 9.99976718e-01 -2.46594428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.11, Y:-24.75, Z:-2.46 [[ 9.82274964e-01 1.87323159e-01 6.77718812e-03 3.48112898e+02] [-1.87322106e-01 9.82298221e-01 -7.95369808e-04 -2.47498321e+01] [-6.80621102e-03 -4.88245304e-04 9.99976718e-01 -2.46384382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.17, Y:-24.76, Z:-2.47 [[ 9.83136027e-01 1.82750168e-01 6.77705587e-03 3.48174340e+02] [-1.82749000e-01 9.83159279e-01 -7.96495058e-04 -2.47624060e+01] [-6.80848497e-03 -4.55437194e-04 9.99976718e-01 -2.46611496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.24, Y:-24.77, Z:-2.47 [[ 9.83406480e-01 1.81289186e-01 6.77691323e-03 3.48235375e+02] [-1.81287975e-01 9.83429730e-01 -7.97706813e-04 -2.47737309e+01] [-6.80923357e-03 -4.44102825e-04 9.99976718e-01 -2.46927611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.30, Y:-24.79, Z:-2.47 [[ 9.83018266e-01 1.83382559e-01 6.77677944e-03 3.48297481e+02] [-1.83381390e-01 9.83041519e-01 -7.98841783e-04 -2.47875094e+01] [-6.80834921e-03 -4.57459168e-04 9.99976718e-01 -2.46601089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.36, Y:-24.80, Z:-2.47 [[ 9.82602680e-01 1.85596471e-01 6.77663181e-03 3.48358066e+02] [-1.85595346e-01 9.82625935e-01 -8.00092206e-04 -2.47993011e+01] [-6.80738846e-03 -4.71538577e-04 9.99976718e-01 -2.46836460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.42, Y:-24.82, Z:-2.47 [[ 9.82879771e-01 1.84123424e-01 6.77649501e-03 3.48418965e+02] [-1.84122256e-01 9.82903023e-01 -8.01249185e-04 -2.48184927e+01] [-6.80816617e-03 -4.60171934e-04 9.99976718e-01 -2.47205826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.48, Y:-24.84, Z:-2.47 [[ 9.83279438e-01 1.81976997e-01 6.77635142e-03 3.48480358e+02] [-1.81975769e-01 9.83302688e-01 -8.02461686e-04 -2.48354226e+01] [-6.80923414e-03 -4.44087688e-04 9.99976718e-01 -2.47061416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.54, Y:-24.85, Z:-2.47 [[ 9.82643399e-01 1.85380780e-01 6.77620711e-03 3.48541947e+02] [-1.85379625e-01 9.82666652e-01 -8.03678510e-04 -2.48539251e+01] [-6.80773930e-03 -4.66441348e-04 9.99976718e-01 -2.47244827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.60, Y:-24.87, Z:-2.48 [[ 9.81220770e-01 1.92768997e-01 6.77606298e-03 3.48602913e+02] [-1.92768008e-01 9.81244030e-01 -8.04891805e-04 -2.48678499e+01] [-6.80412954e-03 -5.16431606e-04 9.99976718e-01 -2.47860074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.67, Y:-24.88, Z:-2.48 [[ 9.80771462e-01 1.95042111e-01 6.77592879e-03 3.48665154e+02] [-1.95041169e-01 9.80794725e-01 -8.06019897e-04 -2.48801459e+01] [-6.80300304e-03 -5.31063759e-04 9.99976718e-01 -2.47675708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.73, Y:-24.89, Z:-2.48 [[ 9.80802737e-01 1.94884787e-01 6.77578178e-03 3.48727512e+02] [-1.94883832e-01 9.80825999e-01 -8.07253855e-04 -2.48895903e+01] [-6.80318443e-03 -5.28733528e-04 9.99976718e-01 -2.47581866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.79, Y:-24.90, Z:-2.47 [[ 9.81586755e-01 1.90896654e-01 6.77563157e-03 3.48789238e+02] [-1.90895596e-01 9.81610013e-01 -8.08512670e-04 -2.49038779e+01] [-6.80537016e-03 -4.99812900e-04 9.99976718e-01 -2.47418375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.85, Y:-24.92, Z:-2.47 [[ 9.82164168e-01 1.87903273e-01 6.77548263e-03 3.48849999e+02] [-1.87902135e-01 9.82187422e-01 -8.09758892e-04 -2.49163866e+01] [-6.80695017e-03 -4.77811486e-04 9.99976718e-01 -2.47341155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.91, Y:-24.93, Z:-2.48 [[ 9.81972521e-01 1.88902257e-01 6.77534410e-03 3.48910757e+02] [-1.88901135e-01 9.81995776e-01 -8.10916329e-04 -2.49294238e+01] [-6.80654321e-03 -4.83572642e-04 9.99976718e-01 -2.47604917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.97, Y:-24.94, Z:-2.48 [[ 9.80992637e-01 1.93926641e-01 6.77525569e-03 3.48973162e+02] [-1.93925634e-01 9.81015897e-01 -8.11654316e-04 -2.49421123e+01] [-6.80403494e-03 -5.17668847e-04 9.99976718e-01 -2.47544709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.04, Y:-24.95, Z:-2.48 [[ 9.80126171e-01 1.98259392e-01 6.77511426e-03 3.49035924e+02] [-1.98258479e-01 9.80149435e-01 -8.12833174e-04 -2.49509490e+01] [-6.80177623e-03 -5.46544784e-04 9.99976718e-01 -2.47512052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.10, Y:-24.96, Z:-2.47 [[ 9.78930828e-01 2.04079726e-01 6.77496673e-03 3.49098480e+02] [-2.04078943e-01 9.78954096e-01 -8.14060969e-04 -2.49589514e+01] [-6.79851478e-03 -5.85718669e-04 9.99976718e-01 -2.47361865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.16, Y:-24.97, Z:-2.48 [[ 9.78226948e-01 2.07427434e-01 6.77481970e-03 3.49160473e+02] [-2.07426722e-01 9.78250219e-01 -8.15282782e-04 -2.49655287e+01] [-6.79658087e-03 -6.07747058e-04 9.99976718e-01 -2.47611376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.22, Y:-24.97, Z:-2.47 [[ 9.77699560e-01 2.09899201e-01 6.77468318e-03 3.49223375e+02] [-2.09898540e-01 9.77722832e-01 -8.16415637e-04 -2.49709512e+01] [-6.79512742e-03 -6.23786902e-04 9.99976718e-01 -2.47423605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.29, Y:-24.98, Z:-2.47 [[ 9.78675564e-01 2.05300381e-01 6.77453932e-03 3.49285385e+02] [-2.05299603e-01 9.78698832e-01 -8.17607632e-04 -2.49818494e+01] [-6.79808888e-03 -5.90637621e-04 9.99976718e-01 -2.47337745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:349.35, Y:-24.99, Z:-2.47 [[ 9.79819813e-01 1.99767969e-01 6.77439564e-03 3.49346434e+02] [-1.99767051e-01 9.79843077e-01 -8.18796423e-04 -2.49936332e+01] [-6.80141396e-03 -5.51028081e-04 9.99976718e-01 -2.47496977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.41, Y:-25.01, Z:-2.48 [[ 9.80990680e-01 1.93936575e-01 6.77426204e-03 3.49407803e+02] [-1.93935511e-01 9.81013937e-01 -8.19900229e-04 -2.50080143e+01] [-6.80465412e-03 -5.09455485e-04 9.99976718e-01 -2.47952951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.47, Y:-25.02, Z:-2.48 [[ 9.81600879e-01 1.90824069e-01 6.77411957e-03 3.49469802e+02] [-1.90822923e-01 9.81624133e-01 -8.21075626e-04 -2.50207866e+01] [-6.80632024e-03 -4.86688741e-04 9.99976718e-01 -2.47883065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.53, Y:-25.04, Z:-2.47 [[ 9.82288405e-01 1.87252777e-01 6.77397682e-03 3.49530183e+02] [-1.87251538e-01 9.82311654e-01 -8.22251712e-04 -2.50381605e+01] [-6.80812529e-03 -4.60749256e-04 9.99976718e-01 -2.47481702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.59, Y:-25.05, Z:-2.48 [[ 9.82987066e-01 1.83549837e-01 6.77384371e-03 3.49591289e+02] [-1.83548503e-01 9.83010310e-01 -8.23346794e-04 -2.50535896e+01] [-6.80988337e-03 -4.33989624e-04 9.99976718e-01 -2.47674693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.65, Y:-25.07, Z:-2.48 [[ 9.84159457e-01 1.77156090e-01 6.77369189e-03 3.49650873e+02] [-1.77154597e-01 9.84182691e-01 -8.24593983e-04 -2.50736218e+01] [-6.81263215e-03 -3.88458691e-04 9.99976718e-01 -2.47537942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.71, Y:-25.09, Z:-2.48 [[ 9.84598143e-01 1.74701503e-01 6.77355072e-03 3.49712608e+02] [-1.74699944e-01 9.84621373e-01 -8.25751944e-04 -2.50898107e+01] [-6.81364291e-03 -3.70305099e-04 9.99976718e-01 -2.47698513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:-25.11, Z:-2.47 [[ 9.85212690e-01 1.71201862e-01 6.77339556e-03 3.49772310e+02] [-1.71200211e-01 9.85235913e-01 -8.27022745e-04 -2.51111030e+01] [-6.81498039e-03 -3.44813449e-04 9.99976718e-01 -2.47330424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.83, Y:-25.13, Z:-2.47 [[ 9.85816322e-01 1.67691092e-01 6.77325182e-03 3.49833346e+02] [-1.67689351e-01 9.85839539e-01 -8.28198234e-04 -2.51296246e+01] [-6.81622092e-03 -3.19350864e-04 9.99976718e-01 -2.47249081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.90, Y:-25.14, Z:-2.47 [[ 9.86459475e-01 1.63865277e-01 6.77309877e-03 3.49895019e+02] [-1.63863437e-01 9.86482684e-01 -8.29448005e-04 -2.51408555e+01] [-6.81746239e-03 -2.91646400e-04 9.99976718e-01 -2.47470314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.96, Y:-25.15, Z:-2.47 [[ 9.87448608e-01 1.57795357e-01 6.77294569e-03 3.49955548e+02] [-1.57793366e-01 9.87471804e-01 -8.30696153e-04 -2.51532324e+01] [-6.81917290e-03 -2.48456136e-04 9.99976718e-01 -2.47258715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.02, Y:-25.16, Z:-2.47 [[ 9.88119930e-01 1.53535447e-01 6.77280311e-03 3.50017836e+02] [-1.53533348e-01 9.88143117e-01 -8.31857020e-04 -2.51639230e+01] [-6.82021831e-03 -2.17876637e-04 9.99976718e-01 -2.47358084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.08, Y:-25.18, Z:-2.48 [[ 9.89581952e-01 1.43811308e-01 6.77265456e-03 3.50079604e+02] [-1.43808973e-01 9.89605116e-01 -8.33064731e-04 -2.51769894e+01] [-6.82205772e-03 -1.49582676e-04 9.99976718e-01 -2.47512964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.14, Y:-25.19, Z:-2.48 [[ 9.90532762e-01 1.37109374e-01 6.77250458e-03 3.50141575e+02] [-1.37106874e-01 9.90555909e-01 -8.34282212e-04 -2.51890441e+01] [-6.82293234e-03 -1.02173069e-04 9.99976718e-01 -2.47679519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:350.20, Y:-25.20, Z:-2.48 [[ 9.91637723e-01 1.28874982e-01 6.77234848e-03 3.50202819e+02] [-1.28872281e-01 9.91660848e-01 -8.35547451e-04 -2.52022003e+01] [-6.82355400e-03 -4.42076217e-05 9.99976718e-01 -2.47562986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.26, Y:-25.21, Z:-2.48 [[ 9.92042017e-01 1.25724986e-01 6.77225158e-03 3.50264519e+02] [-1.25722207e-01 9.92065133e-01 -8.36332125e-04 -2.52135125e+01] [-6.82366250e-03 -2.17458030e-05 9.99976718e-01 -2.47500807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.33, Y:-25.23, Z:-2.47 [[ 9.92587455e-01 1.21343653e-01 6.77209757e-03 3.50325417e+02] [-1.21340762e-01 9.92610557e-01 -8.37577323e-04 -2.52250593e+01] [-6.82369023e-03 9.63726252e-06 9.99976718e-01 -2.47302506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.39, Y:-25.24, Z:-2.48 [[ 9.93267146e-01 1.15648250e-01 6.77195379e-03 3.50387371e+02] [-1.15645220e-01 9.93290229e-01 -8.38738221e-04 -2.52363183e+01] [-6.82351414e-03 4.99470350e-05 9.99976718e-01 -2.47689307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.45, Y:-25.25, Z:-2.48 [[ 9.93602154e-01 1.12733770e-01 6.77180279e-03 3.50449372e+02] [-1.12730663e-01 9.93625227e-01 -8.39955576e-04 -2.52476573e+01] [-6.82332544e-03 7.11918483e-05 9.99976718e-01 -2.47551974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.51, Y:-25.26, Z:-2.48 [[ 9.93681939e-01 1.12028343e-01 6.77164385e-03 3.50511317e+02] [-1.12025211e-01 9.93705009e-01 -8.41235007e-04 -2.52595386e+01] [-6.82325857e-03 7.73252002e-05 9.99976718e-01 -2.47812210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.57, Y:-25.27, Z:-2.48 [[ 9.93692167e-01 1.11937595e-01 6.77148654e-03 3.50573589e+02] [-1.11934452e-01 9.93715235e-01 -8.42499371e-04 -2.52702308e+01] [-6.82323669e-03 7.92223903e-05 9.99976718e-01 -2.48190191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.63, Y:-25.28, Z:-2.49 [[ 9.93806444e-01 1.10918441e-01 6.77132983e-03 3.50633319e+02] [-1.10915266e-01 9.93829508e-01 -8.43756978e-04 -2.52830634e+01] [-6.82313560e-03 8.74872703e-05 9.99976718e-01 -2.48774272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.70, Y:-25.29, Z:-2.49 [[ 9.93822563e-01 1.10773932e-01 6.77120389e-03 3.50695387e+02] [-1.10770747e-01 9.93845626e-01 -8.44766443e-04 -2.52935965e+01] [-6.82310947e-03 8.94966349e-05 9.99976718e-01 -2.48740936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.76, Y:-25.30, Z:-2.48 [[ 9.93588187e-01 1.12856846e-01 6.77104905e-03 3.50757831e+02] [-1.12853701e-01 9.93611255e-01 -8.46005718e-04 -2.53046044e+01] [-6.82326808e-03 7.64433397e-05 9.99976718e-01 -2.48406620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.82, Y:-25.31, Z:-2.48 [[ 9.93041805e-01 1.17567553e-01 6.77089527e-03 3.50819252e+02] [-1.17564509e-01 9.93064886e-01 -8.47234707e-04 -2.53112296e+01] [-6.82354565e-03 4.53225082e-05 9.99976718e-01 -2.48361431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.88, Y:-25.31, Z:-2.48 [[ 9.92161839e-01 1.24775971e-01 6.77075267e-03 3.50881816e+02] [-1.24773087e-01 9.92184941e-01 -8.48372720e-04 -2.53130890e+01] [-6.82369537e-03 -3.08467634e-06 9.99976718e-01 -2.47940958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.95, Y:-25.31, Z:-2.48 [[ 9.92186101e-01 1.24582900e-01 6.77061206e-03 3.50945105e+02] [-1.24580003e-01 9.92209202e-01 -8.49493441e-04 -2.53144750e+01] [-6.82369595e-03 -6.27287447e-07 9.99976718e-01 -2.47976018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.01, Y:-25.31, Z:-2.48 [[ 9.93363924e-01 1.14814091e-01 6.77046365e-03 3.51007889e+02] [-1.14810959e-01 9.93386994e-01 -8.50674613e-04 -2.53131590e+01] [-6.82335997e-03 6.77060444e-05 9.99976718e-01 -2.48044895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.07, Y:-25.31, Z:-2.48 [[ 9.94698540e-01 1.02610802e-01 6.77037168e-03 3.51070340e+02] [-1.02607383e-01 9.94721569e-01 -8.51405982e-04 -2.53125233e+01] [-6.82199819e-03 1.52202171e-04 9.99976718e-01 -2.47986378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.13, Y:-25.31, Z:-2.48 [[ 9.95000402e-01 9.96411791e-02 6.77023441e-03 3.51133959e+02] [-9.96376836e-02 9.95023419e-01 -8.52496150e-04 -2.53144347e+01] [-6.82148551e-03 1.73663538e-04 9.99976718e-01 -2.47954824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:-25.31, Z:-2.48 [[ 9.94483912e-01 1.04670501e-01 6.77008760e-03 3.51197320e+02] [-1.04667114e-01 9.94506946e-01 -8.53660413e-04 -2.53110043e+01] [-6.82225221e-03 1.40346019e-04 9.99976718e-01 -2.47722193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.26, Y:-25.31, Z:-2.48 [[ 9.93769238e-01 1.11251376e-01 6.76999695e-03 3.51261071e+02] [-1.11248137e-01 9.93792293e-01 -8.54378701e-04 -2.53080248e+01] [-6.82302160e-03 9.59057243e-05 9.99976718e-01 -2.47584992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.33, Y:-25.30, Z:-2.48 [[ 9.93043653e-01 1.17551997e-01 6.76985319e-03 3.51326127e+02] [-1.17548896e-01 9.93066727e-01 -8.55516347e-04 -2.52974334e+01] [-6.82348360e-03 5.37763104e-05 9.99976718e-01 -2.47831030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.39, Y:-25.29, Z:-2.48 [[ 9.93463920e-01 1.13945654e-01 6.76968370e-03 3.51389222e+02] [-1.13942460e-01 9.93486981e-01 -8.56855365e-04 -2.52895554e+01] [-6.82322757e-03 7.99004748e-05 9.99976718e-01 -2.47839498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.45, Y:-25.29, Z:-2.48 [[ 9.93934399e-01 1.09766036e-01 6.76957924e-03 3.51452393e+02] [-1.09762740e-01 9.93957446e-01 -8.57679871e-04 -2.52879959e+01] [-6.82281782e-03 1.09429961e-04 9.99976718e-01 -2.48024909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.52, Y:-25.28, Z:-2.49 [[ 9.94409184e-01 1.05378130e-01 6.76941396e-03 3.51516463e+02] [-1.05374723e-01 9.94432215e-01 -8.58982382e-04 -2.52816305e+01] [-6.82224128e-03 1.40854850e-04 9.99976718e-01 -2.48581718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.58, Y:-25.28, Z:-2.49 [[ 9.94592680e-01 1.03631937e-01 6.76924849e-03 3.51579347e+02] [-1.03628481e-01 9.94615704e-01 -8.60284423e-04 -2.52830411e+01] [-6.82195379e-03 1.54145650e-04 9.99976718e-01 -2.48799238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.64, Y:-25.29, Z:-2.49 [[ 9.94625068e-01 1.03320637e-01 6.76908314e-03 3.51641343e+02] [-1.03317165e-01 9.94648089e-01 -8.61583509e-04 -2.52882123e+01] [-6.82187497e-03 1.57590075e-04 9.99976718e-01 -2.48619624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.70, Y:-25.29, Z:-2.49 [[ 9.94333904e-01 1.06086140e-01 6.76892991e-03 3.51703875e+02] [-1.06082724e-01 9.94356934e-01 -8.62785690e-04 -2.52940229e+01] [-6.82226199e-03 1.39830542e-04 9.99976718e-01 -2.48644516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.77, Y:-25.30, Z:-2.48 [[ 9.93449536e-01 1.14071041e-01 6.76876633e-03 3.51766026e+02] [-1.14067801e-01 9.93472592e-01 -8.64067102e-04 -2.53006015e+01] [-6.82314886e-03 8.63087703e-05 9.99976718e-01 -2.48436877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.83, Y:-25.31, Z:-2.48 [[ 9.92802489e-01 1.19571753e-01 6.76861451e-03 3.51827946e+02] [-1.19568633e-01 9.92825560e-01 -8.65254751e-04 -2.53091041e+01] [-6.82351352e-03 4.97130891e-05 9.99976718e-01 -2.48451977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.89, Y:-25.32, Z:-2.48 [[ 9.91983323e-01 1.26187460e-01 6.76844997e-03 3.51889831e+02] [-1.26184485e-01 9.92006414e-01 -8.66539898e-04 -2.53213829e+01] [-6.82369225e-03 5.51975245e-06 9.99976718e-01 -2.48278632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:351.95, Y:-25.33, Z:-2.48 [[ 9.91317873e-01 1.31312855e-01 6.76828333e-03 3.51951685e+02] [-1.31309990e-01 9.91340977e-01 -8.67839584e-04 -2.53294445e+01] [-6.82363510e-03 -2.84383291e-05 9.99976718e-01 -2.47810840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.01, Y:-25.34, Z:-2.48 [[ 9.90910742e-01 1.34350636e-01 6.76813923e-03 3.52013659e+02] [-1.34347835e-01 9.90933855e-01 -8.68961891e-04 -2.53381519e+01] [-6.82352388e-03 -4.82211809e-05 9.99976718e-01 -2.47984222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.08, Y:-25.35, Z:-2.48 [[ 9.90631139e-01 1.36397000e-01 6.76797472e-03 3.52075888e+02] [-1.36394238e-01 9.90654256e-01 -8.70241359e-04 -2.53467411e+01] [-6.82342127e-03 -6.10245651e-05 9.99976718e-01 -2.48337417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.14, Y:-25.36, Z:-2.49 [[ 9.90741487e-01 1.35593155e-01 6.76781158e-03 3.52138004e+02] [-1.35590365e-01 9.90764600e-01 -8.71508218e-04 -2.53573700e+01] [-6.82347869e-03 -5.42106929e-05 9.99976718e-01 -2.48662116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.20, Y:-25.37, Z:-2.49 [[ 9.91355230e-01 1.31030558e-01 6.76764605e-03 3.52199669e+02] [-1.31027652e-01 9.91378330e-01 -8.72791738e-04 -2.53663660e+01] [-6.82366003e-03 -2.15021207e-05 9.99976718e-01 -2.49069819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.26, Y:-25.37, Z:-2.49 [[ 9.91803701e-01 1.27591615e-01 6.76749120e-03 3.52262310e+02] [-1.27588622e-01 9.91826789e-01 -8.73990790e-04 -2.53741702e+01] [-6.82369296e-03 3.37242538e-06 9.99976718e-01 -2.48877771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.32, Y:-25.38, Z:-2.49 [[ 9.92741903e-01 1.20073801e-01 6.76733302e-03 3.52324803e+02] [-1.20070624e-01 9.92764967e-01 -8.75213833e-04 -2.53821463e+01] [-6.82346140e-03 5.63035435e-05 9.99976718e-01 -2.48838019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.39, Y:-25.39, Z:-2.49 [[ 9.93503424e-01 1.13600848e-01 6.76716630e-03 3.52386205e+02] [-1.13597512e-01 9.93526465e-01 -8.76501069e-04 -2.53910270e+01] [-6.82293008e-03 1.02073556e-04 9.99976718e-01 -2.48705929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:352.45, Y:-25.40, Z:-2.48 [[ 9.94220095e-01 1.07147606e-01 6.76701070e-03 3.52448368e+02] [-1.07144113e-01 9.94243114e-01 -8.77700739e-04 -2.53992540e+01] [-6.82209732e-03 1.47582356e-04 9.99976718e-01 -2.48417335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.51, Y:-25.41, Z:-2.48 [[ 9.94036857e-01 1.08834444e-01 6.76684091e-03 3.52510319e+02] [-1.08830980e-01 9.94059880e-01 -8.79007779e-04 -2.54074421e+01] [-6.82231139e-03 1.37324199e-04 9.99976718e-01 -2.48037833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.57, Y:-25.41, Z:-2.48 [[ 9.93797329e-01 1.11000363e-01 6.76668313e-03 3.52572230e+02] [-1.10996942e-01 9.93820358e-01 -8.80220726e-04 -2.54140289e+01] [-6.82257227e-03 1.23679872e-04 9.99976718e-01 -2.47790952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.63, Y:-25.42, Z:-2.48 [[ 9.93766732e-01 1.11273971e-01 6.76653995e-03 3.52634867e+02] [-1.11270549e-01 9.93789761e-01 -8.81320052e-04 -2.54202439e+01] [-6.82258610e-03 1.22909935e-04 9.99976718e-01 -2.48245948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.70, Y:-25.43, Z:-2.49 [[ 9.93882532e-01 1.10234880e-01 6.76636863e-03 3.52696152e+02] [-1.10231424e-01 9.93905556e-01 -8.82633380e-04 -2.54270037e+01] [-6.82242836e-03 1.31367446e-04 9.99976718e-01 -2.48545374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.76, Y:-25.43, Z:-2.49 [[ 9.94303285e-01 1.06372913e-01 6.76620930e-03 3.52758955e+02] [-1.06369360e-01 9.94326294e-01 -8.83853117e-04 -2.54313738e+01] [-6.82183785e-03 1.59100702e-04 9.99976718e-01 -2.48916998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.82, Y:-25.43, Z:-2.49 [[ 9.94308545e-01 1.06323738e-01 6.76603939e-03 3.52823044e+02] [-1.06320175e-01 9.94331553e-01 -8.85151936e-04 -2.54294458e+01] [-6.82179911e-03 1.60747643e-04 9.99976718e-01 -2.49141954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.89, Y:-25.43, Z:-2.49 [[ 9.94225689e-01 1.07095764e-01 6.76586872e-03 3.52885421e+02] [-1.07092209e-01 9.94248698e-01 -8.86454523e-04 -2.54274690e+01] [-6.82189169e-03 1.56764028e-04 9.99976718e-01 -2.49137854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.95, Y:-25.42, Z:-2.49 [[ 9.94395161e-01 1.05510610e-01 6.76571016e-03 3.52949210e+02] [-1.05507011e-01 9.94418163e-01 -8.87663075e-04 -2.54177069e+01] [-6.82160294e-03 1.68858008e-04 9.99976718e-01 -2.49065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.01, Y:-25.41, Z:-2.49 [[ 9.94847081e-01 1.01160825e-01 6.76555781e-03 3.53012508e+02] [-1.01157118e-01 9.94870066e-01 -8.88822699e-04 -2.54145344e+01] [-6.82076498e-03 1.99858338e-04 9.99976718e-01 -2.49177088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.08, Y:-25.41, Z:-2.49 [[ 9.95624494e-01 9.31992306e-02 6.76540925e-03 3.53077205e+02] [-9.31953318e-02 9.95647447e-01 -8.89952080e-04 -2.54081077e+01] [-6.81890530e-03 2.55553529e-04 9.99976718e-01 -2.49078651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:353.14, Y:-25.41, Z:-2.49 [[ 9.95886277e-01 9.03590379e-02 6.76524353e-03 3.53140045e+02] [-9.03550652e-02 9.95909217e-01 -8.91210081e-04 -2.54058437e+01] [-6.81809727e-03 2.76269870e-04 9.99976718e-01 -2.49024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.20, Y:-25.40, Z:-2.49 [[ 9.95992999e-01 8.91749916e-02 6.76509044e-03 3.53203912e+02] [-8.91709838e-02 9.96015933e-01 -8.92370639e-04 -2.53984207e+01] [-6.81771502e-03 2.85545139e-04 9.99976718e-01 -2.48844235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.27, Y:-25.39, Z:-2.49 [[ 9.96077973e-01 8.82207828e-02 6.76493927e-03 3.53267990e+02] [-8.82167452e-02 9.96100902e-01 -8.93515170e-04 -2.53889907e+01] [-6.81738872e-03 2.93229856e-04 9.99976718e-01 -2.48708130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.33, Y:-25.39, Z:-2.49 [[ 9.96033802e-01 8.87181071e-02 6.76478982e-03 3.53331945e+02] [-8.87140732e-02 9.96056732e-01 -8.94645240e-04 -2.53851902e+01] [-6.81748567e-03 2.90964840e-04 9.99976718e-01 -2.48889296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.40, Y:-25.37, Z:-2.49 [[ 9.96031724e-01 8.87414499e-02 6.76462881e-03 3.53397332e+02] [-8.87374083e-02 9.96054652e-01 -8.95861027e-04 -2.53745830e+01] [-6.81744000e-03 2.92030374e-04 9.99976718e-01 -2.48832315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.46, Y:-25.37, Z:-2.49 [[ 9.96105825e-01 8.79057843e-02 6.76446217e-03 3.53459961e+02] [-8.79017151e-02 9.96128749e-01 -8.97117563e-04 -2.53712789e+01] [-6.81713705e-03 2.99016204e-04 9.99976718e-01 -2.49045375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.52, Y:-25.37, Z:-2.50 [[ 9.96342668e-01 8.51794165e-02 6.76430752e-03 3.53523041e+02] [-8.51752766e-02 9.96365578e-01 -8.98282056e-04 -2.53654254e+01] [-6.81623832e-03 3.18844975e-04 9.99976718e-01 -2.49790688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.59, Y:-25.36, Z:-2.50 [[ 9.96371777e-01 8.48382454e-02 6.76416297e-03 3.53585209e+02] [-8.48340903e-02 9.96394685e-01 -8.99369269e-04 -2.53636385e+01] [-6.81607694e-03 3.22274545e-04 9.99976718e-01 -2.49780786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:353.65, Y:-25.36, Z:-2.50 [[ 9.96134626e-01 8.75788360e-02 6.76414252e-03 3.53647180e+02] [-8.75747429e-02 9.96157545e-01 -8.99523017e-04 -2.53640652e+01] [-6.81693079e-03 3.03677983e-04 9.99976718e-01 -2.49777909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.71, Y:-25.36, Z:-2.50 [[ 9.95620876e-01 9.32379651e-02 6.76412177e-03 3.53708180e+02] [-9.32340013e-02 9.95643818e-01 -8.99679026e-04 -2.53630446e+01] [-6.81854026e-03 2.65093082e-04 9.99976718e-01 -2.49654435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.77, Y:-25.37, Z:-2.49 [[ 9.95414720e-01 9.54137380e-02 6.76412177e-03 3.53769012e+02] [-9.54098243e-02 9.95437671e-01 -8.99679026e-04 -2.53654662e+01] [-6.81910336e-03 2.50190076e-04 9.99976718e-01 -2.49376685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.83, Y:-25.36, Z:-2.49 [[ 9.95342284e-01 9.61664457e-02 6.76412177e-03 3.53829464e+02] [-9.61625493e-02 9.95365237e-01 -8.99679026e-04 -2.53634073e+01] [-6.81929060e-03 2.45033382e-04 9.99976718e-01 -2.49349129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.89, Y:-25.36, Z:-2.49 [[ 9.95335079e-01 9.62409801e-02 6.76414297e-03 3.53888610e+02] [-9.62370865e-02 9.95358033e-01 -8.99519609e-04 -2.53646076e+01] [-6.81931469e-03 2.44362009e-04 9.99976718e-01 -2.49304159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.95, Y:-25.36, Z:-2.49 [[ 9.95243975e-01 9.71785838e-02 6.76417440e-03 3.53948863e+02] [-9.71747135e-02 9.95266932e-01 -8.99283171e-04 -2.53605667e+01] [-6.81955017e-03 2.37699448e-04 9.99976718e-01 -2.48968856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.01, Y:-25.36, Z:-2.49 [[ 9.95258078e-01 9.70340372e-02 6.76421560e-03 3.54008987e+02] [-9.70301657e-02 9.95281035e-01 -8.98973171e-04 -2.53575596e+01] [-6.81952650e-03 2.38377349e-04 9.99976718e-01 -2.48735058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.07, Y:-25.36, Z:-2.48 [[ 9.95509009e-01 9.44248795e-02 6.76425914e-03 3.54067209e+02] [-9.44209500e-02 9.95531957e-01 -8.98645473e-04 -2.53586583e+01] [-6.81889063e-03 2.55921889e-04 9.99976718e-01 -2.48455165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.13, Y:-25.36, Z:-2.49 [[ 9.95884820e-01 9.03751548e-02 6.76431302e-03 3.54126732e+02] [-9.03711348e-02 9.95907752e-01 -8.98239696e-04 -2.53586550e+01] [-6.81781033e-03 2.83244634e-04 9.99976718e-01 -2.48878711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.19, Y:-25.36, Z:-2.49 [[ 9.96146691e-01 8.74414862e-02 6.76435422e-03 3.54185452e+02] [-8.74374007e-02 9.96169611e-01 -8.97929313e-04 -2.53626297e+01] [-6.81696039e-03 3.03011763e-04 9.99976718e-01 -2.49002428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.24, Y:-25.37, Z:-2.49 [[ 9.96161861e-01 8.72684951e-02 6.76439682e-03 3.54243072e+02] [-8.72644078e-02 9.96184781e-01 -8.97608326e-04 -2.53689840e+01] [-6.81692209e-03 3.03872098e-04 9.99976718e-01 -2.49317636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.30, Y:-25.38, Z:-2.50 [[ 9.95892258e-01 9.02931514e-02 6.76444946e-03 3.54301607e+02] [-9.02891364e-02 9.95915191e-01 -8.97211412e-04 -2.53755429e+01] [-6.81783002e-03 2.82769598e-04 9.99976718e-01 -2.49688329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.36, Y:-25.38, Z:-2.50 [[ 9.95642021e-01 9.30118655e-02 6.76449234e-03 3.54359605e+02] [-9.30079153e-02 9.95664965e-01 -8.96888006e-04 -2.53817403e+01] [-6.81858926e-03 2.63828056e-04 9.99976718e-01 -2.49614986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.42, Y:-25.39, Z:-2.50 [[ 9.95564207e-01 9.38410977e-02 6.76454526e-03 3.54417086e+02] [-9.38371694e-02 9.95587154e-01 -8.96488691e-04 -2.53881942e+01] [-6.81882185e-03 2.57746272e-04 9.99976718e-01 -2.49713184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.48, Y:-25.40, Z:-2.50 [[ 9.95711355e-01 9.22666620e-02 6.76459627e-03 3.54475240e+02] [-9.22627000e-02 9.95734297e-01 -8.96103613e-04 -2.53977868e+01] [-6.81842101e-03 2.68140626e-04 9.99976718e-01 -2.50002415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.53, Y:-25.41, Z:-2.50 [[ 9.95842079e-01 9.08448906e-02 6.76463796e-03 3.54532060e+02] [-9.08408980e-02 9.95865015e-01 -8.95788823e-04 -2.54080282e+01] [-6.81804412e-03 2.77558417e-04 9.99976718e-01 -2.50094219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.59, Y:-25.42, Z:-2.50 [[ 9.95771060e-01 9.16200577e-02 6.76469682e-03 3.54590678e+02] [-9.16160860e-02 9.95794000e-01 -8.95344131e-04 -2.54169604e+01] [-6.81827599e-03 2.71802730e-04 9.99976718e-01 -2.50348631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.65, Y:-25.42, Z:-2.50 [[ 9.95704840e-01 9.23369408e-02 6.76473843e-03 3.54648905e+02] [-9.23329877e-02 9.95727783e-01 -8.95029596e-04 -2.54249015e+01] [-6.81848230e-03 2.66576790e-04 9.99976718e-01 -2.50349236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.71, Y:-25.43, Z:-2.50 [[ 9.95323484e-01 9.63607763e-02 6.76478025e-03 3.54706901e+02] [-9.63569181e-02 9.95346444e-01 -8.94713395e-04 -2.54304261e+01] [-6.81951525e-03 2.38695877e-04 9.99976718e-01 -2.50017791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.77, Y:-25.43, Z:-2.50 [[ 9.95139095e-01 9.82467194e-02 6.76483211e-03 3.54766368e+02] [-9.82429074e-02 9.95162063e-01 -8.94321139e-04 -2.54327803e+01] [-6.81996840e-03 2.25377155e-04 9.99976718e-01 -2.50176246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.82, Y:-25.43, Z:-2.50 [[ 9.95039227e-01 9.92530786e-02 6.76487460e-03 3.54824882e+02] [-9.92492921e-02 9.95062198e-01 -8.93999657e-04 -2.54340962e+01] [-6.82020321e-03 2.18155713e-04 9.99976718e-01 -2.50198884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.89, Y:-25.43, Z:-2.50 [[ 9.94738263e-01 1.02225356e-01 6.76492709e-03 3.54885152e+02] [-1.02221640e-01 9.94761247e-01 -8.93602223e-04 -2.54301480e+01] [-6.82083611e-03 1.97378379e-04 9.99976718e-01 -2.50265246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.94, Y:-25.43, Z:-2.50 [[ 9.94921073e-01 1.00430546e-01 6.76496841e-03 3.54944776e+02] [-1.00426791e-01 9.94944050e-01 -8.93289344e-04 -2.54310079e+01] [-6.82047860e-03 2.09368323e-04 9.99976718e-01 -2.50248170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:355.00, Y:-25.44, Z:-2.50 [[ 9.96060663e-01 8.84160102e-02 6.76500956e-03 3.55003756e+02] [-8.84119807e-02 9.96083593e-01 -8.92977585e-04 -2.54371515e+01] [-6.81746854e-03 2.91351951e-04 9.99976718e-01 -2.50322809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.06, Y:-25.45, Z:-2.51 [[ 9.96999221e-01 7.71154116e-02 6.76505016e-03 3.55060560e+02] [-7.71111244e-02 9.97022105e-01 -8.92669868e-04 -2.54511657e+01] [-6.81374316e-03 3.68330538e-04 9.99976718e-01 -2.50713702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.12, Y:-25.46, Z:-2.51 [[ 9.97071668e-01 7.61729724e-02 6.76509002e-03 3.55118470e+02] [-7.61686657e-02 9.97094548e-01 -8.92367744e-04 -2.54648051e+01] [-6.81340868e-03 3.74466716e-04 9.99976718e-01 -2.50696667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.18, Y:-25.48, Z:-2.50 [[ 9.96581650e-01 8.23361831e-02 6.76512922e-03 3.55175236e+02] [-8.23320200e-02 9.96604557e-01 -8.92070435e-04 -2.54809797e+01] [-6.81560828e-03 3.32034272e-04 9.99976718e-01 -2.50412890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.23, Y:-25.49, Z:-2.50 [[ 9.96100341e-01 8.79678517e-02 6.76516936e-03 3.55231477e+02] [-8.79638201e-02 9.96123271e-01 -8.91765906e-04 -2.54934833e+01] [-6.81738937e-03 2.93198182e-04 9.99976718e-01 -2.50113507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:-25.51, Z:-2.50 [[ 9.95887394e-01 9.03467213e-02 6.76521934e-03 3.55289203e+02] [-9.03427470e-02 9.95910334e-01 -8.91386629e-04 -2.55067534e+01] [-6.81808571e-03 2.76532207e-04 9.99976718e-01 -2.50185240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.35, Y:-25.52, Z:-2.50 [[ 9.96384112e-01 8.46931680e-02 6.76526032e-03 3.55346715e+02] [-8.46890657e-02 9.96407029e-01 -8.91075471e-04 -2.55208920e+01] [-6.81642094e-03 3.14909866e-04 9.99976718e-01 -2.50464840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.40, Y:-25.53, Z:-2.51 [[ 9.96621321e-01 8.18545904e-02 6.76529066e-03 3.55404485e+02] [-8.18504244e-02 9.96644227e-01 -8.90845068e-04 -2.55312376e+01] [-6.81550764e-03 3.34093276e-04 9.99976718e-01 -2.50555062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.46, Y:-25.54, Z:-2.51 [[ 9.96848145e-01 7.90443327e-02 6.76533064e-03 3.55463231e+02] [-7.90401042e-02 9.96871039e-01 -8.90541377e-04 -2.55415349e+01] [-6.81455443e-03 3.53002081e-04 9.99976718e-01 -2.51050541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.52, Y:-25.55, Z:-2.51 [[ 9.96795388e-01 7.97068702e-02 6.76535095e-03 3.55521974e+02] [-7.97026580e-02 9.96818285e-01 -8.90387020e-04 -2.55495233e+01] [-6.81479550e-03 3.48317222e-04 9.99976718e-01 -2.51378802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.58, Y:-25.56, Z:-2.51 [[ 9.96687447e-01 8.10454360e-02 6.76537113e-03 3.55580149e+02] [-8.10412556e-02 9.96710350e-01 -8.90233650e-04 -2.55584912e+01] [-6.81526481e-03 3.39010533e-04 9.99976718e-01 -2.51459531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.64, Y:-25.56, Z:-2.52 [[ 9.96767643e-01 8.00530785e-02 6.76540120e-03 3.55639427e+02] [-8.00488768e-02 9.96790542e-01 -8.90005103e-04 -2.55646351e+01] [-6.81493558e-03 3.45565522e-04 9.99976718e-01 -2.51661819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.70, Y:-25.57, Z:-2.52 [[ 9.97002009e-01 7.70793335e-02 6.76542103e-03 3.55697865e+02] [-7.70750645e-02 9.97024896e-01 -8.89854303e-04 -2.55698779e+01] [-6.81388258e-03 3.65741265e-04 9.99976718e-01 -2.51537896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.76, Y:-25.57, Z:-2.51 [[ 9.97151745e-01 7.51174194e-02 6.76545042e-03 3.55756409e+02] [-7.51131070e-02 9.97174623e-01 -8.89630813e-04 -2.55733715e+01] [-6.81316225e-03 3.78922917e-04 9.99976718e-01 -2.51475019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.82, Y:-25.57, Z:-2.52 [[ 9.97173238e-01 7.48315506e-02 6.76547939e-03 3.55816012e+02] [-7.48272331e-02 9.97196116e-01 -8.89410474e-04 -2.55741857e+01] [-6.81306573e-03 3.80654219e-04 9.99976718e-01 -2.51688395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.87, Y:-25.57, Z:-2.52 [[ 9.97156618e-01 7.50526989e-02 6.76551769e-03 3.55874839e+02] [-7.50483884e-02 9.97179497e-01 -8.89119018e-04 -2.55748696e+01] [-6.81316631e-03 3.78849713e-04 9.99976718e-01 -2.51816756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.93, Y:-25.57, Z:-2.52 [[ 9.97225489e-01 7.41319875e-02 6.76555583e-03 3.55934460e+02] [-7.41276579e-02 9.97248364e-01 -8.88828699e-04 -2.55725173e+01] [-6.81283012e-03 3.84847826e-04 9.99976718e-01 -2.52424145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.99, Y:-25.57, Z:-2.53 [[ 9.97307481e-01 7.30206448e-02 6.76559631e-03 3.55993489e+02] [-7.30162918e-02 9.97330352e-01 -8.88520504e-04 -2.55728250e+01] [-6.81241489e-03 3.92129392e-04 9.99976718e-01 -2.52584215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.05, Y:-25.57, Z:-2.53 [[ 9.97296006e-01 7.31772012e-02 6.76563635e-03 3.56052643e+02] [-7.31728539e-02 9.97318878e-01 -8.88215511e-04 -2.55673101e+01] [-6.81249398e-03 3.90752861e-04 9.99976718e-01 -2.52608248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.11, Y:-25.56, Z:-2.52 [[ 9.97071820e-01 7.61709346e-02 6.76568946e-03 3.56111863e+02] [-7.61666586e-02 9.97094706e-01 -8.87810769e-04 -2.55602327e+01] [-6.81365851e-03 3.69891140e-04 9.99976718e-01 -2.52316493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:-25.56, Z:-2.52 [[ 9.96839864e-01 7.91486567e-02 6.76573748e-03 3.56171992e+02] [-7.91444516e-02 9.96862763e-01 -8.87444636e-04 -2.55570783e+01] [-6.81475181e-03 3.49169608e-04 9.99976718e-01 -2.52311724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:-25.55, Z:-2.52 [[ 9.96850772e-01 7.90111508e-02 6.76577725e-03 3.56231386e+02] [-7.90069446e-02 9.96873671e-01 -8.87141383e-04 -2.55466187e+01] [-6.81471926e-03 3.49804185e-04 9.99976718e-01 -2.52039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.29, Y:-25.54, Z:-2.52 [[ 9.97142588e-01 7.52388344e-02 6.76582636e-03 3.56289937e+02] [-7.52345441e-02 9.97165471e-01 -8.86766665e-04 -2.55427965e+01] [-6.81336772e-03 3.75208946e-04 9.99976718e-01 -2.52189053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.35, Y:-25.53, Z:-2.53 [[ 9.97619724e-01 6.86229454e-02 6.76588518e-03 3.56348927e+02] [-6.86185065e-02 9.97642579e-01 -8.86317623e-04 -2.55335332e+01] [-6.81075687e-03 4.19943007e-04 9.99976718e-01 -2.52522133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:-25.53, Z:-2.53 [[ 9.97779156e-01 6.62644480e-02 6.76593388e-03 3.56408153e+02] [-6.62599575e-02 9.97802001e-01 -8.85945719e-04 -2.55305334e+01] [-6.80976907e-03 4.35667681e-04 9.99976718e-01 -2.52953394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.47, Y:-25.53, Z:-2.53 [[ 9.97810248e-01 6.57946103e-02 6.76597374e-03 3.56468163e+02] [-6.57901112e-02 9.97833091e-01 -8.85641235e-04 -2.55287880e+01] [-6.80958290e-03 4.38567736e-04 9.99976718e-01 -2.53275529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.53, Y:-25.53, Z:-2.53 [[ 9.97774698e-01 6.63315333e-02 6.76601355e-03 3.56527032e+02] [-6.63270485e-02 9.97797544e-01 -8.85336930e-04 -2.55281371e+01] [-6.80983746e-03 4.34597079e-04 9.99976718e-01 -2.53355052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:-25.53, Z:-2.53 [[ 9.97803505e-01 6.58967754e-02 6.76607334e-03 3.56584786e+02] [-6.58922837e-02 9.97826350e-01 -8.84879792e-04 -2.55261187e+01] [-6.80967699e-03 4.37104134e-04 9.99976718e-01 -2.53353683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.64, Y:-25.53, Z:-2.54 [[ 9.97801306e-01 6.59300579e-02 6.76614265e-03 3.56643411e+02] [-6.59255706e-02 9.97824151e-01 -8.84349486e-04 -2.55326647e+01] [-6.80972576e-03 4.36343258e-04 9.99976718e-01 -2.53697922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.70, Y:-25.54, Z:-2.54 [[ 9.97594384e-01 6.89903213e-02 6.76618124e-03 3.56701824e+02] [-6.89859061e-02 9.97617243e-01 -8.84054132e-04 -2.55400836e+01] [-6.81105025e-03 4.15156293e-04 9.99976718e-01 -2.54049791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.76, Y:-25.55, Z:-2.54 [[ 9.97283054e-01 7.33534454e-02 6.76622144e-03 3.56757920e+02] [-7.33491323e-02 9.97305933e-01 -8.83746361e-04 -2.55477532e+01] [-6.81281863e-03 3.85048799e-04 9.99976718e-01 -2.53979944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.81, Y:-25.56, Z:-2.54 [[ 9.96714250e-01 8.07150578e-02 6.76629114e-03 3.56814883e+02] [-8.07109173e-02 9.96737161e-01 -8.83212390e-04 -2.55558622e+01] [-6.81550236e-03 3.34196810e-04 9.99976718e-01 -2.53611313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.87, Y:-25.56, Z:-2.54 [[ 9.96192553e-01 8.69172867e-02 6.76633894e-03 3.56872306e+02] [-8.69132914e-02 9.96215489e-01 -8.82846015e-04 -2.55630294e+01] [-6.81746624e-03 2.91399837e-04 9.99976718e-01 -2.53907197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.93, Y:-25.57, Z:-2.54 [[ 9.96129683e-01 8.76348719e-02 6.76638651e-03 3.56930128e+02] [-8.76308956e-02 9.96152623e-01 -8.82481261e-04 -2.55714278e+01] [-6.81768980e-03 2.86121269e-04 9.99976718e-01 -2.54036386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.99, Y:-25.58, Z:-2.54 [[ 9.96290057e-01 8.57924071e-02 6.76644628e-03 3.56987554e+02] [-8.57883915e-02 9.96312990e-01 -8.82022763e-04 -2.55765770e+01] [-6.81716918e-03 2.98267967e-04 9.99976718e-01 -2.53640361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.05, Y:-25.58, Z:-2.54 [[ 9.96465823e-01 8.37262131e-02 6.76651915e-03 3.57045758e+02] [-8.37221538e-02 9.96488748e-01 -8.81463385e-04 -2.55822498e+01] [-6.81656178e-03 3.11840580e-04 9.99976718e-01 -2.53706453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.11, Y:-25.58, Z:-2.54 [[ 9.96690187e-01 8.10116309e-02 6.76657824e-03 3.57105226e+02] [-8.10075122e-02 9.96713102e-01 -8.81009577e-04 -2.55843173e+01] [-6.81570920e-03 3.29949931e-04 9.99976718e-01 -2.53902012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.16, Y:-25.59, Z:-2.54 [[ 9.97103083e-01 7.57605076e-02 6.76661822e-03 3.57162514e+02] [-7.57562704e-02 9.97125976e-01 -8.80702404e-04 -2.55898499e+01] [-6.81389325e-03 3.65537323e-04 9.99976718e-01 -2.54330187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.22, Y:-25.60, Z:-2.54 [[ 9.97484971e-01 7.05545530e-02 6.76666778e-03 3.57220888e+02] [-7.05501989e-02 9.97507842e-01 -8.80321414e-04 -2.55962915e+01] [-6.81191486e-03 4.00717622e-04 9.99976718e-01 -2.54444302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.28, Y:-25.61, Z:-2.54 [[ 9.97914820e-01 6.41889742e-02 6.76670740e-03 3.57278055e+02] [-6.41844763e-02 9.97937663e-01 -8.80016797e-04 -2.56064569e+01] [-6.80923954e-03 4.43864232e-04 9.99976718e-01 -2.54262333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.34, Y:-25.61, Z:-2.55 [[ 9.97992982e-01 6.29620493e-02 6.76675627e-03 3.57336244e+02] [-6.29575258e-02 9.98015820e-01 -8.79640852e-04 -2.56149112e+01] [-6.80871379e-03 4.51857165e-04 9.99976718e-01 -2.54651234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.39, Y:-25.62, Z:-2.55 [[ 9.97734589e-01 6.69320524e-02 6.76679619e-03 3.57393039e+02] [-6.69276219e-02 9.97757446e-01 -8.79333609e-04 -2.56223714e+01] [-6.81047689e-03 4.24455980e-04 9.99976718e-01 -2.55103765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.45, Y:-25.63, Z:-2.55 [[ 9.97520434e-01 7.00513572e-02 6.76685246e-03 3.57449887e+02] [-7.00470011e-02 9.97543305e-01 -8.78900412e-04 -2.56289173e+01] [-6.81179653e-03 4.02723400e-04 9.99976718e-01 -2.55011606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.51, Y:-25.64, Z:-2.55 [[ 9.97115440e-01 7.55976772e-02 6.76691955e-03 3.57507391e+02] [-7.55934518e-02 9.97138335e-01 -8.78383582e-04 -2.56365790e+01] [-6.81395865e-03 3.64315025e-04 9.99976718e-01 -2.55065201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.57, Y:-25.64, Z:-2.55 [[ 9.96951506e-01 7.77296771e-02 6.76697695e-03 3.57565456e+02] [-7.77255037e-02 9.96974411e-01 -8.77941111e-04 -2.56427503e+01] [-6.81474494e-03 3.49298020e-04 9.99976718e-01 -2.55234829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.62, Y:-25.64, Z:-2.55 [[ 9.96699499e-01 8.08969444e-02 6.76703700e-03 3.57623312e+02] [-8.08928469e-02 9.96722417e-01 -8.77478055e-04 -2.56418822e+01] [-6.81584277e-03 3.27177050e-04 9.99976718e-01 -2.55389237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.68, Y:-25.64, Z:-2.55 [[ 9.96523939e-01 8.30315935e-02 6.76710614e-03 3.57681141e+02] [-8.30275488e-02 9.96546867e-01 -8.76944479e-04 -2.56414803e+01] [-6.81655252e-03 3.12039932e-04 9.99976718e-01 -2.55495821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.74, Y:-25.64, Z:-2.55 [[ 9.96744040e-01 8.03462757e-02 6.76717462e-03 3.57738169e+02] [-8.03421728e-02 9.96766957e-01 -8.76415730e-04 -2.56444045e+01] [-6.81571280e-03 3.29872642e-04 9.99976718e-01 -2.55395385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.80, Y:-25.65, Z:-2.56 [[ 9.97479585e-01 7.06306043e-02 6.76724195e-03 3.57796190e+02] [-7.06262818e-02 9.97502462e-01 -8.75895540e-04 -2.56480953e+01] [-6.81220553e-03 3.95742783e-04 9.99976718e-01 -2.55699546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.85, Y:-25.65, Z:-2.56 [[ 9.98087359e-01 6.14477565e-02 6.76730110e-03 3.57853609e+02] [-6.14432267e-02 9.98110196e-01 -8.75438290e-04 -2.56541390e+01] [-6.80830595e-03 4.57959075e-04 9.99976718e-01 -2.56029367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.91, Y:-25.66, Z:-2.56 [[ 9.98226086e-01 5.91513665e-02 6.76734965e-03 3.57911612e+02] [-5.91467867e-02 9.98248913e-01 -8.75062852e-04 -2.56604159e+01] [-6.80726059e-03 4.73243579e-04 9.99976718e-01 -2.56061285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.97, Y:-25.67, Z:-2.56 [[ 9.98221058e-01 5.92361496e-02 6.76740740e-03 3.57968668e+02] [-5.92315748e-02 9.98243886e-01 -8.74616002e-04 -2.56676165e+01] [-6.80733194e-03 4.72215914e-04 9.99976718e-01 -2.56127079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.03, Y:-25.68, Z:-2.56 [[ 9.98264480e-01 5.84998283e-02 6.76746673e-03 3.58026104e+02] [-5.84952398e-02 9.98287305e-01 -8.74156643e-04 -2.56777538e+01] [-6.80701414e-03 4.76774937e-04 9.99976718e-01 -2.56219789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.08, Y:-25.69, Z:-2.56 [[ 9.98312307e-01 5.76778893e-02 6.76751559e-03 3.58084004e+02] [-5.76732846e-02 9.98335128e-01 -8.73778210e-04 -2.56909194e+01] [-6.80664623e-03 4.81998687e-04 9.99976718e-01 -2.56040690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.14, Y:-25.70, Z:-2.56 [[ 9.98171194e-01 6.00705188e-02 6.76755398e-03 3.58140811e+02] [-6.00659707e-02 9.98194027e-01 -8.73480812e-04 -2.57035483e+01] [-6.80780241e-03 4.65383686e-04 9.99976718e-01 -2.56120547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.20, Y:-25.71, Z:-2.56 [[ 9.97941639e-01 6.37705670e-02 6.76761120e-03 3.58198180e+02] [-6.37661066e-02 9.97964489e-01 -8.73037278e-04 -2.57135517e+01] [-6.80950973e-03 4.39696035e-04 9.99976718e-01 -2.56065833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.26, Y:-25.72, Z:-2.56 [[ 9.97598712e-01 6.89275587e-02 6.76766904e-03 3.58255162e+02] [-6.89232195e-02 9.97621586e-01 -8.72588642e-04 -2.57234801e+01] [-6.81171813e-03 4.04043766e-04 9.99976718e-01 -2.55982097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.31, Y:-25.73, Z:-2.56 [[ 9.97522816e-01 7.00173536e-02 6.76772697e-03 3.58312569e+02] [-7.00130424e-02 9.97545695e-01 -8.72139126e-04 -2.57304924e+01] [-6.81218177e-03 3.96149521e-04 9.99976718e-01 -2.56127649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.37, Y:-25.74, Z:-2.57 [[ 9.97414875e-01 7.15385575e-02 6.76778588e-03 3.58371407e+02] [-7.15342843e-02 9.97437761e-01 -8.71681722e-04 -2.57364742e+01] [-6.81280405e-03 3.85299595e-04 9.99976718e-01 -2.56577790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.43, Y:-25.74, Z:-2.57 [[ 9.97534946e-01 6.98443105e-02 6.76782538e-03 3.58428215e+02] [-6.98400005e-02 9.97557825e-01 -8.71374944e-04 -2.57425503e+01] [-6.81215775e-03 3.96562029e-04 9.99976718e-01 -2.56723585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.48, Y:-25.75, Z:-2.57 [[ 9.97816003e-01 6.57070718e-02 6.76789381e-03 3.58484768e+02] [-6.57026706e-02 9.97838865e-01 -8.70843103e-04 -2.57471603e+01] [-6.81048803e-03 4.24272487e-04 9.99976718e-01 -2.56912649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.54, Y:-25.75, Z:-2.57 [[ 9.98072067e-01 6.16955772e-02 6.76797946e-03 3.58542070e+02] [-6.16910886e-02 9.98094912e-01 -8.70176935e-04 -2.57531882e+01] [-6.80877193e-03 4.50975270e-04 9.99976718e-01 -2.56976200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.60, Y:-25.76, Z:-2.57 [[ 9.98399293e-01 5.61519831e-02 6.76803618e-03 3.58600222e+02] [-5.61473707e-02 9.98422113e-01 -8.69735610e-04 -2.57588460e+01] [-6.80619436e-03 4.88335982e-04 9.99976718e-01 -2.57114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.66, Y:-25.77, Z:-2.57 [[ 9.98595253e-01 5.25520116e-02 6.76807380e-03 3.58658797e+02] [-5.25473190e-02 9.98618057e-01 -8.69442765e-04 -2.57658110e+01] [-6.80441167e-03 5.12577285e-04 9.99976718e-01 -2.56977061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.72, Y:-25.77, Z:-2.57 [[ 9.98718936e-01 5.01465719e-02 6.76811398e-03 3.58716157e+02] [-5.01418265e-02 9.98741729e-01 -8.69129826e-04 -2.57740524e+01] [-6.80318175e-03 5.28650819e-04 9.99976718e-01 -2.56964506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.77, Y:-25.79, Z:-2.57 [[ 9.98822303e-01 4.80437217e-02 6.76816335e-03 3.58773951e+02] [-4.80389308e-02 9.98845086e-01 -8.68745214e-04 -2.57873801e+01] [-6.80208446e-03 5.42586764e-04 9.99976718e-01 -2.57219814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.83, Y:-25.80, Z:-2.57 [[ 9.98762363e-01 4.92740747e-02 6.76820246e-03 3.58830755e+02] [-4.92693139e-02 9.98785152e-01 -8.68440449e-04 -2.58002418e+01] [-6.80277172e-03 5.33900943e-04 9.99976718e-01 -2.57206242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.89, Y:-25.81, Z:-2.57 [[ 9.98526211e-01 5.38479080e-02 6.76826168e-03 3.58888226e+02] [-5.38432548e-02 9.98549023e-01 -8.67978670e-04 -2.58098498e+01] [-6.80517992e-03 5.02274214e-04 9.99976718e-01 -2.57157383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.94, Y:-25.82, Z:-2.57 [[ 9.97972835e-01 6.32804128e-02 6.76831041e-03 3.58943944e+02] [-6.32759779e-02 9.97995690e-01 -8.67598468e-04 -2.58201056e+01] [-6.80964661e-03 4.37568242e-04 9.99976718e-01 -2.57294440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.00, Y:-25.82, Z:-2.57 [[ 9.97518691e-01 7.00760246e-02 6.76837744e-03 3.59002463e+02] [-7.00717491e-02 9.97541577e-01 -8.67075286e-04 -2.58236138e+01] [-6.81249909e-03 3.90651759e-04 9.99976718e-01 -2.57194516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.06, Y:-25.83, Z:-2.57 [[ 9.97445792e-01 7.11061171e-02 6.76841686e-03 3.59060953e+02] [-7.11018673e-02 9.97468683e-01 -8.66767435e-04 -2.58259330e+01] [-6.81291632e-03 3.83306454e-04 9.99976718e-01 -2.56964871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.12, Y:-25.83, Z:-2.57 [[ 9.97895071e-01 6.44950860e-02 6.76846595e-03 3.59118912e+02] [-6.44906872e-02 9.97917933e-01 -8.66383932e-04 -2.58324662e+01] [-6.81025105e-03 4.28057235e-04 9.99976718e-01 -2.57103607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.18, Y:-25.84, Z:-2.57 [[ 9.98630294e-01 5.18818215e-02 6.76852392e-03 3.59176654e+02] [-5.18771372e-02 9.98653099e-01 -8.65930796e-04 -2.58416989e+01] [-6.80433346e-03 5.13613081e-04 9.99976718e-01 -2.57422476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.23, Y:-25.85, Z:-2.57 [[ 9.98861892e-01 4.72134185e-02 6.76858316e-03 3.59234400e+02] [-4.72086308e-02 9.98884676e-01 -8.65467480e-04 -2.58487184e+01] [-6.80189568e-03 5.44946941e-04 9.99976718e-01 -2.57478888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:359.29, Y:-25.85, Z:-2.57 [[ 9.98710639e-01 5.03114796e-02 6.76863155e-03 3.59293421e+02] [-5.03067651e-02 9.98733438e-01 -8.65088860e-04 -2.58526493e+01] [-6.80358257e-03 5.23465491e-04 9.99976718e-01 -2.57289192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.35, Y:-25.86, Z:-2.57 [[ 9.98472263e-01 5.48390918e-02 6.76866893e-03 3.59351847e+02] [-5.48344827e-02 9.98495083e-01 -8.64796306e-04 -2.58567290e+01] [-6.80590729e-03 4.92318665e-04 9.99976718e-01 -2.57086995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.41, Y:-25.85, Z:-2.57 [[ 9.98203561e-01 5.95301205e-02 6.76872745e-03 3.59409983e+02] [-5.95256218e-02 9.98226404e-01 -8.64338050e-04 -2.58546326e+01] [-6.80817661e-03 4.59872609e-04 9.99976718e-01 -2.57174043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.47, Y:-25.86, Z:-2.58 [[ 9.98157599e-01 6.02958674e-02 6.76879484e-03 3.59468555e+02] [-6.02913898e-02 9.98180446e-01 -8.63809935e-04 -2.58558264e+01] [-6.80856282e-03 4.54118402e-04 9.99976718e-01 -2.57507472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.53, Y:-25.85, Z:-2.58 [[ 9.98370071e-01 5.66690759e-02 6.76885214e-03 3.59527368e+02] [-5.66645183e-02 9.98392902e-01 -8.63360696e-04 -2.58544876e+01] [-6.80689979e-03 4.78399733e-04 9.99976718e-01 -2.57520946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.58, Y:-25.86, Z:-2.58 [[ 9.98640083e-01 5.16930036e-02 6.76890919e-03 3.59584262e+02] [-5.16883354e-02 9.98662892e-01 -8.62913228e-04 -2.58594038e+01] [-6.80446500e-03 5.11866089e-04 9.99976718e-01 -2.57886638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.64, Y:-25.86, Z:-2.58 [[ 9.98924191e-01 4.58763722e-02 6.76899323e-03 3.59643447e+02] [-4.58715756e-02 9.98946973e-01 -8.62253449e-04 -2.58625370e+01] [-6.80142236e-03 5.50821444e-04 9.99976718e-01 -2.58276171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.70, Y:-25.86, Z:-2.58 [[ 9.98849462e-01 4.74756031e-02 6.76903017e-03 3.59702268e+02] [-4.74708449e-02 9.98872252e-01 -8.61963365e-04 -2.58648953e+01] [-6.80231864e-03 5.39640062e-04 9.99976718e-01 -2.57861793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.76, Y:-25.87, Z:-2.58 [[ 9.98751388e-01 4.94959016e-02 6.76906884e-03 3.59760179e+02] [-4.94911916e-02 9.98774188e-01 -8.61659606e-04 -2.58685408e+01] [-6.80341986e-03 5.25574444e-04 9.99976718e-01 -2.57596656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.82, Y:-25.87, Z:-2.58 [[ 9.98929112e-01 4.57690782e-02 6.76912487e-03 3.59818216e+02] [-4.57642861e-02 9.98951895e-01 -8.61219205e-04 -2.58725646e+01] [-6.80144733e-03 5.50512768e-04 9.99976718e-01 -2.57530372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.88, Y:-25.88, Z:-2.58 [[ 9.99157525e-01 4.04773663e-02 6.76921449e-03 3.59875753e+02] [-4.04724584e-02 9.99180284e-01 -8.60514205e-04 -2.58772439e+01] [-6.79849701e-03 5.85822492e-04 9.99976718e-01 -2.57664500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.93, Y:-25.88, Z:-2.58 [[ 9.99423083e-01 3.32818031e-02 6.76926832e-03 3.59934109e+02] [-3.32767342e-02 9.99445806e-01 -8.60090563e-04 -2.58845086e+01] [-6.79414220e-03 6.34335219e-04 9.99976718e-01 -2.58285084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.99, Y:-25.89, Z:-2.58 [[ 9.99521600e-01 3.01786113e-02 6.76930501e-03 3.59992139e+02] [-3.01734738e-02 9.99544307e-01 -8.59801722e-04 -2.58944127e+01] [-6.79216790e-03 6.55136945e-04 9.99976718e-01 -2.58150195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.05, Y:-25.91, Z:-2.58 [[ 9.99570911e-01 2.84986030e-02 6.76934124e-03 3.60050431e+02] [-2.84934294e-02 9.99593610e-01 -8.59516386e-04 -2.59062486e+01] [-6.79108526e-03 6.66265830e-04 9.99976718e-01 -2.57892096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.11, Y:-25.92, Z:-2.58 [[ 9.99477676e-01 3.15998578e-02 6.76937777e-03 3.60106885e+02] [-3.15947565e-02 9.99500392e-01 -8.59228553e-04 -2.59184129e+01] [-6.79314723e-03 6.44902915e-04 9.99976718e-01 -2.58423482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.16, Y:-25.93, Z:-2.59 [[ 9.99428531e-01 3.31177651e-02 6.76942288e-03 3.60163649e+02] [-3.31127007e-02 9.99451255e-01 -8.58873007e-04 -2.59274473e+01] [-6.79415215e-03 6.34228314e-04 9.99976718e-01 -2.58517102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.22, Y:-25.94, Z:-2.59 [[ 9.99304423e-01 3.66721096e-02 6.76946704e-03 3.60221075e+02] [-3.66671284e-02 9.99327166e-01 -8.58524811e-04 -2.59398963e+01] [-6.79639623e-03 6.09710723e-04 9.99976718e-01 -2.58727090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.28, Y:-25.95, Z:-2.59 [[ 9.99121747e-01 4.13510344e-02 6.76950208e-03 3.60278214e+02] [-4.13461617e-02 9.99144513e-01 -8.58248436e-04 -2.59546925e+01] [-6.79920032e-03 5.77601750e-04 9.99976718e-01 -2.58750332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.34, Y:-25.97, Z:-2.59 [[ 9.99028052e-01 4.35559999e-02 6.76953906e-03 3.60335616e+02] [-4.35511793e-02 9.99050829e-01 -8.57956659e-04 -2.59674721e+01] [-6.80048277e-03 5.62301360e-04 9.99976718e-01 -2.58828681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:360.39, Y:-25.98, Z:-2.59 [[ 9.99066646e-01 4.26615742e-02 6.76957792e-03 3.60391914e+02] [-4.26567353e-02 9.99089419e-01 -8.57649884e-04 -2.59844930e+01] [-6.80000237e-03 5.68081299e-04 9.99976718e-01 -2.59261871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.45, Y:-26.00, Z:-2.60 [[ 9.99150600e-01 4.06478989e-02 6.76962541e-03 3.60447349e+02] [-4.06430167e-02 9.99173363e-01 -8.57274902e-04 -2.60045102e+01] [-6.79887581e-03 5.81408734e-04 9.99976718e-01 -2.59535595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.51, Y:-26.02, Z:-2.59 [[ 9.99130912e-01 4.11289641e-02 6.76967700e-03 3.60505102e+02] [-4.11240955e-02 9.99153679e-01 -8.56867286e-04 -2.60198076e+01] [-6.79918975e-03 5.77725750e-04 9.99976718e-01 -2.59309957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.56, Y:-26.03, Z:-2.59 [[ 9.99029614e-01 4.35201341e-02 6.76971433e-03 3.60562039e+02] [-4.35153221e-02 9.99052393e-01 -8.56572270e-04 -2.60347888e+01] [-6.80057744e-03 5.61154764e-04 9.99976718e-01 -2.58845575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:360.62, Y:-26.05, Z:-2.59 [[ 9.98865296e-01 4.71411854e-02 6.76976235e-03 3.60618638e+02] [-4.71364585e-02 9.98888092e-01 -8.56192613e-04 -2.60472990e+01] [-6.80259693e-03 5.36118466e-04 9.99976718e-01 -2.58910972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.68, Y:-26.06, Z:-2.59 [[ 9.98832897e-01 4.78227222e-02 6.76981352e-03 3.60676466e+02] [-4.78180136e-02 9.98855698e-01 -8.55787777e-04 -2.60569808e+01] [-6.80299291e-03 5.31069950e-04 9.99976718e-01 -2.59266360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.73, Y:-26.07, Z:-2.59 [[ 9.98942042e-01 4.54858825e-02 6.76985074e-03 3.60734456e+02] [-4.54811225e-02 9.98964832e-01 -8.55493244e-04 -2.60696610e+01] [-6.80175568e-03 5.46687758e-04 9.99976718e-01 -2.59134571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.79, Y:-26.08, Z:-2.59 [[ 9.98962988e-01 4.50235292e-02 6.76988766e-03 3.60792354e+02] [-4.50187606e-02 9.98985776e-01 -8.55201046e-04 -2.60810007e+01] [-6.80152564e-03 5.49542240e-04 9.99976718e-01 -2.58862100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.85, Y:-26.09, Z:-2.59 [[ 9.98789815e-01 4.87141945e-02 6.76992443e-03 3.60848827e+02] [-4.87095121e-02 9.98812621e-01 -8.54909823e-04 -2.60933931e+01] [-6.80353221e-03 5.24115509e-04 9.99976718e-01 -2.58995464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.91, Y:-26.11, Z:-2.59 [[ 9.98519917e-01 5.39642810e-02 6.76997011e-03 3.60906529e+02] [-5.39597211e-02 9.98542747e-01 -8.54547949e-04 -2.61089464e+01] [-6.80621962e-03 4.87977448e-04 9.99976718e-01 -2.59019620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.96, Y:-26.12, Z:-2.59 [[ 9.98353507e-01 5.69600033e-02 6.77000890e-03 3.60963475e+02] [-5.69555140e-02 9.98376352e-01 -8.54240540e-04 -2.61221421e+01] [-6.80767433e-03 4.67244703e-04 9.99976718e-01 -2.58910931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.02, Y:-26.14, Z:-2.59 [[ 9.97929656e-01 6.39575483e-02 6.77006357e-03 3.61021329e+02] [-6.39532221e-02 9.97952532e-01 -8.53807038e-04 -2.61355036e+01] [-6.81080949e-03 4.19071985e-04 9.99976718e-01 -2.59306818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.08, Y:-26.14, Z:-2.59 [[ 9.97553901e-01 6.95728368e-02 6.77009924e-03 3.61079179e+02] [-6.95686414e-02 9.97576802e-01 -8.53524089e-04 -2.61442259e+01] [-6.81307604e-03 3.80449678e-04 9.99976718e-01 -2.59291159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.14, Y:-26.16, Z:-2.60 [[ 9.97158026e-01 7.50335739e-02 6.77013796e-03 3.61136091e+02] [-7.50295060e-02 9.97180949e-01 -8.53216858e-04 -2.61557484e+01] [-6.81507251e-03 3.42831931e-04 9.99976718e-01 -2.59551564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.19, Y:-26.17, Z:-2.60 [[ 9.97109170e-01 7.56800335e-02 6.77018613e-03 3.61193943e+02] [-7.56759831e-02 9.97132097e-01 -8.52834455e-04 -2.61680235e+01] [-6.81531243e-03 3.38028565e-04 9.99976718e-01 -2.59612046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.25, Y:-26.18, Z:-2.60 [[ 9.96863490e-01 7.88501555e-02 6.77022451e-03 3.61251777e+02] [-7.88461800e-02 9.96886429e-01 -8.52529699e-04 -2.61817858e+01] [-6.81636703e-03 3.16049390e-04 9.99976718e-01 -2.59516167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.31, Y:-26.19, Z:-2.59 [[ 9.96407739e-01 8.44143450e-02 6.77026377e-03 3.61309669e+02] [-8.44104998e-02 9.96430701e-01 -8.52217763e-04 -2.61927345e+01] [-6.81803808e-03 2.77675025e-04 9.99976718e-01 -2.59419470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.37, Y:-26.20, Z:-2.59 [[ 9.96192694e-01 8.69153578e-02 6.77030327e-03 3.61366869e+02] [-8.69115723e-02 9.96215666e-01 -8.51903891e-04 -2.62034483e+01] [-6.81872571e-03 2.60242730e-04 9.99976718e-01 -2.59459187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.42, Y:-26.22, Z:-2.59 [[ 9.96054906e-01 8.84804339e-02 6.77036119e-03 3.61422754e+02] [-8.84766877e-02 9.96077884e-01 -8.51443329e-04 -2.62198005e+01] [-6.81914312e-03 2.49065173e-04 9.99976718e-01 -2.59411635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.48, Y:-26.23, Z:-2.60 [[ 9.95897466e-01 9.02352467e-02 6.77040923e-03 3.61480796e+02] [-9.02315435e-02 9.95920451e-01 -8.51061142e-04 -2.62309024e+01] [-6.81958472e-03 2.36665159e-04 9.99976718e-01 -2.59752694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.54, Y:-26.25, Z:-2.60 [[ 9.95813225e-01 9.11602016e-02 6.77044700e-03 3.61537871e+02] [-9.11565219e-02 9.95836214e-01 -8.50760590e-04 -2.62454083e+01] [-6.81981181e-03 2.30028247e-04 9.99976718e-01 -2.59859053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.60, Y:-26.26, Z:-2.59 [[ 9.95793785e-01 9.13723058e-02 6.77050394e-03 3.61596143e+02] [-9.13686341e-02 9.95816775e-01 -8.50307173e-04 -2.62556715e+01] [-6.81987593e-03 2.28118901e-04 9.99976718e-01 -2.59097444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:-26.27, Z:-2.59 [[ 9.95673006e-01 9.26791482e-02 6.77054177e-03 3.61653202e+02] [-9.26755087e-02 9.95696002e-01 -8.50005850e-04 -2.62653439e+01] [-6.82017919e-03 2.18864478e-04 9.99976718e-01 -2.59338317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.71, Y:-26.27, Z:-2.60 [[ 9.95736365e-01 9.19959239e-02 6.77059817e-03 3.61710568e+02] [-9.19922716e-02 9.95759359e-01 -8.49556407e-04 -2.62740961e+01] [-6.82004221e-03 2.23091503e-04 9.99976718e-01 -2.60123202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.77, Y:-26.28, Z:-2.60 [[ 9.95882556e-01 9.03996308e-02 6.77064471e-03 3.61768615e+02] [-9.03959442e-02 9.95905544e-01 -8.49185310e-04 -2.62814234e+01] [-6.81968864e-03 2.33650016e-04 9.99976718e-01 -2.60155024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.83, Y:-26.29, Z:-2.60 [[ 9.96115198e-01 8.77990345e-02 6.77068308e-03 3.61827054e+02] [-8.77952900e-02 9.96138176e-01 -8.48879279e-04 -2.62865941e+01] [-6.81906668e-03 2.51147467e-04 9.99976718e-01 -2.60080031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.89, Y:-26.29, Z:-2.60 [[ 9.96171725e-01 8.71553286e-02 6.77072231e-03 3.61885635e+02] [-8.71515714e-02 9.96194702e-01 -8.48566240e-04 -2.62927865e+01] [-6.81891476e-03 2.55238607e-04 9.99976718e-01 -2.60024629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:-26.30, Z:-2.60 [[ 9.96254008e-01 8.62096799e-02 6.77076185e-03 3.61944084e+02] [-8.62059030e-02 9.96276981e-01 -8.48250671e-04 -2.62963641e+01] [-6.81868159e-03 2.61393492e-04 9.99976718e-01 -2.59790775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.00, Y:-26.30, Z:-2.60 [[ 9.96301055e-01 8.56642504e-02 6.77080086e-03 3.62002652e+02] [-8.56604630e-02 9.96324027e-01 -8.47939174e-04 -2.63020655e+01] [-6.81854965e-03 2.64812758e-04 9.99976718e-01 -2.59872647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.06, Y:-26.31, Z:-2.60 [[ 9.96638482e-01 8.16449143e-02 6.77084045e-03 3.62060790e+02] [-8.16410364e-02 9.96661438e-01 -8.47622864e-04 -2.63050535e+01] [-6.81743968e-03 2.91995132e-04 9.99976718e-01 -2.60140890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.12, Y:-26.31, Z:-2.60 [[ 9.97058223e-01 7.63482433e-02 6.77088941e-03 3.62119167e+02] [-7.63442462e-02 9.97081159e-01 -8.47231643e-04 -2.63117764e+01] [-6.81581091e-03 3.27820829e-04 9.99976718e-01 -2.60074773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.18, Y:-26.32, Z:-2.60 [[ 9.97689338e-01 6.76028034e-02 6.77092666e-03 3.62176790e+02] [-6.75986073e-02 9.97712239e-01 -8.46933847e-04 -2.63238156e+01] [-6.81269149e-03 3.87271657e-04 9.99976718e-01 -2.60097100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.24, Y:-26.33, Z:-2.60 [[ 9.97828051e-01 6.55235507e-02 6.77096377e-03 3.62235276e+02] [-6.55193089e-02 9.97850942e-01 -8.46637046e-04 -2.63335111e+01] [-6.81188724e-03 4.01169327e-04 9.99976718e-01 -2.59926519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.29, Y:-26.34, Z:-2.60 [[ 9.97509058e-01 7.02127663e-02 6.77100075e-03 3.62293631e+02] [-7.02086341e-02 9.97531970e-01 -8.46341159e-04 -2.63438068e+01] [-6.81371367e-03 3.68850257e-04 9.99976718e-01 -2.59697841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.35, Y:-26.35, Z:-2.60 [[ 9.97283334e-01 7.33491914e-02 6.77103814e-03 3.62351604e+02] [-7.33451333e-02 9.97306260e-01 -8.46041927e-04 -2.63536929e+01] [-6.81485521e-03 3.47120819e-04 9.99976718e-01 -2.59654576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.41, Y:-26.36, Z:-2.60 [[ 9.97253836e-01 7.37491668e-02 6.77107596e-03 3.62408291e+02] [-7.37451200e-02 9.97276763e-01 -8.45739115e-04 -2.63638430e+01] [-6.81500927e-03 3.44082768e-04 9.99976718e-01 -2.60074984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.47, Y:-26.37, Z:-2.60 [[ 9.97430092e-01 7.13257500e-02 6.77112305e-03 3.62466811e+02] [-7.13216500e-02 9.97453010e-01 -8.45361992e-04 -2.63691751e+01] [-6.81417314e-03 3.60261822e-04 9.99976718e-01 -2.60243376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.52, Y:-26.37, Z:-2.60 [[ 9.97437942e-01 7.12158874e-02 6.77116174e-03 3.62523944e+02] [-7.12117870e-02 9.97460860e-01 -8.45051924e-04 -2.63743173e+01] [-6.81414994e-03 3.60700325e-04 9.99976718e-01 -2.60337554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.58, Y:-26.38, Z:-2.61 [[ 9.97517782e-01 7.00887005e-02 6.77120958e-03 3.62582418e+02] [-7.00845768e-02 9.97540695e-01 -8.44668471e-04 -2.63789339e+01] [-6.81375883e-03 3.68014461e-04 9.99976718e-01 -2.60519608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.64, Y:-26.39, Z:-2.61 [[ 9.97631268e-01 6.84543911e-02 6.77124755e-03 3.62641073e+02] [-6.84502319e-02 9.97654175e-01 -8.44363992e-04 -2.63852174e+01] [-6.81316381e-03 3.78870455e-04 9.99976718e-01 -2.60619160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.70, Y:-26.40, Z:-2.61 [[ 9.97870154e-01 6.48791646e-02 6.77128714e-03 3.62699413e+02] [-6.48749256e-02 9.97893046e-01 -8.44046331e-04 -2.63953000e+01] [-6.81178137e-03 4.02961893e-04 9.99976718e-01 -2.60802544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.76, Y:-26.41, Z:-2.61 [[ 9.98162559e-01 6.02134077e-02 6.77132657e-03 3.62757038e+02] [-6.02090638e-02 9.98185432e-01 -8.43729912e-04 -2.64072232e+01] [-6.80984339e-03 4.34484374e-04 9.99976718e-01 -2.61139518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.82, Y:-26.42, Z:-2.61 [[ 9.98261973e-01 5.85421403e-02 6.77135566e-03 3.62815200e+02] [-5.85377597e-02 9.98284839e-01 -8.43496405e-04 -2.64204261e+01] [-6.80912177e-03 4.45650395e-04 9.99976718e-01 -2.61136075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:-26.43, Z:-2.61 [[ 9.98260270e-01 5.85711728e-02 6.77137417e-03 3.62872797e+02] [-5.85667938e-02 9.98283136e-01 -8.43347789e-04 -2.64344351e+01] [-6.80914451e-03 4.45302917e-04 9.99976718e-01 -2.60787710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.93, Y:-26.44, Z:-2.61 [[ 9.98093039e-01 6.13549815e-02 6.77140162e-03 3.62931963e+02] [-6.13506678e-02 9.98115917e-01 -8.43127326e-04 -2.64443633e+01] [-6.81037380e-03 4.26089504e-04 9.99976718e-01 -2.60926277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.99, Y:-26.45, Z:-2.61 [[ 9.97863393e-01 6.49830542e-02 6.77142059e-03 3.62991277e+02] [-6.49788247e-02 9.97886287e-01 -8.42974915e-04 -2.64521053e+01] [-6.81188684e-03 4.01174857e-04 9.99976718e-01 -2.61114684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.05, Y:-26.46, Z:-2.61 [[ 9.97884688e-01 6.46552172e-02 6.77143986e-03 3.63049794e+02] [-6.46509813e-02 9.97907581e-01 -8.42820118e-04 -2.64590254e+01] [-6.81176389e-03 4.03257059e-04 9.99976718e-01 -2.61115459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.11, Y:-26.47, Z:-2.61 [[ 9.97940135e-01 6.37936818e-02 6.77146252e-03 3.63109147e+02] [-6.37894274e-02 9.97963025e-01 -8.42637979e-04 -2.64657629e+01] [-6.81142420e-03 4.08954542e-04 9.99976718e-01 -2.60834405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.17, Y:-26.47, Z:-2.61 [[ 9.98010057e-01 6.26902939e-02 6.77148087e-03 3.63168446e+02] [-6.26860152e-02 9.98032942e-01 -8.42490512e-04 -2.64708897e+01] [-6.81097695e-03 4.16336851e-04 9.99976718e-01 -2.60826410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.23, Y:-26.47, Z:-2.61 [[ 9.98328507e-01 5.73963295e-02 6.77149984e-03 3.63227145e+02] [-5.73919305e-02 9.98351369e-01 -8.42337978e-04 -2.64731814e+01] [-6.80868325e-03 4.52300567e-04 9.99976718e-01 -2.61322318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.29, Y:-26.48, Z:-2.61 [[ 9.98579600e-01 5.28481609e-02 6.77152813e-03 3.63286608e+02] [-5.28436593e-02 9.98602443e-01 -8.42110534e-04 -2.64791067e+01] [-6.80656852e-03 4.83082075e-04 9.99976718e-01 -2.61248416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.35, Y:-26.48, Z:-2.61 [[ 9.98678057e-01 5.09537598e-02 6.77154704e-03 3.63345618e+02] [-5.09492159e-02 9.98700890e-01 -8.41958432e-04 -2.64804104e+01] [-6.80565101e-03 4.95840398e-04 9.99976718e-01 -2.60687839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.40, Y:-26.48, Z:-2.61 [[ 9.98801746e-01 4.84687368e-02 6.77157505e-03 3.63404524e+02] [-4.84641377e-02 9.98824569e-01 -8.41733106e-04 -2.64824970e+01] [-6.80441327e-03 5.12545950e-04 9.99976718e-01 -2.60840966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.46, Y:-26.48, Z:-2.61 [[ 9.99028287e-01 4.35502773e-02 6.77161297e-03 3.63463263e+02] [-4.35455678e-02 9.99051088e-01 -8.41427924e-04 -2.64830102e+01] [-6.80183172e-03 5.45736566e-04 9.99976718e-01 -2.60949869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.52, Y:-26.49, Z:-2.61 [[ 9.99060023e-01 4.28160574e-02 6.77163211e-03 3.63521963e+02] [-4.28113322e-02 9.99082820e-01 -8.41273892e-04 -2.64859137e+01] [-6.80144134e-03 5.50580522e-04 9.99976718e-01 -2.60750986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.58, Y:-26.49, Z:-2.61 [[ 9.99098774e-01 4.19020900e-02 6.77165986e-03 3.63581288e+02] [-4.18973454e-02 9.99121567e-01 -8.41050457e-04 -2.64918601e+01] [-6.80095318e-03 5.56577908e-04 9.99976718e-01 -2.60706712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.64, Y:-26.50, Z:-2.61 [[ 9.99232281e-01 3.85874754e-02 6.77167801e-03 3.63639992e+02] [-3.85826563e-02 9.99255058e-01 -8.40904331e-04 -2.65008082e+01] [-6.79908187e-03 5.78989428e-04 9.99976718e-01 -2.61337525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.70, Y:-26.51, Z:-2.62 [[ 9.99219307e-01 3.89219756e-02 6.77169603e-03 3.63698616e+02] [-3.89171651e-02 9.99242086e-01 -8.40759117e-04 -2.65093843e+01] [-6.79928768e-03 5.76567530e-04 9.99976718e-01 -2.61574830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.76, Y:-26.51, Z:-2.62 [[ 9.98954263e-01 4.52164077e-02 6.77171446e-03 3.63756945e+02] [-4.52117418e-02 9.98977073e-01 -8.40610666e-04 -2.65143068e+01] [-6.80279689e-03 5.33570603e-04 9.99976718e-01 -2.61531268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.82, Y:-26.52, Z:-2.62 [[ 9.98838321e-01 4.77090288e-02 6.77175259e-03 3.63815200e+02] [-4.77044219e-02 9.98861143e-01 -8.40303444e-04 -2.65197933e+01] [-6.80413059e-03 5.16284739e-04 9.99976718e-01 -2.61635037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.87, Y:-26.53, Z:-2.61 [[ 9.98561732e-01 5.31846791e-02 6.77179055e-03 3.63874052e+02] [-5.31801994e-02 9.98584579e-01 -8.39997363e-04 -2.65252294e+01] [-6.80688061e-03 4.78664050e-04 9.99976718e-01 -2.61472334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.93, Y:-26.53, Z:-2.61 [[ 9.98645461e-01 5.15886222e-02 6.77182871e-03 3.63932515e+02] [-5.15841082e-02 9.98668301e-01 -8.39689624e-04 -2.65344499e+01] [-6.80612910e-03 4.89233487e-04 9.99976718e-01 -2.61266192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:-26.55, Z:-2.61 [[ 9.98971358e-01 4.48371291e-02 6.77185064e-03 3.63989464e+02] [-4.48324620e-02 9.98994167e-01 -8.39512757e-04 -2.65496269e+01] [-6.80268063e-03 5.35050463e-04 9.99976718e-01 -2.61481052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.05, Y:-26.57, Z:-2.61 [[ 9.99133619e-01 4.10627961e-02 6.77187873e-03 3.64048453e+02] [-4.10580443e-02 9.99156410e-01 -8.39286077e-04 -2.65659814e+01] [-6.80062948e-03 5.60518838e-04 9.99976718e-01 -2.61004218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.11, Y:-26.58, Z:-2.61 [[ 9.99244791e-01 3.82621095e-02 6.77187873e-03 3.64106365e+02] [-3.82572939e-02 9.99267569e-01 -8.39286077e-04 -2.65820041e+01] [-6.79903166e-03 5.79578486e-04 9.99976718e-01 -2.60914444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.17, Y:-26.60, Z:-2.61 [[ 9.99172988e-01 4.00934014e-02 6.77188826e-03 3.64165843e+02] [-4.00886281e-02 9.99195775e-01 -8.39209180e-04 -2.65965767e+01] [-6.80008889e-03 5.67039435e-04 9.99976718e-01 -2.61377497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.23, Y:-26.61, Z:-2.61 [[ 9.98923093e-01 4.58998370e-02 6.77188826e-03 3.64225191e+02] [-4.58951962e-02 9.98945908e-01 -8.39209180e-04 -2.66056622e+01] [-6.80326963e-03 5.27508290e-04 9.99976718e-01 -2.61164835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.28, Y:-26.61, Z:-2.61 [[ 9.98320767e-01 5.75307519e-02 6.77189795e-03 3.64283402e+02] [-5.75263776e-02 9.98343634e-01 -8.39130995e-04 -2.66137468e+01] [-6.80895705e-03 4.48159140e-04 9.99976718e-01 -2.60940575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.34, Y:-26.62, Z:-2.61 [[ 9.97930256e-01 6.39479918e-02 6.77192675e-03 3.64341663e+02] [-6.39437662e-02 9.97953151e-01 -8.38898490e-04 -2.66223935e+01] [-6.81171151e-03 4.04139683e-04 9.99976718e-01 -2.61213710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.40, Y:-26.63, Z:-2.61 [[ 9.97795428e-01 6.60183595e-02 6.77196493e-03 3.64400859e+02] [-6.60141834e-02 9.97818332e-01 -8.38590189e-04 -2.66317992e+01] [-6.81255310e-03 3.89695722e-04 9.99976718e-01 -2.60944970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.46, Y:-26.65, Z:-2.61 [[ 9.97724315e-01 6.70845174e-02 6.77198411e-03 3.64457845e+02] [-6.70803669e-02 9.97747223e-01 -8.38435277e-04 -2.66459701e+01] [-6.81297437e-03 3.82260083e-04 9.99976718e-01 -2.60807250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.52, Y:-26.66, Z:-2.61 [[ 9.97739941e-01 6.68517066e-02 6.77201260e-03 3.64515695e+02] [-6.68475524e-02 9.97762849e-01 -8.38205059e-04 -2.66596782e+01] [-6.81289803e-03 3.83618199e-04 9.99976718e-01 -2.61246594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.57, Y:-26.68, Z:-2.61 [[ 9.97592248e-01 6.90206264e-02 6.77202991e-03 3.64573797e+02] [-6.90165229e-02 9.97615165e-01 -8.38065209e-04 -2.66796498e+01] [-6.81372352e-03 3.68665398e-04 9.99976718e-01 -2.61077138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.63, Y:-26.69, Z:-2.61 [[ 9.97121739e-01 7.55140894e-02 6.77204904e-03 3.64631933e+02] [-7.55101362e-02 9.97144682e-01 -8.37910616e-04 -2.66927303e+01] [-6.81598674e-03 3.24140545e-04 9.99976718e-01 -2.60808155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.69, Y:-26.70, Z:-2.61 [[ 9.95877630e-01 9.04537724e-02 6.77208767e-03 3.64688330e+02] [-9.04501657e-02 9.95900631e-01 -8.37598257e-04 -2.67046876e+01] [-6.82009031e-03 2.21608914e-04 9.99976718e-01 -2.61266466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.75, Y:-26.71, Z:-2.61 [[ 9.94464827e-01 1.04851542e-01 6.77213555e-03 3.64747198e+02] [-1.04848271e-01 9.94487878e-01 -8.37210961e-04 -2.67099791e+01] [-6.82258958e-03 1.22530150e-04 9.99976718e-01 -2.61180646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.80, Y:-26.72, Z:-2.61 [[ 9.93815368e-01 1.10838405e-01 6.77217401e-03 3.64804134e+02] [-1.10835275e-01 9.93838438e-01 -8.36899778e-04 -2.67166105e+01] [-6.82320748e-03 8.11280908e-05 9.99976718e-01 -2.61003971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.86, Y:-26.72, Z:-2.61 [[ 9.93212547e-01 1.16116207e-01 6.77223143e-03 3.64863162e+02] [-1.16113202e-01 9.93235634e-01 -8.36434877e-04 -2.67179485e+01] [-6.82354522e-03 4.44121362e-05 9.99976718e-01 -2.61011767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.92, Y:-26.72, Z:-2.61 [[ 9.92861310e-01 1.19082134e-01 6.77227041e-03 3.64922588e+02] [-1.19079201e-01 9.92884407e-01 -8.36119151e-04 -2.67187737e+01] [-6.82364854e-03 2.37138041e-05 9.99976718e-01 -2.61146447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.98, Y:-26.72, Z:-2.62 [[ 9.92683903e-01 1.20552082e-01 6.77230944e-03 3.64981047e+02] [-1.20549186e-01 9.92707004e-01 -8.35802859e-04 -2.67162801e+01] [-6.82367679e-03 1.32916566e-05 9.99976718e-01 -2.61515728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.04, Y:-26.72, Z:-2.61 [[ 9.93002195e-01 1.17901551e-01 6.77235774e-03 3.65040128e+02] [-1.17898595e-01 9.93025288e-01 -8.35411340e-04 -2.67218194e+01] [-6.82361879e-03 3.11138293e-05 9.99976718e-01 -2.61335430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.10, Y:-26.73, Z:-2.61 [[ 9.93812565e-01 1.10863518e-01 6.77239666e-03 3.65097692e+02] [-1.10860401e-01 9.93835637e-01 -8.35095694e-04 -2.67281073e+01] [-6.82323080e-03 7.91379845e-05 9.99976718e-01 -2.61196612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.16, Y:-26.74, Z:-2.61 [[ 9.94129135e-01 1.07987949e-01 6.77244458e-03 3.65155213e+02] [-1.07984767e-01 9.94152198e-01 -8.34706917e-04 -2.67354303e+01] [-6.82297895e-03 9.84856130e-05 9.99976718e-01 -2.61365419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:365.21, Y:-26.75, Z:-2.62 [[ 9.94169255e-01 1.07617962e-01 6.77249072e-03 3.65212935e+02] [-1.07614775e-01 9.94192317e-01 -8.34332366e-04 -2.67465208e+01] [-6.82294739e-03 1.00647524e-04 9.99976718e-01 -2.61745918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:365.27, Y:-26.76, Z:-2.62 [[ 9.93706205e-01 1.11812836e-01 6.77252846e-03 3.65271229e+02] [-1.11809748e-01 9.93729281e-01 -8.34025906e-04 -2.67566715e+01] [-6.82331464e-03 7.15420187e-05 9.99976718e-01 -2.62146199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:365.33, Y:-26.77, Z:-2.62 [[ 9.92793378e-01 1.19647154e-01 6.77256592e-03 3.65327531e+02] [-1.19644250e-01 9.92816478e-01 -8.33721648e-04 -2.67694335e+01] [-6.82366746e-03 1.74147597e-05 9.99976718e-01 -2.61820611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.38, Y:-26.78, Z:-2.61 [[ 9.92379317e-01 1.23034233e-01 6.77261225e-03 3.65384548e+02] [-1.23031410e-01 9.92402427e-01 -8.33345059e-04 -2.67849221e+01] [-6.82368681e-03 -6.24963775e-06 9.99976718e-01 -2.61473167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.44, Y:-26.80, Z:-2.62 [[ 9.91903858e-01 1.26810359e-01 6.77264921e-03 3.65441160e+02] [-1.26807627e-01 9.91926979e-01 -8.33044585e-04 -2.67978238e+01] [-6.82361216e-03 -3.25234376e-05 9.99976718e-01 -2.61638878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.50, Y:-26.81, Z:-2.61 [[ 9.89955461e-01 1.41217262e-01 6.77269918e-03 3.65499095e+02] [-1.41214869e-01 9.89978620e-01 -8.32638179e-04 -2.68091190e+01] [-6.82241027e-03 -1.32131114e-04 9.99976718e-01 -2.61193975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.56, Y:-26.81, Z:-2.62 [[ 9.88359911e-01 1.51982950e-01 6.77273806e-03 3.65556401e+02] [-1.51980812e-01 9.88383094e-01 -8.32321780e-04 -2.68138237e+01] [-6.82055852e-03 -2.06692748e-04 9.99976718e-01 -2.61573256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.62, Y:-26.82, Z:-2.61 [[ 9.87260472e-01 1.58968204e-01 6.77280560e-03 3.65615413e+02] [-1.58966233e-01 9.87283670e-01 -8.31771857e-04 -2.68171926e+01] [-6.81890564e-03 -2.55471916e-04 9.99976718e-01 -2.61476139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.67, Y:-26.82, Z:-2.61 [[ 9.87399117e-01 1.58104750e-01 6.77284261e-03 3.65673845e+02] [-1.58102761e-01 9.87422314e-01 -8.31470353e-04 -2.68248182e+01] [-6.81911533e-03 -2.49812022e-04 9.99976718e-01 -2.61295709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:-26.83, Z:-2.62 [[ 9.88856992e-01 1.48714414e-01 6.77288165e-03 3.65732101e+02] [-1.48712207e-01 9.88880169e-01 -8.31152244e-04 -2.68346897e+01] [-6.82117267e-03 -1.85319471e-04 9.99976718e-01 -2.61623555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.79, Y:-26.85, Z:-2.61 [[ 9.89928792e-01 1.41404082e-01 6.77292048e-03 3.65789761e+02] [-1.41401706e-01 9.89951952e-01 -8.30835663e-04 -2.68482278e+01] [-6.82234941e-03 -1.35234366e-04 9.99976718e-01 -2.61358709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.85, Y:-26.86, Z:-2.61 [[ 9.89583292e-01 1.43802068e-01 6.77295940e-03 3.65846552e+02] [-1.43799750e-01 9.89606458e-01 -8.30518296e-04 -2.68568120e+01] [-6.82199461e-03 -1.52082841e-04 9.99976718e-01 -2.61431399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.91, Y:-26.86, Z:-2.62 [[ 9.88227312e-01 1.52842749e-01 6.77300765e-03 3.65905098e+02] [-1.52840646e-01 9.88250499e-01 -8.30124627e-04 -2.68630089e+01] [-6.82030672e-03 -2.14839033e-04 9.99976718e-01 -2.62015393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.96, Y:-26.87, Z:-2.62 [[ 9.87837591e-01 1.55341619e-01 6.77304711e-03 3.65962127e+02] [-1.55339577e-01 9.87860783e-01 -8.29802577e-04 -2.68700375e+01] [-6.81973050e-03 -2.32412093e-04 9.99976718e-01 -2.62210515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.02, Y:-26.88, Z:-2.63 [[ 9.88747014e-01 1.49443860e-01 6.77311497e-03 3.66018600e+02] [-1.49441683e-01 9.88770194e-01 -8.29248312e-04 -2.68824914e+01] [-6.82098026e-03 -1.92268905e-04 9.99976718e-01 -2.62585950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.08, Y:-26.90, Z:-2.63 [[ 9.89645963e-01 1.43370122e-01 6.77316280e-03 3.66076466e+02] [-1.43367805e-01 9.89669129e-01 -8.28857411e-04 -2.68960956e+01] [-6.82202352e-03 -1.50778092e-04 9.99976718e-01 -2.62722635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.13, Y:-26.91, Z:-2.63 [[ 9.89899133e-01 1.41611549e-01 6.77320201e-03 3.66132424e+02] [-1.41609193e-01 9.89922295e-01 -8.28536899e-04 -2.69118729e+01] [-6.82227407e-03 -1.38979713e-04 9.99976718e-01 -2.62537577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.19, Y:-26.92, Z:-2.62 [[ 9.88641397e-01 1.50140968e-01 6.77325067e-03 3.66190662e+02] [-1.50138815e-01 9.88664579e-01 -8.28138865e-04 -2.69212432e+01] [-6.82081060e-03 -1.98195467e-04 9.99976718e-01 -2.62322393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:366.25, Y:-26.93, Z:-2.62 [[ 9.85738723e-01 1.68146638e-01 6.77328842e-03 3.66248847e+02] [-1.68144910e-01 9.85761941e-01 -8.27830070e-04 -2.69267005e+01] [-6.81604678e-03 -3.22869815e-04 9.99976718e-01 -2.61659569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:-26.93, Z:-2.62 [[ 9.83647811e-01 1.79975294e-01 6.77335609e-03 3.66307220e+02] [-1.79973849e-01 9.83671047e-01 -8.27275997e-04 -2.69291802e+01] [-6.81164352e-03 -4.05278744e-04 9.99976718e-01 -2.61597128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.37, Y:-26.93, Z:-2.62 [[ 9.83292183e-01 1.81908231e-01 6.77340298e-03 3.66365905e+02] [-1.81906834e-01 9.83315422e-01 -8.26891858e-04 -2.69349362e+01] [-6.81081005e-03 -4.19051992e-04 9.99976718e-01 -2.62050698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.42, Y:-26.94, Z:-2.63 [[ 9.83578094e-01 1.80355910e-01 6.77344105e-03 3.66423601e+02] [-1.80354479e-01 9.83601331e-01 -8.26579880e-04 -2.69368564e+01] [-6.81144420e-03 -4.08614569e-04 9.99976718e-01 -2.62622324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.48, Y:-26.94, Z:-2.62 [[ 9.84077323e-01 1.77611772e-01 6.77348799e-03 3.66482444e+02] [-1.77610279e-01 9.84100557e-01 -8.26195069e-04 -2.69406456e+01] [-6.81253528e-03 -3.90001258e-04 9.99976718e-01 -2.62463832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.54, Y:-26.94, Z:-2.62 [[ 9.85304779e-01 1.70671061e-01 6.77352612e-03 3.66541171e+02] [-1.70669406e-01 9.85328002e-01 -8.25882347e-04 -2.69445064e+01] [-6.81509918e-03 -3.42287857e-04 9.99976718e-01 -2.62217615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.60, Y:-26.95, Z:-2.63 [[ 9.85894393e-01 1.67231472e-01 6.77356431e-03 3.66599009e+02] [-1.67229738e-01 9.85917610e-01 -8.25568985e-04 -2.69511220e+01] [-6.81623745e-03 -3.18817553e-04 9.99976718e-01 -2.62622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.66, Y:-26.96, Z:-2.63 [[ 9.85646895e-01 1.68684075e-01 6.77363225e-03 3.66657627e+02] [-1.68682379e-01 9.85670114e-01 -8.25011175e-04 -2.69571915e+01] [-6.81573313e-03 -3.29422701e-04 9.99976718e-01 -2.62979090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:366.72, Y:-26.96, Z:-2.63 [[ 9.84748676e-01 1.73850978e-01 6.77367200e-03 3.66716039e+02] [-1.73849406e-01 9.84771905e-01 -8.24684718e-04 -2.69586111e+01] [-6.81389412e-03 -3.65491668e-04 9.99976718e-01 -2.62556952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.77, Y:-26.96, Z:-2.63 [[ 9.84391955e-01 1.75859589e-01 6.77372117e-03 3.66774557e+02] [-1.75858067e-01 9.84415187e-01 -8.24280627e-04 -2.69624264e+01] [-6.81311165e-03 -3.79798295e-04 9.99976718e-01 -2.62786513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.83, Y:-26.97, Z:-2.63 [[ 9.84488228e-01 1.75319838e-01 6.77375915e-03 3.66832607e+02] [-1.75318306e-01 9.84511459e-01 -8.23968444e-04 -2.69659765e+01] [-6.81330151e-03 -3.76376745e-04 9.99976718e-01 -2.62781460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.89, Y:-26.97, Z:-2.63 [[ 9.84937161e-01 1.72779933e-01 6.77381846e-03 3.66890130e+02] [-1.72778344e-01 9.84960388e-01 -8.23480530e-04 -2.69736027e+01] [-6.81422377e-03 -3.59292560e-04 9.99976718e-01 -2.62700861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:-26.98, Z:-2.63 [[ 9.85205254e-01 1.71244626e-01 6.77386743e-03 3.66947693e+02] [-1.71243004e-01 9.85228479e-01 -8.23077532e-04 -2.69839363e+01] [-6.81475471e-03 -3.49077099e-04 9.99976718e-01 -2.62551814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.00, Y:-26.99, Z:-2.63 [[ 9.84865832e-01 1.73186049e-01 6.77392542e-03 3.67004853e+02] [-1.73184476e-01 9.84889060e-01 -8.22599987e-04 -2.69938027e+01] [-6.81402788e-03 -3.62988103e-04 9.99976718e-01 -2.62770830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.06, Y:-27.00, Z:-2.63 [[ 9.84381663e-01 1.75917181e-01 6.77397330e-03 3.67062739e+02] [-1.75915675e-01 9.84404896e-01 -8.22205561e-04 -2.70032349e+01] [-6.81297256e-03 -3.82284006e-04 9.99976718e-01 -2.62874923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.12, Y:-27.01, Z:-2.62 [[ 9.84721986e-01 1.74002077e-01 6.77401127e-03 3.67120597e+02] [-1.74000528e-01 9.84745216e-01 -8.21892541e-04 -2.70115820e+01] [-6.81368621e-03 -3.69345882e-04 9.99976718e-01 -2.62365809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.18, Y:-27.02, Z:-2.62 [[ 9.85298120e-01 1.70709481e-01 6.77405816e-03 3.67176692e+02] [-1.70707857e-01 9.85321345e-01 -8.21505915e-04 -2.70226971e+01] [-6.81486295e-03 -3.46956718e-04 9.99976718e-01 -2.62352089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.23, Y:-27.03, Z:-2.63 [[ 9.85328390e-01 1.70534673e-01 6.77412345e-03 3.67234817e+02] [-1.70533049e-01 9.85351615e-01 -8.20967150e-04 -2.70307964e+01] [-6.81489685e-03 -3.46289687e-04 9.99976718e-01 -2.62682528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.29, Y:-27.04, Z:-2.62 [[ 9.85524517e-01 1.69397569e-01 6.77416017e-03 3.67293376e+02] [-1.69395920e-01 9.85547741e-01 -8.20664120e-04 -2.70398144e+01] [-6.81527675e-03 -3.38730482e-04 9.99976718e-01 -2.62411130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.35, Y:-27.05, Z:-2.62 [[ 9.85824718e-01 1.67641687e-01 6.77419669e-03 3.67351112e+02] [-1.67639999e-01 9.85847939e-01 -8.20362556e-04 -2.70487989e+01] [-6.81585480e-03 -3.26892638e-04 9.99976718e-01 -2.62283942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.41, Y:-27.06, Z:-2.63 [[ 9.86275023e-01 1.64971781e-01 6.77423282e-03 3.67409439e+02] [-1.64970032e-01 9.86298239e-01 -8.20064094e-04 -2.70585914e+01] [-6.81670133e-03 -3.08736672e-04 9.99976718e-01 -2.62679516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.47, Y:-27.07, Z:-2.63 [[ 9.86774585e-01 1.61956869e-01 6.77426887e-03 3.67467012e+02] [-1.61955050e-01 9.86797796e-01 -8.19766151e-04 -2.70699178e+01] [-6.81760035e-03 -2.88202652e-04 9.99976718e-01 -2.62987342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.52, Y:-27.08, Z:-2.63 [[ 9.86896930e-01 1.61209675e-01 6.77430456e-03 3.67524655e+02] [-1.61207841e-01 9.86920139e-01 -8.19471086e-04 -2.70791283e+01] [-6.81780427e-03 -2.83337515e-04 9.99976718e-01 -2.63046569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.58, Y:-27.09, Z:-2.63 [[ 9.87031881e-01 1.60381339e-01 6.77434901e-03 3.67581684e+02] [-1.60379488e-01 9.87055089e-01 -8.19103481e-04 -2.70917677e+01] [-6.81802458e-03 -2.77985377e-04 9.99976718e-01 -2.62929458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.64, Y:-27.10, Z:-2.63 [[ 9.86623528e-01 1.62874557e-01 6.77439304e-03 3.67639139e+02] [-1.62872767e-01 9.86646741e-01 -8.18739196e-04 -2.71032101e+01] [-6.81728460e-03 -2.95576784e-04 9.99976718e-01 -2.63174396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.70, Y:-27.12, Z:-2.64 [[ 9.85843159e-01 1.67533199e-01 6.77442797e-03 3.67695372e+02] [-1.67531521e-01 9.85866380e-01 -8.18450064e-04 -2.71173733e+01] [-6.81579834e-03 -3.28066824e-04 9.99976718e-01 -2.63652700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.75, Y:-27.13, Z:-2.64 [[ 9.85581602e-01 1.69065111e-01 6.77447118e-03 3.67753033e+02] [-1.69063471e-01 9.85604826e-01 -8.18092243e-04 -2.71286338e+01] [-6.81526235e-03 -3.39018949e-04 9.99976718e-01 -2.63825671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.81, Y:-27.15, Z:-2.64 [[ 9.85092580e-01 1.71891581e-01 6.77450554e-03 3.67809807e+02] [-1.71890010e-01 9.85115808e-01 -8.17807589e-04 -2.71454332e+01] [-6.81424674e-03 -3.58853640e-04 9.99976718e-01 -2.63527557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:-27.16, Z:-2.63 [[ 9.84514992e-01 1.75169451e-01 6.77454308e-03 3.67868089e+02] [-1.75167960e-01 9.84538226e-01 -8.17496550e-04 -2.71574750e+01] [-6.81299704e-03 -3.81845279e-04 9.99976718e-01 -2.63097030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.92, Y:-27.17, Z:-2.63 [[ 9.83542829e-01 1.80548081e-01 6.77458087e-03 3.67924937e+02] [-1.80546719e-01 9.83566070e-01 -8.17183227e-04 -2.71661945e+01] [-6.81078875e-03 -4.19393645e-04 9.99976718e-01 -2.62732392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.98, Y:-27.18, Z:-2.63 [[ 9.82030626e-01 1.88599985e-01 6.77462753e-03 3.67982862e+02] [-1.88598816e-01 9.82053878e-01 -8.16796231e-04 -2.71757828e+01] [-6.80709700e-03 -4.75567819e-04 9.99976718e-01 -2.62705993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:-27.18, Z:-2.63 [[ 9.81663670e-01 1.90500771e-01 6.77466450e-03 3.68041276e+02] [-1.90499649e-01 9.81686924e-01 -8.16489491e-04 -2.71842994e+01] [-6.80614143e-03 -4.89053139e-04 9.99976718e-01 -2.62823704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.10, Y:-27.19, Z:-2.63 [[ 9.81580187e-01 1.90930460e-01 6.77470127e-03 3.68099533e+02] [-1.90929350e-01 9.81603442e-01 -8.16184251e-04 -2.71915846e+01] [-6.80590452e-03 -4.92339023e-04 9.99976718e-01 -2.62516160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.16, Y:-27.20, Z:-2.63 [[ 9.81667435e-01 1.90481364e-01 6.77473870e-03 3.68158057e+02] [-1.90480246e-01 9.81690690e-01 -8.15873476e-04 -2.71976607e+01] [-6.80610660e-03 -4.89537472e-04 9.99976718e-01 -2.62856931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.22, Y:-27.20, Z:-2.63 [[ 9.81695733e-01 1.90335465e-01 6.77477588e-03 3.68216123e+02] [-1.90334346e-01 9.81718988e-01 -8.15564594e-04 -2.72036059e+01] [-6.80615699e-03 -4.88836253e-04 9.99976718e-01 -2.63033010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.27, Y:-27.21, Z:-2.63 [[ 9.82455820e-01 1.86372379e-01 6.77481286e-03 3.68273347e+02] [-1.86371168e-01 9.82479070e-01 -8.15257316e-04 -2.72135276e+01] [-6.80805329e-03 -4.61675489e-04 9.99976718e-01 -2.62859767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:368.33, Y:-27.22, Z:-2.63 [[ 9.82977140e-01 1.83602950e-01 6.77485870e-03 3.68331696e+02] [-1.83601676e-01 9.83000387e-01 -8.14876192e-04 -2.72246266e+01] [-6.80930240e-03 -4.42870744e-04 9.99976718e-01 -2.63128988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.39, Y:-27.24, Z:-2.63 [[ 9.83308311e-01 1.81820971e-01 6.77489528e-03 3.68388574e+02] [-1.81819657e-01 9.83331556e-01 -8.14572010e-04 -2.72371894e+01] [-6.81007459e-03 -4.30833707e-04 9.99976718e-01 -2.63206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.45, Y:-27.26, Z:-2.63 [[ 9.83852070e-01 1.78855261e-01 6.77494048e-03 3.68446354e+02] [-1.78853879e-01 9.83875311e-01 -8.14195832e-04 -2.72559298e+01] [-6.81131988e-03 -4.10676134e-04 9.99976718e-01 -2.63058167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.50, Y:-27.27, Z:-2.63 [[ 9.83830571e-01 1.78973482e-01 6.77495909e-03 3.68503956e+02] [-1.78972105e-01 9.83853812e-01 -8.14040955e-04 -2.72694229e+01] [-6.81126107e-03 -4.11650310e-04 9.99976718e-01 -2.63250772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.56, Y:-27.28, Z:-2.63 [[ 9.82946611e-01 1.83766316e-01 6.77498663e-03 3.68562173e+02] [-1.83765053e-01 9.82969859e-01 -8.13811690e-04 -2.72835604e+01] [-6.80915883e-03 -4.45072334e-04 9.99976718e-01 -2.63240027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.62, Y:-27.29, Z:-2.64 [[ 9.82833390e-01 1.84370894e-01 6.77500546e-03 3.68621269e+02] [-1.84369647e-01 9.82856638e-01 -8.13654927e-04 -2.72933741e+01] [-6.80887338e-03 -4.49418133e-04 9.99976718e-01 -2.63551271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.68, Y:-27.31, Z:-2.63 [[ 9.84106893e-01 1.77447800e-01 6.77502419e-03 3.68680882e+02] [-1.77446390e-01 9.84130132e-01 -8.13498958e-04 -2.73058855e+01] [-6.81185905e-03 -4.01633652e-04 9.99976718e-01 -2.63451718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.74, Y:-27.32, Z:-2.63 [[ 9.85879306e-01 1.67320330e-01 6.77501494e-03 3.68741987e+02] [-1.67318681e-01 9.85902529e-01 -8.13575928e-04 -2.73186453e+01] [-6.81563216e-03 -3.31498890e-04 9.99976718e-01 -2.63038205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.80, Y:-27.33, Z:-2.63 [[ 9.87432017e-01 1.57899060e-01 6.77488535e-03 3.68802854e+02] [-1.57897181e-01 9.87455223e-01 -8.14653678e-04 -2.73286934e+01] [-6.81852897e-03 -2.65320176e-04 9.99976718e-01 -2.63064702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.86, Y:-27.34, Z:-2.63 [[ 9.87767512e-01 1.55786539e-01 6.77474695e-03 3.68864110e+02] [-1.55784603e-01 9.87790713e-01 -8.15803013e-04 -2.73363987e+01] [-6.81912324e-03 -2.49577553e-04 9.99976718e-01 -2.63163811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.93, Y:-27.34, Z:-2.63 [[ 9.87809728e-01 1.55518635e-01 6.77462010e-03 3.68925496e+02] [-1.55516685e-01 9.87832928e-01 -8.16854999e-04 -2.73380110e+01] [-6.81922899e-03 -2.46669147e-04 9.99976718e-01 -2.63016913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.99, Y:-27.34, Z:-2.64 [[ 9.88061297e-01 1.53912242e-01 6.77460161e-03 3.68988065e+02] [-1.53910254e-01 9.88084494e-01 -8.17008360e-04 -2.73416868e+01] [-6.81962639e-03 -2.35426312e-04 9.99976718e-01 -2.63511531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.05, Y:-27.34, Z:-2.63 [[ 9.89435023e-01 1.44818654e-01 6.77446895e-03 3.69049819e+02] [-1.44816444e-01 9.89458199e-01 -8.18106865e-04 -2.73426867e+01] [-6.82153098e-03 -1.71590921e-04 9.99976718e-01 -2.63153532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.11, Y:-27.35, Z:-2.63 [[ 9.91030245e-01 1.33465955e-01 6.77434673e-03 3.69111500e+02] [-1.33463473e-01 9.91053394e-01 -8.19117684e-04 -2.73471126e+01] [-6.82306364e-03 -9.23574445e-05 9.99976718e-01 -2.63422081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.17, Y:-27.35, Z:-2.63 [[ 9.91837439e-01 1.27328725e-01 6.77421509e-03 3.69174486e+02] [-1.27326093e-01 9.91860571e-01 -8.20204923e-04 -2.73507570e+01] [-6.82351249e-03 -4.90243912e-05 9.99976718e-01 -2.63235589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.24, Y:-27.35, Z:-2.63 [[ 9.92681013e-01 1.20575781e-01 6.77406238e-03 3.69237005e+02] [-1.20572983e-01 9.92704126e-01 -8.21464154e-04 -2.73542354e+01] [-6.82368836e-03 -1.31703857e-06 9.99976718e-01 -2.63030644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:369.30, Y:-27.36, Z:-2.63 [[ 9.93322144e-01 1.15174788e-01 6.77392825e-03 3.69299488e+02] [-1.15171857e-01 9.93345240e-01 -8.22568760e-04 -2.73621123e+01] [-6.82358857e-03 3.69098695e-05 9.99976718e-01 -2.63064274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.36, Y:-27.37, Z:-2.63 [[ 9.94443610e-01 1.05052480e-01 6.77376990e-03 3.69360988e+02] [-1.05049304e-01 9.94466674e-01 -8.23870694e-04 -2.73725978e+01] [-6.82283808e-03 1.07713132e-04 9.99976718e-01 -2.63283114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.42, Y:-27.38, Z:-2.63 [[ 9.94759161e-01 1.02021217e-01 6.77362303e-03 3.69422672e+02] [-1.02017963e-01 9.94782215e-01 -8.25076463e-04 -2.73814035e+01] [-6.82245502e-03 1.29721148e-04 9.99976718e-01 -2.63398304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.48, Y:-27.39, Z:-2.63 [[ 9.95181856e-01 9.78120279e-02 6.77352801e-03 3.69484856e+02] [-9.78086712e-02 9.95204894e-01 -8.25855767e-04 -2.73911489e+01] [-6.82182686e-03 1.59366901e-04 9.99976718e-01 -2.63425244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.55, Y:-27.40, Z:-2.64 [[ 9.95509688e-01 9.44170709e-02 6.77337346e-03 3.69546622e+02] [-9.44136270e-02 9.95532713e-01 -8.27121404e-04 -2.74043418e+01] [-6.82120924e-03 1.83908615e-04 9.99976718e-01 -2.63578205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.61, Y:-27.42, Z:-2.64 [[ 9.95679550e-01 9.26086195e-02 6.77321939e-03 3.69608563e+02] [-9.26051252e-02 9.95702568e-01 -8.28381187e-04 -2.74154351e+01] [-6.82082718e-03 1.97567378e-04 9.99976718e-01 -2.63546047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.67, Y:-27.43, Z:-2.63 [[ 9.95831737e-01 9.09575524e-02 6.77306598e-03 3.69670134e+02] [-9.09540115e-02 9.95854748e-01 -8.29633563e-04 -2.74273114e+01] [-6.82045136e-03 2.10137911e-04 9.99976718e-01 -2.63468626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.73, Y:-27.44, Z:-2.64 [[ 9.95804576e-01 9.12544504e-02 6.77290689e-03 3.69731732e+02] [-9.12509075e-02 9.95827586e-01 -8.30930352e-04 -2.74368018e+01] [-6.82047361e-03 2.09410347e-04 9.99976718e-01 -2.63644392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.79, Y:-27.45, Z:-2.64 [[ 9.95857622e-01 9.06737336e-02 6.77275950e-03 3.69793830e+02] [-9.06701691e-02 9.95880629e-01 -8.32129959e-04 -2.74456133e+01] [-6.82031232e-03 2.14595713e-04 9.99976718e-01 -2.63716459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.86, Y:-27.45, Z:-2.64 [[ 9.96085679e-01 8.81331467e-02 6.77260310e-03 3.69855786e+02] [-8.81295149e-02 9.96108676e-01 -8.33400914e-04 -2.74549711e+01] [-6.81969895e-03 2.33272489e-04 9.99976718e-01 -2.63778105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.92, Y:-27.46, Z:-2.64 [[ 9.96591681e-01 8.22140825e-02 6.77244686e-03 3.69916917e+02] [-8.22103056e-02 9.96614654e-01 -8.34668640e-04 -2.74639293e+01] [-6.81814130e-03 2.75058897e-04 9.99976718e-01 -2.63928999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.98, Y:-27.47, Z:-2.64 [[ 9.96989925e-01 7.72348740e-02 6.77230214e-03 3.69979590e+02] [-7.72309745e-02 9.97012878e-01 -8.35841218e-04 -2.74743809e+01] [-6.81662854e-03 3.10293780e-04 9.99976718e-01 -2.63740778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.04, Y:-27.48, Z:-2.64 [[ 9.97086882e-01 7.59729395e-02 6.77214704e-03 3.70041402e+02] [-7.59690024e-02 9.97109828e-01 -8.37095993e-04 -2.74826746e+01] [-6.81617102e-03 3.20184179e-04 9.99976718e-01 -2.63878126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.10, Y:-27.49, Z:-2.64 [[ 9.96974945e-01 7.74280255e-02 6.77205123e-03 3.70103365e+02] [-7.74241167e-02 9.96997896e-01 -8.37870362e-04 -2.74910078e+01] [-6.81659548e-03 3.11015673e-04 9.99976718e-01 -2.64143055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.17, Y:-27.50, Z:-2.64 [[ 9.96979041e-01 7.73752740e-02 6.77191945e-03 3.70166223e+02] [-7.73713567e-02 9.97001991e-01 -8.38934095e-04 -2.74965332e+01] [-6.81652993e-03 3.12447114e-04 9.99976718e-01 -2.64253262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.23, Y:-27.50, Z:-2.64 [[ 9.97062076e-01 7.62978360e-02 6.77177029e-03 3.70228913e+02] [-7.62938857e-02 9.97085020e-01 -8.40136343e-04 -2.75018369e+01] [-6.81613131e-03 3.21023417e-04 9.99976718e-01 -2.64157163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.29, Y:-27.51, Z:-2.63 [[ 9.96997734e-01 7.71340617e-02 6.77162233e-03 3.70291212e+02] [-7.71301226e-02 9.97020680e-01 -8.41327274e-04 -2.75053719e+01] [-6.81634249e-03 3.16505325e-04 9.99976718e-01 -2.63348304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.35, Y:-27.51, Z:-2.63 [[ 9.97001950e-01 7.70795563e-02 6.77148645e-03 3.70353083e+02] [-7.70756086e-02 9.97024895e-01 -8.42419497e-04 -2.75083943e+01] [-6.81627389e-03 3.17977442e-04 9.99976718e-01 -2.63420383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.42, Y:-27.51, Z:-2.64 [[ 9.97055692e-01 7.63812516e-02 6.77134242e-03 3.70416271e+02] [-7.63772800e-02 9.97078633e-01 -8.43575596e-04 -2.75067759e+01] [-6.81599420e-03 3.23915134e-04 9.99976718e-01 -2.63679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.48, Y:-27.50, Z:-2.64 [[ 9.97324314e-01 7.27898524e-02 6.77120163e-03 3.70479381e+02] [-7.27857905e-02 9.97347239e-01 -8.44704195e-04 -2.75031945e+01] [-6.81472514e-03 3.49596768e-04 9.99976718e-01 -2.63501231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.54, Y:-27.51, Z:-2.63 [[ 9.97730110e-01 6.69983587e-02 6.77105164e-03 3.70542694e+02] [-6.69941557e-02 9.97753009e-01 -8.45904771e-04 -2.75065240e+01] [-6.81251138e-03 3.90363772e-04 9.99976718e-01 -2.63498763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.60, Y:-27.52, Z:-2.64 [[ 9.98393231e-01 5.62593202e-02 6.77089365e-03 3.70602843e+02] [-5.62548625e-02 9.98416082e-01 -8.47167485e-04 -2.75159535e+01] [-6.80783018e-03 4.64910591e-04 9.99976718e-01 -2.64081947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.66, Y:-27.53, Z:-2.64 [[ 9.98567009e-01 5.30856400e-02 6.77076691e-03 3.70663609e+02] [-5.30811029e-02 9.98589844e-01 -8.48179270e-04 -2.75266289e+01] [-6.80624521e-03 4.87564061e-04 9.99976718e-01 -2.64010813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.73, Y:-27.54, Z:-2.64 [[ 9.98150606e-01 6.04113034e-02 6.77062395e-03 3.70725083e+02] [-6.04069263e-02 9.98173473e-01 -8.49318870e-04 -2.75356698e+01] [-6.80956568e-03 4.38755564e-04 9.99976718e-01 -2.64391093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.79, Y:-27.54, Z:-2.64 [[ 9.97687668e-01 6.76274864e-02 6.77049162e-03 3.70786376e+02] [-6.76232676e-02 9.97710565e-01 -8.50372445e-04 -2.75446393e+01] [-6.81249957e-03 3.90563335e-04 9.99976718e-01 -2.64499843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.85, Y:-27.55, Z:-2.65 [[ 9.97291131e-01 7.32431763e-02 6.77035763e-03 3.70848829e+02] [-7.32390793e-02 9.97314049e-01 -8.51437911e-04 -2.75549787e+01] [-6.81453480e-03 3.53276718e-04 9.99976718e-01 -2.64708052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.91, Y:-27.56, Z:-2.65 [[ 9.97133935e-01 7.53530427e-02 6.77020313e-03 3.70910329e+02] [-7.53489858e-02 9.97156860e-01 -8.52664649e-04 -2.75643366e+01] [-6.81520537e-03 3.40092916e-04 9.99976718e-01 -2.64694382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.97, Y:-27.57, Z:-2.64 [[ 9.96973808e-01 7.74428336e-02 6.77005915e-03 3.70971979e+02] [-7.74388171e-02 9.96996741e-01 -8.53806283e-04 -2.75721858e+01] [-6.81584809e-03 3.26957129e-04 9.99976718e-01 -2.64270237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.03, Y:-27.58, Z:-2.64 [[ 9.96900111e-01 7.83858196e-02 6.76992611e-03 3.71034486e+02] [-7.83818177e-02 9.96923046e-01 -8.54859918e-04 -2.75761879e+01] [-6.81610425e-03 3.21570834e-04 9.99976718e-01 -2.63815091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.10, Y:-27.58, Z:-2.64 [[ 9.96902177e-01 7.83595488e-02 6.76978764e-03 3.71097125e+02] [-7.83555389e-02 9.96925111e-01 -8.55955079e-04 -2.75827245e+01] [-6.81604355e-03 3.22853123e-04 9.99976718e-01 -2.63789989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.16, Y:-27.59, Z:-2.64 [[ 9.97073708e-01 7.61458685e-02 6.76963034e-03 3.71159291e+02] [-7.61417992e-02 9.97096631e-01 -8.57197351e-04 -2.75867130e+01] [-6.81524764e-03 3.39237107e-04 9.99976718e-01 -2.63798070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.22, Y:-27.59, Z:-2.64 [[ 9.97534427e-01 6.98515686e-02 6.76948409e-03 3.71222494e+02] [-6.98473469e-02 9.97557322e-01 -8.58350776e-04 -2.75902693e+01] [-6.81290557e-03 3.83403946e-04 9.99976718e-01 -2.63601828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.28, Y:-27.60, Z:-2.64 [[ 9.98044790e-01 6.21351183e-02 6.76932064e-03 3.71284347e+02] [-6.21307110e-02 9.98067651e-01 -8.59637897e-04 -2.75971386e+01] [-6.80965365e-03 4.37374420e-04 9.99976718e-01 -2.63829364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.35, Y:-27.61, Z:-2.64 [[ 9.98312413e-01 5.76758628e-02 6.76916973e-03 3.71345639e+02] [-5.76713454e-02 9.98335252e-01 -8.60824583e-04 -2.76050431e+01] [-6.80754956e-03 4.68984741e-04 9.99976718e-01 -2.63946148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.41, Y:-27.61, Z:-2.64 [[ 9.98844440e-01 4.75811321e-02 6.76903200e-03 3.71407487e+02] [-4.75763768e-02 9.98867231e-01 -8.61906253e-04 -2.76144204e+01] [-6.80237472e-03 5.38864252e-04 9.99976718e-01 -2.64254059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.47, Y:-27.62, Z:-2.64 [[ 9.98987091e-01 4.44856530e-02 6.76889292e-03 3.71467823e+02] [-4.44808197e-02 9.99009866e-01 -8.62997097e-04 -2.76223949e+01] [-6.80058180e-03 5.61037054e-04 9.99976718e-01 -2.64086384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.53, Y:-27.63, Z:-2.64 [[ 9.98845793e-01 4.75527686e-02 6.76876555e-03 3.71530077e+02] [-4.75479985e-02 9.98868581e-01 -8.63994968e-04 -2.76297046e+01] [-6.80219259e-03 5.41156485e-04 9.99976718e-01 -2.64318310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.59, Y:-27.64, Z:-2.65 [[ 9.98659289e-01 5.13206533e-02 6.76871624e-03 3.71590870e+02] [-5.13159666e-02 9.98682094e-01 -8.64381087e-04 -2.76375938e+01] [-6.80415631e-03 5.15878985e-04 9.99976718e-01 -2.64574332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.65, Y:-27.65, Z:-2.65 [[ 9.98659996e-01 5.13069142e-02 6.76858910e-03 3.71651624e+02] [-5.13022205e-02 9.98682799e-01 -8.65375486e-04 -2.76462576e+01] [-6.80407326e-03 5.16972228e-04 9.99976718e-01 -2.64560917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.71, Y:-27.66, Z:-2.65 [[ 9.98802132e-01 4.84612149e-02 6.76846435e-03 3.71713403e+02] [-4.84564497e-02 9.98824921e-01 -8.66350122e-04 -2.76571961e+01] [-6.80249525e-03 5.37336597e-04 9.99976718e-01 -2.64665978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.78, Y:-27.67, Z:-2.65 [[ 9.98873458e-01 4.69681051e-02 6.76841498e-03 3.71775053e+02] [-4.69633032e-02 9.98896239e-01 -8.66735680e-04 -2.76695672e+01] [-6.80165320e-03 5.47892142e-04 9.99976718e-01 -2.64535663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:371.84, Y:-27.68, Z:-2.64 [[ 9.98755514e-01 4.94126977e-02 6.76825765e-03 3.71837601e+02] [-4.94079434e-02 9.98778305e-01 -8.67962515e-04 -2.76783056e+01] [-6.80287727e-03 5.32476657e-04 9.99976718e-01 -2.64370450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.90, Y:-27.69, Z:-2.64 [[ 9.98380079e-01 5.64925773e-02 6.76809459e-03 3.71899965e+02] [-5.64879761e-02 9.98402901e-01 -8.69232112e-04 -2.76851435e+01] [-6.80639044e-03 4.85508059e-04 9.99976718e-01 -2.64415238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.96, Y:-27.69, Z:-2.64 [[ 9.98132875e-01 6.07038613e-02 6.76793237e-03 3.71960790e+02] [-6.06993479e-02 9.98155715e-01 -8.70493357e-04 -2.76901649e+01] [-6.80829268e-03 4.58058955e-04 9.99976718e-01 -2.64134756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.02, Y:-27.69, Z:-2.64 [[ 9.97978451e-01 6.31918355e-02 6.76785596e-03 3.72024745e+02] [-6.31873751e-02 9.98001301e-01 -8.71086998e-04 -2.76901073e+01] [-6.80937464e-03 4.41683000e-04 9.99976718e-01 -2.64214072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.09, Y:-27.69, Z:-2.65 [[ 9.98136597e-01 6.06426548e-02 6.76769650e-03 3.72087320e+02] [-6.06381276e-02 9.98159434e-01 -8.72324182e-04 -2.76930347e+01] [-6.80814016e-03 4.60318246e-04 9.99976718e-01 -2.64598168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.15, Y:-27.70, Z:-2.65 [[ 9.98452843e-01 5.51916782e-02 6.76755764e-03 3.72150012e+02] [-5.51870192e-02 9.98475653e-01 -8.73400142e-04 -2.76954283e+01] [-6.80544595e-03 4.98567521e-04 9.99976718e-01 -2.64520892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.21, Y:-27.70, Z:-2.64 [[ 9.98557510e-01 5.32644379e-02 6.76742020e-03 3.72211772e+02] [-5.32597277e-02 9.98580311e-01 -8.74463778e-04 -2.77007667e+01] [-6.80439038e-03 5.12771416e-04 9.99976718e-01 -2.64341941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.27, Y:-27.71, Z:-2.65 [[ 9.98551689e-01 5.33734783e-02 6.76728241e-03 3.72273553e+02] [-5.33687634e-02 9.98574488e-01 -8.75528760e-04 -2.77059912e+01] [-6.80436559e-03 5.13099228e-04 9.99976718e-01 -2.64516660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.34, Y:-27.71, Z:-2.65 [[ 9.98325049e-01 5.74569654e-02 6.76713597e-03 3.72335128e+02] [-5.74523362e-02 9.98347866e-01 -8.76659221e-04 -2.77115318e+01] [-6.80632593e-03 4.86403089e-04 9.99976718e-01 -2.65058128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.40, Y:-27.72, Z:-2.65 [[ 9.98044089e-01 6.21466412e-02 6.76700169e-03 3.72396649e+02] [-6.21421122e-02 9.98066925e-01 -8.77694524e-04 -2.77166293e+01] [-6.80846633e-03 4.55462053e-04 9.99976718e-01 -2.64725683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.46, Y:-27.72, Z:-2.64 [[ 9.98080319e-01 6.15620593e-02 6.76687716e-03 3.72458583e+02] [-6.15575105e-02 9.98103151e-01 -8.78653512e-04 -2.77232181e+01] [-6.80813314e-03 4.60414665e-04 9.99976718e-01 -2.64296323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.52, Y:-27.73, Z:-2.65 [[ 9.98217546e-01 5.92953740e-02 6.76673784e-03 3.72519803e+02] [-5.92907661e-02 9.98240367e-01 -8.79725160e-04 -2.77282992e+01] [-6.80699450e-03 4.76952020e-04 9.99976718e-01 -2.64543629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.58, Y:-27.73, Z:-2.64 [[ 9.98185198e-01 5.98374683e-02 6.76665870e-03 3.72582020e+02] [-5.98328686e-02 9.98208021e-01 -8.80333471e-04 -2.77326939e+01] [-6.80720992e-03 4.73867238e-04 9.99976718e-01 -2.64185240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.64, Y:-27.73, Z:-2.64 [[ 9.98164757e-01 6.01775024e-02 6.76651236e-03 3.72644965e+02] [-6.01729030e-02 9.98187580e-01 -8.81456861e-04 -2.77331821e+01] [-6.80729247e-03 4.72678481e-04 9.99976718e-01 -2.64102592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.71, Y:-27.74, Z:-2.64 [[ 9.98210359e-01 5.94162970e-02 6.76636636e-03 3.72705862e+02] [-5.94116726e-02 9.98233176e-01 -8.82576171e-04 -2.77362795e+01] [-6.80685079e-03 4.78995532e-04 9.99976718e-01 -2.64496013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.77, Y:-27.74, Z:-2.64 [[ 9.98509217e-01 5.41623587e-02 6.76623215e-03 3.72766946e+02] [-5.41576074e-02 9.98532009e-01 -8.83603943e-04 -2.77407370e+01] [-6.80415745e-03 5.15843738e-04 9.99976718e-01 -2.64462555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.83, Y:-27.75, Z:-2.65 [[ 9.98714710e-01 5.02309384e-02 6.76621371e-03 3.72828485e+02] [-5.02260964e-02 9.98737482e-01 -8.83745114e-04 -2.77474737e+01] [-6.80206259e-03 5.42768742e-04 9.99976718e-01 -2.65213759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.89, Y:-27.76, Z:-2.65 [[ 9.98905277e-01 4.62867978e-02 6.76608518e-03 3.72889829e+02] [-4.62818593e-02 9.98928029e-01 -8.84728029e-04 -2.77553389e+01] [-6.79978336e-03 5.70612494e-04 9.99976718e-01 -2.64820899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.95, Y:-27.76, Z:-2.65 [[ 9.98852790e-01 4.74059616e-02 6.76594614e-03 3.72950586e+02] [-4.74010415e-02 9.98875546e-01 -8.85790064e-04 -2.77615542e+01] [-6.80032988e-03 5.64060983e-04 9.99976718e-01 -2.64631586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.01, Y:-27.76, Z:-2.65 [[ 9.98580215e-01 5.28372838e-02 6.76581813e-03 3.73012036e+02] [-5.28324810e-02 9.98602995e-01 -8.86766799e-04 -2.77636824e+01] [-6.80322060e-03 5.28052823e-04 9.99976718e-01 -2.64711770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.07, Y:-27.77, Z:-2.64 [[ 9.98468381e-01 5.49100698e-02 6.76580030e-03 3.73074098e+02] [-5.49053133e-02 9.98491172e-01 -8.86902799e-04 -2.77659429e+01] [-6.80429176e-03 5.14066017e-04 9.99976718e-01 -2.64372963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.14, Y:-27.77, Z:-2.64 [[ 9.98532492e-01 5.37316234e-02 6.76577961e-03 3.73135370e+02] [-5.37268390e-02 9.98555276e-01 -8.87060556e-04 -2.77652911e+01] [-6.80366814e-03 5.22254836e-04 9.99976718e-01 -2.64166505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.20, Y:-27.77, Z:-2.64 [[ 9.98660820e-01 5.12912348e-02 6.76576935e-03 3.73195576e+02] [-5.12863942e-02 9.98683593e-01 -8.87138800e-04 -2.77674153e+01] [-6.80236529e-03 5.38958848e-04 9.99976718e-01 -2.64363196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.26, Y:-27.77, Z:-2.64 [[ 9.98850989e-01 4.74439369e-02 6.76576935e-03 3.73256610e+02] [-4.74390086e-02 9.98873743e-01 -8.87138800e-04 -2.77659626e+01] [-6.80023871e-03 5.65158077e-04 9.99976718e-01 -2.64329943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.32, Y:-27.77, Z:-2.64 [[ 9.98897974e-01 4.64441841e-02 6.76576935e-03 3.73316247e+02] [-4.64392330e-02 9.98920723e-01 -8.87138800e-04 -2.77715277e+01] [-6.79966965e-03 5.71964011e-04 9.99976718e-01 -2.64316457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.38, Y:-27.77, Z:-2.64 [[ 9.98949026e-01 4.53328631e-02 6.76571955e-03 3.73377397e+02] [-4.53278841e-02 9.98971769e-01 -8.87518434e-04 -2.77726390e+01] [-6.79899658e-03 5.79909923e-04 9.99976718e-01 -2.64479537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.44, Y:-27.78, Z:-2.65 [[ 9.98911153e-01 4.61598687e-02 6.76571955e-03 3.73437549e+02] [-4.61549086e-02 9.98933900e-01 -8.87518434e-04 -2.77767668e+01] [-6.79947436e-03 5.74280895e-04 9.99976718e-01 -2.64860606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:-27.78, Z:-2.65 [[ 9.98812723e-01 4.82428177e-02 6.76572960e-03 3.73497276e+02] [-4.82379056e-02 9.98835480e-01 -8.87441824e-04 -2.77777640e+01] [-6.80066347e-03 5.60023559e-04 9.99976718e-01 -2.64767796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.56, Y:-27.78, Z:-2.65 [[ 9.98681685e-01 5.08833623e-02 6.76571871e-03 3.73557696e+02] [-5.08785098e-02 9.98704456e-01 -8.87524886e-04 -2.77793707e+01] [-6.80211367e-03 5.42125163e-04 9.99976718e-01 -2.64831759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.62, Y:-27.78, Z:-2.65 [[ 9.98519371e-01 5.39749147e-02 6.76573850e-03 3.73616964e+02] [-5.39701338e-02 9.98542156e-01 -8.87373990e-04 -2.77796794e+01] [-6.80377104e-03 5.20912306e-04 9.99976718e-01 -2.64966833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.68, Y:-27.78, Z:-2.65 [[ 9.98359971e-01 5.68470941e-02 6.76575880e-03 3.73676043e+02] [-5.68423797e-02 9.98382771e-01 -8.87219143e-04 -2.77834984e+01] [-6.80525285e-03 5.01182247e-04 9.99976718e-01 -2.65055210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:373.73, Y:-27.79, Z:-2.65 [[ 9.97927517e-01 6.39913682e-02 6.76579921e-03 3.73733566e+02] [-6.39868193e-02 9.97950350e-01 -8.86910939e-04 -2.77862284e+01] [-6.80868633e-03 4.52150860e-04 9.99976718e-01 -2.65098767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.79, Y:-27.79, Z:-2.64 [[ 9.97450871e-01 7.10350901e-02 6.76584902e-03 3.73792225e+02] [-7.10307050e-02 9.97473736e-01 -8.86530750e-04 -2.77899375e+01] [-6.81173149e-03 4.03687842e-04 9.99976718e-01 -2.64487339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.85, Y:-27.79, Z:-2.64 [[ 9.96793217e-01 7.97339718e-02 6.76588827e-03 3.73850508e+02] [-7.97297883e-02 9.96816119e-01 -8.86231143e-04 -2.77927528e+01] [-6.81500921e-03 3.43946352e-04 9.99976718e-01 -2.64214630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.91, Y:-27.80, Z:-2.64 [[ 9.96471647e-01 8.36569093e-02 6.76594379e-03 3.73909069e+02] [-8.36528190e-02 9.96494567e-01 -8.85807056e-04 -2.77977379e+01] [-6.81633010e-03 3.16691346e-04 9.99976718e-01 -2.63720982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.97, Y:-27.80, Z:-2.64 [[ 9.95901884e-01 9.01867955e-02 6.76598321e-03 3.73967494e+02] [-9.01828575e-02 9.95924831e-01 -8.85505838e-04 -2.77996280e+01] [-6.81827162e-03 2.71701233e-04 9.99976718e-01 -2.63729058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.02, Y:-27.80, Z:-2.64 [[ 9.95677792e-01 9.26280454e-02 6.76603624e-03 3.74024729e+02] [-9.26241664e-02 9.95700748e-01 -8.85100491e-04 -2.78041929e+01] [-6.81893247e-03 2.54576436e-04 9.99976718e-01 -2.63989884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:374.08, Y:-27.81, Z:-2.64 [[ 9.95261879e-01 9.69949133e-02 6.76608470e-03 3.74082231e+02] [-9.69911375e-02 9.95284852e-01 -8.84729836e-04 -2.78075078e+01] [-6.81999591e-03 2.24287627e-04 9.99976718e-01 -2.63670237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.14, Y:-27.81, Z:-2.64 [[ 9.94840700e-01 1.01223522e-01 6.76613236e-03 3.74140301e+02] [-1.01219847e-01 9.94863689e-01 -8.84365189e-04 -2.78124347e+01] [-6.82089797e-03 1.94935603e-04 9.99976718e-01 -2.63692342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:374.20, Y:-27.82, Z:-2.64 [[ 9.94148613e-01 1.07808876e-01 6.76619271e-03 3.74196828e+02] [-1.07805356e-01 9.94171627e-01 -8.83903244e-04 -2.78161850e+01] [-6.82204943e-03 1.49299372e-04 9.99976718e-01 -2.64212431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:374.25, Y:-27.82, Z:-2.65 [[ 9.93736361e-01 1.11544894e-01 6.76626200e-03 3.74254902e+02] [-1.11541464e-01 9.93759388e-01 -8.83372476e-04 -2.78231963e+01] [-6.82257208e-03 1.23120577e-04 9.99976718e-01 -2.64514489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:374.31, Y:-27.83, Z:-2.65 [[ 9.93784266e-01 1.11117279e-01 6.76630368e-03 3.74312339e+02] [-1.11113841e-01 9.93807292e-01 -8.83053156e-04 -2.78327129e+01] [-6.82252440e-03 1.25734340e-04 9.99976718e-01 -2.64874418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:374.37, Y:-27.84, Z:-2.65 [[ 9.93652502e-01 1.12289457e-01 6.76637714e-03 3.74370271e+02] [-1.12286050e-01 9.93675533e-01 -8.82489892e-04 -2.78422968e+01] [-6.82267772e-03 1.17118526e-04 9.99976718e-01 -2.64865437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:374.43, Y:-27.85, Z:-2.65 [[ 9.93070079e-01 1.17328741e-01 6.76641778e-03 3.74427918e+02] [-1.17325453e-01 9.93093127e-01 -8.82178153e-04 -2.78493164e+01] [-6.82318785e-03 8.21916934e-05 9.99976718e-01 -2.64836871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:374.49, Y:-27.86, Z:-2.65 [[ 9.92719055e-01 1.20262602e-01 6.76647845e-03 3.74486314e+02] [-1.20259385e-01 9.92742113e-01 -8.81712576e-04 -2.78566601e+01] [-6.82340516e-03 6.15603360e-05 9.99976718e-01 -2.64551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:374.54, Y:-27.86, Z:-2.65 [[ 9.92447312e-01 1.22484885e-01 6.76650903e-03 3.74544984e+02] [-1.22481722e-01 9.92470378e-01 -8.81477820e-04 -2.78649205e+01] [-6.82352749e-03 4.60466154e-05 9.99976718e-01 -2.65496795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.60, Y:-27.87, Z:-2.65 [[ 9.92328433e-01 1.23444299e-01 6.76653978e-03 3.74603375e+02] [-1.23441160e-01 9.92351502e-01 -8.81241731e-04 -2.78713351e+01] [-6.82357018e-03 3.92117067e-05 9.99976718e-01 -2.65363371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:374.66, Y:-27.88, Z:-2.65 [[ 9.92465821e-01 1.22334814e-01 6.76658020e-03 3.74660389e+02] [-1.22331651e-01 9.92488887e-01 -8.80931246e-04 -2.78787460e+01] [-6.82352421e-03 4.65272233e-05 9.99976718e-01 -2.64898775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:374.72, Y:-27.89, Z:-2.65 [[ 9.92755813e-01 1.19958776e-01 6.76665341e-03 3.74717768e+02] [-1.19955562e-01 9.92778872e-01 -8.80368596e-04 -2.78884840e+01] [-6.82339847e-03 6.22933311e-05 9.99976718e-01 -2.64976828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:374.78, Y:-27.90, Z:-2.64 [[ 9.92837524e-01 1.19280607e-01 6.76671154e-03 3.74775118e+02] [-1.19277380e-01 9.92860581e-01 -8.79921533e-04 -2.79031884e+01] [-6.82335872e-03 6.65034933e-05 9.99976718e-01 -2.64192532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.83, Y:-27.92, Z:-2.64 [[ 9.92538365e-01 1.21744833e-01 6.76675246e-03 3.74831561e+02] [-1.21741666e-01 9.92561430e-01 -8.79606732e-04 -2.79160127e+01] [-6.82350508e-03 4.92477123e-05 9.99976718e-01 -2.63894424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:374.89, Y:-27.93, Z:-2.64 [[ 9.91519918e-01 1.29778513e-01 6.76681323e-03 3.74888929e+02] [-1.29775536e-01 9.91543008e-01 -8.79138957e-04 -2.79301730e+01] [-6.82367970e-03 -6.48302721e-06 9.99976718e-01 -2.64496317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.95, Y:-27.95, Z:-2.64 [[ 9.90567019e-01 1.36861939e-01 6.76685433e-03 3.74945433e+02] [-1.36859129e-01 9.90590130e-01 -8.78822551e-04 -2.79452952e+01] [-6.82345647e-03 -5.55731561e-05 9.99976718e-01 -2.64389176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:375.00, Y:-27.96, Z:-2.64 [[ 9.90131546e-01 1.39977610e-01 6.76690510e-03 3.75002415e+02] [-1.39974875e-01 9.90154666e-01 -8.78431453e-04 -2.79580590e+01] [-6.82324339e-03 -7.74340026e-05 9.99976718e-01 -2.64496213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:375.06, Y:-27.98, Z:-2.65 [[ 9.89818673e-01 1.42173145e-01 6.76696675e-03 3.75058898e+02] [-1.42170465e-01 9.89841800e-01 -8.77956236e-04 -2.79766634e+01] [-6.82304835e-03 -9.30453299e-05 9.99976718e-01 -2.64898583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.12, Y:-27.99, Z:-2.65 [[ 9.89602336e-01 1.43671238e-01 6.76700799e-03 3.75115134e+02] [-1.43668595e-01 9.89625467e-01 -8.77638295e-04 -2.79922484e+01] [-6.82289482e-03 -1.03693624e-04 9.99976718e-01 -2.65007502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.17, Y:-28.01, Z:-2.65 [[ 9.89130503e-01 1.46884493e-01 6.76705909e-03 3.75171401e+02] [-1.46881928e-01 9.89153643e-01 -8.77244055e-04 -2.80083667e+01] [-6.82251470e-03 -1.26249830e-04 9.99976718e-01 -2.65142823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.23, Y:-28.02, Z:-2.65 [[ 9.88247328e-01 1.52713540e-01 6.76710895e-03 3.75229055e+02] [-1.52711114e-01 9.88270483e-01 -8.76859297e-04 -2.80239277e+01] [-6.82164231e-03 -1.66858886e-04 9.99976718e-01 -2.65154440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.29, Y:-28.04, Z:-2.65 [[ 9.86369778e-01 1.64404580e-01 6.76715014e-03 3.75286264e+02] [-1.64402430e-01 9.86392961e-01 -8.76541260e-04 -2.80381266e+01] [-6.81917666e-03 -2.47942122e-04 9.99976718e-01 -2.64831904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.34, Y:-28.05, Z:-2.65 [[ 9.85352359e-01 1.70396403e-01 6.76719128e-03 3.75343531e+02] [-1.70394396e-01 9.85375554e-01 -8.76223528e-04 -2.80477421e+01] [-6.81753020e-03 -2.89702550e-04 9.99976718e-01 -2.64867158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.40, Y:-28.06, Z:-2.65 [[ 9.84970924e-01 1.72587609e-01 6.76726502e-03 3.75400896e+02] [-1.72585657e-01 9.84994124e-01 -8.75653691e-04 -2.80581290e+01] [-6.81684325e-03 -3.05439457e-04 9.99976718e-01 -2.64743120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.46, Y:-28.07, Z:-2.65 [[ 9.85350510e-01 1.70407089e-01 6.76731355e-03 3.75458071e+02] [-1.70405090e-01 9.85373705e-01 -8.75278475e-04 -2.80692343e+01] [-6.81748648e-03 -2.90728580e-04 9.99976718e-01 -2.64689379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.52, Y:-28.08, Z:-2.65 [[ 9.85759140e-01 1.68027142e-01 6.76737406e-03 3.75515562e+02] [-1.68025089e-01 9.85782331e-01 -8.74810376e-04 -2.80823406e+01] [-6.81814966e-03 -2.74736306e-04 9.99976718e-01 -2.64598755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.57, Y:-28.09, Z:-2.65 [[ 9.85294351e-01 1.70731497e-01 6.76741474e-03 3.75572438e+02] [-1.70729510e-01 9.85317548e-01 -8.74495523e-04 -2.80924806e+01] [-6.81735643e-03 -2.93761905e-04 9.99976718e-01 -2.64662087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.63, Y:-28.10, Z:-2.65 [[ 9.84240130e-01 1.76707576e-01 6.76747599e-03 3.75629233e+02] [-1.76705734e-01 9.84263339e-01 -8.74021281e-04 -2.81024124e+01] [-6.81542470e-03 -3.35604991e-04 9.99976718e-01 -2.64620346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.69, Y:-28.11, Z:-2.65 [[ 9.83638228e-01 1.80027876e-01 6.76752640e-03 3.75687235e+02] [-1.80026114e-01 9.83661443e-01 -8.73630837e-04 -2.81129143e+01] [-6.81423269e-03 -3.58994791e-04 9.99976718e-01 -2.64805673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.75, Y:-28.12, Z:-2.65 [[ 9.83556478e-01 1.80473972e-01 6.76756657e-03 3.75745359e+02] [-1.80472223e-01 9.83579694e-01 -8.73319488e-04 -2.81246333e+01] [-6.81405250e-03 -3.62398746e-04 9.99976718e-01 -2.65199629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.80, Y:-28.13, Z:-2.65 [[ 9.83594903e-01 1.80264434e-01 6.76760645e-03 3.75802959e+02] [-1.80262682e-01 9.83618119e-01 -8.73010395e-04 -2.81340968e+01] [-6.81411305e-03 -3.61258312e-04 9.99976718e-01 -2.65332653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.86, Y:-28.14, Z:-2.66 [[ 9.83619282e-01 1.80131360e-01 6.76764641e-03 3.75861294e+02] [-1.80129607e-01 9.83642498e-01 -8.72700508e-04 -2.81430468e+01] [-6.81414534e-03 -3.60648443e-04 9.99976718e-01 -2.65832966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.92, Y:-28.15, Z:-2.66 [[ 9.84195727e-01 1.76954710e-01 6.76768865e-03 3.75918665e+02] [-1.76952884e-01 9.84218937e-01 -8.72372831e-04 -2.81516155e+01] [-6.81525780e-03 -3.38976414e-04 9.99976718e-01 -2.66011044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:375.98, Y:-28.16, Z:-2.65 [[ 9.85742945e-01 1.68122109e-01 6.76774100e-03 3.75975925e+02] [-1.68120078e-01 9.85766138e-01 -8.71966504e-04 -2.81641513e+01] [-6.81800675e-03 -2.78258314e-04 9.99976718e-01 -2.65328917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.03, Y:-28.18, Z:-2.65 [[ 9.86528405e-01 1.63450002e-01 6.76778893e-03 3.76033880e+02] [-1.63447863e-01 9.86551588e-01 -8.71594317e-04 -2.81776577e+01] [-6.81923501e-03 -2.46328089e-04 9.99976718e-01 -2.65181583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.09, Y:-28.19, Z:-2.65 [[ 9.86466958e-01 1.63820444e-01 6.76782910e-03 3.76091780e+02] [-1.63818317e-01 9.86490142e-01 -8.71282323e-04 -2.81902948e+01] [-6.81913054e-03 -2.49203150e-04 9.99976718e-01 -2.64982574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.15, Y:-28.21, Z:-2.65 [[ 9.86463621e-01 1.63840536e-01 6.76786959e-03 3.76148615e+02] [-1.63838411e-01 9.86486805e-01 -8.70967663e-04 -2.82077145e+01] [-6.81911386e-03 -2.49659083e-04 9.99976718e-01 -2.65110817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.21, Y:-28.22, Z:-2.65 [[ 9.86725783e-01 1.62254195e-01 6.76791039e-03 3.76206098e+02] [-1.62252035e-01 9.86748965e-01 -8.70650533e-04 -2.82230724e+01] [-6.81949527e-03 -2.39013906e-04 9.99976718e-01 -2.65199982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:376.26, Y:-28.24, Z:-2.65 [[ 9.87153088e-01 1.59633882e-01 6.76795073e-03 3.76264505e+02] [-1.59631662e-01 9.87176263e-01 -8.70336771e-04 -2.82391123e+01] [-6.82009555e-03 -2.21223596e-04 9.99976718e-01 -2.64980914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:376.32, Y:-28.26, Z:-2.65 [[ 9.88107970e-01 1.53612614e-01 6.76797093e-03 3.76323373e+02] [-1.53610255e-01 9.88131131e-01 -8.70179711e-04 -2.82594947e+01] [-6.82131335e-03 -1.79798229e-04 9.99976718e-01 -2.65008059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:-28.27, Z:-2.65 [[ 9.88814785e-01 1.48995021e-01 6.76797093e-03 3.76382808e+02] [-1.48992553e-01 9.88837935e-01 -8.70179711e-04 -2.82744596e+01] [-6.82207884e-03 -1.47930703e-04 9.99976718e-01 -2.65210687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.44, Y:-28.29, Z:-2.65 [[ 9.89519570e-01 1.44240128e-01 6.76797093e-03 3.76442586e+02] [-1.44237549e-01 9.89542709e-01 -8.70179711e-04 -2.82904899e+01] [-6.82271112e-03 -1.15135684e-04 9.99976718e-01 -2.65243155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.50, Y:-28.30, Z:-2.65 [[ 9.89748404e-01 1.42661459e-01 6.76795060e-03 3.76503448e+02] [-1.42658842e-01 9.89771538e-01 -8.70337758e-04 -2.83024527e+01] [-6.82288853e-03 -1.04092591e-04 9.99976718e-01 -2.65377292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.56, Y:-28.31, Z:-2.65 [[ 9.89872003e-01 1.41801318e-01 6.76780761e-03 3.76563664e+02] [-1.41798674e-01 9.89895134e-01 -8.71448283e-04 -2.83116048e+01] [-6.82299234e-03 -9.70438841e-05 9.99976718e-01 -2.65219391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.63, Y:-28.32, Z:-2.65 [[ 9.90494575e-01 1.37385208e-01 6.76767547e-03 3.76625003e+02] [-1.37382453e-01 9.90517693e-01 -8.72473247e-04 -2.83204912e+01] [-6.82336722e-03 -6.55798391e-05 9.99976718e-01 -2.65491242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.69, Y:-28.33, Z:-2.66 [[ 9.91199646e-01 1.32202351e-01 6.76753523e-03 3.76687173e+02] [-1.32199468e-01 9.91222749e-01 -8.73559729e-04 -2.83291464e+01] [-6.82362152e-03 -2.87924643e-05 9.99976718e-01 -2.65518208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.75, Y:-28.34, Z:-2.66 [[ 9.92067966e-01 1.25520329e-01 6.76736909e-03 3.76748571e+02] [-1.25517282e-01 9.92091048e-01 -8.74844884e-04 -2.83361586e+01] [-6.82365711e-03 1.84838121e-05 9.99976718e-01 -2.65518791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.81, Y:-28.34, Z:-2.66 [[ 9.92523147e-01 1.21868815e-01 6.76721441e-03 3.76811690e+02] [-1.21865675e-01 9.92546216e-01 -8.76039762e-04 -2.83427704e+01] [-6.82353498e-03 4.47985915e-05 9.99976718e-01 -2.65527742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.87, Y:-28.35, Z:-2.66 [[ 9.93047329e-01 1.17521100e-01 6.76704729e-03 3.76873430e+02] [-1.17517850e-01 9.93070383e-01 -8.77328791e-04 -2.83459084e+01] [-6.82325889e-03 7.59801645e-05 9.99976718e-01 -2.65513446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.94, Y:-28.35, Z:-2.65 [[ 9.93563439e-01 1.13074760e-01 6.76689189e-03 3.76936350e+02] [-1.13071399e-01 9.93586477e-01 -8.78525766e-04 -2.83510912e+01] [-6.82283136e-03 1.07729150e-04 9.99976718e-01 -2.65493990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.00, Y:-28.36, Z:-2.66 [[ 9.94303941e-01 1.06366743e-01 6.76671946e-03 3.76997764e+02] [-1.06363217e-01 9.94326954e-01 -8.79851903e-04 -2.83566191e+01] [-6.82191853e-03 1.55110165e-04 9.99976718e-01 -2.65538967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.06, Y:-28.36, Z:-2.66 [[ 9.94985984e-01 9.97852984e-02 6.76656034e-03 3.77059448e+02] [-9.97816120e-02 9.95008972e-01 -8.81073948e-04 -2.83644785e+01] [-6.82070647e-03 2.01477931e-04 9.99976718e-01 -2.65543405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.12, Y:-28.37, Z:-2.65 [[ 9.95401845e-01 9.55477969e-02 6.76645807e-03 3.77122532e+02] [-9.55440072e-02 9.95424816e-01 -8.81858645e-04 -2.83713628e+01] [-6.81975993e-03 2.31309204e-04 9.99976718e-01 -2.65494111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.18, Y:-28.37, Z:-2.66 [[ 9.95396225e-01 9.56063435e-02 6.76629842e-03 3.77184284e+02] [-9.56025469e-02 9.95419195e-01 -8.83081888e-04 -2.83742344e+01] [-6.81973156e-03 2.32141016e-04 9.99976718e-01 -2.65728749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.25, Y:-28.38, Z:-2.66 [[ 9.95167717e-01 9.79562838e-02 6.76615084e-03 3.77246369e+02] [-9.79525338e-02 9.95190695e-01 -8.84211225e-04 -2.83791538e+01] [-6.82022440e-03 2.17176848e-04 9.99976718e-01 -2.65912863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.31, Y:-28.38, Z:-2.66 [[ 9.94933299e-01 1.00309280e-01 6.76600677e-03 3.77308964e+02] [-1.00305577e-01 9.94956284e-01 -8.85312255e-04 -2.83826682e+01] [-6.82068599e-03 2.02158432e-04 9.99976718e-01 -2.66012313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.37, Y:-28.39, Z:-2.66 [[ 9.94900670e-01 1.00632396e-01 6.76586323e-03 3.77371231e+02] [-1.00628693e-01 9.94923656e-01 -8.86407908e-04 -2.83883915e+01] [-6.82071873e-03 2.01047848e-04 9.99976718e-01 -2.66241376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.43, Y:-28.39, Z:-2.67 [[ 9.94825535e-01 1.01372480e-01 6.76571290e-03 3.77433295e+02] [-1.01368786e-01 9.94848522e-01 -8.87553833e-04 -2.83888314e+01] [-6.82083301e-03 1.97129113e-04 9.99976718e-01 -2.66851756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.50, Y:-28.39, Z:-2.66 [[ 9.94852307e-01 1.01109414e-01 6.76556342e-03 3.77495216e+02] [-1.01105706e-01 9.94875292e-01 -8.88691843e-04 -2.83906927e+01] [-6.82074699e-03 2.00080063e-04 9.99976718e-01 -2.66405656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.56, Y:-28.39, Z:-2.67 [[ 9.95243987e-01 9.71783638e-02 6.76554190e-03 3.77556652e+02] [-9.71745643e-02 9.95266956e-01 -8.88855632e-04 -2.83897285e+01] [-6.81989783e-03 2.27189636e-04 9.99976718e-01 -2.66520812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.62, Y:-28.39, Z:-2.66 [[ 9.95537064e-01 9.41285336e-02 6.76553123e-03 3.77617451e+02] [-9.41246631e-02 9.95560022e-01 -8.88936813e-04 -2.83906662e+01] [-6.81916674e-03 2.48166197e-04 9.99976718e-01 -2.66475324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.68, Y:-28.39, Z:-2.66 [[ 9.96064445e-01 8.83733538e-02 6.76553123e-03 3.77678570e+02] [-8.83693507e-02 9.96087380e-01 -8.88936813e-04 -2.83855546e+01] [-6.81761860e-03 2.87572751e-04 9.99976718e-01 -2.66142512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.74, Y:-28.39, Z:-2.66 [[ 9.96643294e-01 8.15865880e-02 6.76552077e-03 3.77740596e+02] [-8.15824282e-02 9.96666201e-01 -8.89016412e-04 -2.83871115e+01] [-6.81549770e-03 3.34084633e-04 9.99976718e-01 -2.65924783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.80, Y:-28.39, Z:-2.66 [[ 9.97546648e-01 6.96772116e-02 6.76550024e-03 3.77801180e+02] [-6.96727775e-02 9.97569503e-01 -8.89172642e-04 -2.83898335e+01] [-6.81101178e-03 4.15619996e-04 9.99976718e-01 -2.66005208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.86, Y:-28.39, Z:-2.66 [[ 9.97919513e-01 6.41161017e-02 6.76549010e-03 3.77861378e+02] [-6.41115397e-02 9.97942343e-01 -8.89249771e-04 -2.83938020e+01] [-6.80858427e-03 4.53653711e-04 9.99976718e-01 -2.66272313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.92, Y:-28.40, Z:-2.67 [[ 9.98115981e-01 6.09812884e-02 6.76549010e-03 3.77921855e+02] [-6.09766548e-02 9.98138796e-01 -8.89249771e-04 -2.83971272e+01] [-6.80712574e-03 4.75037453e-04 9.99976718e-01 -2.66724009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:-28.40, Z:-2.67 [[ 9.97949084e-01 6.36541788e-02 6.76547978e-03 3.77982430e+02] [-6.36496058e-02 9.97971912e-01 -8.89328268e-04 -2.84041143e+01] [-6.80836825e-03 4.56884209e-04 9.99976718e-01 -2.66914870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.04, Y:-28.41, Z:-2.67 [[ 9.97680328e-01 6.77361892e-02 6.76547978e-03 3.78041993e+02] [-6.77317097e-02 9.97703175e-01 -8.89328268e-04 -2.84092374e+01] [-6.81018036e-03 4.29027805e-04 9.99976718e-01 -2.67158721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.10, Y:-28.41, Z:-2.67 [[ 9.97504448e-01 7.02787590e-02 6.76548989e-03 3.78102824e+02] [-7.02743382e-02 9.97527306e-01 -8.89251356e-04 -2.84128750e+01] [-6.81125639e-03 4.11591859e-04 9.99976718e-01 -2.67305206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.16, Y:-28.42, Z:-2.68 [[ 9.97494212e-01 7.04238896e-02 6.76548989e-03 3.78162052e+02] [-7.04194721e-02 9.97517071e-01 -8.89251356e-04 -2.84167526e+01] [-6.81131620e-03 4.10600855e-04 9.99976718e-01 -2.67867549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.22, Y:-28.42, Z:-2.68 [[ 9.98033718e-01 6.23131318e-02 6.76549981e-03 3.78221150e+02] [-6.23085291e-02 9.98056540e-01 -8.89175863e-04 -2.84244497e+01] [-6.80775867e-03 4.65879150e-04 9.99976718e-01 -2.67763542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.28, Y:-28.43, Z:-2.68 [[ 9.98345727e-01 5.70967433e-02 6.76550963e-03 3.78280838e+02] [-5.70920219e-02 9.98368524e-01 -8.89101177e-04 -2.84334770e+01] [-6.80523665e-03 5.01373736e-04 9.99976718e-01 -2.67607093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.34, Y:-28.44, Z:-2.67 [[ 9.98459679e-01 5.50681092e-02 6.76550963e-03 3.78339910e+02] [-5.50633416e-02 9.98482468e-01 -8.89101177e-04 -2.84421831e+01] [-6.80420387e-03 5.15200108e-04 9.99976718e-01 -2.67083016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.40, Y:-28.45, Z:-2.67 [[ 9.98401397e-01 5.61148636e-02 6.76551919e-03 3.78400069e+02] [-5.61101204e-02 9.98424190e-01 -8.89028412e-04 -2.84477580e+01] [-6.80474573e-03 5.07993112e-04 9.99976718e-01 -2.66866863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.46, Y:-28.45, Z:-2.67 [[ 9.98128340e-01 6.07786557e-02 6.76551919e-03 3.78460416e+02] [-6.07740190e-02 9.98151155e-01 -8.89028412e-04 -2.84477247e+01] [-6.80704475e-03 4.76196661e-04 9.99976718e-01 -2.66973920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:378.52, Y:-28.45, Z:-2.67 [[ 9.97925688e-01 6.40199065e-02 6.76552865e-03 3.78520553e+02] [-6.40153444e-02 9.97948518e-01 -8.88956416e-04 -2.84486549e+01] [-6.80856020e-03 4.54014797e-04 9.99976718e-01 -2.66996096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.58, Y:-28.45, Z:-2.68 [[ 9.98023097e-01 6.24830001e-02 6.76554736e-03 3.78580820e+02] [-6.24784038e-02 9.98045920e-01 -8.88813981e-04 -2.84477002e+01] [-6.80786271e-03 4.64356282e-04 9.99976718e-01 -2.67580411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.64, Y:-28.45, Z:-2.68 [[ 9.98354247e-01 5.69475642e-02 6.76556692e-03 3.78639546e+02] [-5.69428424e-02 9.98377045e-01 -8.88665071e-04 -2.84513762e+01] [-6.80519402e-03 5.01951936e-04 9.99976718e-01 -2.67787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.70, Y:-28.45, Z:-2.67 [[ 9.98655373e-01 5.13972051e-02 6.76559594e-03 3.78700069e+02] [-5.13923581e-02 9.98678144e-01 -8.88444121e-04 -2.84511714e+01] [-6.80231634e-03 5.39549566e-04 9.99976718e-01 -2.67359508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.76, Y:-28.45, Z:-2.68 [[ 9.98660716e-01 5.12932773e-02 6.76561501e-03 3.78760156e+02] [-5.12884290e-02 9.98683487e-01 -8.88298873e-04 -2.84518184e+01] [-6.80227175e-03 5.40111424e-04 9.99976718e-01 -2.67702027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:-28.45, Z:-2.68 [[ 9.98555326e-01 5.33056028e-02 6.76562440e-03 3.78819766e+02] [-5.33008008e-02 9.98578107e-01 -8.88227323e-04 -2.84468354e+01] [-6.80335190e-03 5.26330926e-04 9.99976718e-01 -2.67957176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.88, Y:-28.45, Z:-2.68 [[ 9.98544730e-01 5.35037231e-02 6.76566313e-03 3.78879333e+02] [-5.34989276e-02 9.98567512e-01 -8.87932238e-04 -2.84480971e+01] [-6.80347908e-03 5.24684334e-04 9.99976718e-01 -2.67665745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.94, Y:-28.45, Z:-2.68 [[ 9.98586353e-01 5.27211616e-02 6.76570343e-03 3.78938205e+02] [-5.27163504e-02 9.98609132e-01 -8.87625044e-04 -2.84532007e+01] [-6.80308985e-03 5.29707063e-04 9.99976718e-01 -2.67527184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.00, Y:-28.46, Z:-2.68 [[ 9.98696455e-01 5.05926416e-02 6.76574543e-03 3.78997095e+02] [-5.05877840e-02 9.98719224e-01 -8.87304773e-04 -2.84560728e+01] [-6.80197112e-03 5.43884063e-04 9.99976718e-01 -2.67781451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.06, Y:-28.46, Z:-2.68 [[ 9.98746292e-01 4.95990691e-02 6.76577663e-03 3.79055726e+02] [-4.95941904e-02 9.98769057e-01 -8.87066862e-04 -2.84604581e+01] [-6.80144603e-03 5.50411526e-04 9.99976718e-01 -2.67930377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.11, Y:-28.46, Z:-2.68 [[ 9.98769593e-01 4.91276292e-02 6.76581688e-03 3.79114558e+02] [-4.91227418e-02 9.98792356e-01 -8.86759746e-04 -2.84621435e+01] [-6.80121058e-03 5.53313195e-04 9.99976718e-01 -2.68130464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.17, Y:-28.46, Z:-2.68 [[ 9.98559420e-01 5.32288326e-02 6.76585675e-03 3.79173182e+02] [-5.32240408e-02 9.98582203e-01 -8.86455428e-04 -2.84639406e+01] [-6.80344912e-03 5.25072183e-04 9.99976718e-01 -2.68260876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.23, Y:-28.47, Z:-2.68 [[ 9.98313427e-01 5.76586862e-02 6.76589700e-03 3.79230760e+02] [-5.76539976e-02 9.98336232e-01 -8.86148123e-04 -2.84659483e+01] [-6.80573425e-03 4.94572560e-04 9.99976718e-01 -2.68260218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.29, Y:-28.47, Z:-2.68 [[ 9.98023256e-01 6.24804221e-02 6.76595402e-03 3.79289777e+02] [-6.24758466e-02 9.98046083e-01 -8.85712538e-04 -2.84661130e+01] [-6.80807360e-03 4.61253005e-04 9.99976718e-01 -2.68006312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.35, Y:-28.47, Z:-2.68 [[ 9.98074857e-01 6.16506444e-02 6.76599397e-03 3.79348079e+02] [-6.16460520e-02 9.98097681e-01 -8.85407246e-04 -2.84694807e+01] [-6.80770882e-03 4.66605894e-04 9.99976718e-01 -2.67814916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.41, Y:-28.47, Z:-2.68 [[ 9.98271884e-01 5.83735057e-02 6.76604770e-03 3.79406129e+02] [-5.83688412e-02 9.98294694e-01 -8.84996463e-04 -2.84706178e+01] [-6.80616986e-03 4.88540723e-04 9.99976718e-01 -2.67694494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.46, Y:-28.47, Z:-2.68 [[ 9.98623741e-01 5.20081122e-02 6.76609619e-03 3.79464783e+02] [-5.20033049e-02 9.98646521e-01 -8.84625616e-04 -2.84734162e+01] [-6.80294612e-03 5.31548779e-04 9.99976718e-01 -2.67568342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.52, Y:-28.48, Z:-2.68 [[ 9.98894712e-01 4.65142305e-02 6.76613471e-03 3.79522169e+02] [-4.65092999e-02 9.98917466e-01 -8.84330831e-04 -2.84788786e+01] [-6.79994411e-03 5.68665202e-04 9.99976718e-01 -2.67591831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.58, Y:-28.49, Z:-2.68 [[ 9.99100758e-01 4.18556424e-02 6.76618615e-03 3.79580882e+02] [-4.18506084e-02 9.99123488e-01 -8.83937142e-04 -2.84854129e+01] [-6.79725326e-03 5.99973261e-04 9.99976718e-01 -2.67813052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.64, Y:-28.49, Z:-2.68 [[ 9.99198650e-01 3.94496729e-02 6.76622447e-03 3.79638784e+02] [-3.94445861e-02 9.99221369e-01 -8.83643724e-04 -2.84890032e+01] [-6.79581553e-03 6.16044693e-04 9.99976718e-01 -2.68302708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.70, Y:-28.49, Z:-2.69 [[ 9.99129956e-01 4.11527532e-02 6.76627191e-03 3.79697912e+02] [-4.11477077e-02 9.99152684e-01 -8.83280267e-04 -2.84917444e+01] [-6.79688816e-03 6.04095195e-04 9.99976718e-01 -2.68624792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.76, Y:-28.50, Z:-2.68 [[ 9.99090116e-01 4.21088688e-02 6.76630925e-03 3.79756694e+02] [-4.21038469e-02 9.99112850e-01 -8.82994120e-04 -2.84967165e+01] [-6.79748840e-03 5.97303049e-04 9.99976718e-01 -2.68469013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.82, Y:-28.50, Z:-2.69 [[ 9.99171088e-01 4.01416790e-02 6.76634685e-03 3.79815055e+02] [-4.01366143e-02 9.99193812e-01 -8.82705948e-04 -2.85035180e+01] [-6.79632520e-03 6.10396008e-04 9.99976718e-01 -2.68639767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.87, Y:-28.51, Z:-2.69 [[ 9.99311450e-01 3.64807177e-02 6.76638531e-03 3.79872265e+02] [-3.64755717e-02 9.99334155e-01 -8.82410982e-04 -2.85133265e+01] [-6.79407094e-03 6.34995625e-04 9.99976718e-01 -2.69031634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.93, Y:-28.52, Z:-2.69 [[ 9.99351713e-01 3.53605458e-02 6.76643595e-03 3.79930468e+02] [-3.53553770e-02 9.99374414e-01 -8.82022546e-04 -2.85244689e+01] [-6.79339176e-03 6.42220848e-04 9.99976718e-01 -2.68994199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.99, Y:-28.53, Z:-2.69 [[ 9.99141006e-01 4.08835634e-02 6.76647209e-03 3.79988466e+02] [-4.08785221e-02 9.99163735e-01 -8.81745198e-04 -2.85343438e+01] [-6.79686241e-03 6.04384405e-04 9.99976718e-01 -2.68666307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.05, Y:-28.54, Z:-2.68 [[ 9.98848211e-01 4.75022649e-02 6.76650994e-03 3.80047409e+02] [-4.74973761e-02 9.98870974e-01 -8.81454600e-04 -2.85405080e+01] [-6.80074147e-03 5.59047882e-04 9.99976718e-01 -2.68444390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.11, Y:-28.54, Z:-2.69 [[ 9.98302662e-01 5.78447027e-02 6.76654936e-03 3.80105206e+02] [-5.78400520e-02 9.98325474e-01 -8.81151892e-04 -2.85430845e+01] [-6.80618857e-03 4.88278712e-04 9.99976718e-01 -2.68673426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.16, Y:-28.55, Z:-2.69 [[ 9.98114849e-01 6.09996866e-02 6.76659820e-03 3.80163776e+02] [-6.09951106e-02 9.98137676e-01 -8.80776715e-04 -2.85452291e+01] [-6.80772371e-03 4.66386912e-04 9.99976718e-01 -2.68844799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.22, Y:-28.55, Z:-2.69 [[ 9.98271255e-01 5.83841897e-02 6.76663690e-03 3.80222826e+02] [-5.83795559e-02 9.98294071e-01 -8.80479280e-04 -2.85511029e+01] [-6.80649957e-03 4.83923899e-04 9.99976718e-01 -2.68935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.28, Y:-28.56, Z:-2.69 [[ 9.98509971e-01 5.41484087e-02 6.76667584e-03 3.80279901e+02] [-5.41436801e-02 9.98532767e-01 -8.80179892e-04 -2.85573790e+01] [-6.80440790e-03 5.12495666e-04 9.99976718e-01 -2.68959105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.34, Y:-28.56, Z:-2.69 [[ 9.98506811e-01 5.42066335e-02 6.76672379e-03 3.80338426e+02] [-5.42019087e-02 9.98529608e-01 -8.79811150e-04 -2.85636588e+01] [-6.80446566e-03 5.11728080e-04 9.99976718e-01 -2.68760901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.40, Y:-28.57, Z:-2.68 [[ 9.98209983e-01 5.94225595e-02 6.76676211e-03 3.80397081e+02] [-5.94179559e-02 9.98232805e-01 -8.79516337e-04 -2.85700341e+01] [-6.80706703e-03 4.75874816e-04 9.99976718e-01 -2.68325191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.45, Y:-28.58, Z:-2.68 [[ 9.97971634e-01 6.32995093e-02 6.76680081e-03 3.80454283e+02] [-6.32949964e-02 9.97994474e-01 -8.79218454e-04 -2.85759454e+01] [-6.80888391e-03 4.49130444e-04 9.99976718e-01 -2.68327236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.51, Y:-28.58, Z:-2.68 [[ 9.97517761e-01 7.00894106e-02 6.76684881e-03 3.80512546e+02] [-7.00850558e-02 9.97540632e-01 -8.78848899e-04 -2.85835438e+01] [-6.81180464e-03 4.02412410e-04 9.99976718e-01 -2.68452795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.57, Y:-28.59, Z:-2.68 [[ 9.97144607e-01 7.52119797e-02 6.76688938e-03 3.80569321e+02] [-7.52077445e-02 9.97167500e-01 -8.78536398e-04 -2.85894905e+01] [-6.81379863e-03 3.67105345e-04 9.99976718e-01 -2.68457882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.63, Y:-28.60, Z:-2.69 [[ 9.96587179e-01 8.22690830e-02 6.76696000e-03 3.80627861e+02] [-8.22650137e-02 9.96610103e-01 -8.77992060e-04 -2.85953208e+01] [-6.81625231e-03 3.18311574e-04 9.99976718e-01 -2.68871624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.69, Y:-28.60, Z:-2.69 [[ 9.96349174e-01 8.51030655e-02 6.76699930e-03 3.80685571e+02] [-8.50990634e-02 9.96372109e-01 -8.77689073e-04 -2.86028848e+01] [-6.81714340e-03 2.98619480e-04 9.99976718e-01 -2.68896039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.74, Y:-28.61, Z:-2.69 [[ 9.96168134e-01 8.71966510e-02 6.76705943e-03 3.80743730e+02] [-8.71927002e-02 9.96191078e-01 -8.77225208e-04 -2.86136397e+01] [-6.81777533e-03 2.83825613e-04 9.99976718e-01 -2.68781331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.80, Y:-28.62, Z:-2.69 [[ 9.96108863e-01 8.78711505e-02 6.76709935e-03 3.80801046e+02] [-8.78672173e-02 9.96131810e-01 -8.76917212e-04 -2.86221903e+01] [-6.81797865e-03 2.78898818e-04 9.99976718e-01 -2.68771534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.86, Y:-28.63, Z:-2.69 [[ 9.95743465e-01 9.19192959e-02 6.76715944e-03 3.80857899e+02] [-9.19154592e-02 9.95766429e-01 -8.76453184e-04 -2.86346993e+01] [-6.81907315e-03 2.50715963e-04 9.99976718e-01 -2.68698139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.91, Y:-28.65, Z:-2.69 [[ 9.95322521e-01 9.63705551e-02 6.76721949e-03 3.80914848e+02] [-9.63668243e-02 9.95345502e-01 -8.75989308e-04 -2.86452342e+01] [-6.82014106e-03 2.19756435e-04 9.99976718e-01 -2.68777176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.97, Y:-28.66, Z:-2.69 [[ 9.94686872e-01 1.02724047e-01 6.76727927e-03 3.80971990e+02] [-1.02720466e-01 9.94709877e-01 -8.75527289e-04 -2.86601529e+01] [-6.82141723e-03 1.75737422e-04 9.99976718e-01 -2.69041487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.03, Y:-28.67, Z:-2.69 [[ 9.94248862e-01 1.06880325e-01 6.76731863e-03 3.81029852e+02] [-1.06876842e-01 9.94271882e-01 -8.75222906e-04 -2.86711350e+01] [-6.82209874e-03 1.46919732e-04 9.99976718e-01 -2.68805493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.09, Y:-28.68, Z:-2.69 [[ 9.93440583e-01 1.14149075e-01 6.76735899e-03 3.81086168e+02] [-1.14145763e-01 9.93463628e-01 -8.74910764e-04 -2.86824749e+01] [-6.82299526e-03 9.67065063e-05 9.99976718e-01 -2.68982796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.14, Y:-28.69, Z:-2.69 [[ 9.92839759e-01 1.19261956e-01 6.76742900e-03 3.81143700e+02] [-1.19258766e-01 9.92862821e-01 -8.74368914e-04 -2.86920280e+01] [-6.82340759e-03 6.10329916e-05 9.99976718e-01 -2.69228668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.20, Y:-28.70, Z:-2.69 [[ 9.91917752e-01 1.26701915e-01 6.76749038e-03 3.81199701e+02] [-1.26698902e-01 9.91940837e-01 -8.73893561e-04 -2.87049366e+01] [-6.82367406e-03 9.39693747e-06 9.99976718e-01 -2.69281367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.26, Y:-28.72, Z:-2.69 [[ 9.91550457e-01 1.29544935e-01 6.76760134e-03 3.81255987e+02] [-1.29541994e-01 9.91573552e-01 -8.73033434e-04 -2.87173503e+01] [-6.82367156e-03 -1.10318682e-05 9.99976718e-01 -2.69320519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:-28.74, Z:-2.69 [[ 9.91086954e-01 1.33044534e-01 6.76767013e-03 3.81313269e+02] [-1.33041677e-01 9.91110060e-01 -8.72499813e-04 -2.87351543e+01] [-6.82358728e-03 -3.56590037e-05 9.99976718e-01 -2.69480678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:-28.75, Z:-2.70 [[ 9.90427655e-01 1.37866815e-01 6.76770919e-03 3.81370532e+02] [-1.37864074e-01 9.90450774e-01 -8.72196734e-04 -2.87525982e+01] [-6.82332980e-03 -6.91761942e-05 9.99976718e-01 -2.69534520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.43, Y:-28.76, Z:-2.69 [[ 9.90039104e-01 1.40629905e-01 6.76774972e-03 3.81426949e+02] [-1.40627230e-01 9.90062231e-01 -8.71882166e-04 -2.87647265e+01] [-6.82310609e-03 -8.85324610e-05 9.99976718e-01 -2.69496931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.48, Y:-28.78, Z:-2.70 [[ 9.89289883e-01 1.45807144e-01 6.76781091e-03 3.81481801e+02] [-1.45804594e-01 9.89313025e-01 -8.71406889e-04 -2.87819411e+01] [-6.82254084e-03 -1.24703901e-04 9.99976718e-01 -2.69725716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.54, Y:-28.80, Z:-2.70 [[ 9.88785932e-01 1.49186380e-01 6.76792138e-03 3.81539599e+02] [-1.49183914e-01 9.88809083e-01 -8.70548100e-04 -2.87952491e+01] [-6.82205605e-03 -1.48879289e-04 9.99976718e-01 -2.69649615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.60, Y:-28.81, Z:-2.69 [[ 9.87778359e-01 1.55718042e-01 6.76796052e-03 3.81596857e+02] [-1.55715731e-01 9.87801526e-01 -8.70243707e-04 -2.88104311e+01] [-6.82091437e-03 -1.94270019e-04 9.99976718e-01 -2.69159602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.65, Y:-28.82, Z:-2.69 [[ 9.87052558e-01 1.60254302e-01 6.76800320e-03 3.81653227e+02] [-1.60252100e-01 9.87075736e-01 -8.69911620e-04 -2.88230014e+01] [-6.81993882e-03 -2.25938234e-04 9.99976718e-01 -2.69005970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.71, Y:-28.84, Z:-2.69 [[ 9.86578272e-01 1.63148727e-01 6.76806675e-03 3.81709493e+02] [-1.63146597e-01 9.86601456e-01 -8.69416894e-04 -2.88399849e+01] [-6.81922877e-03 -2.46439240e-04 9.99976718e-01 -2.68700046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.76, Y:-28.86, Z:-2.69 [[ 9.86392467e-01 1.64268357e-01 6.76812994e-03 3.81764389e+02] [-1.64266256e-01 9.86415654e-01 -8.68924736e-04 -2.88559348e+01] [-6.81892616e-03 -2.54674553e-04 9.99976718e-01 -2.68852833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.82, Y:-28.87, Z:-2.69 [[ 9.86123560e-01 1.65875001e-01 6.76821325e-03 3.81819814e+02] [-1.65872942e-01 9.86146750e-01 -8.68275307e-04 -2.88691015e+01] [-6.81847667e-03 -2.66436710e-04 9.99976718e-01 -2.69235285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.88, Y:-28.89, Z:-2.70 [[ 9.85428855e-01 1.69953412e-01 6.76828392e-03 3.81876631e+02] [-1.69951453e-01 9.85452054e-01 -8.67724087e-04 -2.88855492e+01] [-6.81729196e-03 -2.95199336e-04 9.99976718e-01 -2.69502622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.93, Y:-28.90, Z:-2.70 [[ 9.85087952e-01 1.71918342e-01 6.76834457e-03 3.81934206e+02] [-1.71916433e-01 9.85111155e-01 -8.67250759e-04 -2.88954276e+01] [-6.81666805e-03 -3.09271379e-04 9.99976718e-01 -2.69679990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.99, Y:-28.91, Z:-2.70 [[ 9.84728859e-01 1.73963394e-01 6.76840517e-03 3.81991322e+02] [-1.73961536e-01 9.84752067e-01 -8.66777557e-04 -2.89050493e+01] [-6.81598854e-03 -3.23901288e-04 9.99976718e-01 -2.70207130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.05, Y:-28.91, Z:-2.70 [[ 9.84861872e-01 1.73208777e-01 6.76847985e-03 3.82048491e+02] [-1.73206905e-01 9.84885078e-01 -8.66193997e-04 -2.89129924e+01] [-6.81620721e-03 -3.19266005e-04 9.99976718e-01 -2.70214663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.11, Y:-28.92, Z:-2.70 [[ 9.85857454e-01 1.67449295e-01 6.76853963e-03 3.82106012e+02] [-1.67447291e-01 9.85880650e-01 -8.65726640e-04 -2.89237308e+01] [-6.81793756e-03 -2.79890562e-04 9.99976718e-01 -2.69884097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.16, Y:-28.94, Z:-2.70 [[ 9.86592256e-01 1.63064117e-01 6.76857958e-03 3.82163969e+02] [-1.63062012e-01 9.86615442e-01 -8.65414147e-04 -2.89353365e+01] [-6.81910313e-03 -2.49887312e-04 9.99976718e-01 -2.69730453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.22, Y:-28.95, Z:-2.70 [[ 9.86985618e-01 1.60666039e-01 6.76862143e-03 3.82219348e+02] [-1.60663880e-01 9.87008799e-01 -8.65086727e-04 -2.89515469e+01] [-6.81967897e-03 -2.33644825e-04 9.99976718e-01 -2.69701027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.28, Y:-28.97, Z:-2.70 [[ 9.87089319e-01 1.60027689e-01 6.76869426e-03 3.82275815e+02] [-1.60025518e-01 9.87112499e-01 -8.64516528e-04 -2.89705191e+01] [-6.81980929e-03 -2.29808776e-04 9.99976718e-01 -2.70258187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.33, Y:-28.99, Z:-2.70 [[ 9.87300395e-01 1.58720242e-01 6.76873570e-03 3.82333177e+02] [-1.58718043e-01 9.87323572e-01 -8.64191917e-04 -2.89883919e+01] [-6.82009706e-03 -2.21103465e-04 9.99976718e-01 -2.70398949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.39, Y:-29.01, Z:-2.70 [[ 9.87334332e-01 1.58508992e-01 6.76877674e-03 3.82388148e+02] [-1.58506790e-01 9.87357509e-01 -8.63870340e-04 -2.90120798e+01] [-6.82013376e-03 -2.19968230e-04 9.99976718e-01 -2.70276388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.45, Y:-29.03, Z:-2.70 [[ 9.86904705e-01 1.61162296e-01 6.76882739e-03 3.82445487e+02] [-1.61160159e-01 9.86927889e-01 -8.63473279e-04 -2.90300388e+01] [-6.81950386e-03 -2.38699460e-04 9.99976718e-01 -2.70283885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.50, Y:-29.05, Z:-2.71 [[ 9.85603396e-01 1.68938240e-01 6.76886754e-03 3.82501125e+02] [-1.68936289e-01 9.85626595e-01 -8.63158465e-04 -2.90494656e+01] [-6.81739634e-03 -2.92775448e-04 9.99976718e-01 -2.70745089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.56, Y:-29.06, Z:-2.71 [[ 9.84608563e-01 1.74642949e-01 6.76892022e-03 3.82558815e+02] [-1.74641135e-01 9.84631774e-01 -8.62745116e-04 -2.90643751e+01] [-6.81556628e-03 -3.32665680e-04 9.99976718e-01 -2.70731607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.62, Y:-29.07, Z:-2.71 [[ 9.84212803e-01 1.76859662e-01 6.76895940e-03 3.82617169e+02] [-1.76857902e-01 9.84236018e-01 -8.62437589e-04 -2.90748655e+01] [-6.81478407e-03 -3.48321840e-04 9.99976718e-01 -2.70619111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.68, Y:-29.09, Z:-2.71 [[ 9.83267706e-01 1.82040652e-01 6.76899828e-03 3.82675543e+02] [-1.82039017e-01 9.83290930e-01 -8.62132363e-04 -2.90892560e+01] [-6.81283775e-03 -3.84514879e-04 9.99976718e-01 -2.70871405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.73, Y:-29.10, Z:-2.71 [[ 9.82393534e-01 1.86700631e-01 6.76901900e-03 3.82733348e+02] [-1.86699106e-01 9.82416765e-01 -8.61969655e-04 -2.91035619e+01] [-6.81092803e-03 -4.16976384e-04 9.99976718e-01 -2.71015236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.79, Y:-29.11, Z:-2.71 [[ 9.81519210e-01 1.91243875e-01 6.76904970e-03 3.82792417e+02] [-1.91242460e-01 9.81542449e-01 -8.61728472e-04 -2.91125088e+01] [-6.80890991e-03 -4.48726670e-04 9.99976718e-01 -2.70898244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:382.85, Y:-29.12, Z:-2.71 [[ 9.80846085e-01 1.94666734e-01 6.76906957e-03 3.82851034e+02] [-1.94665401e-01 9.80869328e-01 -8.61572408e-04 -2.91206621e+01] [-6.80729221e-03 -4.72633716e-04 9.99976718e-01 -2.71254071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.91, Y:-29.13, Z:-2.71 [[ 9.80587807e-01 1.95963599e-01 6.76908995e-03 3.82908684e+02] [-1.95962298e-01 9.80611052e-01 -8.61412254e-04 -2.91294262e+01] [-6.80664986e-03 -4.81796072e-04 9.99976718e-01 -2.71414513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.97, Y:-29.14, Z:-2.71 [[ 9.80235147e-01 1.97720095e-01 6.76912019e-03 3.82966524e+02] [-1.97718838e-01 9.80258394e-01 -8.61174519e-04 -2.91360966e+01] [-6.80575840e-03 -4.94229045e-04 9.99976718e-01 -2.70935348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.03, Y:-29.14, Z:-2.71 [[ 9.80049243e-01 1.98639521e-01 6.76917193e-03 3.83025228e+02] [-1.98638288e-01 9.80072492e-01 -8.60767631e-04 -2.91415822e+01] [-6.80526167e-03 -5.01022057e-04 9.99976718e-01 -2.70769713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.08, Y:-29.15, Z:-2.71 [[ 9.80530145e-01 1.96251910e-01 6.76920951e-03 3.83083502e+02] [-1.96250623e-01 9.80553391e-01 -8.60472050e-04 -2.91489133e+01] [-6.80644062e-03 -4.84742797e-04 9.99976718e-01 -2.70799819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.14, Y:-29.16, Z:-2.71 [[ 9.81776375e-01 1.89919263e-01 6.76924855e-03 3.83141437e+02] [-1.89917827e-01 9.81799612e-01 -8.60164777e-04 -2.91583814e+01] [-6.80940746e-03 -4.41111520e-04 9.99976718e-01 -2.70953116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.20, Y:-29.17, Z:-2.71 [[ 9.82196173e-01 1.87736133e-01 6.76927157e-03 3.83200347e+02] [-1.87734647e-01 9.82219407e-01 -8.59983604e-04 -2.91686216e+01] [-6.81035990e-03 -4.26154201e-04 9.99976718e-01 -2.70814198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.26, Y:-29.18, Z:-2.70 [[ 9.81800683e-01 1.89793559e-01 6.76929054e-03 3.83258839e+02] [-1.89792123e-01 9.81823920e-01 -8.59834235e-04 -2.91779808e+01] [-6.80944238e-03 -4.40572182e-04 9.99976718e-01 -2.70496897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.32, Y:-29.19, Z:-2.71 [[ 9.80668801e-01 1.95557867e-01 6.76930951e-03 3.83316792e+02] [-1.95556568e-01 9.80692046e-01 -8.59684874e-04 -2.91858097e+01] [-6.80672613e-03 -4.80716803e-04 9.99976718e-01 -2.70991253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.37, Y:-29.19, Z:-2.71 [[ 9.79907952e-01 1.99335351e-01 6.76934712e-03 3.83374902e+02] [-1.99334144e-01 9.79931202e-01 -8.59388623e-04 -2.91927693e+01] [-6.80480099e-03 -5.07240266e-04 9.99976718e-01 -2.71143363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.43, Y:-29.20, Z:-2.71 [[ 9.79635633e-01 2.00669386e-01 6.76938442e-03 3.83432324e+02] [-2.00668212e-01 9.79658885e-01 -8.59094674e-04 -2.91986794e+01] [-6.80408159e-03 -5.16800516e-04 9.99976718e-01 -2.71224555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.49, Y:-29.21, Z:-2.71 [[ 9.79622899e-01 2.00731537e-01 6.76943045e-03 3.83491015e+02] [-2.00730368e-01 9.79646151e-01 -8.58731827e-04 -2.92051960e+01] [-6.80402105e-03 -5.17596902e-04 9.99976718e-01 -2.71330461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.55, Y:-29.21, Z:-2.72 [[ 9.79408728e-01 2.01773930e-01 6.76946681e-03 3.83549549e+02] [-2.01772787e-01 9.79431981e-01 -8.58445083e-04 -2.92093764e+01] [-6.80344413e-03 -5.25125578e-04 9.99976718e-01 -2.71916301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.61, Y:-29.21, Z:-2.72 [[ 9.79064970e-01 2.03435391e-01 6.76950283e-03 3.83608307e+02] [-2.03434290e-01 9.79088226e-01 -8.58160954e-04 -2.92143843e+01] [-6.80252083e-03 -5.36953672e-04 9.99976718e-01 -2.71894906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.67, Y:-29.22, Z:-2.72 [[ 9.78642365e-01 2.05458741e-01 6.76953876e-03 3.83667583e+02] [-2.05457690e-01 9.78665623e-01 -8.57877435e-04 -2.92160660e+01] [-6.80137329e-03 -5.51298594e-04 9.99976718e-01 -2.71702426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.73, Y:-29.22, Z:-2.72 [[ 9.78443607e-01 2.06403199e-01 6.76957788e-03 3.83726456e+02] [-2.06402172e-01 9.78466866e-01 -8.57568624e-04 -2.92194055e+01] [-6.80081256e-03 -5.58173043e-04 9.99976718e-01 -2.71619647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.79, Y:-29.22, Z:-2.71 [[ 9.78068403e-01 2.08173898e-01 6.76961700e-03 3.83785768e+02] [-2.08172915e-01 9.78091664e-01 -8.57259708e-04 -2.92198377e+01] [-6.79976505e-03 -5.70792273e-04 9.99976718e-01 -2.71472937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.84, Y:-29.22, Z:-2.72 [[ 9.78181065e-01 2.07643870e-01 6.76965573e-03 3.83843820e+02] [-2.07642877e-01 9.78204325e-01 -8.56953743e-04 -2.92242840e+01] [-6.80004771e-03 -5.67414866e-04 9.99976718e-01 -2.71619643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.90, Y:-29.23, Z:-2.72 [[ 9.78271729e-01 2.07216302e-01 6.76971368e-03 3.83901238e+02] [-2.07215302e-01 9.78294989e-01 -8.56495692e-04 -2.92269695e+01] [-6.80025684e-03 -5.64902744e-04 9.99976718e-01 -2.71816441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.96, Y:-29.23, Z:-2.72 [[ 9.78439249e-01 2.06423849e-01 6.76978058e-03 3.83959240e+02] [-2.06422834e-01 9.78462509e-01 -8.55966599e-04 -2.92313621e+01] [-6.80066841e-03 -5.59925976e-04 9.99976718e-01 -2.71775948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.02, Y:-29.24, Z:-2.72 [[ 9.78803674e-01 2.04688880e-01 6.76983698e-03 3.84016926e+02] [-2.04687826e-01 9.78826932e-01 -8.55520313e-04 -2.92393156e+01] [-6.80161425e-03 -5.48316791e-04 9.99976718e-01 -2.71908600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.07, Y:-29.25, Z:-2.72 [[ 9.79816079e-01 1.99786437e-01 6.76989530e-03 3.84074965e+02] [-1.99785270e-01 9.79839331e-01 -8.55058546e-04 -2.92525473e+01] [-6.80423879e-03 -5.14725249e-04 9.99976718e-01 -2.71974906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.13, Y:-29.27, Z:-2.72 [[ 9.80605581e-01 1.95874607e-01 6.76993382e-03 3.84132222e+02] [-1.95873350e-01 9.80628829e-01 -8.54753522e-04 -2.92663472e+01] [-6.80621678e-03 -4.87873542e-04 9.99976718e-01 -2.72290314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.19, Y:-29.28, Z:-2.72 [[ 9.80733246e-01 1.95234392e-01 6.76997255e-03 3.84188980e+02] [-1.95233121e-01 9.80756493e-01 -8.54446646e-04 -2.92817308e+01] [-6.80651190e-03 -4.83738637e-04 9.99976718e-01 -2.72408559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.25, Y:-29.29, Z:-2.72 [[ 9.79262483e-01 2.02482486e-01 6.77002063e-03 3.84247341e+02] [-2.02481390e-01 9.79285738e-01 -8.54065467e-04 -2.92917259e+01] [-6.80271795e-03 -5.34448916e-04 9.99976718e-01 -2.72298794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.30, Y:-29.30, Z:-2.72 [[ 9.77687626e-01 2.09954930e-01 6.77005926e-03 3.84304884e+02] [-2.09954013e-01 9.77710889e-01 -8.53759138e-04 -2.92979875e+01] [-6.79841160e-03 -5.86691369e-04 9.99976718e-01 -2.72381041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.36, Y:-29.30, Z:-2.73 [[ 9.76306477e-01 2.16286450e-01 6.77010681e-03 3.84363283e+02] [-2.16285687e-01 9.76329746e-01 -8.53381948e-04 -2.92991383e+01] [-6.79443161e-03 -6.31114880e-04 9.99976718e-01 -2.72886228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.42, Y:-29.30, Z:-2.73 [[ 9.76596533e-01 2.14972968e-01 6.77015315e-03 3.84422155e+02] [-2.14972177e-01 9.76619801e-01 -8.53014149e-04 -2.93028756e+01] [-6.79524061e-03 -6.22343900e-04 9.99976718e-01 -2.72737877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.48, Y:-29.31, Z:-2.73 [[ 9.77040341e-01 2.12946793e-01 6.77018990e-03 3.84481054e+02] [-2.12945956e-01 9.77063607e-01 -8.52722344e-04 -2.93087167e+01] [-6.79649066e-03 -6.08540430e-04 9.99976718e-01 -2.72548934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.54, Y:-29.31, Z:-2.72 [[ 9.78425231e-01 2.06490270e-01 6.77022714e-03 3.84540711e+02] [-2.06489281e-01 9.78448491e-01 -8.52426643e-04 -2.93084885e+01] [-6.80033633e-03 -5.63943597e-04 9.99976718e-01 -2.72404194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.60, Y:-29.31, Z:-2.73 [[ 9.78501439e-01 2.06128838e-01 6.77026576e-03 3.84599955e+02] [-2.06127842e-01 9.78524699e-01 -8.52119754e-04 -2.93080066e+01] [-6.80051872e-03 -5.61739866e-04 9.99976718e-01 -2.72671622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.66, Y:-29.31, Z:-2.73 [[ 9.78239141e-01 2.07370071e-01 6.77030498e-03 3.84656904e+02] [-2.07369107e-01 9.78262402e-01 -8.51808026e-04 -2.93087436e+01] [-6.79977431e-03 -5.70680144e-04 9.99976718e-01 -2.72737414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.72, Y:-29.31, Z:-2.72 [[ 9.77934046e-01 2.08804128e-01 6.77037293e-03 3.84716508e+02] [-2.08803201e-01 9.77957309e-01 -8.51267648e-04 -2.93076069e+01] [-6.79888389e-03 -5.81191927e-04 9.99976718e-01 -2.72477809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.77, Y:-29.31, Z:-2.73 [[ 9.77771389e-01 2.09564481e-01 6.77041143e-03 3.84774115e+02] [-2.09563575e-01 9.77794653e-01 -8.50961283e-04 -2.93098181e+01] [-6.79840336e-03 -5.86786026e-04 9.99976718e-01 -2.72509369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.83, Y:-29.31, Z:-2.73 [[ 9.77677146e-01 2.10003711e-01 6.77050523e-03 3.84833509e+02] [-2.10002820e-01 9.77700411e-01 -8.50214359e-04 -2.93079986e+01] [-6.79807391e-03 -5.90590043e-04 9.99976718e-01 -2.72693050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:384.89, Y:-29.31, Z:-2.73 [[ 9.78216366e-01 2.07477469e-01 6.77054328e-03 3.84892653e+02] [-2.07476520e-01 9.78239629e-01 -8.49911233e-04 -2.93071389e+01] [-6.79955118e-03 -5.73331683e-04 9.99976718e-01 -2.72869168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.95, Y:-29.31, Z:-2.73 [[ 9.78841511e-01 2.04507838e-01 6.77058164e-03 3.84951701e+02] [-2.04506821e-01 9.78864770e-01 -8.49605571e-04 -2.93106832e+01] [-6.80123484e-03 -5.53000926e-04 9.99976718e-01 -2.72860116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.01, Y:-29.31, Z:-2.73 [[ 9.79426976e-01 2.01685294e-01 6.77062018e-03 3.85010658e+02] [-2.01684212e-01 9.79450232e-01 -8.49298319e-04 -2.93136159e+01] [-6.80277649e-03 -5.33701510e-04 9.99976718e-01 -2.73028571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.07, Y:-29.32, Z:-2.73 [[ 9.80317581e-01 1.97310917e-01 6.77065920e-03 3.85068296e+02] [-1.97309733e-01 9.80340833e-01 -8.48987122e-04 -2.93158676e+01] [-6.80506810e-03 -5.03639956e-04 9.99976718e-01 -2.73176459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.13, Y:-29.32, Z:-2.73 [[ 9.81468404e-01 1.91504383e-01 6.77072686e-03 3.85126291e+02] [-1.91503066e-01 9.81491648e-01 -8.48447186e-04 -2.93243313e+01] [-6.80789322e-03 -4.63890846e-04 9.99976718e-01 -2.73048558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.18, Y:-29.33, Z:-2.73 [[ 9.82008123e-01 1.88717258e-01 6.77076525e-03 3.85184288e+02] [-1.88715877e-01 9.82031363e-01 -8.48140723e-04 -2.93345493e+01] [-6.80916262e-03 -4.44869820e-04 9.99976718e-01 -2.73287361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:385.24, Y:-29.34, Z:-2.73 [[ 9.82170608e-01 1.87869776e-01 6.77080585e-03 3.85241400e+02] [-1.87868376e-01 9.82193848e-01 -8.47816424e-04 -2.93426856e+01] [-6.80952294e-03 -4.39319931e-04 9.99976718e-01 -2.72961360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.30, Y:-29.35, Z:-2.73 [[ 9.82038182e-01 1.88560772e-01 6.77085632e-03 3.85299303e+02] [-1.88559392e-01 9.82061423e-01 -8.47413238e-04 -2.93504136e+01] [-6.80918568e-03 -4.44516394e-04 9.99976718e-01 -2.72784790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.36, Y:-29.36, Z:-2.73 [[ 9.81951022e-01 1.89014140e-01 6.77089662e-03 3.85355494e+02] [-1.89012773e-01 9.81974264e-01 -8.47091066e-04 -2.93587656e+01] [-6.80895841e-03 -4.47984005e-04 9.99976718e-01 -2.72916778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:385.41, Y:-29.37, Z:-2.73 [[ 9.82204653e-01 1.87691697e-01 6.77096652e-03 3.85413497e+02] [-1.87690302e-01 9.82227893e-01 -8.46531984e-04 -2.93692837e+01] [-6.80951920e-03 -4.39377096e-04 9.99976718e-01 -2.72948754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.47, Y:-29.38, Z:-2.73 [[ 9.83118129e-01 1.82846652e-01 6.77100568e-03 3.85470471e+02] [-1.82845144e-01 9.83141362e-01 -8.46218655e-04 -2.93844128e+01] [-6.81158399e-03 -4.06112610e-04 9.99976718e-01 -2.72705755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.53, Y:-29.40, Z:-2.73 [[ 9.83365910e-01 1.81509340e-01 6.77104602e-03 3.85527395e+02] [-1.81507803e-01 9.83389141e-01 -8.45895708e-04 -2.93980534e+01] [-6.81211110e-03 -3.97172686e-04 9.99976718e-01 -2.72825094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.58, Y:-29.41, Z:-2.73 [[ 9.82653786e-01 1.85325899e-01 6.77109583e-03 3.85584149e+02] [-1.85324456e-01 9.82677023e-01 -8.45496837e-04 -2.94138332e+01] [-6.81049275e-03 -4.24018982e-04 9.99976718e-01 -2.73258447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.64, Y:-29.42, Z:-2.73 [[ 9.81622005e-01 1.90715474e-01 6.77113427e-03 3.85641810e+02] [-1.90714160e-01 9.81645249e-01 -8.45188862e-04 -2.94249783e+01] [-6.80804238e-03 -4.61695201e-04 9.99976718e-01 -2.73001744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.70, Y:-29.44, Z:-2.73 [[ 9.79875470e-01 1.99494898e-01 6.77117304e-03 3.85699407e+02] [-1.99493794e-01 9.79898725e-01 -8.44878167e-04 -2.94364365e+01] [-6.80361272e-03 -5.22931612e-04 9.99976718e-01 -2.72659319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.76, Y:-29.44, Z:-2.73 [[ 9.78399966e-01 2.06609914e-01 6.77121315e-03 3.85757135e+02] [-2.06608981e-01 9.78423229e-01 -8.44556586e-04 -2.94445711e+01] [-6.79960600e-03 -5.72679315e-04 9.99976718e-01 -2.72697263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.82, Y:-29.45, Z:-2.73 [[ 9.76255553e-01 2.16516156e-01 6.77126255e-03 3.85815753e+02] [-2.16515462e-01 9.76278824e-01 -8.44160338e-04 -2.94468140e+01] [-6.79341459e-03 -6.41966823e-04 9.99976718e-01 -2.72813148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.87, Y:-29.45, Z:-2.73 [[ 9.75701863e-01 2.18997771e-01 6.77132061e-03 3.85873594e+02] [-2.18997140e-01 9.75725136e-01 -8.43694398e-04 -2.94503439e+01] [-6.79171491e-03 -6.59705649e-04 9.99976718e-01 -2.73248124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.93, Y:-29.46, Z:-2.73 [[ 9.76674452e-01 2.14618645e-01 6.77136824e-03 3.85931829e+02] [-2.14617912e-01 9.76697722e-01 -8.43311928e-04 -2.94551165e+01] [-6.79457040e-03 -6.29615694e-04 9.99976718e-01 -2.72824616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.99, Y:-29.46, Z:-2.73 [[ 9.77825496e-01 2.09311841e-01 6.77141537e-03 3.85988314e+02] [-2.09310984e-01 9.77848762e-01 -8.42933277e-04 -2.94620123e+01] [-6.79785606e-03 -5.93089967e-04 9.99976718e-01 -2.73016842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.05, Y:-29.47, Z:-2.73 [[ 9.77987663e-01 2.08552817e-01 6.77148084e-03 3.86045736e+02] [-2.08551945e-01 9.78010929e-01 -8.42407054e-04 -2.94701320e+01] [-6.79826863e-03 -5.88341796e-04 9.99976718e-01 -2.73212935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.10, Y:-29.48, Z:-2.74 [[ 9.78356266e-01 2.06816738e-01 6.77153809e-03 3.86102971e+02] [-2.06815828e-01 9.78379530e-01 -8.41946623e-04 -2.94803038e+01] [-6.79926290e-03 -5.76737502e-04 9.99976718e-01 -2.73701099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.16, Y:-29.49, Z:-2.74 [[ 9.78850152e-01 2.04466439e-01 6.77158513e-03 3.86161030e+02] [-2.04465476e-01 9.78873414e-01 -8.41568062e-04 -2.94897502e+01] [-6.80059708e-03 -5.60786352e-04 9.99976718e-01 -2.74156982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.22, Y:-29.50, Z:-2.74 [[ 9.79071268e-01 2.03405007e-01 6.77162319e-03 3.86218843e+02] [-2.03404021e-01 9.79094529e-01 -8.41261724e-04 -2.94970079e+01] [-6.80117607e-03 -5.53720206e-04 9.99976718e-01 -2.74206203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.28, Y:-29.50, Z:-2.74 [[ 9.79008443e-01 2.03707174e-01 6.77167828e-03 3.86276924e+02] [-2.03706198e-01 9.79031704e-01 -8.40818032e-04 -2.95040604e+01] [-6.80096840e-03 -5.56264888e-04 9.99976718e-01 -2.73997050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.34, Y:-29.51, Z:-2.73 [[ 9.78805512e-01 2.04680028e-01 6.77171466e-03 3.86335779e+02] [-2.04679077e-01 9.78828774e-01 -8.40524955e-04 -2.95084049e+01] [-6.80038783e-03 -5.63317851e-04 9.99976718e-01 -2.73374098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.39, Y:-29.51, Z:-2.73 [[ 9.78615446e-01 2.05586849e-01 6.77175228e-03 3.86392871e+02] [-2.05585922e-01 9.78638709e-01 -8.40221755e-04 -2.95142815e+01] [-6.79983745e-03 -5.69922948e-04 9.99976718e-01 -2.73443274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.45, Y:-29.52, Z:-2.74 [[ 9.79359945e-01 2.02010495e-01 6.77184380e-03 3.86451108e+02] [-2.02009488e-01 9.79383205e-01 -8.39483520e-04 -2.95216696e+01] [-6.80181456e-03 -5.45820164e-04 9.99976718e-01 -2.73679674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.51, Y:-29.53, Z:-2.73 [[ 9.80386206e-01 1.96969613e-01 6.77188179e-03 3.86508963e+02] [-1.96968489e-01 9.80409461e-01 -8.39176926e-04 -2.95318222e+01] [-6.80450933e-03 -5.11129839e-04 9.99976718e-01 -2.73487193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.57, Y:-29.54, Z:-2.73 [[ 9.80969268e-01 1.94044934e-01 6.77192081e-03 3.86565948e+02] [-1.94043742e-01 9.80992519e-01 -8.38861970e-04 -2.95420734e+01] [-6.80598057e-03 -4.91151043e-04 9.99976718e-01 -2.73107480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.62, Y:-29.55, Z:-2.73 [[ 9.80796920e-01 1.94914193e-01 6.77196907e-03 3.86621879e+02] [-1.94913025e-01 9.80820172e-01 -8.38472195e-04 -2.95524665e+01] [-6.80551400e-03 -4.97574031e-04 9.99976718e-01 -2.73225671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.68, Y:-29.56, Z:-2.74 [[ 9.80895225e-01 1.94418872e-01 6.77203573e-03 3.86680364e+02] [-1.94417696e-01 9.80918476e-01 -8.37933417e-04 -2.95626694e+01] [-6.80572504e-03 -4.94678697e-04 9.99976718e-01 -2.73665250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.74, Y:-29.57, Z:-2.74 [[ 9.81287382e-01 1.92429764e-01 6.77206475e-03 3.86737723e+02] [-1.92428542e-01 9.81310631e-01 -8.37698818e-04 -2.95726976e+01] [-6.80669732e-03 -4.81115265e-04 9.99976718e-01 -2.73782295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.80, Y:-29.59, Z:-2.73 [[ 9.82202959e-01 1.87700523e-01 6.77211257e-03 3.86795395e+02] [-1.87699192e-01 9.82226202e-01 -8.37312071e-04 -2.95867381e+01] [-6.80891032e-03 -4.48709666e-04 9.99976718e-01 -2.73330101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.85, Y:-29.60, Z:-2.74 [[ 9.83485972e-01 1.80857628e-01 6.77215195e-03 3.86853010e+02] [-1.80856138e-01 9.83509205e-01 -8.36993425e-04 -2.96002930e+01] [-6.81185043e-03 -4.01613954e-04 9.99976718e-01 -2.73626325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.91, Y:-29.61, Z:-2.74 [[ 9.84456228e-01 1.75499497e-01 6.77218129e-03 3.86910359e+02] [-1.75497881e-01 9.84479453e-01 -8.36755992e-04 -2.96147575e+01] [-6.81392359e-03 -3.64753822e-04 9.99976718e-01 -2.73549412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:386.97, Y:-29.63, Z:-2.73 [[ 9.86416285e-01 1.64125106e-01 6.77220064e-03 3.86969929e+02] [-1.64123223e-01 9.86439490e-01 -8.36599340e-04 -2.96332337e+01] [-6.81767310e-03 -2.86240185e-04 9.99976718e-01 -2.73203870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.03, Y:-29.65, Z:-2.73 [[ 9.87068623e-01 1.60155146e-01 6.77218123e-03 3.87030173e+02] [-1.60153169e-01 9.87091821e-01 -8.36756461e-04 -2.96473408e+01] [-6.81877555e-03 -2.58650238e-04 9.99976718e-01 -2.73304434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.09, Y:-29.66, Z:-2.73 [[ 9.87141825e-01 1.59703337e-01 6.77210545e-03 3.87090840e+02] [-1.59701345e-01 9.87165021e-01 -8.37369265e-04 -2.96604835e+01] [-6.81891629e-03 -2.54912127e-04 9.99976718e-01 -2.72995892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.15, Y:-29.67, Z:-2.73 [[ 9.86935722e-01 1.60972106e-01 6.77208615e-03 3.87151224e+02] [-1.60970143e-01 9.86958921e-01 -8.37525362e-04 -2.96716486e+01] [-6.81858906e-03 -2.63519977e-04 9.99976718e-01 -2.73186976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.21, Y:-29.68, Z:-2.74 [[ 9.87009159e-01 1.60521214e-01 6.77196181e-03 3.87212429e+02] [-1.60519233e-01 9.87032356e-01 -8.38529525e-04 -2.96820194e+01] [-6.81874720e-03 -2.59393796e-04 9.99976718e-01 -2.73731916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.27, Y:-29.69, Z:-2.73 [[ 9.87660859e-01 1.56461400e-01 6.77182634e-03 3.87274682e+02] [-1.56459316e-01 9.87684047e-01 -8.39622121e-04 -2.96941309e+01] [-6.81979330e-03 -2.30253413e-04 9.99976718e-01 -2.73327689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.34, Y:-29.70, Z:-2.73 [[ 9.88069692e-01 1.53858468e-01 6.77167271e-03 3.87337258e+02] [-1.53856315e-01 9.88092874e-01 -8.40859348e-04 -2.97047688e+01] [-6.82041488e-03 -2.11036969e-04 9.99976718e-01 -2.73274916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.40, Y:-29.72, Z:-2.74 [[ 9.88740431e-01 1.49487480e-01 6.77151989e-03 3.87399321e+02] [-1.49485216e-01 9.88763602e-01 -8.42088256e-04 -2.97171286e+01] [-6.82131405e-03 -1.79635408e-04 9.99976718e-01 -2.73582504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.46, Y:-29.73, Z:-2.74 [[ 9.89307586e-01 1.45686820e-01 6.77136258e-03 3.87461391e+02] [-1.45684458e-01 9.89330747e-01 -8.43351263e-04 -2.97277103e+01] [-6.82198237e-03 -1.52148489e-04 9.99976718e-01 -2.73696549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.52, Y:-29.74, Z:-2.74 [[ 9.90660713e-01 1.36181871e-01 6.77120574e-03 3.87523545e+02] [-1.36179278e-01 9.90683850e-01 -8.44608643e-04 -2.97400402e+01] [-6.82314456e-03 -8.53773107e-05 9.99976718e-01 -2.73802663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.59, Y:-29.75, Z:-2.74 [[ 9.91257374e-01 1.31768628e-01 6.77104945e-03 3.87585591e+02] [-1.31765924e-01 9.91280498e-01 -8.45859744e-04 -2.97522364e+01] [-6.82346705e-03 -5.37288811e-05 9.99976718e-01 -2.73888323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.65, Y:-29.76, Z:-2.74 [[ 9.91568096e-01 1.29409684e-01 6.77089240e-03 3.87647969e+02] [-1.29406917e-01 9.91591212e-01 -8.47115044e-04 -2.97636672e+01] [-6.82358229e-03 -3.62280596e-05 9.99976718e-01 -2.73670062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.71, Y:-29.77, Z:-2.73 [[ 9.91687316e-01 1.28492893e-01 6.77073677e-03 3.87709685e+02] [-1.28490096e-01 9.91710429e-01 -8.48357120e-04 -2.97746513e+01] [-6.82361813e-03 -2.86676223e-05 9.99976718e-01 -2.73186649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.77, Y:-29.78, Z:-2.73 [[ 9.91443916e-01 1.30357662e-01 6.77057847e-03 3.87771645e+02] [-1.30354899e-01 9.91467033e-01 -8.49618652e-04 -2.97827413e+01] [-6.82355965e-03 -4.02288316e-05 9.99976718e-01 -2.73311236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.83, Y:-29.79, Z:-2.74 [[ 9.90756258e-01 1.35485049e-01 6.77042858e-03 3.87834115e+02] [-1.35482398e-01 9.90779388e-01 -8.50811389e-04 -2.97901806e+01] [-6.82327331e-03 -7.43271878e-05 9.99976718e-01 -2.73833165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:-29.80, Z:-2.74 [[ 9.90514570e-01 1.37240849e-01 6.77026749e-03 3.87895806e+02] [-1.37238230e-01 9.90537704e-01 -8.52091291e-04 -2.97970690e+01] [-6.82314695e-03 -8.51306873e-05 9.99976718e-01 -2.73866761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:387.96, Y:-29.80, Z:-2.74 [[ 9.90661653e-01 1.36175090e-01 6.77011838e-03 3.87958229e+02] [-1.36172438e-01 9.90684783e-01 -8.53274420e-04 -2.98037674e+01] [-6.82324798e-03 -7.65972759e-05 9.99976718e-01 -2.73791909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.02, Y:-29.81, Z:-2.74 [[ 9.90941102e-01 1.34126433e-01 6.76995796e-03 3.88020668e+02] [-1.34123725e-01 9.90964226e-01 -8.54545297e-04 -2.98110634e+01] [-6.82340326e-03 -6.12079191e-05 9.99976718e-01 -2.73899508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.08, Y:-29.82, Z:-2.74 [[ 9.91244887e-01 1.31862596e-01 6.76979382e-03 3.88083853e+02] [-1.31859826e-01 9.91268003e-01 -8.55843646e-04 -2.98151706e+01] [-6.82353377e-03 -4.43131963e-05 9.99976718e-01 -2.73718159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.15, Y:-29.82, Z:-2.74 [[ 9.91476109e-01 1.30112632e-01 6.76962852e-03 3.88146022e+02] [-1.30109813e-01 9.91499219e-01 -8.57149137e-04 -2.98208551e+01] [-6.82360733e-03 -3.09522067e-05 9.99976718e-01 -2.73703215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.21, Y:-29.83, Z:-2.74 [[ 9.92072488e-01 1.25484469e-01 6.76947478e-03 3.88208907e+02] [-1.25481533e-01 9.92095584e-01 -8.58361671e-04 -2.98256596e+01] [-6.82367709e-03 2.11292364e-06 9.99976718e-01 -2.73992761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.27, Y:-29.83, Z:-2.74 [[ 9.93063489e-01 1.17384341e-01 6.76931262e-03 3.88271838e+02] [-1.17381208e-01 9.93086559e-01 -8.59638569e-04 -2.98322875e+01] [-6.82342148e-03 5.90855813e-05 9.99976718e-01 -2.73762540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.33, Y:-29.84, Z:-2.74 [[ 9.93473889e-01 1.13858731e-01 6.76914818e-03 3.88333954e+02] [-1.13855507e-01 9.93496946e-01 -8.60931526e-04 -2.98401539e+01] [-6.82315262e-03 8.46081917e-05 9.99976718e-01 -2.73573695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.40, Y:-29.85, Z:-2.74 [[ 9.93675806e-01 1.12082886e-01 6.76898117e-03 3.88396487e+02] [-1.12079612e-01 9.93698856e-01 -8.62242607e-04 -2.98467927e+01] [-6.82297149e-03 9.81248343e-05 9.99976718e-01 -2.73676879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.46, Y:-29.85, Z:-2.74 [[ 9.93576220e-01 1.12962283e-01 6.76881266e-03 3.88458217e+02] [-1.12959021e-01 9.93599272e-01 -8.63563427e-04 -2.98526190e+01] [-6.82303743e-03 9.34176356e-05 9.99976718e-01 -2.73618082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.52, Y:-29.85, Z:-2.73 [[ 9.93300051e-01 1.15365477e-01 6.76870816e-03 3.88521097e+02] [-1.15362265e-01 9.93323110e-01 -8.64381735e-04 -2.98548598e+01] [-6.82323405e-03 7.77369191e-05 9.99976718e-01 -2.73465592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.58, Y:-29.86, Z:-2.73 [[ 9.93139988e-01 1.16735394e-01 6.76853901e-03 3.88584043e+02] [-1.16732204e-01 9.93163050e-01 -8.65704289e-04 -2.98580558e+01] [-6.82332117e-03 6.96590689e-05 9.99976718e-01 -2.73494417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.65, Y:-29.85, Z:-2.74 [[ 9.92834035e-01 1.19309546e-01 6.76837001e-03 3.88646735e+02] [-1.19306408e-01 9.92857104e-01 -8.67023568e-04 -2.98542918e+01] [-6.82346843e-03 5.33005955e-05 9.99976718e-01 -2.73859510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.71, Y:-29.86, Z:-2.74 [[ 9.92685619e-01 1.20538184e-01 6.76821247e-03 3.88709651e+02] [-1.20535066e-01 9.92708690e-01 -8.68251560e-04 -2.98561790e+01] [-6.82352081e-03 4.60939009e-05 9.99976718e-01 -2.74389415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.77, Y:-29.86, Z:-2.75 [[ 9.92643237e-01 1.20886709e-01 6.76816076e-03 3.88771034e+02] [-1.20883596e-01 9.92666309e-01 -8.68654505e-04 -2.98568177e+01] [-6.82353395e-03 4.41044075e-05 9.99976718e-01 -2.74539536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.83, Y:-29.86, Z:-2.74 [[ 9.92561689e-01 1.21554466e-01 6.76802750e-03 3.88831953e+02] [-1.21551361e-01 9.92584762e-01 -8.69691520e-04 -2.98610066e+01] [-6.82355586e-03 4.05595279e-05 9.99976718e-01 -2.74430564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.89, Y:-29.87, Z:-2.75 [[ 9.91841209e-01 1.27299694e-01 6.76789597e-03 3.88893555e+02] [-1.27296717e-01 9.91864299e-01 -8.70713929e-04 -2.98664491e+01] [-6.82367601e-03 2.07902048e-06 9.99976718e-01 -2.74670649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.95, Y:-29.87, Z:-2.75 [[ 9.90910709e-01 1.34350895e-01 6.76787579e-03 3.88953946e+02] [-1.34348081e-01 9.90933820e-01 -8.70870714e-04 -2.98741997e+01] [-6.82351927e-03 -4.62960061e-05 9.99976718e-01 -2.74731425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.01, Y:-29.88, Z:-2.75 [[ 9.88768005e-01 1.49305150e-01 6.76787579e-03 3.89013751e+02] [-1.49302685e-01 9.88791156e-01 -8.70870714e-04 -2.98808679e+01] [-6.82204121e-03 -1.49372931e-04 9.99976718e-01 -2.74512486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:389.07, Y:-29.89, Z:-2.75 [[ 9.87358142e-01 1.58360651e-01 6.76789641e-03 3.89071283e+02] [-1.58358400e-01 9.87381314e-01 -8.70710433e-04 -2.98896326e+01] [-6.82038072e-03 -2.12050211e-04 9.99976718e-01 -2.74670597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:389.13, Y:-29.90, Z:-2.75 [[ 9.86314183e-01 1.64737755e-01 6.76792685e-03 3.89130332e+02] [-1.64735655e-01 9.86337369e-01 -8.70473799e-04 -2.98972749e+01] [-6.81885906e-03 -2.56358208e-04 9.99976718e-01 -2.74700340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.19, Y:-29.91, Z:-2.75 [[ 9.86400450e-01 1.64220425e-01 6.76794676e-03 3.89189180e+02] [-1.64218313e-01 9.86423635e-01 -8.70318946e-04 -2.99052506e+01] [-6.81898679e-03 -2.52937803e-04 9.99976718e-01 -2.74768857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.25, Y:-29.92, Z:-2.75 [[ 9.87154454e-01 1.59625430e-01 6.76796646e-03 3.89248781e+02] [-1.59623212e-01 9.87177630e-01 -8.70165691e-04 -2.99152887e+01] [-6.82008567e-03 -2.21336609e-04 9.99976718e-01 -2.74522118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.31, Y:-29.92, Z:-2.74 [[ 9.87587128e-01 1.56926286e-01 6.76796646e-03 3.89307485e+02] [-1.56924005e-01 9.87610297e-01 -8.70165691e-04 -2.99238629e+01] [-6.82066524e-03 -2.02691965e-04 9.99976718e-01 -2.74417836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.37, Y:-29.93, Z:-2.74 [[ 9.87364435e-01 1.58321404e-01 6.76797625e-03 3.89366684e+02] [-1.58319156e-01 9.87387608e-01 -8.70089545e-04 -2.99323801e+01] [-6.82036968e-03 -2.12404815e-04 9.99976718e-01 -2.74437534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.43, Y:-29.94, Z:-2.74 [[ 9.87151493e-01 1.59643741e-01 6.76799582e-03 3.89426654e+02] [-1.59641525e-01 9.87174669e-01 -8.69937302e-04 -2.99403601e+01] [-6.82007408e-03 -2.21693268e-04 9.99976718e-01 -2.74370028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.49, Y:-29.95, Z:-2.75 [[ 9.86794622e-01 1.61835004e-01 6.76799582e-03 3.89485515e+02] [-1.61832839e-01 9.86817803e-01 -8.69937302e-04 -2.99511268e+01] [-6.81956507e-03 -2.36834525e-04 9.99976718e-01 -2.74546422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:389.54, Y:-29.96, Z:-2.75 [[ 9.85940529e-01 1.66959476e-01 6.76800606e-03 3.89543790e+02] [-1.66957433e-01 9.85963721e-01 -8.69857665e-04 -2.99623765e+01] [-6.81823942e-03 -2.72340989e-04 9.99976718e-01 -2.74628027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:389.60, Y:-29.97, Z:-2.75 [[ 9.84906923e-01 1.72952441e-01 6.76802519e-03 3.89602191e+02] [-1.72950539e-01 9.84930127e-01 -8.69708787e-04 -2.99743752e+01] [-6.81645017e-03 -3.13951398e-04 9.99976718e-01 -2.74585236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.66, Y:-29.99, Z:-2.75 [[ 9.83918282e-01 1.78490920e-01 6.76804505e-03 3.89661087e+02] [-1.78489150e-01 9.83941496e-01 -8.69554192e-04 -2.99859678e+01] [-6.81456790e-03 -3.52452344e-04 9.99976718e-01 -2.74681240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:389.72, Y:-30.00, Z:-2.75 [[ 9.82706111e-01 1.85048352e-01 6.76806536e-03 3.89718746e+02] [-1.85046737e-01 9.82729337e-01 -8.69396106e-04 -3.00009352e+01] [-6.81205670e-03 -3.98047546e-04 9.99976718e-01 -2.75363726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:389.78, Y:-30.01, Z:-2.75 [[ 9.82288493e-01 1.87252531e-01 6.76808532e-03 3.89778557e+02] [-1.87250970e-01 9.82311722e-01 -8.69240708e-04 -3.00134693e+01] [-6.81113706e-03 -4.13485394e-04 9.99976718e-01 -2.75245226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:389.84, Y:-30.02, Z:-2.76 [[ 9.81962196e-01 1.88956183e-01 6.76808532e-03 3.89837762e+02] [-1.88954662e-01 9.81985428e-01 -8.69240708e-04 -3.00245775e+01] [-6.81040956e-03 -4.25299761e-04 9.99976718e-01 -2.75828296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:389.90, Y:-30.03, Z:-2.76 [[ 9.82019298e-01 1.88659195e-01 6.76807526e-03 3.89897968e+02] [-1.88657666e-01 9.82042529e-01 -8.69319026e-04 -3.00346649e+01] [-6.81054277e-03 -4.23161225e-04 9.99976718e-01 -2.75907461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:389.96, Y:-30.04, Z:-2.76 [[ 9.82116813e-01 1.88150896e-01 6.76805526e-03 3.89957644e+02] [-1.88149355e-01 9.82140043e-01 -8.69474671e-04 -3.00429805e+01] [-6.81077053e-03 -4.19479536e-04 9.99976718e-01 -2.76168334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:390.02, Y:-30.05, Z:-2.76 [[ 9.82610883e-01 1.85553351e-01 6.76804539e-03 3.90019082e+02] [-1.85551748e-01 9.82634109e-01 -8.69551536e-04 -3.00515120e+01] [-6.81186045e-03 -4.01391847e-04 9.99976718e-01 -2.75913768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:390.08, Y:-30.06, Z:-2.76 [[ 9.83011424e-01 1.83419561e-01 6.76790481e-03 3.90080600e+02] [-1.83417900e-01 9.83034646e-01 -8.70644302e-04 -3.00600345e+01] [-6.81277811e-03 -3.85501589e-04 9.99976718e-01 -2.75580424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:390.14, Y:-30.07, Z:-2.76 [[ 9.83244314e-01 1.82167003e-01 6.76776289e-03 3.90141206e+02] [-1.82165305e-01 9.83267533e-01 -8.71746105e-04 -3.00702322e+01] [-6.81332490e-03 -3.75712188e-04 9.99976718e-01 -2.75757707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:390.20, Y:-30.08, Z:-2.76 [[ 9.82912106e-01 1.83951058e-01 6.76763247e-03 3.90202689e+02] [-1.83949395e-01 9.82935328e-01 -8.72757421e-04 -3.00820229e+01] [-6.81268969e-03 -3.87058062e-04 9.99976718e-01 -2.75653918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:390.26, Y:-30.09, Z:-2.75 [[ 9.81751186e-01 1.90049494e-01 6.76749158e-03 3.90262921e+02] [-1.90047967e-01 9.81774417e-01 -8.73848517e-04 -3.00942685e+01] [-6.81022457e-03 -4.28246201e-04 9.99976718e-01 -2.75469259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:390.32, Y:-30.11, Z:-2.75 [[ 9.80859323e-01 1.94600079e-01 6.76736195e-03 3.90324476e+02] [-1.94598653e-01 9.80882561e-01 -8.74851260e-04 -3.01051868e+01] [-6.80823345e-03 -4.58813507e-04 9.99976718e-01 -2.75239661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:390.38, Y:-30.12, Z:-2.75 [[ 9.79112278e-01 2.03207655e-01 6.76722116e-03 3.90384948e+02] [-2.03206426e-01 9.79135527e-01 -8.75938965e-04 -3.01153890e+01] [-6.80402416e-03 -5.17500233e-04 9.99976718e-01 -2.75353774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:390.44, Y:-30.12, Z:-2.75 [[ 9.77610357e-01 2.10314513e-01 6.76720114e-03 3.90443452e+02] [-2.10313452e-01 9.77633615e-01 -8.76093639e-04 -3.01233382e+01] [-6.80009851e-03 -5.66755216e-04 9.99976718e-01 -2.75321647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:390.50, Y:-30.13, Z:-2.76 [[ 9.76136059e-01 2.17054368e-01 6.76721107e-03 3.90502563e+02] [-2.17053468e-01 9.76159323e-01 -8.76016888e-04 -3.01272828e+01] [-6.79601947e-03 -6.13734961e-04 9.99976718e-01 -2.75819841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:390.56, Y:-30.13, Z:-2.76 [[ 9.76341479e-01 2.16128481e-01 6.76723050e-03 3.90562711e+02] [-2.16127559e-01 9.76364743e-01 -8.75866815e-04 -3.01300808e+01] [-6.79658503e-03 -6.07439909e-04 9.99976718e-01 -2.75665263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:390.62, Y:-30.13, Z:-2.75 [[ 9.77099955e-01 2.12673182e-01 6.76724037e-03 3.90621668e+02] [-2.12672179e-01 9.77123215e-01 -8.75790480e-04 -3.01339655e+01] [-6.79868482e-03 -5.83468916e-04 9.99976718e-01 -2.75405571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.68, Y:-30.13, Z:-2.75 [[ 9.78860094e-01 2.04418984e-01 6.76725993e-03 3.90683280e+02] [-2.04417786e-01 9.78883344e-01 -8.75639374e-04 -3.01349551e+01] [-6.80335534e-03 -5.26219853e-04 9.99976718e-01 -2.75462500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:390.74, Y:-30.13, Z:-2.76 [[ 9.80092817e-01 1.98424482e-01 6.76723996e-03 3.90744084e+02] [-1.98423140e-01 9.80116060e-01 -8.75793687e-04 -3.01334806e+01] [-6.80645947e-03 -4.84417902e-04 9.99976718e-01 -2.75921056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:390.80, Y:-30.13, Z:-2.76 [[ 9.80654220e-01 1.95631044e-01 6.76724990e-03 3.90802951e+02] [-1.95629637e-01 9.80677459e-01 -8.75716835e-04 -3.01340125e+01] [-6.80780684e-03 -4.65099228e-04 9.99976718e-01 -2.76111836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:390.86, Y:-30.13, Z:-2.76 [[ 9.80828790e-01 1.94753917e-01 6.76727969e-03 3.90862026e+02] [-1.94752490e-01 9.80852028e-01 -8.75486565e-04 -3.01339608e+01] [-6.80820445e-03 -4.59242144e-04 9.99976718e-01 -2.76107512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:390.92, Y:-30.13, Z:-2.76 [[ 9.80776881e-01 1.95015161e-01 6.76731899e-03 3.90922113e+02] [-1.95013743e-01 9.80800119e-01 -8.75182723e-04 -3.01317461e+01] [-6.80806117e-03 -4.61361223e-04 9.99976718e-01 -2.75853556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:390.98, Y:-30.13, Z:-2.76 [[ 9.80457075e-01 1.96616699e-01 6.76736035e-03 3.90979923e+02] [-1.96615321e-01 9.80480316e-01 -8.74862755e-04 -3.01337757e+01] [-6.80727624e-03 -4.72801352e-04 9.99976718e-01 -2.76045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:-30.13, Z:-2.76 [[ 9.79130039e-01 2.03122053e-01 6.76741161e-03 3.91039485e+02] [-2.03120832e-01 9.79153289e-01 -8.74466022e-04 -3.01303597e+01] [-6.80395667e-03 -5.18386327e-04 9.99976718e-01 -2.76062954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:391.10, Y:-30.13, Z:-2.76 [[ 9.77585184e-01 2.10431483e-01 6.76745174e-03 3.91099730e+02] [-2.10430438e-01 9.77608442e-01 -8.74155414e-04 -3.01259303e+01] [-6.79986777e-03 -5.69516453e-04 9.99976718e-01 -2.75996110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:391.16, Y:-30.11, Z:-2.76 [[ 9.75189472e-01 2.21268378e-01 6.76749183e-03 3.91159264e+02] [-2.21267593e-01 9.75212740e-01 -8.73844907e-04 -3.01134045e+01] [-6.79309850e-03 -6.45262277e-04 9.99976718e-01 -2.76134468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:391.22, Y:-30.11, Z:-2.76 [[ 9.74768903e-01 2.23113842e-01 6.76754134e-03 3.91218868e+02] [-2.23113104e-01 9.74792173e-01 -8.73461330e-04 -3.01081427e+01] [-6.79182764e-03 -6.58504213e-04 9.99976718e-01 -2.75901878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.28, Y:-30.10, Z:-2.75 [[ 9.76677337e-01 2.14605638e-01 6.76758058e-03 3.91279238e+02] [-2.14604699e-01 9.76700599e-01 -8.73157196e-04 -3.00968459e+01] [-6.79728446e-03 -5.99561747e-04 9.99976718e-01 -2.75221753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.34, Y:-30.09, Z:-2.75 [[ 9.78675035e-01 2.05303127e-01 6.76765729e-03 3.91338498e+02] [-2.05301971e-01 9.78698288e-01 -8.72562211e-04 -3.00922580e+01] [-6.80263435e-03 -5.35458528e-04 9.99976718e-01 -2.75385959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:391.40, Y:-30.08, Z:-2.76 [[ 9.81203064e-01 1.92859389e-01 6.76773413e-03 3.91399382e+02] [-1.92857942e-01 9.81226301e-01 -8.71965839e-04 -3.00833025e+01] [-6.80884552e-03 -4.49635724e-04 9.99976718e-01 -2.75701418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:391.46, Y:-30.08, Z:-2.76 [[ 9.82762264e-01 1.84749910e-01 6.76776450e-03 3.91457924e+02] [-1.84748272e-01 9.82785488e-01 -8.71730062e-04 -3.00813649e+01] [-6.81231278e-03 -3.93629389e-04 9.99976718e-01 -2.76149083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.52, Y:-30.08, Z:-2.76 [[ 9.85177277e-01 1.71405744e-01 6.76781509e-03 3.91517531e+02] [-1.71403795e-01 9.85200477e-01 -8.71337070e-04 -3.00802812e+01] [-6.81700684e-03 -3.01607706e-04 9.99976718e-01 -2.76072483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:391.57, Y:-30.08, Z:-2.76 [[ 9.86229298e-01 1.65245176e-01 6.76784728e-03 3.91574674e+02] [-1.65243083e-01 9.86252485e-01 -8.71087023e-04 -3.00834938e+01] [-6.81874912e-03 -2.59248408e-04 9.99976718e-01 -2.76400351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:391.63, Y:-30.09, Z:-2.76 [[ 9.86233800e-01 1.65218304e-01 6.76792235e-03 3.91633724e+02] [-1.65216215e-01 9.86256987e-01 -8.70503306e-04 -3.00854808e+01] [-6.81873379e-03 -2.59650729e-04 9.99976718e-01 -2.76147315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.69, Y:-30.09, Z:-2.76 [[ 9.85184581e-01 1.71363752e-01 6.76796377e-03 3.91691961e+02] [-1.71361809e-01 9.85207782e-01 -8.70181205e-04 -3.00872771e+01] [-6.81696809e-03 -3.02481411e-04 9.99976718e-01 -2.76431317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.75, Y:-30.09, Z:-2.76 [[ 9.83872137e-01 1.78745105e-01 6.76801477e-03 3.91749539e+02] [-1.78743340e-01 9.83895351e-01 -8.69784328e-04 -3.00904265e+01] [-6.81448796e-03 -3.53980998e-04 9.99976718e-01 -2.76480747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.81, Y:-30.09, Z:-2.76 [[ 9.82788636e-01 1.84609557e-01 6.76817426e-03 3.91808037e+02] [-1.84607939e-01 9.82811861e-01 -8.68541479e-04 -3.00926945e+01] [-6.81218300e-03 -3.95866003e-04 9.99976718e-01 -2.76296631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.87, Y:-30.10, Z:-2.76 [[ 9.82934819e-01 1.83829628e-01 6.76833729e-03 3.91866011e+02] [-1.83828000e-01 9.82958043e-01 -8.67269185e-04 -3.00981060e+01] [-6.81242135e-03 -3.91740826e-04 9.99976718e-01 -2.76189042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.92, Y:-30.11, Z:-2.75 [[ 9.83845224e-01 1.78893166e-01 6.76838753e-03 3.91924935e+02] [-1.78891424e-01 9.83868440e-01 -8.66876963e-04 -3.01061024e+01] [-6.81428124e-03 -3.57933722e-04 9.99976718e-01 -2.75371804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.98, Y:-30.11, Z:-2.75 [[ 9.84180812e-01 1.77037619e-01 6.76840759e-03 3.91983381e+02] [-1.77035835e-01 9.84204025e-01 -8.66720267e-04 -3.01139808e+01] [-6.81493608e-03 -3.45241230e-04 9.99976718e-01 -2.75191858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.04, Y:-30.12, Z:-2.75 [[ 9.84228104e-01 1.76774509e-01 6.76854871e-03 3.92042276e+02] [-1.76772725e-01 9.84251317e-01 -8.65616795e-04 -3.01210875e+01] [-6.81497197e-03 -3.44530426e-04 9.99976718e-01 -2.75296665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.10, Y:-30.13, Z:-2.75 [[ 9.84480733e-01 1.75362118e-01 6.76862718e-03 3.92100684e+02] [-1.75360305e-01 9.84503944e-01 -8.65002806e-04 -3.01284784e+01] [-6.81542887e-03 -3.35369929e-04 9.99976718e-01 -2.75386357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.16, Y:-30.14, Z:-2.75 [[ 9.85678684e-01 1.68498413e-01 6.76877364e-03 3.92157981e+02] [-1.68496447e-01 9.85701883e-01 -8.63855227e-04 -3.01388330e+01] [-6.81755115e-03 -2.89030623e-04 9.99976718e-01 -2.75284916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.22, Y:-30.15, Z:-2.75 [[ 9.86282249e-01 1.64928797e-01 6.76885096e-03 3.92215704e+02] [-1.64926750e-01 9.86305440e-01 -8.63248916e-04 -3.01494822e+01] [-6.81852913e-03 -2.64957509e-04 9.99976718e-01 -2.75113477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.27, Y:-30.16, Z:-2.75 [[ 9.85730342e-01 1.68195945e-01 6.76888914e-03 3.92273710e+02] [-1.68193977e-01 9.85753540e-01 -8.62949449e-04 -3.01584930e+01] [-6.81760103e-03 -2.87850929e-04 9.99976718e-01 -2.75276655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.33, Y:-30.16, Z:-2.76 [[ 9.84692810e-01 1.74167308e-01 6.76892953e-03 3.92332064e+02] [-1.74165484e-01 9.84716020e-01 -8.62632467e-04 -3.01639839e+01] [-6.81571573e-03 -3.29485897e-04 9.99976718e-01 -2.75683122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.39, Y:-30.17, Z:-2.76 [[ 9.83203391e-01 1.82387695e-01 6.76906920e-03 3.92390199e+02] [-1.82386072e-01 9.83226616e-01 -8.61535097e-04 -3.01685137e+01] [-6.81266241e-03 -3.87519712e-04 9.99976718e-01 -2.76174904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.45, Y:-30.17, Z:-2.77 [[ 9.82845465e-01 1.84306729e-01 6.76920699e-03 3.92448620e+02] [-1.84305158e-01 9.82868693e-01 -8.60451129e-04 -3.01740219e+01] [-6.81182856e-03 -4.01909276e-04 9.99976718e-01 -2.76695076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.51, Y:-30.18, Z:-2.76 [[ 9.83579386e-01 1.80349017e-01 6.76934354e-03 3.92507543e+02] [-1.80347361e-01 9.83602608e-01 -8.59375493e-04 -3.01792913e+01] [-6.81333149e-03 -3.75569224e-04 9.99976718e-01 -2.75907137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.56, Y:-30.19, Z:-2.75 [[ 9.84487727e-01 1.75322818e-01 6.76937396e-03 3.92564453e+02] [-1.75321044e-01 9.84510941e-01 -8.59135821e-04 -3.01880188e+01] [-6.81514884e-03 -3.41005039e-04 9.99976718e-01 -2.75488617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.62, Y:-30.20, Z:-2.76 [[ 9.85547106e-01 1.69266292e-01 6.76942408e-03 3.92620691e+02] [-1.69264379e-01 9.85570308e-01 -8.58740740e-04 -3.02036003e+01] [-6.81709924e-03 -2.99492909e-04 9.99976718e-01 -2.75653746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.68, Y:-30.22, Z:-2.75 [[ 9.85518497e-01 1.69432779e-01 6.76949452e-03 3.92677895e+02] [-1.69430873e-01 9.85541700e-01 -8.58185075e-04 -3.02192879e+01] [-6.81702382e-03 -3.01204104e-04 9.99976718e-01 -2.75052798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.74, Y:-30.24, Z:-2.75 [[ 9.84954090e-01 1.72683564e-01 6.76953549e-03 3.92735637e+02] [-1.72681738e-01 9.84977300e-01 -8.57861793e-04 -3.02351171e+01] [-6.81597742e-03 -3.24020669e-04 9.99976718e-01 -2.74656409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.79, Y:-30.25, Z:-2.75 [[ 9.83864169e-01 1.78788897e-01 6.76957652e-03 3.92791325e+02] [-1.78787216e-01 9.83887390e-01 -8.57537918e-04 -3.02525242e+01] [-6.81381923e-03 -3.66612908e-04 9.99976718e-01 -2.74836806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.85, Y:-30.27, Z:-2.75 [[ 9.83292720e-01 1.81905467e-01 6.76964713e-03 3.92847234e+02] [-1.81903864e-01 9.83315946e-01 -8.56980105e-04 -3.02696090e+01] [-6.81259134e-03 -3.88762672e-04 9.99976718e-01 -2.74946012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.90, Y:-30.28, Z:-2.75 [[ 9.83374616e-01 1.81462213e-01 6.76970760e-03 3.92904060e+02] [-1.81460603e-01 9.83397842e-01 -8.56502131e-04 -3.02841992e+01] [-6.81273862e-03 -3.86172769e-04 9.99976718e-01 -2.75490625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.96, Y:-30.30, Z:-2.76 [[ 9.83760920e-01 1.79356132e-01 6.76975732e-03 3.92961350e+02] [-1.79354474e-01 9.83784143e-01 -8.56109026e-04 -3.03032485e+01] [-6.81352830e-03 -3.71979663e-04 9.99976718e-01 -2.75927465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:393.02, Y:-30.32, Z:-2.76 [[ 9.83951215e-01 1.78309213e-01 6.76979715e-03 3.93018540e+02] [-1.78307533e-01 9.83974436e-01 -8.55793889e-04 -3.03203494e+01] [-6.81390327e-03 -3.65046394e-04 9.99976718e-01 -2.76078262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:393.08, Y:-30.34, Z:-2.77 [[ 9.84353829e-01 1.76073024e-01 6.76983706e-03 3.93075279e+02] [-1.76071293e-01 9.84377046e-01 -8.55478082e-04 -3.03413768e+01] [-6.81469882e-03 -3.49880839e-04 9.99976718e-01 -2.77013027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:393.13, Y:-30.37, Z:-2.78 [[ 9.83074144e-01 1.83083029e-01 6.76987559e-03 3.93130513e+02] [-1.83081466e-01 9.83097373e-01 -8.55173060e-04 -3.03722763e+01] [-6.81201458e-03 -3.98740227e-04 9.99976718e-01 -2.78440462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:393.19, Y:-30.38, Z:-2.79 [[ 9.83905681e-01 1.78560297e-01 6.76991597e-03 3.93188577e+02] [-1.78558630e-01 9.83928902e-01 -8.54853281e-04 -3.03832713e+01] [-6.81375885e-03 -3.67731920e-04 9.99976718e-01 -2.78997166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters Centerline goodness : 0.991546 with order 1 Centerline is valid? [True, True] Translation: X:393.25, Y:-30.39, Z:-2.79 [[ 9.84723619e-01 1.73992998e-01 6.76992516e-03 3.93248179e+02] [-1.73991223e-01 9.84746832e-01 -8.54780507e-04 -3.03912624e+01] [-6.81538818e-03 -3.36185002e-04 9.99976718e-01 -2.78585972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters Centerline goodness : 0.984525 with order 1 Centerline is valid? [True, True] Translation: X:393.31, Y:-30.42, Z:-2.75 [[ 9.85612986e-01 1.68882235e-01 6.76992658e-03 3.93306410e+02] [-1.68880340e-01 9.85636191e-01 -8.54769241e-04 -3.04156881e+01] [-6.81703999e-03 -3.00835840e-04 9.99976718e-01 -2.75162538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters Centerline goodness : 0.980704 with order 1 Centerline is valid? [True, True] Translation: X:393.36, Y:-30.43, Z:-2.75 [[ 9.86124697e-01 1.65868173e-01 6.76991405e-03 3.93363395e+02] [-1.65866206e-01 9.86147895e-01 -8.54868499e-04 -3.04300849e+01] [-6.81793196e-03 -2.79893020e-04 9.99976718e-01 -2.74686199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters Centerline goodness : 0.974083 with order 1 Centerline is valid? [True, True] Translation: X:393.42, Y:-30.45, Z:-2.74 [[ 9.86197647e-01 1.65433878e-01 6.76997181e-03 3.93419740e+02] [-1.65431904e-01 9.86220845e-01 -8.54410814e-04 -3.04462565e+01] [-6.81803581e-03 -2.77351395e-04 9.99976718e-01 -2.74017908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters Centerline goodness : 0.110254 with order 1 Centerline is valid? [True, False] Translation: X:393.42, Y:-30.44, Z:-2.74 [[ 9.87441274e-01 1.57865354e-01 6.18555577e-03 3.93418272e+02] [-1.57802706e-01 9.87424307e-01 -9.56790531e-03 -3.04433058e+01] [-7.61820888e-03 8.47164716e-03 9.99935095e-01 -2.74100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters Centerline goodness : 0.146641 with order 1 Centerline is valid? [False, False] Translation: X:393.37, Y:-30.45, Z:-2.74 [[ 9.88452806e-01 1.51342870e-01 7.50902312e-03 3.93374776e+02] [-1.51240525e-01 9.88415218e-01 -1.27145818e-02 -3.04462222e+01] [-9.34629402e-03 1.14320955e-02 9.99890971e-01 -2.74485560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters Centerline goodness : 0.143428 with order 1 Centerline is valid? [False, False] Translation: X:393.37, Y:-30.45, Z:-2.75 [[ 9.90283037e-01 1.38919266e-01 6.39873991e-03 3.93374733e+02] [-1.38715291e-01 9.90003807e-01 -2.55054849e-02 -3.04451175e+01] [-9.87798012e-03 2.43700460e-02 9.99654203e-01 -2.74734705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters Centerline goodness : 0.150514 with order 1 Centerline is valid? [False, False] Translation: X:393.35, Y:-30.45, Z:-2.75 [[ 9.91177798e-01 1.32403809e-01 5.98364678e-03 3.93353910e+02] [-1.32271341e-01 9.91035393e-01 -1.87920591e-02 -3.04512798e+01] [-8.41814595e-03 1.78348067e-02 9.99805508e-01 -2.75107734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters Centerline goodness : 0.153623 with order 1 Centerline is valid? [False, False] Translation: X:393.35, Y:-30.46, Z:-2.75 [[ 9.92230348e-01 1.24413970e-01 3.16488665e-04 3.93349693e+02] [-1.24405234e-01 9.92185088e-01 -9.59626585e-03 -3.04614868e+01] [-1.50792487e-03 9.48233336e-03 9.99953905e-01 -2.75060614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters Centerline goodness : 0.148013 with order 1 Centerline is valid? [False, False] Translation: X:393.36, Y:-30.48, Z:-2.75 [[ 9.92361823e-01 1.23361015e-01 2.70268484e-04 3.93363422e+02] [-1.23348494e-01 9.92224749e-01 1.65890252e-02 -3.04771188e+01] [ 1.77827191e-03 -1.64956525e-02 9.99862356e-01 -2.74906829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters Centerline goodness : 0.148570 with order 1 Centerline is valid? [False, False] Translation: X:393.37, Y:-30.47, Z:-2.75 [[ 9.92771509e-01 1.19967245e-01 -3.54831191e-03 3.93369703e+02] [-1.19992241e-01 9.92742917e-01 -7.96004524e-03 -3.04674154e+01] [ 2.56761681e-03 8.32827603e-03 9.99962023e-01 -2.75116418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters Centerline goodness : 0.144243 with order 1 Centerline is valid? [False, False] Translation: X:393.38, Y:-30.47, Z:-2.75 [[ 9.93583579e-01 1.13050806e-01 -3.34456891e-03 3.93383766e+02] [-1.13060212e-01 9.93584274e-01 -2.77100740e-03 -3.04744878e+01] [ 3.00984645e-03 3.13136512e-03 9.99990568e-01 -2.74626836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters Centerline goodness : 0.147152 with order 1 Centerline is valid? [False, False] Translation: X:393.38, Y:-30.49, Z:-2.75 [[ 9.94857669e-01 1.01264681e-01 -1.91884949e-03 3.93375355e+02] [-1.01242704e-01 9.94818189e-01 9.31048208e-03 -3.04882083e+01] [ 2.85172937e-03 -9.06833499e-03 9.99954815e-01 -2.74693795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters Centerline goodness : 0.148997 with order 1 Centerline is valid? [False, False] Translation: X:393.37, Y:-30.49, Z:-2.75 [[ 9.95284485e-01 9.69805139e-02 -1.89023778e-03 3.93374786e+02] [-9.69687492e-02 9.95271946e-01 5.55120778e-03 -3.04902697e+01] [ 2.41965962e-03 -5.34173698e-03 9.99982805e-01 -2.74864309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters Centerline goodness : 0.088355 with order 1 Centerline is valid? [False, False] Translation: X:393.39, Y:-30.52, Z:-2.74 [[ 9.94791366e-01 1.01921973e-01 1.43174128e-03 3.93390723e+02] [-1.01877219e-01 9.93697813e-01 4.67513489e-02 -3.05183545e+01] [ 3.34227155e-03 -4.66537000e-02 9.98905532e-01 -2.73841752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters Centerline goodness : 0.088266 with order 1 Centerline is valid? [False, False] Translation: X:393.37, Y:-30.50, Z:-2.74 [[ 9.94304613e-01 1.06550898e-01 2.28972596e-03 3.93374356e+02] [-1.06575030e-01 9.94007142e-01 2.43220947e-02 -3.05027880e+01] [ 3.15537075e-04 -2.44275986e-02 9.99701552e-01 -2.74331376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5514.86 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%| | 0/13254 [00:00