+ python -m lidar_slam --result /working/result.json --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters Centerline goodness : 0.139176 with order 1 Centerline is valid? [0, False] SLAMing on 0.08771942099999999 meters Centerline goodness : 0.142770 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.01 [[ 0.99997063 0.00650148 -0.00405798 0.04206823] [-0.00653279 0.99994862 -0.00775167 0.00701647] [ 0.00400738 0.00777795 0.99996172 0.00661981] [ 0. 0. 0. 1. ]] SLAMing on 0.147719421 meters Centerline goodness : 0.177739 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.01 [[ 0.9999075 0.00927708 -0.00994643 0.07843053] [-0.00939649 0.99988353 -0.01202596 0.01001139] [ 0.00983371 0.01211831 0.99987821 0.00601714] [ 0. 0. 0. 1. ]] SLAMing on 0.20771942099999996 meters Centerline goodness : 0.161672 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.01 [[ 0.99992664 0.00703358 -0.0098608 0.11809525] [-0.00725851 0.99970996 -0.0229632 0.01969153] [ 0.00969643 0.02303309 0.99968768 0.00967932] [ 0. 0. 0. 1. ]] SLAMing on 0.26771942099999996 meters Centerline goodness : 0.133287 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:0.01 [[ 0.99993998 -0.00687218 -0.00853257 0.14993458] [ 0.00669254 0.99975904 -0.02090624 0.02211883] [ 0.00867419 0.02084788 0.99974503 0.01046099] [ 0. 0. 0. 1. ]] SLAMing on 0.32771942099999996 meters Centerline goodness : 0.130429 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:0.01 [[ 0.99974715 -0.02090889 -0.00827403 0.18524313] [ 0.0207364 0.9995766 -0.02041119 0.02455982] [ 0.0086973 0.02023446 0.99975743 0.00863327] [ 0. 0. 0. 1. ]] SLAMing on 0.38771942099999995 meters Centerline goodness : 0.134422 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.01 [[ 0.99941658 -0.03269464 -0.00987743 0.20544359] [ 0.03246352 0.99921472 -0.02271721 0.02798251] [ 0.0106124 0.0223833 0.99969314 0.00585608] [ 0. 0. 0. 1. ]] SLAMing on 0.44771942099999995 meters Centerline goodness : 0.134898 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.01 [[ 0.99936475 -0.03418927 -0.01005895 0.20713202] [ 0.03394616 0.99914921 -0.02342041 0.03231131] [ 0.01085112 0.02306407 0.9996751 0.00537018] [ 0. 0. 0. 1. ]] SLAMing on 0.5077194209999999 meters Centerline goodness : 0.138948 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:0.01 [[ 0.99939053 -0.03358 -0.00953712 0.20758398] [ 0.03336211 0.99919775 -0.02215464 0.03895327] [ 0.01027342 0.02182296 0.99970907 0.00502456] [ 0. 0. 0. 1. ]] SLAMing on 0.567719421 meters Centerline goodness : 0.850700 with order 3 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:0.00 [[ 0.99926104 -0.03669483 -0.01143931 0.2523444 ] [ 0.03633457 0.99888167 -0.03025247 0.04723455] [ 0.01253663 0.02981448 0.99947683 0.00273014] [ 0. 0. 0. 1. ]] SLAMing on 0.6277194209999999 meters Centerline goodness : 0.155018 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:-0.00 [[ 0.99928971 -0.03582303 -0.01169533 0.26998507] [ 0.03542546 0.99884065 -0.03259425 0.05109759] [ 0.0128494 0.03215679 0.99940024 -0.00269585] [ 0. 0. 0. 1. ]] SLAMing on 0.6877194209999999 meters Centerline goodness : 0.129198 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:-0.00 [[ 0.99929956 -0.03446264 -0.0145849 0.31465429] [ 0.03390229 0.99873761 -0.03706504 0.06142603] [ 0.01584385 0.03654462 0.99920642 -0.00252523] [ 0. 0. 0. 1. ]] SLAMing on 0.7477194209999999 meters Centerline goodness : 0.160432 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.07, Z:-0.01 [[ 0.9995631 -0.02565085 -0.01468467 0.35128222] [ 0.02495529 0.99864178 -0.04573652 0.06725579] [ 0.01583791 0.04535008 0.9988456 -0.00508977] [ 0. 0. 0. 1. ]] SLAMing on 0.8077194209999999 meters Centerline goodness : 0.117122 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:-0.00 [[ 0.99966989 -0.01577029 -0.02028318 0.39998982] [ 0.01486886 0.99892746 -0.04385024 0.07954813] [ 0.02095296 0.04353417 0.99883219 -0.00427693] [ 0. 0. 0. 1. ]] SLAMing on 0.8677194209999999 meters Centerline goodness : 0.116600 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.08, Z:-0.01 [[ 0.99969044 -0.01805417 -0.01711958 0.41477754] [ 0.01745414 0.99924974 -0.03457336 0.0807609 ] [ 0.01773093 0.03426385 0.99925552 -0.00956715] [ 0. 0. 0. 1. ]] SLAMing on 0.9277194209999999 meters Centerline goodness : 0.179141 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:-0.01 [[ 0.9994861 -0.02241459 -0.0229156 0.45124678] [ 0.02146957 0.99894134 -0.04068483 0.08204993] [ 0.02380327 0.04017193 0.99890922 -0.0105543 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9877194209999999 meters Centerline goodness : 0.185885 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.09, Z:-0.01 [[ 0.99923566 -0.02507446 -0.02998942 0.50308211] [ 0.02367902 0.99866011 -0.0460141 0.09096347] [ 0.03110302 0.04526881 0.99849053 -0.00944221] [ 0. 0. 0. 1. ]] SLAMing on 1.0477194209999998 meters Centerline goodness : 0.198423 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:0.01 [[ 0.99932992 -0.01993232 -0.0306987 0.56449328] [ 0.01779266 0.99749515 -0.06846055 0.09994914] [ 0.03198638 0.06786846 0.9971814 0.00942461] [ 0. 0. 0. 1. ]] SLAMing on 1.1077194209999999 meters Centerline goodness : 0.203430 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:0.12, Z:0.05 [[ 0.99916095 -0.01894446 -0.03631114 0.61503497] [ 0.01482258 0.99375452 -0.11059949 0.12461554] [ 0.03817961 0.10996847 0.99320152 0.05475347] [ 0. 0. 0. 1. ]] SLAMing on 1.167719421 meters Centerline goodness : 0.180838 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.12, Z:0.05 [[ 0.99916736 -0.02014198 -0.03548078 0.63021884] [ 0.01652269 0.99490039 -0.09949985 0.12197066] [ 0.03730397 0.09883077 0.99440479 0.04939352] [ 0. 0. 0. 1. ]] SLAMing on 1.2277194209999998 meters Centerline goodness : 0.272753 with order 3 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.05 [[ 0.99890492 -0.02411366 -0.0400935 0.65508866] [ 0.0202258 0.99530075 -0.09469604 0.12637839] [ 0.04218856 0.09378141 0.99469853 0.04505027] [ 0. 0. 0. 1. ]] SLAMing on 1.2877194209999998 meters Centerline goodness : 0.331480 with order 3 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:0.04 [[ 0.99849448 -0.02759227 -0.04740711 0.68872518] [ 0.02270675 0.99466089 -0.10066835 0.13149848] [ 0.04993166 0.09944033 0.99378994 0.04097842] [ 0. 0. 0. 1. ]] SLAMing on 1.3477194209999999 meters Centerline goodness : 0.430402 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:0.04 [[ 0.99840328 -0.0246111 -0.05084462 0.72532535] [ 0.01944438 0.99482518 -0.09972347 0.14375383] [ 0.05303581 0.0985756 0.99371528 0.03741851] [ 0. 0. 0. 1. ]] SLAMing on 1.407719421 meters Centerline goodness : 0.426080 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:0.04 [[ 0.99830352 -0.02724131 -0.05145863 0.72720454] [ 0.02195949 0.99468919 -0.10055445 0.14848941] [ 0.05392458 0.09925386 0.99359992 0.03709119] [ 0. 0. 0. 1. ]] SLAMing on 1.4677194209999997 meters Centerline goodness : 0.569967 with order 2 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:0.03 [[ 0.99764491 -0.03873517 -0.0566059 0.73844081] [ 0.03317428 0.99482111 -0.0960751 0.14920099] [ 0.06003423 0.09397097 0.99376322 0.03330935] [ 0. 0. 0. 1. ]] SLAMing on 1.5277194209999998 meters Centerline goodness : 0.606676 with order 2 Centerline is valid? [False, False] Translation: X:0.75, Y:0.15, Z:0.04 [[ 0.9967892 -0.05160006 -0.06122682 0.74577438] [ 0.04562189 0.99440129 -0.09531382 0.15152199] [ 0.06580223 0.09221451 0.99356256 0.03625817] [ 0. 0. 0. 1. ]] SLAMing on 1.5877194209999999 meters Centerline goodness : 0.643230 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:0.04 [[ 0.99641678 -0.06338826 -0.0559958 0.78335896] [ 0.05763751 0.99342255 -0.09894219 0.16096473] [ 0.06189927 0.0953602 0.99351644 0.03954544] [ 0. 0. 0. 1. ]] SLAMing on 1.6477194209999997 meters Centerline goodness : 0.683015 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:0.04 [[ 0.9968289 -0.05813619 -0.05433528 0.78317881] [ 0.05257654 0.9937293 -0.09868024 0.16940922] [ 0.05973145 0.09551056 0.99363468 0.03562839] [ 0. 0. 0. 1. ]] SLAMing on 1.7077194209999997 meters Centerline goodness : 0.680454 with order 2 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.04 [[ 0.99694382 -0.05477013 -0.0557069 0.78502775] [ 0.04951086 0.99454893 -0.09176651 0.17034709] [ 0.0604293 0.08872795 0.99422113 0.03596414] [ 0. 0. 0. 1. ]] SLAMing on 1.7677194209999998 meters Centerline goodness : 0.686977 with order 2 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.04 [[ 0.99696862 -0.05240866 -0.05750575 0.78824424] [ 0.04739986 0.99523118 -0.08525344 0.17224944] [ 0.06169953 0.08226924 0.99469842 0.0359557 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters Centerline goodness : 0.659072 with order 2 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:0.03 [[ 0.99695629 -0.05483838 -0.0554157 0.78849935] [ 0.04920388 0.99393227 -0.09837488 0.18158301] [ 0.06047417 0.09534878 0.9936053 0.0316801 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8877194209999997 meters Centerline goodness : 0.651481 with order 2 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:0.03 [[ 0.99703037 -0.05238571 -0.05644627 0.79378987] [ 0.04696076 0.99451247 -0.09348596 0.18610464] [ 0.06103385 0.09055758 0.99401921 0.02666361] [ 0. 0. 0. 1. ]] SLAMing on 1.9477194209999997 meters Centerline goodness : 0.643839 with order 2 Centerline is valid? [False, False] Translation: X:0.80, Y:0.18, Z:0.03 [[ 0.99686385 -0.0542703 -0.05759517 0.79636676] [ 0.0488912 0.99464866 -0.09101477 0.1842736 ] [ 0.06222636 0.08791344 0.99418263 0.02616789] [ 0. 0. 0. 1. ]] SLAMing on 2.0077194209999996 meters Centerline goodness : 0.638523 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:0.02 [[ 0.99606294 -0.07348246 -0.04958776 0.83170169] [ 0.06947113 0.99450857 -0.07827171 0.18084247] [ 0.05506705 0.07451864 0.99569804 0.02281024] [ 0. 0. 0. 1. ]] SLAMing on 2.0677194209999996 meters Centerline goodness : 0.669477 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:0.18, Z:0.02 [[ 0.99473112 -0.09457852 -0.03955887 0.84932491] [ 0.09142269 0.99297246 -0.07515048 0.17846311] [ 0.04638849 0.07113794 0.99638722 0.02373266] [ 0. 0. 0. 1. ]] SLAMing on 2.1277194209999997 meters SLAMing on 2.1877194209999997 meters SLAMing on 2.2477194209999998 meters SLAMing on 2.307719421 meters Centerline goodness : 0.759776 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.24, Z:0.21 [[ 0.99603398 -0.07356961 0.0500382 0.90405833] [ 0.08652969 0.93187631 -0.3523055 0.23732667] [-0.02071043 0.35523804 0.93454642 0.21341164] [ 0. 0. 0. 1. ]] SLAMing on 2.367719421 meters SLAMing on 2.4277194209999995 meters Centerline goodness : 0.157087 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:0.20 [[ 0.99381288 -0.10148403 0.04513265 0.95007238] [ 0.11081187 0.93352132 -0.34096727 0.22130603] [-0.00752955 0.3438589 0.93899114 0.1995955 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4877194209999995 meters Centerline goodness : 0.837916 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.21, Z:0.19 [[ 0.99294944 -0.1131009 0.03549083 0.97217727] [ 0.11852537 0.94281022 -0.31154556 0.21085043] [ 0.00177497 0.31355555 0.9495682 0.18583137] [ 0. 0. 0. 1. ]] SLAMing on 2.5477194209999996 meters Centerline goodness : 0.837025 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.20, Z:0.17 [[ 0.99251602 -0.11851634 0.02942476 0.99414789] [ 0.12191474 0.94792077 -0.29424991 0.19730995] [ 0.00698108 0.29563506 0.95527544 0.17305325] [ 0. 0. 0. 1. ]] SLAMing on 2.6077194209999996 meters Centerline goodness : 0.874049 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:0.18, Z:0.16 [[ 0.99183877 -0.12567605 0.02147991 1.01237056] [ 0.12688579 0.95646793 -0.26281001 0.18127982] [ 0.01248408 0.26339066 0.96460848 0.16031335] [ 0. 0. 0. 1. ]] SLAMing on 2.6677194209999997 meters SLAMing on 2.7277194209999998 meters SLAMing on 2.787719421 meters Centerline goodness : 0.931884 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:0.19, Z:0.30 [[ 0.98698826 -0.11425121 0.11314078 1.03118699] [ 0.15701507 0.83645209 -0.52506587 0.19239712] [-0.03464743 0.53599866 0.84350755 0.30249201] [ 0. 0. 0. 1. ]] SLAMing on 2.8477194209999994 meters Centerline goodness : 0.928047 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:0.31 [[ 0.98700338 -0.09973229 0.1260071 1.07757889] [ 0.15318609 0.82086559 -0.55019424 0.19074238] [-0.04856276 0.56234611 0.82547472 0.31292398] [ 0. 0. 0. 1. ]] SLAMing on 2.9077194209999995 meters Centerline goodness : 0.917444 with order 3 Centerline is valid? [False, False] Translation: X:1.06, Y:0.17, Z:0.31 [[ 0.99124621 -0.07441164 0.10905893 1.06200458] [ 0.1225381 0.82601858 -0.55016154 0.16913873] [-0.04914628 0.55870941 0.82790605 0.30785812] [ 0. 0. 0. 1. ]] SLAMing on 2.9677194209999995 meters Centerline goodness : 0.924178 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:0.16, Z:0.30 [[ 0.99268762 -0.06939213 0.09877262 1.03576455] [ 0.11131323 0.84276776 -0.52664207 0.16264976] [-0.04669756 0.53378576 0.84432938 0.29827519] [ 0. 0. 0. 1. ]] SLAMing on 3.0277194209999996 meters Centerline goodness : 0.931102 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:0.14, Z:0.28 [[ 0.99328144 -0.0686692 0.09314786 1.00251304] [ 0.10686646 0.85312884 -0.51063758 0.14022337] [-0.04440206 0.51716121 0.85473548 0.2816125 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0877194209999996 meters Centerline goodness : 0.931454 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:0.27 [[ 0.99441176 -0.06512525 0.08309004 0.99829856] [ 0.09798595 0.86230676 -0.49681566 0.13072086] [-0.03929386 0.50218099 0.86386935 0.27297936] [ 0. 0. 0. 1. ]] SLAMing on 3.1477194209999997 meters Centerline goodness : 0.934005 with order 3 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:0.27 [[ 0.99596155 -0.06323739 0.06373092 0.98863765] [ 0.08650592 0.86589303 -0.49269258 0.10571227] [-0.02402757 0.49621597 0.86786657 0.27259523] [ 0. 0. 0. 1. ]] SLAMing on 3.2077194209999997 meters Centerline goodness : 0.934750 with order 3 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:0.26 [[ 0.99559046 -0.0761202 0.05482107 0.98083118] [ 0.09276818 0.88564733 -0.45499766 0.08882916] [-0.01391762 0.45807698 0.88880357 0.25743175] [ 0. 0. 0. 1. ]] SLAMing on 3.2677194209999993 meters Centerline goodness : 0.938987 with order 3 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.24 [[ 0.99528267 -0.0847974 0.04713595 0.97056799] [ 0.09677465 0.90209709 -0.42054192 0.07473098] [-0.00686034 0.42311965 0.90604784 0.24317792] [ 0. 0. 0. 1. ]] SLAMing on 3.3277194209999994 meters Centerline goodness : 0.927195 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:0.23 [[ 0.99496721 -0.09605574 0.02852273 0.96693564] [ 0.09965551 0.91894881 -0.38157813 0.06484578] [ 0.01044184 0.38250018 0.92389641 0.23277161] [ 0. 0. 0. 1. ]] SLAMing on 3.3877194209999995 meters Centerline goodness : 0.931189 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:0.22 [[ 0.99388416 -0.10835858 0.02127641 0.96018225] [ 0.10893282 0.93046488 -0.34981246 0.05572892] [ 0.01810822 0.34999076 0.93657811 0.21984668] [ 0. 0. 0. 1. ]] SLAMing on 3.4477194209999995 meters Centerline goodness : 0.938713 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:0.21 [[ 0.99234483 -0.12164845 0.02129282 0.95247737] [ 0.12231294 0.94427833 -0.30557809 0.04623193] [ 0.01706675 0.30584323 0.95192891 0.21359668] [ 0. 0. 0. 1. ]] SLAMing on 3.5077194209999996 meters Centerline goodness : 0.943839 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:0.20 [[ 0.99191821 -0.12576462 0.01677894 0.94027652] [ 0.12567458 0.95569541 -0.26618073 0.03601928] [ 0.01744057 0.2661382 0.96377709 0.20159963] [ 0. 0. 0. 1. ]] SLAMing on 3.5677194209999996 meters Centerline goodness : 0.941764 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:0.18 [[ 0.99201043 -0.12592504 0.00762877 0.93585239] [ 0.12424568 0.96471822 -0.23212448 0.0266153 ] [ 0.02187068 0.23121775 0.97265617 0.18416802] [ 0. 0. 0. 1. ]] SLAMing on 3.6277194209999997 meters Centerline goodness : 0.939074 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.17 [[ 0.99164438 -0.12897961 -0.00238596 0.93717792] [ 0.12593319 0.97190123 -0.1988689 0.02115428] [ 0.02796895 0.19690675 0.9800232 0.17276017] [ 0. 0. 0. 1. ]] SLAMing on 3.6877194209999993 meters Centerline goodness : 0.930546 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.16 [[ 0.99133865 -0.13055551 -0.01424586 0.94108416] [ 0.12608531 0.97647988 -0.17489868 0.01619655] [ 0.03674479 0.17158762 0.98448337 0.15850695] [ 0. 0. 0. 1. ]] SLAMing on 3.7477194209999993 meters Centerline goodness : 0.929009 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.02, Z:0.15 [[ 0.9921338 -0.12418765 -0.01574663 0.9327856 ] [ 0.12064953 0.98215846 -0.14425136 0.01778135] [ 0.03337992 0.14121683 0.98941578 0.15445288] [ 0. 0. 0. 1. ]] SLAMing on 3.8077194209999994 meters Centerline goodness : 0.920563 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:0.15 [[ 0.99308278 -0.11584262 -0.01915915 0.94100242] [ 0.1122263 0.98444201 -0.13520055 0.01927099] [ 0.03452305 0.13211518 0.990633 0.14672428] [ 0. 0. 0. 1. ]] SLAMing on 3.8677194209999994 meters Centerline goodness : 0.915422 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:0.14 [[ 0.99320949 -0.11332672 -0.02630537 0.94552661] [ 0.10961817 0.98733291 -0.11470653 0.01635724] [ 0.03897147 0.11104407 0.99305108 0.14237214] [ 0. 0. 0. 1. ]] SLAMing on 3.9277194209999995 meters Centerline goodness : 0.922373 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.01, Z:0.15 [[ 0.99440697 -0.10195964 -0.02755012 0.94730268] [ 0.09914428 0.99106307 -0.0892435 0.00899404] [ 0.03640314 0.08601292 0.99562874 0.14630611] [ 0. 0. 0. 1. ]] SLAMing on 3.9877194209999995 meters Centerline goodness : 0.926577 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.00, Z:0.14 [[ 0.99523891 -0.09411757 -0.0253259 0.9557689 ] [ 0.092212 0.99340907 -0.06808352 -0.00263422] [ 0.03156684 0.06542402 0.99735813 0.14374737] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters Centerline goodness : 0.930961 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.02, Z:0.14 [[ 0.99505787 -0.09679525 -0.02214769 0.96292965] [ 0.09547761 0.99394705 -0.05434415 -0.01890805] [ 0.02727389 0.05196096 0.99827661 0.13945512] [ 0. 0. 0. 1. ]] SLAMing on 4.107719420999999 meters Centerline goodness : 0.923865 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.13 [[ 0.99426359 -0.10416825 -0.02426694 0.97945502] [ 0.10301733 0.99367739 -0.04463945 -0.03423272] [ 0.02876353 0.04188347 0.99870838 0.1317813 ] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters Centerline goodness : 0.916160 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:0.13 [[ 0.99383344 -0.10757913 -0.02686678 0.99315717] [ 0.10671703 0.99378419 -0.03169314 -0.04723737] [ 0.0301093 0.02863056 0.99913649 0.12671706] [ 0. 0. 0. 1. ]] SLAMing on 4.227719420999999 meters Centerline goodness : 0.910599 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.05, Z:0.12 [[ 0.99377048 -0.10793542 -0.02775217 0.99862732] [ 0.10704009 0.99374131 -0.03194719 -0.05499926] [ 0.03102671 0.02877758 0.9991042 0.1237205 ] [ 0. 0. 0. 1. ]] SLAMing on 4.287719420999999 meters Centerline goodness : 0.918286 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.06, Z:0.12 [[ 0.99397716 -0.10704503 -0.02346839 1.00346385] [ 0.10664793 0.99414161 -0.01756906 -0.05892621] [ 0.02521158 0.01496039 0.99957019 0.12306369] [ 0. 0. 0. 1. ]] SLAMing on 4.347719420999999 meters Centerline goodness : 0.927882 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.06, Z:0.13 [[ 0.99391829 -0.10858267 -0.01833704 1.00455616] [ 0.10850079 0.99408167 -0.00540551 -0.0587019 ] [ 0.01881546 0.00338305 0.99981725 0.125783 ] [ 0. 0. 0. 1. ]] SLAMing on 4.407719420999999 meters Centerline goodness : 0.924494 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.06, Z:0.13 [[ 0.99291223 -0.11754312 -0.01757628 1.00302326] [ 0.11732423 0.99300845 -0.01300902 -0.06277345] [ 0.01898252 0.01085469 0.99976089 0.12848034] [ 0. 0. 0. 1. ]] SLAMing on 4.467719420999999 meters Centerline goodness : 0.927024 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:0.13 [[ 0.99279136 -0.11574732 -0.03111079 1.00512748] [ 0.11557172 0.99327164 -0.00739055 -0.07206936] [ 0.0317569 0.00374175 0.99948862 0.13206964] [ 0. 0. 0. 1. ]] SLAMing on 4.527719420999999 meters Centerline goodness : 0.926260 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.14 [[ 9.92937008e-01 -1.10227280e-01 -4.38867189e-02 1.00613790e+00] [ 1.10335341e-01 9.93894416e-01 4.02376176e-05 -8.40448979e-02] [ 4.36143296e-02 -4.88220953e-03 9.99036513e-01 1.35060422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587719420999999 meters Centerline goodness : 0.916954 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:0.13 [[ 0.99313354 -0.10815864 -0.04458107 1.00908161] [ 0.10838278 0.99410574 0.0026347 -0.0891771 ] [ 0.04403334 -0.00744843 0.9990023 0.13339755] [ 0. 0. 0. 1. ]] SLAMing on 4.647719420999999 meters Centerline goodness : 0.914412 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:0.12 [[ 0.99478199 -0.09330555 -0.04126575 1.00881181] [ 0.09373674 0.99555956 0.00863642 -0.09280248] [ 0.04027669 -0.01245948 0.99911088 0.124355 ] [ 0. 0. 0. 1. ]] SLAMing on 4.707719420999999 meters Centerline goodness : 0.911976 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:0.12 [[ 0.99544852 -0.08548475 -0.04212597 1.01267035] [ 0.08621497 0.99615078 0.01583037 -0.09707427] [ 0.04061056 -0.01939021 0.99898689 0.12147565] [ 0. 0. 0. 1. ]] SLAMing on 4.767719420999999 meters Centerline goodness : 0.912291 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:0.12 [[ 0.99514392 -0.08878808 -0.04248821 1.01403122] [ 0.08945476 0.99589175 0.01405219 -0.10322367] [ 0.04106599 -0.01778472 0.99899814 0.12178776] [ 0. 0. 0. 1. ]] SLAMing on 4.8277194209999985 meters Centerline goodness : 0.912259 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:0.12 [[ 0.99448743 -0.09853165 -0.03586464 1.02198406] [ 0.0991646 0.99493728 0.01631519 -0.11121178] [ 0.0340755 -0.01978175 0.99922347 0.12145311] [ 0. 0. 0. 1. ]] SLAMing on 4.887719420999999 meters Centerline goodness : 0.917782 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:0.13 [[ 0.99378891 -0.10491972 -0.03708699 1.02357482] [ 0.10561966 0.99425364 0.01744078 -0.11999466] [ 0.03504399 -0.02124957 0.99915983 0.12618943] [ 0. 0. 0. 1. ]] SLAMing on 4.947719420999999 meters Centerline goodness : 0.917705 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:0.13 [[ 0.99364129 -0.10047978 -0.05080157 1.02425001] [ 0.10178511 0.99452192 0.02378961 -0.12663966] [ 0.0481329 -0.02880918 0.99842539 0.13129151] [ 0. 0. 0. 1. ]] SLAMing on 5.007719420999999 meters Centerline goodness : 0.922121 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:0.14 [[ 0.99239269 -0.11072462 -0.05382201 1.02816415] [ 0.11207082 0.99344174 0.02266358 -0.13223789] [ 0.05095962 -0.02852305 0.99829332 0.13719222] [ 0. 0. 0. 1. ]] SLAMing on 5.067719420999999 meters Centerline goodness : 0.922161 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.14, Z:0.14 [[ 0.99092558 -0.12191014 -0.05660748 1.0344671 ] [ 0.12312244 0.99222028 0.01843336 -0.13622278] [ 0.05391988 -0.02523574 0.99822633 0.13894285] [ 0. 0. 0. 1. ]] SLAMing on 5.127719420999999 meters Centerline goodness : 0.934225 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:0.14 [[ 0.99103849 -0.12060945 -0.05741139 1.03078481] [ 0.12200675 0.99229689 0.02147659 -0.13242561] [ 0.05437886 -0.0282887 0.99811958 0.14441788] [ 0. 0. 0. 1. ]] SLAMing on 5.187719420999999 meters Centerline goodness : 0.923457 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:0.14 [[ 0.99124309 -0.11838902 -0.05849084 1.03170858] [ 0.11983034 0.99255569 0.02176923 -0.12367414] [ 0.05547818 -0.02858758 0.99805056 0.14360835] [ 0. 0. 0. 1. ]] SLAMing on 5.247719420999998 meters Centerline goodness : 0.915337 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:0.14 [[ 0.9916443 -0.11167704 -0.06457414 1.02825986] [ 0.11250353 0.99360784 0.00929631 -0.11292639] [ 0.06312318 -0.01648345 0.99786961 0.14031838] [ 0. 0. 0. 1. ]] SLAMing on 5.307719420999999 meters Centerline goodness : 0.915566 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:0.14 [[ 9.93727679e-01 -9.41955266e-02 -6.02702470e-02 1.01401827e+00] [ 9.43870520e-02 9.95535521e-01 3.32393630e-04 -1.00161752e-01] [ 5.99698618e-02 -6.01903969e-03 9.98182041e-01 1.37122963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3677194209999985 meters Centerline goodness : 0.917409 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:0.14 [[ 0.99451464 -0.08512803 -0.06077698 1.01363062] [ 0.08576077 0.99628464 0.00787473 -0.09549067] [ 0.05988081 -0.01304382 0.99812031 0.13697078] [ 0. 0. 0. 1. ]] SLAMing on 5.427719420999999 meters Centerline goodness : 0.919646 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.09, Z:0.13 [[ 0.99542621 -0.07899489 -0.05372583 1.0210633 ] [ 0.07943955 0.99682047 0.00618859 -0.09419586] [ 0.05306614 -0.01042824 0.99853655 0.13468361] [ 0. 0. 0. 1. ]] SLAMing on 5.487719420999999 meters Centerline goodness : 0.918367 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.10, Z:0.13 [[ 0.99550148 -0.07775369 -0.05414027 1.02290914] [ 0.07829725 0.99689805 0.00798892 -0.09731249] [ 0.05335116 -0.01219202 0.99850138 0.13345332] [ 0. 0. 0. 1. ]] SLAMing on 5.547719420999999 meters Centerline goodness : 0.917795 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.10, Z:0.13 [[ 0.99499784 -0.08673027 -0.04956964 1.0325852 ] [ 0.08744418 0.99609205 0.0124157 -0.10373379] [ 0.04829911 -0.01668817 0.9986935 0.13112535] [ 0. 0. 0. 1. ]] SLAMing on 5.607719420999999 meters Centerline goodness : 0.920074 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:0.13 [[ 0.99338322 -0.10610889 -0.04393962 1.05197868] [ 0.10707697 0.99404365 0.02029141 -0.11152071] [ 0.0415248 -0.02486206 0.9988281 0.12771597] [ 0. 0. 0. 1. ]] SLAMing on 5.667719420999998 meters Centerline goodness : 0.927103 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:0.13 [[ 0.99173956 -0.11773909 -0.05089356 1.06285032] [ 0.11905012 0.99260927 0.02353538 -0.12054428] [ 0.04774639 -0.02939985 0.99842673 0.13068083] [ 0. 0. 0. 1. ]] SLAMing on 5.727719420999999 meters Centerline goodness : 0.924625 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:0.13 [[ 0.99103472 -0.11693495 -0.06462506 1.06419099] [ 0.11881362 0.99257554 0.02602172 -0.1264815 ] [ 0.0611024 -0.03346677 0.99757028 0.13442949] [ 0. 0. 0. 1. ]] SLAMing on 5.7877194209999985 meters Centerline goodness : 0.922111 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:0.13 [[ 0.9909376 -0.11738365 -0.06529733 1.0666224 ] [ 0.11930244 0.99250975 0.02629287 -0.12724214] [ 0.06172189 -0.03384473 0.99751939 0.13322599] [ 0. 0. 0. 1. ]] SLAMing on 5.847719420999999 meters Centerline goodness : 0.923962 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:0.13 [[ 0.99151976 -0.11263601 -0.0648205 1.06383029] [ 0.11473226 0.99295629 0.02956887 -0.12665846] [ 0.0610334 -0.03675512 0.99745876 0.13431509] [ 0. 0. 0. 1. ]] SLAMing on 5.907719420999999 meters Centerline goodness : 0.929373 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:0.13 [[ 0.99291694 -0.10086189 -0.06279201 1.05822331] [ 0.10321285 0.99402958 0.03538799 -0.12185358] [ 0.05884782 -0.04161828 0.99739904 0.13399849] [ 0. 0. 0. 1. ]] SLAMing on 5.967719420999999 meters Centerline goodness : 0.936600 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:0.13 [[ 0.99460012 -0.08761583 -0.05562439 1.04596987] [ 0.08971448 0.99530139 0.03642066 -0.11447769] [ 0.05217201 -0.0412143 0.99778728 0.13430144] [ 0. 0. 0. 1. ]] SLAMing on 6.027719420999999 meters Centerline goodness : 0.929068 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:0.13 [[ 0.99539263 -0.07632597 -0.05803317 1.04801447] [ 0.07824701 0.99643367 0.03158069 -0.11360153] [ 0.05541578 -0.03597611 0.99781502 0.1295652 ] [ 0. 0. 0. 1. ]] SLAMing on 6.087719420999998 meters Centerline goodness : 0.931019 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:0.13 [[ 0.99574112 -0.07108778 -0.05870385 1.04993087] [ 0.07328352 0.99665626 0.03613627 -0.11213663] [ 0.05593871 -0.04028439 0.99762118 0.12806611] [ 0. 0. 0. 1. ]] SLAMing on 6.147719420999999 meters Centerline goodness : 0.928930 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:0.13 [[ 0.99518255 -0.07836046 -0.058918 1.05298488] [ 0.08017993 0.99635333 0.02917556 -0.11411671] [ 0.05641694 -0.03375905 0.99783639 0.12665591] [ 0. 0. 0. 1. ]] SLAMing on 6.207719420999998 meters Centerline goodness : 0.930784 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:0.13 [[ 0.99444261 -0.09164185 -0.05182348 1.05957916] [ 0.09316508 0.9952631 0.02777835 -0.11684412] [ 0.04903234 -0.03245211 0.99826985 0.12670149] [ 0. 0. 0. 1. ]] SLAMing on 6.267719420999999 meters Centerline goodness : 0.933647 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:0.13 [[ 0.99374845 -0.10180276 -0.04582811 1.06706752] [ 0.10325741 0.99418466 0.03057395 -0.11885914] [ 0.04244909 -0.03511491 0.99848136 0.12578329] [ 0. 0. 0. 1. ]] SLAMing on 6.3277194209999985 meters Centerline goodness : 0.937635 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:0.13 [[ 0.99260133 -0.11200711 -0.04687234 1.06859926] [ 0.11332674 0.99320418 0.02650495 -0.12312069] [ 0.04358506 -0.03162074 0.99854918 0.13017687] [ 0. 0. 0. 1. ]] SLAMing on 6.387719420999999 meters Centerline goodness : 0.935465 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:0.13 [[ 0.99242349 -0.10760716 -0.05929856 1.06783216] [ 0.10934543 0.9936402 0.02688376 -0.12621882] [ 0.05602855 -0.0331641 0.99787822 0.13271918] [ 0. 0. 0. 1. ]] SLAMing on 6.447719420999999 meters Centerline goodness : 0.938028 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:0.13 [[ 0.99203474 -0.11004227 -0.06130067 1.07051431] [ 0.11189928 0.99333279 0.02772203 -0.12464844] [ 0.05784137 -0.03436072 0.99773429 0.13479043] [ 0. 0. 0. 1. ]] SLAMing on 6.507719420999998 meters Centerline goodness : 0.939184 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:0.14 [[ 0.99153328 -0.10692063 -0.07368677 1.07033762] [ 0.10965436 0.99338472 0.03409879 -0.13130568] [ 0.06955345 -0.04189016 0.99669832 0.13936752] [ 0. 0. 0. 1. ]] SLAMing on 6.567719420999999 meters Centerline goodness : 0.941955 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:0.14 [[ 0.99174112 -0.10433343 -0.07459279 1.0703014 ] [ 0.10724812 0.99357345 0.03618903 -0.12632838] [ 0.07033769 -0.04389008 0.99655721 0.14001144] [ 0. 0. 0. 1. ]] SLAMing on 6.627719420999998 meters Centerline goodness : 0.939050 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:0.14 [[ 0.99371848 -0.08616535 -0.07140803 1.05559814] [ 0.08829473 0.99572256 0.02721443 -0.11512494] [ 0.06875765 -0.03334844 0.99707586 0.13524797] [ 0. 0. 0. 1. ]] SLAMing on 6.687719420999999 meters Centerline goodness : 0.934872 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.11, Z:0.13 [[ 0.99501985 -0.06486151 -0.07568673 1.06984942] [ 0.06657878 0.99757284 0.02038843 -0.10637918] [ 0.0741806 -0.02532602 0.99692318 0.13439116] [ 0. 0. 0. 1. ]] SLAMing on 6.747719420999998 meters Centerline goodness : 0.935996 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:0.13 [[ 0.9952981 -0.05981102 -0.07618619 1.07093631] [ 0.06181926 0.99779205 0.0242778 -0.10323968] [ 0.07456589 -0.02887342 0.996798 0.13364849] [ 0. 0. 0. 1. ]] SLAMing on 6.807719420999999 meters Centerline goodness : 0.936683 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.11, Z:0.13 [[ 0.99526336 -0.06595764 -0.07141736 1.08329585] [ 0.06817294 0.99725089 0.02903652 -0.10837395] [ 0.06930584 -0.03376771 0.99702379 0.13073731] [ 0. 0. 0. 1. ]] SLAMing on 6.8677194209999985 meters Centerline goodness : 0.936454 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.11, Z:0.13 [[ 0.99501186 -0.06941447 -0.07164513 1.0841907 ] [ 0.07143014 0.99710764 0.02596319 -0.11036278] [ 0.06963568 -0.0309513 0.99709222 0.13116214] [ 0. 0. 0. 1. ]] SLAMing on 6.927719420999998 meters Centerline goodness : 0.943954 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:0.14 [[ 0.99521004 -0.07348511 -0.06447417 1.08982191] [ 0.07556762 0.99667486 0.03047555 -0.11532022] [ 0.06202028 -0.03520173 0.99745392 0.13530897] [ 0. 0. 0. 1. ]] SLAMing on 6.987719420999999 meters Centerline goodness : 0.948239 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:0.14 [[ 0.99556237 -0.06748193 -0.06558771 1.09048982] [ 0.06985284 0.99695876 0.03455157 -0.12190535] [ 0.06305663 -0.03897973 0.99724844 0.13856011] [ 0. 0. 0. 1. ]] SLAMing on 7.047719420999998 meters Centerline goodness : 0.948036 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:0.13 [[ 0.99684204 -0.05339999 -0.05877396 1.08648732] [ 0.0549945 0.99815189 0.02585369 -0.12410212] [ 0.05728476 -0.02900429 0.99793647 0.13425548] [ 0. 0. 0. 1. ]] SLAMing on 7.107719420999999 meters Centerline goodness : 0.941197 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:0.13 [[ 0.99693565 -0.05031187 -0.05990015 1.09105724] [ 0.05211582 0.99822152 0.02894367 -0.12817532] [ 0.0583374 -0.03197673 0.99778466 0.13178012] [ 0. 0. 0. 1. ]] SLAMing on 7.167719420999998 meters Centerline goodness : 0.945381 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:0.13 [[ 0.99694542 -0.05684326 -0.05355996 1.10027588] [ 0.05853854 0.99781507 0.03063224 -0.13600406] [ 0.0517017 -0.03367399 0.99809468 0.13382779] [ 0. 0. 0. 1. ]] SLAMing on 7.227719420999999 meters Centerline goodness : 0.943480 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.14, Z:0.13 [[ 0.99659898 -0.06455643 -0.05121468 1.11780542] [ 0.06631075 0.99724231 0.03332671 -0.14377342] [ 0.04892199 -0.03660945 0.99813145 0.12947792] [ 0. 0. 0. 1. ]] SLAMing on 7.2877194209999985 meters Centerline goodness : 0.946427 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:0.13 [[ 0.99642363 -0.07142297 -0.04515197 1.12799104] [ 0.07312411 0.99662817 0.03721771 -0.15004654] [ 0.04234153 -0.0403863 0.9982866 0.12770365] [ 0. 0. 0. 1. ]] SLAMing on 7.347719420999998 meters Centerline goodness : 0.938219 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:0.12 [[ 0.9956967 -0.08054295 -0.04583574 1.13439 ] [ 0.08193618 0.99620465 0.0293729 -0.15363565] [ 0.04329599 -0.0330021 0.99851706 0.12337763] [ 0. 0. 0. 1. ]] SLAMing on 7.407719420999999 meters Centerline goodness : 0.935637 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.16, Z:0.12 [[ 0.99507207 -0.08911262 -0.04348006 1.14914267] [ 0.09058131 0.99534009 0.0330626 -0.15575691] [ 0.04033115 -0.03683815 0.99850706 0.11807622] [ 0. 0. 0. 1. ]] SLAMing on 7.467719420999998 meters Centerline goodness : 0.940579 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.16, Z:0.12 [[ 0.99462543 -0.09305869 -0.045391 1.15016688] [ 0.09466869 0.99490359 0.03470858 -0.15836889] [ 0.04192973 -0.03881915 0.99836615 0.12334002] [ 0. 0. 0. 1. ]] SLAMing on 7.527719420999999 meters Centerline goodness : 0.942912 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.16, Z:0.13 [[ 0.99453166 -0.09376822 -0.04598158 1.1495319 ] [ 0.09541762 0.99481869 0.03508919 -0.15826895] [ 0.04245308 -0.03928476 0.99832582 0.12608564] [ 0. 0. 0. 1. ]] SLAMing on 7.587719420999998 meters Centerline goodness : 0.950616 with order 1 Centerline is valid? [False, True] Translation: X:1.15, Y:-0.16, Z:0.13 [[ 0.99499207 -0.089218 -0.0450659 1.14531093] [ 0.09097085 0.99511037 0.03846622 -0.15751945] [ 0.04141366 -0.04237327 0.99824316 0.12854848] [ 0. 0. 0. 1. ]] SLAMing on 7.647719420999999 meters Centerline goodness : 0.947886 with order 1 Centerline is valid? [True, False] Translation: X:1.13, Y:-0.15, Z:0.13 [[ 0.99633398 -0.07489534 -0.04134354 1.13296035] [ 0.07626625 0.99655309 0.03264058 -0.15158723] [ 0.0387564 -0.03567404 0.99861169 0.12537702] [ 0. 0. 0. 1. ]] SLAMing on 7.707719420999998 meters Centerline goodness : 0.948315 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:0.12 [[ 0.99671145 -0.06923507 -0.04210458 1.13449948] [ 0.07080167 0.9968066 0.03692857 -0.14954592] [ 0.03941337 -0.0397882 0.99843051 0.12473961] [ 0. 0. 0. 1. ]] SLAMing on 7.767719420999998 meters Centerline goodness : 0.947289 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.12 [[ 0.99673865 -0.06865148 -0.04241517 1.13513646] [ 0.07023976 0.99683761 0.03716386 -0.14968914] [ 0.03972968 -0.04002188 0.99840863 0.12483455] [ 0. 0. 0. 1. ]] SLAMing on 7.8277194209999985 meters Centerline goodness : 0.947376 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.12 [[ 0.9967721 -0.06802041 -0.04264508 1.13658745] [ 0.06963812 0.99686081 0.03767035 -0.15037646] [ 0.03994885 -0.04051848 0.99837986 0.12375144] [ 0. 0. 0. 1. ]] SLAMing on 7.887719420999998 meters Centerline goodness : 0.942093 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:0.12 [[ 0.99646327 -0.07201438 -0.04329979 1.14274514] [ 0.07350806 0.99671649 0.03395305 -0.15208467] [ 0.0407125 -0.03701585 0.99848501 0.11916618] [ 0. 0. 0. 1. ]] SLAMing on 7.947719420999999 meters Centerline goodness : 0.942861 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:0.12 [[ 0.99636988 -0.07611797 -0.0381199 1.15463747] [ 0.07757478 0.99624993 0.03831746 -0.15373176] [ 0.0350603 -0.0411355 0.99853825 0.11769506] [ 0. 0. 0. 1. ]] SLAMing on 8.007719421 meters Centerline goodness : 0.944061 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:0.12 [[ 0.99632589 -0.07653727 -0.0384286 1.15404837] [ 0.07797737 0.99625006 0.03748789 -0.15096619] [ 0.03541527 -0.04034671 0.99855791 0.11909924] [ 0. 0. 0. 1. ]] SLAMing on 8.067719421 meters Centerline goodness : 0.947572 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:0.12 [[ 0.99600287 -0.08068794 -0.03831106 1.15367069] [ 0.08193801 0.99611509 0.0322627 -0.14854502] [ 0.03555902 -0.03527287 0.9987449 0.1203629 ] [ 0. 0. 0. 1. ]] SLAMing on 8.127719421 meters Centerline goodness : 0.948415 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:0.12 [[ 0.99542 -0.08789048 -0.03760695 1.1527796 ] [ 0.08887632 0.99571886 0.02539585 -0.14390906] [ 0.0352139 -0.0286219 0.99896985 0.12039617] [ 0. 0. 0. 1. ]] SLAMing on 8.187719420999999 meters Centerline goodness : 0.951109 with order 1 Centerline is valid? [False, True] Translation: X:1.17, Y:-0.14, Z:0.12 [[ 0.99373792 -0.1043513 -0.03994696 1.16592678] [ 0.10559357 0.99394581 0.03035999 -0.14370765] [ 0.03653701 -0.03438802 0.99874046 0.12483499] [ 0. 0. 0. 1. ]] SLAMing on 8.247719421 meters Centerline goodness : 0.953018 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.12, Z:0.14 [[ 9.91570779e-01 -1.24227612e-01 -3.68088358e-02 1.22520278e+00] [ 1.24185367e-01 9.92253071e-01 -3.44071244e-03 -1.20566268e-01] [ 3.69511118e-02 -1.15940885e-03 9.99316402e-01 1.36544391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.307719421 meters Centerline goodness : 0.952926 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.11, Z:0.14 [[ 9.91503536e-01 -1.24763124e-01 -3.68089825e-02 1.28548957e+00] [ 1.24721305e-01 9.92185854e-01 -3.43914211e-03 -1.07879507e-01] [ 3.69504298e-02 -1.18094278e-03 9.99316402e-01 1.38029278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.367719420999999 meters Centerline goodness : 0.955342 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.09, Z:0.14 [[ 9.92995657e-01 -1.12270717e-01 -3.68091290e-02 1.34591074e+00] [ 1.12220370e-01 9.93677398e-01 -3.43757334e-03 -8.80842324e-02] [ 3.69623383e-02 -7.17238666e-04 9.99316402e-01 1.42185080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.427719420999999 meters Centerline goodness : 0.952826 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.07, Z:0.14 [[ 9.94910908e-01 -9.37941957e-02 -3.68094255e-02 1.40687101e+00] [ 9.37313031e-02 9.95591607e-01 -3.43439564e-03 -7.02819885e-02] [ 3.69692814e-02 -3.32777314e-05 9.99316402e-01 1.39927239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.487719421 meters Centerline goodness : 0.947985 with order 1 Centerline is valid? [True, False] Translation: X:1.41, Y:-0.06, Z:0.13 [[ 9.96178656e-01 -7.81274356e-02 -3.90408754e-02 1.40709202e+00] [ 7.80819836e-02 9.96943312e-01 -2.68997512e-03 -6.23825847e-02] [ 3.91317005e-02 -3.68693199e-04 9.99233994e-01 1.32461087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.547719421 meters Centerline goodness : 0.935300 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:0.13 [[ 0.99676085 -0.06792949 -0.04305092 1.41706797] [ 0.0682168 0.99765677 0.00523841 -0.05352314] [ 0.0425942 -0.00815824 0.99905915 0.12528398] [ 0. 0. 0. 1. ]] SLAMing on 8.607719420999999 meters Centerline goodness : 0.934732 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:0.12 [[ 9.96484215e-01 -7.18629424e-02 -4.30688550e-02 1.41905216e+00] [ 7.19845692e-02 9.97404927e-01 1.27781741e-03 -5.20116309e-02] [ 4.28652605e-02 -4.37361785e-03 9.99071289e-01 1.23519066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.667719421 meters Centerline goodness : 0.938944 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.12 [[ 0.99597613 -0.08140308 -0.03748461 1.4269047 ] [ 0.08163214 0.99665182 0.00461886 -0.0543473 ] [ 0.03698312 -0.00766023 0.99928653 0.12165535] [ 0. 0. 0. 1. ]] SLAMing on 8.727719421 meters Centerline goodness : 0.948097 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.12 [[ 0.99600218 -0.08402046 -0.03033513 1.43039937] [ 0.08445265 0.99633931 0.01325629 -0.05237509] [ 0.02911028 -0.01576517 0.99945188 0.12290776] [ 0. 0. 0. 1. ]] SLAMing on 8.787719420999998 meters Centerline goodness : 0.947318 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.12 [[ 0.99602068 -0.08371674 -0.03056655 1.43143353] [ 0.08415427 0.99636374 0.01331769 -0.05143385] [ 0.02934049 -0.015837 0.99944401 0.12218956] [ 0. 0. 0. 1. ]] SLAMing on 8.847719420999999 meters Centerline goodness : 0.940337 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.05, Z:0.12 [[ 0.99589476 -0.08495966 -0.03123273 1.43726129] [ 0.08535605 0.99628319 0.0115826 -0.04849246] [ 0.03013259 -0.01420095 0.99944503 0.11665962] [ 0. 0. 0. 1. ]] SLAMing on 8.907719421 meters Centerline goodness : 0.947404 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.04, Z:0.12 [[ 0.99550714 -0.09169118 -0.02362749 1.44287389] [ 0.09204632 0.9956505 0.01440659 -0.04111183] [ 0.02220376 -0.01651669 0.99961702 0.11581563] [ 0. 0. 0. 1. ]] SLAMing on 8.967719421 meters Centerline goodness : 0.956577 with order 1 Centerline is valid? [False, True] Translation: X:1.44, Y:-0.03, Z:0.12 [[ 0.99471518 -0.10163045 -0.01459306 1.44319846] [ 0.10181406 0.99472563 0.01244259 -0.02882623] [ 0.01325155 -0.01386261 0.9998161 0.12078329] [ 0. 0. 0. 1. ]] SLAMing on 9.027719420999999 meters Centerline goodness : 0.962048 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.01, Z:0.13 [[ 9.93895803e-01 -1.09491037e-01 -1.35220213e-02 1.50344960e+00] [ 1.09486565e-01 9.93987697e-01 -1.07281460e-03 -7.72773350e-03] [ 1.35581864e-02 -4.14213734e-04 9.99907998e-01 1.28683378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.087719421 meters Centerline goodness : 0.961646 with order 1 Centerline is valid? [True, True] Translation: X:1.56, Y:0.02, Z:0.13 [[ 9.94258458e-01 -1.06147400e-01 -1.35221121e-02 1.56388788e+00] [ 1.06142634e-01 9.94350337e-01 -1.07166943e-03 1.50385462e-02] [ 1.35594716e-02 -3.69756200e-04 9.99907998e-01 1.30786641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.147719421 meters Centerline goodness : 0.959362 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:0.04, Z:0.13 [[ 9.95339423e-01 -9.54808037e-02 -1.35222013e-02 1.62428826e+00] [ 9.54750682e-02 9.95431246e-01 -1.07054234e-03 4.20921600e-02] [ 1.35626379e-02 -2.25480098e-04 9.99907998e-01 1.29864143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719420999998 meters Centerline goodness : 0.956012 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:0.06, Z:0.12 [[ 9.95106392e-01 -9.78796006e-02 -1.35222916e-02 1.68460756e+00] [ 9.78741020e-02 9.95198230e-01 -1.06940085e-03 5.79463210e-02] [ 1.35620332e-02 -2.59314523e-04 9.99907998e-01 1.22976539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.267719420999999 meters Centerline goodness : 0.952182 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:0.08, Z:0.13 [[ 9.94767937e-01 -1.01261516e-01 -1.35224690e-02 1.74572779e+00] [ 1.01256360e-01 9.94859794e-01 -1.06715246e-03 7.55850210e-02] [ 1.35610222e-02 -3.07666944e-04 9.99907998e-01 1.25932433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.327719421 meters Centerline goodness : 0.947810 with order 1 Centerline is valid? [True, False] Translation: X:1.75, Y:0.08, Z:0.12 [[ 0.99568615 -0.09139142 -0.01602201 1.75058383] [ 0.09150706 0.99578231 0.0066376 0.08464364] [ 0.01534781 -0.00807509 0.99984961 0.12162756] [ 0. 0. 0. 1. ]] SLAMing on 9.387719421 meters Centerline goodness : 0.943599 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.09, Z:0.12 [[ 0.99765046 -0.06317353 -0.02650782 1.74957408] [ 0.06364122 0.99782484 0.01718669 0.09281128] [ 0.02536442 -0.0188333 0.99950085 0.11776034] [ 0. 0. 0. 1. ]] SLAMing on 9.447719420999999 meters Centerline goodness : 0.944251 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.10, Z:0.11 [[ 0.99852933 -0.04738013 -0.02634954 1.75255505] [ 0.04807108 0.99849924 0.02623809 0.09925347] [ 0.02506683 -0.02746615 0.99930839 0.11037331] [ 0. 0. 0. 1. ]] SLAMing on 9.507719421 meters Centerline goodness : 0.945698 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.10, Z:0.12 [[ 0.99863643 -0.04290217 -0.02974358 1.75494239] [ 0.04393652 0.99841961 0.03504076 0.10237278] [ 0.02819325 -0.03629981 0.99894317 0.11523325] [ 0. 0. 0. 1. ]] SLAMing on 9.567719421 meters Centerline goodness : 0.948194 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.11, Z:0.12 [[ 0.99835363 -0.04978839 -0.02848054 1.74928512] [ 0.05057165 0.99834241 0.02747607 0.10526033] [ 0.02706534 -0.02887114 0.99921666 0.12110914] [ 0. 0. 0. 1. ]] SLAMing on 9.627719420999998 meters Centerline goodness : 0.944059 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.12, Z:0.13 [[ 0.99856216 -0.04657915 -0.02653287 1.74099832] [ 0.04634085 0.99888026 -0.00952651 0.11995841] [ 0.0269469 0.00828326 0.99960255 0.13035169] [ 0. 0. 0. 1. ]] SLAMing on 9.687719420999999 meters Centerline goodness : 0.942600 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:0.14 [[ 0.99905478 -0.03677502 -0.02317654 1.72734708] [ 0.0360493 0.99886943 -0.03098887 0.12937136] [ 0.02428995 0.03012408 0.99925099 0.13539555] [ 0. 0. 0. 1. ]] SLAMing on 9.747719421 meters Centerline goodness : 0.945405 with order 2 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.14 [[ 0.99949484 -0.0255686 -0.01887599 1.71274838] [ 0.0247274 0.99874615 -0.04352788 0.13090979] [ 0.01996527 0.04303913 0.99887388 0.13601591] [ 0. 0. 0. 1. ]] SLAMing on 9.807719421 meters Centerline goodness : 0.942430 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.14 [[ 0.99958229 -0.02210153 -0.01862185 1.71084405] [ 0.0213515 0.9989892 -0.03955629 0.1297252 ] [ 0.01947728 0.03914216 0.99904381 0.13729487] [ 0. 0. 0. 1. ]] SLAMing on 9.867719420999999 meters Centerline goodness : 0.941895 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.13, Z:0.14 [[ 0.9992147 -0.03512076 -0.01834417 1.71060479] [ 0.03415968 0.99814927 -0.05031051 0.12506598] [ 0.02007716 0.04964437 0.99856514 0.13677181] [ 0. 0. 0. 1. ]] SLAMing on 9.927719420999999 meters Centerline goodness : 0.942398 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:0.13 [[ 0.9984715 -0.05269891 -0.016658 1.71055319] [ 0.05188073 0.9975827 -0.04622922 0.11663084] [ 0.01905396 0.04529432 0.99879196 0.13489478] [ 0. 0. 0. 1. ]] SLAMing on 9.987719421 meters Centerline goodness : 0.937294 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.11, Z:0.14 [[ 0.99715869 -0.07329299 -0.01739779 1.7124999 ] [ 0.07199711 0.99521353 -0.06607912 0.11312649] [ 0.02215765 0.06463878 0.9976627 0.13831259] [ 0. 0. 0. 1. ]] SLAMing on 10.047719420999998 meters Centerline goodness : 0.935611 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:0.10, Z:0.14 [[ 0.99683614 -0.0731372 -0.0311234 1.71700453] [ 0.07107456 0.99548636 -0.06289136 0.10250267] [ 0.03558262 0.0604803 0.99753497 0.14122056] [ 0. 0. 0. 1. ]] SLAMing on 10.107719420999999 meters Centerline goodness : 0.940484 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.11, Z:0.14 [[ 0.99699116 -0.07379042 -0.02374044 1.72603454] [ 0.07232013 0.99570778 -0.05775648 0.10670624] [ 0.02790041 0.05586579 0.99804839 0.14179525] [ 0. 0. 0. 1. ]] SLAMing on 10.167719421 meters Centerline goodness : 0.934815 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.11, Z:0.14 [[ 0.99747557 -0.06723518 -0.0228457 1.74708241] [ 0.06558288 0.99561722 -0.06667261 0.1125179 ] [ 0.02722832 0.06500602 0.99751333 0.14258146] [ 0. 0. 0. 1. ]] SLAMing on 10.227719421 meters Centerline goodness : 0.938880 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.11, Z:0.14 [[ 0.99756763 -0.06779523 -0.01620609 1.7548637 ] [ 0.06680941 0.99624131 -0.05513407 0.11174642] [ 0.019883 0.05391724 0.99834743 0.13777575] [ 0. 0. 0. 1. ]] SLAMing on 10.287719420999998 meters Centerline goodness : 0.939605 with order 2 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:0.13 [[ 0.99711153 -0.07482249 -0.01304576 1.76026799] [ 0.0741908 0.99629145 -0.04357832 0.11133252] [ 0.01625802 0.04248457 0.99896483 0.13164619] [ 0. 0. 0. 1. ]] SLAMing on 10.347719420999999 meters Centerline goodness : 0.935054 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.11, Z:0.13 [[ 0.99621677 -0.08488631 -0.01861349 1.77843448] [ 0.08398833 0.99546639 -0.04463887 0.11440108] [ 0.02231833 0.04290667 0.99882977 0.12806672] [ 0. 0. 0. 1. ]] SLAMing on 10.407719421 meters Centerline goodness : 0.927373 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.12 [[ 0.9962549 -0.08430953 -0.01918558 1.78230717] [ 0.08340732 0.99555387 -0.04376891 0.11599642] [ 0.02279042 0.04200477 0.99885745 0.12423016] [ 0. 0. 0. 1. ]] SLAMing on 10.467719420999998 meters Centerline goodness : 0.923577 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:0.12 [[ 0.99667796 -0.07886745 -0.02032177 1.78944761] [ 0.07800356 0.9961391 -0.04027817 0.12240969] [ 0.02341995 0.0385592 0.99898183 0.11846175] [ 0. 0. 0. 1. ]] SLAMing on 10.527719420999999 meters Centerline goodness : 0.932329 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:0.12 [[ 0.9979973 -0.06180038 -0.01349461 1.8043498 ] [ 0.06120008 0.99727877 -0.04110478 0.13497471] [ 0.01599818 0.04019659 0.99906371 0.12452704] [ 0. 0. 0. 1. ]] SLAMing on 10.587719421 meters Centerline goodness : 0.930850 with order 2 Centerline is valid? [False, False] Translation: X:1.82, Y:0.14, Z:0.12 [[ 0.99838689 -0.05620481 -0.00803979 1.81597402] [ 0.05596294 0.99804921 -0.02767546 0.13781368] [ 0.0095796 0.02718088 0.99958463 0.12245895] [ 0. 0. 0. 1. ]] SLAMing on 10.647719421 meters Centerline goodness : 0.940531 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:0.14, Z:0.13 [[ 0.99872575 -0.05040654 -0.00246184 1.82292978] [ 0.05029401 0.99815601 -0.03398665 0.14322153] [ 0.00417045 0.03381952 0.99941925 0.12676475] [ 0. 0. 0. 1. ]] SLAMing on 10.707719420999998 meters Centerline goodness : 0.940258 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.15, Z:0.13 [[ 0.99878176 -0.0492414 -0.00320658 1.82525232] [ 0.04910287 0.99820492 -0.03429071 0.14516691] [ 0.00488935 0.03409149 0.99940676 0.12699349] [ 0. 0. 0. 1. ]] SLAMing on 10.767719420999999 meters Centerline goodness : 0.937119 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.15, Z:0.13 [[ 9.99392877e-01 -3.48101183e-02 -1.46050655e-03 1.85294316e+00] [ 3.47230467e-02 9.98584009e-01 -4.03024323e-02 1.48217516e-01] [ 2.86137092e-03 4.02272506e-02 9.99186460e-01 1.29169446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.827719421 meters Centerline goodness : 0.934532 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.15, Z:0.13 [[ 9.99808381e-01 -1.95748073e-02 1.69616468e-04 1.88492122e+00] [ 1.95590839e-02 9.98575055e-01 -4.96518144e-02 1.51895847e-01] [ 8.02549925e-04 4.96456177e-02 9.98766574e-01 1.33868674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.887719420999998 meters Centerline goodness : 0.934712 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.15, Z:0.14 [[ 9.99821733e-01 -1.88399842e-02 1.24826200e-03 1.91117527e+00] [ 1.88811339e-02 9.97356110e-01 -7.01732995e-02 1.49752993e-01] [ 7.71021246e-05 7.01843585e-02 9.97534034e-01 1.39560162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.947719420999999 meters Centerline goodness : 0.928918 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.15, Z:0.15 [[ 9.99818965e-01 -1.87776614e-02 3.07185232e-03 1.93491821e+00] [ 1.89814512e-02 9.95523996e-01 -9.25833520e-02 1.48085000e-01] [-1.31960387e-03 9.26248994e-02 9.95700199e-01 1.46369579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.007719421 meters Centerline goodness : 0.929698 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.15, Z:0.15 [[ 0.99987365 -0.01526346 0.00443919 1.95179424] [ 0.01565179 0.99410261 -0.10730809 0.14612674] [-0.00277512 0.10736401 0.99421591 0.1538611 ] [ 0. 0. 0. 1. ]] SLAMing on 11.067719421 meters Centerline goodness : 0.932667 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:0.17 [[ 0.99982605 -0.01754422 0.00633047 1.95841624] [ 0.0181934 0.99213459 -0.12384649 0.1465867 ] [-0.00410789 0.12394012 0.9922812 0.16593271] [ 0. 0. 0. 1. ]] SLAMing on 11.127719420999998 meters Centerline goodness : 0.934735 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.14, Z:0.16 [[ 0.99959686 -0.026915 0.00903931 1.96329152] [ 0.02777317 0.99304588 -0.11440511 0.13592321] [-0.00589724 0.11461004 0.99339305 0.16209842] [ 0. 0. 0. 1. ]] SLAMing on 11.187719420999999 meters Centerline goodness : 0.940686 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:0.16 [[ 0.99908202 -0.03988608 0.01562776 1.97248654] [ 0.04143798 0.99233314 -0.11643809 0.12809796] [-0.01086369 0.11697878 0.99307499 0.16018368] [ 0. 0. 0. 1. ]] SLAMing on 11.247719421 meters Centerline goodness : 0.938411 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.12, Z:0.16 [[ 0.99882419 -0.04594811 0.01545971 1.98966254] [ 0.04738561 0.99267243 -0.11115779 0.12283267] [-0.01023893 0.11175966 0.99368252 0.15502012] [ 0. 0. 0. 1. ]] SLAMing on 11.307719420999998 meters Centerline goodness : 0.930748 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.13, Z:0.16 [[ 0.99891955 -0.04551773 0.0093736 2.01821262] [ 0.04628396 0.99258011 -0.11243899 0.12567853] [-0.00418609 0.11275135 0.99361442 0.1570058 ] [ 0. 0. 0. 1. ]] SLAMing on 11.367719420999999 meters Centerline goodness : 0.926321 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:0.17 [[ 0.99930939 -0.03270023 0.01764757 2.03375409] [ 0.03509738 0.98661083 -0.15927098 0.13949509] [-0.01220309 0.15978037 0.98707716 0.170423 ] [ 0. 0. 0. 1. ]] SLAMing on 11.427719420999999 meters Centerline goodness : 0.936159 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.15, Z:0.19 [[ 0.99938976 -0.02424025 0.02514978 2.04523077] [ 0.02838003 0.98324518 -0.18006526 0.15126627] [-0.02036357 0.18066912 0.9833331 0.18842274] [ 0. 0. 0. 1. ]] SLAMing on 11.487719421 meters Centerline goodness : 0.939602 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.15, Z:0.19 [[ 0.99914378 -0.02516701 0.03283777 2.05327536] [ 0.03056897 0.98390822 -0.17604018 0.15057869] [-0.02787895 0.17689327 0.98383512 0.19188557] [ 0. 0. 0. 1. ]] SLAMing on 11.547719420999998 meters Centerline goodness : 0.942694 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.15, Z:0.19 [[ 0.99871086 -0.03049099 0.04058228 2.06124356] [ 0.03706129 0.98430995 -0.17251196 0.14693747] [-0.03468548 0.1737936 0.98417107 0.19052772] [ 0. 0. 0. 1. ]] SLAMing on 11.607719420999999 meters Centerline goodness : 0.948500 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:0.19 [[ 0.99825003 -0.03283104 0.04918332 2.06652205] [ 0.04064624 0.98504467 -0.16743619 0.14516044] [-0.04295066 0.1691423 0.98465533 0.19298657] [ 0. 0. 0. 1. ]] SLAMing on 11.667719421 meters Centerline goodness : 0.947413 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:0.20 [[ 0.99852935 -0.02403265 0.04859599 2.07286362] [ 0.03184949 0.98542587 -0.16709717 0.1453975 ] [-0.04387196 0.16839918 0.98474208 0.19782304] [ 0. 0. 0. 1. ]] SLAMing on 11.727719420999998 meters Centerline goodness : 0.942925 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.14, Z:0.19 [[ 0.99904465 -0.01715 0.04019522 2.04938434] [ 0.02297168 0.98854362 -0.14917714 0.1404441 ] [-0.03717634 0.14995798 0.98799318 0.18551916] [ 0. 0. 0. 1. ]] SLAMing on 11.787719420999998 meters Centerline goodness : 0.945460 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.14, Z:0.18 [[ 0.99925908 -0.01189825 0.03660217 2.0430354 ] [ 0.01662193 0.99116486 -0.13159002 0.13564942] [-0.03471309 0.13210092 0.99062826 0.18007748] [ 0. 0. 0. 1. ]] SLAMing on 11.847719420999999 meters Centerline goodness : 0.937831 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:0.18 [[ 9.99969776e-01 -1.10742402e-03 7.69553300e-03 2.05436882e+00] [ 2.06913474e-03 9.92013967e-01 -1.26111097e-01 1.21703543e-01] [-7.49441776e-03 1.26123209e-01 9.91986275e-01 1.82065890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.907719421 meters Centerline goodness : 0.947851 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.11, Z:0.17 [[ 0.99991709 -0.00961092 0.00856971 2.07552587] [ 0.01035693 0.99572898 -0.09174162 0.11146741] [-0.00765139 0.09182277 0.99574597 0.1725249 ] [ 0. 0. 0. 1. ]] SLAMing on 11.967719420999998 meters Centerline goodness : 0.946363 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.10, Z:0.17 [[ 9.99898015e-01 -1.39245410e-02 3.17277058e-03 2.08393596e+00] [ 1.41420839e-02 9.96357033e-01 -8.40991313e-02 1.02415581e-01] [-1.99017048e-03 8.41354240e-02 9.96452342e-01 1.71365917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.027719420999999 meters Centerline goodness : 0.950776 with order 1 Centerline is valid? [False, True] Translation: X:2.09, Y:0.09, Z:0.17 [[ 9.99785713e-01 -2.06309993e-02 -1.69988355e-03 2.09114350e+00] [ 2.04330275e-02 9.96682784e-01 -7.87776576e-02 9.14396487e-02] [ 3.31950647e-03 7.87260428e-02 9.96890762e-01 1.71295479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters Centerline goodness : 0.951093 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.06, Z:0.14 [[ 9.99551167e-01 -2.96450115e-02 -4.31710287e-03 2.15473485e+00] [ 2.96446706e-02 9.99560490e-01 -1.42951726e-04 6.02897217e-02] [ 4.31944326e-03 1.49084727e-05 9.99990671e-01 1.38654871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.147719420999998 meters Centerline goodness : 0.947261 with order 1 Centerline is valid? [True, False] Translation: X:2.16, Y:0.06, Z:0.14 [[ 0.99925703 -0.03822164 -0.00494962 2.15599241] [ 0.0381887 0.99924884 -0.00658677 0.05721879] [ 0.00519766 0.00639286 0.99996606 0.14024035] [ 0. 0. 0. 1. ]] SLAMing on 12.207719420999998 meters Centerline goodness : 0.945842 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.14 [[ 0.99955472 -0.02837888 -0.00921956 2.14839143] [ 0.02824224 0.99949407 -0.01462793 0.05205642] [ 0.00963002 0.01436104 0.9998505 0.14069983] [ 0. 0. 0. 1. ]] SLAMing on 12.267719420999999 meters Centerline goodness : 0.947298 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.14 [[ 9.99850404e-01 -1.41080836e-02 -1.00065542e-02 2.15141265e+00] [ 1.41063397e-02 9.99900471e-01 -2.44835143e-04 4.73459779e-02] [ 1.00090124e-02 1.03642665e-04 9.99949903e-01 1.38294379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.327719421 meters Centerline goodness : 0.953690 with order 1 Centerline is valid? [False, True] Translation: X:2.15, Y:0.04, Z:0.14 [[ 9.99827267e-01 -1.57338442e-02 -9.89352766e-03 2.14753711e+00] [ 1.57275121e-02 9.99876058e-01 -7.17512042e-04 3.70309957e-02] [ 9.90359065e-03 5.61787529e-04 9.99950800e-01 1.43299354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.387719420999998 meters Centerline goodness : 0.957346 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.02, Z:0.15 [[ 9.99735578e-01 -2.07518588e-02 -9.90624685e-03 2.21078291e+00] [ 2.07488063e-02 9.99784636e-01 -4.10823862e-04 1.52636236e-02] [ 9.91263876e-03 2.05172434e-04 9.99950848e-01 1.46137916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719420999999 meters Centerline goodness : 0.959225 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:0.01, Z:0.15 [[ 9.99787587e-01 -1.80733801e-02 -9.90628241e-03 2.27373872e+00] [ 1.80702047e-02 9.99836636e-01 -4.09964528e-04 5.82663616e-03] [ 9.91207353e-03 2.30868896e-04 9.99950848e-01 1.50680723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.507719421 meters Centerline goodness : 0.958176 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.00, Z:0.15 [[ 9.99899930e-01 -1.00992070e-02 -9.90631755e-03 2.33510350e+00] [ 1.00956489e-02 9.99948954e-01 -4.09113650e-04 -4.46846101e-03] [ 9.90994360e-03 3.09062007e-04 9.99950848e-01 1.52518518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.567719420999998 meters Centerline goodness : 0.956367 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.02, Z:0.15 [[ 9.99929931e-01 -6.48049504e-03 -9.90633483e-03 2.39651606e+00] [ 6.47676372e-03 9.99978942e-01 -4.08694917e-04 -1.62065022e-02] [ 9.90877477e-03 3.44505290e-04 9.99950848e-01 1.48512080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.627719420999998 meters Centerline goodness : 0.953591 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.02, Z:0.15 [[ 9.99923384e-01 -7.42236991e-03 -9.90633483e-03 2.45687238e+00] [ 7.41868476e-03 9.99972398e-01 -4.08694917e-04 -1.73848240e-02] [ 9.90909488e-03 3.35171629e-04 9.99950848e-01 1.47438879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.687719420999999 meters Centerline goodness : 0.952104 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.02, Z:0.15 [[ 9.99883983e-01 -1.15709105e-02 -9.90630881e-03 2.51629138e+00] [ 1.15674225e-02 9.99933011e-01 -4.09324616e-04 -1.60485156e-02] [ 9.91038146e-03 2.94686668e-04 9.99950848e-01 1.51173558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.747719421 meters Centerline goodness : 0.951919 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.03, Z:0.14 [[ 9.99393349e-01 -3.33886136e-02 -9.90629039e-03 2.57707896e+00] [ 3.33861920e-02 9.99442442e-01 -4.09769859e-04 -3.31282143e-02] [ 9.91444871e-03 7.87879589e-05 9.99950848e-01 1.41423367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.807719420999998 meters Centerline goodness : 0.949642 with order 1 Centerline is valid? [True, False] Translation: X:2.60, Y:-0.04, Z:0.14 [[ 0.99834303 -0.0560498 -0.01302372 2.60181332] [ 0.05625425 0.99828985 0.01590087 -0.0380695 ] [ 0.0121102 -0.01660716 0.99978875 0.14343478] [ 0. 0. 0. 1. ]] SLAMing on 12.867719420999999 meters Centerline goodness : 0.944540 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:0.14 [[ 0.99747021 -0.06972711 -0.0138314 2.62594824] [ 0.07006551 0.997211 0.02571079 -0.04265087] [ 0.01200008 -0.02661485 0.99957373 0.13889094] [ 0. 0. 0. 1. ]] SLAMing on 12.927719420999999 meters Centerline goodness : 0.951270 with order 1 Centerline is valid? [False, True] Translation: X:2.64, Y:-0.05, Z:0.14 [[ 0.99704413 -0.07625582 -0.00938334 2.642989 ] [ 0.07647508 0.996738 0.02578599 -0.05145895] [ 0.0073864 -0.02642736 0.99962345 0.13671921] [ 0. 0. 0. 1. ]] SLAMing on 12.987719420999998 meters Centerline goodness : 0.962081 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.03, Z:0.16 [[ 9.98030719e-01 -6.21796180e-02 -8.26913898e-03 2.70332363e+00] [ 6.21788236e-02 9.98064962e-01 -3.53371382e-04 -2.74896922e-02] [ 8.27511038e-03 -1.61489840e-04 9.99965748e-01 1.58035518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719420999998 meters Centerline goodness : 0.961106 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.02, Z:0.16 [[ 9.99297430e-01 -3.65550025e-02 -8.26915364e-03 2.76379464e+00] [ 3.65533327e-02 9.99331641e-01 -3.53028123e-04 -1.81214487e-02] [ 8.27653182e-03 5.05149722e-05 9.99965748e-01 1.55875538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.107719420999999 meters Centerline goodness : 0.957796 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.01, Z:0.15 [[ 9.99877996e-01 -1.32519106e-02 -8.26917542e-03 2.82492304e+00] [ 1.32494480e-02 9.99912160e-01 -3.52517185e-04 -8.45223559e-03] [ 8.27312058e-03 2.42912167e-04 9.99965748e-01 1.49416061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.167719421 meters Centerline goodness : 0.960632 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:0.00, Z:0.16 [[ 9.99953288e-01 -5.00421012e-03 -8.26918976e-03 2.88485822e+00] [ 5.00146860e-03 9.99987431e-01 -3.52180456e-04 1.45911079e-03] [ 8.27084820e-03 3.10805912e-04 9.99965748e-01 1.55613328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.227719420999998 meters Centerline goodness : 0.961636 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:0.00, Z:0.16 [[ 9.99944464e-01 -6.53370032e-03 -8.26918976e-03 2.94440005e+00] [ 6.53101103e-03 9.99978611e-01 -3.52180456e-04 2.79605191e-03] [ 8.27131393e-03 2.98154728e-04 9.99965748e-01 1.55277472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.287719420999998 meters Centerline goodness : 0.948891 with order 1 Centerline is valid? [True, False] Translation: X:2.97, Y:-0.00, Z:0.15 [[ 9.99828166e-01 -9.89262699e-03 -1.56772168e-02 2.96828070e+00] [ 1.00055418e-02 9.99924448e-01 7.14048449e-03 -2.56112996e-03] [ 1.56053942e-02 -7.29611656e-03 9.99851608e-01 1.46357159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.347719420999999 meters Centerline goodness : 0.945147 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.01, Z:0.15 [[ 0.99980412 -0.01131351 -0.01623979 2.97092604] [ 0.01140726 0.99991873 0.0056921 -0.00554339] [ 0.01617407 -0.00587623 0.99985192 0.14524272] [ 0. 0. 0. 1. ]] SLAMing on 13.407719420999998 meters Centerline goodness : 0.949327 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.01, Z:0.14 [[ 0.99987 -0.01117936 -0.01161906 2.984785 ] [ 0.01135739 0.99981736 0.01537037 -0.01470801] [ 0.01144511 -0.01550034 0.99981436 0.14160256] [ 0. 0. 0. 1. ]] SLAMing on 13.467719420999998 meters Centerline goodness : 0.946333 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:0.14 [[ 0.99988449 -0.0090125 -0.01223891 2.98834432] [ 0.00922899 0.99979988 0.01774876 -0.01957626] [ 0.0120765 -0.01785966 0.99976757 0.13913693] [ 0. 0. 0. 1. ]] SLAMing on 13.527719420999999 meters Centerline goodness : 0.950110 with order 1 Centerline is valid? [False, True] Translation: X:2.99, Y:-0.03, Z:0.14 [[ 9.99923668e-01 7.58133457e-04 -1.23321816e-02 2.98627374e+00] [-4.15843387e-04 9.99615231e-01 2.77347607e-02 -2.62359540e-02] [ 1.23484632e-02 -2.77275154e-02 9.99539244e-01 1.42644369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.587719421 meters Centerline goodness : 0.949211 with order 1 Centerline is valid? [True, False] Translation: X:2.99, Y:-0.03, Z:0.14 [[ 9.99895411e-01 1.61498853e-03 -1.43721457e-02 2.99157654e+00] [-1.22240391e-03 9.99627012e-01 2.72826412e-02 -3.49015170e-02] [ 1.44108462e-02 -2.72622191e-02 9.99524436e-01 1.43029560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.647719420999998 meters Centerline goodness : 0.947311 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.05, Z:0.14 [[ 0.99990615 -0.00821245 -0.01096585 3.00947135] [ 0.00850496 0.99960196 0.02689964 -0.04727162] [ 0.01074058 -0.02699038 0.99957799 0.1382216 ] [ 0. 0. 0. 1. ]] SLAMing on 13.707719420999998 meters Centerline goodness : 0.945942 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.06, Z:0.13 [[ 0.99978833 -0.0188007 -0.0083569 3.02740122] [ 0.01901581 0.99946919 0.02645244 -0.05520855] [ 0.00785514 -0.02660575 0.99961514 0.13319421] [ 0. 0. 0. 1. ]] SLAMing on 13.767719420999999 meters Centerline goodness : 0.941409 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.06, Z:0.13 [[ 0.99964868 -0.02481647 -0.00930904 3.03183876] [ 0.02500306 0.9994773 0.02049314 -0.0577717 ] [ 0.0087956 -0.0207187 0.99974665 0.1309247 ] [ 0. 0. 0. 1. ]] SLAMing on 13.827719420999998 meters Centerline goodness : 0.947690 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.06, Z:0.13 [[ 9.99502860e-01 -3.13998095e-02 -2.84335906e-03 3.04134237e+00] [ 3.14530495e-02 9.99281149e-01 2.11634510e-02 -6.03068219e-02] [ 2.17678677e-03 -2.12423621e-02 9.99771986e-01 1.32511504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.887719420999998 meters Centerline goodness : 0.949221 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:0.13 [[ 9.99324463e-01 -3.67175929e-02 1.56080775e-03 3.05550506e+00] [ 3.66687096e-02 9.99030167e-01 2.43748058e-02 -6.32023004e-02] [-2.45427822e-03 -2.43011069e-02 9.99701672e-01 1.30351977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.947719420999999 meters Centerline goodness : 0.951585 with order 1 Centerline is valid? [False, True] Translation: X:3.06, Y:-0.06, Z:0.13 [[ 9.99200488e-01 -3.99478405e-02 1.59868087e-03 3.05613795e+00] [ 3.99061681e-02 9.98988158e-01 2.07402254e-02 -6.10377144e-02] [-2.42559047e-03 -2.06598461e-02 9.99783620e-01 1.30596801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.007719421 meters Centerline goodness : 0.952910 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.05, Z:0.14 [[ 9.99190225e-01 -4.01485910e-02 2.64299087e-03 3.11745553e+00] [ 4.01483773e-02 9.99193720e-01 1.33871864e-04 -5.06174696e-02] [-2.64623465e-03 -2.76516627e-05 9.99996498e-01 1.35143165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.067719420999998 meters Centerline goodness : 0.952522 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.04, Z:0.13 [[ 9.99292130e-01 -3.75266914e-02 2.64301249e-03 3.17886765e+00] [ 3.75264697e-02 9.99295625e-01 1.33443812e-04 -4.46195117e-02] [-2.64615852e-03 -3.41664237e-05 9.99996498e-01 1.30393715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.127719420999998 meters Centerline goodness : 0.951106 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.05, Z:0.13 [[ 9.99289476e-01 -3.75973140e-02 2.64302088e-03 3.24243274e+00] [ 3.75970930e-02 9.99292970e-01 1.33277367e-04 -4.90402072e-02] [-2.64616306e-03 -3.38127686e-05 9.99996498e-01 1.28944682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.187719420999999 meters Centerline goodness : 0.948307 with order 1 Centerline is valid? [True, False] Translation: X:3.25, Y:-0.04, Z:0.13 [[ 9.99648837e-01 -2.64634483e-02 1.37404672e-03 3.24641394e+00] [ 2.64465138e-02 9.99588051e-01 1.11494528e-02 -4.40276116e-02] [-1.66853365e-03 -1.11091988e-02 9.99936899e-01 1.26291023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.247719420999998 meters Centerline goodness : 0.946375 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.04, Z:0.13 [[ 9.99985523e-01 -5.29031807e-03 9.83075249e-04 3.25726424e+00] [ 5.28334966e-03 9.99961817e-01 6.96070140e-03 -4.16682097e-02] [-1.01986204e-03 -6.95540670e-03 9.99975291e-01 1.26775651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.307719420999998 meters Centerline goodness : 0.948446 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.04, Z:0.12 [[ 9.99991985e-01 3.98427599e-03 3.94461875e-04 3.26287124e+00] [-3.98939935e-03 9.99894404e-01 1.39737321e-02 -3.93396675e-02] [-3.38745016e-04 -1.39751938e-02 9.99902285e-01 1.22123019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.367719420999999 meters Centerline goodness : 0.950588 with order 1 Centerline is valid? [False, True] Translation: X:3.26, Y:-0.03, Z:0.13 [[ 9.99949844e-01 1.00150997e-02 8.57461245e-05 3.26133786e+00] [-1.00148177e-02 9.99750928e-01 1.99445818e-02 -3.46202577e-02] [ 1.14022208e-04 -1.99444402e-02 9.99801083e-01 1.25317021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.427719420999999 meters Centerline goodness : 0.941040 with order 1 Centerline is valid? [True, False] Translation: X:3.29, Y:-0.04, Z:0.12 [[ 9.99979373e-01 -1.33741027e-03 -6.28203802e-03 3.28704808e+00] [ 1.44003672e-03 9.99865121e-01 1.63604764e-02 -4.34852922e-02] [ 6.25931003e-03 -1.63691853e-02 9.99846424e-01 1.18306502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.487719420999998 meters Centerline goodness : 0.939883 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:0.11 [[ 0.9999582 -0.00755094 -0.00515632 3.30516678] [ 0.00764337 0.99980611 0.01814733 -0.04694156] [ 0.0050183 -0.01818598 0.99982203 0.11389539] [ 0. 0. 0. 1. ]] SLAMing on 14.547719420999998 meters Centerline goodness : 0.945266 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.05, Z:0.11 [[ 9.99726537e-01 -2.33213487e-02 1.72237336e-03 3.32123710e+00] [ 2.32645338e-02 9.99343134e-01 2.77860006e-02 -4.89911008e-02] [-2.36924900e-03 -2.77383319e-02 9.99612411e-01 1.14408299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.607719420999999 meters Centerline goodness : 0.942397 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.07, Z:0.11 [[ 0.9989825 -0.04490544 0.00417946 3.36018952] [ 0.04470409 0.99820721 0.03979846 -0.06745744] [-0.00595913 -0.03957113 0.99919899 0.10929378] [ 0. 0. 0. 1. ]] SLAMing on 14.667719420999997 meters Centerline goodness : 0.945032 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.08, Z:0.10 [[ 0.99837099 -0.05602708 0.01078614 3.38810308] [ 0.05565034 0.99792025 0.0325302 -0.07725943] [-0.01258628 -0.03187696 0.99941255 0.10257167] [ 0. 0. 0. 1. ]] SLAMing on 14.727719420999998 meters Centerline goodness : 0.940644 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.08, Z:0.10 [[ 0.99818886 -0.05898003 0.01184735 3.40782873] [ 0.05847622 0.99752173 0.0391271 -0.08005144] [-0.01412571 -0.03836345 0.99916401 0.0981753 ] [ 0. 0. 0. 1. ]] SLAMing on 14.787719420999998 meters Centerline goodness : 0.943349 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.08, Z:0.10 [[ 0.99854397 -0.05207694 0.01406864 3.43242748] [ 0.05164373 0.99822751 0.02957628 -0.08070527] [-0.01558394 -0.02880666 0.99946351 0.09864314] [ 0. 0. 0. 1. ]] SLAMing on 14.847719420999999 meters Centerline goodness : 0.948569 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:0.10 [[ 0.99887143 -0.04408754 0.01766802 3.44723087] [ 0.04367521 0.99877913 0.02308091 -0.07900267] [-0.01866403 -0.02228321 0.99957747 0.09963071] [ 0. 0. 0. 1. ]] SLAMing on 14.907719420999998 meters Centerline goodness : 0.946940 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:0.10 [[ 0.99907751 -0.03957431 0.01667352 3.45023058] [ 0.03911585 0.9988704 0.02697924 -0.07536406] [-0.01772237 -0.02630215 0.99949693 0.0980582 ] [ 0. 0. 0. 1. ]] SLAMing on 14.967719420999998 meters Centerline goodness : 0.943154 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.08, Z:0.10 [[ 0.99911484 -0.03928376 0.01504405 3.45607509] [ 0.03887653 0.99889345 0.02646687 -0.07681328] [-0.01606712 -0.02585858 0.99953648 0.09535711] [ 0. 0. 0. 1. ]] SLAMing on 15.027719420999999 meters Centerline goodness : 0.940942 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.08, Z:0.09 [[ 0.99915347 -0.03882243 0.01360759 3.46186224] [ 0.03846138 0.99892541 0.02586011 -0.07817793] [-0.01459692 -0.02531485 0.99957295 0.09236657] [ 0. 0. 0. 1. ]] SLAMing on 15.087719420999997 meters Centerline goodness : 0.936863 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:0.09 [[ 0.99940038 -0.03255775 0.01178411 3.4666531 ] [ 0.03217915 0.99900106 0.03100623 -0.07653919] [-0.01278183 -0.03060844 0.99944972 0.09065599] [ 0. 0. 0. 1. ]] SLAMing on 15.147719420999998 meters Centerline goodness : 0.933269 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:0.09 [[ 0.99985387 -0.01525622 0.00771234 3.48463777] [ 0.01510863 0.99970823 0.01884638 -0.07200929] [-0.00799762 -0.01872711 0.99979265 0.09100811] [ 0. 0. 0. 1. ]] SLAMing on 15.207719420999998 meters Centerline goodness : 0.935249 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.07, Z:0.10 [[ 9.99994577e-01 -2.08858211e-05 3.29339552e-03 3.50975785e+00] [-1.44278796e-05 9.99942516e-01 1.07221928e-02 -6.86540749e-02] [-3.29343015e-03 -1.07221822e-02 9.99937092e-01 9.68768551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.267719420999999 meters Centerline goodness : 0.928649 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.07, Z:0.09 [[ 9.99988660e-01 4.25268962e-03 2.14340336e-03 3.51471245e+00] [-4.28357901e-03 9.99883962e-01 1.46189400e-02 -6.80996734e-02] [-2.08098483e-03 -1.46279557e-02 9.99890840e-01 9.38533322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.327719420999998 meters Centerline goodness : 0.940095 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.08, Z:0.10 [[ 9.99960448e-01 -3.72536615e-04 8.88615730e-03 3.52417328e+00] [ 2.24331094e-04 9.99860964e-01 1.66734160e-02 -7.75591366e-02] [-8.89113326e-03 -1.66707630e-02 9.99821501e-01 9.56827652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.387719420999998 meters Centerline goodness : 0.939336 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.09, Z:0.09 [[ 0.99987926 -0.00996026 0.01192698 3.54126323] [ 0.00976047 0.99981301 0.01669373 -0.09208901] [-0.01209102 -0.01657531 0.99978951 0.09114841] [ 0. 0. 0. 1. ]] SLAMing on 15.447719420999999 meters Centerline goodness : 0.934796 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.10, Z:0.09 [[ 0.99982387 -0.01759362 0.00653413 3.56821743] [ 0.01740362 0.99945426 0.02807671 -0.09503107] [-0.00702454 -0.02795804 0.99958442 0.09047935] [ 0. 0. 0. 1. ]] SLAMing on 15.507719420999997 meters Centerline goodness : 0.927902 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.10, Z:0.09 [[ 9.99701602e-01 -2.42448073e-02 2.98262194e-03 3.59664756e+00] [ 2.41710702e-02 9.99450652e-01 2.26749640e-02 -1.01974965e-01] [-3.53073358e-03 -2.25961047e-02 9.99738441e-01 8.68319418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.567719420999998 meters Centerline goodness : 0.932063 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.11, Z:0.08 [[ 0.99935775 -0.03477496 0.00864856 3.6264804 ] [ 0.03449315 0.99892901 0.03083926 -0.11207944] [-0.00971173 -0.03052114 0.99948694 0.08000936] [ 0. 0. 0. 1. ]] SLAMing on 15.627719420999998 meters Centerline goodness : 0.931588 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.11, Z:0.08 [[ 0.9989866 -0.0435692 0.01129182 3.65275566] [ 0.04312191 0.99837637 0.03721735 -0.10569268] [-0.01289502 -0.03669271 0.9992434 0.07730758] [ 0. 0. 0. 1. ]] SLAMing on 15.687719420999999 meters Centerline goodness : 0.931744 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.10, Z:0.08 [[ 0.9989039 -0.04560143 0.01055955 3.68143242] [ 0.04528662 0.99857179 0.02834604 -0.10242159] [-0.01183709 -0.02783676 0.99954239 0.07864356] [ 0. 0. 0. 1. ]] SLAMing on 15.747719420999998 meters Centerline goodness : 0.932860 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.10, Z:0.08 [[ 0.99882323 -0.0479731 0.00712288 3.70695125] [ 0.04779358 0.99857994 0.02353461 -0.09610171] [-0.0082418 -0.02316648 0.99969765 0.07690282] [ 0. 0. 0. 1. ]] SLAMing on 15.807719420999998 meters Centerline goodness : 0.935590 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.09, Z:0.08 [[ 0.99861258 -0.05143413 0.01128889 3.73548264] [ 0.05108842 0.99827212 0.02903007 -0.08620596] [-0.01276252 -0.02841306 0.99951479 0.07748043] [ 0. 0. 0. 1. ]] SLAMing on 15.867719420999999 meters Centerline goodness : 0.934118 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:0.07 [[ 0.99814917 -0.05899132 0.01477333 3.76506939] [ 0.05836712 0.9975088 0.0396166 -0.09138639] [-0.01707357 -0.038681 0.99910574 0.069932 ] [ 0. 0. 0. 1. ]] SLAMing on 15.927719420999997 meters Centerline goodness : 0.935071 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.12, Z:0.06 [[ 0.99676767 -0.07961799 0.01073245 3.78520683] [ 0.07641718 0.98084677 0.1791648 -0.12446309] [-0.02479163 -0.17776554 0.98376053 0.0638229 ] [ 0. 0. 0. 1. ]] SLAMing on 15.987719420999998 meters Centerline goodness : 0.931886 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.11, Z:0.07 [[ 0.99614825 -0.0875466 0.00492545 3.79239817] [ 0.08536792 0.98112121 0.17353239 -0.11052445] [-0.02002463 -0.17244351 0.98481585 0.06772734] [ 0. 0. 0. 1. ]] SLAMing on 16.047719420999996 meters Centerline goodness : 0.938921 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.10, Z:0.07 [[ 0.99662213 -0.08183309 0.00690477 3.79641212] [ 0.07976383 0.98456559 0.15578294 -0.09704712] [-0.0195464 -0.15470598 0.98776718 0.07302422] [ 0. 0. 0. 1. ]] SLAMing on 16.107719421 meters Centerline goodness : 0.942338 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.07, Z:0.08 [[ 0.99814465 -0.06070321 0.00473138 3.79657457] [ 0.05947941 0.98873003 0.13738682 -0.07202049] [-0.01301788 -0.13685049 0.99050617 0.07600495] [ 0. 0. 0. 1. ]] SLAMing on 16.167719420999997 meters Centerline goodness : 0.937002 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.05, Z:0.08 [[ 9.99182546e-01 -4.04248382e-02 -2.67152246e-04 3.81291033e+00] [ 4.01800950e-02 9.92362462e-01 1.16628919e-01 -4.69430775e-02] [-4.44959334e-03 -1.16544315e-01 9.93175525e-01 7.92069759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.227719421 meters Centerline goodness : 0.934004 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.03, Z:0.08 [[ 9.99316960e-01 -3.63921825e-02 -6.42048445e-03 3.83893126e+00] [ 3.68220786e-02 9.95278999e-01 8.97989364e-02 -3.32164746e-02] [ 3.12219405e-03 -8.99740157e-02 9.95939219e-01 8.31566012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.287719421 meters Centerline goodness : 0.941271 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:0.09 [[ 9.99346527e-01 -3.58737263e-02 -4.42662816e-03 3.85843011e+00] [ 3.61106513e-02 9.96259451e-01 7.85055807e-02 -2.00061783e-02] [ 1.59378242e-03 -7.86141278e-02 9.96903846e-01 9.10557656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.347719420999997 meters Centerline goodness : 0.942116 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.01, Z:0.10 [[ 9.99422880e-01 -3.38069049e-02 -3.31662089e-03 3.87675486e+00] [ 3.39456035e-02 9.97595641e-01 6.04204730e-02 -1.01856843e-02] [ 1.26601735e-03 -6.04981878e-02 9.98167504e-01 9.92030703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.407719421 meters Centerline goodness : 0.941187 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.01, Z:0.10 [[ 9.99439315e-01 -3.32416462e-02 -4.00614244e-03 3.89791706e+00] [ 3.33798342e-02 9.98574483e-01 4.16507842e-02 -6.77763632e-03] [ 2.61589098e-03 -4.17611556e-02 9.99124198e-01 1.03259455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.467719420999998 meters Centerline goodness : 0.944422 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.00, Z:0.10 [[ 9.99407039e-01 -3.43803057e-02 -1.88794811e-03 3.91279287e+00] [ 3.44195406e-02 9.99020526e-01 2.78079892e-02 -3.86790351e-03] [ 9.30051745e-04 -2.78564825e-02 9.99611500e-01 1.02807019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.527719420999997 meters Centerline goodness : 0.939217 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.00, Z:0.10 [[ 9.99144693e-01 -4.11961889e-02 -3.57152388e-03 3.91748515e+00] [ 4.12604868e-02 9.98941559e-01 2.03306321e-02 -3.38949933e-03] [ 2.73019907e-03 -2.04606060e-02 9.99786932e-01 1.02177857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.587719421 meters Centerline goodness : 0.934545 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:0.10 [[ 9.98942673e-01 -4.58756894e-02 -2.99295982e-03 3.93642936e+00] [ 4.59366793e-02 9.98626313e-01 2.52053390e-02 -4.85761557e-03] [ 1.83253612e-03 -2.53161753e-02 9.99677815e-01 9.74601224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.647719420999998 meters Centerline goodness : 0.939911 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:0.10 [[ 9.98608951e-01 -5.26932189e-02 1.89387380e-03 3.95065508e+00] [ 5.26250161e-02 9.98265298e-01 2.64007928e-02 -8.65263295e-03] [-3.28173125e-03 -2.62644029e-02 9.99649644e-01 9.56583110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.707719420999997 meters Centerline goodness : 0.939950 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:0.10 [[ 9.98405283e-01 -5.64448350e-02 9.33835577e-04 3.95349735e+00] [ 5.64091111e-02 9.98149242e-01 2.27178778e-02 -7.85713866e-03] [-2.21441414e-03 -2.26289724e-02 9.99741480e-01 9.51799446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.767719421 meters Centerline goodness : 0.936785 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.01, Z:0.09 [[ 9.98695669e-01 -5.10537375e-02 -6.91006333e-04 3.96064228e+00] [ 5.10540685e-02 9.98342664e-01 2.65595131e-02 -6.69537243e-03] [-6.66101309e-04 -2.65601494e-02 9.99646995e-01 9.04380151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.827719420999998 meters Centerline goodness : 0.938011 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.00, Z:0.09 [[ 9.99679597e-01 -2.53079639e-02 -4.58974923e-04 3.97775694e+00] [ 2.53120830e-02 9.99480369e-01 1.99572136e-02 -1.10247410e-03] [-4.63400165e-05 -1.99624369e-02 9.99800730e-01 9.40284379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.887719420999996 meters Centerline goodness : 0.947619 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.01, Z:0.10 [[ 9.99997433e-01 -1.23319367e-03 1.90110489e-03 3.99426135e+00] [ 1.19617265e-03 9.99811996e-01 1.93530873e-02 1.17109251e-02] [-1.92461358e-03 -1.93507635e-02 9.99810904e-01 1.04198560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.947719421 meters Centerline goodness : 0.946353 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.01, Z:0.10 [[ 9.99995217e-01 2.41200446e-03 -1.93589875e-03 4.00715554e+00] [-2.37915939e-03 9.99856157e-01 1.67929760e-02 1.22880785e-02] [ 1.97612502e-03 -1.67882899e-02 9.99857114e-01 1.01773286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.007719420999997 meters Centerline goodness : 0.945331 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.02, Z:0.10 [[ 9.99992194e-01 2.69200143e-03 -2.89222043e-03 4.00911379e+00] [-2.64281763e-03 9.99854083e-01 1.68768693e-02 2.14554573e-02] [ 2.93723096e-03 -1.68690939e-02 9.99853392e-01 1.01451590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.067719421 meters Centerline goodness : 0.943807 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.03, Z:0.10 [[ 0.99994638 0.0081502 -0.00638903 4.01917978] [-0.0080366 0.99981266 0.01760857 0.02573664] [ 0.00653135 -0.01755628 0.99982454 0.09951752] [ 0. 0. 0. 1. ]] SLAMing on 17.127719421 meters Centerline goodness : 0.951025 with order 1 Centerline is valid? [False, True] Translation: X:4.02, Y:0.03, Z:0.11 [[ 9.99946749e-01 9.54554654e-03 -3.92203916e-03 4.02170112e+00] [-9.50942409e-03 9.99913123e-01 9.12779030e-03 3.06330362e-02] [ 4.00882817e-03 -9.09000790e-03 9.99950649e-01 1.05248170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.187719420999997 meters Centerline goodness : 0.941091 with order 1 Centerline is valid? [True, False] Translation: X:4.05, Y:0.03, Z:0.10 [[ 0.99992373 0.00626174 -0.01064542 4.04652935] [-0.0061224 0.99989582 0.01307185 0.02861293] [ 0.01072616 -0.01300568 0.99985789 0.09842988] [ 0. 0. 0. 1. ]] SLAMing on 17.247719421 meters Centerline goodness : 0.941340 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.03, Z:0.10 [[ 9.99972007e-01 2.19685949e-03 -7.15249099e-03 4.06178727e+00] [-2.07980143e-03 9.99864452e-01 1.63325614e-02 2.78844712e-02] [ 7.18740183e-03 -1.63172284e-02 9.99841032e-01 9.68433751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.307719420999998 meters Centerline goodness : 0.950429 with order 1 Centerline is valid? [False, True] Translation: X:4.07, Y:0.02, Z:0.10 [[ 9.99985082e-01 -1.94406624e-03 5.10446084e-03 4.06515292e+00] [ 1.87481120e-03 9.99906607e-01 1.35374609e-02 2.45791741e-02] [-5.13030184e-03 -1.35276891e-02 9.99895335e-01 9.53087807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.367719420999997 meters Centerline goodness : 0.948783 with order 1 Centerline is valid? [True, False] Translation: X:4.07, Y:0.02, Z:0.09 [[ 0.99995048 -0.00903662 0.00416772 4.06772899] [ 0.00901006 0.99993927 0.00634657 0.0236692 ] [-0.00422482 -0.0063087 0.99997118 0.09494074] [ 0. 0. 0. 1. ]] SLAMing on 17.427719421 meters Centerline goodness : 0.940890 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.02, Z:0.09 [[ 0.99968308 -0.02473352 -0.0046902 4.09392944] [ 0.02479393 0.9996042 0.01329287 0.02193264] [ 0.00435956 -0.01340495 0.99990065 0.08910949] [ 0. 0. 0. 1. ]] SLAMing on 17.487719420999998 meters Centerline goodness : 0.935916 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.01, Z:0.09 [[ 0.99976928 -0.01908435 -0.00985774 4.11476099] [ 0.01919169 0.99975628 0.01091164 0.01300412] [ 0.0096471 -0.01109831 0.99989187 0.08550996] [ 0. 0. 0. 1. ]] SLAMing on 17.547719420999996 meters Centerline goodness : 0.947922 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:0.10 [[ 9.99973370e-01 -1.02705153e-03 -7.22523455e-03 4.12524803e+00] [ 1.10157257e-03 9.99946166e-01 1.03175881e-02 1.64501983e-02] [ 7.21424889e-03 -1.03252724e-02 9.99920669e-01 9.72012986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.607719421 meters Centerline goodness : 0.948123 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:0.10 [[ 0.99991872 0.01005646 -0.00783659 4.12796597] [-0.00989686 0.99974809 0.0201449 0.01347333] [ 0.0080372 -0.02006571 0.99976636 0.09659281] [ 0. 0. 0. 1. ]] SLAMing on 17.667719420999997 meters Centerline goodness : 0.938883 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.01, Z:0.09 [[ 0.9998619 0.01296206 -0.01040064 4.14843171] [-0.01277748 0.99976308 0.01762141 0.00768536] [ 0.01062659 -0.01748608 0.99979063 0.08555328] [ 0. 0. 0. 1. ]] SLAMing on 17.727719420999996 meters Centerline goodness : 0.933404 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.00, Z:0.08 [[ 9.99917949e-01 4.97721067e-03 -1.18035039e-02 4.16949431e+00] [-4.75743897e-03 9.99816156e-01 1.85747402e-02 1.15346364e-03] [ 1.18937842e-02 -1.85170617e-02 9.99757799e-01 8.04194550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.787719421 meters Centerline goodness : 0.939071 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.01, Z:0.08 [[ 9.99955654e-01 -8.95814921e-03 -2.90551917e-03 4.19132742e+00] [ 9.02706353e-03 9.99655569e-01 2.46425733e-02 -1.26285457e-02] [ 2.68376657e-03 -2.46677088e-02 9.99692103e-01 8.06539435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.847719420999997 meters Centerline goodness : 0.946471 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.02, Z:0.08 [[ 9.99757530e-01 -2.17746057e-02 3.27832932e-03 4.20045083e+00] [ 2.16939109e-02 9.99502084e-01 2.29119806e-02 -2.15334140e-02] [-3.77559633e-03 -2.28353054e-02 9.99732111e-01 8.20146457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.907719421 meters Centerline goodness : 0.946996 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:0.08 [[ 9.99549958e-01 -2.98446650e-02 3.02930761e-03 4.22217378e+00] [ 2.97721388e-02 9.99321557e-01 2.16805214e-02 -2.47207692e-02] [-3.67430030e-03 -2.15805753e-02 9.99760360e-01 7.59373069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters Centerline goodness : 0.947049 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:0.07 [[ 9.99584386e-01 -2.87391559e-02 2.26195449e-03 4.22588575e+00] [ 2.86825045e-02 9.99346241e-01 2.20091870e-02 -2.23305341e-02] [-2.89300117e-03 -2.19351611e-02 9.99755210e-01 7.32079137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.027719420999997 meters Centerline goodness : 0.943443 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:0.07 [[ 9.99644458e-01 -2.66563145e-02 -6.31657328e-04 4.23499109e+00] [ 2.66636814e-02 9.99429453e-01 2.07320394e-02 -2.45296082e-02] [ 7.86571759e-05 -2.07415106e-02 9.99784869e-01 7.17169848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.087719421 meters Centerline goodness : 0.950181 with order 1 Centerline is valid? [False, True] Translation: X:4.24, Y:-0.03, Z:0.07 [[ 9.99752627e-01 -2.22032603e-02 -1.30365374e-03 4.23505155e+00] [ 2.22290744e-02 9.99435175e-01 2.52031782e-02 -2.57371861e-02] [ 7.43324676e-04 -2.52259226e-02 9.99681499e-01 7.36341692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.147719420999998 meters Centerline goodness : 0.947101 with order 1 Centerline is valid? [True, False] Translation: X:4.24, Y:-0.02, Z:0.07 [[ 9.99860408e-01 -1.65343515e-02 -2.40396227e-03 4.23846705e+00] [ 1.65998540e-02 9.99399545e-01 3.04137311e-02 -2.37118549e-02] [ 1.89964748e-03 -3.04493910e-02 9.99534505e-01 7.19898965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719420999997 meters Centerline goodness : 0.946063 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:0.07 [[ 9.99986798e-01 -5.09836124e-03 -6.40735484e-04 4.25731732e+00] [ 5.10589439e-03 9.99910530e-01 1.23637422e-02 -2.52766495e-02] [ 5.77643333e-04 -1.23668505e-02 9.99923361e-01 7.40617710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters Centerline goodness : 0.950493 with order 1 Centerline is valid? [False, True] Translation: X:4.26, Y:-0.03, Z:0.07 [[ 9.99990062e-01 -4.38938227e-03 -7.80919896e-04 4.25754357e+00] [ 4.39900781e-03 9.99908610e-01 1.27836006e-02 -2.63903349e-02] [ 7.24736418e-04 -1.27869088e-02 9.99917981e-01 7.47620267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719420999998 meters Centerline goodness : 0.949217 with order 1 Centerline is valid? [True, False] Translation: X:4.26, Y:-0.03, Z:0.07 [[ 9.99992349e-01 -3.69911353e-03 -1.27211636e-03 4.25931861e+00] [ 3.71604709e-03 9.99900922e-01 1.35770838e-02 -2.65920068e-02] [ 1.22176715e-03 -1.35817072e-02 9.99907018e-01 7.38325187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719420999996 meters Centerline goodness : 0.941720 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:0.07 [[ 9.99981149e-01 -3.16094948e-03 -5.26406846e-03 4.27304530e+00] [ 3.23126441e-03 9.99904954e-01 1.34030272e-02 -3.51680664e-02] [ 5.22120184e-03 -1.34197842e-02 9.99896319e-01 6.72293996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.447719421 meters Centerline goodness : 0.946489 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.04, Z:0.07 [[ 9.99969567e-01 -7.72539276e-03 1.08779202e-03 4.28295820e+00] [ 7.70616124e-03 9.99830942e-01 1.66943688e-02 -4.09781917e-02] [-1.21657868e-03 -1.66854781e-02 9.99860048e-01 6.76442333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.507719420999997 meters Centerline goodness : 0.953443 with order 1 Centerline is valid? [False, True] Translation: X:4.29, Y:-0.05, Z:0.07 [[ 0.99983941 -0.01615769 0.00775083 4.29053584] [ 0.01601421 0.99970556 0.01822998 -0.0480116 ] [-0.0080431 -0.01810293 0.99980378 0.06915932] [ 0. 0. 0. 1. ]] SLAMing on 18.567719420999996 meters Centerline goodness : 0.952554 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.05, Z:0.07 [[ 9.99372629e-01 -3.44609724e-02 8.17249873e-03 4.35256763e+00] [ 3.44605673e-02 9.99406040e-01 1.90427886e-04 -5.42025271e-02] [-8.17420693e-03 9.13205251e-05 9.99966586e-01 7.35812858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.627719421 meters Centerline goodness : 0.942579 with order 1 Centerline is valid? [True, False] Translation: X:4.39, Y:-0.06, Z:0.06 [[ 9.98998418e-01 -4.46630650e-02 -2.71507687e-03 4.39406337e+00] [ 4.47109780e-02 9.98771560e-01 2.13611588e-02 -6.42016300e-02] [ 1.75768674e-03 -2.14611576e-02 9.99768138e-01 6.45004801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.687719420999997 meters Centerline goodness : 0.944504 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.07, Z:0.07 [[ 9.99339913e-01 -3.62652663e-02 -2.13748305e-03 4.42135325e+00] [ 3.63091923e-02 9.98989795e-01 2.64770074e-02 -6.97052352e-02] [ 1.17512803e-03 -2.65371405e-02 9.99647137e-01 6.52401338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.747719421 meters Centerline goodness : 0.947705 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:0.07 [[ 9.99813583e-01 -1.93030537e-02 -4.36890450e-04 4.44482625e+00] [ 1.93079675e-02 9.99516396e-01 2.43757200e-02 -7.25817971e-02] [-3.38466645e-05 -2.43796115e-02 9.99702773e-01 6.62724718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.807719420999998 meters Centerline goodness : 0.953755 with order 1 Centerline is valid? [False, True] Translation: X:4.46, Y:-0.07, Z:0.07 [[ 9.99972321e-01 -6.96235148e-03 2.62338567e-03 4.45822370e+00] [ 6.90373379e-03 9.99740096e-01 2.17273564e-02 -7.13638896e-02] [-2.77397733e-03 -2.17086438e-02 9.99760491e-01 6.90756218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.867719420999997 meters Centerline goodness : 0.951906 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.07, Z:0.07 [[ 9.99988884e-01 3.54101217e-03 3.11333787e-03 4.52043516e+00] [-3.54124827e-03 9.99993727e-01 7.03287198e-05 -6.66561301e-02] [-3.11306930e-03 -8.13530404e-05 9.99995151e-01 7.05477154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters Centerline goodness : 0.949470 with order 1 Centerline is valid? [True, False] Translation: X:4.52, Y:-0.07, Z:0.07 [[ 9.99961102e-01 8.32861984e-03 2.90335564e-03 4.52171072e+00] [-8.34209204e-03 9.99954349e-01 4.65940840e-03 -6.65177425e-02] [-2.86441665e-03 -4.68344722e-03 9.99984930e-01 6.99359963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719420999998 meters Centerline goodness : 0.944154 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:0.07 [[ 9.99998585e-01 1.78301011e-04 1.67306179e-03 4.54454825e+00] [-2.01259266e-04 9.99905689e-01 1.37321803e-02 -7.42230585e-02] [-1.67045554e-03 -1.37324976e-02 9.99904309e-01 6.95263710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.047719420999996 meters Centerline goodness : 0.942873 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:0.06 [[ 9.99884941e-01 -1.51458966e-02 -8.40724414e-04 4.58004041e+00] [ 1.51642358e-02 9.99440102e-01 2.98249734e-02 -8.53120627e-02] [ 3.88527732e-04 -2.98342907e-02 9.99554783e-01 6.30648455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.107719421 meters Centerline goodness : 0.944218 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.09, Z:0.06 [[ 9.99753145e-01 -2.21095295e-02 2.19494155e-03 4.61182645e+00] [ 2.20171186e-02 9.99119632e-01 3.57100413e-02 -9.28357668e-02] [-2.98254140e-03 -3.56528998e-02 9.99359783e-01 6.00230582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.167719420999997 meters Centerline goodness : 0.948174 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.10, Z:0.06 [[ 0.99974152 -0.02198098 0.00580789 4.63467902] [ 0.02177768 0.99921761 0.03301355 -0.09661572] [-0.00652901 -0.03287853 0.99943803 0.06199593] [ 0. 0. 0. 1. ]] SLAMing on 19.227719420999996 meters Centerline goodness : 0.948942 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.10, Z:0.06 [[ 0.99962835 -0.02541417 0.00986339 4.6608621 ] [ 0.02511183 0.99924478 0.0296524 -0.10151372] [-0.01060953 -0.0293937 0.9995116 0.0572778 ] [ 0. 0. 0. 1. ]] SLAMing on 19.287719421 meters Centerline goodness : 0.946016 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.11, Z:0.05 [[ 0.99951165 -0.02835708 0.01312806 4.69248501] [ 0.02775302 0.99864112 0.04410981 -0.10848615] [-0.01436104 -0.04372393 0.99894043 0.04990028] [ 0. 0. 0. 1. ]] SLAMing on 19.347719420999997 meters Centerline goodness : 0.950283 with order 1 Centerline is valid? [False, True] Translation: X:4.70, Y:-0.10, Z:0.05 [[ 0.99951638 -0.02491772 0.01860409 4.69855845] [ 0.02419692 0.99898425 0.03801297 -0.10025084] [-0.01953239 -0.03754442 0.99910405 0.05029677] [ 0. 0. 0. 1. ]] SLAMing on 19.407719420999996 meters Centerline goodness : 0.947270 with order 1 Centerline is valid? [True, False] Translation: X:4.72, Y:-0.10, Z:0.05 [[ 0.99988376 -0.00697739 0.01355661 4.7203078 ] [ 0.00670201 0.99977241 0.02025355 -0.09833274] [-0.01369484 -0.02016034 0.99970296 0.05161187] [ 0. 0. 0. 1. ]] SLAMing on 19.467719420999998 meters Centerline goodness : 0.955252 with order 1 Centerline is valid? [False, True] Translation: X:4.72, Y:-0.09, Z:0.06 [[ 0.99983302 0.00604842 0.01724359 4.72211462] [-0.0064451 0.99971371 0.02304275 -0.09016543] [-0.01709928 -0.02315004 0.99958576 0.0563873 ] [ 0. 0. 0. 1. ]] SLAMing on 19.527719420999997 meters Centerline goodness : 0.950574 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.09, Z:0.06 [[ 9.99773816e-01 1.18470276e-02 1.76625404e-02 4.78387040e+00] [-1.18545655e-02 9.99929680e-01 3.22134615e-04 -8.71605016e-02] [-1.76574820e-02 -5.31443496e-04 9.99843953e-01 5.73936381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters Centerline goodness : 0.941115 with order 1 Centerline is valid? [True, False] Translation: X:4.81, Y:-0.10, Z:0.05 [[ 0.99987365 0.01136943 0.01110912 4.81042932] [-0.01144791 0.99990978 0.00702655 -0.09529937] [-0.01102823 -0.00715284 0.9999136 0.04775913] [ 0. 0. 0. 1. ]] SLAMing on 19.647719420999998 meters Centerline goodness : 0.940975 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.10, Z:0.04 [[ 0.99983755 0.00913905 0.01553526 4.82203757] [-0.00939323 0.99982191 0.01636827 -0.10477677] [-0.0153829 -0.01651154 0.99974534 0.04368094] [ 0. 0. 0. 1. ]] SLAMing on 19.707719420999997 meters Centerline goodness : 0.949308 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.12, Z:0.04 [[ 0.99968151 0.0048493 0.02476604 4.84534764] [-0.00556356 0.99956818 0.02885314 -0.11838517] [-0.02461543 -0.02898174 0.99927681 0.04195919] [ 0. 0. 0. 1. ]] SLAMing on 19.767719421 meters Centerline goodness : 0.950554 with order 1 Centerline is valid? [False, True] Translation: X:4.84, Y:-0.13, Z:0.04 [[ 9.99676632e-01 4.18478874e-03 2.50822518e-02 4.84452874e+00] [-4.89987778e-03 9.99581314e-01 2.85164465e-02 -1.27629889e-01] [-2.49524149e-02 -2.86301251e-02 9.99278586e-01 4.37073190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.827719420999998 meters Centerline goodness : 0.948077 with order 1 Centerline is valid? [True, False] Translation: X:4.85, Y:-0.13, Z:0.04 [[ 0.99966651 0.00693614 0.02487501 4.85074737] [-0.00770262 0.99949432 0.03085096 -0.12817363] [-0.02464844 -0.03103227 0.99921442 0.03712393] [ 0. 0. 0. 1. ]] SLAMing on 19.887719420999996 meters Centerline goodness : 0.946173 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.13, Z:0.04 [[ 9.99692385e-01 2.10417854e-03 2.47125053e-02 4.85163683e+00] [-2.75498321e-03 9.99649494e-01 2.63305850e-02 -1.27884914e-01] [-2.46484391e-02 -2.63905678e-02 9.99347783e-01 3.66998793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.947719421 meters Centerline goodness : 0.948362 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.13, Z:0.03 [[ 0.9994185 -0.01889211 0.02838567 4.88856457] [ 0.01752221 0.99870525 0.04775771 -0.13361714] [-0.02925117 -0.04723256 0.99845553 0.03404908] [ 0. 0. 0. 1. ]] SLAMing on 20.007719420999997 meters Centerline goodness : 0.950923 with order 1 Centerline is valid? [False, True] Translation: X:4.92, Y:-0.13, Z:0.03 [[ 0.99889298 -0.03537706 0.03100458 4.92000083] [ 0.03370371 0.99802949 0.05292625 -0.13454762] [-0.03281586 -0.05182269 0.99811699 0.03209991] [ 0. 0. 0. 1. ]] SLAMing on 20.067719420999996 meters Centerline goodness : 0.951531 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.11, Z:0.04 [[ 9.98914435e-01 -3.35028447e-02 3.23652760e-02 4.98185612e+00] [ 3.34939272e-02 9.99438586e-01 8.17802804e-04 -1.09854242e-01] [-3.23745044e-02 2.67125172e-04 9.99475773e-01 3.50412859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.127719421 meters Centerline goodness : 0.951542 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.10, Z:0.04 [[ 9.99282592e-01 -1.96667040e-02 3.23654378e-02 5.04372908e+00] [ 1.96507379e-02 9.99806576e-01 8.11348525e-04 -1.00298101e-01] [-3.23751341e-02 -1.74761721e-04 9.99475773e-01 3.64918712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.187719420999997 meters Centerline goodness : 0.952153 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.10, Z:0.03 [[ 9.99458337e-01 -5.95872333e-03 3.23655048e-02 5.10615956e+00] [ 5.93565867e-03 9.99982057e-01 8.08665431e-04 -9.65543678e-02] [-3.23697427e-02 -6.16116818e-04 9.99475773e-01 3.48183290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.247719420999996 meters Centerline goodness : 0.952639 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.09, Z:0.03 [[ 9.99403460e-01 1.20496761e-02 3.23655730e-02 5.16819605e+00] [-1.20820844e-02 9.99926684e-01 8.05926329e-04 -8.83563107e-02] [-3.23534890e-02 -1.19648915e-03 9.99475773e-01 2.87169845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters Centerline goodness : 0.948237 with order 1 Centerline is valid? [True, False] Translation: X:5.17, Y:-0.09, Z:0.02 [[ 9.99383459e-01 1.48054676e-02 3.18355201e-02 5.17239143e+00] [-1.49217402e-02 9.99882823e-01 3.41780566e-03 -9.13862723e-02] [-3.17811875e-02 -3.89073980e-03 9.99487278e-01 2.47130617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719420999997 meters Centerline goodness : 0.952260 with order 1 Centerline is valid? [False, True] Translation: X:5.17, Y:-0.09, Z:0.03 [[ 9.99382946e-01 1.51046811e-02 3.17108087e-02 5.17209176e+00] [-1.52374096e-02 9.99876109e-01 3.94810473e-03 -9.04429118e-02] [-3.16472452e-02 -4.42885912e-03 9.99489288e-01 2.60075758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.427719421 meters Centerline goodness : 0.947861 with order 1 Centerline is valid? [True, False] Translation: X:5.19, Y:-0.10, Z:0.02 [[ 0.9994779 0.01203734 0.02998379 5.19300477] [-0.0122337 0.99990485 0.00637408 -0.1009014 ] [-0.02990421 -0.00673757 0.99953006 0.02103938] [ 0. 0. 0. 1. ]] SLAMing on 20.487719420999998 meters Centerline goodness : 0.953156 with order 1 Centerline is valid? [False, True] Translation: X:5.22, Y:-0.11, Z:0.02 [[ 9.99473888e-01 3.49335325e-03 3.22450707e-02 5.21619987e+00] [-4.02982746e-03 9.99854298e-01 1.65874363e-02 -1.10000411e-01] [-3.21824268e-02 -1.67086515e-02 9.99342340e-01 2.02264939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719420999996 meters Centerline goodness : 0.953637 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.12, Z:0.02 [[ 9.99335107e-01 -1.60696174e-02 3.27278322e-02 5.27736294e+00] [ 1.60452970e-02 9.99870760e-01 1.00562448e-03 -1.18994482e-01] [-3.27397624e-02 -4.79828063e-04 9.99463795e-01 1.91510602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.607719421 meters Centerline goodness : 0.955294 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.13, Z:0.02 [[ 9.98899675e-01 -3.35903450e-02 3.27280983e-02 5.33977639e+00] [ 3.35757073e-02 9.99435680e-01 9.96887020e-04 -1.32517892e-01] [-3.27431150e-02 1.03078930e-04 9.99463795e-01 2.35554443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.667719420999997 meters Centerline goodness : 0.957134 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.13, Z:0.02 [[ 9.98564907e-01 -4.23907871e-02 3.27283812e-02 5.40240200e+00] [ 4.23811802e-02 9.99101026e-01 9.87510395e-04 -1.34067006e-01] [-3.27408206e-02 4.00974198e-04 9.99463795e-01 2.10484247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719420999996 meters Centerline goodness : 0.958916 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.13, Z:0.02 [[ 9.98425564e-01 -4.55547887e-02 3.27284878e-02 5.46487884e+00] [ 4.55469968e-02 9.98961712e-01 9.83967593e-04 -1.29688393e-01] [-3.27393306e-02 5.08265929e-04 9.99463795e-01 2.21896810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters Centerline goodness : 0.958701 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.13, Z:0.02 [[ 9.98228540e-01 -4.96852239e-02 3.27285725e-02 5.52637374e+00] [ 4.96797430e-02 9.98764717e-01 9.81139372e-04 -1.29349380e-01] [-3.27368916e-02 6.46545749e-04 9.99463795e-01 1.98378333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719420999997 meters Centerline goodness : 0.954565 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.12, Z:0.01 [[ 9.98081043e-01 -5.25648854e-02 3.27286350e-02 5.58840991e+00] [ 5.25610197e-02 9.98617234e-01 9.79051691e-04 -1.20195917e-01] [-3.27348427e-02 7.43077496e-04 9.99463795e-01 1.23702159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719420999996 meters Centerline goodness : 0.947104 with order 1 Centerline is valid? [True, False] Translation: X:5.59, Y:-0.11, Z:0.01 [[ 9.98197412e-01 -5.08351133e-02 3.19016855e-02 5.59183920e+00] [ 5.08814294e-02 9.98704495e-01 -6.41188368e-04 -1.12090310e-01] [-3.18277619e-02 2.26323593e-03 9.99490806e-01 8.13622149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters Centerline goodness : 0.950982 with order 1 Centerline is valid? [False, True] Translation: X:5.59, Y:-0.11, Z:0.01 [[ 9.98242814e-01 -4.99699741e-02 3.18478580e-02 5.58939791e+00] [ 4.99894118e-02 9.98749730e-01 1.86105448e-04 -1.05906897e-01] [-3.18173393e-02 1.40627726e-03 9.99492711e-01 1.13448770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719420999997 meters Centerline goodness : 0.950615 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.10, Z:0.01 [[ 9.97639284e-01 -6.08493712e-02 3.18310069e-02 5.65146250e+00] [ 6.08537695e-02 9.98146346e-01 8.31468128e-04 -1.00500385e-01] [-3.18225975e-02 1.10753149e-03 9.99492919e-01 7.51780494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.087719420999996 meters Centerline goodness : 0.946826 with order 1 Centerline is valid? [True, False] Translation: X:5.66, Y:-0.09, Z:0.01 [[ 9.96997866e-01 -7.24933759e-02 2.72023255e-02 5.66085856e+00] [ 7.26412296e-02 9.97348048e-01 -4.48578846e-03 -8.92113695e-02] [-2.68049963e-02 6.44833189e-03 9.99619883e-01 8.81463746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.147719420999998 meters Centerline goodness : 0.954645 with order 1 Centerline is valid? [False, True] Translation: X:5.66, Y:-0.08, Z:0.01 [[ 9.97189940e-01 -6.98478608e-02 2.70832165e-02 5.65807526e+00] [ 6.99203301e-02 9.97551067e-01 -1.73693038e-03 -8.41459874e-02] [-2.68955707e-02 3.62571694e-03 9.99631673e-01 1.26578659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.207719420999997 meters Centerline goodness : 0.948822 with order 1 Centerline is valid? [True, False] Translation: X:5.65, Y:-0.07, Z:0.01 [[ 9.98070670e-01 -5.92678055e-02 1.85003788e-02 5.65152062e+00] [ 5.93033840e-02 9.98239052e-01 -1.37998745e-03 -6.51118638e-02] [-1.83860117e-02 2.47446007e-03 9.99827901e-01 1.37508402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.267719421 meters Centerline goodness : 0.949927 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.05, Z:0.02 [[ 0.99873165 -0.04894821 0.01179708 5.64629409] [ 0.04906406 0.99874815 -0.00973929 -0.04712682] [-0.01130559 0.01030575 0.99988298 0.01845663] [ 0. 0. 0. 1. ]] SLAMing on 21.327719420999998 meters Centerline goodness : 0.946575 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.03, Z:0.02 [[ 9.99006559e-01 -4.33200942e-02 1.04529722e-02 5.64920979e+00] [ 4.33548453e-02 9.99054862e-01 -3.12103974e-03 -2.93221283e-02] [-1.03078889e-02 3.57112616e-03 9.99940495e-01 1.68378559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.387719420999996 meters Centerline goodness : 0.945980 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.02, Z:0.01 [[ 9.99246628e-01 -3.75983209e-02 9.61989904e-03 5.65379972e+00] [ 3.75987925e-02 9.99292907e-01 1.31890556e-04 -1.83853691e-02] [-9.61805574e-03 2.29905395e-04 9.99953719e-01 1.22736527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.447719421 meters Centerline goodness : 0.948302 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.00, Z:0.01 [[ 9.99589956e-01 -2.67503708e-02 1.02145987e-02 5.65306244e+00] [ 2.67013464e-02 9.99631416e-01 4.90606053e-03 -3.00104878e-03] [-1.03420727e-02 -4.63130529e-03 9.99935794e-01 1.47434420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719420999997 meters Centerline goodness : 0.953303 with order 1 Centerline is valid? [False, True] Translation: X:5.65, Y:0.02, Z:0.02 [[ 0.99981841 -0.01459785 0.01224988 5.64888103] [ 0.01446823 0.9998391 0.01060381 0.01659777] [-0.0124027 -0.01042465 0.99986874 0.02053572] [ 0. 0. 0. 1. ]] SLAMing on 21.567719420999996 meters Centerline goodness : 0.956215 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:0.03, Z:0.03 [[ 9.99851022e-01 -1.21213931e-02 1.22884513e-02 5.71073863e+00] [ 1.21217666e-02 9.99926528e-01 4.40895550e-05 2.90135979e-02] [-1.22880828e-02 1.04874751e-04 9.99924493e-01 2.61943406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.627719421 meters Centerline goodness : 0.956525 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:0.04, Z:0.02 [[ 9.99887299e-01 -8.62455887e-03 1.22884540e-02 5.77290723e+00] [ 8.62467781e-03 9.99962806e-01 4.33161106e-05 4.20779253e-02] [-1.22883705e-02 6.26727275e-05 9.99924493e-01 2.36773550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.687719420999997 meters Centerline goodness : 0.956189 with order 1 Centerline is valid? [True, True] Translation: X:5.84, Y:0.05, Z:0.02 [[ 9.99899799e-01 7.02747666e-03 1.22884576e-02 5.83559332e+00] [-7.02852673e-03 9.99975299e-01 4.22668163e-05 5.34522188e-02] [-1.22878570e-02 -1.28632334e-04 9.99924493e-01 2.45346855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.747719420999996 meters Centerline goodness : 0.953850 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:0.06, Z:0.02 [[ 9.99687805e-01 2.17551404e-02 1.22884625e-02 5.89566338e+00] [-2.17572841e-02 9.99763281e-01 4.07729697e-05 5.94007960e-02] [-1.22846666e-02 -3.08123812e-04 9.99924493e-01 1.51858329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.807719420999998 meters Centerline goodness : 0.958908 with order 1 Centerline is valid? [True, True] Translation: X:5.95, Y:0.06, Z:0.02 [[ 9.99576061e-01 2.63949278e-02 1.22884634e-02 5.95494721e+00] [-2.63974186e-02 9.99651527e-01 4.05124021e-05 6.10500457e-02] [-1.22831119e-02 -3.64878940e-04 9.99924493e-01 2.06826341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.867719420999997 meters Centerline goodness : 0.957672 with order 1 Centerline is valid? [True, True] Translation: X:6.01, Y:0.06, Z:0.02 [[ 9.99624603e-01 2.44877003e-02 1.22884608e-02 6.01337751e+00] [-2.44900567e-02 9.99700073e-01 4.12906173e-05 6.18022487e-02] [-1.22837640e-02 -3.42220218e-04 9.99924493e-01 2.15031771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.927719420999995 meters Centerline goodness : 0.954465 with order 1 Centerline is valid? [True, True] Translation: X:6.07, Y:0.06, Z:0.01 [[ 9.99772730e-01 1.74207553e-02 1.22884572e-02 6.07360884e+00] [-1.74225910e-02 9.99848214e-01 4.23418718e-05 5.50287557e-02] [-1.22858543e-02 -2.56429012e-04 9.99924493e-01 1.47074764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.987719420999998 meters Centerline goodness : 0.958935 with order 1 Centerline is valid? [True, True] Translation: X:6.13, Y:0.05, Z:0.02 [[ 9.99838129e-01 1.31418835e-02 1.22884563e-02 6.13341684e+00] [-1.31433994e-02 9.99913621e-01 4.26064497e-05 5.15675043e-02] [-1.22868349e-02 -2.04111641e-04 9.99924493e-01 1.55643805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719420999996 meters Centerline goodness : 0.958044 with order 1 Centerline is valid? [True, True] Translation: X:6.19, Y:0.05, Z:0.02 [[ 9.99912032e-01 4.99222720e-03 1.22884553e-02 6.19390254e+00] [-4.99313095e-03 9.99987533e-01 4.28657266e-05 4.82095466e-02] [-1.22880882e-02 -1.04219823e-04 9.99924493e-01 1.64189156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.107719421 meters Centerline goodness : 0.955333 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:0.05, Z:0.01 [[ 9.99924183e-01 -7.88366764e-04 1.22884553e-02 6.25664586e+00] [ 7.87899501e-04 9.99999689e-01 4.28657266e-05 4.77424287e-02] [-1.22884853e-02 -3.31804088e-05 9.99924493e-01 1.28154303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.167719420999997 meters Centerline goodness : 0.958151 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:0.05, Z:0.02 [[ 9.99920959e-01 -2.65885598e-03 1.22884595e-02 6.31892255e+00] [ 2.65854508e-03 9.99996465e-01 4.16359138e-05 4.56193028e-02] [-1.22885268e-02 -8.96319927e-06 9.99924493e-01 1.54571968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719420999996 meters Centerline goodness : 0.953797 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:0.05, Z:0.01 [[ 9.99886869e-01 8.67425803e-03 1.22884707e-02 6.38066733e+00] [-8.67538024e-03 9.99962367e-01 3.80188854e-05 4.60729062e-02] [-1.22876785e-02 -1.44621740e-04 9.99924493e-01 1.13112363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.287719421 meters Centerline goodness : 0.955161 with order 1 Centerline is valid? [True, True] Translation: X:6.44, Y:0.04, Z:0.01 [[ 9.99645275e-01 2.36287240e-02 1.22884731e-02 6.44191253e+00] [-2.36309655e-02 9.99720749e-01 3.72183276e-05 4.45589749e-02] [-1.22841621e-02 -3.27593610e-04 9.99924493e-01 1.24876334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.347719420999997 meters Centerline goodness : 0.955962 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:0.04, Z:0.01 [[ 9.99374977e-01 3.31458597e-02 1.22884747e-02 6.49974352e+00] [-3.31488133e-02 9.99450426e-01 3.66918255e-05 3.78497024e-02] [-1.22805051e-02 -4.44017245e-04 9.99924493e-01 9.72516644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.407719420999996 meters Centerline goodness : 0.958529 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:0.03, Z:0.01 [[ 9.99360048e-01 3.35929696e-02 1.22884707e-02 6.55875898e+00] [-3.35959728e-02 9.99435495e-01 3.79889034e-05 3.11397953e-02] [-1.22802576e-02 -4.50807720e-04 9.99924493e-01 1.27483524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.467719420999998 meters Centerline goodness : 0.960157 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:0.02, Z:0.01 [[ 9.99437189e-01 3.12137759e-02 1.22884673e-02 6.61629122e+00] [-3.12166126e-02 9.99512642e-01 3.90592658e-05 2.28345115e-02] [-1.22812592e-02 -4.22641606e-04 9.99924493e-01 1.22622434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.527719420999997 meters Centerline goodness : 0.957830 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:0.01, Z:0.01 [[ 9.99641865e-01 2.37725768e-02 1.22884630e-02 6.67499652e+00] [-2.37748680e-02 9.99717337e-01 4.03741186e-05 5.55393459e-03] [-1.22840297e-02 -3.32516244e-04 9.99924493e-01 6.94970003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.587719420999996 meters Centerline goodness : 0.954923 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:0.00, Z:0.01 [[ 9.99757499e-01 1.82739486e-02 1.22884605e-02 6.73518192e+00] [-1.82758337e-02 9.99832982e-01 4.11226192e-05 3.61013662e-03] [-1.22856566e-02 -2.65694507e-04 9.99924493e-01 5.37578508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.647719420999998 meters Centerline goodness : 0.956749 with order 1 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.01, Z:0.01 [[ 9.99854773e-01 1.18079435e-02 1.22884596e-02 6.79547680e+00] [-1.18093435e-02 9.99930266e-01 4.13667206e-05 -7.71866689e-03] [-1.22871143e-02 -1.86479354e-04 9.99924493e-01 8.70499944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.707719420999997 meters Centerline goodness : 0.956086 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.02, Z:0.01 [[ 9.99911131e-01 5.16957687e-03 1.22884596e-02 6.85728071e+00] [-5.17047559e-03 9.99986632e-01 4.13667206e-05 -1.62604634e-02] [-1.22880815e-02 -1.04900225e-04 9.99924493e-01 8.78180314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.767719420999995 meters Centerline goodness : 0.949700 with order 1 Centerline is valid? [True, False] Translation: X:6.88, Y:-0.02, Z:0.00 [[ 9.99948969e-01 -2.16376785e-03 9.86797864e-03 6.88295182e+00] [ 1.99634652e-03 9.99854438e-01 1.69445286e-02 -2.09061581e-02] [-9.90320626e-03 -1.69239641e-02 9.99807734e-01 9.42002060e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.827719420999998 meters Centerline goodness : 0.943357 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.03, Z:-0.00 [[ 9.99954133e-01 -7.31767455e-03 6.17925387e-03 6.90533513e+00] [ 7.21098460e-03 9.99827523e-01 1.71151017e-02 -2.50424758e-02] [-6.30343083e-03 -1.70697582e-02 9.99834431e-01 -4.21472542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.887719420999996 meters Centerline goodness : 0.943833 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.03, Z:-0.01 [[ 9.99933960e-01 -6.83359483e-03 9.24004339e-03 6.92070466e+00] [ 6.59801729e-03 9.99658388e-01 2.52897984e-02 -2.75220607e-02] [-9.40970711e-03 -2.52271622e-02 9.99637458e-01 -6.71587682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.947719421 meters Centerline goodness : 0.950056 with order 1 Centerline is valid? [False, True] Translation: X:6.92, Y:-0.03, Z:-0.01 [[ 9.99811197e-01 -4.33233391e-03 1.89420384e-02 6.92437372e+00] [ 3.94183775e-03 9.99779939e-01 2.06042773e-02 -2.50133439e-02] [-1.90271346e-02 -2.05257207e-02 9.99608255e-01 -7.38697608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.007719420999997 meters Centerline goodness : 0.951316 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.02, Z:-0.01 [[ 9.99812980e-01 -3.13559389e-03 1.90833004e-02 6.98570103e+00] [ 3.13372335e-03 9.99995082e-01 1.27922442e-04 -2.20166196e-02] [-1.90836076e-02 -6.80967344e-05 9.99817889e-01 -7.20764701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.067719420999996 meters Centerline goodness : 0.949769 with order 1 Centerline is valid? [True, False] Translation: X:7.01, Y:-0.03, Z:-0.01 [[ 9.99818992e-01 -7.07916812e-03 1.76597802e-02 7.00953756e+00] [ 6.79263887e-03 9.99845171e-01 1.62325185e-02 -2.62436877e-02] [-1.77719587e-02 -1.61096238e-02 9.99712277e-01 -1.21105084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.127719421 meters Centerline goodness : 0.952821 with order 1 Centerline is valid? [False, True] Translation: X:7.03, Y:-0.03, Z:-0.01 [[ 0.99975658 -0.01401965 0.0170361 7.03055909] [ 0.01355906 0.99954731 0.02685752 -0.0322893 ] [-0.01740492 -0.02661999 0.99949409 -0.00995359] [ 0. 0. 0. 1. ]] SLAMing on 23.187719420999997 meters Centerline goodness : 0.959298 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.03, Z:0.00 [[ 9.99733157e-01 -1.52666343e-02 1.73362401e-02 7.09144743e+00] [ 1.52656154e-02 9.99883455e-01 1.91114610e-04 -2.94058782e-02] [-1.73371373e-02 7.35847622e-05 9.99849698e-01 3.30440600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719420999996 meters Centerline goodness : 0.958111 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.03, Z:0.00 [[ 9.99667883e-01 -1.90677286e-02 1.73362441e-02 7.15265000e+00] [ 1.90672875e-02 9.99818185e-01 1.90750234e-04 -2.91139335e-02] [-1.73367293e-02 1.39868268e-04 9.99849698e-01 1.22501604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters Centerline goodness : 0.955909 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.02, Z:-0.00 [[ 9.99534151e-01 -2.51184228e-02 1.73362559e-02 7.21525961e+00] [ 2.51189101e-02 9.99684452e-01 1.89676069e-04 -2.46626726e-02] [-1.73355498e-02 2.45880143e-04 9.99849698e-01 -1.26750478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719420999997 meters Centerline goodness : 0.959356 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.02, Z:-0.00 [[ 9.99490189e-01 -2.68107531e-02 1.73362754e-02 7.27749307e+00] [ 2.68115261e-02 9.99640489e-01 1.87875725e-04 -1.96947818e-02] [-1.73350799e-02 2.77032056e-04 9.99849698e-01 -1.64550594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.427719420999995 meters Centerline goodness : 0.958480 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.01, Z:-0.01 [[ 9.99415946e-01 -2.94485987e-02 1.73362910e-02 7.33882333e+00] [ 2.94497936e-02 9.99566243e-01 1.86422282e-04 -1.09837410e-02] [-1.73342612e-02 3.24236792e-04 9.99849698e-01 -6.03293027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.487719420999998 meters Centerline goodness : 0.959478 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.00, Z:-0.00 [[ 9.99434063e-01 -2.88271737e-02 1.73363208e-02 7.40057032e+00] [ 2.88283240e-02 9.99584361e-01 1.83606021e-04 -7.57595852e-04] [-1.73344080e-02 3.16274962e-04 9.99849698e-01 -3.67322963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719420999996 meters Centerline goodness : 0.958088 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:0.01, Z:-0.01 [[ 9.99818571e-01 -7.89159509e-03 1.73363363e-02 7.46246575e+00] [ 7.88962314e-03 9.99968860e-01 1.82138476e-04 1.18642708e-02] [-1.73372338e-02 -4.53282712e-05 9.99849698e-01 -6.67534232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719420999995 meters Centerline goodness : 0.955806 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:0.02, Z:-0.01 [[ 9.99834685e-01 5.48207736e-03 1.73363518e-02 7.52342284e+00] [-5.48603351e-03 9.99984935e-01 1.80650012e-04 1.65491952e-02] [-1.73351003e-02 -2.75727955e-04 9.99849698e-01 -1.26942881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719420999997 meters Centerline goodness : 0.958942 with order 1 Centerline is valid? [True, True] Translation: X:7.59, Y:0.03, Z:-0.01 [[ 9.99787316e-01 1.11701948e-02 1.73363821e-02 7.58516628e+00] [-1.11749544e-02 9.99937542e-01 1.77687347e-04 2.67173371e-02] [-1.73333145e-02 -3.71382835e-04 9.99849698e-01 -7.37859225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719420999996 meters Centerline goodness : 0.952298 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:0.03, Z:-0.01 [[ 9.99776057e-01 1.21361067e-02 1.73363937e-02 7.64755969e+00] [-1.21409918e-02 9.99926280e-01 1.76554911e-04 2.52800013e-02] [-1.73329729e-02 -3.86996385e-04 9.99849698e-01 -1.30724941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters Centerline goodness : 0.951697 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:0.02, Z:-0.01 [[ 9.99849128e-01 -1.08149889e-03 1.73364451e-02 7.71050695e+00] [ 1.07869034e-03 9.99999404e-01 1.71352784e-04 2.33157508e-02] [-1.73366201e-02 -1.52626276e-04 9.99849698e-01 -1.45709767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719420999997 meters Centerline goodness : 0.958449 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:0.02, Z:-0.01 [[ 9.99724686e-01 -1.58113113e-02 1.73365034e-02 7.77046998e+00] [ 1.58108230e-02 9.99874987e-01 1.65237709e-04 2.19237921e-02] [-1.73369487e-02 1.08912170e-04 9.99849698e-01 -5.74850035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.907719420999996 meters Centerline goodness : 0.958033 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:0.01, Z:-0.01 [[ 9.99400852e-01 -2.99563556e-02 1.73365094e-02 7.83341146e+00] [ 2.99580053e-02 9.99551145e-01 1.64600665e-04 1.24095063e-02] [-1.73336587e-02 3.54865196e-04 9.99849698e-01 -8.78784187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.967719420999998 meters Centerline goodness : 0.953755 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:0.01, Z:-0.02 [[ 9.99393500e-01 -3.02005771e-02 1.73365631e-02 7.89395632e+00] [ 3.02023650e-02 9.99543792e-01 1.58738618e-04 1.27983634e-02] [-1.73334480e-02 3.64962864e-04 9.99849698e-01 -1.50344833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719420999997 meters Centerline goodness : 0.951128 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:0.01, Z:-0.01 [[ 9.99509009e-01 -2.60995008e-02 1.73365697e-02 7.95642676e+00] [ 2.61006846e-02 9.99659307e-01 1.58018701e-04 1.34455388e-02] [-1.73347874e-02 2.94555221e-04 9.99849698e-01 -1.41438076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.087719420999996 meters Centerline goodness : 0.955434 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:0.01, Z:-0.01 [[ 9.99826100e-01 -6.87111848e-03 1.73365831e-02 8.01823618e+00] [ 6.86943725e-03 9.99976393e-01 1.56525518e-04 1.26660383e-02] [-1.73372494e-02 -3.74057278e-05 9.99849698e-01 -9.99718950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters Centerline goodness : 0.960819 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:0.01, Z:-0.01 [[ 9.99812986e-01 8.56939888e-03 1.73365933e-02 8.07990138e+00] [-8.57338121e-03 9.99963236e-01 1.55396096e-04 1.43207179e-02] [-1.73346242e-02 -3.04000258e-04 9.99849698e-01 -6.83332049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.207719420999997 meters Centerline goodness : 0.948968 with order 1 Centerline is valid? [True, False] Translation: X:8.10, Y:0.01, Z:-0.02 [[ 9.99856465e-01 1.56902191e-02 6.39274501e-03 8.09628454e+00] [-1.57244908e-02 9.99862068e-01 5.34649517e-03 1.41061440e-02] [-6.30797556e-03 -5.44625042e-03 9.99965273e-01 -1.54712345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.267719420999995 meters Centerline goodness : 0.943281 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-0.02 [[ 9.99866599e-01 1.62519661e-02 1.63004968e-03 8.11473389e+00] [-1.62663351e-02 9.99825114e-01 9.22750547e-03 1.40712892e-02] [-1.47979950e-03 -9.25278945e-03 9.99956097e-01 -1.82093412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719420999998 meters Centerline goodness : 0.944522 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:0.01, Z:-0.02 [[ 9.99895250e-01 1.19174074e-02 8.21361614e-03 8.12387098e+00] [-1.20292004e-02 9.99833812e-01 1.36984020e-02 7.46797400e-03] [-8.04900170e-03 -1.37957703e-02 9.99872437e-01 -1.87644639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.387719420999996 meters Centerline goodness : 0.958293 with order 1 Centerline is valid? [False, True] Translation: X:8.13, Y:0.00, Z:-0.02 [[ 9.99779653e-01 2.32289473e-03 2.08626488e-02 8.13424408e+00] [-2.86209398e-03 9.99661668e-01 2.58526381e-02 1.25771573e-03] [-2.07955373e-02 -2.59066524e-02 9.99448043e-01 -1.64822131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719420999995 meters Centerline goodness : 0.953920 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:0.00, Z:-0.02 [[ 9.99688915e-01 -1.28274875e-02 2.13899237e-02 8.19673429e+00] [ 1.28210526e-02 9.99917711e-01 4.37953944e-04 4.62153145e-03] [-2.13937814e-02 -1.63576367e-04 9.99771113e-01 -1.72405651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.507719420999997 meters Centerline goodness : 0.943582 with order 1 Centerline is valid? [True, False] Translation: X:8.23, Y:-0.01, Z:-0.03 [[ 9.99321727e-01 -3.14706581e-02 1.91228347e-02 8.23275536e+00] [ 3.11028301e-02 9.99331046e-01 1.92373049e-02 -7.50626351e-03] [-1.97154530e-02 -1.86294825e-02 9.99632054e-01 -2.94593446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.567719420999996 meters Centerline goodness : 0.940437 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.01, Z:-0.03 [[ 0.99919875 -0.03669136 0.01598749 8.26353468] [ 0.03618907 0.99887486 0.03064911 -0.00948656] [-0.01709405 -0.03004598 0.99940234 -0.0347883 ] [ 0. 0. 0. 1. ]] SLAMing on 24.627719421 meters Centerline goodness : 0.940059 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.01, Z:-0.03 [[ 0.99961899 -0.02340945 0.01462462 8.28296337] [ 0.02302598 0.99940034 0.0258606 -0.0086428 ] [-0.01522124 -0.02551401 0.99955858 -0.03129563] [ 0. 0. 0. 1. ]] SLAMing on 24.687719420999997 meters Centerline goodness : 0.947352 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.00, Z:-0.03 [[ 9.99809263e-01 -8.26594702e-03 1.76949711e-02 8.29910588e+00] [ 7.88283134e-03 9.99735347e-01 2.16124465e-02 -3.15647485e-03] [-1.78689354e-02 -2.14688378e-02 9.99609819e-01 -2.66887546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.747719420999996 meters Centerline goodness : 0.949490 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:0.00, Z:-0.03 [[ 9.99861605e-01 1.73186645e-03 1.65460689e-02 8.30148336e+00] [-2.20523348e-03 9.99587537e-01 2.86337599e-02 3.06483392e-04] [-1.64896544e-02 -2.86662851e-02 9.99453018e-01 -2.59573645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.807719420999998 meters Centerline goodness : 0.950205 with order 1 Centerline is valid? [False, True] Translation: X:8.30, Y:-0.00, Z:-0.03 [[ 9.99861535e-01 2.42119717e-03 1.64635534e-02 8.30220153e+00] [-2.89818281e-03 9.99574909e-01 2.90103580e-02 -3.51359760e-04] [-1.63863151e-02 -2.90540554e-02 9.99443520e-01 -2.63054517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.867719420999997 meters Centerline goodness : 0.954403 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.02 [[ 9.99842387e-01 4.18896065e-03 1.72526618e-02 8.36451966e+00] [-4.19774211e-03 9.99991078e-01 4.72808901e-04 1.10086272e-02] [-1.72505273e-02 -5.45156605e-04 9.99851050e-01 -1.61282812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.927719420999995 meters Centerline goodness : 0.948531 with order 1 Centerline is valid? [True, False] Translation: X:8.37, Y:0.01, Z:-0.02 [[ 9.99857128e-01 2.40071953e-03 1.67320309e-02 8.36812492e+00] [-2.39295885e-03 9.99997020e-01 -4.83827410e-04 5.37392608e-03] [-1.67331426e-02 4.43719223e-04 9.99859893e-01 -1.92401696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719420999998 meters Centerline goodness : 0.946217 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.00, Z:-0.03 [[ 9.99837828e-01 -9.62543779e-03 1.52206426e-02 8.39115669e+00] [ 9.44960599e-03 9.99888272e-01 1.15822197e-02 -3.80194864e-03] [-1.53304260e-02 -1.14365123e-02 9.99817075e-01 -2.60453433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719420999996 meters Centerline goodness : 0.946344 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.01, Z:-0.03 [[ 0.99976317 -0.01761408 0.01278066 8.41559214] [ 0.01731405 0.99958049 0.02321787 -0.0142586 ] [-0.01318426 -0.02299108 0.99964873 -0.02849193] [ 0. 0. 0. 1. ]] SLAMing on 25.107719420999995 meters Centerline goodness : 0.946291 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.02, Z:-0.03 [[ 0.9996484 -0.0209197 0.01629264 8.4344866 ] [ 0.02047032 0.99941832 0.02727619 -0.0249494 ] [-0.01685377 -0.02693308 0.99949515 -0.03442565] [ 0. 0. 0. 1. ]] SLAMing on 25.167719420999997 meters Centerline goodness : 0.953802 with order 1 Centerline is valid? [False, True] Translation: X:8.47, Y:-0.03, Z:-0.03 [[ 0.99951713 -0.02261185 0.02131238 8.46527129] [ 0.02186596 0.99916187 0.03460414 -0.03254356] [-0.02207698 -0.03412142 0.99917383 -0.03375018] [ 0. 0. 0. 1. ]] SLAMing on 25.227719420999996 meters Centerline goodness : 0.951746 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.02, Z:-0.04 [[ 9.99145820e-01 -3.47267174e-02 2.23983429e-02 8.52675419e+00] [ 3.47195458e-02 9.99396843e-01 7.09100204e-04 -2.48683023e-02] [-2.24094579e-02 6.91657867e-05 9.99748874e-01 -3.53148123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.287719420999995 meters Centerline goodness : 0.953513 with order 1 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.03, Z:-0.04 [[ 9.98742475e-01 -4.48528016e-02 2.23985561e-02 8.58873180e+00] [ 4.48483274e-02 9.98993561e-01 7.02300487e-04 -2.83163868e-02] [-2.24075134e-02 3.03120448e-04 9.99748874e-01 -3.71025747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.347719420999997 meters Centerline goodness : 0.961588 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.02, Z:-0.03 [[ 9.98218504e-01 -5.53002743e-02 2.23986116e-02 8.64977890e+00] [ 5.52984672e-02 9.98469623e-01 7.00524785e-04 -2.27771461e-02] [-2.24030725e-02 5.39332087e-04 9.99748874e-01 -2.97116572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719420999996 meters Centerline goodness : 0.961973 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.02, Z:-0.02 [[ 9.98409035e-01 -5.17464943e-02 2.23986254e-02 8.71221472e+00] [ 5.17438033e-02 9.98660147e-01 7.00084161e-04 -2.19126011e-02] [-2.24048414e-02 4.60019713e-04 9.99748874e-01 -2.42008936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters Centerline goodness : 0.957081 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.01, Z:-0.03 [[ 9.98867261e-01 -4.19820550e-02 2.23986850e-02 8.77232289e+00] [ 4.19769517e-02 9.99118335e-01 6.98170275e-04 -1.26816893e-02] [-2.24082475e-02 2.42849090e-04 9.99748874e-01 -3.20422917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719420999997 meters Centerline goodness : 0.953699 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.00, Z:-0.04 [[ 9.99410371e-01 -2.60232398e-02 2.23986999e-02 8.83475225e+00] [ 2.60141378e-02 9.99661332e-01 6.97693933e-04 -4.14083058e-03] [-2.24092704e-02 -1.14599688e-04 9.99748874e-01 -3.68700838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719420999996 meters Centerline goodness : 0.951122 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.00, Z:-0.04 [[ 9.99637744e-01 -1.49223198e-02 2.23987744e-02 8.89579135e+00] [ 1.49104850e-02 9.99888591e-01 6.95293061e-04 -1.48037715e-03] [-2.24066543e-02 -3.61064596e-04 9.99748874e-01 -4.26080924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters Centerline goodness : 0.948689 with order 1 Centerline is valid? [True, False] Translation: X:8.90, Y:0.00, Z:-0.05 [[ 9.99724703e-01 -8.07495077e-03 2.20298278e-02 8.89879552e+00] [ 7.92433284e-03 9.99944687e-01 6.91575164e-03 2.54458938e-03] [-2.20844536e-02 -6.73927607e-03 9.99733394e-01 -4.52018657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719420999997 meters Centerline goodness : 0.945073 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:0.00, Z:-0.05 [[ 9.99760385e-01 -3.52688997e-03 2.16040292e-02 8.90287993e+00] [ 3.29067931e-03 9.99934529e-01 1.09594489e-02 1.10713188e-03] [-2.16412676e-02 -1.08857309e-02 9.99706535e-01 -4.84246448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719420999995 meters Centerline goodness : 0.952807 with order 1 Centerline is valid? [False, True] Translation: X:8.91, Y:-0.00, Z:-0.05 [[ 9.99581290e-01 -5.71858893e-03 2.83644560e-02 8.91275740e+00] [ 5.32843842e-03 9.99890419e-01 1.38114736e-02 -3.28389000e-04] [-2.84403299e-02 -1.36545524e-02 9.99502227e-01 -4.61297627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719420999998 meters Centerline goodness : 0.951902 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:0.00, Z:-0.04 [[ 9.99530130e-01 -1.04936987e-02 2.87993162e-02 8.97526912e+00] [ 1.04701055e-02 9.99944717e-01 9.69907394e-04 6.40006568e-04] [-2.88079019e-02 -6.67919786e-04 9.99584743e-01 -4.43339761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719420999996 meters Centerline goodness : 0.951900 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.00, Z:-0.05 [[ 9.99132302e-01 -3.00869757e-02 2.87996110e-02 9.03808126e+00] [ 3.00717695e-02 9.99547280e-01 9.61072801e-04 -6.65881650e-04] [-2.88154886e-02 -9.41836176e-05 9.99584743e-01 -4.60759722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719420999995 meters Centerline goodness : 0.949343 with order 1 Centerline is valid? [True, False] Translation: X:9.05, Y:-0.00, Z:-0.05 [[ 9.98858926e-01 -3.57273479e-02 3.16923082e-02 9.04867802e+00] [ 3.54921475e-02 9.99338307e-01 7.95332069e-03 -4.12689578e-03] [-3.19554887e-02 -6.81941728e-03 9.99466029e-01 -4.99738015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719420999997 meters Centerline goodness : 0.939555 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.03, Z:-0.06 [[ 0.99830392 -0.05114982 0.02780256 9.0942708 ] [ 0.04957299 0.9972705 0.05471807 -0.02501655] [-0.03052549 -0.05324701 0.9981147 -0.06403745] [ 0. 0. 0. 1. ]] SLAMing on 26.067719420999996 meters Centerline goodness : 0.941783 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.03, Z:-0.06 [[ 0.99782817 -0.05947876 0.02830593 9.09457895] [ 0.05805836 0.99712938 0.04860282 -0.0277126 ] [-0.03111551 -0.04685387 0.99841702 -0.06224297] [ 0. 0. 0. 1. ]] SLAMing on 26.127719420999995 meters Centerline goodness : 0.952913 with order 1 Centerline is valid? [False, True] Translation: X:9.08, Y:-0.02, Z:-0.06 [[ 0.99751985 -0.05946164 0.03766251 9.08260635] [ 0.05790793 0.99747627 0.04108227 -0.01776403] [-0.04001028 -0.03879942 0.99844568 -0.05528683] [ 0. 0. 0. 1. ]] SLAMing on 26.187719420999997 meters Centerline goodness : 0.951600 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.00, Z:-0.05 [[ 9.97887974e-01 -5.20613809e-02 3.88484724e-02 9.14447200e+00] [ 5.20570864e-02 9.98643479e-01 1.12277253e-03 3.36736641e-03] [-3.88542267e-02 9.01937080e-04 9.99244482e-01 -5.28176558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719420999996 meters Centerline goodness : 0.948548 with order 1 Centerline is valid? [True, False] Translation: X:9.15, Y:0.01, Z:-0.06 [[ 9.98107559e-01 -4.79491117e-02 3.84991457e-02 9.14795685e+00] [ 4.80076102e-02 9.98846792e-01 -5.95915181e-04 1.32713494e-02] [-3.84261746e-02 2.44303943e-03 9.99258455e-01 -5.97714159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.307719420999998 meters Centerline goodness : 0.951833 with order 1 Centerline is valid? [False, True] Translation: X:9.15, Y:0.02, Z:-0.06 [[ 9.98481043e-01 -3.91382525e-02 3.87789106e-02 9.14529112e+00] [ 3.88741612e-02 9.99215657e-01 7.54125472e-03 2.38380044e-02] [-3.90436462e-02 -6.02230226e-03 9.99219358e-01 -5.74829825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719420999997 meters Centerline goodness : 0.956771 with order 1 Centerline is valid? [True, True] Translation: X:9.21, Y:0.04, Z:-0.05 [[ 9.98501973e-01 -3.84121232e-02 3.89656137e-02 9.20695747e+00] [ 3.83972680e-02 9.99261914e-01 1.12981466e-03 3.59710493e-02] [-3.89802523e-02 3.68050950e-04 9.99239913e-01 -5.16191327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719420999995 meters Centerline goodness : 0.954933 with order 1 Centerline is valid? [True, True] Translation: X:9.27, Y:0.04, Z:-0.06 [[ 9.98240206e-01 -4.47006454e-02 3.89659237e-02 9.26864086e+00] [ 4.46909984e-02 9.99000231e-01 1.11901788e-03 4.29268757e-02] [-3.89769877e-02 6.24377394e-04 9.99239913e-01 -5.90743121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters Centerline goodness : 0.956485 with order 1 Centerline is valid? [True, True] Translation: X:9.33, Y:0.05, Z:-0.06 [[ 9.98031769e-01 -4.91347131e-02 3.89662487e-02 9.33095546e+00] [ 4.91288887e-02 9.98791833e-01 1.10758642e-03 5.44193749e-02] [-3.89735919e-02 8.08962054e-04 9.99239913e-01 -5.81798271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719420999996 meters Centerline goodness : 0.953637 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:0.06, Z:-0.07 [[ 9.98727512e-01 -3.20150428e-02 3.89665744e-02 9.39190639e+00] [ 3.19966389e-02 9.99487376e-01 1.09600667e-03 6.44460548e-02] [-3.89816879e-02 1.52187391e-04 9.99239914e-01 -6.91641136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719420999995 meters Centerline goodness : 0.954104 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:0.08, Z:-0.07 [[ 9.99129781e-01 -1.48749176e-02 3.89668658e-02 9.45419096e+00] [ 1.48438870e-02 9.99889234e-01 1.08554702e-03 7.79407451e-02] [-3.89786970e-02 -5.06182608e-04 9.99239914e-01 -6.90846300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.667719420999997 meters Centerline goodness : 0.953347 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:0.08, Z:-0.07 [[ 9.99240496e-01 5.49087043e-05 3.89670067e-02 9.51662917e+00] [-9.70848682e-05 9.99999412e-01 1.08046431e-03 7.92787602e-02] [-3.89669245e-02 -1.08342680e-03 9.99239914e-01 -7.42394787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.727719420999996 meters Centerline goodness : 0.954757 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:0.08, Z:-0.08 [[ 9.99211285e-01 7.63901761e-03 3.89673478e-02 9.57901947e+00] [-7.68646785e-03 9.99969888e-01 1.06801787e-03 7.64362033e-02] [-3.89580159e-02 -1.36669677e-03 9.99239914e-01 -7.91244172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.787719420999995 meters Centerline goodness : 0.953467 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:0.07, Z:-0.08 [[ 9.99197951e-01 9.21919344e-03 3.89674402e-02 9.63977027e+00] [-9.26771171e-03 9.99956487e-01 1.06463906e-03 7.49044147e-02] [-3.89559295e-02 -1.42492417e-03 9.99239914e-01 -8.32678091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.847719420999997 meters Centerline goodness : 0.953626 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:0.06, Z:-0.09 [[ 9.99229353e-01 4.71333547e-03 3.89677308e-02 9.70264117e+00] [-4.75801400e-03 9.99988125e-01 1.05389117e-03 5.99155567e-02] [-3.89623008e-02 -1.23848800e-03 9.99239914e-01 -8.94399941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719420999996 meters Centerline goodness : 0.956534 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:0.05, Z:-0.09 [[ 9.99239008e-01 -1.70222820e-03 3.89680316e-02 9.76540598e+00] [ 1.66286029e-03 9.99998074e-01 1.04265102e-03 5.29122526e-02] [-3.89697314e-02 -9.77059178e-04 9.99239914e-01 -8.98270531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.967719420999995 meters Centerline goodness : 0.953735 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:0.04, Z:-0.09 [[ 9.99203835e-01 -8.55375232e-03 3.89683244e-02 9.82920586e+00] [ 8.52002130e-03 9.99963172e-01 1.03159052e-03 4.19286440e-02] [-3.89757132e-02 -6.98758251e-04 9.99239914e-01 -9.13371066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.027719420999997 meters Centerline goodness : 0.957072 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:0.03, Z:-0.09 [[ 9.99125752e-01 -1.51384978e-02 3.89686794e-02 9.89144364e+00] [ 1.51103017e-02 9.99885315e-01 1.01800116e-03 3.15688935e-02] [-3.89796213e-02 -4.28282670e-04 9.99239914e-01 -9.32706803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.087719420999996 meters Centerline goodness : 0.955678 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:0.03, Z:-0.10 [[ 9.99039982e-01 -2.00133030e-02 3.89689815e-02 9.95383329e+00] [ 1.99892696e-02 9.99799688e-01 1.00630064e-03 2.74099582e-02] [-3.89813150e-02 -2.26373098e-04 9.99239914e-01 -9.75219448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.147719420999998 meters Centerline goodness : 0.957073 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:0.02, Z:-0.10 [[ 9.98869515e-01 -2.72229075e-02 3.89692815e-02 1.00159836e+01] [ 2.72048161e-02 9.99629386e-01 9.94548696e-04 2.03645996e-02] [-3.89819134e-02 6.67277605e-05 9.99239914e-01 -1.00796497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719420999997 meters Centerline goodness : 0.959490 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:0.02, Z:-0.10 [[ 9.98755296e-01 -3.11324508e-02 3.89695917e-02 1.00780248e+01] [ 3.11178140e-02 9.99515241e-01 9.82241581e-04 1.75743968e-02] [-3.89812804e-02 2.31629524e-04 9.99239914e-01 -1.01640700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719420999995 meters Centerline goodness : 0.958664 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:0.02, Z:-0.11 [[ 9.98691564e-01 -3.31138214e-02 3.89696726e-02 1.01389565e+01] [ 3.31008179e-02 9.99451538e-01 9.79022400e-04 1.81383557e-02] [-3.89807184e-02 3.12186622e-04 9.99239914e-01 -1.06508457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719420999998 meters Centerline goodness : 0.959772 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:0.03, Z:-0.11 [[ 9.98387723e-01 -4.12711277e-02 3.89698301e-02 1.02005340e+01] [ 4.12645793e-02 9.99147781e-01 9.72708926e-04 2.64719599e-02] [-3.89767641e-02 6.36932996e-04 9.99239914e-01 -1.05927813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719420999996 meters Centerline goodness : 0.957129 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:0.03, Z:-0.11 [[ 9.97742206e-01 -5.46976353e-02 3.89699871e-02 1.02627407e+01] [ 5.47015587e-02 9.98502281e-01 9.66380440e-04 3.30898768e-02] [-3.89644797e-02 1.16752048e-03 9.99239914e-01 -1.11547729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.447719420999995 meters Centerline goodness : 0.956856 with order 1 Centerline is valid? [True, True] Translation: X:10.32, Y:0.04, Z:-0.11 [[ 9.96792160e-01 -6.99050988e-02 3.89700689e-02 1.03244425e+01] [ 6.99207407e-02 9.97552085e-01 9.63068850e-04 4.00266562e-02] [-3.89419969e-02 1.76483660e-03 9.99239914e-01 -1.14221816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.507719420999997 meters Centerline goodness : 0.956036 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:0.05, Z:-0.12 [[ 9.96118566e-01 -7.89247426e-02 3.89703445e-02 1.03875824e+01] [ 7.89477025e-02 9.96878305e-01 9.51786660e-04 4.79798066e-02] [-3.89238104e-02 2.12852680e-03 9.99239914e-01 -1.16255784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.567719420999996 meters Centerline goodness : 0.958650 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:0.07, Z:-0.11 [[ 9.95195529e-01 -8.98173787e-02 3.89704641e-02 1.04498362e+01] [ 8.98488406e-02 9.95954963e-01 9.46861277e-04 6.79478924e-02] [-3.88978718e-02 2.55913891e-03 9.99239914e-01 -1.13440058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.627719420999995 meters Centerline goodness : 0.954963 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:0.08, Z:-0.12 [[ 9.94871278e-01 -9.33403597e-02 3.89707257e-02 1.05109835e+01] [ 9.33749347e-02 9.95630577e-01 9.35971660e-04 7.91093744e-02] [-3.88878100e-02 2.70771764e-03 9.99239914e-01 -1.20607201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.687719420999997 meters Centerline goodness : 0.954988 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:0.10, Z:-0.12 [[ 9.94942799e-01 -9.25747793e-02 3.89709661e-02 1.05727645e+01] [ 9.26091646e-02 9.95702107e-01 9.25850870e-04 1.00870008e-01] [-3.88891835e-02 2.68789996e-03 9.99239914e-01 -1.24409693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.747719420999996 meters Centerline goodness : 0.950233 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:0.12, Z:-0.13 [[ 9.94804276e-01 -9.40515589e-02 3.89712193e-02 1.06332818e+01] [ 9.40874916e-02 9.95563512e-01 9.15067739e-04 1.18767057e-01] [-3.88843875e-02 2.75639097e-03 9.99239914e-01 -1.32455245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.807719420999994 meters Centerline goodness : 0.948855 with order 1 Centerline is valid? [True, False] Translation: X:10.63, Y:0.12, Z:-0.13 [[ 9.94688779e-01 -9.53634923e-02 3.87303118e-02 1.06342506e+01] [ 9.55128264e-02 9.95426150e-01 -2.01967420e-03 1.24111227e-01] [-3.83605620e-02 5.70818881e-03 9.99247659e-01 -1.33684205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.867719420999997 meters Centerline goodness : 0.952292 with order 1 Centerline is valid? [False, True] Translation: X:10.64, Y:0.14, Z:-0.13 [[ 9.94607583e-01 -9.82186678e-02 3.32993852e-02 1.06403650e+01] [ 9.83256602e-02 9.95153027e-01 -1.58689692e-03 1.42431636e-01] [-3.29821211e-02 4.85252374e-03 9.99444162e-01 -1.29376336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.927719420999995 meters Centerline goodness : 0.955005 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:0.15, Z:-0.13 [[ 9.94430516e-01 -1.00009972e-01 3.32558913e-02 1.07020922e+01] [ 1.00043836e-01 9.94982819e-01 6.48340237e-04 1.54576384e-01] [-3.31538810e-02 2.68231761e-03 9.99446660e-01 -1.29111985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters Centerline goodness : 0.960985 with order 1 Centerline is valid? [True, True] Translation: X:10.76, Y:0.17, Z:-0.13 [[ 9.94695193e-01 -9.73422186e-02 3.32560630e-02 1.07636753e+01] [ 9.73748970e-02 9.95247567e-01 6.39412016e-04 1.74175577e-01] [-3.31602575e-02 2.60228565e-03 9.99446660e-01 -1.28209666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.047719420999996 meters Centerline goodness : 0.961699 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:0.20, Z:-0.13 [[ 9.96052354e-01 -8.23026819e-02 3.32562360e-02 1.08257102e+01] [ 8.23273146e-02 9.96605145e-01 6.30280978e-04 1.99872770e-01] [-3.31952097e-02 2.11010375e-03 9.99446660e-01 -1.32105770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719420999995 meters Centerline goodness : 0.963276 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:0.22, Z:-0.13 [[ 9.96925643e-01 -7.09455656e-02 3.32564040e-02 1.08863358e+01] [ 7.09641958e-02 9.97478670e-01 6.21289015e-04 2.22665804e-01] [-3.32166313e-02 1.74063502e-03 9.99446660e-01 -1.28566931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.167719420999997 meters Centerline goodness : 0.960201 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:0.24, Z:-0.13 [[ 9.97968778e-01 -5.43352528e-02 3.32565558e-02 1.09481464e+01] [ 5.43449456e-02 9.98522033e-01 6.13055847e-04 2.35707582e-01] [-3.32407142e-02 1.19551512e-03 9.99446660e-01 -1.33232124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.227719420999996 meters Centerline goodness : 0.958108 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:0.25, Z:-0.14 [[ 9.98712155e-01 -3.83148571e-02 3.32566180e-02 1.10100695e+01] [ 3.83157841e-02 9.99265495e-01 6.09661696e-04 2.50919674e-01] [-3.32555499e-02 6.65376848e-04 9.99446660e-01 -1.37666092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.287719420999995 meters Centerline goodness : 0.957756 with order 2 Centerline is valid? [True, True] Translation: X:11.06, Y:0.27, Z:-0.14 [[ 9.99131189e-01 -2.51167971e-02 3.32567896e-02 1.10633197e+01] [ 2.51107300e-02 9.99684496e-01 6.00150671e-04 2.71925463e-01] [-3.32613708e-02 2.35473012e-04 9.99446660e-01 -1.40984633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.347719420999997 meters Centerline goodness : 0.949940 with order 1 Centerline is valid? [True, False] Translation: X:11.07, Y:0.28, Z:-0.14 [[ 9.99319506e-01 -1.64237968e-02 3.30270282e-02 1.10675533e+01] [ 1.62060335e-02 9.99845206e-01 6.85042024e-03 2.76239356e-01] [-3.31344257e-02 -6.31052144e-03 9.99430982e-01 -1.44469626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.407719420999996 meters Centerline goodness : 0.959730 with order 1 Centerline is valid? [False, True] Translation: X:11.07, Y:0.28, Z:-0.14 [[ 9.99379071e-01 -1.21046715e-02 3.30900092e-02 1.10673195e+01] [ 1.17861365e-02 9.99882473e-01 9.80449116e-03 2.80181720e-01] [-3.32048004e-02 -9.40839991e-03 9.99404284e-01 -1.42941742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.467719420999995 meters Centerline goodness : 0.955156 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:0.28, Z:-0.14 [[ 9.99443583e-01 -2.09450534e-03 3.32886902e-02 1.11277758e+01] [ 2.07157657e-03 9.99997593e-01 7.23260342e-04 2.83866585e-01] [-3.32901250e-02 -6.53897838e-04 9.99445516e-01 -1.43371683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.527719420999997 meters Centerline goodness : 0.957517 with order 2 Centerline is valid? [True, True] Translation: X:11.19, Y:0.28, Z:-0.15 [[ 9.99443882e-01 1.94685461e-03 3.32886902e-02 1.11866740e+01] [-1.97202339e-03 9.99997794e-01 7.23260342e-04 2.76485555e-01] [-3.32872087e-02 -7.88504200e-04 9.99445516e-01 -1.46629366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719420999996 meters Centerline goodness : 0.955166 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:0.27, Z:-0.14 [[ 9.99379920e-01 1.14761027e-02 3.32877565e-02 1.12484954e+01] [-1.15079828e-02 9.99933487e-01 7.66272299e-04 2.66012070e-01] [-3.32767486e-02 -1.14887208e-03 9.99445515e-01 -1.39778106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999994 meters Centerline goodness : 0.950326 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:0.25, Z:-0.15 [[ 9.99352778e-01 1.36338009e-02 3.32887971e-02 1.13087257e+01] [-1.36652711e-02 9.99906368e-01 7.18029658e-04 2.51444737e-01] [-3.32758907e-02 -1.17246537e-03 9.99445516e-01 -1.46902458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.707719420999997 meters Centerline goodness : 0.948589 with order 1 Centerline is valid? [True, False] Translation: X:11.31, Y:0.24, Z:-0.15 [[ 9.99435234e-01 9.50036061e-03 3.22328329e-02 1.13141356e+01] [-9.43207519e-03 9.99952941e-01 -2.26989817e-03 2.39072321e-01] [-3.22528809e-02 1.96459370e-03 9.99477810e-01 -1.51041311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.767719420999995 meters Centerline goodness : 0.947154 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:0.23, Z:-0.15 [[ 9.99532909e-01 1.27734072e-03 3.05341023e-02 1.13260940e+01] [-1.44841678e-03 9.99983375e-01 5.58132499e-03 2.26298786e-01] [-3.05264655e-02 -5.62294412e-03 9.99518143e-01 -1.54497412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.827719420999998 meters Centerline goodness : 0.940421 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:0.21, Z:-0.16 [[ 0.99954328 -0.01448944 0.02651962 11.34657043] [ 0.01411957 0.99980115 0.01408164 0.21037435] [-0.02671838 -0.01370077 0.99954911 -0.15526009] [ 0. 0. 0. 1. ]] SLAMing on 28.887719420999996 meters Centerline goodness : 0.939908 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:0.19, Z:-0.16 [[ 0.99884876 -0.03221517 0.03554356 11.36841942] [ 0.03161007 0.99934782 0.01745674 0.18703548] [-0.03608275 -0.0163131 0.99921565 -0.15882365] [ 0. 0. 0. 1. ]] SLAMing on 28.947719420999995 meters Centerline goodness : 0.942409 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:0.17, Z:-0.16 [[ 0.99827082 -0.0421252 0.04099791 11.39467971] [ 0.04098136 0.99875757 0.028352 0.17105726] [-0.04214131 -0.02662283 0.9987569 -0.16475061] [ 0. 0. 0. 1. ]] SLAMing on 29.007719420999997 meters Centerline goodness : 0.939957 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:0.16, Z:-0.17 [[ 0.99787528 -0.04611254 0.04602784 11.40924695] [ 0.04461009 0.99845422 0.03315272 0.16078958] [-0.04748545 -0.03102897 0.99838987 -0.16783869] [ 0. 0. 0. 1. ]] SLAMing on 29.067719420999996 meters Centerline goodness : 0.937397 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:0.15, Z:-0.17 [[ 0.99794251 -0.04608287 0.04457707 11.41488447] [ 0.04465084 0.99847045 0.0326045 0.15228004] [-0.0460114 -0.03054701 0.99847375 -0.16911984] [ 0. 0. 0. 1. ]] SLAMing on 29.127719420999995 meters Centerline goodness : 0.935800 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:0.15, Z:-0.17 [[ 0.99767755 -0.05036825 0.04585348 11.4340594 ] [ 0.04873733 0.99816201 0.03601768 0.14772521] [-0.04758335 -0.03369925 0.99829865 -0.17463242] [ 0. 0. 0. 1. ]] SLAMing on 29.187719420999997 meters Centerline goodness : 0.936721 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:0.15, Z:-0.17 [[ 0.99765963 -0.05088453 0.04567314 11.4342548 ] [ 0.04928878 0.99815666 0.03541033 0.14934495] [-0.04739079 -0.03307628 0.99832864 -0.17370263] [ 0. 0. 0. 1. ]] SLAMing on 29.247719420999996 meters Centerline goodness : 0.936137 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:0.15, Z:-0.17 [[ 0.99774119 -0.04954469 0.0453635 11.43616801] [ 0.04795361 0.99821796 0.03551554 0.15076044] [-0.04704227 -0.03325998 0.99833902 -0.17477281] [ 0. 0. 0. 1. ]] SLAMing on 29.307719420999994 meters Centerline goodness : 0.937760 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:0.16, Z:-0.17 [[ 0.99867889 -0.02761094 0.04333718 11.45391948] [ 0.02670917 0.99941733 0.02125133 0.15963629] [-0.0438987 -0.02006575 0.99883446 -0.16995929] [ 0. 0. 0. 1. ]] SLAMing on 29.367719420999997 meters Centerline goodness : 0.938012 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:0.16, Z:-0.17 [[ 0.99888239 -0.01875985 0.04338249 11.45398855] [ 0.01751317 0.99942771 0.02894048 0.1633924 ] [-0.04390058 -0.02814837 0.99863928 -0.16951686] [ 0. 0. 0. 1. ]] SLAMing on 29.427719420999995 meters Centerline goodness : 0.935455 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:0.15, Z:-0.17 [[ 0.99895268 -0.01886772 0.04168402 11.46294017] [ 0.01778275 0.99949729 0.02624755 0.15496016] [-0.0421583 -0.02547881 0.99878602 -0.17310127] [ 0. 0. 0. 1. ]] SLAMing on 29.487719420999994 meters Centerline goodness : 0.938510 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:0.15, Z:-0.17 [[ 0.99893114 -0.02009067 0.04162859 11.46424694] [ 0.01904177 0.99949493 0.02544186 0.15034952] [-0.04211871 -0.02462198 0.99880918 -0.17323842] [ 0. 0. 0. 1. ]] SLAMing on 29.547719420999996 meters Centerline goodness : 0.936059 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:0.14, Z:-0.17 [[ 0.99893785 -0.02045694 0.04128795 11.46671363] [ 0.01942027 0.99948985 0.02535523 0.1439272 ] [-0.04178558 -0.02452647 0.99882552 -0.17434857] [ 0. 0. 0. 1. ]] SLAMing on 29.607719420999995 meters Centerline goodness : 0.932296 with order 1 Centerline is valid? [False, False] Translation: X:11.49, Y:0.13, Z:-0.18 [[ 0.99872662 -0.02853018 0.04160736 11.48853596] [ 0.02752746 0.99932133 0.02447683 0.13285092] [-0.04227745 -0.02330031 0.99883418 -0.18057772] [ 0. 0. 0. 1. ]] SLAMing on 29.667719420999997 meters Centerline goodness : 0.929222 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:0.12, Z:-0.19 [[ 0.99805081 -0.04231956 0.0458653 11.51519232] [ 0.04082045 0.99861665 0.03314342 0.12287582] [-0.04720447 -0.03120657 0.99839766 -0.18785546] [ 0. 0. 0. 1. ]] SLAMing on 29.727719420999996 meters Centerline goodness : 0.930365 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:0.12, Z:-0.19 [[ 0.99755139 -0.04768781 0.05115749 11.52593347] [ 0.0457568 0.99821903 0.03827631 0.12075736] [-0.05289169 -0.03584178 0.99795683 -0.19149144] [ 0. 0. 0. 1. ]] SLAMing on 29.787719420999995 meters Centerline goodness : 0.930695 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:0.11, Z:-0.20 [[ 0.9966969 -0.06073002 0.0539181 11.55945069] [ 0.05867295 0.99751712 0.03894963 0.11048967] [-0.05614964 -0.03565744 0.99778543 -0.19603619] [ 0. 0. 0. 1. ]] SLAMing on 29.847719420999997 meters Centerline goodness : 0.928065 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:0.10, Z:-0.20 [[ 0.99584005 -0.07328732 0.05414388 11.59770082] [ 0.07021398 0.99592273 0.05663841 0.10161592] [-0.058074 -0.05260114 0.99692554 -0.20311662] [ 0. 0. 0. 1. ]] SLAMing on 29.907719420999996 meters Centerline goodness : 0.931613 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:0.10, Z:-0.20 [[ 0.99579675 -0.07330441 0.05491167 11.59428595] [ 0.06997656 0.99572711 0.06025609 0.09576394] [-0.05909408 -0.05616029 0.99667142 -0.19651158] [ 0. 0. 0. 1. ]] SLAMing on 29.967719420999995 meters Centerline goodness : 0.929484 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:0.10, Z:-0.20 [[ 0.99585996 -0.07217275 0.05526325 11.59404299] [ 0.06882717 0.99580927 0.06022222 0.09702539] [-0.05937807 -0.05616929 0.99665403 -0.19712143] [ 0. 0. 0. 1. ]] SLAMing on 30.027719420999997 meters Centerline goodness : 0.932042 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:0.10, Z:-0.20 [[ 0.99605036 -0.06699355 0.05827129 11.59357229] [ 0.0640248 0.99662348 0.05140487 0.1011821 ] [-0.06151833 -0.04747103 0.99697643 -0.19613355] [ 0. 0. 0. 1. ]] SLAMing on 30.087719420999996 meters Centerline goodness : 0.936058 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:0.10, Z:-0.20 [[ 0.99658939 -0.06027689 0.05635847 11.59764446] [ 0.05721926 0.99687959 0.05437862 0.1046742 ] [-0.05946039 -0.05096837 0.99692863 -0.19509211] [ 0. 0. 0. 1. ]] SLAMing on 30.147719420999994 meters Centerline goodness : 0.931950 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:0.11, Z:-0.19 [[ 0.9974816 -0.04666561 0.0534114 11.61259331] [ 0.04475605 0.99833433 0.03640675 0.11197781] [-0.05502137 -0.03392458 0.9979087 -0.19165746] [ 0. 0. 0. 1. ]] SLAMing on 30.207719420999997 meters Centerline goodness : 0.940874 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:0.12, Z:-0.19 [[ 0.99819619 -0.0306812 0.05160459 11.62525177] [ 0.02966981 0.99935457 0.02025216 0.11714816] [-0.05219265 -0.01868453 0.99846223 -0.18690462] [ 0. 0. 0. 1. ]] SLAMing on 30.267719420999995 meters Centerline goodness : 0.936078 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:0.12, Z:-0.19 [[ 0.99839473 -0.0247958 0.05092276 11.62747465] [ 0.02352279 0.99939936 0.02544795 0.11779629] [-0.05152318 -0.02420926 0.99837832 -0.18805967] [ 0. 0. 0. 1. ]] SLAMing on 30.327719420999994 meters Centerline goodness : 0.928430 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:0.11, Z:-0.19 [[ 0.99851114 -0.02412772 0.04892185 11.63898824] [ 0.02299476 0.99945722 0.02359059 0.11143266] [-0.04946449 -0.02243052 0.99852398 -0.19449297] [ 0. 0. 0. 1. ]] SLAMing on 30.387719420999996 meters Centerline goodness : 0.931876 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:0.10, Z:-0.19 [[ 0.99837141 -0.03004222 0.04849742 11.6411293 ] [ 0.02915807 0.99939731 0.01883668 0.10227953] [-0.04903408 -0.01739191 0.99864567 -0.19493525] [ 0. 0. 0. 1. ]] SLAMing on 30.447719420999995 meters Centerline goodness : 0.929221 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:0.09, Z:-0.20 [[ 0.99801095 -0.04144342 0.04750356 11.66690336] [ 0.03997892 0.99870778 0.03137601 0.0913214 ] [-0.0487425 -0.02941446 0.99837816 -0.20047958] [ 0. 0. 0. 1. ]] SLAMing on 30.507719420999997 meters Centerline goodness : 0.925735 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:0.08, Z:-0.21 [[ 0.99753771 -0.05008988 0.04908681 11.69787017] [ 0.0482011 0.9980785 0.03893537 0.08328689] [-0.05094276 -0.03647346 0.99803533 -0.20713205] [ 0. 0. 0. 1. ]] SLAMing on 30.567719420999996 meters Centerline goodness : 0.919393 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:0.08, Z:-0.22 [[ 0.99692226 -0.06062029 0.04971103 11.73146864] [ 0.05843002 0.99730409 0.0443901 0.07767837] [-0.05226795 -0.04134886 0.9977767 -0.21688686] [ 0. 0. 0. 1. ]] SLAMing on 30.627719420999995 meters Centerline goodness : 0.926479 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.07, Z:-0.21 [[ 0.99580885 -0.0753259 0.05187241 11.73876286] [ 0.07291203 0.99623245 0.04695472 0.07219706] [-0.05521389 -0.0429758 0.99754925 -0.21249415] [ 0. 0. 0. 1. ]] SLAMing on 30.687719420999997 meters Centerline goodness : 0.924166 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.07, Z:-0.21 [[ 0.99516002 -0.08401683 0.05096769 11.74131608] [ 0.08201531 0.99582119 0.04017013 0.07106869] [-0.05412967 -0.03579558 0.99789211 -0.21117456] [ 0. 0. 0. 1. ]] SLAMing on 30.747719420999996 meters Centerline goodness : 0.933801 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.07, Z:-0.21 [[ 0.99475006 -0.08844297 0.05147963 11.73953587] [ 0.08659356 0.99555215 0.03711444 0.06853724] [-0.05453317 -0.03246179 0.99798415 -0.20749617] [ 0. 0. 0. 1. ]] SLAMing on 30.807719420999994 meters Centerline goodness : 0.932866 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.07, Z:-0.20 [[ 0.99471653 -0.08887391 0.05138531 11.73698433] [ 0.08704874 0.9955266 0.03673278 0.07205751] [-0.05442003 -0.03206568 0.99800313 -0.20339885] [ 0. 0. 0. 1. ]] SLAMing on 30.867719420999997 meters Centerline goodness : 0.930716 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.07, Z:-0.20 [[ 0.99468256 -0.08916686 0.05153512 11.73665677] [ 0.08742035 0.9955491 0.03520891 0.07497495] [-0.05444521 -0.03051647 0.99805033 -0.20354256] [ 0. 0. 0. 1. ]] SLAMing on 30.927719420999995 meters Centerline goodness : 0.936254 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:0.09, Z:-0.20 [[ 0.99499523 -0.08419506 0.05381157 11.73273048] [ 0.08253319 0.9960616 0.03239698 0.08698912] [-0.0563273 -0.0277936 0.99802543 -0.20337547] [ 0. 0. 0. 1. ]] SLAMing on 30.987719420999994 meters Centerline goodness : 0.930452 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:0.10, Z:-0.20 [[ 0.99588087 -0.07821687 0.04586302 11.7310797 ] [ 0.07715127 0.99671675 0.02456435 0.09684914] [-0.04763379 -0.02092478 0.99864567 -0.20287696] [ 0. 0. 0. 1. ]] SLAMing on 31.047719420999996 meters Centerline goodness : 0.932406 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:0.11, Z:-0.20 [[ 0.99588557 -0.07899515 0.0444039 11.73162384] [ 0.07797055 0.99665815 0.02435406 0.10523482] [-0.04617936 -0.02079166 0.99871676 -0.20057601] [ 0. 0. 0. 1. ]] SLAMing on 31.107719420999995 meters Centerline goodness : 0.934082 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:0.12, Z:-0.20 [[ 0.99608127 -0.07605836 0.04513563 11.72914589] [ 0.0751189 0.99692833 0.02216001 0.11582963] [-0.04668244 -0.01868263 0.99873505 -0.1995674 ] [ 0. 0. 0. 1. ]] SLAMing on 31.167719420999997 meters Centerline goodness : 0.939754 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:0.13, Z:-0.20 [[ 0.99698967 -0.05990855 0.04921957 11.71472413] [ 0.05922448 0.99812831 0.01524242 0.1299739 ] [-0.0500406 -0.01228153 0.99867167 -0.19818284] [ 0. 0. 0. 1. ]] SLAMing on 31.227719420999996 meters Centerline goodness : 0.935635 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.14, Z:-0.20 [[ 0.9975649 -0.04982954 0.04879845 11.71568632] [ 0.04872435 0.99853383 0.02358237 0.14142657] [-0.049902 -0.02114727 0.99853021 -0.1999814 ] [ 0. 0. 0. 1. ]] SLAMing on 31.287719420999995 meters Centerline goodness : 0.935541 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.14, Z:-0.20 [[ 0.99768719 -0.04787508 0.04825186 11.71824207] [ 0.04675787 0.99861734 0.02402291 0.14391249] [-0.04933524 -0.0217112 0.99854627 -0.20171479] [ 0. 0. 0. 1. ]] SLAMing on 31.347719420999997 meters Centerline goodness : 0.938142 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.15, Z:-0.20 [[ 0.99781458 -0.04581244 0.04761603 11.72029358] [ 0.04464016 0.99868022 0.02539834 0.14506409] [-0.04871675 -0.02321725 0.99854276 -0.20252106] [ 0. 0. 0. 1. ]] SLAMing on 31.407719420999996 meters Centerline goodness : 0.933252 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.14, Z:-0.20 [[ 0.99806961 -0.04097054 0.04667406 11.7221992 ] [ 0.03955055 0.99873809 0.03095143 0.14258506] [-0.04788325 -0.02904569 0.99843054 -0.20307343] [ 0. 0. 0. 1. ]] SLAMing on 31.467719420999995 meters Centerline goodness : 0.937139 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:0.13, Z:-0.20 [[ 0.99800032 -0.04012097 0.04884341 11.74741063] [ 0.03871573 0.99881812 0.02938455 0.13368318] [-0.04996462 -0.02743478 0.99837411 -0.20362327] [ 0. 0. 0. 1. ]] SLAMing on 31.527719420999997 meters Centerline goodness : 0.938127 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:0.13, Z:-0.21 [[ 0.99825613 -0.03836363 0.04486564 11.7752074 ] [ 0.03707489 0.99888542 0.02921237 0.12827457] [-0.04593633 -0.02749803 0.99856583 -0.20552773] [ 0. 0. 0. 1. ]] SLAMing on 31.587719420999996 meters Centerline goodness : 0.937709 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:0.12, Z:-0.21 [[ 0.99788442 -0.04856324 0.04322375 11.80208503] [ 0.04689168 0.998143 0.03888095 0.11762559] [-0.04503167 -0.03677186 0.99830856 -0.21006771] [ 0. 0. 0. 1. ]] SLAMing on 31.647719420999994 meters Centerline goodness : 0.936122 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:0.11, Z:-0.21 [[ 0.99760481 -0.05262713 0.04488911 11.81849368] [ 0.0507511 0.99782965 0.04195605 0.11407499] [-0.04699971 -0.03957738 0.99811054 -0.21250327] [ 0. 0. 0. 1. ]] SLAMing on 31.707719420999997 meters Centerline goodness : 0.934871 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:0.10, Z:-0.22 [[ 0.99695397 -0.06301934 0.04594945 11.85372509] [ 0.06090075 0.99707705 0.04613521 0.09981956] [-0.04872255 -0.04319633 0.99787784 -0.21932136] [ 0. 0. 0. 1. ]] SLAMing on 31.767719420999995 meters Centerline goodness : 0.944224 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:0.09, Z:-0.21 [[ 0.99687854 -0.06408597 0.0461103 11.85055099] [ 0.0617563 0.99682351 0.05028957 0.09327616] [-0.04918668 -0.047285 0.99766968 -0.21138644] [ 0. 0. 0. 1. ]] SLAMing on 31.827719420999994 meters Centerline goodness : 0.942811 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:0.09, Z:-0.21 [[ 0.99677422 -0.06496015 0.0471311 11.85055562] [ 0.06268538 0.99686697 0.04823685 0.08955632] [-0.05011691 -0.04512681 0.99772334 -0.21332383] [ 0. 0. 0. 1. ]] SLAMing on 31.887719420999996 meters Centerline goodness : 0.933781 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:0.09, Z:-0.22 [[ 0.9973469 -0.0578494 0.04418837 11.84880285] [ 0.05605918 0.99759623 0.04073236 0.09089216] [-0.0464385 -0.03814713 0.9981925 -0.21981464] [ 0. 0. 0. 1. ]] SLAMing on 31.947719420999995 meters Centerline goodness : 0.936119 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:0.08, Z:-0.22 [[ 0.99746111 -0.05538617 0.0447628 11.84749364] [ 0.0534339 0.99761501 0.0436933 0.08430331] [-0.04707605 -0.04119051 0.99804168 -0.21837131] [ 0. 0. 0. 1. ]] SLAMing on 32.007719421 meters Centerline goodness : 0.940873 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:0.08, Z:-0.21 [[ 0.99768518 -0.05092872 0.04506157 11.84408287] [ 0.04865184 0.99755051 0.05025914 0.08145906] [-0.04751083 -0.04795047 0.99771914 -0.21334133] [ 0. 0. 0. 1. ]] SLAMing on 32.06771942099999 meters Centerline goodness : 0.944411 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:0.08, Z:-0.21 [[ 0.99837894 -0.03477663 0.04505644 11.86011219] [ 0.03334346 0.99892579 0.03217902 0.08113899] [-0.04612712 -0.03062452 0.99846604 -0.20941538] [ 0. 0. 0. 1. ]] SLAMing on 32.127719420999995 meters Centerline goodness : 0.939872 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:0.08, Z:-0.21 [[ 0.99850227 -0.03261711 0.04392427 11.85749774] [ 0.03167879 0.99925833 0.02189166 0.08176252] [-0.04460574 -0.0204674 0.99879498 -0.21407758] [ 0. 0. 0. 1. ]] SLAMing on 32.187719421 meters Centerline goodness : 0.946497 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:0.08, Z:-0.21 [[ 0.99841891 -0.03467751 0.04423963 11.85546307] [ 0.03381668 0.9992267 0.02006073 0.0787335 ] [-0.04490107 -0.01853297 0.99881951 -0.21116555] [ 0. 0. 0. 1. ]] SLAMing on 32.24771942099999 meters Centerline goodness : 0.946956 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:0.07, Z:-0.21 [[ 0.99814125 -0.03890986 0.04690497 11.87130315] [ 0.03791769 0.99904173 0.02186044 0.07063432] [-0.04771061 -0.02004128 0.99866012 -0.21161566] [ 0. 0. 0. 1. ]] SLAMing on 32.307719420999994 meters Centerline goodness : 0.947725 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:0.06, Z:-0.21 [[ 0.9979703 -0.04465312 0.04540243 11.89632036] [ 0.04310845 0.99847626 0.03445029 0.05760028] [-0.04687156 -0.03242313 0.99837458 -0.21397318] [ 0. 0. 0. 1. ]] SLAMing on 32.367719421 meters Centerline goodness : 0.950802 with order 1 Centerline is valid? [False, True] Translation: X:11.90, Y:0.05, Z:-0.21 [[ 0.99795061 -0.04451829 0.04596404 11.89615311] [ 0.04281806 0.99838504 0.03733537 0.04604961] [-0.04755192 -0.03529077 0.99824515 -0.21256675] [ 0. 0. 0. 1. ]] SLAMing on 32.427719421 meters Centerline goodness : 0.949928 with order 1 Centerline is valid? [True, False] Translation: X:11.91, Y:0.03, Z:-0.21 [[ 0.99824939 -0.04050648 0.04309734 11.90500774] [ 0.03885037 0.99849942 0.03859474 0.03311535] [-0.04459601 -0.03685282 0.99832513 -0.21324644] [ 0. 0. 0. 1. ]] SLAMing on 32.487719420999994 meters Centerline goodness : 0.940955 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:0.02, Z:-0.21 [[ 0.99873099 -0.03614416 0.03507144 11.91966535] [ 0.03534045 0.99910433 0.02327193 0.01860081] [-0.03588117 -0.02200295 0.99911381 -0.21480891] [ 0. 0. 0. 1. ]] SLAMing on 32.547719421 meters Centerline goodness : 0.935394 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:0.01, Z:-0.22 [[ 9.98696964e-01 -3.73971953e-02 3.47249800e-02 1.19228692e+01] [ 3.65770210e-02 9.99043524e-01 2.39615968e-02 1.09798761e-02] [-3.55878629e-02 -2.26602377e-02 9.99109612e-01 -2.17407612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters Centerline goodness : 0.942892 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.00, Z:-0.21 [[ 9.98622430e-01 -3.85022753e-02 3.56485101e-02 1.19204963e+01] [ 3.75846313e-02 9.98953496e-01 2.60635467e-02 -7.00989377e-04] [-3.66147096e-02 -2.46878063e-02 9.99024462e-01 -2.13241772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719420999994 meters Centerline goodness : 0.953441 with order 1 Centerline is valid? [False, True] Translation: X:11.92, Y:-0.02, Z:-0.21 [[ 0.99828266 -0.04455394 0.03803531 11.918742 ] [ 0.04341827 0.99860103 0.03018004 -0.01834595] [-0.03932674 -0.02847678 0.99882054 -0.20724527] [ 0. 0. 0. 1. ]] SLAMing on 32.727719420999996 meters Centerline goodness : 0.951048 with order 1 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.01, Z:-0.21 [[ 9.97938594e-01 -4.98568095e-02 4.04086771e-02 1.19807057e+01] [ 4.97524845e-02 9.98755148e-01 3.58390168e-03 -8.82714688e-03] [-4.05370562e-02 -1.56608172e-03 9.99176808e-01 -2.09128467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.787719421 meters Centerline goodness : 0.949508 with order 1 Centerline is valid? [True, False] Translation: X:11.99, Y:-0.03, Z:-0.21 [[ 9.97010360e-01 -6.72946709e-02 3.79706471e-02 1.19919167e+01] [ 6.70598236e-02 9.97721317e-01 7.42649659e-03 -2.56057243e-02] [-3.83838877e-02 -4.85798914e-03 9.99251258e-01 -2.08672974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.847719420999994 meters Centerline goodness : 0.956215 with order 1 Centerline is valid? [False, True] Translation: X:11.99, Y:-0.03, Z:-0.20 [[ 9.96290797e-01 -7.66765633e-02 3.90557515e-02 1.19888417e+01] [ 7.67832255e-02 9.97047044e-01 -1.23618370e-03 -3.24156603e-02] [-3.88456352e-02 4.23042501e-03 9.99236268e-01 -2.04498716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.907719420999996 meters Centerline goodness : 0.960130 with order 1 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.03, Z:-0.20 [[ 9.95666861e-01 -8.45814808e-02 3.86455042e-02 1.20508949e+01] [ 8.45126819e-02 9.96416557e-01 3.41336531e-03 -3.18467390e-02] [-3.87957277e-02 -1.32539521e-04 9.99247154e-01 -2.00865260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters Centerline goodness : 0.958720 with order 1 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.02, Z:-0.20 [[ 9.96355332e-01 -7.60430473e-02 3.86459237e-02 1.21125576e+01] [ 7.59680086e-02 9.97104429e-01 3.40860937e-03 -2.46699838e-02] [-3.87932227e-02 -4.60332263e-04 9.99247154e-01 -2.04803677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02771942099999 meters Centerline goodness : 0.956229 with order 1 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.01, Z:-0.21 [[ 9.97044317e-01 -6.64010573e-02 3.86462196e-02 1.21726224e+01] [ 6.63189057e-02 9.97792667e-01 3.40525074e-03 -1.23012254e-02] [-3.87870268e-02 -8.32210900e-04 9.99247154e-01 -2.11565399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.087719420999996 meters Centerline goodness : 0.949970 with order 1 Centerline is valid? [True, False] Translation: X:12.17, Y:-0.01, Z:-0.21 [[ 9.98040122e-01 -5.43947435e-02 3.09374698e-02 1.21705526e+01] [ 5.44214372e-02 9.98518055e-01 -2.08239846e-05 -5.31553759e-03] [-3.08904895e-02 1.70444474e-03 9.99521322e-01 -2.09830895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.147719421 meters Centerline goodness : 0.943291 with order 1 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.00, Z:-0.21 [[ 9.98705228e-01 -4.25333160e-02 2.79067259e-02 1.21575288e+01] [ 4.27252358e-02 9.99066889e-01 -6.31706780e-03 -3.30192750e-03] [-2.76120000e-02 7.50121008e-03 9.99590571e-01 -2.11607382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20771942099999 meters Centerline goodness : 0.952229 with order 1 Centerline is valid? [False, True] Translation: X:12.16, Y:-0.01, Z:-0.21 [[ 9.98862926e-01 -3.81329986e-02 2.86134609e-02 1.21550547e+01] [ 3.81667976e-02 9.99271180e-01 -6.35808025e-04 -6.33605013e-03] [-2.85683616e-02 1.72716924e-03 9.99590349e-01 -2.09066046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.267719420999995 meters Centerline goodness : 0.952756 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.01, Z:-0.21 [[ 9.98951542e-01 -3.59389052e-02 2.83586187e-02 1.22176817e+01] [ 3.58855070e-02 9.99353050e-01 2.38982022e-03 -8.98223749e-03] [-2.84261596e-02 -1.36965119e-03 9.99594957e-01 -2.10588938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.327719421 meters Centerline goodness : 0.952380 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.01, Z:-0.21 [[ 9.98688545e-01 -4.26259074e-02 2.83588218e-02 1.22789802e+01] [ 4.25752667e-02 9.99090410e-01 2.38740729e-03 -1.07985057e-02] [-2.84347923e-02 -1.17689191e-03 9.99594957e-01 -2.11910524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38771942099999 meters Centerline goodness : 0.953260 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.01, Z:-0.21 [[ 9.98338511e-01 -5.01595064e-02 2.83591464e-02 1.23415887e+01] [ 5.01120088e-02 9.98740760e-01 2.38354572e-03 -1.37073233e-02] [-2.84429929e-02 -9.58451694e-04 9.99594957e-01 -2.08493288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.447719420999995 meters Centerline goodness : 0.947480 with order 1 Centerline is valid? [True, False] Translation: X:12.34, Y:-0.02, Z:-0.21 [[ 9.97359088e-01 -6.96486947e-02 2.05890459e-02 1.23367226e+01] [ 6.98172131e-02 9.97530989e-01 -7.58173240e-03 -1.84140218e-02] [-2.00101536e-02 8.99917952e-03 9.99759275e-01 -2.07398163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.507719421 meters Centerline goodness : 0.946697 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-0.20 [[ 9.96677196e-01 -7.84729121e-02 2.18304748e-02 1.23239983e+01] [ 7.97487113e-02 9.94661069e-01 -6.54942804e-02 -9.53801399e-03] [-1.65743965e-02 6.70176079e-02 9.97614119e-01 -2.01052793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56771942099999 meters Centerline goodness : 0.947777 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:0.00, Z:-0.19 [[ 9.96880767e-01 -7.52893583e-02 2.36695781e-02 1.23302371e+01] [ 7.76284899e-02 9.89484384e-01 -1.22042911e-01 3.47030208e-03] [-1.42321454e-02 1.23499665e-01 9.92242550e-01 -1.90460980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.627719420999995 meters Centerline goodness : 0.953372 with order 1 Centerline is valid? [False, True] Translation: X:12.33, Y:0.01, Z:-0.19 [[ 9.97556158e-01 -6.58537221e-02 2.33451990e-02 1.23348238e+01] [ 6.79160700e-02 9.92391778e-01 -1.02693560e-01 6.77802234e-03] [-1.64048304e-02 1.04028107e-01 9.94439055e-01 -1.86252692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.687719421 meters Centerline goodness : 0.951963 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.02, Z:-0.20 [[ 9.98096463e-01 -5.96523278e-02 1.56540944e-02 1.23957404e+01] [ 5.96412798e-02 9.98219186e-01 1.17206659e-03 -2.00142141e-02] [-1.56961339e-02 -2.36205295e-04 9.99876780e-01 -1.95027385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74771942099999 meters Centerline goodness : 0.955986 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.02, Z:-0.19 [[ 9.98507083e-01 -5.23312226e-02 1.56540051e-02 1.24572632e+01] [ 5.23192563e-02 9.98629721e-01 1.17325829e-03 -1.96556608e-02] [-1.56939527e-02 -3.52500806e-04 9.99876780e-01 -1.87940351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.807719420999994 meters Centerline goodness : 0.953305 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.01, Z:-0.19 [[ 9.98877565e-01 -4.47052637e-02 1.56540561e-02 1.25171659e+01] [ 4.46923720e-02 9.99000109e-01 1.17257718e-03 -1.18461226e-02] [-1.56908241e-02 -4.71644137e-04 9.99876780e-01 -1.93594834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters Centerline goodness : 0.949766 with order 1 Centerline is valid? [True, False] Translation: X:12.52, Y:-0.01, Z:-0.20 [[ 9.99497327e-01 -2.92646841e-02 1.21930944e-02 1.25192636e+01] [ 2.92850844e-02 9.99569978e-01 -1.49789392e-03 -7.18173097e-03] [-1.21440157e-02 1.85421677e-03 9.99924540e-01 -1.95009551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92771942099999 meters Centerline goodness : 0.951111 with order 1 Centerline is valid? [False, True] Translation: X:12.52, Y:-0.01, Z:-0.20 [[ 9.99520479e-01 -2.83484167e-02 1.24571173e-02 1.25189710e+01] [ 2.83605250e-02 9.99597442e-01 -7.96389483e-04 -1.18777513e-02] [-1.24295262e-02 1.14929798e-03 9.99922090e-01 -1.95045312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719420999994 meters Centerline goodness : 0.949226 with order 1 Centerline is valid? [True, False] Translation: X:12.52, Y:-0.01, Z:-0.20 [[ 9.99485976e-01 -2.96903932e-02 1.20939801e-02 1.25204136e+01] [ 2.97050430e-02 9.99558174e-01 -1.03346725e-03 -1.09119991e-02] [-1.20579526e-02 1.39218822e-03 9.99926331e-01 -1.96158674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters Centerline goodness : 0.946997 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.02, Z:-0.20 [[ 9.99202366e-01 -3.80249521e-02 1.21956938e-02 1.25218009e+01] [ 3.81242871e-02 9.99240832e-01 -8.01865636e-03 -1.53248563e-02] [-1.18815262e-02 8.47721254e-03 9.99893477e-01 -1.97373351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.107719421 meters Centerline goodness : 0.948730 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.02, Z:-0.19 [[ 9.98607024e-01 -5.14670925e-02 1.16253795e-02 1.25020155e+01] [ 5.16948896e-02 9.98458065e-01 -2.02269758e-02 -2.06119393e-02] [-1.05664303e-02 2.07997728e-02 9.99727823e-01 -1.93161265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.167719420999994 meters Centerline goodness : 0.947524 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.02, Z:-0.19 [[ 9.98083521e-01 -6.07502659e-02 1.17766527e-02 1.25026714e+01] [ 6.10673113e-02 9.97719589e-01 -2.87472814e-02 -2.11203764e-02] [-1.00033921e-02 2.94113564e-02 9.99517336e-01 -1.93218899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.227719420999996 meters Centerline goodness : 0.951977 with order 1 Centerline is valid? [False, True] Translation: X:12.50, Y:-0.02, Z:-0.19 [[ 9.97588710e-01 -6.77327801e-02 1.51339341e-02 1.24951094e+01] [ 6.86639484e-02 9.94952253e-01 -7.31797480e-02 -1.62247600e-02] [-1.01008741e-02 7.40424461e-02 9.97203935e-01 -1.86010707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.287719421 meters Centerline goodness : 0.957522 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.03, Z:-0.18 [[ 9.96979757e-01 -7.69566162e-02 1.04423856e-02 1.25547202e+01] [ 7.69538455e-02 9.97034433e-01 6.67474251e-04 -3.02567182e-02] [-1.04627845e-02 1.38123408e-04 9.99945254e-01 -1.82541366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.347719420999994 meters Centerline goodness : 0.955200 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.02, Z:-0.18 [[ 9.97225481e-01 -7.37041443e-02 1.04421778e-02 1.26135241e+01] [ 7.37011614e-02 9.97280146e-01 6.70708291e-04 -1.87675724e-02] [-1.04632106e-02 1.00753235e-04 9.99945254e-01 -1.83726642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters Centerline goodness : 0.960706 with order 1 Centerline is valid? [True, True] Translation: X:12.67, Y:0.00, Z:-0.18 [[ 9.98267592e-01 -5.79031614e-02 1.04421481e-02 1.26715410e+01] [ 5.78993084e-02 9.98322202e-01 6.71170539e-04 2.67659199e-03] [-1.04634912e-02 -6.54146433e-05 9.99945254e-01 -1.81847312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters Centerline goodness : 0.962339 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:0.01, Z:-0.18 [[ 9.98664737e-01 -5.05935243e-02 1.04421335e-02 1.27319632e+01] [ 5.05892692e-02 9.98719317e-01 6.71397699e-04 1.20919809e-02] [-1.04627288e-02 -1.42241303e-04 9.99945254e-01 -1.79535822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52771942099999 meters Centerline goodness : 0.961250 with order 1 Centerline is valid? [True, True] Translation: X:12.79, Y:0.03, Z:-0.18 [[ 9.98546434e-01 -5.28770387e-02 1.04421335e-02 1.27926989e+01] [ 5.28729084e-02 9.98601024e-01 6.71397699e-04 2.55277350e-02] [-1.04630267e-02 -1.18315809e-04 9.99945254e-01 -1.83907902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719420999996 meters Centerline goodness : 0.952947 with order 1 Centerline is valid? [True, True] Translation: X:12.85, Y:0.03, Z:-0.20 [[ 9.99029732e-01 -4.27849844e-02 1.04421628e-02 1.28531193e+01] [ 4.27803076e-02 9.99084278e-01 6.70941349e-04 3.39778157e-02] [-1.04613069e-02 -2.23571419e-04 9.99945254e-01 -1.95422413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters Centerline goodness : 0.951741 with order 1 Centerline is valid? [True, True] Translation: X:12.91, Y:0.04, Z:-0.20 [[ 9.99530802e-01 -2.87947238e-02 1.04421705e-02 1.29141908e+01] [ 2.87892850e-02 9.99585278e-01 6.70821914e-04 4.12287900e-02] [-1.04571560e-02 -3.69884544e-04 9.99945254e-01 -1.97640571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70771942099999 meters Centerline goodness : 0.952237 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:0.05, Z:-0.20 [[ 9.99718694e-01 -2.12954014e-02 1.04421992e-02 1.29756227e+01] [ 2.12895588e-02 9.99773127e-01 6.70374977e-04 4.95218545e-02] [-1.04541061e-02 -4.47876583e-04 9.99945254e-01 -1.97841640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719420999995 meters Centerline goodness : 0.948288 with order 1 Centerline is valid? [True, False] Translation: X:13.01, Y:0.04, Z:-0.20 [[ 9.99581466e-01 -2.74493873e-02 9.13368914e-03 1.30050657e+01] [ 2.73654991e-02 9.99583286e-01 9.18610915e-03 4.31084306e-02] [-9.38203607e-03 -8.93231649e-03 9.99916092e-01 -2.01653183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters Centerline goodness : 0.950854 with order 1 Centerline is valid? [False, True] Translation: X:13.00, Y:0.04, Z:-0.20 [[ 9.99201427e-01 -3.87468235e-02 9.75665380e-03 1.30042661e+01] [ 3.87484520e-02 9.99248996e-01 2.21440701e-05 3.65383260e-02] [-9.75018453e-03 3.55928845e-04 9.99952402e-01 -2.00208739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88771942099999 meters Centerline goodness : 0.947972 with order 1 Centerline is valid? [True, False] Translation: X:13.01, Y:0.04, Z:-0.20 [[ 9.98979796e-01 -4.47665259e-02 5.94345289e-03 1.30113660e+01] [ 4.47552022e-02 9.98995932e-01 2.02482750e-03 3.54405833e-02] [-6.02812975e-03 -1.75676133e-03 9.99980288e-01 -1.96796743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719420999995 meters Centerline goodness : 0.945981 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.03, Z:-0.20 [[ 9.98697324e-01 -5.07337391e-02 5.45367469e-03 1.30140529e+01] [ 5.07537305e-02 9.98704740e-01 -3.59191076e-03 3.07223744e-02] [-5.26437970e-03 3.86402600e-03 9.99978678e-01 -1.97901688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.007719421 meters Centerline goodness : 0.948636 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.03, Z:-0.20 [[ 9.98656769e-01 -5.15172528e-02 5.53443291e-03 1.30130398e+01] [ 5.15364896e-02 9.98665354e-01 -3.39125683e-03 3.01073716e-02] [-5.35233817e-03 3.67192684e-03 9.99978934e-01 -1.96559909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06771942099999 meters Centerline goodness : 0.949468 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.03, Z:-0.19 [[ 9.98550878e-01 -5.35124732e-02 5.70612147e-03 1.30118519e+01] [ 5.35417514e-02 9.98552547e-01 -5.10792918e-03 2.58812043e-02] [-5.42452421e-03 5.40604290e-03 9.99970674e-01 -1.94844593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.127719420999995 meters Centerline goodness : 0.957508 with order 1 Centerline is valid? [False, True] Translation: X:13.01, Y:0.02, Z:-0.19 [[ 9.98765147e-01 -4.92948514e-02 6.18045898e-03 1.30080436e+01] [ 4.92971645e-02 9.98784131e-01 -2.22378184e-04 2.17944207e-02] [-6.16198225e-03 5.26782682e-04 9.99980876e-01 -1.91394509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters Centerline goodness : 0.955950 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:0.02, Z:-0.19 [[ 9.98989295e-01 -4.45265829e-02 6.14588997e-03 1.30686378e+01] [ 4.45251923e-02 9.99008196e-01 3.62970011e-04 2.37542366e-02] [-6.15595626e-03 -8.89562230e-05 9.99981048e-01 -1.92344682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24771942099999 meters Centerline goodness : 0.958203 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.02, Z:-0.19 [[ 9.99099094e-01 -4.19908063e-02 6.14588997e-03 1.31293218e+01] [ 4.19893678e-02 9.99117992e-01 3.62970011e-04 2.45584324e-02] [-6.15571065e-03 -1.04580976e-04 9.99981048e-01 -1.91993755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719420999994 meters Centerline goodness : 0.962471 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.03, Z:-0.19 [[ 9.99226677e-01 -3.88365407e-02 6.14588997e-03 1.31893149e+01] [ 3.88350425e-02 9.99245569e-01 3.62970011e-04 2.78145725e-02] [-6.15534982e-03 -1.24013420e-04 9.99981048e-01 -1.85929524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters Centerline goodness : 0.960740 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.03, Z:-0.19 [[ 9.99659679e-01 -2.53525997e-02 6.14588210e-03 1.32501596e+01] [ 2.53508459e-02 9.99678550e-01 3.63103263e-04 3.10491856e-02] [-6.15311211e-03 -2.07176382e-04 9.99981048e-01 -1.87806723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42771942099999 meters Centerline goodness : 0.955170 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.04, Z:-0.20 [[ 9.99826351e-01 -1.75925194e-02 6.14588965e-03 1.33106452e+01] [ 1.75906200e-02 9.99845207e-01 3.62975313e-04 3.97896149e-02] [-6.15132396e-03 -2.54802273e-04 9.99981048e-01 -1.95828614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719420999994 meters Centerline goodness : 0.952785 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:0.05, Z:-0.20 [[ 9.99882690e-01 -1.40297522e-02 6.14588962e-03 1.33710321e+01] [ 1.40277856e-02 9.99901540e-01 3.62975918e-04 4.58546384e-02] [-6.15037695e-03 -2.76720115e-04 9.99981048e-01 -1.99683237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters Centerline goodness : 0.952191 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:0.04, Z:-0.20 [[ 9.99734908e-01 -2.21887948e-02 6.14589697e-03 1.34340174e+01] [ 2.21869828e-02 9.99753773e-01 3.62851299e-04 3.90928816e-02] [-6.15243492e-03 -2.26396200e-04 9.99981048e-01 -2.03718694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60771942099999 meters Centerline goodness : 0.945525 with order 1 Centerline is valid? [True, False] Translation: X:13.45, Y:0.04, Z:-0.21 [[ 9.99562546e-01 -2.95684702e-02 -6.49284707e-04 1.34470044e+01] [ 2.95704455e-02 9.99557321e-01 3.27883574e-03 3.76616195e-02] [ 5.52047125e-04 -3.29660104e-03 9.99994414e-01 -2.05004124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.667719420999994 meters Centerline goodness : 0.946868 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:0.03, Z:-0.20 [[ 9.99438730e-01 -3.34926987e-02 -6.81715192e-04 1.34465077e+01] [ 3.34932167e-02 9.99438653e-01 7.63154582e-04 3.19293981e-02] [ 6.55772407e-04 -7.85559081e-04 9.99999476e-01 -2.03716059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters Centerline goodness : 0.945610 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:0.03, Z:-0.20 [[ 9.99413276e-01 -3.42362119e-02 -9.93247957e-04 1.34475385e+01] [ 3.42373032e-02 9.99413123e-01 1.10331649e-03 2.89036594e-02] [ 9.54891665e-04 -1.13667527e-03 9.99998898e-01 -2.04129178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters Centerline goodness : 0.958287 with order 1 Centerline is valid? [False, True] Translation: X:13.43, Y:0.03, Z:-0.19 [[ 9.99221672e-01 -3.89333677e-02 6.34368361e-03 1.34343565e+01] [ 3.89569611e-02 9.99234263e-01 -3.63901965e-03 3.03371002e-02] [-6.19714673e-03 3.88331794e-03 9.99973257e-01 -1.94804905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719420999994 meters Centerline goodness : 0.955669 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:0.03, Z:-0.20 [[ 9.99006639e-01 -4.41344249e-02 6.15537152e-03 1.34952018e+01] [ 4.41334466e-02 9.99025601e-01 2.94737414e-04 3.26923590e-02] [-6.16238180e-03 -2.27868732e-05 9.99981012e-01 -1.95468597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.907719420999996 meters Centerline goodness : 0.950433 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:0.04, Z:-0.20 [[ 9.98701099e-01 -5.05789154e-02 6.15537152e-03 1.35554240e+01] [ 5.05780595e-02 9.98720067e-01 2.94737414e-04 3.78488412e-02] [-6.16240056e-03 1.69721676e-05 9.99981012e-01 -2.02702881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.967719421 meters Centerline goodness : 0.952319 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:0.05, Z:-0.20 [[ 9.98859649e-01 -4.73446129e-02 6.15537152e-03 1.36156073e+01] [ 4.73436956e-02 9.98878615e-01 2.94737414e-04 4.54423655e-02] [-6.16242321e-03 -2.98327464e-06 9.99981012e-01 -2.01626928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02771942099999 meters Centerline goodness : 0.957640 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:0.05, Z:-0.20 [[ 9.99440303e-01 -3.28814754e-02 6.15537152e-03 1.36752072e+01] [ 3.28802836e-02 9.99459254e-01 2.94737414e-04 5.22545461e-02] [-6.16173443e-03 -9.21820892e-05 9.99981012e-01 -1.95782343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters Centerline goodness : 0.952966 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:0.06, Z:-0.20 [[ 9.99845537e-01 -1.64624888e-02 6.15536294e-03 1.37359963e+01] [ 1.64609848e-02 9.99864465e-01 2.94916599e-04 5.80388558e-02] [-6.15938373e-03 -1.93547709e-04 9.99981012e-01 -1.98671150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.147719421 meters Centerline goodness : 0.949885 with order 1 Centerline is valid? [True, False] Translation: X:13.72, Y:0.06, Z:-0.20 [[ 9.99983858e-01 1.12730686e-03 5.56890981e-03 1.37229511e+01] [-1.08418420e-03 9.99969455e-01 -7.74042325e-03 6.04340486e-02] [-5.57746554e-03 7.73426058e-03 9.99954536e-01 -1.98142566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20771942099999 meters Centerline goodness : 0.945992 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.05, Z:-0.20 [[ 9.99988251e-01 4.57231745e-03 1.60976364e-03 1.37449403e+01] [-4.56711496e-03 9.99984384e-01 -3.22080711e-03 5.31765973e-02] [-1.62446506e-03 3.21341730e-03 9.99993518e-01 -2.01084334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.267719420999995 meters Centerline goodness : 0.941863 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:0.05, Z:-0.21 [[ 9.99995252e-01 1.09416299e-03 2.88077660e-03 1.37694001e+01] [-1.13039600e-03 9.99919901e-01 1.26060757e-02 5.08059118e-02] [-2.86675275e-03 -1.26092722e-02 9.99916390e-01 -2.06308896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters Centerline goodness : 0.939738 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.04, Z:-0.21 [[ 9.99965745e-01 -6.61934395e-03 4.96930669e-03 1.37964013e+01] [ 6.52178595e-03 9.99790568e-01 1.93980979e-02 4.04499407e-02] [-5.09666864e-03 -1.93650247e-02 9.99799490e-01 -2.07127644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38771942099999 meters Centerline goodness : 0.946705 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:0.03, Z:-0.21 [[ 9.99788939e-01 -1.76182419e-02 1.05676593e-02 1.38338483e+01] [ 1.71736971e-02 9.99020678e-01 4.07768191e-02 2.90012433e-02] [-1.12757261e-02 -4.05867269e-02 9.99112394e-01 -2.06589671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719420999995 meters Centerline goodness : 0.949052 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:0.02, Z:-0.20 [[ 9.99530302e-01 -2.86223351e-02 1.09516178e-02 1.38316570e+01] [ 2.82720186e-02 9.99122357e-01 3.09064465e-02 2.47994393e-02] [-1.18266208e-02 -3.05823054e-02 9.99462282e-01 -2.03840571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters Centerline goodness : 0.945818 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.02, Z:-0.20 [[ 9.99338580e-01 -3.56315249e-02 7.26619406e-03 1.38046729e+01] [ 3.56519116e-02 9.99360633e-01 -2.69569051e-03 2.42191032e-02] [-7.16549673e-03 2.95296123e-03 9.99969967e-01 -2.00004657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56771942099999 meters Centerline goodness : 0.942625 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.03, Z:-0.20 [[ 9.99267592e-01 -3.76228779e-02 6.98558052e-03 1.37965146e+01] [ 3.79268690e-02 9.98018046e-01 -5.02148624e-02 3.31091687e-02] [-5.08250779e-03 5.04430258e-02 9.98714008e-01 -1.98364393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.627719420999995 meters Centerline goodness : 0.946615 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:0.04, Z:-0.19 [[ 9.99024100e-01 -4.35573844e-02 7.32137240e-03 1.37881886e+01] [ 4.40440346e-02 9.94860180e-01 -9.11775522e-02 4.30962964e-02] [-3.31228617e-03 9.14110348e-02 9.95807738e-01 -1.92250669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.687719421 meters Centerline goodness : 0.953644 with order 1 Centerline is valid? [False, True] Translation: X:13.79, Y:0.06, Z:-0.18 [[ 9.99283741e-01 -3.54396275e-02 1.32678980e-02 1.37939680e+01] [ 3.71329789e-02 9.85863815e-01 -1.63382004e-01 6.37355583e-02] [-7.29014318e-03 1.63757657e-01 9.86473661e-01 -1.81087307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74771942099999 meters Centerline goodness : 0.957945 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:0.02, Z:-0.18 [[ 9.99620118e-01 -2.67002456e-02 6.83496618e-03 1.38557958e+01] [ 2.66990062e-02 9.99643481e-01 2.72529589e-04 1.58870894e-02] [-6.83980599e-03 -8.99392559e-05 9.99976604e-01 -1.77243293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.807719420999994 meters Centerline goodness : 0.955485 with order 1 Centerline is valid? [True, True] Translation: X:13.92, Y:0.03, Z:-0.18 [[ 9.99851398e-01 -1.58260661e-02 6.83495437e-03 1.39156574e+01] [ 1.58245707e-02 9.99874746e-01 2.72825451e-04 2.63710742e-02] [-6.83841602e-03 -1.64624690e-04 9.99976604e-01 -1.82907048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.867719421 meters Centerline goodness : 0.946294 with order 1 Centerline is valid? [True, False] Translation: X:13.92, Y:0.03, Z:-0.19 [[ 9.99997288e-01 -1.52440955e-03 1.76081979e-03 1.39207685e+01] [ 1.53088635e-03 9.99992047e-01 -3.68281130e-03 3.12743385e-02] [-1.75519167e-03 3.68549693e-03 9.99991668e-01 -1.85713245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92771942099999 meters Centerline goodness : 0.952467 with order 1 Centerline is valid? [False, True] Translation: X:13.94, Y:0.02, Z:-0.19 [[ 9.99992060e-01 8.40008406e-04 3.89539968e-03 1.39400958e+01] [-8.91587882e-04 9.99911707e-01 1.32583477e-02 2.47110802e-02] [-3.88391862e-03 -1.32617155e-02 9.99904516e-01 -1.86798747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.987719420999994 meters Centerline goodness : 0.953833 with order 1 Centerline is valid? [True, True] Translation: X:14.00, Y:0.02, Z:-0.19 [[ 9.99990126e-01 8.26845672e-05 4.44316485e-03 1.40019136e+01] [-8.35120468e-05 9.99999979e-01 1.86051335e-04 2.45075359e-02] [-4.44314938e-03 -1.86420556e-04 9.99990112e-01 -1.86791868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.047719421 meters Centerline goodness : 0.959038 with order 1 Centerline is valid? [True, True] Translation: X:14.06, Y:0.02, Z:-0.18 [[ 9.99969416e-01 -6.43617083e-03 4.44322138e-03 1.40640682e+01] [ 6.43541364e-03 9.99979275e-01 1.84691534e-04 1.82783651e-02] [-4.44431800e-03 -1.56091918e-04 9.99990112e-01 -1.84626730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10771942099999 meters Centerline goodness : 0.959123 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:0.01, Z:-0.18 [[ 9.99866817e-01 -1.57036777e-02 4.44327292e-03 1.41261073e+01] [ 1.57030174e-02 9.99876683e-01 1.83442976e-04 1.15800089e-02] [-4.44560572e-03 -1.13645753e-04 9.99990112e-01 -1.84021694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719420999994 meters Centerline goodness : 0.954922 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:0.01, Z:-0.19 [[ 9.99662914e-01 -2.55795854e-02 4.44328098e-03 1.41863470e+01] [ 2.55790235e-02 9.99672786e-01 1.83247497e-04 9.34210655e-03] [-4.44651448e-03 -6.95309378e-05 9.99990112e-01 -1.89120679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.227719420999996 meters Centerline goodness : 0.952718 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:0.00, Z:-0.19 [[ 9.99395936e-01 -3.44676550e-02 4.44329701e-03 1.42471513e+01] [ 3.44671826e-02 9.99405813e-01 1.82857995e-04 4.66952615e-03] [-4.44695955e-03 -2.95996079e-05 9.99990112e-01 -1.90999532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28771942099999 meters Centerline goodness : 0.959029 with order 1 Centerline is valid? [True, True] Translation: X:14.31, Y:0.01, Z:-0.19 [[ 9.99417485e-01 -3.38370634e-02 4.44329701e-03 1.43059074e+01] [ 3.38365848e-02 9.99427362e-01 1.82857995e-04 1.28396289e-02] [-4.44693999e-03 -3.24054817e-05 9.99990112e-01 -1.86695841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719420999994 meters Centerline goodness : 0.958344 with order 1 Centerline is valid? [True, True] Translation: X:14.37, Y:0.02, Z:-0.19 [[ 9.99612076e-01 -2.74946472e-02 4.44328525e-03 1.43654374e+01] [ 2.74941046e-02 9.99621949e-01 1.83143509e-04 1.71333383e-02] [-4.44664092e-03 -6.09083141e-05 9.99990112e-01 -1.86047120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.407719420999996 meters Centerline goodness : 0.951111 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:0.02, Z:-0.19 [[ 9.99963771e-01 -7.26047466e-03 4.44327732e-03 1.44252440e+01] [ 7.25973161e-03 9.99973631e-01 1.83335645e-04 2.20563626e-02] [-4.44449126e-03 -1.51072002e-04 9.99990112e-01 -1.91577421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.467719421 meters Centerline goodness : 0.955923 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:0.03, Z:-0.19 [[ 9.99989580e-01 1.04757466e-03 4.44327335e-03 1.44852761e+01] [-1.04840002e-03 9.99999434e-01 1.83431730e-04 2.63126869e-02] [-4.44307868e-03 -1.88088147e-04 9.99990112e-01 -1.89944523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52771942099999 meters Centerline goodness : 0.958080 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:0.02, Z:-0.19 [[ 9.99988407e-01 -1.85564771e-03 4.44327721e-03 1.45470681e+01] [ 1.85485137e-03 9.99998263e-01 1.83338111e-04 2.19801989e-02] [-4.44360971e-03 -1.75094366e-04 9.99990112e-01 -1.86262723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters Centerline goodness : 0.960025 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:0.01, Z:-0.19 [[ 9.99977323e-01 -5.06068918e-03 4.44328504e-03 1.46089301e+01] [ 5.05992527e-03 9.99987182e-01 1.83148157e-04 1.39785046e-02] [-4.44415494e-03 -1.60661313e-04 9.99990112e-01 -1.87321941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters Centerline goodness : 0.953394 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:0.01, Z:-0.19 [[ 9.99979952e-01 -4.51148813e-03 4.44329269e-03 1.46709561e+01] [ 4.51071963e-03 9.99989810e-01 1.82962356e-04 9.00301689e-03] [-4.44407285e-03 -1.62916241e-04 9.99990112e-01 -1.90955962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70771942099999 meters Centerline goodness : 0.950293 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:0.00, Z:-0.20 [[ 9.99954398e-01 -8.45328581e-03 4.44330410e-03 1.47325964e+01] [ 8.45255741e-03 9.99964260e-01 1.82685030e-04 2.65041141e-03] [-4.44468958e-03 -1.45119416e-04 9.99990112e-01 -1.95063676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719420999995 meters Centerline goodness : 0.953984 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.00, Z:-0.19 [[ 9.99885326e-01 -1.44772567e-02 4.44331191e-03 1.47944047e+01] [ 1.44765886e-02 9.99895192e-01 1.82494787e-04 -2.02026026e-04] [-4.44548824e-03 -1.18149861e-04 9.99990112e-01 -1.93107845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters Centerline goodness : 0.957429 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.00, Z:-0.19 [[ 9.99540695e-01 -2.99775800e-02 4.44331970e-03 1.48555609e+01] [ 2.99770657e-02 9.99550570e-01 1.82305046e-04 -4.18808493e-03] [-4.44678780e-03 -4.90236255e-05 9.99990112e-01 -1.89909009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88771942099999 meters Centerline goodness : 0.954826 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.01, Z:-0.19 [[ 9.99203986e-01 -3.96440448e-02 4.44332357e-03 1.49145644e+01] [ 3.96436265e-02 9.99213866e-01 1.82210607e-04 -6.33354546e-03] [-4.44705409e-03 -5.91610485e-06 9.99990112e-01 -1.91297291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.947719420999995 meters Centerline goodness : 0.949925 with order 1 Centerline is valid? [True, False] Translation: X:14.94, Y:-0.00, Z:-0.19 [[ 9.99021595e-01 -4.41855832e-02 1.86745400e-03 1.49357004e+01] [ 4.41991362e-02 9.98990895e-01 -7.97675022e-03 -3.09565379e-03] [-1.51311218e-03 8.05148558e-03 9.99966441e-01 -1.94119347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.007719421 meters Centerline goodness : 0.947853 with order 1 Centerline is valid? [False, False] Translation: X:14.96, Y:0.00, Z:-0.20 [[ 9.98863392e-01 -4.75945210e-02 2.58562592e-03 1.49640568e+01] [ 4.76443023e-02 9.98552710e-01 -2.49500513e-02 1.78851505e-03] [-1.39439803e-03 2.50448832e-02 9.99685355e-01 -1.97951430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06771942099999 meters Centerline goodness : 0.954982 with order 1 Centerline is valid? [False, True] Translation: X:14.99, Y:0.01, Z:-0.20 [[ 9.98876706e-01 -4.60527261e-02 1.11567128e-02 1.49903104e+01] [ 4.65529431e-02 9.97676765e-01 -4.97382698e-02 1.13868434e-02] [-8.84021020e-03 5.02017770e-02 9.98699971e-01 -1.96183185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719420999995 meters Centerline goodness : 0.958885 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:0.01, Z:-0.19 [[ 9.99354013e-01 -3.47051115e-02 9.33336633e-03 1.50490456e+01] [ 3.47034310e-02 9.99397596e-01 3.42002144e-04 1.40494513e-02] [-9.33961310e-03 -1.78813813e-05 9.99956385e-01 -1.91604006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters Centerline goodness : 0.956102 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:0.03, Z:-0.19 [[ 9.99711143e-01 -2.21476842e-02 9.33334395e-03 1.51092352e+01] [ 2.21454506e-02 9.99754701e-01 3.42611954e-04 2.72560015e-02] [-9.33864255e-03 -1.35821881e-04 9.99956385e-01 -1.94366790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24771942099999 meters Centerline goodness : 0.963529 with order 1 Centerline is valid? [True, True] Translation: X:15.17, Y:0.04, Z:-0.19 [[ 9.99900696e-01 -1.05587375e-02 9.33334395e-03 1.51700989e+01] [ 1.05559991e-02 9.99944225e-01 3.42611954e-04 3.99322711e-02] [-9.33644093e-03 -2.44055161e-04 9.99956385e-01 -1.89459602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719420999994 meters Centerline goodness : 0.956271 with order 1 Centerline is valid? [True, True] Translation: X:15.23, Y:0.05, Z:-0.20 [[ 9.99956358e-01 4.13169080e-04 9.33335914e-03 1.52305989e+01] [-4.16381044e-04 9.99999855e-01 3.42197577e-04 5.48167856e-02] [-9.33321640e-03 -3.46068876e-04 9.99956385e-01 -1.96788701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters Centerline goodness : 0.953109 with order 1 Centerline is valid? [True, True] Translation: X:15.29, Y:0.06, Z:-0.20 [[ 9.99952732e-01 2.72434821e-03 9.33337435e-03 1.52916065e+01] [-2.72765683e-03 9.99996222e-01 3.41782170e-04 5.88078475e-02] [-9.33240795e-03 -3.67224257e-04 9.99956385e-01 -2.00336612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42771942099999 meters Centerline goodness : 0.957954 with order 1 Centerline is valid? [True, True] Translation: X:15.35, Y:0.06, Z:-0.20 [[ 9.99952353e-01 2.85992960e-03 9.33339668e-03 1.53534457e+01] [-2.86323842e-03 9.99995843e-01 3.41171239e-04 5.82269802e-02] [-9.33238216e-03 -3.67878723e-04 9.99956385e-01 -1.98111909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719420999994 meters Centerline goodness : 0.953016 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:0.06, Z:-0.20 [[ 9.99917484e-01 -8.82671998e-03 9.33349074e-03 1.54161467e+01] [ 8.82394383e-03 9.99961011e-01 3.38578416e-04 5.81932775e-02] [-9.33611537e-03 -2.56192280e-04 9.99956385e-01 -2.04424654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters Centerline goodness : 0.955986 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:0.05, Z:-0.20 [[ 9.99623319e-01 -2.58090334e-02 9.33352615e-03 1.54784885e+01] [ 2.58070061e-02 9.99666887e-01 3.37599329e-04 5.23186804e-02] [-9.33913015e-03 -9.66017945e-05 9.99956385e-01 -2.01278473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60771942099999 meters Centerline goodness : 0.956206 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:0.05, Z:-0.20 [[ 9.98995143e-01 -4.38359260e-02 9.33355465e-03 1.55403571e+01] [ 4.38346923e-02 9.99038741e-01 3.36809809e-04 4.96993872e-02] [-9.33934705e-03 7.26621325e-05 9.99956385e-01 -2.00351525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719420999994 meters Centerline goodness : 0.951594 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:0.05, Z:-0.20 [[ 9.98559806e-01 -5.28317892e-02 9.33356907e-03 1.55998259e+01] [ 5.28309519e-02 9.98603413e-01 3.36409470e-04 5.15684215e-02] [-9.33830705e-03 1.57176364e-04 9.99956385e-01 -2.01581856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters Centerline goodness : 0.946572 with order 1 Centerline is valid? [True, False] Translation: X:15.63, Y:0.06, Z:-0.20 [[ 9.98590898e-01 -5.23378133e-02 8.77332590e-03 1.56304277e+01] [ 5.25853359e-02 9.98139254e-01 -3.08676391e-02 6.39305515e-02] [-7.14145624e-03 3.12854917e-02 9.99484976e-01 -2.03937997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78771942099999 meters Centerline goodness : 0.952702 with order 1 Centerline is valid? [False, True] Translation: X:15.66, Y:0.08, Z:-0.20 [[ 9.98568160e-01 -5.10928415e-02 1.58477714e-02 1.56608310e+01] [ 5.21398307e-02 9.95836112e-01 -7.47788538e-02 8.01468287e-02] [-1.19611189e-02 7.54980825e-02 9.97074205e-01 -1.99032025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.847719420999994 meters Centerline goodness : 0.955619 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:0.06, Z:-0.20 [[ 9.98376326e-01 -5.53864002e-02 1.33063289e-02 1.57207214e+01] [ 5.53852372e-02 9.98464956e-01 4.56173777e-04 6.16815890e-02] [-1.33111690e-02 2.81541086e-04 9.99911363e-01 -1.96891296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters Centerline goodness : 0.956796 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.07, Z:-0.19 [[ 9.98796219e-01 -4.72128632e-02 1.33063339e-02 1.57809819e+01] [ 4.72109767e-02 9.98884836e-01 4.56030550e-04 6.97503959e-02] [-1.33130256e-02 1.72723428e-04 9.99911363e-01 -1.93182896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96771942099999 meters Centerline goodness : 0.950900 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.08, Z:-0.20 [[ 9.99348271e-01 -3.35555515e-02 1.33063339e-02 1.58403366e+01] [ 3.35524539e-02 9.99436854e-01 4.56030550e-04 8.49785153e-02] [-1.33141428e-02 -9.27318906e-06 9.99911363e-01 -2.03342099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02771942099999 meters Centerline goodness : 0.946248 with order 1 Centerline is valid? [True, False] Translation: X:15.84, Y:0.09, Z:-0.21 [[ 9.99656086e-01 -2.31147982e-02 1.23860831e-02 1.58438136e+01] [ 2.29855813e-02 9.99680916e-01 1.04751732e-02 8.73497308e-02] [-1.26242624e-02 -1.01868693e-02 9.99868419e-01 -2.06076102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.087719420999996 meters Centerline goodness : 0.944074 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:0.09, Z:-0.21 [[ 9.99756164e-01 -1.81755925e-02 1.25403861e-02 1.58410448e+01] [ 1.81155811e-02 9.99823978e-01 4.88256958e-03 9.18769332e-02] [-1.26269223e-02 -4.65420265e-03 9.99909446e-01 -2.11492902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.147719421 meters Centerline goodness : 0.943003 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:0.10, Z:-0.21 [[ 9.99862972e-01 -1.12035182e-02 1.21868089e-02 1.58418691e+01] [ 1.10687551e-02 9.99877462e-01 1.10699142e-02 9.69380378e-02] [-1.23093375e-02 -1.09335045e-02 9.99864460e-01 -2.11945195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20771942099999 meters Centerline goodness : 0.946996 with order 1 Centerline is valid? [False, False] Translation: X:15.86, Y:0.10, Z:-0.21 [[ 9.99833230e-01 -6.94438988e-03 1.68904463e-02 1.58562209e+01] [ 6.70576512e-03 9.99877488e-01 1.41436347e-02 9.90014184e-02] [-1.69865960e-02 -1.40280126e-02 9.99757306e-01 -2.10088821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719420999995 meters Centerline goodness : 0.951640 with order 1 Centerline is valid? [False, True] Translation: X:15.88, Y:0.10, Z:-0.21 [[ 9.99802461e-01 -7.80745858e-03 1.82779281e-02 1.58805443e+01] [ 7.32868354e-03 9.99632050e-01 2.61161982e-02 9.65606220e-02] [-1.84751038e-02 -2.59770861e-02 9.99491802e-01 -2.08955730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters Centerline goodness : 0.952231 with order 1 Centerline is valid? [True, True] Translation: X:15.94, Y:0.10, Z:-0.21 [[ 9.99615015e-01 -2.01209911e-02 1.91041217e-02 1.59409803e+01] [ 2.01129255e-02 9.99797526e-01 6.14257558e-04 1.04417210e-01] [-1.91126131e-02 -2.29781302e-04 9.99817311e-01 -2.11063747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38771942099999 meters Centerline goodness : 0.947272 with order 1 Centerline is valid? [True, False] Translation: X:15.93, Y:0.10, Z:-0.21 [[ 9.99304756e-01 -3.53239369e-02 1.19257810e-02 1.59336383e+01] [ 3.53739944e-02 9.99366088e-01 -4.01283635e-03 9.61591032e-02] [-1.17764720e-02 4.43190896e-03 9.99920833e-01 -2.07812906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.447719420999995 meters Centerline goodness : 0.954339 with order 1 Centerline is valid? [False, True] Translation: X:15.95, Y:0.10, Z:-0.20 [[ 9.99005596e-01 -4.23233668e-02 1.40197216e-02 1.59468153e+01] [ 4.27188080e-02 9.98659683e-01 -2.92222708e-02 9.53892446e-02] [-1.27641459e-02 2.97921178e-02 9.99474615e-01 -2.03073196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.507719421 meters Centerline goodness : 0.952956 with order 1 Centerline is valid? [True, True] Translation: X:16.01, Y:0.09, Z:-0.21 [[ 9.99292822e-01 -3.52076398e-02 1.32014022e-02 1.60088413e+01] [ 3.52058546e-02 9.99380014e-01 3.67672011e-04 9.07688471e-02] [-1.32061624e-02 9.73546444e-05 9.99912790e-01 -2.05422528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56771942099999 meters Centerline goodness : 0.944178 with order 1 Centerline is valid? [True, False] Translation: X:16.03, Y:0.10, Z:-0.21 [[ 9.99809916e-01 -1.83612352e-02 6.55714886e-03 1.60256369e+01] [ 1.83135827e-02 9.99805971e-01 7.25484100e-03 9.52444907e-02] [-6.68908443e-03 -7.13337708e-03 9.99952184e-01 -2.10214861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.627719420999995 meters Centerline goodness : 0.948408 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.10, Z:-0.21 [[ 9.99916297e-01 -1.11523260e-02 6.55932920e-03 1.60241159e+01] [ 1.10683029e-02 9.99857971e-01 1.27094796e-02 1.02366688e-01] [-6.70013785e-03 -1.26358151e-02 9.99897717e-01 -2.08227031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.687719421 meters Centerline goodness : 0.947344 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.10, Z:-0.21 [[ 9.99915959e-01 -1.12983283e-02 6.35794657e-03 1.60246599e+01] [ 1.12230318e-02 9.99867905e-01 1.17565159e-02 1.03374571e-01] [-6.48993570e-03 -1.16841724e-02 9.99910676e-01 -2.08251192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74771942099999 meters Centerline goodness : 0.950487 with order 1 Centerline is valid? [False, True] Translation: X:16.05, Y:0.10, Z:-0.21 [[ 9.99935598e-01 -7.47883091e-03 8.53621979e-03 1.60548746e+01] [ 7.24685668e-03 9.99612127e-01 2.68901356e-02 1.03083662e-01] [-8.73401560e-03 -2.68265430e-02 9.99601948e-01 -2.12621751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.807719420999994 meters Centerline goodness : 0.943627 with order 1 Centerline is valid? [True, False] Translation: X:16.07, Y:0.11, Z:-0.21 [[ 9.99989290e-01 4.00610815e-03 2.31740982e-03 1.60684016e+01] [-4.07138597e-03 9.99574441e-01 2.88852892e-02 1.06059976e-01] [-2.20070603e-03 -2.88944149e-02 9.99580047e-01 -2.12785449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.867719421 meters Centerline goodness : 0.940669 with order 1 Centerline is valid? [False, False] Translation: X:16.07, Y:0.11, Z:-0.22 [[ 9.99954458e-01 9.43595663e-03 1.43021348e-03 1.60728987e+01] [-9.47846302e-03 9.99397287e-01 3.33949450e-02 1.06710299e-01] [-1.11423822e-03 -3.34069803e-02 9.99441210e-01 -2.16246155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92771942099999 meters Centerline goodness : 0.944427 with order 1 Centerline is valid? [False, False] Translation: X:16.09, Y:0.11, Z:-0.22 [[ 9.99957917e-01 8.76065292e-03 2.72304633e-03 1.60918713e+01] [-8.84666556e-03 9.99403989e-01 3.33676982e-02 1.05309575e-01] [-2.42910054e-03 -3.33903839e-02 9.99439434e-01 -2.16474609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.987719420999994 meters Centerline goodness : 0.953381 with order 1 Centerline is valid? [False, True] Translation: X:16.12, Y:0.10, Z:-0.21 [[ 9.99958670e-01 2.97946932e-03 8.58954016e-03 1.61207015e+01] [-3.25111136e-03 9.99489403e-01 3.17862163e-02 1.04177054e-01] [-8.49044832e-03 -3.18128281e-02 9.99457781e-01 -2.13523050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters Centerline goodness : 0.955889 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:0.11, Z:-0.21 [[ 9.99796463e-01 -1.78227827e-02 9.45414716e-03 1.61827644e+01] [ 1.78211412e-02 9.99841158e-01 2.57850990e-04 1.08149337e-01] [-9.45724106e-03 -8.93148163e-05 9.99955275e-01 -2.11031781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10771942099999 meters Centerline goodness : 0.948495 with order 1 Centerline is valid? [True, False] Translation: X:16.18, Y:0.11, Z:-0.21 [[ 9.99605731e-01 -2.79682770e-02 2.48165729e-03 1.61820143e+01] [ 2.79643523e-02 9.99607637e-01 1.60231822e-03 1.05912521e-01] [-2.52549766e-03 -1.53228854e-03 9.99995637e-01 -2.14146026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.167719420999994 meters Centerline goodness : 0.944779 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:0.11, Z:-0.22 [[ 9.99461207e-01 -3.27519897e-02 2.14528237e-03 1.61836627e+01] [ 3.27589183e-02 9.99457906e-01 -3.27833088e-03 1.09340990e-01] [-2.03674757e-03 3.34684167e-03 9.99992325e-01 -2.15298423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters Centerline goodness : 0.944910 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:0.11, Z:-0.21 [[ 9.99566462e-01 -2.94016422e-02 1.55939518e-03 1.61837278e+01] [ 2.94020141e-02 9.99567644e-01 -2.16103246e-04 1.11236308e-01] [-1.55236717e-03 2.61858916e-04 9.99998761e-01 -2.13951333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28771942099999 meters Centerline goodness : 0.944383 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:0.12, Z:-0.21 [[ 9.99939339e-01 -1.10045121e-02 -4.67199949e-04 1.61821000e+01] [ 1.10030948e-02 9.99935157e-01 -2.93484487e-03 1.22475508e-01] [ 4.99466190e-04 2.92952619e-03 9.99995584e-01 -2.13211550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.347719420999994 meters Centerline goodness : 0.949897 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:0.13, Z:-0.21 [[ 9.99997465e-01 2.16419709e-03 -6.21912298e-04 1.61814424e+01] [-2.15899317e-03 9.99963638e-01 8.24987519e-03 1.27087830e-01] [ 6.39744040e-04 -8.24851157e-03 9.99965776e-01 -2.11416451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.407719420999996 meters Centerline goodness : 0.949191 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:0.13, Z:-0.21 [[ 9.99960477e-01 8.81286961e-03 -1.17338725e-03 1.61838352e+01] [-8.79495587e-03 9.99856414e-01 1.44845043e-02 1.30620589e-01] [ 1.30086882e-03 -1.44736120e-02 9.99894406e-01 -2.12976647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46771942099999 meters Centerline goodness : 0.944328 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.13, Z:-0.22 [[ 9.99922073e-01 1.14358461e-02 -5.00694873e-03 1.62067217e+01] [-1.13532751e-02 9.99803984e-01 1.62202855e-02 1.31465368e-01] [ 5.19145998e-03 -1.61621763e-02 9.99855906e-01 -2.15771790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52771942099999 meters Centerline goodness : 0.944953 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.13, Z:-0.22 [[ 9.99994149e-01 2.67676288e-03 -2.13008074e-03 1.62287320e+01] [-2.62649531e-03 9.99725959e-01 2.32617469e-02 1.28364452e-01] [ 2.19176319e-03 -2.32560161e-02 9.99727140e-01 -2.16729038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.587719420999996 meters Centerline goodness : 0.946757 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.12, Z:-0.22 [[ 9.99993333e-01 -3.55159799e-03 -8.48664991e-04 1.62561184e+01] [ 3.57533101e-03 9.99548724e-01 2.98255836e-02 1.24625276e-01] [ 7.42353526e-04 -2.98284190e-02 9.99554758e-01 -2.18605616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64771942099999 meters Centerline goodness : 0.951987 with order 1 Centerline is valid? [False, True] Translation: X:16.29, Y:0.10, Z:-0.22 [[ 9.99806702e-01 -1.78859671e-02 8.16396848e-03 1.62948284e+01] [ 1.71378765e-02 9.96320283e-01 8.39773037e-02 1.04511463e-01] [-9.63594268e-03 -8.38211580e-02 9.96434224e-01 -2.17003833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70771942099999 meters Centerline goodness : 0.953547 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:0.13, Z:-0.22 [[ 9.99594344e-01 -2.65573019e-02 1.02887327e-02 1.63561237e+01] [ 2.65560667e-02 9.99647293e-01 2.56675340e-04 1.26602465e-01] [-1.02919204e-02 1.66570545e-05 9.99947037e-01 -2.16144165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719420999995 meters Centerline goodness : 0.953256 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:0.12, Z:-0.22 [[ 9.99440350e-01 -3.18296489e-02 1.02888150e-02 1.64179491e+01] [ 3.18287275e-02 9.99493306e-01 2.53331554e-04 1.20099929e-01] [-1.02916652e-02 7.42901130e-05 9.99947037e-01 -2.18971312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters Centerline goodness : 0.957322 with order 1 Centerline is valid? [True, True] Translation: X:16.48, Y:0.13, Z:-0.21 [[ 9.99516945e-01 -2.93260261e-02 1.02888258e-02 1.64787172e+01] [ 2.93249765e-02 9.99569898e-01 2.52895512e-04 1.25014035e-01] [-1.02918169e-02 4.89462237e-05 9.99947037e-01 -2.14852298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88771942099999 meters Centerline goodness : 0.959206 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:0.12, Z:-0.21 [[ 9.99828541e-01 -1.53957399e-02 1.02888434e-02 1.65395852e+01] [ 1.53939599e-02 9.99881474e-01 2.52175680e-04 1.23822669e-01] [-1.02915063e-02 -9.37463989e-05 9.99947037e-01 -2.14479611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719420999995 meters Centerline goodness : 0.959984 with order 1 Centerline is valid? [True, True] Translation: X:16.60, Y:0.13, Z:-0.22 [[ 9.99945671e-01 1.67195272e-03 1.02888485e-02 1.66020545e+01] [-1.67463375e-03 9.99998566e-01 2.51965974e-04 1.30394002e-01] [-1.02884125e-02 -2.69182338e-04 9.99947037e-01 -2.16193656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.007719421 meters Centerline goodness : 0.955936 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:0.14, Z:-0.22 [[ 9.99877314e-01 1.18108800e-02 1.02888697e-02 1.66637010e+01] [-1.18140884e-02 9.99930180e-01 2.51101225e-04 1.37824518e-01] [-1.02851856e-02 -3.72624033e-04 9.99947037e-01 -2.20185078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06771942099999 meters Centerline goodness : 0.950510 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:0.13, Z:-0.23 [[ 9.99845736e-01 1.42352960e-02 1.02888905e-02 1.67239352e+01] [-1.42386237e-02 9.99898594e-01 2.50243777e-04 1.32519743e-01] [-1.02842849e-02 -3.96704813e-04 9.99947037e-01 -2.27870271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.127719420999995 meters Centerline goodness : 0.954438 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:0.13, Z:-0.23 [[ 9.99884888e-01 1.11511911e-02 1.02888954e-02 1.67864235e+01] [-1.11543537e-02 9.99937757e-01 2.50044165e-04 1.34628114e-01] [-1.02854667e-02 -3.64781360e-04 9.99947037e-01 -2.25680709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.187719421 meters Centerline goodness : 0.953646 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:0.13, Z:-0.23 [[ 9.99920547e-01 7.28271870e-03 1.02889154e-02 1.68488755e+01] [-7.28566823e-03 9.99973428e-01 2.49216894e-04 1.33789603e-01] [-1.02868270e-02 -3.24158717e-04 9.99947037e-01 -2.27175185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24771942099999 meters Centerline goodness : 0.952163 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:0.13, Z:-0.23 [[ 9.99945520e-01 -1.75904449e-03 1.02889864e-02 1.69116856e+01] [ 1.75660378e-03 9.99998427e-01 2.46248060e-04 1.25884564e-01] [-1.02894034e-02 -2.28160972e-04 9.99947037e-01 -2.27575619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719420999994 meters Centerline goodness : 0.948096 with order 1 Centerline is valid? [True, False] Translation: X:16.95, Y:0.10, Z:-0.23 [[ 9.99774443e-01 -1.50694993e-02 1.49657557e-02 1.69499270e+01] [ 1.38198774e-02 9.96670540e-01 8.03544992e-02 9.92352344e-02] [-1.61268299e-02 -8.01295497e-02 9.96653992e-01 -2.29686473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters Centerline goodness : 0.945919 with order 1 Centerline is valid? [False, False] Translation: X:16.92, Y:0.10, Z:-0.22 [[ 9.99657001e-01 -2.36980534e-02 1.11481799e-02 1.69216310e+01] [ 2.32015722e-02 9.98817049e-01 4.27339354e-02 1.02254733e-01] [-1.21477032e-02 -4.24606224e-02 9.99024288e-01 -2.21600169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42771942099999 meters Centerline goodness : 0.949547 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:0.11, Z:-0.21 [[ 9.99690253e-01 -2.12739111e-02 1.29158045e-02 1.69142078e+01] [ 2.15585411e-02 9.99518557e-01 -2.23133196e-02 1.08327568e-01] [-1.24348946e-02 2.25848540e-02 9.99667594e-01 -2.13800530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719420999994 meters Centerline goodness : 0.949557 with order 1 Centerline is valid? [False, False] Translation: X:16.92, Y:0.13, Z:-0.21 [[ 9.99847148e-01 -1.28086017e-02 1.19004437e-02 1.69200708e+01] [ 1.39357868e-02 9.94885438e-01 -1.00043782e-01 1.28170251e-01] [-1.05581572e-02 1.00194332e-01 9.94911866e-01 -2.09112247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters Centerline goodness : 0.960802 with order 1 Centerline is valid? [False, True] Translation: X:16.93, Y:0.13, Z:-0.20 [[ 9.99887320e-01 -5.99544013e-03 1.37623167e-02 1.69325824e+01] [ 6.95691015e-03 9.97458255e-01 -7.09128431e-02 1.27722972e-01] [-1.33021827e-02 7.10005959e-02 9.97387571e-01 -2.02288592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60771942099999 meters Centerline goodness : 0.958121 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:0.11, Z:-0.21 [[ 9.99916219e-01 8.50594012e-04 1.29163329e-02 1.69943096e+01] [-8.52727644e-04 9.99999624e-01 1.59682293e-04 1.09282085e-01] [-1.29161923e-02 -1.70683029e-04 9.99916568e-01 -2.06679193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719420999994 meters Centerline goodness : 0.957386 with order 1 Centerline is valid? [True, True] Translation: X:17.06, Y:0.11, Z:-0.21 [[ 9.99885854e-01 7.83879884e-03 1.29163393e-02 1.70568681e+01] [-7.84150867e-03 9.99969242e-01 1.59167147e-04 1.14256534e-01] [-1.29146943e-02 -2.60432565e-04 9.99916568e-01 -2.10151183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.727719420999996 meters Centerline goodness : 0.962014 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:0.12, Z:-0.20 [[ 9.99819064e-01 1.39644931e-02 1.29163565e-02 1.71193636e+01] [-1.39676956e-02 9.99902435e-01 1.57760801e-04 1.22666910e-01] [-1.29128932e-02 -3.38143992e-04 9.99916568e-01 -2.04235031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78771942099999 meters Centerline goodness : 0.965256 with order 1 Centerline is valid? [True, True] Translation: X:17.18, Y:0.12, Z:-0.20 [[ 9.99603862e-01 2.50057145e-02 1.29163703e-02 1.71813692e+01] [-2.50098229e-02 9.99687193e-01 1.56621439e-04 1.22405528e-01] [-1.29084135e-02 -4.79595528e-04 9.99916568e-01 -2.03579783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.847719420999994 meters Centerline goodness : 0.960474 with order 1 Centerline is valid? [True, True] Translation: X:17.24, Y:0.12, Z:-0.21 [[ 9.99565740e-01 2.64858347e-02 1.29163839e-02 1.72421489e+01] [-2.64900518e-02 9.99649065e-01 1.55489703e-04 1.22875613e-01] [-1.29077328e-02 -4.97577859e-04 9.99916568e-01 -2.12707368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.907719420999996 meters Centerline goodness : 0.957324 with order 1 Centerline is valid? [True, True] Translation: X:17.30, Y:0.12, Z:-0.21 [[ 9.99761208e-01 1.76264928e-02 1.29164259e-02 1.73038883e+01] [-1.76299252e-02 9.99844569e-01 1.51917097e-04 1.20871751e-01] [-1.29117406e-02 -3.79596443e-04 9.99916568e-01 -2.12201472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96771942099999 meters Centerline goodness : 0.960108 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:0.11, Z:-0.21 [[ 9.99913535e-01 2.46726713e-03 1.29164356e-02 1.73654641e+01] [-2.46942463e-03 9.99996940e-01 1.51089354e-04 1.13413871e-01] [-1.29160233e-02 -1.82972455e-04 9.99916568e-01 -2.12461334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02771942099999 meters Centerline goodness : 0.957242 with order 1 Centerline is valid? [True, True] Translation: X:17.43, Y:0.11, Z:-0.22 [[ 9.99809795e-01 -1.46129282e-02 1.29164756e-02 1.74264598e+01] [ 1.46122409e-02 9.99893225e-01 1.47585949e-04 1.14824859e-01] [-1.29172531e-02 4.11807766e-05 9.99916568e-01 -2.17515219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.087719420999996 meters Centerline goodness : 0.960591 with order 1 Centerline is valid? [True, True] Translation: X:17.49, Y:0.11, Z:-0.21 [[ 9.99557495e-01 -2.67951193e-02 1.29164989e-02 1.74892450e+01] [ 2.67954754e-02 9.99640926e-01 1.45520319e-04 1.13058225e-01] [-1.29157602e-02 2.00647803e-04 9.99916568e-01 -2.13207658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14771942099999 meters Centerline goodness : 0.962522 with order 1 Centerline is valid? [True, True] Translation: X:17.55, Y:0.11, Z:-0.21 [[ 9.99454049e-01 -3.04099854e-02 1.29165462e-02 1.75511406e+01] [ 3.04106991e-02 9.99537478e-01 1.41195509e-04 1.13741637e-01] [-1.29148658e-02 2.51682778e-04 9.99916568e-01 -2.12592287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20771942099999 meters Centerline goodness : 0.967168 with order 1 Centerline is valid? [True, True] Translation: X:17.61, Y:0.13, Z:-0.21 [[ 9.99526443e-01 -2.79294174e-02 1.29165577e-02 1.76127345e+01] [ 2.79299378e-02 9.99609873e-01 1.40131420e-04 1.26141707e-01] [-1.29154324e-02 2.20693595e-04 9.99916568e-01 -2.05738839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters Centerline goodness : 0.965787 with order 1 Centerline is valid? [True, True] Translation: X:17.67, Y:0.13, Z:-0.21 [[ 9.99764727e-01 -1.74256639e-02 1.29165668e-02 1.76735232e+01] [ 1.74253186e-02 9.99848158e-01 1.39288178e-04 1.28204200e-01] [-1.29170327e-02 8.58198842e-05 9.99916568e-01 -2.09376201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32771942099999 meters Centerline goodness : 0.964997 with order 1 Centerline is valid? [True, True] Translation: X:17.74, Y:0.14, Z:-0.21 [[ 9.99903839e-01 -5.04726408e-03 1.29165757e-02 1.77360641e+01] [ 5.04589652e-03 9.99987260e-01 1.38463705e-04 1.37355957e-01] [-1.29171100e-02 -7.32746858e-05 9.99916568e-01 -2.12517658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38771942099999 meters Centerline goodness : 0.960273 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:0.15, Z:-0.22 [[ 9.99894013e-01 6.71743823e-03 1.29165864e-02 1.77971696e+01] [-6.71977415e-03 9.99977413e-01 1.37454690e-04 1.50555935e-01] [-1.29153713e-02 -2.24236665e-04 9.99916568e-01 -2.18436771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.447719420999995 meters Centerline goodness : 0.956890 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:0.15, Z:-0.22 [[ 9.99774755e-01 1.68404490e-02 1.29165943e-02 1.78595678e+01] [-1.68436195e-02 9.99858127e-01 1.36707471e-04 1.51543741e-01] [-1.29124596e-02 -3.54238879e-04 9.99916568e-01 -2.22345450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.507719421 meters Centerline goodness : 0.955220 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:0.15, Z:-0.22 [[ 9.99443546e-01 3.07532215e-02 1.29166045e-02 1.79213870e+01] [-3.07575395e-02 9.99526866e-01 1.35733765e-04 1.54978689e-01] [-1.29063190e-02 -5.32941210e-04 9.99916568e-01 -2.20889954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56771942099999 meters Centerline goodness : 0.960433 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:0.15, Z:-0.22 [[ 9.99175558e-01 3.84885024e-02 1.29166135e-02 1.79838847e+01] [-3.84934542e-02 9.99258843e-01 1.34878084e-04 1.54814363e-01] [-1.29018490e-02 -6.31971954e-04 9.99916568e-01 -2.16187265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.627719420999995 meters Centerline goodness : 0.958216 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:0.15, Z:-0.22 [[ 9.99199112e-01 3.78720981e-02 1.29166252e-02 1.80457175e+01] [-3.78769838e-02 9.99282401e-01 1.33746326e-04 1.49890431e-01] [-1.29022910e-02 -6.22882014e-04 9.99916568e-01 -2.19425320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.687719421 meters Centerline goodness : 0.959999 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:0.14, Z:-0.22 [[ 9.99623415e-01 2.42113305e-02 1.29166653e-02 1.81064685e+01] [-2.42150259e-02 9.99706765e-01 1.29755242e-04 1.37858825e-01] [-1.29097361e-02 -4.42483762e-04 9.99916568e-01 -2.20956169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74771942099999 meters Centerline goodness : 0.954192 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:0.13, Z:-0.23 [[ 9.99889991e-01 7.29147921e-03 1.29166709e-02 1.81674431e+01] [-7.29375630e-03 9.99973392e-01 1.29191296e-04 1.31089714e-01] [-1.29153853e-02 -2.23388134e-04 9.99916568e-01 -2.27212681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719420999994 meters Centerline goodness : 0.960461 with order 1 Centerline is valid? [True, True] Translation: X:18.23, Y:0.12, Z:-0.22 [[ 9.99910887e-01 -3.37304077e-03 1.29166763e-02 1.82298633e+01] [ 3.37166030e-03 9.99994308e-01 1.28649877e-04 1.19917257e-01] [-1.29170367e-02 -8.50877681e-05 9.99916568e-01 -2.20484760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters Centerline goodness : 0.957394 with order 1 Centerline is valid? [True, True] Translation: X:18.29, Y:0.12, Z:-0.22 [[ 9.99868701e-01 -9.78466446e-03 1.29166874e-02 1.82912952e+01] [ 9.78383340e-03 9.99952129e-01 1.27529933e-04 1.17433986e-01] [-1.29173169e-02 -1.13847112e-06 9.99916568e-01 -2.23509702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92771942099999 meters Centerline goodness : 0.957642 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:0.11, Z:-0.22 [[ 9.99833572e-01 -1.28835817e-02 1.29167214e-02 1.83532839e+01] [ 1.28830551e-02 9.99917002e-01 1.23982983e-04 1.14603919e-01] [-1.29172467e-02 4.24444841e-05 9.99916568e-01 -2.23936214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719420999994 meters Centerline goodness : 0.956279 with order 1 Centerline is valid? [True, True] Translation: X:18.41, Y:0.11, Z:-0.23 [[ 9.99891685e-01 -7.05526592e-03 1.29167319e-02 1.84147374e+01] [ 7.05426720e-03 9.99975111e-01 1.22879626e-04 1.12413786e-01] [-1.29172774e-02 -3.17482377e-05 9.99916568e-01 -2.26392715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters Centerline goodness : 0.957805 with order 1 Centerline is valid? [True, True] Translation: X:18.48, Y:0.12, Z:-0.23 [[ 9.99916089e-01 9.86197604e-04 1.29167396e-02 1.84770828e+01] [-9.87856670e-04 9.99999505e-01 1.22063506e-04 1.18148643e-01] [-1.29166129e-02 -1.34813151e-04 9.99916568e-01 -2.26095098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10771942099999 meters Centerline goodness : 0.962601 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:0.12, Z:-0.22 [[ 9.99843130e-01 1.21190945e-02 1.29167499e-02 1.85393304e+01] [-1.21216681e-02 9.99926523e-01 1.20973003e-04 1.23725830e-01] [-1.29143347e-02 -2.77526581e-04 9.99916568e-01 -2.23299380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.167719420999994 meters Centerline goodness : 0.962167 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:0.12, Z:-0.22 [[ 9.99832330e-01 1.29795456e-02 1.29167604e-02 1.86000132e+01] [-1.29821763e-02 9.99915721e-01 1.19838017e-04 1.18299718e-01] [-1.29141163e-02 -2.87505584e-04 9.99916568e-01 -2.24216839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters Centerline goodness : 0.963098 with order 1 Centerline is valid? [True, True] Translation: X:18.66, Y:0.12, Z:-0.22 [[ 9.99819637e-01 1.39230177e-02 1.29167881e-02 1.86621496e+01] [-1.39256875e-02 9.99903026e-01 1.16775367e-04 1.19388221e-01] [-1.29139096e-02 -2.96629460e-04 9.99916568e-01 -2.23766188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28771942099999 meters Centerline goodness : 0.954723 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:0.12, Z:-0.23 [[ 9.99583722e-01 2.57980230e-02 1.29168226e-02 1.87227548e+01] [-2.58016321e-02 9.99667076e-01 1.12817599e-04 1.18383095e-01] [-1.29096118e-02 -4.46045741e-04 9.99916568e-01 -2.32401167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.347719420999994 meters Centerline goodness : 0.958673 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:0.12, Z:-0.23 [[ 9.99202564e-01 3.77808392e-02 1.29168251e-02 1.87844690e+01] [-3.77854438e-02 9.99285869e-01 1.12540147e-04 1.15481307e-01] [-1.29033489e-02 -6.00518371e-04 9.99916568e-01 -2.29710243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.407719420999996 meters Centerline goodness : 0.958967 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:0.11, Z:-0.23 [[ 9.98999043e-01 4.28260092e-02 1.29168563e-02 1.88460396e+01] [-4.28309866e-02 9.99082326e-01 1.08829644e-04 1.10554797e-01] [-1.29003421e-02 -6.61962410e-04 9.99916568e-01 -2.31978412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46771942099999 meters Centerline goodness : 0.959863 with order 1 Centerline is valid? [True, True] Translation: X:18.91, Y:0.10, Z:-0.23 [[ 9.99270812e-01 3.59304739e-02 1.29168901e-02 1.89070680e+01] [-3.59348226e-02 9.99354130e-01 1.04661631e-04 1.04360892e-01] [-1.29047869e-02 -5.68751467e-04 9.99916568e-01 -2.32720123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52771942099999 meters Centerline goodness : 0.963169 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:0.09, Z:-0.23 [[ 9.99661486e-01 2.25846579e-02 1.29169173e-02 1.89692415e+01] [-2.25878489e-02 9.99744857e-01 1.01187507e-04 9.44435225e-02] [-1.29113364e-02 -3.92918630e-04 9.99916568e-01 -2.30420484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.587719420999996 meters Centerline goodness : 0.965575 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:0.09, Z:-0.23 [[ 9.99868772e-01 9.77706771e-03 1.29169464e-02 1.90311794e+01] [-9.77914062e-03 9.99952178e-01 9.73265311e-05 8.72441566e-02] [-1.29153771e-02 -2.23630394e-04 9.99916568e-01 -2.29132096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64771942099999 meters Centerline goodness : 0.961692 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:0.08, Z:-0.23 [[ 9.99916285e-01 -7.58460108e-04 1.29169720e-02 1.90925799e+01] [ 7.57311583e-04 9.99999709e-01 9.38070302e-05 7.96557755e-02] [-1.29170393e-02 -8.40170046e-05 9.99916568e-01 -2.32331217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70771942099999 meters Centerline goodness : 0.963638 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:0.08, Z:-0.23 [[ 9.99906412e-01 4.50757687e-03 1.29169760e-02 1.91533277e+01] [-4.50915743e-03 9.99989829e-01 9.32420830e-05 7.60879590e-02] [-1.29164244e-02 -1.51478035e-04 9.99916568e-01 -2.33091220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters Centerline goodness : 0.960618 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:0.07, Z:-0.24 [[ 9.99744870e-01 1.85296240e-02 1.29169800e-02 1.92145963e+01] [-1.85323671e-02 9.99828257e-01 9.26870967e-05 7.35477973e-02] [-1.29130442e-02 -3.32045664e-04 9.99916568e-01 -2.37677337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82771942099999 meters Centerline goodness : 0.962787 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:0.07, Z:-0.24 [[ 9.99412191e-01 3.17557005e-02 1.29169857e-02 1.92769732e+01] [-3.17595363e-02 9.99495534e-01 9.18868063e-05 6.82999484e-02] [-1.29075516e-02 -5.02070271e-04 9.99916568e-01 -2.35791667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88771942099999 meters Centerline goodness : 0.964020 with order 1 Centerline is valid? [True, True] Translation: X:19.34, Y:0.06, Z:-0.24 [[ 9.99073565e-01 4.10507348e-02 1.29169930e-02 1.93389740e+01] [-4.10553323e-02 9.99156870e-01 9.08472161e-05 6.26051245e-02] [-1.29023730e-02 -6.21074492e-04 9.99916568e-01 -2.36485770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719420999995 meters Centerline goodness : 0.962134 with order 1 Centerline is valid? [True, True] Translation: X:19.40, Y:0.05, Z:-0.24 [[ 9.99132461e-01 3.95913637e-02 1.29170171e-02 1.94017192e+01] [-3.95957935e-02 9.99215775e-01 8.72871971e-05 4.90137626e-02] [-1.29034314e-02 -5.98671013e-04 9.99916568e-01 -2.37766841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00771942099999 meters Centerline goodness : 0.963639 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:0.04, Z:-0.24 [[ 9.99358898e-01 3.33907801e-02 1.29170259e-02 1.94652662e+01] [-3.33946758e-02 9.99442239e-01 8.59606073e-05 3.66151895e-02] [-1.29069510e-02 -5.17265390e-04 9.99916568e-01 -2.38822428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06771942099999 meters Centerline goodness : 0.963090 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:0.03, Z:-0.24 [[ 9.99497240e-01 2.89554409e-02 1.29170535e-02 1.95275261e+01] [-2.89589103e-02 9.99580599e-01 8.15970988e-05 2.64412112e-02] [-1.29092734e-02 -4.55619868e-04 9.99916568e-01 -2.36719984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.127719420999995 meters Centerline goodness : 0.960849 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:0.01, Z:-0.24 [[ 9.99529930e-01 2.78040901e-02 1.29170760e-02 1.95899931e+01] [-2.78074154e-02 9.99613296e-01 7.78678833e-05 1.48692969e-02] [-1.29099158e-02 -4.37021777e-04 9.99916568e-01 -2.42034914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.187719421 meters Centerline goodness : 0.960349 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:0.01, Z:-0.24 [[ 9.99730156e-01 1.93070865e-02 1.29170972e-02 1.96529251e+01] [-1.93096552e-02 9.99813548e-01 7.41600898e-05 6.01067820e-03] [-1.29132570e-02 -3.23564772e-04 9.99916568e-01 -2.43701240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24771942099999 meters Centerline goodness : 0.961505 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.00, Z:-0.24 [[ 9.99875624e-01 9.04899786e-03 1.29171206e-02 1.97137802e+01] [-9.05065498e-03 9.99959040e-01 6.98371170e-05 -1.04356802e-03] [-1.29159596e-02 -1.86736833e-04 9.99916568e-01 -2.40904665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719420999994 meters Centerline goodness : 0.962721 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.01, Z:-0.24 [[ 9.99808387e-01 1.47083978e-02 1.29171235e-02 1.97767078e+01] [-1.47105201e-02 9.99891792e-01 6.93006129e-05 -1.02331367e-02] [-1.29147065e-02 -2.59304939e-04 9.99916568e-01 -2.39110878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters Centerline goodness : 0.963589 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.01, Z:-0.24 [[ 9.99589320e-01 2.55800536e-02 1.29171448e-02 1.98386288e+01] [-2.55830282e-02 9.99672699e-01 6.50710130e-05 -1.18972454e-02] [-1.29112525e-02 -3.95503969e-04 9.99916568e-01 -2.38792486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42771942099999 meters Centerline goodness : 0.961764 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.02, Z:-0.24 [[ 9.99226254e-01 3.71488919e-02 1.29171502e-02 1.98999493e+01] [-3.71528174e-02 9.99309594e-01 6.39823717e-05 -1.91902968e-02] [-1.29058552e-02 -5.43841388e-04 9.99916568e-01 -2.41781381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.487719420999994 meters Centerline goodness : 0.959625 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.02, Z:-0.25 [[ 9.99090918e-01 4.06261519e-02 1.29171663e-02 1.99611230e+01] [-4.06303230e-02 9.99174246e-01 6.05408169e-05 -2.42770244e-02] [-1.29040404e-02 -5.85314420e-04 9.99916568e-01 -2.45732862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.547719421 meters Centerline goodness : 0.959993 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.03, Z:-0.25 [[ 9.99111423e-01 4.01187194e-02 1.29171806e-02 2.00225910e+01] [-4.01228068e-02 9.99194754e-01 5.73304698e-05 -3.23629034e-02] [-1.29044790e-02 -5.75553067e-04 9.99916568e-01 -2.45739647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60771942099999 meters Centerline goodness : 0.961605 with order 1 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.03, Z:-0.24 [[ 9.99170700e-01 3.86142330e-02 1.29171937e-02 2.00850786e+01] [-3.86181544e-02 9.99254039e-01 5.41920383e-05 -3.46203522e-02] [-1.29054654e-02 -5.52985279e-04 9.99916568e-01 -2.44522218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719420999994 meters Centerline goodness : 0.959605 with order 1 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.04, Z:-0.25 [[ 9.99126548e-01 3.97402392e-02 1.29172079e-02 2.01474742e+01] [-3.97442079e-02 9.99209886e-01 5.05831198e-05 -4.13618939e-02] [-1.29049916e-02 -5.63923133e-04 9.99916568e-01 -2.45431489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.727719420999996 meters Centerline goodness : 0.958516 with order 1 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.04, Z:-0.25 [[ 9.99132742e-01 3.95841934e-02 1.29172209e-02 2.02102444e+01] [-3.95881029e-02 9.99216083e-01 4.70078051e-05 -4.28217687e-02] [-1.29052341e-02 -5.58335307e-04 9.99916568e-01 -2.48424192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78771942099999 meters Centerline goodness : 0.955371 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.05, Z:-0.25 [[ 9.99202322e-01 3.77870928e-02 1.29172344e-02 2.02719790e+01] [-3.77907997e-02 9.99285672e-01 4.29249845e-05 -4.82764470e-02] [-1.29063853e-02 -5.31043365e-04 9.99916568e-01 -2.52770787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719420999994 meters Centerline goodness : 0.962373 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.05, Z:-0.25 [[ 9.99198380e-01 3.78912038e-02 1.29172370e-02 2.03318193e+01] [-3.78949094e-02 9.99281729e-01 4.21443245e-05 -5.42489665e-02] [-1.29063620e-02 -5.31608066e-04 9.99916568e-01 -2.47743503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters Centerline goodness : 0.967480 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.06, Z:-0.24 [[ 9.99200874e-01 3.78253581e-02 1.29172403e-02 2.03933720e+01] [-3.78290449e-02 9.99284225e-01 4.11144825e-05 -5.59732061e-02] [-1.29064393e-02 -5.29728489e-04 9.99916568e-01 -2.40348878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96771942099999 meters Centerline goodness : 0.966346 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.06, Z:-0.24 [[ 9.99406217e-01 3.19430367e-02 1.29172419e-02 2.04544183e+01] [-3.19462262e-02 9.99489588e-01 4.06036711e-05 -5.67112960e-02] [-1.29093518e-02 -4.53236692e-04 9.99916568e-01 -2.42195506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02771942099999 meters Centerline goodness : 0.967084 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.06, Z:-0.24 [[ 9.99754994e-01 1.79749130e-02 1.29172513e-02 2.05166440e+01] [-1.79768951e-02 9.99838402e-01 3.73352865e-05 -6.11120863e-02] [-1.29144928e-02 -2.69538211e-04 9.99916568e-01 -2.39261104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters Centerline goodness : 0.967033 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.06, Z:-0.24 [[ 9.99703039e-01 2.06634343e-02 1.29172614e-02 2.05799068e+01] [-2.06655901e-02 9.99786443e-01 3.34264180e-05 -5.85859429e-02] [-1.29138122e-02 -3.00359322e-04 9.99916568e-01 -2.40175319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14771942099999 meters Centerline goodness : 0.961230 with order 1 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.05, Z:-0.25 [[ 9.99296736e-01 3.52019521e-02 1.29172713e-02 2.06400267e+01] [-3.52052639e-02 9.99380102e-01 2.90188815e-05 -5.29447667e-02] [-1.29082424e-02 -4.83754420e-04 9.99916568e-01 -2.47947810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20771942099999 meters Centerline goodness : 0.956175 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.05, Z:-0.25 [[ 9.98874880e-01 4.56302401e-02 1.29172748e-02 2.07027563e+01] [-4.56344009e-02 9.98958208e-01 2.73953214e-05 -5.46386148e-02] [-1.29025676e-02 -6.16836595e-04 9.99916568e-01 -2.51675891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.267719420999995 meters Centerline goodness : 0.947972 with order 1 Centerline is valid? [True, False] Translation: X:20.72, Y:-0.05, Z:-0.25 [[ 9.98733052e-01 4.98497041e-02 6.87737112e-03 2.07242284e+01] [-4.95992870e-02 9.98232519e-01 -3.27375816e-02 -5.16529947e-02] [-8.49717425e-03 3.23549920e-02 9.99440320e-01 -2.52040345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32771942099999 meters Centerline goodness : 0.953866 with order 1 Centerline is valid? [False, True] Translation: X:20.72, Y:-0.06, Z:-0.25 [[ 9.99020766e-01 4.36743063e-02 7.07560012e-03 2.07229584e+01] [-4.33769397e-02 9.98343274e-01 -3.78040656e-02 -5.75041591e-02] [-8.71494414e-03 3.74601287e-02 9.99260121e-01 -2.51859986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38771942099999 meters Centerline goodness : 0.959462 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.08, Z:-0.24 [[ 9.99362412e-01 3.50253617e-02 6.92774133e-03 2.07842706e+01] [-3.50263959e-02 9.99386387e-01 2.79838561e-05 -7.50431788e-02] [-6.92251023e-03 -2.70619825e-04 9.99976003e-01 -2.39203974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719420999995 meters Centerline goodness : 0.963554 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.08, Z:-0.23 [[ 9.99522802e-01 3.01027369e-02 6.92774188e-03 2.08449139e+01] [-3.01036521e-02 9.99546782e-01 2.78458670e-05 -7.74263962e-02] [-6.92376387e-03 -2.36382911e-04 9.99976003e-01 -2.34172077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50771942099999 meters Centerline goodness : 0.962114 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.07, Z:-0.24 [[ 9.99668577e-01 2.47940192e-02 6.92774559e-03 2.09066535e+01] [-2.47948004e-02 9.99692561e-01 2.68899627e-05 -7.44819344e-02] [-6.92494902e-03 -1.98653120e-04 9.99976003e-01 -2.35668949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56771942099999 meters Centerline goodness : 0.955100 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.07, Z:-0.24 [[ 9.99836425e-01 1.67071928e-02 6.92775253e-03 2.09681470e+01] [-1.67077667e-02 9.99860415e-01 2.49648240e-05 -7.02166639e-02] [-6.92636843e-03 -1.40708013e-04 9.99976003e-01 -2.38929446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719420999995 meters Centerline goodness : 0.957644 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.07, Z:-0.24 [[ 9.99915045e-01 1.10412251e-02 6.92775360e-03 2.10304257e+01] [-1.10416609e-02 9.99939039e-01 2.46628531e-05 -6.73230332e-02] [-6.92705897e-03 -1.01154664e-04 9.99976003e-01 -2.36615787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68771942099999 meters Centerline goodness : 0.957212 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.07, Z:-0.24 [[ 9.99890060e-01 1.31100476e-02 6.92776037e-03 2.10929324e+01] [-1.31105187e-02 9.99914053e-01 2.25888319e-05 -6.57234906e-02] [-6.92686881e-03 -1.13412881e-04 9.99976003e-01 -2.36625289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74771942099999 meters Centerline goodness : 0.961500 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.06, Z:-0.23 [[ 9.99731483e-01 2.21126325e-02 6.92776722e-03 2.11528682e+01] [-2.21133034e-02 9.99755471e-01 2.02442288e-05 -6.48542867e-02] [-6.92562552e-03 -1.73434611e-04 9.99976003e-01 -2.34190847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719420999994 meters Centerline goodness : 0.959575 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.07, Z:-0.24 [[ 9.99479506e-01 3.15074949e-02 6.92776918e-03 2.12145408e+01] [-3.15083864e-02 9.99503487e-01 1.95475953e-05 -6.59571904e-02] [-6.92371356e-03 -2.37820249e-04 9.99976003e-01 -2.38110577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters Centerline goodness : 0.959952 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.06, Z:-0.24 [[ 9.99102076e-01 4.17976949e-02 6.92777398e-03 2.12773075e+01] [-4.17988203e-02 9.99126047e-01 1.76661918e-05 -6.29080939e-02] [-6.92098103e-03 -3.07223108e-04 9.99976003e-01 -2.38877277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92771942099999 meters Centerline goodness : 0.957524 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.06, Z:-0.24 [[ 9.98689429e-01 5.07092817e-02 6.92777891e-03 2.13389103e+01] [-5.07106055e-02 9.98713389e-01 1.54578457e-05 -5.68525026e-02] [-6.91808170e-03 -3.66749451e-04 9.99976003e-01 -2.42666864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719420999994 meters Centerline goodness : 0.954449 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.05, Z:-0.24 [[ 9.98371882e-01 5.66179392e-02 6.92778260e-03 2.14012784e+01] [-5.66193918e-02 9.98395835e-01 1.35717763e-05 -5.24613792e-02] [-6.91590090e-03 -4.05796518e-04 9.99976003e-01 -2.41955913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters Centerline goodness : 0.950517 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.05, Z:-0.25 [[ 9.98160332e-01 6.02325319e-02 6.92778602e-03 2.14634995e+01] [-6.02340570e-02 9.98184281e-01 1.15178803e-05 -5.19598269e-02] [-6.91451335e-03 -4.28785349e-04 9.99976003e-01 -2.45682179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10771942099999 meters Centerline goodness : 0.947417 with order 1 Centerline is valid? [True, False] Translation: X:21.46, Y:-0.05, Z:-0.24 [[ 9.98462721e-01 5.53410001e-02 -3.09341681e-03 2.14579555e+01] [-5.53473977e-02 9.98465110e-01 -2.02220675e-03 -5.02595543e-02] [ 2.97675781e-03 2.19031063e-03 9.99993171e-01 -2.44363400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719420999994 meters Centerline goodness : 0.953448 with order 1 Centerline is valid? [False, True] Translation: X:21.45, Y:-0.06, Z:-0.24 [[ 9.99160382e-01 4.09362194e-02 1.66036466e-03 2.14488250e+01] [-4.09278585e-02 9.99150619e-01 -4.79063485e-03 -6.42269404e-02] [-1.85506486e-03 4.71865738e-03 9.99987146e-01 -2.38773679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.227719420999996 meters Centerline goodness : 0.954716 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.07, Z:-0.24 [[ 9.99629160e-01 2.71808858e-02 1.65604256e-03 2.15114826e+01] [-2.71809255e-02 9.99630530e-01 1.50018194e-06 -7.36495867e-02] [-1.65538992e-03 -4.65123950e-05 9.99998629e-01 -2.35493205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28771942099999 meters Centerline goodness : 0.955916 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.07, Z:-0.24 [[ 9.99710585e-01 2.40000732e-02 1.65604269e-03 2.15737136e+01] [-2.40001083e-02 9.99711956e-01 1.33395130e-06 -7.48684497e-02] [-1.65553366e-03 -4.10787691e-05 9.99998629e-01 -2.35754454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.347719420999994 meters Centerline goodness : 0.960287 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.08, Z:-0.23 [[ 9.99677425e-01 2.53437048e-02 1.65604293e-03 2.16357813e+01] [-2.53437410e-02 9.99678796e-01 8.76195063e-07 -7.56236276e-02] [-1.65548880e-03 -4.28462356e-05 9.99998629e-01 -2.30655642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters Centerline goodness : 0.950478 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.07, Z:-0.24 [[ 9.99774517e-01 2.11701058e-02 1.65604299e-03 2.16965544e+01] [-2.11701360e-02 9.99775888e-01 7.45655256e-07 -7.39435609e-02] [-1.65565607e-03 -3.58041425e-05 9.99998629e-01 -2.38559657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46771942099999 meters Centerline goodness : 0.951953 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.07, Z:-0.24 [[ 9.99900539e-01 1.40060609e-02 1.65604301e-03 2.17579647e+01] [-1.40060812e-02 9.99901910e-01 7.11309026e-07 -7.04298588e-02] [-1.65587060e-03 -2.39059112e-05 9.99998629e-01 -2.37322692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52771942099999 meters Centerline goodness : 0.956352 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.07, Z:-0.23 [[ 9.99981435e-01 5.86413387e-03 1.65604308e-03 2.18200232e+01] [-5.86414236e-03 9.99982806e-01 2.72550107e-07 -6.55947023e-02] [-1.65601301e-03 -9.98381742e-06 9.99998629e-01 -2.32753864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters Centerline goodness : 0.959872 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.06, Z:-0.23 [[ 9.99994779e-01 2.77492783e-03 1.65604302e-03 2.18816470e+01] [-2.77493129e-03 9.99996150e-01 -2.05767208e-07 -6.11869711e-02] [-1.65603721e-03 -4.38963946e-06 9.99998629e-01 -2.29230544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64771942099999 meters Centerline goodness : 0.964127 with order 1 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.06, Z:-0.22 [[ 9.99972075e-01 7.28745828e-03 1.65604284e-03 2.19426052e+01] [-7.28746720e-03 9.99973446e-01 -6.50435884e-07 -5.54247668e-02] [-1.65600361e-03 -1.14179402e-05 9.99998629e-01 -2.24550570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70771942099999 meters Centerline goodness : 0.962792 with order 1 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.05, Z:-0.23 [[ 9.99838820e-01 1.78770977e-02 1.65604280e-03 2.20027333e+01] [-1.78771209e-02 9.99840192e-01 -7.44703516e-07 -4.67435597e-02] [-1.65579147e-03 -2.88606940e-05 9.99998629e-01 -2.29983335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters Centerline goodness : 0.955910 with order 1 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.04, Z:-0.24 [[ 9.99642080e-01 2.67014955e-02 1.65604272e-03 2.20628205e+01] [-2.67015306e-02 9.99643451e-01 -8.91034168e-07 -4.02070938e-02] [-1.65547605e-03 -4.33281602e-05 9.99998629e-01 -2.38088170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82771942099999 meters Centerline goodness : 0.952546 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.04, Z:-0.24 [[ 9.99598702e-01 2.82788218e-02 1.65604270e-03 2.21255008e+01] [-2.82788591e-02 9.99600073e-01 -9.24437242e-07 -3.91559531e-02] [-1.65540655e-03 -4.59069320e-05 9.99998629e-01 -2.39005519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88771942099999 meters Centerline goodness : 0.951675 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.04, Z:-0.24 [[ 9.99665543e-01 2.58081357e-02 1.65604259e-03 2.21885335e+01] [-2.58081692e-02 9.99666914e-01 -1.09511817e-06 -3.71099095e-02] [-1.65551925e-03 -4.16446756e-05 9.99998629e-01 -2.40170709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719420999995 meters Centerline goodness : 0.955926 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.03, Z:-0.24 [[ 9.99616737e-01 2.76339925e-02 1.65604206e-03 2.22505254e+01] [-2.76340276e-02 9.99618107e-01 -1.63717421e-06 -3.33349958e-02] [-1.65545487e-03 -4.41265652e-05 9.99998629e-01 -2.38119846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00771942099999 meters Centerline goodness : 0.952988 with order 1 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.03, Z:-0.24 [[ 9.99518726e-01 3.09769998e-02 1.65604191e-03 2.23127565e+01] [-3.09770394e-02 9.99520096e-01 -1.77120632e-06 -3.20086958e-02] [-1.65530204e-03 -4.95289216e-05 9.99998629e-01 -2.38178948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06771942099999 meters Centerline goodness : 0.959812 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.03, Z:-0.24 [[ 9.99574755e-01 2.91129921e-02 1.65604127e-03 2.23737970e+01] [-2.91130284e-02 9.99576126e-01 -2.24307993e-06 -3.12946053e-02] [-1.65540462e-03 -4.59702505e-05 9.99998629e-01 -2.36121084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719420999995 meters Centerline goodness : 0.967810 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.02, Z:-0.23 [[ 9.99742643e-01 2.26253041e-02 1.65604058e-03 2.24352124e+01] [-2.26253307e-02 9.99744014e-01 -2.67358684e-06 -2.47324204e-02] [-1.65567715e-03 -3.47955670e-05 9.99998629e-01 -2.30410925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18771942099999 meters Centerline goodness : 0.965893 with order 1 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.03, Z:-0.23 [[ 9.99878713e-01 1.54860128e-02 1.65604047e-03 2.24971490e+01] [-1.54860295e-02 9.99880084e-01 -2.73844416e-06 -3.21934507e-02] [-1.65588429e-03 -2.29073796e-05 9.99998629e-01 -2.29231698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24771942099999 meters Centerline goodness : 0.963051 with order 1 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.03, Z:-0.24 [[ 9.99992913e-01 3.38109227e-03 1.65603957e-03 2.25592305e+01] [-3.38109160e-03 9.99994284e-01 -3.20451947e-06 -3.04870398e-02] [-1.65604094e-03 -2.39472472e-06 9.99998629e-01 -2.36606825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719420999994 meters Centerline goodness : 0.960738 with order 1 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.03, Z:-0.24 [[ 9.99981310e-01 -5.88539838e-03 1.65603854e-03 2.26207841e+01] [ 5.88541253e-03 9.99982681e-01 -3.66857446e-06 -2.90160768e-02] [-1.65598827e-03 1.34149759e-05 9.99998629e-01 -2.40896726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters Centerline goodness : 0.966719 with order 1 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.03, Z:-0.23 [[ 9.99969436e-01 -7.64103205e-03 1.65603839e-03 2.26814974e+01] [ 7.64104871e-03 9.99970807e-01 -3.73421735e-06 -3.21793658e-02] [-1.65596151e-03 1.63879732e-05 9.99998629e-01 -2.30547625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42771942099999 meters Centerline goodness : 0.969763 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.02, Z:-0.23 [[ 9.99993123e-01 -3.31829295e-03 1.65603839e-03 2.27406816e+01] [ 3.31830368e-03 9.99994494e-01 -3.73421735e-06 -2.03886944e-02] [-1.65601688e-03 9.22942997e-06 9.99998629e-01 -2.31560488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719420999994 meters Centerline goodness : 0.969995 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.01, Z:-0.23 [[ 9.99936762e-01 1.11233982e-02 1.65603855e-03 2.28017129e+01] [-1.11234074e-02 9.99938133e-01 -3.66396605e-06 -5.13245613e-03] [-1.65597685e-03 -1.47570571e-05 9.99998629e-01 -2.32468311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters Centerline goodness : 0.967332 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:0.00, Z:-0.24 [[ 9.99646391e-01 2.65395881e-02 1.65603847e-03 2.28633062e+01] [-2.65396183e-02 9.99647762e-01 -3.69822038e-06 2.53016803e-03] [-1.65555330e-03 -4.02537163e-05 9.99998629e-01 -2.35976772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60771942099999 meters Centerline goodness : 0.966086 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:0.02, Z:-0.24 [[ 9.99098487e-01 4.24201696e-02 1.65603832e-03 2.29251611e+01] [-4.24202215e-02 9.99099857e-01 -3.76589617e-06 1.63922783e-02] [-1.65470740e-03 -6.64870112e-05 9.99998629e-01 -2.38809591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.667719420999994 meters Centerline goodness : 0.966902 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:0.02, Z:-0.24 [[ 9.98704161e-01 5.08650826e-02 1.65603808e-03 2.29860358e+01] [-5.08651460e-02 9.98705531e-01 -3.86785435e-06 1.96493617e-02] [-1.65409113e-03 -8.03717764e-05 9.99998629e-01 -2.39586610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters Centerline goodness : 0.962107 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:0.01, Z:-0.24 [[ 9.98963005e-01 4.54991520e-02 1.65603696e-03 2.30473271e+01] [-4.54992073e-02 9.98964375e-01 -4.29760213e-06 1.22637446e-02] [-1.65451747e-03 -7.10552237e-05 9.99998629e-01 -2.43225000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78771942099999 meters Centerline goodness : 0.963352 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:0.01, Z:-0.24 [[ 9.99198569e-01 3.99934670e-02 1.65603679e-03 2.31098452e+01] [-3.99935147e-02 9.99199939e-01 -4.36303938e-06 9.89144471e-03] [-1.65488636e-03 -6.18711890e-05 9.99998629e-01 -2.42739873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719420999994 meters Centerline goodness : 0.958536 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.00, Z:-0.25 [[ 9.99519145e-01 3.09634826e-02 1.65603547e-03 2.31711944e+01] [-3.09635170e-02 9.99520515e-01 -4.81861802e-06 -1.07704397e-03] [-1.65539062e-03 -4.64603815e-05 9.99998629e-01 -2.47964406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters Centerline goodness : 0.963800 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.00, Z:-0.24 [[ 9.99776279e-01 2.10867238e-02 1.65603468e-03 2.32327545e+01] [-2.10867443e-02 9.99777650e-01 -5.07634810e-06 -3.19354246e-03] [-1.65577350e-03 -2.98451673e-05 9.99998629e-01 -2.44301592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96771942099999 meters Centerline goodness : 0.963629 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.01, Z:-0.24 [[ 9.99899239e-01 1.40985769e-02 1.65603396e-03 2.32938674e+01] [-1.40985875e-02 9.99900610e-01 -5.30120143e-06 -9.78611658e-03] [-1.65594410e-03 -1.80470723e-05 9.99998629e-01 -2.41555188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02771942099999 meters Centerline goodness : 0.963341 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.00, Z:-0.24 [[ 9.99800550e-01 1.99026920e-02 1.65603253e-03 2.33556813e+01] [-1.99027098e-02 9.99801921e-01 -5.71544754e-06 -4.90608657e-03] [-1.65581826e-03 -2.72452272e-05 9.99998629e-01 -2.40961248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters Centerline goodness : 0.960608 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:0.00, Z:-0.24 [[ 9.99503911e-01 3.14513832e-02 1.65603217e-03 2.34177212e+01] [-3.14514167e-02 9.99505282e-01 -5.81620284e-06 5.81237223e-04] [-1.65539583e-03 -4.62712404e-05 9.99998629e-01 -2.43917544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14771942099999 meters Centerline goodness : 0.963772 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.00, Z:-0.24 [[ 9.99292711e-01 3.75677501e-02 1.65603043e-03 2.34793455e+01] [-3.75677912e-02 9.99294081e-01 -6.27545596e-06 -2.96526069e-03] [-1.65509717e-03 -5.59423882e-05 9.99998629e-01 -2.40049607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20771942099999 meters Centerline goodness : 0.969318 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.00, Z:-0.24 [[ 9.99247307e-01 3.87566300e-02 1.65602942e-03 2.35409373e+01] [-3.87566723e-02 9.99248678e-01 -6.53309305e-06 -2.77060003e-03] [-1.65503841e-03 -5.76540138e-05 9.99998629e-01 -2.35637388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters Centerline goodness : 0.969272 with order 1 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.01, Z:-0.23 [[ 9.99117973e-01 4.19587191e-02 1.65602843e-03 2.36020985e+01] [-4.19587654e-02 9.99119343e-01 -6.77396343e-06 -8.39688505e-03] [-1.65485427e-03 -6.27169199e-05 9.99998629e-01 -2.34167768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32771942099999 meters Centerline goodness : 0.971601 with order 1 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.02, Z:-0.23 [[ 9.99296959e-01 3.74545684e-02 1.65602652e-03 2.36645087e+01] [-3.74546078e-02 9.99298330e-01 -7.21182512e-06 -1.68666132e-02] [-1.65513466e-03 -5.48190691e-05 9.99998629e-01 -2.29556239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38771942099999 meters Centerline goodness : 0.969888 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.02, Z:-0.23 [[ 9.99555184e-01 2.97773620e-02 1.65602431e-03 2.37259696e+01] [-2.97773901e-02 9.99556555e-01 -7.68938431e-06 -2.12896395e-02] [-1.65551892e-03 -4.16261179e-05 9.99998629e-01 -2.33244533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719420999995 meters Centerline goodness : 0.965441 with order 1 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.02, Z:-0.24 [[ 9.99720579e-01 2.35801022e-02 1.65602200e-03 2.37874883e+01] [-2.35801211e-02 9.99721950e-01 -8.15707797e-06 -2.44811854e-02] [-1.65575389e-03 -3.08944006e-05 9.99998629e-01 -2.38368167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50771942099999 meters Centerline goodness : 0.961271 with order 1 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.03, Z:-0.24 [[ 9.99868781e-01 1.61145572e-02 1.65602168e-03 2.38493359e+01] [-1.61145656e-02 9.99870152e-01 -8.22311265e-06 -2.56510673e-02] [-1.65593916e-03 -1.84640364e-05 9.99998629e-01 -2.42311055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56771942099999 meters Centerline goodness : 0.955579 with order 1 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.02, Z:-0.25 [[ 9.99986037e-01 5.01834966e-03 1.65601930e-03 2.39087537e+01] [-5.01834217e-03 9.99987408e-01 -8.67644848e-06 -2.35506860e-02] [-1.65604199e-03 3.65855844e-07 9.99998629e-01 -2.51905543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.627719420999995 meters Centerline goodness : 0.959105 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.02, Z:-0.25 [[ 9.99958074e-01 -9.00594178e-03 1.65601947e-03 2.39705611e+01] [ 9.00596844e-03 9.99959445e-01 -8.64438476e-06 -2.07300974e-02] [-1.65587446e-03 2.35580814e-05 9.99998629e-01 -2.46738133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68771942099999 meters Centerline goodness : 0.961115 with order 1 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.02, Z:-0.24 [[ 9.99744544e-01 -2.25411767e-02 1.65601721e-03 2.40300803e+01] [ 2.25412226e-02 9.99745914e-01 -9.05662136e-06 -1.81235446e-02] [-1.65539230e-03 4.63829604e-05 9.99998629e-01 -2.42490337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74771942099999 meters Centerline goodness : 0.959356 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.01, Z:-0.24 [[ 9.99652619e-01 -2.63039617e-02 1.65601756e-03 2.40889089e+01] [ 2.63040127e-02 9.99653990e-01 -8.99309298e-06 -7.84747093e-03] [-1.65520800e-03 5.25498758e-05 9.99998629e-01 -2.44758434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.807719420999994 meters Centerline goodness : 0.963465 with order 1 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.00, Z:-0.24 [[ 9.99768441e-01 -2.14551302e-02 1.65601985e-03 2.41479838e+01] [ 2.14551738e-02 9.99769811e-01 -8.54989405e-06 -2.54546193e-03] [-1.65545521e-03 4.40781079e-05 9.99998629e-01 -2.37730114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86771942099999 meters Centerline goodness : 0.958484 with order 1 Centerline is valid? [True, True] Translation: X:24.21, Y:0.01, Z:-0.25 [[ 9.99963535e-01 -8.37768566e-03 1.65602228e-03 2.42058178e+01] [ 8.37771047e-03 9.99964906e-01 -8.04819857e-06 1.12995794e-02] [-1.65589674e-03 2.19215803e-05 9.99998629e-01 -2.45182538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92771942099999 meters Centerline goodness : 0.956881 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:0.03, Z:-0.25 [[ 9.99985506e-01 5.12298455e-03 1.65602353e-03 2.42660527e+01] [-5.12297869e-03 9.99986877e-01 -7.78258060e-06 2.89485886e-02] [-1.65604167e-03 -7.01305463e-07 9.99998629e-01 -2.46689235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719420999994 meters Centerline goodness : 0.962345 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:0.04, Z:-0.24 [[ 9.99864264e-01 1.63924359e-02 1.65602408e-03 2.43277908e+01] [-1.63924457e-02 9.99865635e-01 -7.66488075e-06 3.80878167e-02] [-1.65592721e-03 -1.94824444e-05 9.99998629e-01 -2.38855833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters Centerline goodness : 0.962023 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:0.05, Z:-0.24 [[ 9.99753764e-01 2.21284635e-02 1.65602377e-03 2.43893922e+01] [-2.21284811e-02 9.99755135e-01 -7.73184881e-06 4.94681352e-02] [-1.65578936e-03 -2.89153456e-05 9.99998629e-01 -2.40694841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10771942099999 meters Centerline goodness : 0.954564 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:0.06, Z:-0.25 [[ 9.99633585e-01 2.70176344e-02 1.65602344e-03 2.44503787e+01] [-2.70176586e-02 9.99634956e-01 -7.80011488e-06 5.81088344e-02] [-1.65562966e-03 -3.69446192e-05 9.99998629e-01 -2.49854526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719420999994 meters Centerline goodness : 0.960104 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:0.06, Z:-0.24 [[ 9.99567690e-01 2.93545563e-02 1.65602312e-03 2.45116997e+01] [-2.93545835e-02 9.99569061e-01 -7.86717098e-06 5.59193472e-02] [-1.65554042e-03 -4.07480991e-05 9.99998629e-01 -2.40973163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters Centerline goodness : 0.964103 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:0.06, Z:-0.24 [[ 9.99344948e-01 3.61515306e-02 1.65602279e-03 2.45727086e+01] [-3.61515670e-02 9.99346318e-01 -7.93749878e-06 5.59729355e-02] [-1.65522723e-03 -5.19355195e-05 9.99998629e-01 -2.36643703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28771942099999 meters Centerline goodness : 0.961596 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:0.06, Z:-0.24 [[ 9.98950939e-01 4.57632961e-02 1.65602051e-03 2.46334785e+01] [-4.57633449e-02 9.98952309e-01 -8.38674416e-06 5.63250124e-02] [-1.65466932e-03 -6.74070920e-05 9.99998629e-01 -2.39229799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719420999994 meters Centerline goodness : 0.959369 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:0.05, Z:-0.24 [[ 9.98827571e-01 4.83812153e-02 1.65601817e-03 2.46952132e+01] [-4.83812671e-02 9.98828941e-01 -8.82654807e-06 4.52942096e-02] [-1.65450591e-03 -7.13040577e-05 9.99998629e-01 -2.41319570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters Centerline goodness : 0.965947 with order 1 Centerline is valid? [True, True] Translation: X:24.76, Y:0.03, Z:-0.23 [[ 9.99011196e-01 4.44284523e-02 1.65601763e-03 2.47559548e+01] [-4.44284985e-02 9.99012567e-01 -8.92620899e-06 3.42434788e-02] [-1.65477900e-03 -6.46569941e-05 9.99998629e-01 -2.34742602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46771942099999 meters Centerline goodness : 0.965719 with order 1 Centerline is valid? [True, True] Translation: X:24.82, Y:0.03, Z:-0.24 [[ 9.99287030e-01 3.77185560e-02 1.65601745e-03 2.48166727e+01] [-3.77185929e-02 9.99288401e-01 -8.95991135e-06 3.12040343e-02] [-1.65517698e-03 -5.35091247e-05 9.99998629e-01 -2.35671991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52771942099999 meters Centerline goodness : 0.953301 with order 1 Centerline is valid? [True, True] Translation: X:24.88, Y:0.02, Z:-0.25 [[ 9.99454593e-01 3.29814062e-02 1.65601502e-03 2.48760449e+01] [-3.29814359e-02 9.99455964e-01 -9.38920142e-06 2.05161210e-02] [-1.65542375e-03 -4.52336725e-05 9.99998629e-01 -2.48054670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters Centerline goodness : 0.953955 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:0.01, Z:-0.25 [[ 9.99638148e-01 2.68482971e-02 1.65601518e-03 2.49370929e+01] [-2.68483184e-02 9.99639519e-01 -9.36045844e-06 1.20245266e-02] [-1.65566953e-03 -3.51041514e-05 9.99998629e-01 -2.48470255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64771942099999 meters Centerline goodness : 0.958085 with order 1 Centerline is valid? [True, True] Translation: X:25.00, Y:0.01, Z:-0.25 [[ 9.99853326e-01 1.70465323e-02 1.65601274e-03 2.49974600e+01] [-1.70465395e-02 9.99854697e-01 -9.77348525e-06 7.38669341e-03] [-1.65593872e-03 -1.84572349e-05 9.99998629e-01 -2.45330568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70771942099999 meters Centerline goodness : 0.962937 with order 1 Centerline is valid? [True, True] Translation: X:25.06, Y:0.00, Z:-0.24 [[ 9.99989412e-01 4.29343141e-03 1.65601256e-03 2.50592315e+01] [-4.29342106e-03 9.99990783e-01 -9.80464928e-06 9.97461933e-04] [-1.65603939e-03 2.69458628e-06 9.99998629e-01 -2.39968475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.767719420999995 meters Centerline goodness : 0.961315 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.00, Z:-0.24 [[ 9.99967096e-01 -7.94135729e-03 1.65600967e-03 2.51202170e+01] [ 7.94138519e-03 9.99968467e-01 -1.02694069e-05 -3.69986188e-03] [-1.65587590e-03 2.34200797e-05 9.99998629e-01 -2.41743118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82771942099999 meters Centerline goodness : 0.968352 with order 1 Centerline is valid? [True, True] Translation: X:25.18, Y:0.01, Z:-0.23 [[ 9.99894229e-01 -1.44495384e-02 1.65600925e-03 2.51806065e+01] [ 1.44495753e-02 9.99895599e-01 -1.03371873e-05 6.36715935e-03] [-1.65568699e-03 3.42647243e-05 9.99998629e-01 -2.32243307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88771942099999 meters Centerline goodness : 0.968621 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:0.01, Z:-0.23 [[ 9.99917677e-01 -1.27238346e-02 1.65600925e-03 2.52401213e+01] [ 1.27238692e-02 9.99919048e-01 -1.03371873e-05 1.25210234e-02] [-1.65574366e-03 3.14071814e-05 9.99998629e-01 -2.32088176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719420999995 meters Centerline goodness : 0.964380 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:0.03, Z:-0.24 [[ 9.99989142e-01 -4.35594698e-03 1.65600969e-03 2.52995396e+01] [ 4.35596995e-03 9.99990513e-01 -1.02658149e-05 2.69756458e-02] [-1.65594926e-03 1.74792318e-05 9.99998629e-01 -2.37038339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00771942099999 meters Centerline goodness : 0.967030 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:0.04, Z:-0.23 [[ 9.99958017e-01 9.01234196e-03 1.65600991e-03 2.53605243e+01] [-9.01233738e-03 9.99959388e-01 -1.02307422e-05 4.18724837e-02] [-1.65603486e-03 -4.69420731e-06 9.99998629e-01 -2.33474459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06771942099999 meters Centerline goodness : 0.961631 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:0.05, Z:-0.24 [[ 9.99804984e-01 1.96787319e-02 1.65600991e-03 2.54217679e+01] [-1.96787419e-02 9.99806355e-01 -1.02307422e-05 4.95273174e-02] [-1.65589056e-03 -2.23594446e-05 9.99998629e-01 -2.41271360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.127719420999995 meters Centerline goodness : 0.963168 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:0.06, Z:-0.24 [[ 9.99616659e-01 2.76368158e-02 1.65600969e-03 2.54828938e+01] [-2.76368367e-02 9.99618030e-01 -1.02656019e-05 5.73173124e-02] [-1.65566086e-03 -3.55052027e-05 9.99998629e-01 -2.40978184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18771942099999 meters Centerline goodness : 0.967793 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:0.06, Z:-0.24 [[ 9.99450393e-01 3.31084377e-02 1.65600926e-03 2.55441496e+01] [-3.31084660e-02 9.99451764e-01 -1.03357802e-05 5.99036780e-02] [-1.65544357e-03 -4.44978265e-05 9.99998629e-01 -2.36277851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24771942099999 meters Centerline goodness : 0.960099 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:0.07, Z:-0.24 [[ 9.99441219e-01 3.33842482e-02 1.65600882e-03 2.56052158e+01] [-3.33842767e-02 9.99442590e-01 -1.04058101e-05 6.59801511e-02] [-1.65543313e-03 -4.48846610e-05 9.99998629e-01 -2.44585336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719420999994 meters Centerline goodness : 0.963130 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:0.06, Z:-0.24 [[ 9.99831293e-01 1.82932779e-02 1.65600860e-03 2.56671445e+01] [-1.82932857e-02 9.99832664e-01 -1.04401388e-05 6.23556178e-02] [-1.65592247e-03 -1.98554610e-05 9.99998629e-01 -2.41635931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36771942099999 meters Centerline goodness : 0.961542 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:0.06, Z:-0.24 [[ 9.99980937e-01 5.94844876e-03 1.65600772e-03 2.57282769e+01] [-5.94843940e-03 9.99982308e-01 -1.05775672e-05 6.39732152e-02] [-1.65604134e-03 7.26703983e-07 9.99998629e-01 -2.39972384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42771942099999 meters Centerline goodness : 0.958191 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:0.06, Z:-0.24 [[ 9.99990195e-01 -4.10694188e-03 1.65600726e-03 2.57888787e+01] [ 4.10696515e-03 9.99991566e-01 -1.06485943e-05 6.24583929e-02] [-1.65594956e-03 1.74496540e-05 9.99998629e-01 -2.42756623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719420999994 meters Centerline goodness : 0.969283 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:0.06, Z:-0.23 [[ 9.99856255e-01 -1.68738312e-02 1.65600681e-03 2.58497248e+01] [ 1.68738721e-02 9.99857626e-01 -1.07193561e-05 6.24748366e-02] [-1.65559016e-03 3.86610623e-05 9.99998629e-01 -2.30066061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54771942099999 meters Centerline goodness : 0.964493 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:0.06, Z:-0.23 [[ 9.99653342e-01 -2.62764904e-02 1.65600681e-03 2.59097522e+01] [ 2.62765442e-02 9.99654712e-01 -1.07193561e-05 6.07034358e-02] [-1.65515334e-03 5.42297761e-05 9.99998629e-01 -2.33828186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60771942099999 meters Centerline goodness : 0.963941 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:0.07, Z:-0.23 [[ 9.99470096e-01 -3.25082223e-02 1.65600703e-03 2.59696619e+01] [ 3.25082846e-02 9.99471466e-01 -1.06845624e-05 6.83495946e-02] [-1.65478444e-03 6.45128484e-05 9.99998629e-01 -2.34622665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719420999994 meters Centerline goodness : 0.965101 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:0.08, Z:-0.23 [[ 9.99538766e-01 -3.03234796e-02 1.65600747e-03 2.60285830e+01] [ 3.03235388e-02 9.99540136e-01 -1.06157266e-05 7.56078244e-02] [-1.65492403e-03 6.08268371e-05 9.99998629e-01 -2.31538216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters Centerline goodness : 0.964662 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:0.09, Z:-0.23 [[ 9.99807389e-01 -1.95561351e-02 1.65600811e-03 2.60887608e+01] [ 1.95561793e-02 9.99808760e-01 -1.05146601e-05 8.59420213e-02] [-1.65548579e-03 4.28978265e-05 9.99998629e-01 -2.29179945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78771942099999 meters Centerline goodness : 0.964755 with order 1 Centerline is valid? [True, True] Translation: X:26.15, Y:0.11, Z:-0.23 [[ 9.99964380e-01 8.27626460e-03 1.65600853e-03 2.61480071e+01] [-8.27625864e-03 9.99965751e-01 -1.04486232e-05 1.08736366e-01] [-1.65603829e-03 -3.25730394e-06 9.99998629e-01 -2.30767874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.847719420999994 meters Centerline goodness : 0.953265 with order 1 Centerline is valid? [True, True] Translation: X:26.21, Y:0.12, Z:-0.25 [[ 9.99749815e-01 2.23061663e-02 1.65600873e-03 2.62084452e+01] [-2.23061797e-02 9.99751186e-01 -1.04161120e-05 1.21575349e-01] [-1.65582904e-03 -2.65257223e-05 9.99998629e-01 -2.45433589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.907719420999996 meters Centerline goodness : 0.945983 with order 1 Centerline is valid? [True, False] Translation: X:26.24, Y:0.13, Z:-0.25 [[ 9.99773113e-01 2.06423943e-02 -5.25486128e-03 2.62376407e+01] [-2.06237798e-02 9.99780925e-01 3.57223890e-03 1.26076604e-01] [ 5.32744963e-03 -3.46305330e-03 9.99979813e-01 -2.45801722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96771942099999 meters Centerline goodness : 0.949776 with order 1 Centerline is valid? [False, False] Translation: X:26.27, Y:0.13, Z:-0.24 [[ 9.99913868e-01 1.30658116e-02 -1.24157182e-03 2.62671079e+01] [-1.30200985e-02 9.99416405e-01 3.15804603e-02 1.28627406e-01] [ 1.65347159e-03 -3.15615748e-02 9.99500442e-01 -2.40551828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02771942099999 meters Centerline goodness : 0.948515 with order 1 Centerline is valid? [False, False] Translation: X:26.30, Y:0.13, Z:-0.24 [[ 9.99966317e-01 7.99267559e-03 1.86585438e-03 2.62982463e+01] [-8.07746806e-03 9.98665141e-01 5.10165685e-02 1.26978532e-01] [-1.45560485e-03 -5.10299215e-02 9.98696064e-01 -2.42178918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters Centerline goodness : 0.942509 with order 1 Centerline is valid? [False, False] Translation: X:26.32, Y:0.12, Z:-0.24 [[ 9.99992722e-01 -2.88249186e-04 3.80444877e-03 2.63224285e+01] [-1.25605089e-04 9.94114382e-01 1.08335494e-01 1.17119632e-01] [-3.81328485e-03 -1.08335183e-01 9.94107110e-01 -2.41944244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14771942099999 meters Centerline goodness : 0.949793 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:0.11, Z:-0.23 [[ 9.99880423e-01 -1.40469478e-02 6.46708732e-03 2.63360978e+01] [ 1.25919951e-02 9.82316887e-01 1.86801969e-01 1.07685688e-01] [-8.97672660e-03 -1.86698198e-01 9.82376303e-01 -2.30865661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20771942099999 meters Centerline goodness : 0.949703 with order 1 Centerline is valid? [False, False] Translation: X:26.35, Y:0.10, Z:-0.22 [[ 9.99651806e-01 -2.59827754e-02 4.60033936e-03 2.63473163e+01] [ 2.39016424e-02 9.65496190e-01 2.59317986e-01 9.81212889e-02] [-1.11794111e-02 -2.59117738e-01 9.65781041e-01 -2.22597127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters Centerline goodness : 0.948492 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:0.12, Z:-0.22 [[ 9.99550763e-01 -2.97513936e-02 3.62321518e-03 2.63372403e+01] [ 2.85017122e-02 9.80960548e-01 1.92104281e-01 1.16244790e-01] [-9.26960122e-03 -1.91914713e-01 9.81367830e-01 -2.22783551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32771942099999 meters Centerline goodness : 0.950075 with order 1 Centerline is valid? [False, True] Translation: X:26.34, Y:0.14, Z:-0.22 [[ 9.99475058e-01 -3.23055646e-02 2.44128425e-03 2.63420673e+01] [ 3.15627625e-02 9.87946203e-01 1.51545674e-01 1.39594873e-01] [-7.30762608e-03 -1.51389068e-01 9.88447241e-01 -2.22326537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38771942099999 meters Centerline goodness : 0.950558 with order 1 Centerline is valid? [True, True] Translation: X:26.40, Y:0.20, Z:-0.21 [[ 9.99596843e-01 -2.83226731e-02 1.99463131e-03 2.64021132e+01] [ 2.83227417e-02 9.99598831e-01 -6.18180378e-06 1.99666456e-01] [-1.99365604e-03 6.26727389e-05 9.99998011e-01 -2.12556770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters Centerline goodness : 0.956968 with order 1 Centerline is valid? [True, True] Translation: X:26.46, Y:0.21, Z:-0.21 [[ 9.99820898e-01 -1.88200439e-02 1.99463131e-03 2.64628607e+01] [ 1.88200937e-02 9.99822886e-01 -6.18180378e-06 2.06898112e-01] [-1.99416169e-03 4.37198446e-05 9.99998011e-01 -2.09815065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50771942099999 meters Centerline goodness : 0.961674 with order 1 Centerline is valid? [True, True] Translation: X:26.52, Y:0.22, Z:-0.20 [[ 9.99954183e-01 -9.36231276e-03 1.99463119e-03 2.65237489e+01] [ 9.36234379e-03 9.99956172e-01 -6.21952366e-06 2.17856912e-01] [-1.99448554e-03 2.48936616e-05 9.99998011e-01 -2.04217870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56771942099999 meters Centerline goodness : 0.960468 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:0.23, Z:-0.21 [[ 9.99996296e-01 1.85170133e-03 1.99463106e-03 2.65853279e+01] [-1.85169253e-03 9.99998286e-01 -6.25904904e-06 2.28458693e-01] [-1.99463923e-03 2.56558242e-06 9.99998011e-01 -2.08221930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719420999995 meters Centerline goodness : 0.952290 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:0.24, Z:-0.21 [[ 9.99792712e-01 2.02621589e-02 1.99463081e-03 2.66457509e+01] [-2.02621866e-02 9.99794701e-01 -6.33752793e-06 2.37262277e-01] [-1.99434973e-03 -3.40793675e-05 9.99998011e-01 -2.12537132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68771942099999 meters Centerline goodness : 0.947532 with order 1 Centerline is valid? [True, False] Translation: X:26.65, Y:0.24, Z:-0.22 [[ 9.99554483e-01 2.98000605e-02 1.67106324e-03 2.66490735e+01] [-2.98130337e-02 9.99520478e-01 8.36641299e-03 2.35800517e-01] [-1.42094231e-03 -8.41250507e-03 9.99963605e-01 -2.15093502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74771942099999 meters Centerline goodness : 0.953093 with order 1 Centerline is valid? [False, True] Translation: X:26.66, Y:0.23, Z:-0.22 [[ 9.99551793e-01 2.84419478e-02 9.34176302e-03 2.66574907e+01] [-2.85790254e-02 9.99480727e-01 1.48834181e-02 2.31363475e-01] [-8.91359869e-03 -1.51437257e-02 9.99845596e-01 -2.16338706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.807719420999994 meters Centerline goodness : 0.954599 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:0.23, Z:-0.22 [[ 9.99772206e-01 1.91614178e-02 9.40083045e-03 2.67180991e+01] [-1.91626099e-02 9.99816380e-01 3.67450695e-05 2.26032157e-01] [-9.39840018e-03 -2.16881146e-04 9.99955811e-01 -2.15049996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86771942099999 meters Centerline goodness : 0.959299 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:0.21, Z:-0.21 [[ 9.99873083e-01 1.28624002e-02 9.40083123e-03 2.67796455e+01] [-1.28633121e-02 9.99917264e-01 3.65450319e-05 2.14896954e-01] [-9.39958338e-03 -1.57466220e-04 9.99955811e-01 -2.11137726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92771942099999 meters Centerline goodness : 0.958584 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:0.21, Z:-0.21 [[ 9.99891142e-01 1.13723062e-02 9.40083283e-03 2.68418335e+01] [-1.13731484e-02 9.99935323e-01 3.61281997e-05 2.08483402e-01] [-9.39981395e-03 -1.43041334e-04 9.99955811e-01 -2.14285022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719420999994 meters Centerline goodness : 0.950968 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:0.20, Z:-0.22 [[ 9.99929378e-01 7.27077056e-03 9.40084302e-03 2.69035109e+01] [-7.27140442e-03 9.99973562e-01 3.32478554e-05 2.02243724e-01] [-9.40035274e-03 -1.01602839e-04 9.99955811e-01 -2.23127765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04771942099999 meters Centerline goodness : 0.949494 with order 1 Centerline is valid? [True, False] Translation: X:26.94, Y:0.18, Z:-0.22 [[ 9.99928762e-01 -9.95226692e-04 1.18945724e-02 2.69394834e+01] [ 5.00713098e-04 9.99138145e-01 4.15056134e-02 1.83029161e-01] [-1.19256285e-02 -4.14967009e-02 9.99067467e-01 -2.24737522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10771942099999 meters Centerline goodness : 0.952676 with order 1 Centerline is valid? [False, True] Translation: X:26.97, Y:0.17, Z:-0.22 [[ 9.99913549e-01 -5.76763987e-03 1.18164822e-02 2.69686408e+01] [ 4.76545935e-03 9.96525559e-01 8.31510733e-02 1.68705006e-01] [-1.22550119e-02 -8.30875738e-02 9.96466893e-01 -2.19553545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719420999994 meters Centerline goodness : 0.953120 with order 1 Centerline is valid? [True, True] Translation: X:27.03, Y:0.19, Z:-0.22 [[ 9.99916628e-01 4.70906734e-03 1.20233841e-02 2.70298492e+01] [-4.70969521e-03 9.99988909e-01 2.39069981e-05 1.93774823e-01] [-1.20231382e-02 -8.05314797e-05 9.99927716e-01 -2.18328871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22771942099999 meters Centerline goodness : 0.955737 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:0.19, Z:-0.22 [[ 9.99684253e-01 2.20642995e-02 1.20233899e-02 2.70919657e+01] [-2.20661414e-02 9.99756513e-01 2.05457317e-05 1.87616134e-01] [-1.20200090e-02 -2.85849066e-04 9.99927716e-01 -2.15809817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28771942099999 meters Centerline goodness : 0.957126 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:0.19, Z:-0.21 [[ 9.99506803e-01 2.90101439e-02 1.20233916e-02 2.71544825e+01] [-2.90124756e-02 9.99579049e-01 1.95175320e-05 1.86519948e-01] [-1.20177641e-02 -3.68336260e-04 9.99927716e-01 -2.14304453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719420999994 meters Centerline goodness : 0.958788 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:0.17, Z:-0.21 [[ 9.99553686e-01 2.73471447e-02 1.20233963e-02 2.72163849e+01] [-2.73493136e-02 9.99625937e-01 1.59785379e-05 1.72383969e-01] [-1.20184618e-02 -3.44803042e-04 9.99927716e-01 -2.14949198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters Centerline goodness : 0.958775 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:0.17, Z:-0.22 [[ 9.99521405e-01 2.85026144e-02 1.20234000e-02 2.72775798e+01] [-2.85048227e-02 9.99593655e-01 1.23068371e-05 1.70299459e-01] [-1.20181636e-02 -3.55025833e-04 9.99927716e-01 -2.15402520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46771942099999 meters Centerline goodness : 0.961748 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:0.16, Z:-0.21 [[ 9.99369894e-01 3.33953967e-02 1.20234025e-02 2.73394914e+01] [-3.33979183e-02 9.99442134e-01 8.94937548e-06 1.61586224e-01] [-1.20163962e-02 -4.10500352e-04 9.99927716e-01 -2.12469349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52771942099999 meters Centerline goodness : 0.959390 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:0.16, Z:-0.22 [[ 9.99163031e-01 3.90982834e-02 1.20234041e-02 2.74020745e+01] [-3.91011724e-02 9.99235257e-01 5.21545221e-06 1.57282760e-01] [-1.20140054e-02 -4.75340285e-04 9.99927716e-01 -2.15490464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters Centerline goodness : 0.951667 with order 1 Centerline is valid? [True, True] Translation: X:27.46, Y:0.15, Z:-0.22 [[ 9.99070033e-01 4.14065937e-02 1.20234046e-02 2.74633924e+01] [-4.14096332e-02 9.99142253e-01 3.84757803e-06 1.53138373e-01] [-1.20129322e-02 -5.01728773e-04 9.99927716e-01 -2.22265019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64771942099999 meters Centerline goodness : 0.950239 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.14, Z:-0.23 [[ 9.99321592e-01 3.48108144e-02 1.20234047e-02 2.75258631e+01] [-3.48133706e-02 9.99393831e-01 3.30691483e-06 1.39796095e-01] [-1.20160014e-02 -4.21879916e-04 9.99927716e-01 -2.25902257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70771942099999 meters Centerline goodness : 0.952480 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:0.13, Z:-0.22 [[ 9.99688388e-01 2.18761254e-02 1.20234045e-02 2.75870291e+01] [-2.18776993e-02 9.99760654e-01 -6.24429445e-07 1.31420551e-01] [-1.20205404e-02 -2.62420194e-04 9.99927716e-01 -2.24033223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters Centerline goodness : 0.955882 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:0.12, Z:-0.22 [[ 9.99912178e-01 5.57438440e-03 1.20234034e-02 2.76491705e+01] [-5.57473964e-03 9.99984461e-01 -3.96921496e-06 1.18223182e-01] [-1.20232387e-02 -6.30584772e-05 9.99927716e-01 -2.21766517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82771942099999 meters Centerline goodness : 0.957580 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:0.11, Z:-0.22 [[ 9.99864440e-01 -1.12489601e-02 1.20234030e-02 2.77114530e+01] [ 1.12498330e-02 9.99936719e-01 -4.97127397e-06 1.08865860e-01] [-1.20225862e-02 1.40231876e-04 9.99927716e-01 -2.19487247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88771942099999 meters Centerline goodness : 0.956632 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:0.10, Z:-0.22 [[ 9.99707871e-01 -2.09668717e-02 1.20234005e-02 2.77721676e+01] [ 2.09684893e-02 9.99780137e-01 -8.47741450e-06 1.03461825e-01] [-1.20205793e-02 2.60587483e-04 9.99927716e-01 -2.22280368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters Centerline goodness : 0.956976 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:0.10, Z:-0.22 [[ 9.99762908e-01 -1.81539179e-02 1.20233974e-02 2.78338014e+01] [ 1.81553705e-02 9.99835178e-01 -1.16665976e-05 1.02561805e-01] [-1.20212039e-02 2.29953066e-04 9.99927716e-01 -2.23088996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00771942099999 meters Centerline goodness : 0.959611 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:0.10, Z:-0.22 [[ 9.99877306e-01 -1.00404958e-02 1.20233958e-02 2.78955579e+01] [ 1.00413798e-02 9.99949584e-01 -1.31540394e-05 1.01717408e-01] [-1.20226576e-02 1.33883909e-04 9.99927716e-01 -2.18624274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06771942099999 meters Centerline goodness : 0.965044 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:0.10, Z:-0.21 [[ 9.99921267e-01 -3.59120897e-03 1.20233952e-02 2.79575553e+01] [ 3.59163273e-03 9.99993550e-01 -1.36525531e-05 1.04816449e-01] [-1.20232687e-02 5.68350981e-05 9.99927716e-01 -2.12484469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719420999995 meters Centerline goodness : 0.964049 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:0.11, Z:-0.22 [[ 9.99926489e-01 1.56652434e-03 1.20233940e-02 2.80182787e+01] [-1.56646085e-03 9.99998773e-01 -1.46983564e-05 1.09633768e-01] [-1.20234022e-02 -4.13690004e-06 9.99927716e-01 -2.15377914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18771942099999 meters Centerline goodness : 0.961863 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:0.11, Z:-0.22 [[ 9.99925492e-01 -2.10911249e-03 1.20233930e-02 2.80801645e+01] [ 2.10945098e-03 9.99997775e-01 -1.54704448e-05 1.13824792e-01] [-1.20233336e-02 4.08320502e-05 9.99927716e-01 -2.18745936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24771942099999 meters Centerline goodness : 0.957265 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:0.12, Z:-0.22 [[ 9.99925232e-01 2.22881992e-03 1.20233871e-02 2.81420504e+01] [-2.22875053e-03 9.99997516e-01 -1.91698650e-05 1.21584892e-01] [-1.20233999e-02 -7.62869859e-06 9.99927716e-01 -2.23918916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.307719420999994 meters Centerline goodness : 0.949184 with order 1 Centerline is valid? [True, False] Translation: X:28.15, Y:0.14, Z:-0.22 [[ 9.99850042e-01 1.72430388e-02 1.60345697e-03 2.81456354e+01] [-1.70679670e-02 9.96873068e-01 -7.71542021e-02 1.41125233e-01] [-2.92881596e-03 7.71152644e-02 9.97017883e-01 -2.16672758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36771942099999 meters Centerline goodness : 0.951469 with order 1 Centerline is valid? [False, True] Translation: X:28.15, Y:0.14, Z:-0.22 [[ 9.99654621e-01 2.61997375e-02 2.05232731e-03 2.81461639e+01] [-2.60021557e-02 9.97391045e-01 -6.73423434e-02 1.39844657e-01] [-3.81132461e-03 6.72657199e-02 9.97727817e-01 -2.17699692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42771942099999 meters Centerline goodness : 0.954440 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:0.12, Z:-0.22 [[ 9.99656587e-01 2.60852249e-02 2.50366916e-03 2.82065502e+01] [-2.60852652e-02 9.99659721e-01 -1.65729521e-05 1.20571466e-01] [-2.50324952e-03 -4.87416131e-05 9.99996866e-01 -2.16259170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719420999994 meters Centerline goodness : 0.949228 with order 1 Centerline is valid? [True, False] Translation: X:28.24, Y:0.10, Z:-0.21 [[ 9.99743338e-01 2.22030206e-02 4.50384908e-03 2.82392509e+01] [-2.24390790e-02 9.97836237e-01 6.18007488e-02 9.62608474e-02] [-3.12194052e-03 -6.18859491e-02 9.98078345e-01 -2.14223809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54771942099999 meters Centerline goodness : 0.954831 with order 1 Centerline is valid? [False, True] Translation: X:28.25, Y:0.10, Z:-0.22 [[ 9.99828247e-01 1.64120592e-02 8.60937732e-03 2.82458339e+01] [-1.67783965e-02 9.98874637e-01 4.43615226e-02 1.02255775e-01] [-7.87162471e-03 -4.44983549e-02 9.98978445e-01 -2.15579677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60771942099999 meters Centerline goodness : 0.953410 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:0.12, Z:-0.22 [[ 9.99911942e-01 1.04147595e-02 8.22445442e-03 2.83076875e+01] [-1.04145134e-02 9.99945765e-01 -7.27501507e-05 1.15148275e-01] [-8.22476605e-03 -1.29099466e-05 9.99966176e-01 -2.15556467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719420999994 meters Centerline goodness : 0.954988 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:0.11, Z:-0.22 [[ 9.99965839e-01 8.24751700e-04 8.22443326e-03 2.83701445e+01] [-8.24162172e-04 9.99999658e-01 -7.50690598e-05 1.14185844e-01] [-8.22449236e-03 6.82882286e-05 9.99966176e-01 -2.15222134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72771942099999 meters Centerline goodness : 0.957120 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:0.12, Z:-0.21 [[ 9.99948935e-01 -5.87254973e-03 8.22441094e-03 2.84334451e+01] [ 5.87338524e-03 9.99982749e-01 -7.74396304e-05 1.20667973e-01] [-8.22381429e-03 1.25740810e-04 9.99966176e-01 -2.13984127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78771942099999 meters Centerline goodness : 0.957556 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:0.12, Z:-0.21 [[ 9.99914877e-01 -1.01290389e-02 8.22438423e-03 2.84958536e+01] [ 1.01300409e-02 9.99948687e-01 -8.01796154e-05 1.23528685e-01] [-8.22315006e-03 1.63486139e-04 9.99966176e-01 -2.13000131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719420999994 meters Centerline goodness : 0.958324 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:0.13, Z:-0.21 [[ 9.99914067e-01 -1.02087266e-02 8.22437728e-03 2.85576527e+01] [ 1.02097371e-02 9.99947876e-01 -8.08860166e-05 1.29455067e-01] [-8.22312285e-03 1.64847796e-04 9.99966176e-01 -2.12723051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90771942099999 meters Centerline goodness : 0.956230 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:0.13, Z:-0.22 [[ 9.99922834e-01 -9.31050633e-03 8.22437028e-03 2.86185287e+01] [ 9.31149223e-03 9.99956644e-01 -8.15916146e-05 1.31907189e-01] [-8.22325404e-03 1.58166478e-04 9.99966176e-01 -2.15660619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96771942099999 meters Centerline goodness : 0.958195 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:0.14, Z:-0.22 [[ 9.99941948e-01 6.96138767e-03 8.22436506e-03 2.86797263e+01] [-6.96094775e-03 9.99975769e-01 -8.21142665e-05 1.36582191e-01] [-8.22473740e-03 2.48601241e-05 9.99966176e-01 -2.17284748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02771942099999 meters Centerline goodness : 0.959565 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:0.14, Z:-0.22 [[ 9.99765983e-01 2.00084657e-02 8.22435991e-03 2.87415657e+01] [-2.00084629e-02 9.99799807e-01 -8.26267133e-05 1.41688666e-01] [-8.22436669e-03 -8.19494229e-05 9.99966176e-01 -2.16760388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters Centerline goodness : 0.954987 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:0.14, Z:-0.22 [[ 9.99391179e-01 3.39062156e-02 8.22435310e-03 2.88031807e+01] [-3.39066775e-02 9.99425000e-01 -8.32995722e-05 1.43393800e-01] [-8.22244847e-03 -1.95611631e-04 9.99966176e-01 -2.16845389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14771942099999 meters Centerline goodness : 0.951243 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:0.14, Z:-0.23 [[ 9.99097370e-01 4.16750006e-02 8.22434936e-03 2.88631952e+01] [-4.16757225e-02 9.99131186e-01 -8.36665762e-05 1.42783478e-01] [-8.22069074e-03 -2.59164645e-04 9.99966176e-01 -2.26058008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20771942099999 meters Centerline goodness : 0.951768 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.15, Z:-0.22 [[ 9.98840628e-01 4.74316265e-02 8.22434752e-03 2.89233241e+01] [-4.74325417e-02 9.98874440e-01 -8.38474588e-05 1.45296819e-01] [-8.21906754e-03 -3.06351459e-04 9.99966176e-01 -2.21427999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters Centerline goodness : 0.955783 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:0.14, Z:-0.22 [[ 9.99187180e-01 3.94631343e-02 8.22434752e-03 2.89849130e+01] [-3.94637798e-02 9.99220998e-01 -8.38474588e-05 1.35365940e-01] [-8.22124962e-03 -2.40784534e-04 9.99966176e-01 -2.18237948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32771942099999 meters Centerline goodness : 0.955628 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:0.13, Z:-0.22 [[ 9.99530053e-01 2.95302086e-02 8.22434384e-03 2.90474197e+01] [-2.95305149e-02 9.99563876e-01 -8.42070614e-05 1.28937983e-01] [-8.22324365e-03 -1.58701620e-04 9.99966176e-01 -2.20525746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38771942099999 meters Centerline goodness : 0.956912 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:0.12, Z:-0.22 [[ 9.99879954e-01 1.31315712e-02 8.22431723e-03 2.91096917e+01] [-1.31313020e-02 9.99913777e-01 -8.67296973e-05 1.16932791e-01] [-8.22474701e-03 -2.12767076e-05 9.99966176e-01 -2.21214399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.447719420999995 meters Centerline goodness : 0.950670 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:0.11, Z:-0.23 [[ 9.99959206e-01 3.73470816e-03 8.22429025e-03 2.91711499e+01] [-3.73410068e-03 9.99993024e-01 -8.92176302e-05 1.09719942e-01] [-8.22456608e-03 5.85036628e-05 9.99966176e-01 -2.25860671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50771942099999 meters Centerline goodness : 0.951548 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:0.11, Z:-0.23 [[ 9.99965862e-01 7.97565164e-04 8.22428626e-03 2.92331299e+01] [-7.96855348e-04 9.99999678e-01 -8.95838595e-05 1.06877789e-01] [-8.22435506e-03 8.30272348e-05 9.99966176e-01 -2.26719980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56771942099999 meters Centerline goodness : 0.953788 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:0.11, Z:-0.22 [[ 9.99950185e-01 -5.65584404e-03 8.22425617e-03 2.92950307e+01] [ 5.65679413e-03 9.99983996e-01 -9.22655058e-05 1.06129134e-01] [-8.22360271e-03 1.38783834e-04 9.99966176e-01 -2.24482681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.627719420999995 meters Centerline goodness : 0.952099 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:0.11, Z:-0.23 [[ 9.99936700e-01 -7.67835827e-03 8.22422770e-03 2.93569469e+01] [ 7.67939706e-03 9.99970509e-01 -9.47370995e-05 1.07564416e-01] [-8.22325773e-03 1.57888213e-04 9.99966176e-01 -2.28701926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68771942099999 meters Centerline goodness : 0.950494 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:0.11, Z:-0.23 [[ 9.99919836e-01 -9.62725761e-03 8.22421963e-03 2.94187614e+01] [ 9.62836802e-03 9.99953642e-01 -9.54325204e-05 1.12691085e-01] [-8.22291962e-03 1.74610683e-04 9.99966176e-01 -2.28450315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74771942099999 meters Centerline goodness : 0.950567 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:0.12, Z:-0.23 [[ 9.99880976e-01 -1.30536024e-02 8.22421121e-03 2.94809186e+01] [ 1.30548345e-02 9.99914777e-01 -9.61530919e-05 1.21072173e-01] [-8.22225517e-03 2.03507364e-04 9.99966176e-01 -2.28236800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719420999994 meters Centerline goodness : 0.950807 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:0.12, Z:-0.23 [[ 9.99827581e-01 -1.66484611e-02 8.22420278e-03 2.95433223e+01] [ 1.66498207e-02 9.99861377e-01 -9.68681428e-05 1.21666669e-01] [-8.22145002e-03 2.33782942e-04 9.99966176e-01 -2.29141600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86771942099999 meters Centerline goodness : 0.955231 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:0.13, Z:-0.23 [[ 9.99848537e-01 -1.53383420e-02 8.22419432e-03 2.96041947e+01] [ 1.53396631e-02 9.99882336e-01 -9.75811879e-05 1.33750917e-01] [-8.22172990e-03 2.23722779e-04 9.99966176e-01 -2.27773461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92771942099999 meters Centerline goodness : 0.958833 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:0.14, Z:-0.23 [[ 9.99912295e-01 -1.03809935e-02 8.22419014e-03 2.96659136e+01] [ 1.03821499e-02 9.99946099e-01 -9.79323981e-05 1.39673116e-01] [-8.22273022e-03 1.83308584e-04 9.99966176e-01 -2.26021398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719420999994 meters Centerline goodness : 0.963641 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:0.15, Z:-0.22 [[ 9.99925418e-01 -9.02887455e-03 8.22417735e-03 2.97286078e+01] [ 9.02999401e-03 9.99959224e-01 -9.89952357e-05 1.48404872e-01] [-8.22294818e-03 1.73252125e-04 9.99966176e-01 -2.24100609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04771942099999 meters Centerline goodness : 0.960560 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:0.16, Z:-0.23 [[ 9.99950919e-01 -5.52473794e-03 8.22416895e-03 2.97908172e+01] [ 5.52574463e-03 9.99984728e-01 -9.96879823e-05 1.58652403e-01] [-8.22349260e-03 1.45127747e-04 9.99966176e-01 -2.27644608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10771942099999 meters Centerline goodness : 0.962251 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:0.16, Z:-0.23 [[ 9.99866644e-01 -1.41087939e-02 8.22416047e-03 2.98539796e+01] [ 1.41100965e-02 9.99900443e-01 -1.00382964e-04 1.61011480e-01] [-8.22192541e-03 2.16413275e-04 9.99966176e-01 -2.28688214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719420999994 meters Centerline goodness : 0.960824 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:0.17, Z:-0.23 [[ 9.99537744e-01 -2.92687778e-02 8.22412599e-03 2.99150640e+01] [ 2.92706153e-02 9.99571518e-01 -1.03132411e-04 1.74208380e-01] [-8.21758354e-03 3.43809966e-04 9.99966176e-01 -2.29089021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22771942099999 meters Centerline goodness : 0.965508 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:0.17, Z:-0.23 [[ 9.99277738e-01 -3.70994191e-02 8.22409813e-03 2.99773530e+01] [ 3.71015391e-02 9.99311495e-01 -1.05308021e-04 1.73403563e-01] [-8.21452894e-03 4.10358659e-04 9.99966176e-01 -2.25644520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28771942099999 meters Centerline goodness : 0.965412 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:0.18, Z:-0.23 [[ 9.99093733e-01 -4.17621402e-02 8.22408955e-03 3.00395203e+01] [ 4.17644231e-02 9.99127480e-01 -1.05973661e-04 1.79872563e-01] [-8.21248819e-03 4.49351977e-04 9.99966176e-01 -2.25780544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719420999994 meters Centerline goodness : 0.956961 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:0.19, Z:-0.23 [[ 9.99108433e-01 -4.14089813e-02 8.22408075e-03 3.01001467e+01] [ 4.14112579e-02 9.99142180e-01 -1.06652623e-04 1.92985738e-01] [-8.21260959e-03 4.47127063e-04 9.99966176e-01 -2.33911899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40771942099999 meters Centerline goodness : 0.952478 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:0.20, Z:-0.24 [[ 9.99091320e-01 -4.18198377e-02 8.22406869e-03 3.01620136e+01] [ 4.18221357e-02 9.99125066e-01 -1.07574376e-04 1.95607214e-01] [-8.21237443e-03 4.51424742e-04 9.99966176e-01 -2.39118867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46771942099999 meters Centerline goodness : 0.957207 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:0.21, Z:-0.24 [[ 9.99330675e-01 -3.56450057e-02 8.22406184e-03 3.02232580e+01] [ 3.56470995e-02 9.99364434e-01 -1.08095759e-04 2.09042002e-01] [-8.21498183e-03 4.01187358e-04 9.99966176e-01 -2.37836603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52771942099999 meters Centerline goodness : 0.959522 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:0.22, Z:-0.24 [[ 9.99724659e-01 -2.19766146e-02 8.22405508e-03 3.02861105e+01] [ 2.19782507e-02 9.99758443e-01 -1.08607375e-04 2.23555700e-01] [-8.21968168e-03 2.89327815e-04 9.99966176e-01 -2.35775291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58771942099999 meters Centerline goodness : 0.953473 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:0.23, Z:-0.24 [[ 9.99919822e-01 -9.62887430e-03 8.22404594e-03 3.03472101e+01] [ 9.63009872e-03 9.99953624e-01 -1.09295344e-04 2.30102421e-01] [-8.22261215e-03 1.88484955e-04 9.99966176e-01 -2.43685766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64771942099999 meters Centerline goodness : 0.960333 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:0.24, Z:-0.24 [[ 9.99966041e-01 -5.31184449e-04 8.22402817e-03 3.04087919e+01] [ 5.32112153e-04 9.99999852e-01 -1.10616387e-04 2.41240130e-01] [-8.22396820e-03 1.14988736e-04 9.99966176e-01 -2.36531655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70771942099999 meters Centerline goodness : 0.964547 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:0.25, Z:-0.24 [[ 9.99922410e-01 9.35622572e-03 8.22402354e-03 3.04701451e+01] [-9.35562955e-03 9.99956229e-01 -1.10959573e-04 2.46448809e-01] [-8.22470173e-03 3.40100460e-05 9.99966176e-01 -2.35499337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters Centerline goodness : 0.960571 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.25, Z:-0.24 [[ 9.99792652e-01 1.86284088e-02 8.22401664e-03 3.05319645e+01] [-1.86281221e-02 9.99826475e-01 -1.11468767e-04 2.49397418e-01] [-8.22466605e-03 -4.17523320e-05 9.99966176e-01 -2.40638906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82771942099999 meters Centerline goodness : 0.962437 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:0.25, Z:-0.24 [[ 9.99630495e-01 2.59082878e-02 8.22400983e-03 3.05915195e+01] [-2.59082433e-02 9.99664319e-01 -1.11968843e-04 2.45189793e-01] [-8.22415011e-03 -1.01142178e-04 9.99966176e-01 -2.38998915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88771942099999 meters Centerline goodness : 0.965756 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:0.24, Z:-0.24 [[ 9.99565056e-01 2.83207473e-02 8.22401205e-03 3.06511871e+01] [-2.83207857e-02 9.99598880e-01 -1.11805516e-04 2.39728978e-01] [-8.22387965e-03 -1.21153597e-04 9.99966176e-01 -2.36730309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters Centerline goodness : 0.965757 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:0.23, Z:-0.24 [[ 9.99598034e-01 2.71318187e-02 8.22401641e-03 3.07107719e+01] [-2.71318195e-02 9.99631858e-01 -1.11483923e-04 2.32472230e-01] [-8.22401357e-03 -1.11693419e-04 9.99966176e-01 -2.39380399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00771942099999 meters Centerline goodness : 0.966803 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:0.22, Z:-0.24 [[ 9.99775411e-01 1.95318313e-02 8.22402068e-03 3.07711792e+01] [-1.95315776e-02 9.99809234e-01 -1.11167850e-04 2.21898473e-01] [-8.22462313e-03 -4.94852159e-05 9.99966176e-01 -2.37779923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06771942099999 meters Centerline goodness : 0.962661 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:0.21, Z:-0.25 [[ 9.99952754e-01 5.18224351e-03 8.22402068e-03 3.08314923e+01] [-5.18150447e-03 9.99986570e-01 -1.11167850e-04 2.05657328e-01] [-8.22448633e-03 6.85497975e-05 9.99966176e-01 -2.45711019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719420999995 meters Centerline goodness : 0.961564 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:0.20, Z:-0.25 [[ 9.99893959e-01 -1.20181913e-02 8.22401850e-03 3.08933261e+01] [ 1.20195132e-02 9.99927757e-01 -1.11329038e-04 2.00296643e-01] [-8.22208640e-03 2.10165931e-04 9.99966176e-01 -2.45642540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18771942099999 meters Centerline goodness : 0.959924 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:0.19, Z:-0.25 [[ 9.99705208e-01 -2.28443380e-02 8.22398843e-03 3.09544092e+01] [ 2.28460437e-02 9.99738989e-01 -1.13508118e-04 1.92529685e-01] [-8.21924885e-03 3.01360255e-04 9.99966176e-01 -2.51327851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24771942099999 meters Centerline goodness : 0.956367 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:0.19, Z:-0.26 [[ 9.99570735e-01 -2.81195988e-02 8.22396065e-03 3.10157354e+01] [ 2.81214990e-02 9.99604506e-01 -1.15486385e-04 1.89455080e-01] [-8.21746069e-03 3.46706912e-04 9.99966176e-01 -2.55385824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719420999994 meters Centerline goodness : 0.960658 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:0.20, Z:-0.25 [[ 9.99755442e-01 -2.05285890e-02 8.22395660e-03 3.10778395e+01] [ 2.05302350e-02 9.99789226e-01 -1.15773991e-04 1.99208407e-01] [-8.21984652e-03 2.84585439e-04 9.99966176e-01 -2.50415923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36771942099999 meters Centerline goodness : 0.967943 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:0.20, Z:-0.24 [[ 9.99955463e-01 -4.63018052e-03 8.22394823e-03 3.11394803e+01] [ 4.63129408e-03 9.99989269e-01 -1.16365549e-04 2.00109922e-01] [-8.22332118e-03 1.54447889e-04 9.99966176e-01 -2.41963859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42771942099999 meters Centerline goodness : 0.967778 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:0.20, Z:-0.24 [[ 9.99945820e-01 6.38146107e-03 8.22394361e-03 3.12012536e+01] [-6.38071716e-03 9.99979636e-01 -1.16690748e-04 2.03766813e-01] [-8.22452080e-03 6.42097676e-05 9.99966176e-01 -2.43945187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719420999994 meters Centerline goodness : 0.964699 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:0.21, Z:-0.25 [[ 9.99846898e-01 1.54449572e-02 8.22393426e-03 3.12630615e+01] [-1.54445144e-02 9.99880719e-01 -1.17346243e-04 2.10534405e-01] [-8.22476571e-03 -9.68639472e-06 9.99966176e-01 -2.49075393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54771942099999 meters Centerline goodness : 0.962922 with order 1 Centerline is valid? [True, True] Translation: X:31.32, Y:0.21, Z:-0.25 [[ 9.99657984e-01 2.48250094e-02 8.22392809e-03 3.13236264e+01] [-2.48248804e-02 9.99691808e-01 -1.17777258e-04 2.12001186e-01] [-8.22431736e-03 -8.64210553e-05 9.99966176e-01 -2.52305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60771942099999 meters Centerline goodness : 0.966889 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:0.21, Z:-0.25 [[ 9.99558091e-01 2.85655260e-02 8.22392578e-03 3.13836188e+01] [-2.85655223e-02 9.99591915e-01 -1.17937889e-04 2.11920660e-01] [-8.22393868e-03 -1.17034965e-04 9.99966176e-01 -2.49896862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719420999994 meters Centerline goodness : 0.963694 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:0.21, Z:-0.25 [[ 9.99289668e-01 3.67767158e-02 8.22393073e-03 3.14423290e+01] [-3.67769928e-02 9.99323491e-01 -1.17592017e-04 2.09908001e-01] [-8.22269181e-03 -1.84942954e-04 9.99966176e-01 -2.50971885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72771942099999 meters Centerline goodness : 0.959749 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:0.20, Z:-0.26 [[ 9.98873790e-01 4.67281264e-02 8.22393799e-03 3.15010762e+01] [-4.67287445e-02 9.98907609e-01 -1.17081860e-04 2.02460778e-01] [-8.22042525e-03 -2.67344296e-04 9.99966176e-01 -2.56112269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78771942099999 meters Centerline goodness : 0.963832 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:0.20, Z:-0.25 [[ 9.98567918e-01 5.28628406e-02 8.22394512e-03 3.15597445e+01] [-5.28636705e-02 9.98601732e-01 -1.16578911e-04 2.00996330e-01] [-8.21860853e-03 -3.18335964e-04 9.99966176e-01 -2.51162556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719420999994 meters Centerline goodness : 0.965463 with order 1 Centerline is valid? [True, True] Translation: X:31.62, Y:0.19, Z:-0.25 [[ 9.98554581e-01 5.31141752e-02 8.22395435e-03 3.16184685e+01] [-5.31150191e-02 9.98588394e-01 -1.15923960e-04 1.90580991e-01] [-8.21850258e-03 -3.21059091e-04 9.99966176e-01 -2.51615860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90771942099999 meters Centerline goodness : 0.969667 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:0.18, Z:-0.25 [[ 9.98803708e-01 4.82029072e-02 8.22396345e-03 3.16776671e+01] [-4.82035901e-02 9.98837525e-01 -1.15274630e-04 1.81209796e-01] [-8.21995987e-03 -2.81287835e-04 9.99966176e-01 -2.46985462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96771942099999 meters Centerline goodness : 0.959744 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:0.16, Z:-0.26 [[ 9.99152107e-01 4.03414570e-02 8.22397061e-03 3.17366824e+01] [-4.03418780e-02 9.99185928e-01 -1.14761538e-04 1.61672456e-01] [-8.22190536e-03 -2.17106186e-04 9.99966176e-01 -2.58878727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02771942099999 meters Centerline goodness : 0.960233 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:0.15, Z:-0.26 [[ 9.99401270e-01 3.36075425e-02 8.22397310e-03 3.17972608e+01] [-3.36077370e-02 9.99435094e-01 -1.14583195e-04 1.50103552e-01] [-8.22317819e-03 -1.61874535e-04 9.99966176e-01 -2.58259334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08771942099999 meters Centerline goodness : 0.962415 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:0.13, Z:-0.26 [[ 9.99389219e-01 3.39640294e-02 8.22397310e-03 3.18570347e+01] [-3.39642360e-02 9.99423042e-01 -1.14583195e-04 1.33004067e-01] [-8.22311992e-03 -1.64807754e-04 9.99966176e-01 -2.55348668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14771942099999 meters Centerline goodness : 0.963795 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:0.12, Z:-0.25 [[ 9.99432057e-01 3.26791832e-02 8.22397310e-03 3.19177668e+01] [-3.26793463e-02 9.99465881e-01 -1.14583195e-04 1.15441833e-01] [-8.22332500e-03 -1.54235947e-04 9.99966176e-01 -2.53113042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20771942099999 meters Centerline goodness : 0.960763 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:0.11, Z:-0.26 [[ 9.99576552e-01 2.79120486e-02 8.22396839e-03 3.19791131e+01] [-2.79120476e-02 9.99610376e-01 -1.14920099e-04 1.06851315e-01] [-8.22397179e-03 -1.14676361e-04 9.99966176e-01 -2.56097114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26771942099999 meters Centerline goodness : 0.960422 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:0.09, Z:-0.26 [[ 9.99824319e-01 1.68433278e-02 8.22396374e-03 3.20405652e+01] [-1.68429496e-02 9.99858141e-01 -1.15252128e-04 9.40742046e-02] [-8.22473832e-03 -2.32839257e-05 9.99966176e-01 -2.56449205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32771942099999 meters Centerline goodness : 0.963781 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:0.09, Z:-0.25 [[ 9.99946895e-01 6.21082929e-03 8.22393360e-03 3.21028844e+01] [-6.21007408e-03 9.99980710e-01 -1.17364289e-04 8.99083668e-02] [-8.22450389e-03 6.62868199e-05 9.99966176e-01 -2.51870859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38771942099999 meters Centerline goodness : 0.969352 with order 1 Centerline is valid? [True, True] Translation: X:32.17, Y:0.08, Z:-0.25 [[ 9.99966168e-01 -1.73262488e-04 8.22390010e-03 3.21650229e+01] [ 1.74252505e-04 9.99999978e-01 -1.19666511e-04 8.28853090e-02] [-8.22387918e-03 1.21095498e-04 9.99966176e-01 -2.48151314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters Centerline goodness : 0.960606 with order 1 Centerline is valid? [True, True] Translation: X:32.23, Y:0.08, Z:-0.26 [[ 9.99959377e-01 -3.68951824e-03 8.22389038e-03 3.22265136e+01] [ 3.69063259e-03 9.99993182e-01 -1.20330398e-04 8.41868214e-02] [-8.22339035e-03 1.50676867e-04 9.99966176e-01 -2.55573022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50771942099999 meters Centerline goodness : 0.961912 with order 1 Centerline is valid? [True, True] Translation: X:32.29, Y:0.08, Z:-0.26 [[ 9.99943497e-01 -6.73582520e-03 8.22388315e-03 3.22887689e+01] [ 6.73704658e-03 9.99977299e-01 -1.20822611e-04 8.00217470e-02] [-8.22288262e-03 1.76220468e-04 9.99966176e-01 -2.55123369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56771942099999 meters Centerline goodness : 0.972158 with order 1 Centerline is valid? [True, True] Translation: X:32.35, Y:0.08, Z:-0.24 [[ 9.99965570e-01 -1.10801511e-03 8.22384958e-03 3.23500028e+01] [ 1.10906468e-03 9.99999377e-01 -1.23065991e-04 8.38396568e-02] [-8.22370810e-03 1.32182535e-04 9.99966176e-01 -2.42383497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters Centerline goodness : 0.964409 with order 1 Centerline is valid? [True, True] Translation: X:32.41, Y:0.09, Z:-0.25 [[ 9.99792696e-01 1.86261660e-02 8.22384697e-03 3.24101943e+01] [-1.86257824e-02 9.99826517e-01 -1.23240111e-04 9.12101514e-02] [-8.22471577e-03 -2.99610208e-05 9.99966176e-01 -2.51767290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68771942099999 meters Centerline goodness : 0.952697 with order 1 Centerline is valid? [True, True] Translation: X:32.47, Y:0.10, Z:-0.27 [[ 9.99339168e-01 3.54061603e-02 8.22384450e-03 3.24704442e+01] [-3.54063431e-02 9.99372991e-01 -1.23404444e-04 9.78707159e-02] [-8.22305736e-03 -1.67853366e-04 9.99966176e-01 -2.65328079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74771942099999 meters Centerline goodness : 0.956215 with order 1 Centerline is valid? [True, True] Translation: X:32.53, Y:0.10, Z:-0.26 [[ 9.99006106e-01 4.38083133e-02 8.22384194e-03 3.25308081e+01] [-4.38087791e-02 9.99039927e-01 -1.23574870e-04 1.00006023e-01] [-8.22136006e-03 -2.36824426e-04 9.99966176e-01 -2.60382183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719420999994 meters Centerline goodness : 0.957636 with order 1 Centerline is valid? [True, True] Translation: X:32.59, Y:0.10, Z:-0.26 [[ 9.98862575e-01 4.69672620e-02 8.22384194e-03 3.25910194e+01] [-4.69678348e-02 9.98896395e-01 -1.23574870e-04 9.57399423e-02] [-8.22057004e-03 -2.62821737e-04 9.99966176e-01 -2.59586631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86771942099999 meters Centerline goodness : 0.950422 with order 1 Centerline is valid? [True, True] Translation: X:32.65, Y:0.09, Z:-0.27 [[ 9.98791175e-01 4.84619070e-02 8.22384194e-03 3.26509635e+01] [-4.84625304e-02 9.98824994e-01 -1.23574870e-04 8.95125992e-02] [-8.22016755e-03 -2.75122700e-04 9.99966176e-01 -2.65229462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92771942099999 meters Centerline goodness : 0.950240 with order 1 Centerline is valid? [True, True] Translation: X:32.71, Y:0.08, Z:-0.27 [[ 9.99073597e-01 4.22411571e-02 8.22383938e-03 3.27128635e+01] [-4.22415685e-02 9.99107419e-01 -1.23745458e-04 7.93017530e-02] [-8.22172608e-03 -2.23757054e-04 9.99966176e-01 -2.65766765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719420999994 meters Centerline goodness : 0.949861 with order 1 Centerline is valid? [True, False] Translation: X:32.75, Y:0.05, Z:-0.26 [[ 9.99375709e-01 3.21680491e-02 1.46085530e-02 3.27455982e+01] [-3.29642201e-02 9.97772383e-01 5.79968353e-02 5.11014108e-02] [-1.27103657e-02 -5.84421879e-02 9.98209876e-01 -2.64278843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04771942099999 meters Centerline goodness : 0.952811 with order 1 Centerline is valid? [False, True] Translation: X:32.76, Y:0.04, Z:-0.27 [[ 9.99614830e-01 1.99271419e-02 1.93158227e-02 3.27573287e+01] [-2.10127643e-02 9.98110857e-01 5.77337111e-02 3.94968008e-02] [-1.81288645e-02 -5.81173526e-02 9.98145139e-01 -2.65320648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10771942099999 meters Centerline goodness : 0.951595 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:0.05, Z:-0.27 [[ 9.99815854e-01 5.85724279e-03 1.82743314e-02 3.28200760e+01] [-5.85205301e-03 9.99982820e-01 -3.37456460e-04 4.79549686e-02] [-1.82759940e-02 2.30451963e-04 9.99832954e-01 -2.66651219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719420999994 meters Centerline goodness : 0.951916 with order 1 Centerline is valid? [True, True] Translation: X:32.88, Y:0.04, Z:-0.27 [[ 9.99823581e-01 4.34260203e-03 1.82742394e-02 3.28813714e+01] [-4.33706956e-03 9.99990536e-01 -3.42367823e-04 4.37860281e-02] [-1.82755532e-02 2.63050775e-04 9.99832954e-01 -2.67196233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22771942099999 meters Centerline goodness : 0.948930 with order 1 Centerline is valid? [True, False] Translation: X:32.90, Y:0.08, Z:-0.26 [[ 9.99768544e-01 1.42450971e-02 1.61225154e-02 3.29030149e+01] [-1.21510757e-02 9.92300811e-01 -1.23253605e-01 7.87174519e-02] [-1.77541446e-02 1.23029171e-01 9.92244231e-01 -2.57982942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28771942099999 meters Centerline goodness : 0.953659 with order 1 Centerline is valid? [False, True] Translation: X:32.90, Y:0.07, Z:-0.26 [[ 9.99621390e-01 1.66881985e-02 2.18765043e-02 3.28991281e+01] [-1.43270811e-02 9.94477783e-01 -1.03964775e-01 7.48757810e-02] [-2.34906823e-02 1.03611986e-01 9.94340356e-01 -2.55318838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719420999994 meters Centerline goodness : 0.957520 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:0.04, Z:-0.25 [[ 9.99625271e-01 1.31435040e-02 2.40118032e-02 3.29584285e+01] [-1.31361148e-02 9.99913609e-01 -4.65447069e-04 3.56123196e-02] [-2.40158464e-02 1.49850848e-04 9.99711567e-01 -2.53372496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40771942099999 meters Centerline goodness : 0.953232 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:0.04, Z:-0.26 [[ 9.99607273e-01 1.44476934e-02 2.40117634e-02 3.30194757e+01] [-1.44406313e-02 9.99895619e-01 -4.67489826e-04 3.89061048e-02] [-2.40160112e-02 1.20561206e-04 9.99711567e-01 -2.59285539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46771942099999 meters Centerline goodness : 0.950007 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:0.04, Z:-0.26 [[ 9.99549498e-01 1.80067026e-02 2.40116541e-02 3.30809072e+01] [-1.80005339e-02 9.99837865e-01 -4.73039760e-04 4.25296502e-02] [-2.40162789e-02 4.06040607e-05 9.99711567e-01 -2.62680297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52771942099999 meters Centerline goodness : 0.965181 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:0.04, Z:-0.25 [[ 9.99180800e-01 3.25756600e-02 2.40115462e-02 3.31423486e+01] [-3.25735654e-02 9.99469226e-01 -4.78455025e-04 4.39119809e-02] [-2.40143875e-02 -3.04078597e-04 9.99711567e-01 -2.45256936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58771942099999 meters Centerline goodness : 0.965467 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:0.05, Z:-0.25 [[ 9.98706674e-01 4.48154609e-02 2.40115361e-02 3.32050872e+01] [-4.48168883e-02 9.98995104e-01 -4.78959523e-04 5.00865071e-02] [-2.40088718e-02 -5.97782260e-04 9.99711567e-01 -2.48087898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64771942099999 meters Centerline goodness : 0.966771 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:0.05, Z:-0.25 [[ 9.98295569e-01 5.31922000e-02 2.40113696e-02 3.32669390e+01] [-5.31958498e-02 9.98583980e-01 -4.87167558e-04 4.94440295e-02] [-2.40032825e-02 -7.90967997e-04 9.99711567e-01 -2.49137820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70771942099999 meters Centerline goodness : 0.962739 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:0.04, Z:-0.26 [[ 9.98106598e-01 5.66275531e-02 2.40112170e-02 3.33274537e+01] [-5.66320175e-02 9.98394997e-01 -4.94575748e-04 4.23298346e-02] [-2.40006856e-02 -8.66164344e-04 9.99711567e-01 -2.55676691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76771942099999 meters Centerline goodness : 0.955902 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:0.04, Z:-0.26 [[ 9.97868797e-01 6.06739801e-02 2.40110779e-02 3.33889782e+01] [-6.06794538e-02 9.98157178e-01 -5.01238411e-04 4.03013173e-02] [-2.39972419e-02 -9.56808923e-04 9.99711567e-01 -2.62863654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82771942099999 meters Centerline goodness : 0.955685 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:0.03, Z:-0.27 [[ 9.98047525e-01 5.76594078e-02 2.40110298e-02 3.34513696e+01] [-5.76639551e-02 9.98335923e-01 -5.03533310e-04 3.00213203e-02] [-2.40001070e-02 -8.82020770e-04 9.99711567e-01 -2.65346307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88771942099999 meters Centerline goodness : 0.958980 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:0.02, Z:-0.26 [[ 9.98662675e-01 4.57857423e-02 2.40109762e-02 3.35137402e+01] [-4.57867983e-02 9.98951106e-01 -5.06076819e-04 1.86778078e-02] [-2.40089623e-02 -5.93985694e-04 9.99711567e-01 -2.61401757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94771942099999 meters Centerline goodness : 0.958582 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:0.01, Z:-0.27 [[ 9.99140375e-01 3.37932854e-02 2.40109314e-02 3.35741575e+01] [-3.37908279e-02 9.99428798e-01 -5.08192802e-04 1.03271285e-02] [-2.40143898e-02 -3.03593304e-04 9.99711567e-01 -2.66029398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00771942099999 meters Centerline goodness : 0.962183 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:0.01, Z:-0.26 [[ 9.99401628e-01 2.48970874e-02 2.40108536e-02 3.36366410e+01] [-2.48919746e-02 9.99690016e-01 -5.11841961e-04 8.71789889e-03] [-2.40161540e-02 -8.61418687e-05 9.99711567e-01 -2.62649361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06771942099999 meters Centerline goodness : 0.960705 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:0.01, Z:-0.26 [[ 9.99618645e-01 1.36400598e-02 2.40106919e-02 3.36988898e+01] [-1.36315199e-02 9.99906952e-01 -5.19317069e-04 9.97959390e-03] [-2.40155413e-02 1.91816800e-04 9.99711567e-01 -2.64564812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters Centerline goodness : 0.964062 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:0.01, Z:-0.26 [[ 9.99711629e-01 3.92739745e-04 2.40105279e-02 3.37605020e+01] [-3.80200744e-04 9.99999789e-01 -5.26792127e-04 1.22977506e-02] [-2.40107298e-02 5.17511394e-04 9.99711567e-01 -2.62525182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18771942099999 meters Centerline goodness : 0.966393 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:0.02, Z:-0.26 [[ 9.99557020e-01 -1.75858499e-02 2.40104498e-02 3.38221054e+01] [ 1.76036539e-02 9.99844903e-01 -5.30329979e-04 1.94957669e-02] [-2.39973995e-02 9.52766702e-04 9.99711567e-01 -2.61948843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24771942099999 meters Centerline goodness : 0.971280 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:0.02, Z:-0.26 [[ 9.99252774e-01 -3.02885983e-02 2.40103022e-02 3.38841282e+01] [ 3.03102180e-02 9.99540396e-01 -5.36929538e-04 2.17347599e-02] [-2.39830041e-02 1.26428582e-03 9.99711567e-01 -2.58148622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719420999994 meters Centerline goodness : 0.974097 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:0.04, Z:-0.26 [[ 9.99317762e-01 -2.80628583e-02 2.40101333e-02 3.39469946e+01] [ 2.80840158e-02 9.99605418e-01 -5.44381258e-04 3.78434587e-02] [-2.39853824e-02 1.21831082e-03 9.99711567e-01 -2.57663437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36771942099999 meters Centerline goodness : 0.964181 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:0.05, Z:-0.27 [[ 9.99605747e-01 -1.45556602e-02 2.40100828e-02 3.40072590e+01] [ 1.45729817e-02 9.99893659e-01 -5.46598186e-04 5.04690286e-02] [-2.39995734e-02 8.96281184e-04 9.99711567e-01 -2.69168832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42771942099999 meters Centerline goodness : 0.968715 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:0.06, Z:-0.27 [[ 9.99706881e-01 -3.10946385e-03 2.40100705e-02 3.40697420e+01] [ 3.12350062e-03 9.99994972e-01 -5.47139023e-04 5.83610266e-02] [-2.40082484e-02 6.21974117e-04 9.99711567e-01 -2.70129647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719420999994 meters Centerline goodness : 0.972669 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:0.07, Z:-0.27 [[ 9.99662905e-01 9.87899116e-03 2.40100225e-02 3.41322497e+01] [-9.86864805e-03 9.99951153e-01 -5.49238345e-04 6.77620259e-02] [-2.40142756e-02 3.12106739e-04 9.99711567e-01 -2.66221734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54771942099999 meters Centerline goodness : 0.971215 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:0.08, Z:-0.27 [[ 9.99357688e-01 2.66032582e-02 2.40099737e-02 3.41936308e+01] [-2.65976883e-02 9.99646067e-01 -5.51362487e-04 7.65576505e-02] [-2.40161438e-02 -8.76014555e-05 9.99711567e-01 -2.71059662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60771942099999 meters Centerline goodness : 0.970476 with order 1 Centerline is valid? [True, True] Translation: X:34.26, Y:0.09, Z:-0.28 [[ 9.98804745e-01 4.25747189e-02 2.40098797e-02 3.42563353e+01] [-4.25736618e-02 9.99093176e-01 -5.55422621e-04 8.60945000e-02] [-2.40117540e-02 -4.67429752e-04 9.99711567e-01 -2.76202769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719420999994 meters Centerline goodness : 0.963507 with order 1 Centerline is valid? [True, True] Translation: X:34.32, Y:0.08, Z:-0.28 [[ 9.98712881e-01 4.46778970e-02 2.40097117e-02 3.43164683e+01] [-4.46772751e-02 9.99001314e-01 -5.62592963e-04 8.39591035e-02] [-2.40108690e-02 -5.10819657e-04 9.99711567e-01 -2.84641571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72771942099999 meters Centerline goodness : 0.964892 with order 1 Centerline is valid? [True, True] Translation: X:34.38, Y:0.08, Z:-0.29 [[ 9.98865229e-01 4.11313586e-02 2.40096998e-02 3.43780495e+01] [-4.11297003e-02 9.99153657e-01 -5.63102129e-04 7.83352022e-02] [-2.40125405e-02 -4.25048619e-04 9.99711567e-01 -2.85738069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78771942099999 meters Centerline goodness : 0.966946 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:0.07, Z:-0.29 [[ 9.98985708e-01 3.80932752e-02 2.40095466e-02 3.44389686e+01] [-3.80905844e-02 9.99274128e-01 -5.69561043e-04 7.31617013e-02] [-2.40138152e-02 -3.45554319e-04 9.99711567e-01 -2.86001571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719420999994 meters Centerline goodness : 0.964436 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:0.06, Z:-0.29 [[ 9.99000324e-01 3.77081229e-02 2.40093947e-02 3.45013391e+01] [-3.77051688e-02 9.99288741e-01 -5.75894434e-04 6.21911472e-02] [-2.40140337e-02 -3.29959552e-04 9.99711567e-01 -2.89605360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90771942099999 meters Centerline goodness : 0.966885 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:0.05, Z:-0.29 [[ 9.99149423e-01 3.35258405e-02 2.40093371e-02 3.45631006e+01] [-3.35216216e-02 9.99437825e-01 -5.78283443e-04 5.47635993e-02] [-2.40152271e-02 -2.27040346e-04 9.99711567e-01 -2.87745894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96771942099999 meters Centerline goodness : 0.972210 with order 1 Centerline is valid? [True, True] Translation: X:34.63, Y:0.05, Z:-0.28 [[ 9.99452868e-01 2.27491683e-02 2.40091764e-02 3.46255113e+01] [-2.27416811e-02 9.99741203e-01 -5.84880408e-04 4.98894157e-02] [-2.40162685e-02 3.85513680e-05 9.99711567e-01 -2.82948386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02771942099999 meters Centerline goodness : 0.973094 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:0.04, Z:-0.29 [[ 9.99672350e-01 8.87474727e-03 2.40089982e-02 3.46877549e+01] [-8.86308527e-03 9.99960547e-01 -5.92105494e-04 3.90737301e-02] [-2.40133058e-02 3.79117692e-04 9.99711567e-01 -2.85049516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08771942099999 meters Centerline goodness : 0.970493 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:0.04, Z:-0.29 [[ 9.99705160e-01 3.62908075e-03 2.40088204e-02 3.47485744e+01] [-3.61573565e-03 9.99993284e-01 -5.99229145e-04 4.10178032e-02] [-2.40108338e-02 5.12242920e-04 9.99711567e-01 -2.87829626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14771942099999 meters Centerline goodness : 0.980160 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:0.04, Z:-0.28 [[ 9.99647281e-01 1.13531748e-02 2.40087330e-02 3.48122689e+01] [-1.13419727e-02 9.99935496e-01 -6.02710563e-04 4.13313035e-02] [-2.40140271e-02 3.30191581e-04 9.99711567e-01 -2.80396730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20771942099999 meters Centerline goodness : 0.978283 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:0.04, Z:-0.28 [[ 9.99544135e-01 1.83059304e-02 2.40086515e-02 3.48745250e+01] [-1.82966556e-02 9.99832419e-01 -6.05943074e-04 4.20119069e-02] [-2.40157204e-02 1.66388819e-04 9.99711567e-01 -2.84466824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26771942099999 meters Centerline goodness : 0.969830 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:0.04, Z:-0.29 [[ 9.99408683e-01 2.46146037e-02 2.40084630e-02 3.49351896e+01] [-2.46069714e-02 9.99697014e-01 -6.13321389e-04 4.29179660e-02] [-2.40162854e-02 2.21831596e-05 9.99711567e-01 -2.92970928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32771942099999 meters Centerline goodness : 0.978221 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:0.04, Z:-0.28 [[ 9.99279437e-01 2.93973002e-02 2.40084361e-02 3.49976957e+01] [-2.93910228e-02 9.99567802e-01 -6.14370885e-04 4.21810882e-02] [-2.40161206e-02 -9.17043003e-05 9.99711567e-01 -2.84373616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38771942099999 meters Centerline goodness : 0.977007 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:0.04, Z:-0.29 [[ 9.99201629e-01 3.19328721e-02 2.40082515e-02 3.50598874e+01] [-3.19271550e-02 9.99490005e-01 -6.21504000e-04 4.04432883e-02] [-2.40158538e-02 -1.45507356e-04 9.99711567e-01 -2.87643186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44771942099999 meters Centerline goodness : 0.975231 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:0.04, Z:-0.29 [[ 9.99003476e-01 3.76253563e-02 2.40080621e-02 3.51221235e+01] [-3.76211086e-02 9.99291878e-01 -6.28734706e-04 3.72311051e-02] [-2.40147178e-02 -2.75101755e-04 9.99711567e-01 -2.91415437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50771942099999 meters Centerline goodness : 0.978067 with order 1 Centerline is valid? [True, True] Translation: X:35.18, Y:0.04, Z:-0.29 [[ 9.98512107e-01 4.89611500e-02 2.40078726e-02 3.51839983e+01] [-4.89600037e-02 9.98800537e-01 -6.35890907e-04 3.93950318e-02] [-2.40102100e-02 -5.40480760e-04 9.99711567e-01 -2.89812917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56771942099999 meters Centerline goodness : 0.975349 with order 1 Centerline is valid? [True, True] Translation: X:35.24, Y:0.04, Z:-0.29 [[ 9.97922562e-01 5.97845296e-02 2.40076963e-02 3.52449967e+01] [-5.97863525e-02 9.98210989e-01 -6.42475825e-04 3.54640722e-02] [-2.40031564e-02 -7.94191474e-04 9.99711567e-01 -2.93155702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62771942099999 meters Centerline goodness : 0.975241 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:0.03, Z:-0.29 [[ 9.97536379e-01 6.59151249e-02 2.40076679e-02 3.53063436e+01] [-6.59186945e-02 9.97824790e-01 -6.43535603e-04 2.73278687e-02] [-2.39978649e-02 -9.40603952e-04 9.99711567e-01 -2.94596997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68771942099999 meters Centerline goodness : 0.973794 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:0.02, Z:-0.30 [[ 9.97446965e-01 6.72546976e-02 2.40074567e-02 3.53677911e+01] [-6.72584674e-02 9.97735373e-01 -6.51322288e-04 1.64872487e-02] [-2.39968932e-02 -9.65045304e-04 9.99711567e-01 -2.99801242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74771942099999 meters Centerline goodness : 0.975794 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:0.00, Z:-0.30 [[ 9.97950415e-01 5.93179155e-02 2.40073967e-02 3.54297135e+01] [-5.93193380e-02 9.98238844e-01 -6.53527125e-04 8.31370888e-04] [-2.40038817e-02 -7.71915211e-04 9.99711567e-01 -2.97944392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719420999994 meters Centerline goodness : 0.970881 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.01, Z:-0.30 [[ 9.98577420e-01 4.76108349e-02 2.40071955e-02 3.54906552e+01] [-4.76086992e-02 9.98865844e-01 -6.60835659e-04 -1.49396342e-02] [-2.40114305e-02 -4.83055780e-04 9.99711567e-01 -3.02159048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86771942099999 meters Centerline goodness : 0.965027 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.03, Z:-0.31 [[ 9.98980681e-01 3.82263594e-02 2.40071668e-02 3.55517070e+01] [-3.82214889e-02 9.99269073e-01 -6.61874255e-04 -2.68020977e-02] [-2.40149204e-02 -2.56390067e-04 9.99711567e-01 -3.07712624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92771942099999 meters Centerline goodness : 0.968386 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.03, Z:-0.31 [[ 9.99292090e-01 2.89650866e-02 2.40071385e-02 3.56140469e+01] [-2.89575186e-02 9.99580423e-01 -6.62899303e-04 -3.43468188e-02] [-2.40162666e-02 -3.27571304e-05 9.99711567e-01 -3.05077443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719420999994 meters Centerline goodness : 0.977935 with order 1 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.04, Z:-0.30 [[ 9.99621853e-01 1.34096162e-02 2.40069405e-02 3.56758233e+01] [-1.33973914e-02 9.99910026e-01 -6.69995615e-04 -4.22610281e-02] [-2.40137649e-02 3.48111880e-04 9.99711567e-01 -2.98640182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04771942099999 meters Centerline goodness : 0.978101 with order 1 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.05, Z:-0.30 [[ 9.99711061e-01 -1.21272631e-03 2.40067509e-02 3.57377908e+01] [ 1.22932619e-03 9.99999015e-01 -6.76721167e-04 -4.60811192e-02] [-2.40059066e-02 7.06037764e-04 9.99711567e-01 -2.98487244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10771942099999 meters Centerline goodness : 0.983032 with order 1 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.04, Z:-0.29 [[ 9.99692017e-01 -6.28941080e-03 2.40065412e-02 3.57989262e+01] [ 6.30764926e-03 9.99979873e-01 -6.84080418e-04 -4.18159114e-02] [-2.40017555e-02 8.35294575e-04 9.99711567e-01 -2.94960858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719420999994 meters Centerline goodness : 0.983346 with order 1 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.04, Z:-0.30 [[ 9.99670523e-01 -9.08472816e-03 2.40065265e-02 3.58615536e+01] [ 9.10378377e-03 9.99958325e-01 -6.84594134e-04 -4.01943527e-02] [-2.39993067e-02 9.02918803e-04 9.99711567e-01 -2.95746474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22771942099999 meters Centerline goodness : 0.978823 with order 1 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.03, Z:-0.30 [[ 9.99584941e-01 -1.59259004e-02 2.40064689e-02 3.59233441e+01] [ 1.59469735e-02 9.99872603e-01 -6.86610299e-04 -3.25391824e-02] [-2.39924756e-02 1.06915584e-03 9.99711567e-01 -3.02195366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28771942099999 meters Centerline goodness : 0.979281 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:-0.02, Z:-0.30 [[ 9.99531097e-01 -1.90073164e-02 2.40064258e-02 3.59860724e+01] [ 1.90293122e-02 9.99818689e-01 -6.88112289e-04 -1.94681407e-02] [-2.39889940e-02 1.14461540e-03 9.99711567e-01 -3.02671486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719420999994 meters Centerline goodness : 0.982395 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.01, Z:-0.30 [[ 9.99570327e-01 -1.68183372e-02 2.40063676e-02 3.60486748e+01] [ 1.68397517e-02 9.99857963e-01 -6.90139455e-04 -9.44145956e-03] [-2.39913508e-02 1.09410419e-03 9.99711567e-01 -3.01022637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40771942099999 meters Centerline goodness : 0.986072 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:0.01, Z:-0.30 [[ 9.99701031e-01 -4.64166319e-03 2.40063102e-02 3.61112105e+01] [ 4.65962025e-03 9.99988904e-01 -6.92129947e-04 1.09206792e-02] [-2.40028312e-02 8.03783311e-04 9.99711567e-01 -3.00616678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46771942099999 meters Centerline goodness : 0.983502 with order 1 Centerline is valid? [True, True] Translation: X:36.17, Y:0.03, Z:-0.31 [[ 9.99558754e-01 1.74928011e-02 2.40062516e-02 3.61730561e+01] [-1.74811733e-02 9.99846952e-01 -6.94155840e-04 2.91206321e-02] [-2.40147202e-02 2.74192103e-04 9.99711567e-01 -3.05719900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52771942099999 meters Centerline goodness : 0.983126 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:0.04, Z:-0.31 [[ 9.99138467e-01 3.38529925e-02 2.40062082e-02 3.62356267e+01] [-3.38460479e-02 9.99426816e-01 -6.95654388e-04 4.14625591e-02] [-2.40159982e-02 -1.17460214e-04 9.99711567e-01 -3.08398178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58771942099999 meters Centerline goodness : 0.976378 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:0.05, Z:-0.32 [[ 9.98855712e-01 4.13638987e-02 2.40061487e-02 3.62972746e+01] [-4.13590731e-02 9.99144104e-01 -6.97701338e-04 4.66509533e-02] [-2.40144615e-02 -2.95969090e-04 9.99711567e-01 -3.15044781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64771942099999 meters Centerline goodness : 0.978145 with order 1 Centerline is valid? [True, True] Translation: X:36.36, Y:0.05, Z:-0.32 [[ 9.98806631e-01 4.25326732e-02 2.40059570e-02 3.63594736e+01] [-4.25280280e-02 9.99095026e-01 -7.04234766e-04 4.65259511e-02] [-2.40141852e-02 -3.17531659e-04 9.99711567e-01 -3.15620567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70771942099999 meters Centerline goodness : 0.980155 with order 1 Centerline is valid? [True, True] Translation: X:36.42, Y:0.04, Z:-0.32 [[ 9.98588343e-01 4.73819189e-02 2.40057452e-02 3.64212220e+01] [-4.73785024e-02 9.98876755e-01 -7.11382562e-04 4.16544933e-02] [-2.40124875e-02 -4.26977922e-04 9.99711567e-01 -3.15457431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76771942099999 meters Centerline goodness : 0.978653 with order 1 Centerline is valid? [True, True] Translation: X:36.48, Y:0.03, Z:-0.32 [[ 9.98719858e-01 4.45239174e-02 2.40055285e-02 3.64819279e+01] [-4.45195016e-02 9.99008257e-01 -7.18620456e-04 3.09108740e-02] [-2.40137170e-02 -3.51013645e-04 9.99711567e-01 -3.17531425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82771942099999 meters Centerline goodness : 0.976025 with order 1 Centerline is valid? [True, True] Translation: X:36.54, Y:0.02, Z:-0.32 [[ 9.99225174e-01 3.11896680e-02 2.40053285e-02 3.65422792e+01] [-3.11812441e-02 9.99513484e-01 -7.25240028e-04 2.49365114e-02] [-2.40162695e-02 -2.38379149e-05 9.99711568e-01 -3.23542453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88771942099999 meters Centerline goodness : 0.970162 with order 1 Centerline is valid? [True, True] Translation: X:36.60, Y:0.02, Z:-0.33 [[ 9.99643961e-01 1.16488299e-02 2.40053135e-02 3.66021451e+01] [-1.16347593e-02 9.99932051e-01 -7.25736224e-04 1.58861895e-02] [-2.40121364e-02 4.46181790e-04 9.99711568e-01 -3.29761326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94771942099999 meters Centerline goodness : 0.980771 with order 1 Centerline is valid? [True, True] Translation: X:36.66, Y:0.01, Z:-0.32 [[ 9.99702929e-01 -4.21882285e-03 2.40052989e-02 3.66633969e+01] [ 4.23747584e-03 9.99990758e-01 -7.26221137e-04 7.12191766e-03] [-2.40020132e-02 8.27727273e-04 9.99711568e-01 -3.20368908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00771942099999 meters Centerline goodness : 0.978269 with order 1 Centerline is valid? [True, True] Translation: X:36.72, Y:0.01, Z:-0.32 [[ 9.99706299e-01 -3.32618550e-03 2.40052681e-02 3.67245925e+01] [ 3.34460582e-03 9.99994142e-01 -7.27235945e-04 6.98024905e-03] [-2.40027086e-02 8.07310514e-04 9.99711568e-01 -3.24733983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06771942099999 meters Centerline goodness : 0.978316 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:0.01, Z:-0.33 [[ 9.99700391e-01 4.78307474e-03 2.40052226e-02 3.67854560e+01] [-4.76695390e-03 9.99988372e-01 -7.28735159e-04 9.66393443e-03] [-2.40084291e-02 6.14085034e-04 9.99711568e-01 -3.25626342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12771942099999 meters Centerline goodness : 0.976630 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:0.01, Z:-0.33 [[ 9.99688436e-01 6.83995219e-03 2.40051223e-02 3.68482321e+01] [-6.82434496e-03 9.99976446e-01 -7.32024364e-04 9.08259264e-03] [-2.40095639e-02 5.67977056e-04 9.99711568e-01 -3.27510033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18771942099999 meters Centerline goodness : 0.983735 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:0.02, Z:-0.32 [[ 9.99599088e-01 1.50142968e-02 2.40048969e-02 3.69110242e+01] [-1.50008694e-02 9.99887207e-01 -7.39344120e-04 1.51044020e-02] [-2.40132900e-02 3.78953384e-04 9.99711568e-01 -3.21678018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24771942099999 meters Centerline goodness : 0.981865 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:0.02, Z:-0.32 [[ 9.99397399e-01 2.50720470e-02 2.40048340e-02 3.69721137e+01] [-2.50614707e-02 9.99685637e-01 -7.41379734e-04 2.26266805e-02] [-2.40158757e-02 1.39336534e-04 9.99711568e-01 -3.23638763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719420999994 meters Centerline goodness : 0.982517 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:0.03, Z:-0.32 [[ 9.99022217e-01 3.71265350e-02 2.40047873e-02 3.70347930e+01] [-3.71194004e-02 9.99310561e-01 -7.42887041e-04 2.77521737e-02] [-2.40158183e-02 -1.48882653e-04 9.99711568e-01 -3.24651217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36771942099999 meters Centerline goodness : 0.981711 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:0.03, Z:-0.33 [[ 9.98829244e-01 4.19989751e-02 2.40047266e-02 3.70968966e+01] [-4.19931999e-02 9.99117619e-01 -7.44845320e-04 3.03015788e-02] [-2.40148280e-02 -2.64061994e-04 9.99711568e-01 -3.27667883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42771942099999 meters Centerline goodness : 0.983825 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:0.03, Z:-0.33 [[ 9.98509583e-01 4.90142365e-02 2.40045152e-02 3.71587901e+01] [-4.90103250e-02 9.98797989e-01 -7.51596153e-04 2.72233293e-02] [-2.40125004e-02 -4.25993130e-04 9.99711568e-01 -3.27763853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719420999994 meters Centerline goodness : 0.983118 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:0.02, Z:-0.33 [[ 9.97994971e-01 5.85647658e-02 2.40042828e-02 3.72197416e+01] [-5.85634370e-02 9.98283401e-01 -7.58946493e-04 1.76370300e-02] [-2.40075246e-02 -6.48348519e-04 9.99711568e-01 -3.28475348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54771942099999 meters Centerline goodness : 0.981031 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:0.01, Z:-0.33 [[ 9.97538805e-01 6.58796555e-02 2.40042495e-02 3.72812803e+01] [-6.58804159e-02 9.97827236e-01 -7.59999976e-04 6.25047386e-03] [-2.40021624e-02 -8.23280470e-04 9.99711568e-01 -3.31246856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60771942099999 meters Centerline goodness : 0.980399 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.01, Z:-0.34 [[ 9.97399621e-01 6.79543573e-02 2.40041983e-02 3.73419994e+01] [-6.79556789e-02 9.97688050e-01 -7.61613098e-04 -1.35476531e-02] [-2.40004567e-02 -8.71588974e-04 9.99711568e-01 -3.35790883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719420999994 meters Centerline goodness : 0.980755 with order 1 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.03, Z:-0.34 [[ 9.98073589e-01 5.72093665e-02 2.40041645e-02 3.74048127e+01] [-5.72075563e-02 9.98362015e-01 -7.62675347e-04 -3.25085576e-02] [-2.40084782e-02 -6.12013474e-04 9.99711568e-01 -3.36856519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72771942099999 meters Centerline goodness : 0.981137 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.04, Z:-0.33 [[ 9.98799478e-01 4.27014666e-02 2.40038954e-02 3.74666869e+01] [-4.26952645e-02 9.99087844e-01 -7.71052367e-04 -4.36659662e-02] [-2.40149252e-02 -2.54725964e-04 9.99711568e-01 -3.34006934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78771942099999 meters Centerline goodness : 0.982717 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.05, Z:-0.34 [[ 9.99159787e-01 3.32196402e-02 2.40036560e-02 3.75297998e+01] [-3.32105240e-02 9.99448075e-01 -7.78435429e-04 -5.31542106e-02] [-2.40162671e-02 -1.93926176e-05 9.99711568e-01 -3.35547998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719420999994 meters Centerline goodness : 0.981829 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.06, Z:-0.34 [[ 9.99273267e-01 2.96104032e-02 2.40033830e-02 3.75926144e+01] [-2.96000457e-02 9.99561513e-01 -7.86765559e-04 -5.97032196e-02] [-2.40161542e-02 7.56925568e-05 9.99711568e-01 -3.36990624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90771942099999 meters Centerline goodness : 0.980065 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.06, Z:-0.34 [[ 9.99254483e-01 3.02378593e-02 2.40031114e-02 3.76550943e+01] [-3.02274859e-02 9.99542729e-01 -7.94964739e-04 -6.22430756e-02] [-2.40161735e-02 6.88183676e-05 9.99711568e-01 -3.41586828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96771942099999 meters Centerline goodness : 0.982056 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.07, Z:-0.34 [[ 9.98982717e-01 3.81757158e-02 2.40030275e-02 3.77184245e+01] [-3.81675720e-02 9.99271035e-01 -7.97489808e-04 -6.75859519e-02] [-2.40159749e-02 -1.19458746e-04 9.99711568e-01 -3.38543712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02771942099999 meters Centerline goodness : 0.978274 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.07, Z:-0.34 [[ 9.98626277e-01 4.65771156e-02 2.40027475e-02 3.77790405e+01] [-4.65711968e-02 9.98914648e-01 -8.05831007e-04 -7.18048676e-02] [-2.40142293e-02 -3.13112659e-04 9.99711568e-01 -3.42732018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08771942099999 meters Centerline goodness : 0.979374 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.08, Z:-0.34 [[ 9.98268056e-01 5.37099910e-02 2.40026174e-02 3.78402555e+01] [-5.37060398e-02 9.98556461e-01 -8.09687406e-04 -7.70749338e-02] [-2.40114570e-02 -4.80800453e-04 9.99711568e-01 -3.44950034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14771942099999 meters Centerline goodness : 0.978691 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.08, Z:-0.35 [[ 9.97805428e-01 6.17106541e-02 2.40025820e-02 3.79008757e+01] [-6.17089898e-02 9.98093855e-01 -8.10734451e-04 -8.32469537e-02] [-2.40068606e-02 -6.72219854e-04 9.99711568e-01 -3.48252710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20771942099999 meters Centerline goodness : 0.980340 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.09, Z:-0.35 [[ 9.97387104e-01 6.81384793e-02 2.40023567e-02 3.79627246e+01] [-6.81385144e-02 9.97675536e-01 -8.17351544e-04 -9.02081007e-02] [-2.40022572e-02 -8.20269038e-04 9.99711568e-01 -3.47746877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26771942099999 meters Centerline goodness : 0.968621 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.10, Z:-0.36 [[ 9.97710383e-01 6.32288701e-02 2.40021160e-02 3.80217631e+01] [-6.32273172e-02 9.97998811e-01 -8.24359763e-04 -1.00486128e-01] [-2.40062066e-02 -6.95117106e-04 9.99711568e-01 -3.60634140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32771942099999 meters Centerline goodness : 0.978311 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.11, Z:-0.35 [[ 9.98398217e-01 5.12337550e-02 2.40021257e-02 3.80834819e+01] [-5.12287427e-02 9.98686606e-01 -8.24076628e-04 -1.09251458e-01] [-2.40128220e-02 -4.06842086e-04 9.99711568e-01 -3.52086569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38771942099999 meters Centerline goodness : 0.988942 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.12, Z:-0.34 [[ 9.98861362e-01 4.12297114e-02 2.40018869e-02 3.81436908e+01] [-4.12216446e-02 9.99149681e-01 -8.30974639e-04 -1.24828264e-01] [-2.40157385e-02 -1.59368792e-04 9.99711568e-01 -3.42394161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44771942099999 meters Centerline goodness : 0.985041 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.13, Z:-0.35 [[ 9.99343025e-01 2.71556108e-02 2.40018836e-02 3.82037201e+01] [-2.71434812e-02 9.99631202e-01 -8.31070590e-04 -1.34370679e-01] [-2.40156000e-02 1.79029921e-04 9.99711568e-01 -3.50850273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50771942099999 meters Centerline goodness : 0.978906 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.14, Z:-0.36 [[ 9.99645603e-01 1.15143246e-02 2.40018649e-02 3.82647932e+01] [-1.14976741e-02 9.99933554e-01 -8.31608655e-04 -1.41731059e-01] [-2.40098455e-02 5.55348313e-04 9.99711568e-01 -3.56761799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56771942099999 meters Centerline goodness : 0.980651 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:-0.14, Z:-0.35 [[ 9.99657622e-01 1.04187628e-02 2.40018287e-02 3.83268862e+01] [-1.04017717e-02 9.99945553e-01 -8.32654077e-04 -1.43717999e-01] [-2.40091971e-02 5.82707454e-04 9.99711568e-01 -3.53928436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62771942099999 meters Centerline goodness : 0.984269 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:-0.15, Z:-0.35 [[ 9.99666114e-01 9.56996955e-03 2.40015720e-02 3.83886879e+01] [-9.55255798e-03 9.99954020e-01 -8.39987277e-04 -1.46151823e-01] [-2.40085071e-02 6.10430409e-04 9.99711568e-01 -3.53471413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68771942099999 meters Centerline goodness : 0.985899 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:-0.14, Z:-0.36 [[ 9.99564819e-01 1.71496393e-02 2.40013122e-02 3.84497769e+01] [-1.71342346e-02 9.99852839e-01 -8.47346965e-04 -1.37524008e-01] [-2.40123119e-02 4.35734102e-04 9.99711568e-01 -3.55674656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74771942099999 meters Centerline goodness : 0.991306 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:-0.12, Z:-0.35 [[ 9.98917073e-01 3.98575132e-02 2.40012571e-02 3.85114277e+01] [-3.98486195e-02 9.99205368e-01 -8.48906401e-04 -1.22186058e-01] [-2.40160202e-02 -1.08429862e-04 9.99711568e-01 -3.46716655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80771942099999 meters Centerline goodness : 0.978048 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.12, Z:-0.37 [[ 9.98066510e-01 5.73339470e-02 2.40012376e-02 3.85711987e+01] [-5.73300871e-02 9.98354917e-01 -8.49454675e-04 -1.17391944e-01] [-2.40104562e-02 -5.28180781e-04 9.99711568e-01 -3.68734014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86771942099999 meters Centerline goodness : 0.977737 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.12, Z:-0.37 [[ 9.97620045e-01 6.46388833e-02 2.40012477e-02 3.86329193e+01] [-6.46371416e-02 9.97908472e-01 -8.49169765e-04 -1.17656314e-01] [-2.40059378e-02 -7.04223268e-04 9.99711568e-01 -3.69962613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92771942099999 meters Centerline goodness : 0.984992 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.12, Z:-0.36 [[ 9.97652172e-01 6.41411507e-02 2.40011920e-02 3.86937046e+01] [-6.41392272e-02 9.97940597e-01 -8.50743298e-04 -1.21640603e-01] [-2.40063315e-02 -6.90672006e-04 9.99711568e-01 -3.62409851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719420999994 meters Centerline goodness : 0.986035 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.13, Z:-0.37 [[ 9.97447935e-01 6.72425490e-02 2.40011801e-02 3.87558853e+01] [-6.72415143e-02 9.97736365e-01 -8.51076590e-04 -1.29774894e-01] [-2.40040788e-02 -7.64971109e-04 9.99711568e-01 -3.66416184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters Centerline goodness : 0.983925 with order 1 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.13, Z:-0.37 [[ 9.97395156e-01 6.80210231e-02 2.40009060e-02 3.88175115e+01] [-6.80200294e-02 9.97683586e-01 -8.58739029e-04 -1.34389346e-01] [-2.40037223e-02 -7.76040181e-04 9.99711568e-01 -3.70360945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10771942099998 meters Centerline goodness : 0.978587 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.14, Z:-0.38 [[ 9.97763922e-01 6.23788730e-02 2.40006494e-02 3.88787215e+01] [-6.23760769e-02 9.98052341e-01 -8.65852558e-04 -1.42458121e-01] [-2.40079152e-02 -6.33149905e-04 9.99711568e-01 -3.77859614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16771942099999 meters Centerline goodness : 0.977618 with order 1 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.16, Z:-0.38 [[ 9.98581396e-01 4.75308018e-02 2.40003969e-02 3.89392758e+01] [-4.75235491e-02 9.98869737e-01 -8.72795748e-04 -1.55517406e-01] [-2.40147548e-02 -2.69026442e-04 9.99711568e-01 -3.79721065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22771942099999 meters Centerline goodness : 0.966314 with order 1 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.16, Z:-0.39 [[ 9.99061853e-01 3.60472046e-02 2.40002618e-02 3.89995343e+01] [-3.60365486e-02 9.99350088e-01 -8.76493416e-04 -1.62044177e-01] [-2.40162589e-02 1.07845359e-05 9.99711568e-01 -3.91267965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters Centerline goodness : 0.980917 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:-0.17, Z:-0.38 [[ 9.99159952e-01 3.32171207e-02 2.40002588e-02 3.90604994e+01] [-3.32056463e-02 9.99448156e-01 -8.76576519e-04 -1.70756766e-01] [-2.40161317e-02 7.88960485e-05 9.99711568e-01 -3.75094224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters Centerline goodness : 0.979436 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:-0.17, Z:-0.38 [[ 9.98917812e-01 3.98395921e-02 2.40002382e-02 3.91212849e+01] [-3.98300149e-02 9.99206085e-01 -8.77140515e-04 -1.74073702e-01] [-2.40161289e-02 -7.97385595e-05 9.99711568e-01 -3.79263163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters Centerline goodness : 0.973089 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:-0.17, Z:-0.39 [[ 9.98275814e-01 5.35667878e-02 2.39999748e-02 3.91821164e+01] [-5.35610021e-02 9.98564188e-01 -8.84289604e-04 -1.74200225e-01] [-2.40128839e-02 -4.02697776e-04 9.99711568e-01 -3.86854157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46771942099998 meters Centerline goodness : 0.979307 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:-0.18, Z:-0.38 [[ 9.97734449e-01 6.28488045e-02 2.39999362e-02 3.92434704e+01] [-6.28456760e-02 9.98022864e-01 -8.85333736e-04 -1.81792439e-01] [-2.40081273e-02 -6.24964249e-04 9.99711568e-01 -3.80484239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52771942099999 meters Centerline goodness : 0.987589 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.19, Z:-0.37 [[ 9.97729254e-01 6.29312306e-02 2.39998974e-02 3.93031650e+01] [-6.29281007e-02 9.98017669e-01 -8.86385265e-04 -1.85230383e-01] [-2.40081030e-02 -6.25895451e-04 9.99711568e-01 -3.74258783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58771942099999 meters Centerline goodness : 0.986631 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.19, Z:-0.38 [[ 9.97537175e-01 6.59059132e-02 2.39999128e-02 3.93658940e+01] [-6.59036533e-02 9.97825598e-01 -8.85967095e-04 -1.93390877e-01] [-2.40061178e-02 -6.97896822e-04 9.99711568e-01 -3.76040332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64771942099999 meters Centerline goodness : 0.984580 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.20, Z:-0.38 [[ 9.96914214e-01 7.47400072e-02 2.39996089e-02 3.94277430e+01] [-7.47401062e-02 9.97202646e-01 -8.94125172e-04 -2.02503253e-01] [-2.39993004e-02 -9.02367227e-04 9.99711568e-01 -3.80424569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters Centerline goodness : 0.984641 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.21, Z:-0.38 [[ 9.96333883e-01 8.21147056e-02 2.39993444e-02 3.94895132e+01] [-8.21167696e-02 9.96622308e-01 -9.01169967e-04 -2.09121701e-01] [-2.39922813e-02 -1.07288246e-03 9.99711568e-01 -3.82643594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters Centerline goodness : 0.976449 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.22, Z:-0.39 [[ 9.96018857e-01 8.58515109e-02 2.39990696e-02 3.95500177e+01] [-8.58544822e-02 9.96307273e-01 -9.08429796e-04 -2.22952620e-01] [-2.39884376e-02 -1.15561449e-03 9.99711568e-01 -3.91175292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters Centerline goodness : 0.977589 with order 1 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.24, Z:-0.39 [[ 9.96610063e-01 7.86919821e-02 2.39990503e-02 3.96112140e+01] [-7.86928686e-02 9.96898493e-01 -9.08939228e-04 -2.43150511e-01] [-2.39961433e-02 -9.82696130e-04 9.99711568e-01 -3.92105785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88771942099999 meters Centerline goodness : 0.980934 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.26, Z:-0.39 [[ 9.97319847e-01 6.91170925e-02 2.39989737e-02 3.96727241e+01] [-6.91151604e-02 9.97608272e-01 -9.10956747e-04 -2.55796175e-01] [-2.40045374e-02 -7.50177673e-04 9.99711568e-01 -3.88833781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94771942099999 meters Centerline goodness : 0.978085 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:-0.27, Z:-0.39 [[ 9.98300689e-01 5.31017564e-02 2.39987248e-02 3.97331642e+01] [-5.30950391e-02 9.98589042e-01 -9.17466863e-04 -2.69031750e-01] [-2.40135827e-02 -3.58305431e-04 9.99711568e-01 -3.94063578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00771942099999 meters Centerline goodness : 0.977818 with order 1 Centerline is valid? [True, True] Translation: X:39.79, Y:-0.28, Z:-0.40 [[ 9.98839124e-01 4.17668326e-02 2.39986849e-02 3.97943487e+01] [-4.17568175e-02 9.99127382e-01 -9.18509885e-04 -2.83410838e-01] [-2.40161065e-02 -8.46650973e-05 9.99711568e-01 -3.95880340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters Centerline goodness : 0.971944 with order 1 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.29, Z:-0.40 [[ 9.98854850e-01 4.13892023e-02 2.39983996e-02 3.98567317e+01] [-4.13789007e-02 9.99143097e-01 -9.25903737e-04 -2.86595514e-01] [-2.40161578e-02 -6.81839565e-05 9.99711568e-01 -4.00596989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters Centerline goodness : 0.974142 with order 1 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.29, Z:-0.40 [[ 9.98461301e-01 4.99911283e-02 2.39982987e-02 3.99183512e+01] [-4.99832471e-02 9.98749625e-01 -9.28513470e-04 -2.85426255e-01] [-2.40147092e-02 -2.72428124e-04 9.99711568e-01 -4.00407772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters Centerline goodness : 0.974164 with order 1 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.28, Z:-0.40 [[ 9.98226953e-01 5.44705838e-02 2.39980393e-02 3.99810166e+01] [-5.44638364e-02 9.98515306e-01 -9.35169157e-04 -2.82849807e-01] [-2.40133488e-02 -3.73514228e-04 9.99711568e-01 -4.00900879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24771942099999 meters Centerline goodness : 0.975803 with order 1 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.28, Z:-0.40 [[ 9.98031814e-01 5.79362366e-02 2.39977147e-02 4.00430704e+01] [-5.79302919e-02 9.98320185e-01 -9.43426421e-04 -2.80069565e-01] [-2.40120615e-02 -4.48625035e-04 9.99711568e-01 -3.99124202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30771942099999 meters Centerline goodness : 0.980521 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.28, Z:-0.40 [[ 9.98164578e-01 5.56021435e-02 2.39974242e-02 4.01052478e+01] [-5.55953482e-02 9.98452930e-01 -9.50758353e-04 -2.82866333e-01] [-2.40131627e-02 -3.85131844e-04 9.99711568e-01 -3.96844475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36771942099999 meters Centerline goodness : 0.984689 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.28, Z:-0.39 [[ 9.98519269e-01 4.88200490e-02 2.39973408e-02 4.01659649e+01] [-4.88112445e-02 9.98807566e-01 -9.52858999e-04 -2.84522654e-01] [-2.40152442e-02 -2.19891998e-04 9.99711568e-01 -3.93173428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters Centerline goodness : 0.982545 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.29, Z:-0.40 [[ 9.98285820e-01 5.33811908e-02 2.39972809e-02 4.02276839e+01] [-5.33736674e-02 9.98574154e-01 -9.54363576e-04 -2.87616082e-01] [-2.40140096e-02 -3.28095265e-04 9.99711568e-01 -3.97582518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters Centerline goodness : 0.979928 with order 1 Centerline is valid? [True, True] Translation: X:40.29, Y:-0.29, Z:-0.40 [[ 9.97763129e-01 6.23929682e-02 2.39969953e-02 4.02887348e+01] [-6.23878772e-02 9.98051516e-01 -9.61493347e-04 -2.85060922e-01] [-2.40102279e-02 -5.37778984e-04 9.99711568e-01 -4.02159166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters Centerline goodness : 0.973725 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:-0.29, Z:-0.41 [[ 9.96769677e-01 7.66444298e-02 2.39967344e-02 4.03494234e+01] [-7.66433047e-02 9.97058106e-01 -9.67960617e-04 -2.85431754e-01] [-2.40003273e-02 -8.74355236e-04 9.99711568e-01 -4.09389044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60771942099998 meters Centerline goodness : 0.974910 with order 1 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.29, Z:-0.41 [[ 9.96555080e-01 7.93859582e-02 2.39967137e-02 4.04107539e+01] [-7.93856142e-02 9.96843511e-01 -9.68472551e-04 -2.89912459e-01] [-2.39978515e-02 -9.39857619e-04 9.99711568e-01 -4.13025155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66771942099999 meters Centerline goodness : 0.974380 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.29, Z:-0.42 [[ 9.96809249e-01 7.61280913e-02 2.39965743e-02 4.04728011e+01] [-7.61267217e-02 9.97097677e-01 -9.71915850e-04 -2.93267559e-01] [-2.40009186e-02 -8.57965825e-04 9.99711568e-01 -4.15622273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72771942099999 meters Centerline goodness : 0.978621 with order 1 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.30, Z:-0.41 [[ 9.97408669e-01 6.78242225e-02 2.39963084e-02 4.05358193e+01] [-6.78202943e-02 9.97697073e-01 -9.78435949e-04 -3.03925310e-01] [-2.40074084e-02 -6.51536202e-04 9.99711568e-01 -4.10196190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters Centerline goodness : 0.980373 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.31, Z:-0.41 [[ 9.98473581e-01 4.97463773e-02 2.39959693e-02 4.05981382e+01] [-4.97370274e-02 9.98761861e-01 -9.86684025e-04 -3.11326036e-01] [-2.40153429e-02 -2.08310251e-04 9.99711568e-01 -4.11787803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters Centerline goodness : 0.978746 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.32, Z:-0.42 [[ 9.99057806e-01 3.61622403e-02 2.39956721e-02 4.06589201e+01] [-3.61487984e-02 9.99345924e-01 -9.93857988e-04 -3.18302397e-01] [-2.40159173e-02 1.25506867e-04 9.99711568e-01 -4.15661415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters Centerline goodness : 0.977788 with order 1 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.32, Z:-0.42 [[ 9.99154096e-01 3.33961301e-02 2.39956281e-02 4.07203127e+01] [-3.33818650e-02 9.99442175e-01 -9.94919569e-04 -3.21245990e-01] [-2.40154692e-02 1.93059143e-04 9.99711568e-01 -4.17992954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96771942099998 meters Centerline goodness : 0.977002 with order 1 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.33, Z:-0.42 [[ 9.99294973e-01 2.88752615e-02 2.39953457e-02 4.07818835e+01] [-2.88595308e-02 9.99582975e-01 -1.00168474e-03 -3.26207987e-01] [-2.40142630e-02 3.08484111e-04 9.99711568e-01 -4.19346400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02771942099999 meters Centerline goodness : 0.980794 with order 1 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.33, Z:-0.42 [[ 9.99192606e-01 3.22238019e-02 2.39950522e-02 4.08440405e+01] [-3.22088687e-02 9.99480651e-01 -1.00866681e-03 -3.27992963e-01] [-2.40150935e-02 2.34998935e-04 9.99711568e-01 -4.16676644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08771942099999 meters Centerline goodness : 0.976616 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.33, Z:-0.42 [[ 9.98919229e-01 3.98073568e-02 2.39947515e-02 4.09059587e+01] [-3.97944399e-02 9.99207371e-01 -1.01577098e-03 -3.27632192e-01] [-2.40161677e-02 5.98154677e-05 9.99711568e-01 -4.21117626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14771942099999 meters Centerline goodness : 0.979233 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.32, Z:-0.42 [[ 9.98631366e-01 4.64721625e-02 2.39944536e-02 4.09681156e+01] [-4.64610006e-02 9.98919581e-01 -1.02275839e-03 -3.24002849e-01] [-2.40160594e-02 -9.34477201e-05 9.99711568e-01 -4.19609790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters Centerline goodness : 0.977711 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.33, Z:-0.42 [[ 9.98440489e-01 5.04070407e-02 2.39941554e-02 4.10300361e+01] [-5.03968477e-02 9.98728741e-01 -1.02970710e-03 -3.31426539e-01] [-2.40155571e-02 -1.81128533e-04 9.99711569e-01 -4.23041108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters Centerline goodness : 0.975940 with order 1 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.33, Z:-0.43 [[ 9.98197087e-01 5.50170033e-02 2.39938404e-02 4.10920410e+01] [-5.50079663e-02 9.98485377e-01 -1.03699539e-03 -3.27054029e-01] [-2.40145512e-02 -2.84726591e-04 9.99711569e-01 -4.28317460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32771942099998 meters Centerline goodness : 0.974246 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.33, Z:-0.43 [[ 9.97935118e-01 5.95802818e-02 2.39935313e-02 4.11544647e+01] [-5.95723923e-02 9.98223442e-01 -1.04409919e-03 -3.31728986e-01] [-2.40131131e-02 -3.87408810e-04 9.99711569e-01 -4.30750069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38771942099999 meters Centerline goodness : 0.975206 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.34, Z:-0.43 [[ 9.97806344e-01 6.16993900e-02 2.39934206e-02 4.12163189e+01] [-6.16920517e-02 9.98094683e-01 -1.04663674e-03 -3.36522557e-01] [-2.40122824e-02 -4.35862571e-04 9.99711569e-01 -4.31085394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44771942099999 meters Centerline goodness : 0.979939 with order 1 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.34, Z:-0.43 [[ 9.97726180e-01 6.29825410e-02 2.39931146e-02 4.12779263e+01] [-6.29754061e-02 9.98014523e-01 -1.05360535e-03 -3.39488547e-01] [-2.40118356e-02 -4.59766501e-04 9.99711569e-01 -4.26861555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50771942099999 meters Centerline goodness : 0.982928 with order 1 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.35, Z:-0.43 [[ 9.97798188e-01 6.18313852e-02 2.39928175e-02 4.13382772e+01] [-6.18237560e-02 9.98086519e-01 -1.06032871e-03 -3.45385232e-01] [-2.40124693e-02 -4.25332031e-04 9.99711569e-01 -4.26754288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters Centerline goodness : 0.981302 with order 1 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.35, Z:-0.43 [[ 9.98302579e-01 5.30688897e-02 2.39927951e-02 4.14005557e+01] [-5.30587173e-02 9.98590831e-01 -1.06083494e-03 -3.50909025e-01] [-2.40152825e-02 -2.13992678e-04 9.99711569e-01 -4.28661045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters Centerline goodness : 0.977322 with order 1 Centerline is valid? [True, True] Translation: X:41.46, Y:-0.35, Z:-0.43 [[ 9.98907674e-01 4.00976179e-02 2.39924906e-02 4.14615260e+01] [-4.00835380e-02 9.99195762e-01 -1.06767687e-03 -3.54736419e-01] [-2.40160063e-02 1.04806705e-04 9.99711569e-01 -4.33175776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters Centerline goodness : 0.973651 with order 1 Centerline is valid? [True, True] Translation: X:41.52, Y:-0.36, Z:-0.44 [[ 9.98918729e-01 3.98212825e-02 2.39924430e-02 4.15228107e+01] [-3.98070972e-02 9.99206812e-01 -1.06874608e-03 -3.55649587e-01] [-2.40159713e-02 1.12520966e-04 9.99711569e-01 -4.38379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74771942099999 meters Centerline goodness : 0.975241 with order 1 Centerline is valid? [True, True] Translation: X:41.58, Y:-0.35, Z:-0.44 [[ 9.98324071e-01 5.26633255e-02 2.39921386e-02 4.15848558e+01] [-5.26526826e-02 9.98612306e-01 -1.07553652e-03 -3.53080621e-01] [-2.40154862e-02 -1.89516461e-04 9.99711569e-01 -4.35269372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80771942099999 meters Centerline goodness : 0.972272 with order 1 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.35, Z:-0.44 [[ 9.97614880e-01 6.47220509e-02 2.39918048e-02 4.16470787e+01] [-6.47147137e-02 9.97903218e-01 -1.08293246e-03 -3.48982259e-01] [-2.40115888e-02 -4.72273238e-04 9.99711569e-01 -4.37986835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86771942099999 meters Centerline goodness : 0.974287 with order 1 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.35, Z:-0.44 [[ 9.97395344e-01 6.80215940e-02 2.39914764e-02 4.17079798e+01] [-6.80150369e-02 9.97683701e-01 -1.09015817e-03 -3.51673929e-01] [-2.40100593e-02 -5.44462470e-04 9.99711569e-01 -4.41578005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters Centerline goodness : 0.981100 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.35, Z:-0.44 [[ 9.97450650e-01 6.72057970e-02 2.39913024e-02 4.17693012e+01] [-6.71989123e-02 9.97738999e-01 -1.09397541e-03 -3.51530495e-01] [-2.40105795e-02 -5.21002945e-04 9.99711569e-01 -4.35537178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters Centerline goodness : 0.979882 with order 1 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.36, Z:-0.44 [[ 9.97506883e-01 6.63659371e-02 2.39912784e-02 4.18320554e+01] [-6.63587969e-02 9.97795226e-01 -1.09450109e-03 -3.55947619e-01] [-2.40110206e-02 -5.00260001e-04 9.99711569e-01 -4.36830152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters Centerline goodness : 0.978261 with order 1 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.36, Z:-0.44 [[ 9.97515704e-01 6.62333497e-02 2.39908953e-02 4.18941867e+01] [-6.62259708e-02 9.97804041e-01 -1.10283564e-03 -3.62613938e-01] [-2.40112567e-02 -4.88724460e-04 9.99711569e-01 -4.39066550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10771942099998 meters Centerline goodness : 0.984188 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:-0.36, Z:-0.44 [[ 9.97676363e-01 6.37677683e-02 2.39905600e-02 4.19555988e+01] [-6.37595027e-02 9.97964675e-01 -1.11008094e-03 -3.60264042e-01] [-2.40125188e-02 -4.22124663e-04 9.99711569e-01 -4.36706092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16771942099999 meters Centerline goodness : 0.982166 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:-0.36, Z:-0.44 [[ 9.98271748e-01 5.36467441e-02 2.39905122e-02 4.20172061e+01] [-5.36355303e-02 9.98559961e-01 -1.11111241e-03 -3.64547514e-01] [-2.40155725e-02 -1.77551718e-04 9.99711569e-01 -4.38839279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22771942099999 meters Centerline goodness : 0.980999 with order 1 Centerline is valid? [True, True] Translation: X:42.08, Y:-0.36, Z:-0.44 [[ 9.99072117e-01 3.57683861e-02 2.39901753e-02 4.20792816e+01] [-3.57518413e-02 9.99360073e-01 -1.11833970e-03 -3.64584337e-01] [-2.40148246e-02 2.59609067e-04 9.99711569e-01 -4.42494228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters Centerline goodness : 0.980144 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.36, Z:-0.45 [[ 9.99351699e-01 2.68453060e-02 2.39898354e-02 4.21413826e+01] [-2.68260166e-02 9.99639484e-01 -1.12558478e-03 -3.59110597e-01] [-2.40114033e-02 4.81303337e-04 9.99711569e-01 -4.45849438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters Centerline goodness : 0.976362 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.36, Z:-0.45 [[ 9.99222544e-01 3.12859688e-02 2.39894904e-02 4.22033554e+01] [-3.12677831e-02 9.99510401e-01 -1.13288993e-03 -3.55480037e-01] [-2.40131888e-02 3.81910978e-04 9.99711569e-01 -4.50666487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters Centerline goodness : 0.975966 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.35, Z:-0.45 [[ 9.98826021e-01 4.20842913e-02 2.39894160e-02 4.22646148e+01] [-4.20691802e-02 9.99114056e-01 -1.13446435e-03 -3.50253284e-01] [-2.40159058e-02 1.23917451e-04 9.99711569e-01 -4.51076681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46771942099998 meters Centerline goodness : 0.981396 with order 1 Centerline is valid? [True, True] Translation: X:42.33, Y:-0.34, Z:-0.45 [[ 9.97916496e-01 5.98931638e-02 2.39890992e-02 4.23271493e+01] [-5.98830326e-02 9.98204749e-01 -1.14112260e-03 -3.40604897e-01] [-2.40143782e-02 -2.97794949e-04 9.99711569e-01 -4.46703586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52771942099999 meters Centerline goodness : 0.976192 with order 1 Centerline is valid? [True, True] Translation: X:42.39, Y:-0.34, Z:-0.45 [[ 9.96817870e-01 7.60175916e-02 2.39887523e-02 4.23876176e+01] [-7.60119473e-02 9.97106246e-01 -1.14836933e-03 -3.43842922e-01] [-2.40066310e-02 -6.78716711e-04 9.99711569e-01 -4.54948762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58771942099999 meters Centerline goodness : 0.972758 with order 1 Centerline is valid? [True, True] Translation: X:42.45, Y:-0.34, Z:-0.46 [[ 9.96433923e-01 8.08948698e-02 2.39887035e-02 4.24483806e+01] [-8.08906124e-02 9.96722322e-01 -1.14938810e-03 -3.44272233e-01] [-2.40030559e-02 -7.95171626e-04 9.99711569e-01 -4.61633761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64771942099999 meters Centerline goodness : 0.971335 with order 1 Centerline is valid? [True, True] Translation: X:42.51, Y:-0.35, Z:-0.46 [[ 9.96619846e-01 7.85712360e-02 2.39884062e-02 4.25109402e+01] [-7.85661577e-02 9.96908232e-01 -1.15555995e-03 -3.49145458e-01] [-2.40050334e-02 -7.33022927e-04 9.99711569e-01 -4.63506156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters Centerline goodness : 0.968156 with order 1 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.36, Z:-0.46 [[ 9.97013784e-01 7.34035232e-02 2.39882883e-02 4.25726109e+01] [-7.33968912e-02 9.97302138e-01 -1.15800226e-03 -3.58270349e-01] [-2.40085727e-02 -6.06121577e-04 9.99711569e-01 -4.64924196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters Centerline goodness : 0.971545 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.37, Z:-0.46 [[ 9.97133478e-01 7.17593564e-02 2.39879415e-02 4.26335365e+01] [-7.17520772e-02 9.97421817e-01 -1.16514283e-03 -3.67467722e-01] [-2.40097061e-02 -5.59381706e-04 9.99711569e-01 -4.63763843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82771942099998 meters Centerline goodness : 0.973087 with order 1 Centerline is valid? [True, True] Translation: X:42.70, Y:-0.37, Z:-0.47 [[ 9.97137761e-01 7.16998334e-02 2.39878916e-02 4.26957586e+01] [-7.16925123e-02 9.97426099e-01 -1.16616849e-03 -3.73239585e-01] [-2.40097633e-02 -5.56921575e-04 9.99711569e-01 -4.65324505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88771942099999 meters Centerline goodness : 0.970569 with order 1 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.38, Z:-0.47 [[ 9.97346632e-01 6.87334956e-02 2.39875446e-02 4.27563384e+01] [-6.87251463e-02 9.97634942e-01 -1.17326286e-03 -3.79978360e-01] [-2.40114551e-02 -4.78397750e-04 9.99711569e-01 -4.70138691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94771942099999 meters Centerline goodness : 0.968412 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.40, Z:-0.47 [[ 9.97955874e-01 5.92341619e-02 2.39872283e-02 4.28167383e+01] [-5.92229133e-02 9.98244086e-01 -1.17969544e-03 -3.95692478e-01] [-2.40149870e-02 -2.43309545e-04 9.99711569e-01 -4.69348974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00771942099999 meters Centerline goodness : 0.969040 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.41, Z:-0.47 [[ 9.98648986e-01 4.60957439e-02 2.39871757e-02 4.28786613e+01] [-4.60806777e-02 9.98937024e-01 -1.18076316e-03 -4.05540196e-01] [-2.40161061e-02 7.38226156e-05 9.99711569e-01 -4.70909339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters Centerline goodness : 0.968830 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.41, Z:-0.47 [[ 9.98997453e-01 3.77984276e-02 2.39868091e-02 4.29414511e+01] [-3.77807915e-02 9.99285345e-01 -1.18816381e-03 -4.07708171e-01] [-2.40145775e-02 2.80731990e-04 9.99711569e-01 -4.71977978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters Centerline goodness : 0.973558 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.41, Z:-0.47 [[ 9.99082851e-01 3.54698544e-02 2.39863926e-02 4.30023796e+01] [-3.54513469e-02 9.99370687e-01 -1.19651318e-03 -4.09167818e-01] [-2.40137378e-02 3.45065873e-04 9.99711569e-01 -4.68689222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters Centerline goodness : 0.976913 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.40, Z:-0.47 [[ 9.99305778e-01 2.85064356e-02 2.39863664e-02 4.30650219e+01] [-2.84859100e-02 9.99593477e-01 -1.19703815e-03 -3.98519781e-01] [-2.40107387e-02 5.12933661e-04 9.99711569e-01 -4.66619825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24771942099999 meters Centerline goodness : 0.977086 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.40, Z:-0.47 [[ 9.99456104e-01 2.26308578e-02 2.39862612e-02 4.31277972e+01] [-2.26085906e-02 9.99743674e-01 -1.19914378e-03 -3.95029228e-01] [-2.40072505e-02 6.56196014e-04 9.99711569e-01 -4.69006143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30771942099999 meters Centerline goodness : 0.973182 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.40, Z:-0.47 [[ 9.99645494e-01 1.15569195e-02 2.39858929e-02 4.31896331e+01] [-1.15312924e-02 9.99932785e-01 -1.20646606e-03 -3.95965225e-01] [-2.39982237e-02 9.29450013e-04 9.99711569e-01 -4.74795317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36771942099999 meters Centerline goodness : 0.974467 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.38, Z:-0.47 [[ 9.99685824e-01 7.27555532e-03 2.39858148e-02 4.32529077e+01] [-7.24866095e-03 9.99972998e-01 -1.20801692e-03 -3.83718629e-01] [-2.39939561e-02 1.03377235e-03 9.99711569e-01 -4.73238988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters Centerline goodness : 0.971739 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.38, Z:-0.48 [[ 9.99630109e-01 1.28196435e-02 2.39854517e-02 4.33152680e+01] [-1.27941704e-02 9.99917413e-01 -1.21518389e-03 -3.80362926e-01] [-2.39990490e-02 9.07860444e-04 9.99711569e-01 -4.78674823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters Centerline goodness : 0.971499 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.37, Z:-0.48 [[ 9.99500934e-01 2.05568798e-02 2.39853494e-02 4.33777413e+01] [-2.05335831e-02 9.99788423e-01 -1.21719828e-03 -3.73214076e-01] [-2.40052965e-02 7.24085650e-04 9.99711569e-01 -4.82431991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters Centerline goodness : 0.973028 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.36, Z:-0.48 [[ 9.99122940e-01 3.43230356e-02 2.39849953e-02 4.34404748e+01] [-3.43035348e-02 9.99410711e-01 -1.22413701e-03 -3.64346137e-01] [-2.40128773e-02 4.00293250e-04 9.99711569e-01 -4.80220322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60771942099998 meters Centerline goodness : 0.975696 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.36, Z:-0.48 [[ 9.98342131e-01 5.23231630e-02 2.39848939e-02 4.35032699e+01] [-5.23088037e-02 9.98630205e-01 -1.22612053e-03 -3.60423880e-01] [-2.40161940e-02 -3.05333210e-05 9.99711569e-01 -4.77301782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66771942099999 meters Centerline goodness : 0.974068 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.36, Z:-0.48 [[ 9.97424074e-01 6.76014755e-02 2.39844988e-02 4.35643730e+01] [-6.75913436e-02 9.97712327e-01 -1.23380051e-03 -3.55990082e-01] [-2.40130369e-02 -3.90522167e-04 9.99711569e-01 -4.84474704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72771942099999 meters Centerline goodness : 0.977059 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.35, Z:-0.48 [[ 9.96991094e-01 7.37124138e-02 2.39841389e-02 4.36265704e+01] [-7.37038813e-02 9.97279398e-01 -1.24075846e-03 -3.49252460e-01] [-2.40103469e-02 -5.30698990e-04 9.99711569e-01 -4.80547198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters Centerline goodness : 0.973671 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.36, Z:-0.49 [[ 9.97590942e-01 6.50928833e-02 2.39839379e-02 4.36879599e+01] [-6.50817662e-02 9.97879158e-01 -1.24463079e-03 -3.58516328e-01] [-2.40140884e-02 -3.19284643e-04 9.99711569e-01 -4.87115402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters Centerline goodness : 0.975915 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:-0.36, Z:-0.49 [[ 9.98112422e-01 5.65365512e-02 2.39835520e-02 4.37497112e+01] [-5.65227855e-02 9.98400524e-01 -1.25202418e-03 -3.63107229e-01] [-2.40159760e-02 -1.05956274e-04 9.99711569e-01 -4.87211117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters Centerline goodness : 0.974354 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:-0.37, Z:-0.49 [[ 9.98436984e-01 5.04816552e-02 2.39831600e-02 4.38115173e+01] [-5.04659630e-02 9.98724987e-01 -1.25948862e-03 -3.68697399e-01] [-2.40161622e-02 4.71867539e-05 9.99711569e-01 -4.87651609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96771942099998 meters Centerline goodness : 0.974388 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.37, Z:-0.49 [[ 9.98650564e-01 4.60638455e-02 2.39827717e-02 4.38731877e+01] [-4.60467028e-02 9.98938485e-01 -1.26683855e-03 -3.73100346e-01] [-2.40156691e-02 1.60801467e-04 9.99711569e-01 -4.89009398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02771942099999 meters Centerline goodness : 0.972586 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.37, Z:-0.49 [[ 9.98680873e-01 4.54022070e-02 2.39823703e-02 4.39349887e+01] [-4.53846921e-02 9.98968771e-01 -1.27439252e-03 -3.73364999e-01] [-2.40154992e-02 1.84278943e-04 9.99711569e-01 -4.92411248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08771942099999 meters Centerline goodness : 0.974462 with order 1 Centerline is valid? [True, True] Translation: X:44.00, Y:-0.38, Z:-0.49 [[ 9.98827309e-01 4.20579687e-02 2.39819691e-02 4.39961605e+01] [-4.20393098e-02 9.99115135e-01 -1.28189905e-03 -3.76473439e-01] [-2.40146623e-02 2.72210351e-04 9.99711569e-01 -4.94709523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14771942099999 meters Centerline goodness : 0.975116 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:-0.38, Z:-0.50 [[ 9.99113101e-01 3.46106118e-02 2.39816021e-02 4.40581757e+01] [-3.45896438e-02 9.99400768e-01 -1.28872822e-03 -3.75977988e-01] [-2.40118352e-02 4.58070176e-04 9.99711569e-01 -4.95562446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters Centerline goodness : 0.979026 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:-0.37, Z:-0.49 [[ 9.98756051e-01 4.37178793e-02 2.39812093e-02 4.41183610e+01] [-4.36993603e-02 9.99043886e-01 -1.29599663e-03 -3.70357265e-01] [-2.40149387e-02 2.46420972e-04 9.99711569e-01 -4.93905541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters Centerline goodness : 0.979015 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.37, Z:-0.49 [[ 9.98201123e-01 5.49492399e-02 2.39812093e-02 4.41805568e+01] [-5.49339597e-02 9.98489149e-01 -1.29599663e-03 -3.70471719e-01] [-2.40161913e-02 -2.37174905e-05 9.99711569e-01 -4.94477321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32771942099998 meters Centerline goodness : 0.982897 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.37, Z:-0.49 [[ 9.96903076e-01 7.48944375e-02 2.39808222e-02 4.42430091e+01] [-7.48847472e-02 9.97191344e-01 -1.30311968e-03 -3.68888565e-01] [-2.40110648e-02 -4.96713789e-04 9.99711569e-01 -4.93022687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38771942099999 meters Centerline goodness : 0.978653 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.38, Z:-0.50 [[ 9.96480435e-01 8.03222728e-02 2.39807103e-02 4.43038912e+01] [-8.03141031e-02 9.96768750e-01 -1.30517656e-03 -3.76748558e-01] [-2.40080574e-02 -6.25406325e-04 9.99711569e-01 -4.98823057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44771942099999 meters Centerline goodness : 0.976072 with order 1 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.39, Z:-0.50 [[ 9.96369294e-01 8.16894016e-02 2.39806531e-02 4.43644013e+01] [-8.16816022e-02 9.96657619e-01 -1.30622577e-03 -3.86389356e-01] [-2.40072054e-02 -6.57294923e-04 9.99711569e-01 -5.03984612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50771942099999 meters Centerline goodness : 0.970623 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.40, Z:-0.51 [[ 9.96161077e-01 8.41904925e-02 2.39805953e-02 4.44261483e+01] [-8.41833914e-02 9.96449420e-01 -1.30728668e-03 -3.97208585e-01] [-2.40055114e-02 -7.16499728e-04 9.99711569e-01 -5.09809116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters Centerline goodness : 0.973749 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.41, Z:-0.51 [[ 9.96324609e-01 8.22327444e-02 2.39801942e-02 4.44870262e+01] [-8.22249008e-02 9.96612933e-01 -1.31460318e-03 -4.07042082e-01] [-2.40070751e-02 -6.61997591e-04 9.99711569e-01 -5.07544056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters Centerline goodness : 0.971184 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.42, Z:-0.51 [[ 9.96715720e-01 7.73481818e-02 2.39798272e-02 4.45487085e+01] [-7.73387649e-02 9.97003997e-01 -1.32126467e-03 -4.16174374e-01] [-2.40101809e-02 -5.37644949e-04 9.99711569e-01 -5.11149990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68771942099998 meters Centerline goodness : 0.971042 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.42, Z:-0.51 [[ 9.97145608e-01 7.15934535e-02 2.39794355e-02 4.46106294e+01] [-7.15822026e-02 9.97433819e-01 -1.32833571e-03 -4.24502181e-01] [-2.40130000e-02 -3.91956684e-04 9.99711570e-01 -5.13514469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74771942099999 meters Centerline goodness : 0.973474 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.43, Z:-0.51 [[ 9.97632166e-01 6.44597997e-02 2.39790461e-02 4.46720865e+01] [-6.44463197e-02 9.97920282e-01 -1.33532790e-03 -4.33315169e-01] [-2.40152514e-02 -2.13195200e-04 9.99711570e-01 -5.12525877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80771942099999 meters Centerline goodness : 0.978502 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.45, Z:-0.51 [[ 9.98295025e-01 5.32171471e-02 2.39786866e-02 4.47334041e+01] [-5.32002680e-02 9.98582962e-01 -1.34175277e-03 -4.46156865e-01] [-2.40161121e-02 6.37925616e-05 9.99711570e-01 -5.08381740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86771942099999 meters Centerline goodness : 0.972366 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-0.45, Z:-0.52 [[ 9.98305064e-01 5.30286848e-02 2.39782717e-02 4.47950682e+01] [-5.30115742e-02 9.98592987e-01 -1.34912597e-03 -4.49576969e-01] [-2.40160763e-02 7.57133586e-05 9.99711570e-01 -5.15998821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters Centerline goodness : 0.966540 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-0.45, Z:-0.52 [[ 9.97858773e-01 6.08515805e-02 2.39781842e-02 4.48566262e+01] [-6.08366898e-02 9.98146819e-01 -1.35067989e-03 -4.53355490e-01] [-2.40159393e-02 -1.10965575e-04 9.99711570e-01 -5.21328960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters Centerline goodness : 0.974748 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.46, Z:-0.51 [[ 9.97355064e-01 6.86143478e-02 2.39780526e-02 4.49175105e+01] [-6.86016429e-02 9.97643215e-01 -1.35301146e-03 -4.61490260e-01] [-2.40143775e-02 -2.95500975e-04 9.99711570e-01 -5.14538808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters Centerline goodness : 0.977223 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:-0.46, Z:-0.51 [[ 9.96672063e-01 7.79092688e-02 2.39780226e-02 4.49786241e+01] [-7.78992379e-02 9.96960318e-01 -1.35354426e-03 -4.61158904e-01] [-2.40105906e-02 -5.18829936e-04 9.99711570e-01 -5.13441584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10771942099998 meters Centerline goodness : 0.970093 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.47, Z:-0.52 [[ 9.95853292e-01 8.77570154e-02 2.39776408e-02 4.50398618e+01] [-8.77496724e-02 9.96141629e-01 -1.36027273e-03 -4.69218934e-01] [-2.40044997e-02 -7.49398052e-04 9.99711570e-01 -5.22007208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16771942099999 meters Centerline goodness : 0.971979 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:-0.48, Z:-0.52 [[ 9.95135967e-01 9.55483305e-02 2.39775548e-02 4.51019285e+01] [-9.55432079e-02 9.95424352e-01 -1.36178813e-03 -4.76094621e-01] [-2.39979585e-02 -9.35728148e-04 9.99711570e-01 -5.20585427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22771942099999 meters Centerline goodness : 0.970399 with order 1 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.48, Z:-0.52 [[ 9.94983054e-01 9.71278525e-02 2.39771417e-02 4.51637559e+01] [-9.71230136e-02 9.95271443e-01 -1.36902339e-03 -4.83527182e-01] [-2.39967347e-02 -9.66577186e-04 9.99711570e-01 -5.24207709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters Centerline goodness : 0.972159 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.49, Z:-0.52 [[ 9.95409990e-01 9.26502500e-02 2.39767051e-02 4.52259534e+01] [-9.26439308e-02 9.95698351e-01 -1.37662650e-03 -4.90950577e-01] [-2.40011106e-02 -8.50988438e-04 9.99711570e-01 -5.24425287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters Centerline goodness : 0.971132 with order 1 Centerline is valid? [True, True] Translation: X:45.29, Y:-0.51, Z:-0.52 [[ 9.95707647e-01 8.93947316e-02 2.39763001e-02 4.52865220e+01] [-8.93873006e-02 9.95995982e-01 -1.38364584e-03 -5.05339598e-01] [-2.40039892e-02 -7.65469997e-04 9.99711570e-01 -5.24780718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters Centerline goodness : 0.967568 with order 1 Centerline is valid? [True, True] Translation: X:45.35, Y:-0.52, Z:-0.53 [[ 9.95631853e-01 9.02350735e-02 2.39759284e-02 4.53479132e+01] [-9.02277316e-02 9.95920190e-01 -1.39005675e-03 -5.15590368e-01] [-2.40035430e-02 -7.79308856e-04 9.99711570e-01 -5.29293512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46771942099998 meters Centerline goodness : 0.967461 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:-0.53, Z:-0.53 [[ 9.95826716e-01 8.80586448e-02 2.39755360e-02 4.54092975e+01] [-8.80505107e-02 9.96115032e-01 -1.39679081e-03 -5.27292279e-01] [-2.40053914e-02 -7.20096588e-04 9.99711570e-01 -5.28495003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52771942099999 meters Centerline goodness : 0.963552 with order 1 Centerline is valid? [True, True] Translation: X:45.47, Y:-0.54, Z:-0.53 [[ 9.96469728e-01 8.04566590e-02 2.39751169e-02 4.54711776e+01] [-8.04461528e-02 9.96757967e-01 -1.40394889e-03 -5.41792481e-01] [-2.40103458e-02 -5.29713349e-04 9.99711570e-01 -5.33009175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58771942099999 meters Centerline goodness : 0.963083 with order 1 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.55, Z:-0.53 [[ 9.97169618e-01 7.12597571e-02 2.39749692e-02 4.55325233e+01] [-7.12465315e-02 9.97457745e-01 -1.40646572e-03 -5.48772491e-01] [-2.40142432e-02 -3.05648516e-04 9.99711570e-01 -5.33571955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters Centerline goodness : 0.965442 with order 1 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.56, Z:-0.53 [[ 9.97701964e-01 6.33719962e-02 2.39745859e-02 4.55939049e+01] [-6.33563363e-02 9.97989969e-01 -1.41296981e-03 -5.58353711e-01] [-2.40159390e-02 -1.09219173e-04 9.99711570e-01 -5.33126463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters Centerline goodness : 0.968882 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.56, Z:-0.53 [[ 9.98059949e-01 5.74593559e-02 2.39741664e-02 4.56548793e+01] [-5.74418197e-02 9.98347846e-01 -1.42005258e-03 -5.60672105e-01] [-2.40161527e-02 4.01778677e-05 9.99711570e-01 -5.31460010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters Centerline goodness : 0.971747 with order 1 Centerline is valid? [True, True] Translation: X:45.72, Y:-0.56, Z:-0.53 [[ 9.98333711e-01 5.24886501e-02 2.39737808e-02 4.57171400e+01] [-5.24695249e-02 9.98621507e-01 -1.42653260e-03 -5.60705599e-01] [-2.40156099e-02 1.66262699e-04 9.99711570e-01 -5.30813546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82771942099998 meters Centerline goodness : 0.969911 with order 1 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.57, Z:-0.53 [[ 9.98708934e-01 4.47853603e-02 2.39736644e-02 4.57789874e+01] [-4.47639685e-02 9.98996570e-01 -1.42848648e-03 -5.65550977e-01] [-2.40135838e-02 3.53485855e-04 9.99711570e-01 -5.32610667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88771942099999 meters Centerline goodness : 0.971466 with order 1 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.56, Z:-0.53 [[ 9.98785060e-01 4.30544710e-02 2.39732238e-02 4.58408676e+01] [-4.30324042e-02 9.99072645e-01 -1.43584163e-03 -5.64967934e-01] [-2.40128116e-02 4.02471715e-04 9.99711570e-01 -5.34472098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94771942099999 meters Centerline goodness : 0.974875 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.56, Z:-0.53 [[ 9.98367697e-01 5.18386657e-02 2.39727823e-02 4.59036145e+01] [-5.18189534e-02 9.98655453e-01 -1.44317624e-03 -5.60198027e-01] [-2.40153621e-02 1.98576048e-04 9.99711570e-01 -5.31522996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00771942099999 meters Centerline goodness : 0.973072 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.55, Z:-0.54 [[ 9.97588986e-01 6.51271264e-02 2.39723313e-02 4.59648846e+01] [-6.51110682e-02 9.97876969e-01 -1.45062884e-03 -5.53106890e-01] [-2.40159126e-02 -1.13732743e-04 9.99711570e-01 -5.36782970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters Centerline goodness : 0.968318 with order 1 Centerline is valid? [True, True] Translation: X:46.03, Y:-0.55, Z:-0.55 [[ 9.96607185e-01 7.87366834e-02 2.39719210e-02 4.60265906e+01] [-7.87243950e-02 9.96895353e-01 -1.45737796e-03 -5.47669198e-01] [-2.40122458e-02 -4.34741627e-04 9.99711570e-01 -5.45088812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters Centerline goodness : 0.964978 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:-0.55, Z:-0.55 [[ 9.96039401e-01 8.56204539e-02 2.39718585e-02 4.60885216e+01] [-8.56101320e-02 9.96327646e-01 -1.45840617e-03 -5.46192751e-01] [-2.40086947e-02 -5.99603959e-04 9.99711570e-01 -5.49272128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18771942099998 meters Centerline goodness : 0.967256 with order 1 Centerline is valid? [True, True] Translation: X:46.15, Y:-0.54, Z:-0.55 [[ 9.95915297e-01 8.70521413e-02 2.39717650e-02 4.61507479e+01] [-8.70421969e-02 9.96203556e-01 -1.45994096e-03 -5.43540406e-01] [-2.40078485e-02 -6.32577548e-04 9.99711570e-01 -5.49160168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24771942099999 meters Centerline goodness : 0.975013 with order 1 Centerline is valid? [True, True] Translation: X:46.21, Y:-0.55, Z:-0.54 [[ 9.95719537e-01 8.92635317e-02 2.39713276e-02 4.62119993e+01] [-8.92540555e-02 9.96007812e-01 -1.46708820e-03 -5.46633375e-01] [-2.40065870e-02 -6.78729818e-04 9.99711570e-01 -5.42885252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30771942099999 meters Centerline goodness : 0.975934 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.56, Z:-0.54 [[ 9.95547221e-01 9.11652924e-02 2.39712432e-02 4.62723886e+01] [-9.11563337e-02 9.95835512e-01 -1.46846561e-03 -5.55322533e-01] [-2.40052883e-02 -7.23203780e-04 9.99711570e-01 -5.43803678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36771942099999 meters Centerline goodness : 0.972574 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.56, Z:-0.55 [[ 9.95897971e-01 8.72503903e-02 2.39708250e-02 4.63342869e+01] [-8.72401347e-02 9.96186219e-01 -1.47526113e-03 -5.64432155e-01] [-2.40081226e-02 -6.22008433e-04 9.99711570e-01 -5.50955800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters Centerline goodness : 0.973593 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:-0.58, Z:-0.55 [[ 9.96756264e-01 7.68268926e-02 2.39703858e-02 4.63957922e+01] [-7.68134513e-02 9.97044380e-01 -1.48236188e-03 -5.79766345e-01] [-2.40134237e-02 -3.63694574e-04 9.99711570e-01 -5.53197771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters Centerline goodness : 0.971373 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.59, Z:-0.56 [[ 9.97214405e-01 7.06319504e-02 2.39699502e-02 4.64562086e+01] [-7.06165506e-02 9.97502423e-01 -1.48937373e-03 -5.86146478e-01] [-2.40152807e-02 -2.07450260e-04 9.99711570e-01 -5.57382778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters Centerline goodness : 0.963050 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:-0.59, Z:-0.57 [[ 9.97150578e-01 7.15275188e-02 2.39695500e-02 4.65172026e+01] [-7.15122235e-02 9.97438602e-01 -1.49578605e-03 -5.89280133e-01] [-2.40151443e-02 -2.22591893e-04 9.99711570e-01 -5.66263659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60771942099998 meters Centerline goodness : 0.962912 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:-0.59, Z:-0.57 [[ 9.97006656e-01 7.35064002e-02 2.39695196e-02 4.65790215e+01] [-7.34916649e-02 9.97294709e-01 -1.49627352e-03 -5.93513559e-01] [-2.40146607e-02 -2.69765245e-04 9.99711570e-01 -5.67608649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66771942099999 meters Centerline goodness : 0.963032 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:-0.60, Z:-0.57 [[ 9.96939852e-01 7.44070773e-02 2.39690920e-02 4.66406308e+01] [-7.43924384e-02 9.97227911e-01 -1.50309108e-03 -5.96077262e-01] [-2.40144882e-02 -2.84627808e-04 9.99711570e-01 -5.69621870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72771942099999 meters Centerline goodness : 0.966812 with order 1 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.59, Z:-0.57 [[ 9.96859413e-01 7.54772323e-02 2.39687001e-02 4.67028706e+01] [-7.54627529e-02 9.97147479e-01 -1.50931577e-03 -5.92901914e-01] [-2.40142478e-02 -3.04168463e-04 9.99711570e-01 -5.65101264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters Centerline goodness : 0.961292 with order 1 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.60, Z:-0.57 [[ 9.96702005e-01 7.75282923e-02 2.39682409e-02 4.67634238e+01] [-7.75142312e-02 9.96990092e-01 -1.51657223e-03 -5.97616787e-01] [-2.40136760e-02 -3.46309192e-04 9.99711570e-01 -5.69919341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters Centerline goodness : 0.973167 with order 1 Centerline is valid? [True, True] Translation: X:46.82, Y:-0.61, Z:-0.56 [[ 9.95971731e-01 8.64051787e-02 2.39678211e-02 4.68234921e+01] [-8.63935260e-02 9.96259925e-01 -1.52317839e-03 -6.05709410e-01] [-2.40097902e-02 -5.53621958e-04 9.99711570e-01 -5.60673556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters Centerline goodness : 0.972920 with order 1 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.61, Z:-0.56 [[ 9.95116804e-01 9.57501431e-02 2.39678152e-02 4.68862061e+01] [-9.57411938e-02 9.95405095e-01 -1.52327140e-03 -6.09647097e-01] [-2.40035388e-02 -7.78874277e-04 9.99711570e-01 -5.64861353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96771942099998 meters Centerline goodness : 0.971194 with order 1 Centerline is valid? [True, True] Translation: X:46.95, Y:-0.62, Z:-0.57 [[ 9.94499501e-01 1.01962306e-01 2.39672939e-02 4.69474295e+01] [-1.01954960e-01 9.94787837e-01 -1.53142930e-03 -6.22250644e-01] [-2.39985205e-02 -9.20578828e-04 9.99711570e-01 -5.66430349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02771942099999 meters Centerline goodness : 0.974569 with order 1 Centerline is valid? [True, True] Translation: X:47.01, Y:-0.63, Z:-0.57 [[ 9.93992855e-01 1.06788551e-01 2.39668294e-02 4.70083900e+01] [-1.06782431e-01 9.94281220e-01 -1.53866546e-03 -6.29508156e-01] [-2.39940802e-02 -1.02981384e-03 9.99711570e-01 -5.66441968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08771942099999 meters Centerline goodness : 0.969902 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.64, Z:-0.57 [[ 9.93109146e-01 1.14716328e-01 2.39664060e-02 4.70693919e+01] [-1.14712352e-01 9.93397548e-01 -1.54523174e-03 -6.42117531e-01] [-2.39854323e-02 -1.21465902e-03 9.99711570e-01 -5.73928354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters Centerline goodness : 0.974106 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.65, Z:-0.57 [[ 9.92619057e-01 1.18882395e-01 2.39663097e-02 4.71311096e+01] [-1.18879593e-01 9.92907473e-01 -1.54672337e-03 -6.52808936e-01] [-2.39802062e-02 -1.31379805e-03 9.99711570e-01 -5.73590611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters Centerline goodness : 0.966112 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.67, Z:-0.58 [[ 9.92596147e-01 1.19073551e-01 2.39661819e-02 4.71915718e+01] [-1.19070756e-01 9.92884564e-01 -1.54870126e-03 -6.68191607e-01] [-2.39800614e-02 -1.31643650e-03 9.99711570e-01 -5.81844331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters Centerline goodness : 0.964734 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.69, Z:-0.59 [[ 9.93145705e-01 1.14399444e-01 2.39661189e-02 4.72523887e+01] [-1.14395269e-01 9.93434105e-01 -1.54967532e-03 -6.91328993e-01] [-2.39860419e-02 -1.20255722e-03 9.99711570e-01 -5.85686579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32771942099998 meters Centerline goodness : 0.971122 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.71, Z:-0.58 [[ 9.94039403e-01 1.06354644e-01 2.39656891e-02 4.73120492e+01] [-1.06347974e-01 9.94327756e-01 -1.55629504e-03 -7.12273436e-01] [-2.39952690e-02 -1.00168388e-03 9.99711570e-01 -5.78322849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38771942099999 meters Centerline goodness : 0.966388 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:-0.73, Z:-0.58 [[ 9.95218892e-01 9.46837039e-02 2.39656567e-02 4.73727773e+01] [-9.46736392e-02 9.95507146e-01 -1.55679347e-03 -7.28529163e-01] [-2.40053855e-02 -7.19565660e-04 9.99711570e-01 -5.83801689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44771942099999 meters Centerline goodness : 0.966700 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:-0.75, Z:-0.58 [[ 9.96118101e-01 8.47017145e-02 2.39655576e-02 4.74348213e+01] [-8.46887239e-02 9.96406238e-01 -1.55831718e-03 -7.48053302e-01] [-2.40114233e-02 -4.77344545e-04 9.99711570e-01 -5.82333438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50771942099999 meters Centerline goodness : 0.974282 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.76, Z:-0.58 [[ 9.96405751e-01 8.12481222e-02 2.39650088e-02 4.74952009e+01] [-8.12339309e-02 9.96693832e-01 -1.56671234e-03 -7.58398925e-01] [-2.40130689e-02 -3.85690678e-04 9.99711570e-01 -5.76993656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters Centerline goodness : 0.972413 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.76, Z:-0.58 [[ 9.95995535e-01 8.61311480e-02 2.39649750e-02 4.75572122e+01] [-8.61183566e-02 9.96283681e-01 -1.56722828e-03 -7.60858363e-01] [-2.40109007e-02 -5.02871895e-04 9.99711570e-01 -5.82472933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters Centerline goodness : 0.966636 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:-0.77, Z:-0.59 [[ 9.95642860e-01 9.01165749e-02 2.39645059e-02 4.76180412e+01] [-9.01047649e-02 9.95931048e-01 -1.57436963e-03 -7.70147858e-01] [-2.40088723e-02 -5.91806285e-04 9.99711570e-01 -5.86725039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68771942099998 meters Centerline goodness : 0.969237 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.78, Z:-0.59 [[ 9.95360197e-01 9.31868257e-02 2.39644387e-02 4.76797661e+01] [-9.31758800e-02 9.95648419e-01 -1.57539235e-03 -7.75207143e-01] [-2.40069613e-02 -6.64824821e-04 9.99711570e-01 -5.86311514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74771942099999 meters Centerline goodness : 0.967290 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.78, Z:-0.59 [[ 9.94213936e-01 1.04710923e-01 2.39639767e-02 4.77411755e+01] [-1.04703149e-01 9.94502261e-01 -1.58238759e-03 -7.83968530e-01] [-2.39979223e-02 -9.35872031e-04 9.99711570e-01 -5.87701071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80771942099999 meters Centerline goodness : 0.969645 with order 1 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.79, Z:-0.59 [[ 9.92717007e-01 1.18062243e-01 2.39635207e-02 4.78024670e+01] [-1.18058179e-01 9.93005408e-01 -1.58926404e-03 -7.91884126e-01] [-2.39835377e-02 -1.25140016e-03 9.99711570e-01 -5.88851777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86771942099999 meters Centerline goodness : 0.974288 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:-0.80, Z:-0.58 [[ 9.92296468e-01 1.21546242e-01 2.39631050e-02 4.78644382e+01] [-1.21543040e-01 9.92584880e-01 -1.59550781e-03 -7.98484558e-01] [-2.39793437e-02 -1.32933185e-03 9.99711570e-01 -5.84275593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters Centerline goodness : 0.972147 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.81, Z:-0.59 [[ 9.93022868e-01 1.15461511e-01 2.39629699e-02 4.79259622e+01] [-1.15456492e-01 9.93311253e-01 -1.59753332e-03 -8.09237777e-01] [-2.39871413e-02 -1.18029334e-03 9.99711570e-01 -5.86083470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters Centerline goodness : 0.968217 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.82, Z:-0.59 [[ 9.93390667e-01 1.12253204e-01 2.39624959e-02 4.79870619e+01] [-1.12247083e-01 9.93679031e-01 -1.60461264e-03 -8.16652360e-01] [-2.39911526e-02 -1.09571305e-03 9.99711570e-01 -5.93079944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04771942099998 meters Centerline goodness : 0.965993 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:-0.83, Z:-0.59 [[ 9.93669857e-01 1.09754434e-01 2.39620273e-02 4.80482543e+01] [-1.09747420e-01 9.93958202e-01 -1.61157954e-03 -8.30700628e-01] [-2.39941316e-02 -1.02839266e-03 9.99711570e-01 -5.92791966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10771942099998 meters Centerline goodness : 0.968579 with order 1 Centerline is valid? [True, True] Translation: X:48.11, Y:-0.84, Z:-0.60 [[ 9.94623870e-01 1.00743245e-01 2.39615608e-02 4.81106048e+01] [-1.00733451e-01 9.94912133e-01 -1.61848608e-03 -8.42507310e-01] [-2.40026991e-02 -8.03945835e-04 9.99711570e-01 -5.95035389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16771942099999 meters Centerline goodness : 0.963403 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:-0.86, Z:-0.60 [[ 9.96766235e-01 7.67003359e-02 2.39610190e-02 4.81711150e+01] [-7.66833937e-02 9.97054167e-01 -1.62646850e-03 -8.61876574e-01] [-2.40151845e-02 -2.16203373e-04 9.99711570e-01 -5.97057141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22771942099999 meters Centerline goodness : 0.961064 with order 1 Centerline is valid? [True, True] Translation: X:48.23, Y:-0.87, Z:-0.60 [[ 9.97546886e-01 6.57729882e-02 2.39608743e-02 4.82325991e+01] [-6.57528407e-02 9.97834611e-01 -1.62859709e-03 -8.73664283e-01] [-2.40161074e-02 4.91064067e-05 9.99711570e-01 -5.99205472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters Centerline goodness : 0.961641 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.88, Z:-0.60 [[ 9.97979436e-01 5.88468013e-02 2.39603873e-02 4.82934833e+01] [-5.88244857e-02 9.98267000e-01 -1.63573138e-03 -8.76661688e-01] [-2.40151215e-02 2.22968826e-04 9.99711571e-01 -6.01448173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters Centerline goodness : 0.966292 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.88, Z:-0.60 [[ 9.97770913e-01 6.22826404e-02 2.39599398e-02 4.83538163e+01] [-6.22611583e-02 9.98058541e-01 -1.64225949e-03 -8.79612944e-01] [-2.40157068e-02 1.46825149e-04 9.99711571e-01 -5.97276000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters Centerline goodness : 0.968709 with order 1 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.88, Z:-0.59 [[ 9.97466734e-01 6.69778861e-02 2.39599060e-02 4.84161228e+01] [-6.69577461e-02 9.97754460e-01 -1.64275256e-03 -8.82543241e-01] [-2.40161312e-02 3.42897316e-05 9.99711571e-01 -5.94688158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46771942099998 meters Centerline goodness : 0.967415 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.88, Z:-0.60 [[ 9.96335330e-01 8.21088145e-02 2.39594098e-02 4.84771625e+01] [-8.20928704e-02 9.96623318e-01 -1.64995874e-03 -8.81767433e-01] [-2.40139826e-02 -3.22984537e-04 9.99711571e-01 -5.98575672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52771942099999 meters Centerline goodness : 0.968791 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.89, Z:-0.60 [[ 9.95823884e-01 8.80951257e-02 2.39591426e-02 4.85398907e+01] [-8.80808195e-02 9.96111959e-01 -1.65382957e-03 -8.85337102e-01] [-2.40116827e-02 -4.63417926e-04 9.99711571e-01 -5.99419468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58771942099999 meters Centerline goodness : 0.969966 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.88, Z:-0.60 [[ 9.93935556e-01 1.07322393e-01 2.39585907e-02 4.86012890e+01] [-1.07313465e-01 9.94223847e-01 -1.66178587e-03 -8.81427474e-01] [-2.39985491e-02 -9.19371328e-04 9.99711571e-01 -6.01511932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters Centerline goodness : 0.963189 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.88, Z:-0.61 [[ 9.91894724e-01 1.24783270e-01 2.39581516e-02 4.86626691e+01] [-1.24779260e-01 9.92183125e-01 -1.66809294e-03 -8.81168476e-01] [-2.39790238e-02 -1.33490785e-03 9.99711571e-01 -6.09235728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters Centerline goodness : 0.962708 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.89, Z:-0.61 [[ 9.91776782e-01 1.25717243e-01 2.39580856e-02 4.87231509e+01] [-1.25713482e-01 9.92065187e-01 -1.66904034e-03 -8.87657013e-01] [-2.39778098e-02 -1.35653891e-03 9.99711571e-01 -6.09113165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters Centerline goodness : 0.962770 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.89, Z:-0.61 [[ 9.93193003e-01 1.13989862e-01 2.39576641e-02 4.87857038e+01] [-1.13982549e-01 9.93481340e-01 -1.67506900e-03 -8.91012699e-01] [-2.39924331e-02 -1.06708882e-03 9.99711571e-01 -6.13391064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82771942099998 meters Centerline goodness : 0.959300 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-0.90, Z:-0.61 [[ 9.94826562e-01 9.87226775e-02 2.39571522e-02 4.88460492e+01] [-9.87107615e-02 9.95114745e-01 -1.68235880e-03 -9.03798823e-01] [-2.40062023e-02 -6.91173510e-04 9.99711571e-01 -6.13668699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88771942099999 meters Centerline goodness : 0.965907 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-0.91, Z:-0.61 [[ 9.95808732e-01 8.82667921e-02 2.39570828e-02 4.89063380e+01] [-8.82518257e-02 9.96096773e-01 -1.68334642e-03 -9.13937259e-01] [-2.40121564e-02 -4.37965223e-04 9.99711571e-01 -6.08681516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94771942099999 meters Centerline goodness : 0.966270 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-0.92, Z:-0.61 [[ 9.96336627e-01 8.20937769e-02 2.39569916e-02 4.89667710e+01] [-8.20769946e-02 9.96624568e-01 -1.68464273e-03 -9.17931898e-01] [-2.40144251e-02 -2.87846618e-04 9.99711571e-01 -6.11708869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00771942099999 meters Centerline goodness : 0.968443 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:-0.92, Z:-0.61 [[ 9.96578484e-01 7.91037648e-02 2.39566087e-02 4.90292531e+01] [-7.90859881e-02 9.96866365e-01 -1.69007088e-03 -9.22681536e-01] [-2.40152284e-02 -2.10343793e-04 9.99711571e-01 -6.06271492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters Centerline goodness : 0.963405 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:-0.93, Z:-0.61 [[ 9.96514549e-01 7.99053172e-02 2.39561017e-02 4.90909590e+01] [-7.98876000e-02 9.96802433e-01 -1.69722714e-03 -9.25606094e-01] [-2.40151179e-02 -2.22483926e-04 9.99711571e-01 -6.10902010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters Centerline goodness : 0.961019 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.93, Z:-0.62 [[ 9.96397039e-01 8.13576631e-02 2.39556003e-02 4.91520114e+01] [-8.13401961e-02 9.96684939e-01 -1.70427419e-03 -9.28774161e-01] [-2.40148418e-02 -2.50419475e-04 9.99711571e-01 -6.15104127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18771942099998 meters Centerline goodness : 0.962769 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.93, Z:-0.62 [[ 9.95889096e-01 8.73558349e-02 2.39555265e-02 4.92145786e+01] [-8.73400768e-02 9.96177094e-01 -1.70531174e-03 -9.25760713e-01] [-2.40129157e-02 -3.93976154e-04 9.99711571e-01 -6.18169870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24771942099999 meters Centerline goodness : 0.959628 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:-0.93, Z:-0.62 [[ 9.94271755e-01 1.04162536e-01 2.39550193e-02 4.92773135e+01] [-1.04151473e-01 9.94559972e-01 -1.71240604e-03 -9.26350907e-01] [-2.40030719e-02 -7.92353587e-04 9.99711571e-01 -6.20112489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30771942099999 meters Centerline goodness : 0.962083 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.93, Z:-0.62 [[ 9.93035156e-01 1.15357484e-01 2.39547368e-02 4.93387390e+01] [-1.15349574e-01 9.93323477e-01 -1.71634916e-03 -9.25295859e-01] [-2.39927962e-02 -1.05877363e-03 9.99711571e-01 -6.22350020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36771942099999 meters Centerline goodness : 0.965876 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.92, Z:-0.62 [[ 9.91690986e-01 1.26392963e-01 2.39542673e-02 4.94008993e+01] [-1.26388102e-01 9.91979374e-01 -1.72287734e-03 -9.23845949e-01] [-2.39798986e-02 -1.31897245e-03 9.99711571e-01 -6.20982338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters Centerline goodness : 0.965079 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:-0.93, Z:-0.62 [[ 9.91353478e-01 1.29013562e-01 2.39537679e-02 4.94615727e+01] [-1.29009297e-01 9.91641875e-01 -1.72979251e-03 -9.28359004e-01] [-2.39767260e-02 -1.37542293e-03 9.99711571e-01 -6.22747488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters Centerline goodness : 0.966167 with order 1 Centerline is valid? [True, True] Translation: X:49.52, Y:-0.94, Z:-0.62 [[ 9.91617078e-01 1.26971686e-01 2.39533130e-02 4.95239794e+01] [-1.26966676e-01 9.91905464e-01 -1.73606919e-03 -9.35953512e-01] [-2.39798537e-02 -1.31975667e-03 9.99711571e-01 -6.22167657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54771942099998 meters Centerline goodness : 0.961366 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:-0.95, Z:-0.63 [[ 9.92794563e-01 1.17410486e-01 2.39527444e-02 4.95843047e+01] [-1.17402510e-01 9.93082882e-01 -1.74387832e-03 -9.46235444e-01] [-2.39918101e-02 -1.08079940e-03 9.99711571e-01 -6.28745716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60771942099998 meters Centerline goodness : 0.961176 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.95, Z:-0.63 [[ 9.93888625e-01 1.07757462e-01 2.39526740e-02 4.96459005e+01] [-1.07746661e-01 9.94176852e-01 -1.74484596e-03 -9.54427286e-01] [-2.40012142e-02 -8.46638086e-04 9.99711571e-01 -6.29283425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66771942099999 meters Centerline goodness : 0.959144 with order 1 Centerline is valid? [True, True] Translation: X:49.71, Y:-0.97, Z:-0.63 [[ 9.94993113e-01 9.70309227e-02 2.39521533e-02 4.97066598e+01] [-9.70168421e-02 9.95281198e-01 -1.75196432e-03 -9.68414669e-01] [-2.40091225e-02 -5.80569841e-04 9.99711571e-01 -6.31615182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72771942099999 meters Centerline goodness : 0.959295 with order 1 Centerline is valid? [True, True] Translation: X:49.77, Y:-0.97, Z:-0.63 [[ 9.95519272e-01 9.14751297e-02 2.39515995e-02 4.97695426e+01] [-9.14592598e-02 9.95807264e-01 -1.75950287e-03 -9.74069257e-01] [-2.40121275e-02 -4.38976547e-04 9.99711571e-01 -6.31571613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters Centerline goodness : 0.967214 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.97, Z:-0.63 [[ 9.95228486e-01 9.45865253e-02 2.39510056e-02 4.98318505e+01] [-9.45713621e-02 9.95516516e-01 -1.76755062e-03 -9.73357290e-01] [-2.40108081e-02 -5.05962494e-04 9.99711571e-01 -6.27079761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters Centerline goodness : 0.963940 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.98, Z:-0.63 [[ 9.94692486e-01 1.00066049e-01 2.39508532e-02 4.98935065e+01] [-1.00052423e-01 9.94980593e-01 -1.76961300e-03 -9.81247892e-01] [-2.40077123e-02 -6.36120134e-04 9.99711571e-01 -6.27072692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters Centerline goodness : 0.966225 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:-0.98, Z:-0.63 [[ 9.94842664e-01 9.85619433e-02 2.39503182e-02 4.99566865e+01] [-9.85477079e-02 9.95130741e-01 -1.77682435e-03 -9.80432589e-01] [-2.40088252e-02 -5.92588289e-04 9.99711571e-01 -6.32051256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96771942099998 meters Centerline goodness : 0.965350 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:-0.99, Z:-0.63 [[ 9.95868310e-01 8.75940669e-02 2.39497165e-02 5.00178554e+01] [-8.75764639e-02 9.96156201e-01 -1.78489757e-03 -9.90815511e-01] [-2.40140051e-02 -3.19908557e-04 9.99711571e-01 -6.33433566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02771942099999 meters Centerline goodness : 0.975444 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:-1.00, Z:-0.62 [[ 9.97347573e-01 6.87332272e-02 2.39491599e-02 5.00789237e+01] [-6.87100009e-02 9.97635065e-01 -1.79233582e-03 -9.98977554e-01] [-2.40157147e-02 1.42034989e-04 9.99711571e-01 -6.23661384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08771942099999 meters Centerline goodness : 0.974474 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:-1.00, Z:-0.63 [[ 9.97867910e-01 6.07130515e-02 2.39490848e-02 5.01411669e+01] [-6.06874907e-02 9.98155205e-01 -1.79333866e-03 -9.98039055e-01] [-2.40137827e-02 3.36105244e-04 9.99711571e-01 -6.27123277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters Centerline goodness : 0.975523 with order 1 Centerline is valid? [True, True] Translation: X:50.20, Y:-1.00, Z:-0.62 [[ 9.97907520e-01 6.00587124e-02 2.39485239e-02 5.02032669e+01] [-6.00327843e-02 9.98194782e-01 -1.80079825e-03 -9.98988008e-01] [-2.40134452e-02 3.59333549e-04 9.99711571e-01 -6.24177802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters Centerline goodness : 0.970386 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.99, Z:-0.63 [[ 9.97957832e-01 5.92170589e-02 2.39479832e-02 5.02648960e+01] [-5.91907166e-02 9.98245055e-01 -1.80795989e-03 -9.91569405e-01] [-2.40130179e-02 3.86769446e-04 9.99711571e-01 -6.33860960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters Centerline goodness : 0.968738 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:-0.98, Z:-0.64 [[ 9.97947392e-01 5.93927624e-02 2.39479047e-02 5.03282954e+01] [-5.93664458e-02 9.98234618e-01 -1.80899936e-03 -9.78581910e-01] [-2.40130689e-02 3.83584206e-04 9.99711571e-01 -6.40624120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32771942099998 meters Centerline goodness : 0.966315 with order 1 Centerline is valid? [True, True] Translation: X:50.39, Y:-0.98, Z:-0.64 [[ 9.97743723e-01 6.27215216e-02 2.39473267e-02 5.03901715e+01] [-6.26959805e-02 9.98031019e-01 -1.81661776e-03 -9.75633176e-01] [-2.40141159e-02 3.11117835e-04 9.99711571e-01 -6.42899770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38771942099999 meters Centerline goodness : 0.965973 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.96, Z:-0.65 [[ 9.97290904e-01 6.95512883e-02 2.39472517e-02 5.04530087e+01] [-6.95276911e-02 9.97578366e-01 -1.81760640e-03 -9.63428690e-01] [-2.40156771e-02 1.47685210e-04 9.99711571e-01 -6.46738715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44771942099999 meters Centerline goodness : 0.961364 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.96, Z:-0.65 [[ 9.97072560e-01 7.26145009e-02 2.39467001e-02 5.05140302e+01] [-7.25916129e-02 9.97360079e-01 -1.82484438e-03 -9.60791100e-01] [-2.40159929e-02 8.11726696e-05 9.99711571e-01 -6.54391651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50771942099999 meters Centerline goodness : 0.963435 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:-0.96, Z:-0.63 [[ 9.96168344e-01 8.41142642e-02 2.39461962e-02 5.05756838e+01] [-8.40945369e-02 9.96456098e-01 -1.83143367e-03 -9.59017708e-01] [-2.40153829e-02 -1.89328037e-04 9.99711571e-01 -6.30393864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters Centerline goodness : 0.973763 with order 1 Centerline is valid? [True, True] Translation: X:50.64, Y:-0.95, Z:-0.64 [[ 9.95376694e-01 9.30151392e-02 2.39461898e-02 5.06364198e+01] [-9.29979828e-02 9.95664613e-01 -1.83151737e-03 -9.50017299e-01] [-2.40127326e-02 -4.03897635e-04 9.99711571e-01 -6.44102153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters Centerline goodness : 0.976316 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.94, Z:-0.65 [[ 9.94390172e-01 1.03027987e-01 2.39461717e-02 5.06998801e+01] [-1.03013724e-01 9.94678248e-01 -1.83175324e-03 -9.39678618e-01] [-2.40074580e-02 -6.45306895e-04 9.99711571e-01 -6.47130581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68771942099998 meters Centerline goodness : 0.975307 with order 1 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.95, Z:-0.65 [[ 9.94261750e-01 1.04260158e-01 2.39456145e-02 5.07615779e+01] [-1.04246077e-01 9.94549835e-01 -1.83900888e-03 -9.46113719e-01] [-2.40068423e-02 -6.67780182e-04 9.99711571e-01 -6.48498979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74771942099999 meters Centerline goodness : 0.970629 with order 1 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.95, Z:-0.65 [[ 9.94477644e-01 1.02180473e-01 2.39450565e-02 5.08237479e+01] [-1.02165615e-01 9.94765690e-01 -1.84624636e-03 -9.50516014e-01] [-2.40083710e-02 -6.10310681e-04 9.99711571e-01 -6.52801544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80771942099999 meters Centerline goodness : 0.974315 with order 1 Centerline is valid? [True, True] Translation: X:50.89, Y:-0.95, Z:-0.65 [[ 9.94314052e-01 1.03760432e-01 2.39445000e-02 5.08860524e+01] [-1.03745858e-01 9.94602112e-01 -1.85343595e-03 -9.52752174e-01] [-2.40075636e-02 -6.41245288e-04 9.99711571e-01 -6.52890538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86771942099999 meters Centerline goodness : 0.974203 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:-0.96, Z:-0.65 [[ 9.94555541e-01 1.01419735e-01 2.39439470e-02 5.09470709e+01] [-1.01404313e-01 9.94843557e-01 -1.86055248e-03 -9.62888211e-01] [-2.40091781e-02 -5.77596718e-04 9.99711571e-01 -6.53152465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters Centerline goodness : 0.981306 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:-0.97, Z:-0.65 [[ 9.95464946e-01 9.20665690e-02 2.39434321e-02 5.10085650e+01] [-9.20482812e-02 9.95752794e-01 -1.86715498e-03 -9.73065034e-01] [-2.40136420e-02 -3.45264437e-04 9.99711571e-01 -6.49993328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters Centerline goodness : 0.979279 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:-0.98, Z:-0.65 [[ 9.96565069e-01 7.92766189e-02 2.39432718e-02 5.10704226e+01] [-7.92545871e-02 9.96852655e-01 -1.86920867e-03 -9.78235071e-01] [-2.40160986e-02 -3.48260479e-05 9.99711571e-01 -6.52777103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04771942099998 meters Centerline goodness : 0.981476 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:-0.98, Z:-0.65 [[ 9.97285685e-01 6.96276473e-02 2.39427046e-02 5.11313500e+01] [-6.96026594e-02 9.97573029e-01 -1.87644545e-03 -9.80235967e-01] [-2.40152488e-02 2.04876268e-04 9.99711571e-01 -6.51417596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10771942099998 meters Centerline goodness : 0.985911 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:-0.98, Z:-0.65 [[ 9.97160241e-01 7.14018644e-02 2.39421814e-02 5.11941610e+01] [-7.13772280e-02 9.97447615e-01 -1.88309816e-03 -9.76453741e-01] [-2.40155284e-02 1.68824076e-04 9.99711571e-01 -6.49219165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16771942099999 meters Centerline goodness : 0.979792 with order 1 Centerline is valid? [True, True] Translation: X:51.25, Y:-0.98, Z:-0.66 [[ 9.97227152e-01 7.04613874e-02 2.39416133e-02 5.12544908e+01] [-7.04363073e-02 9.97514488e-01 -1.89029311e-03 -9.77028629e-01] [-2.40152988e-02 1.98692787e-04 9.99711571e-01 -6.58421041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22771942099999 meters Centerline goodness : 0.977348 with order 1 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.97, Z:-0.66 [[ 9.97206631e-01 7.07512998e-02 2.39413755e-02 5.13159312e+01] [-7.07262310e-02 9.97493968e-01 -1.89329954e-03 -9.72483536e-01] [-2.40153311e-02 1.94727602e-04 9.99711571e-01 -6.62555331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters Centerline goodness : 0.977476 with order 1 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.97, Z:-0.66 [[ 9.96869616e-01 7.53512014e-02 2.39408714e-02 5.13785872e+01] [-7.53273060e-02 9.97157053e-01 -1.89965272e-03 -9.73148664e-01] [-2.40159499e-02 9.03047310e-05 9.99711571e-01 -6.62584584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters Centerline goodness : 0.980123 with order 1 Centerline is valid? [True, True] Translation: X:51.44, Y:-0.97, Z:-0.66 [[ 9.96004631e-01 8.60327774e-02 2.39402456e-02 5.14417115e+01] [-8.60117758e-02 9.96292294e-01 -1.90750787e-03 -9.72416816e-01] [-2.40155904e-02 -1.59256359e-04 9.99711571e-01 -6.62633387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40771942099998 meters Centerline goodness : 0.973203 with order 1 Centerline is valid? [True, True] Translation: X:51.50, Y:-0.97, Z:-0.67 [[ 9.94553462e-01 1.01441148e-01 2.39395875e-02 5.15021477e+01] [-1.01424404e-01 9.94841405e-01 -1.91573163e-03 -9.71664023e-01] [-2.40104268e-02 -5.22760868e-04 9.99711571e-01 -6.71620792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46771942099998 meters Centerline goodness : 0.973464 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:-0.98, Z:-0.67 [[ 9.93679211e-01 1.09674630e-01 2.39395473e-02 5.15638377e+01] [-1.09660259e-01 9.93967281e-01 -1.91623269e-03 -9.77547162e-01] [-2.40052889e-02 -7.21096377e-04 9.99711571e-01 -6.71708884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52771942099999 meters Centerline goodness : 0.979600 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:-0.98, Z:-0.67 [[ 9.93743783e-01 1.09088125e-01 2.39389851e-02 5.16241023e+01] [-1.09073416e-01 9.94031836e-01 -1.92323178e-03 -9.77820100e-01] [-2.40059150e-02 -6.99907238e-04 9.99711571e-01 -6.70735242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58771942099999 meters Centerline goodness : 0.975776 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.99, Z:-0.68 [[ 9.94006093e-01 1.06671511e-01 2.39389851e-02 5.16854877e+01] [-1.06656102e-01 9.94294110e-01 -1.92323178e-03 -9.90461920e-01] [-2.40075459e-02 -6.41534713e-04 9.99711571e-01 -6.75061449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters Centerline goodness : 0.979956 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:-1.00, Z:-0.67 [[ 9.94735780e-01 9.96377350e-02 2.39384399e-02 5.17467127e+01] [-9.96201260e-02 9.95023671e-01 -1.92999344e-03 -1.00041558e+00] [-2.40116145e-02 -4.64916874e-04 9.99711572e-01 -6.70616887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters Centerline goodness : 0.977065 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:-1.01, Z:-0.67 [[ 9.95337390e-01 9.34369074e-02 2.39379140e-02 5.18073750e+01] [-9.34173484e-02 9.95625155e-01 -1.93649473e-03 -1.01390549e+00] [-2.40141294e-02 -3.08750838e-04 9.99711572e-01 -6.74768540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters Centerline goodness : 0.974798 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:-1.02, Z:-0.68 [[ 9.95617238e-01 9.04064217e-02 2.39373118e-02 5.18689031e+01] [-9.03858084e-02 9.95904929e-01 -1.94390995e-03 -1.02186069e+00] [-2.40150287e-02 -2.28203026e-04 9.99711572e-01 -6.79686598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82771942099998 meters Centerline goodness : 0.979102 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:-1.04, Z:-0.67 [[ 9.95886163e-01 8.73944031e-02 2.39367722e-02 5.19298965e+01] [-8.73727606e-02 9.96173778e-01 -1.95053166e-03 -1.03693211e+00] [-2.40156504e-02 -1.48914379e-04 9.99711572e-01 -6.71581084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88771942099999 meters Centerline goodness : 0.979142 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:-1.04, Z:-0.67 [[ 9.96524074e-01 7.97923883e-02 2.39362668e-02 5.19927259e+01] [-7.97684032e-02 9.96811503e-01 -1.95671395e-03 -1.03736871e+00] [-2.40160770e-02 4.05547734e-05 9.99711572e-01 -6.73818475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94771942099999 meters Centerline goodness : 0.979000 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:-1.04, Z:-0.68 [[ 9.96989212e-01 7.37534767e-02 2.39360575e-02 5.20549695e+01] [-7.37276892e-02 9.97276486e-01 -1.95927181e-03 -1.04052538e+00] [-2.40153704e-02 1.88622658e-04 9.99711572e-01 -6.76750269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00771942099999 meters Centerline goodness : 0.977045 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.04, Z:-0.68 [[ 9.97044443e-01 7.30032345e-02 2.39354720e-02 5.21172530e+01] [-7.29770598e-02 9.97331681e-01 -1.96639869e-03 -1.03913189e+00] [-2.40151579e-02 2.13846515e-04 9.99711572e-01 -6.80276701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters Centerline goodness : 0.975776 with order 1 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.04, Z:-0.68 [[ 9.96923949e-01 7.46307792e-02 2.39350614e-02 5.21797741e+01] [-7.46049538e-02 9.97211219e-01 -1.97138318e-03 -1.03559747e+00] [-2.40154376e-02 1.79644957e-04 9.99711572e-01 -6.84663044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters Centerline goodness : 0.978523 with order 1 Centerline is valid? [True, True] Translation: X:52.24, Y:-1.04, Z:-0.68 [[ 9.96276698e-01 8.28243951e-02 2.39344885e-02 5.22422838e+01] [-8.28007658e-02 9.96564157e-01 -1.97831462e-03 -1.03519348e+00] [-2.40161061e-02 -1.08452177e-05 9.99711572e-01 -6.81580538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18771942099998 meters Centerline goodness : 0.977694 with order 1 Centerline is valid? [True, True] Translation: X:52.30, Y:-1.03, Z:-0.68 [[ 9.94925867e-01 9.77225032e-02 2.39338877e-02 5.23046863e+01] [-9.77030036e-02 9.95213636e-01 -1.98555671e-03 -1.03460708e+00] [-2.40133650e-02 -3.62930982e-04 9.99711572e-01 -6.84233993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24771942099999 meters Centerline goodness : 0.978561 with order 1 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.04, Z:-0.69 [[ 9.92856861e-01 1.16886490e-01 2.39332898e-02 5.23667503e+01] [-1.16872369e-01 9.93144943e-01 -1.99273739e-03 -1.03773890e+00] [-2.40021498e-02 -8.18637295e-04 9.99711572e-01 -6.86818325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30771942099999 meters Centerline goodness : 0.978566 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:-1.04, Z:-0.69 [[ 9.92262877e-01 1.21826146e-01 2.39326848e-02 5.24274355e+01] [-1.21813285e-01 9.92551018e-01 -1.99997714e-03 -1.04295411e+00] [-2.39980602e-02 -9.30815885e-04 9.99711572e-01 -6.87996324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36771942099999 meters Centerline goodness : 0.978970 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:-1.05, Z:-0.69 [[ 9.92373362e-01 1.20922967e-01 2.39321362e-02 5.24879625e+01] [-1.20909686e-01 9.92661484e-01 -2.00652024e-03 -1.04966069e+00] [-2.39991442e-02 -9.02409843e-04 9.99711572e-01 -6.89473158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters Centerline goodness : 0.979246 with order 1 Centerline is valid? [True, True] Translation: X:52.55, Y:-1.06, Z:-0.69 [[ 9.93334491e-01 1.12755789e-01 2.39315994e-02 5.25499618e+01] [-1.12739984e-01 9.93622486e-01 -2.01290235e-03 -1.05906900e+00] [-2.40059417e-02 -6.98562812e-04 9.99711572e-01 -6.91670961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters Centerline goodness : 0.976864 with order 1 Centerline is valid? [True, True] Translation: X:52.61, Y:-1.07, Z:-0.70 [[ 9.95198963e-01 9.49017087e-02 2.39309219e-02 5.26113417e+01] [-9.48805429e-02 9.95486614e-01 -2.02092577e-03 -1.06719409e+00] [-2.40147017e-02 -2.59355624e-04 9.99711572e-01 -6.95109375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54771942099998 meters Centerline goodness : 0.973245 with order 1 Centerline is valid? [True, True] Translation: X:52.67, Y:-1.08, Z:-0.70 [[ 9.95935708e-01 8.68297554e-02 2.39302937e-02 5.26714019e+01] [-8.68060801e-02 9.96223163e-01 -2.02833677e-03 -1.08172817e+00] [-2.40160329e-02 -5.72019712e-05 9.99711572e-01 -7.01243135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60771942099998 meters Centerline goodness : 0.972596 with order 1 Centerline is valid? [True, True] Translation: X:52.73, Y:-1.09, Z:-0.70 [[ 9.96458341e-01 8.06109176e-02 2.39302113e-02 5.27328175e+01] [-8.05854251e-02 9.96745640e-01 -2.02930800e-03 -1.08781835e+00] [-2.40159182e-02 9.36946305e-05 9.99711572e-01 -7.03976163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66771942099999 meters Centerline goodness : 0.971949 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:-1.09, Z:-0.71 [[ 9.96462706e-01 8.05569847e-02 2.39300765e-02 5.27949535e+01] [-8.05314384e-02 9.96750000e-01 -2.03089733e-03 -1.09158020e+00] [-2.40159067e-02 9.65899709e-05 9.99711572e-01 -7.05600675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72771942099999 meters Centerline goodness : 0.978259 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:-1.10, Z:-0.70 [[ 9.96786227e-01 7.64499782e-02 2.39294511e-02 5.28549707e+01] [-7.64230720e-02 9.97073397e-01 -2.03823906e-03 -1.09530414e+00] [-2.40152424e-02 2.02926453e-04 9.99711572e-01 -6.99811078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters Centerline goodness : 0.978309 with order 1 Centerline is valid? [True, True] Translation: X:52.92, Y:-1.09, Z:-0.70 [[ 9.97337346e-01 6.88883080e-02 2.39294511e-02 5.29171291e+01] [-6.88592247e-02 9.97624304e-01 -2.03823906e-03 -1.09325241e+00] [-2.40130129e-02 3.85048480e-04 9.99711572e-01 -7.04369571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters Centerline goodness : 0.979436 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:-1.09, Z:-0.70 [[ 9.97297448e-01 6.94637419e-02 2.39288459e-02 5.29797999e+01] [-6.94346543e-02 9.97584405e-01 -2.04531985e-03 -1.09111005e+00] [-2.40131191e-02 3.78301128e-04 9.99711572e-01 -7.03023956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90771942099998 meters Centerline goodness : 0.976348 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:-1.09, Z:-0.71 [[ 9.96416676e-01 8.11248869e-02 2.39282348e-02 5.30406022e+01] [-8.10989869e-02 9.96703939e-01 -2.05244457e-03 -1.08517406e+00] [-2.40158702e-02 1.04534400e-04 9.99711572e-01 -7.09966810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96771942099998 meters Centerline goodness : 0.976677 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:-1.08, Z:-0.71 [[ 9.95041941e-01 9.65348541e-02 2.39281916e-02 5.31036051e+01] [-9.65133905e-02 9.95329569e-01 -2.05294732e-03 -1.08083534e+00] [-2.40146176e-02 -2.66622218e-04 9.99711572e-01 -7.09738881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02771942099999 meters Centerline goodness : 0.976875 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-1.08, Z:-0.71 [[ 9.93782360e-01 1.08738641e-01 2.39275679e-02 5.31668853e+01] [-1.08720534e-01 9.94070219e-01 -2.06019146e-03 -1.08371732e+00] [-2.40097051e-02 -5.54036035e-04 9.99711572e-01 -7.12972022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08771942099999 meters Centerline goodness : 0.974433 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:-1.09, Z:-0.72 [[ 9.93381050e-01 1.12345868e-01 2.39268677e-02 5.32285239e+01] [-1.12328612e-01 9.93668962e-01 -2.06829131e-03 -1.09157413e+00] [-2.40077498e-02 -6.33070438e-04 9.99711572e-01 -7.19287224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters Centerline goodness : 0.974487 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-1.10, Z:-0.72 [[ 9.93564801e-01 1.10709167e-01 2.39262621e-02 5.32890142e+01] [-1.10691269e-01 9.93852673e-01 -2.07527369e-03 -1.09965137e+00] [-2.40089314e-02 -5.86509413e-04 9.99711572e-01 -7.18779517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters Centerline goodness : 0.974602 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-1.11, Z:-0.72 [[ 9.93909275e-01 1.07572824e-01 2.39257088e-02 5.33498453e+01] [-1.07553864e-01 9.94197080e-01 -2.08163276e-03 -1.10693235e+00] [-2.40107970e-02 -5.04348334e-04 9.99711572e-01 -7.20811799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters Centerline goodness : 0.977575 with order 1 Centerline is valid? [True, True] Translation: X:53.41, Y:-1.12, Z:-0.72 [[ 9.94571119e-01 1.01271251e-01 2.39253759e-02 5.34113309e+01] [-1.01250375e-01 9.94858790e-01 -2.08545198e-03 -1.11653264e+00] [-2.40135669e-02 -3.48322980e-04 9.99711572e-01 -7.19448467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32771942099998 meters Centerline goodness : 0.977918 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:-1.12, Z:-0.72 [[ 9.95845147e-01 8.78638234e-02 2.39247255e-02 5.34716659e+01] [-8.78388956e-02 9.96132495e-01 -2.09288769e-03 -1.12481936e+00] [-2.40160856e-02 -1.73294115e-05 9.99711572e-01 -7.20518420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38771942099999 meters Centerline goodness : 0.979455 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:-1.14, Z:-0.72 [[ 9.96295380e-01 8.26023694e-02 2.39241232e-02 5.35333104e+01] [-8.25757594e-02 9.96582578e-01 -2.09974998e-03 -1.13597718e+00] [-2.40158087e-02 1.16418560e-04 9.99711572e-01 -7.21162324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44771942099999 meters Centerline goodness : 0.976988 with order 1 Centerline is valid? [True, True] Translation: X:53.60, Y:-1.14, Z:-0.72 [[ 9.96030588e-01 8.57364252e-02 2.39234890e-02 5.35952201e+01] [-8.57105459e-02 9.96317852e-01 -2.10695129e-03 -1.14030745e+00] [-2.40160416e-02 4.80926294e-05 9.99711572e-01 -7.23027545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50771942099999 meters Centerline goodness : 0.977452 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.15, Z:-0.72 [[ 9.95528909e-01 9.13777245e-02 2.39228573e-02 5.36565684e+01] [-9.13533012e-02 9.95816301e-01 -2.11409955e-03 -1.14923268e+00] [-2.40159528e-02 -8.07847655e-05 9.99711572e-01 -7.24963286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters Centerline goodness : 0.978384 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-1.15, Z:-0.73 [[ 9.95890313e-01 8.73510892e-02 2.39222173e-02 5.37178513e+01] [-8.73253306e-02 9.96177588e-01 -2.12131626e-03 -1.15039098e+00] [-2.40160760e-02 2.35827789e-05 9.99711572e-01 -7.25127278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters Centerline goodness : 0.978421 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-1.16, Z:-0.73 [[ 9.96639907e-01 7.83367037e-02 2.39218945e-02 5.37809075e+01] [-7.83082596e-02 9.96926929e-01 -2.12495005e-03 -1.15675416e+00] [-2.40148424e-02 2.44528087e-04 9.99711572e-01 -7.26165836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68771942099998 meters Centerline goodness : 0.975952 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:-1.16, Z:-0.73 [[ 9.97805215e-01 6.17456903e-02 2.39211892e-02 5.38416491e+01] [-6.17122858e-02 9.98091702e-01 -2.13286089e-03 -1.16454966e+00] [-2.40072354e-02 6.51948459e-04 9.99711572e-01 -7.31348846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74771942099999 meters Centerline goodness : 0.974729 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:-1.16, Z:-0.73 [[ 9.98428693e-01 5.06747025e-02 2.39210981e-02 5.39038495e+01] [-5.06380980e-02 9.98714789e-01 -2.13388227e-03 -1.15947848e+00] [-2.39984883e-02 9.19210376e-04 9.99711572e-01 -7.33721901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80771942099999 meters Centerline goodness : 0.976523 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:-1.16, Z:-0.73 [[ 9.98528022e-01 4.86785241e-02 2.39205145e-02 5.39678199e+01] [-4.86411917e-02 9.98814023e-01 -2.14040449e-03 -1.15754560e+00] [-2.39963370e-02 9.73731526e-04 9.99711572e-01 -7.32079156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86771942099999 meters Centerline goodness : 0.981126 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:-1.15, Z:-0.73 [[ 9.98377866e-01 5.16670184e-02 2.39197862e-02 5.40306892e+01] [-5.16303482e-02 9.98663953e-01 -2.14851264e-03 -1.15130207e+00] [-2.39988355e-02 9.10040571e-04 9.99711572e-01 -7.29588645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters Centerline goodness : 0.978813 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:-1.15, Z:-0.74 [[ 9.97843898e-01 6.11179825e-02 2.39196062e-02 5.40925660e+01] [-6.10839749e-02 9.98130314e-01 -2.15051509e-03 -1.14663728e+00] [-2.40063191e-02 6.84773733e-04 9.99711572e-01 -7.35019524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters Centerline goodness : 0.977361 with order 1 Centerline is valid? [True, True] Translation: X:54.16, Y:-1.14, Z:-0.74 [[ 9.97005564e-01 7.35376378e-02 2.39190365e-02 5.41561107e+01] [-7.35070475e-02 9.97292365e-01 -2.15683292e-03 -1.13752831e+00] [-2.40128809e-02 3.92156670e-04 9.99711572e-01 -7.39396360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04771942099998 meters Centerline goodness : 0.974359 with order 1 Centerline is valid? [True, True] Translation: X:54.22, Y:-1.13, Z:-0.74 [[ 9.96342226e-01 8.20370487e-02 2.39184316e-02 5.42177901e+01] [-8.20087447e-02 9.96629262e-01 -2.16352020e-03 -1.13225047e+00] [-2.40152976e-02 1.94085983e-04 9.99711572e-01 -7.44275833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10771942099998 meters Centerline goodness : 0.973363 with order 1 Centerline is valid? [True, True] Translation: X:54.28, Y:-1.13, Z:-0.75 [[ 9.95968260e-01 8.64588794e-02 2.39183441e-02 5.42795708e+01] [-8.64318266e-02 9.96255416e-01 -2.16448691e-03 -1.12993673e+00] [-2.40159190e-02 8.84540902e-05 9.99711572e-01 -7.46215596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16771942099999 meters Centerline goodness : 0.977826 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:-1.12, Z:-0.74 [[ 9.95014811e-01 9.68165947e-02 2.39180272e-02 5.43404676e+01] [-9.67924470e-02 9.95302226e-01 -2.16798268e-03 -1.12440357e+00] [-2.40155625e-02 -1.57909507e-04 9.99711572e-01 -7.40900984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22771942099999 meters Centerline goodness : 0.983759 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:-1.13, Z:-0.74 [[ 9.94261102e-01 1.04272707e-01 2.39178339e-02 5.44010470e+01] [-1.04250663e-01 9.94548686e-01 -2.17011292e-03 -1.12639680e+00] [-2.40137339e-02 -3.35791190e-04 9.99711572e-01 -7.37362753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters Centerline goodness : 0.976383 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:-1.13, Z:-0.75 [[ 9.93973367e-01 1.06980761e-01 2.39178339e-02 5.44606714e+01] [-1.06959501e-01 9.94261010e-01 -2.17011292e-03 -1.13226628e+00] [-2.40127301e-02 -4.01205138e-04 9.99711572e-01 -7.46215097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters Centerline goodness : 0.969908 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-1.14, Z:-0.75 [[ 9.93348613e-01 1.12634242e-01 2.39177884e-02 5.45205239e+01] [-1.12614607e-01 9.93636371e-01 -2.17061490e-03 -1.13777324e+00] [-2.40100700e-02 -5.37315042e-04 9.99711572e-01 -7.54807762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40771942099998 meters Centerline goodness : 0.981970 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-1.15, Z:-0.74 [[ 9.92886302e-01 1.16639305e-01 2.39178711e-02 5.45808003e+01] [-1.16620852e-01 9.93174138e-01 -2.16970277e-03 -1.15116105e+00] [-2.40076837e-02 -6.35054350e-04 9.99711572e-01 -7.44744594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46771942099998 meters Centerline goodness : 0.979812 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:-1.17, Z:-0.75 [[ 9.92424372e-01 1.20506449e-01 2.39178255e-02 5.46406956e+01] [-1.20489106e-01 9.92712277e-01 -2.17020611e-03 -1.16839958e+00] [-2.40050428e-02 -7.28071965e-04 9.99711572e-01 -7.49057616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52771942099999 meters Centerline goodness : 0.977287 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:-1.18, Z:-0.75 [[ 9.92785849e-01 1.17491275e-01 2.39177349e-02 5.47019309e+01] [-1.17473033e-01 9.93073699e-01 -2.17120383e-03 -1.18066714e+00] [-2.40071710e-02 -6.54148431e-04 9.99711572e-01 -7.53369224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58771942099999 meters Centerline goodness : 0.974561 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:-1.20, Z:-0.76 [[ 9.93684104e-01 1.09635182e-01 2.39171061e-02 5.47626578e+01] [-1.09614498e-01 9.93971789e-01 -2.17810842e-03 -1.19987788e+00] [-2.40117261e-02 -4.57309863e-04 9.99711572e-01 -7.57343154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters Centerline goodness : 0.972842 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:-1.21, Z:-0.76 [[ 9.94885891e-01 9.81328960e-02 2.39164829e-02 5.48231136e+01] [-9.81087212e-02 9.95173304e-01 -2.18493043e-03 -1.21418212e+00] [-2.40154588e-02 -1.72659094e-04 9.99711572e-01 -7.59379141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters Centerline goodness : 0.975973 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:-1.22, Z:-0.76 [[ 9.96147795e-01 8.43658901e-02 2.39158279e-02 5.48841380e+01] [-8.43375716e-02 9.96434829e-01 -2.19207583e-03 -1.22360987e+00] [-2.40155003e-02 1.66628653e-04 9.99711572e-01 -7.56561158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters Centerline goodness : 0.981689 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:-1.23, Z:-0.75 [[ 9.96957614e-01 7.41860932e-02 2.39152666e-02 5.49449849e+01] [-7.41546978e-02 9.97244328e-01 -2.19818270e-03 -1.23103180e+00] [-2.40124386e-02 4.18065616e-04 9.99711572e-01 -7.49262325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82771942099998 meters Centerline goodness : 0.985340 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:-1.24, Z:-0.75 [[ 9.97109071e-01 7.21218537e-02 2.39152231e-02 5.50068235e+01] [-7.20898534e-02 9.97395718e-01 -2.19865630e-03 -1.23520691e+00] [-2.40115123e-02 4.68255216e-04 9.99711572e-01 -7.47743120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88771942099999 meters Centerline goodness : 0.984357 with order 1 Centerline is valid? [True, True] Translation: X:55.07, Y:-1.24, Z:-0.75 [[ 9.96911496e-01 7.48034928e-02 2.39145633e-02 5.50689832e+01] [-7.47720920e-02 9.97198209e-01 -2.20580988e-03 -1.23648059e+00] [-2.40125619e-02 4.10855306e-04 9.99711572e-01 -7.51577155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94771942099999 meters Centerline goodness : 0.979445 with order 1 Centerline is valid? [True, True] Translation: X:55.13, Y:-1.24, Z:-0.76 [[ 9.96410768e-01 8.12016464e-02 2.39138848e-02 5.51305383e+01] [-8.11719109e-02 9.96697659e-01 -2.21314073e-03 -1.23906950e+00] [-2.40146237e-02 2.64061527e-04 9.99711572e-01 -7.59572321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00771942099999 meters Centerline goodness : 0.976253 with order 1 Centerline is valid? [True, True] Translation: X:55.19, Y:-1.24, Z:-0.76 [[ 9.95733468e-01 8.91234743e-02 2.39137414e-02 5.51920094e+01] [-8.90959842e-02 9.96020582e-01 -2.21468948e-03 -1.23851559e+00] [-2.40159594e-02 7.46221123e-05 9.99711572e-01 -7.63368449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters Centerline goodness : 0.972398 with order 1 Centerline is valid? [True, True] Translation: X:55.25, Y:-1.24, Z:-0.77 [[ 9.95243390e-01 9.44391704e-02 2.39131313e-02 5.52545495e+01] [-9.44130560e-02 9.95530633e-01 -2.22125741e-03 -1.23608790e+00] [-2.40160284e-02 -4.70200530e-05 9.99711572e-01 -7.68746956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters Centerline goodness : 0.970476 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-1.24, Z:-0.77 [[ 9.95156625e-01 9.53492731e-02 2.39124848e-02 5.53168206e+01] [-9.53232546e-02 9.95443877e-01 -2.22819525e-03 -1.23943700e+00] [-2.40159934e-02 -6.20126147e-05 9.99711573e-01 -7.72783429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18771942099998 meters Centerline goodness : 0.971725 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:-1.24, Z:-0.77 [[ 9.94422780e-01 1.02720778e-01 2.39118406e-02 5.53784793e+01] [-1.02696723e-01 9.94710203e-01 -2.23508746e-03 -1.23674029e+00] [-2.40149417e-02 -2.33045797e-04 9.99711573e-01 -7.74284987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24771942099999 meters Centerline goodness : 0.972067 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:-1.24, Z:-0.77 [[ 9.92842799e-01 1.17010377e-01 2.39112507e-02 5.54392061e+01] [-1.16990306e-01 9.93130527e-01 -2.24138068e-03 -1.23933087e+00] [-2.40092578e-02 -5.72045875e-04 9.99711573e-01 -7.74740574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30771942099999 meters Centerline goodness : 0.975692 with order 1 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.25, Z:-0.77 [[ 9.91431335e-01 1.28421806e-01 2.39112507e-02 5.54992314e+01] [-1.28405046e-01 9.91719275e-01 -2.24138068e-03 -1.24909099e+00] [-2.40010903e-02 -8.48150217e-04 9.99711573e-01 -7.72553530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36771942099999 meters Centerline goodness : 0.980296 with order 1 Centerline is valid? [True, True] Translation: X:55.56, Y:-1.26, Z:-0.77 [[ 9.91300715e-01 1.29426213e-01 2.39112507e-02 5.55580023e+01] [-1.29409745e-01 9.91588672e-01 -2.24138068e-03 -1.26286490e+00] [-2.40002187e-02 -8.72466582e-04 9.99711573e-01 -7.69961845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters Centerline goodness : 0.976836 with order 1 Centerline is valid? [True, True] Translation: X:55.62, Y:-1.28, Z:-0.78 [[ 9.92680462e-01 1.18379695e-01 2.39112507e-02 5.56172448e+01] [-1.18360021e-01 9.92968218e-01 -2.24138068e-03 -1.28045919e+00] [-2.40084459e-02 -6.05161328e-04 9.99711573e-01 -7.75028827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters Centerline goodness : 0.980992 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:-1.30, Z:-0.77 [[ 9.94214180e-01 1.04720797e-01 2.39106514e-02 5.56778688e+01] [-1.04697016e-01 9.94501625e-01 -2.24775565e-03 -1.29733606e+00] [-2.40145684e-02 -2.68623308e-04 9.99711573e-01 -7.70954929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54771942099998 meters Centerline goodness : 0.981139 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:-1.31, Z:-0.77 [[ 9.95143204e-01 9.54898768e-02 2.39099756e-02 5.57382755e+01] [-9.54632567e-02 9.95430400e-01 -2.25492149e-03 -1.31419914e+00] [-2.40160387e-02 -3.85543381e-05 9.99711573e-01 -7.71115347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60771942099998 meters Centerline goodness : 0.982475 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:-1.32, Z:-0.77 [[ 9.95544150e-01 9.12150684e-02 2.39093458e-02 5.58000830e+01] [-9.11870552e-02 9.95831214e-01 -2.26157932e-03 -1.31921671e+00] [-2.40159630e-02 7.12792186e-05 9.99711573e-01 -7.71744296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66771942099999 meters Centerline goodness : 0.980342 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:-1.33, Z:-0.78 [[ 9.95910242e-01 8.71272942e-02 2.39086551e-02 5.58621062e+01] [-8.70979280e-02 9.96197171e-01 -2.26885785e-03 -1.32762561e+00] [-2.40154140e-02 1.77184450e-04 9.99711573e-01 -7.76151599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72771942099999 meters Centerline goodness : 0.979446 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:-1.34, Z:-0.78 [[ 9.96506371e-01 8.00215338e-02 2.39082811e-02 5.59237154e+01] [-7.99900274e-02 9.96793073e-01 -2.27279272e-03 -1.33721504e+00] [-2.40134813e-02 3.52428372e-04 9.99711573e-01 -7.78478196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters Centerline goodness : 0.975884 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:-1.34, Z:-0.78 [[ 9.97106561e-01 7.21590830e-02 2.39075809e-02 5.59841836e+01] [-7.21251404e-02 9.97392984e-01 -2.28013392e-03 -1.34351922e+00] [-2.40097858e-02 5.49198859e-04 9.99711573e-01 -7.83967866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters Centerline goodness : 0.970164 with order 1 Centerline is valid? [True, True] Translation: X:56.05, Y:-1.35, Z:-0.79 [[ 9.97429726e-01 6.75454454e-02 2.39071866e-02 5.60454100e+01] [-6.75100792e-02 9.97715977e-01 -2.28426045e-03 -1.35188592e+00] [-2.40068735e-02 6.64413213e-04 9.99711573e-01 -7.88198801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90771942099998 meters Centerline goodness : 0.971922 with order 1 Centerline is valid? [True, True] Translation: X:56.11, Y:-1.35, Z:-0.79 [[ 9.96854188e-01 7.55657377e-02 2.39070373e-02 5.61070209e+01] [-7.55326376e-02 9.97140710e-01 -2.28582185e-03 -1.35325160e+00] [-2.40114100e-02 4.72869498e-04 9.99711573e-01 -7.87896748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96771942099998 meters Centerline goodness : 0.978816 with order 1 Centerline is valid? [True, True] Translation: X:56.17, Y:-1.35, Z:-0.78 [[ 9.95831429e-01 8.80240586e-02 2.39066763e-02 5.61685254e+01] [-8.79944531e-02 9.96118333e-01 -2.28959159e-03 -1.35015399e+00] [-2.40154177e-02 1.76392358e-04 9.99711573e-01 -7.83240294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02771942099999 meters Centerline goodness : 0.973028 with order 1 Centerline is valid? [True, True] Translation: X:56.23, Y:-1.34, Z:-0.79 [[ 9.94437211e-01 1.02582199e-01 2.39066283e-02 5.62292947e+01] [-1.02556781e-01 9.94724516e-01 -2.29009277e-03 -1.34421836e+00] [-2.40154320e-02 -1.74433381e-04 9.99711573e-01 -7.90420986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08771942099999 meters Centerline goodness : 0.970423 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:-1.34, Z:-0.80 [[ 9.92732015e-01 1.17947588e-01 2.39063455e-02 5.62921302e+01] [-1.17926545e-01 9.93019673e-01 -2.29304153e-03 -1.34287995e+00] [-2.40099301e-02 -5.42816992e-04 9.99711573e-01 -7.95099919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters Centerline goodness : 0.976761 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:-1.34, Z:-0.79 [[ 9.91656493e-01 1.26672486e-01 2.39056937e-02 5.63542596e+01] [-1.26653810e-01 9.91944315e-01 -2.29981654e-03 -1.34323558e+00] [-2.40044404e-02 -7.47119188e-04 9.99711573e-01 -7.89050930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters Centerline goodness : 0.972165 with order 1 Centerline is valid? [True, True] Translation: X:56.42, Y:-1.34, Z:-0.80 [[ 9.91002204e-01 1.31693413e-01 2.39055896e-02 5.64150535e+01] [-1.31676169e-01 9.91290115e-01 -2.30089761e-03 -1.34321414e+00] [-2.40003877e-02 -8.67601857e-04 9.99711573e-01 -7.95230991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26771942099998 meters Centerline goodness : 0.976868 with order 1 Centerline is valid? [True, True] Translation: X:56.48, Y:-1.36, Z:-0.79 [[ 9.91342665e-01 1.29105560e-01 2.39055389e-02 5.64752485e+01] [-1.29087552e-01 9.91630530e-01 -2.30142495e-03 -1.35548099e+00] [-2.40025889e-02 -8.04406757e-04 9.99711573e-01 -7.90285205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32771942099998 meters Centerline goodness : 0.977874 with order 1 Centerline is valid? [True, True] Translation: X:56.54, Y:-1.37, Z:-0.79 [[ 9.92759304e-01 1.17717857e-01 2.39054394e-02 5.65368711e+01] [-1.17696522e-01 9.93046941e-01 -2.30245785e-03 -1.36719686e+00] [-2.40102638e-02 -5.27800607e-04 9.99711573e-01 -7.91634539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38771942099999 meters Centerline goodness : 0.968317 with order 1 Centerline is valid? [True, True] Translation: X:56.60, Y:-1.38, Z:-0.80 [[ 9.93903424e-01 1.07631528e-01 2.39047474e-02 5.65967527e+01] [-1.07607101e-01 9.94190815e-01 -2.30962019e-03 -1.37669845e+00] [-2.40144682e-02 -2.76781140e-04 9.99711573e-01 -8.04309731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44771942099999 meters Centerline goodness : 0.972370 with order 1 Centerline is valid? [True, True] Translation: X:56.66, Y:-1.39, Z:-0.80 [[ 9.93826650e-01 1.08338163e-01 2.39046487e-02 5.66585578e+01] [-1.08313916e-01 9.94114056e-01 -2.31064100e-03 -1.38638247e+00] [-2.40142779e-02 -2.92829496e-04 9.99711573e-01 -8.01291756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50771942099999 meters Centerline goodness : 0.975813 with order 1 Centerline is valid? [True, True] Translation: X:56.72, Y:-1.39, Z:-0.80 [[ 9.93475931e-01 1.11508630e-01 2.39039640e-02 5.67209345e+01] [-1.11485129e-01 9.93763400e-01 -2.31770304e-03 -1.39027794e+00] [-2.40133284e-02 -3.62354328e-04 9.99711573e-01 -7.99003354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters Centerline goodness : 0.971976 with order 1 Centerline is valid? [True, True] Translation: X:56.78, Y:-1.40, Z:-0.80 [[ 9.93092368e-01 1.14874536e-01 2.39037723e-02 5.67812145e+01] [-1.14851963e-01 9.93379910e-01 -2.31967794e-03 -1.39752742e+00] [-2.40119991e-02 -4.41740709e-04 9.99711573e-01 -8.04171340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters Centerline goodness : 0.966626 with order 1 Centerline is valid? [True, True] Translation: X:56.84, Y:-1.40, Z:-0.81 [[ 9.92718931e-01 1.18058253e-01 2.39033955e-02 5.68419759e+01] [-1.18036508e-01 9.93006538e-01 -2.32355467e-03 -1.40343543e+00] [-2.40105428e-02 -5.14836620e-04 9.99711573e-01 -8.12796823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68771942099998 meters Centerline goodness : 0.963978 with order 1 Centerline is valid? [True, True] Translation: X:56.90, Y:-1.41, Z:-0.82 [[ 9.92587187e-01 1.19160853e-01 2.39033023e-02 5.69033295e+01] [-1.19139404e-01 9.92874815e-01 -2.32451235e-03 -1.41236762e+00] [-2.40099778e-02 -5.40544027e-04 9.99711573e-01 -8.15874941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74771942099999 meters Centerline goodness : 0.970047 with order 1 Centerline is valid? [True, True] Translation: X:56.96, Y:-1.43, Z:-0.81 [[ 9.92804741e-01 1.17334601e-01 2.39026625e-02 5.69645988e+01] [-1.17312466e-01 9.93092318e-01 -2.33107348e-03 -1.42626959e+00] [-2.40110661e-02 -4.89779466e-04 9.99711573e-01 -8.10335202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80771942099999 meters Centerline goodness : 0.973207 with order 1 Centerline is valid? [True, True] Translation: X:57.02, Y:-1.43, Z:-0.81 [[ 9.92782576e-01 1.17522141e-01 2.39019695e-02 5.70238591e+01] [-1.17499889e-01 9.93070143e-01 -2.33815776e-03 -1.43456816e+00] [-2.40111176e-02 -4.87196484e-04 9.99711573e-01 -8.09494429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86771942099999 meters Centerline goodness : 0.972233 with order 1 Centerline is valid? [True, True] Translation: X:57.09, Y:-1.45, Z:-0.81 [[ 9.92169287e-01 1.22592056e-01 2.39017344e-02 5.70855078e+01] [-1.22571216e-01 9.92456961e-01 -2.34055819e-03 -1.44592381e+00] [-2.40083765e-02 -6.07434697e-04 9.99711573e-01 -8.12260526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters Centerline goodness : 0.980694 with order 1 Centerline is valid? [True, True] Translation: X:57.15, Y:-1.45, Z:-0.80 [[ 9.91550257e-01 1.27502267e-01 2.39010573e-02 5.71465543e+01] [-1.27482685e-01 9.91838018e-01 -2.34745268e-03 -1.45453613e+00] [-2.40052828e-02 -7.19353648e-04 9.99711573e-01 -8.04738375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters Centerline goodness : 0.980743 with order 1 Centerline is valid? [True, True] Translation: X:57.21, Y:-1.46, Z:-0.80 [[ 9.91210699e-01 1.30115696e-01 2.39009564e-02 5.72083201e+01] [-1.30096848e-01 9.91498510e-01 -2.34847966e-03 -1.46107509e+00] [-2.40033367e-02 -7.81600932e-04 9.99711573e-01 -8.04771245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04771942099998 meters Centerline goodness : 0.975481 with order 1 Centerline is valid? [True, True] Translation: X:57.27, Y:-1.48, Z:-0.82 [[ 9.90028645e-01 1.38823845e-01 2.39002554e-02 5.72672148e+01] [-1.38807357e-01 9.90316600e-01 -2.35559222e-03 -1.47639317e+00] [-2.39958320e-02 -9.85427505e-04 9.99711573e-01 -8.15079756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10771942099998 meters Centerline goodness : 0.973937 with order 1 Centerline is valid? [True, True] Translation: X:57.33, Y:-1.48, Z:-0.82 [[ 9.89311647e-01 1.43844520e-01 2.39002051e-02 5.73292067e+01] [-1.43829481e-01 9.89599681e-01 -2.35610192e-03 -1.48457493e+00] [-2.39905477e-02 -1.10663502e-03 9.99711573e-01 -8.18240796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16771942099999 meters Centerline goodness : 0.970469 with order 1 Centerline is valid? [True, True] Translation: X:57.39, Y:-1.51, Z:-0.82 [[ 9.88614578e-01 1.48559849e-01 2.38995144e-02 5.73888398e+01] [-1.48546015e-01 9.88902673e-01 -2.36308762e-03 -1.50840401e+00] [-2.39853536e-02 -1.21399474e-03 9.99711573e-01 -8.24685009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22771942099999 meters Centerline goodness : 0.965800 with order 1 Centerline is valid? [True, True] Translation: X:57.45, Y:-1.52, Z:-0.83 [[ 9.88528866e-01 1.49129230e-01 2.38988253e-02 5.74482397e+01] [-1.49115393e-01 9.88816961e-01 -2.37003614e-03 -1.52467880e+00] [-2.39850055e-02 -1.22083360e-03 9.99711573e-01 -8.30489912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters Centerline goodness : 0.964098 with order 1 Centerline is valid? [True, True] Translation: X:57.51, Y:-1.54, Z:-0.83 [[ 9.88745560e-01 1.47685794e-01 2.38981965e-02 5.75101421e+01] [-1.47671385e-01 9.89033627e-01 -2.37635980e-03 -1.54180962e+00] [-2.39870745e-02 -1.17946457e-03 9.99711573e-01 -8.30550685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters Centerline goodness : 0.972975 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:-1.56, Z:-0.82 [[ 9.89929454e-01 1.39529887e-01 2.38974315e-02 5.75700773e+01] [-1.39512918e-01 9.90217381e-01 -2.38402835e-03 -1.55766526e+00] [-2.39962952e-02 -9.73980522e-04 9.99711573e-01 -8.23596088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40771942099998 meters Centerline goodness : 0.973250 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:-1.57, Z:-0.83 [[ 9.90896172e-01 1.32490345e-01 2.38973817e-02 5.76307166e+01] [-1.32471318e-01 9.91183971e-01 -2.38452749e-03 -1.57206872e+00] [-2.40026285e-02 -8.02898490e-04 9.99711573e-01 -8.25422649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46771942099998 meters Centerline goodness : 0.968507 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:-1.58, Z:-0.83 [[ 9.91362821e-01 1.28952340e-01 2.38966897e-02 5.76915003e+01] [-1.28932119e-01 9.91650538e-01 -2.39144249e-03 -1.58284647e+00] [-2.40055473e-02 -7.10263678e-04 9.99711573e-01 -8.31417045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52771942099999 meters Centerline goodness : 0.967297 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.59, Z:-0.83 [[ 9.91633208e-01 1.26856469e-01 2.38959542e-02 5.77530254e+01] [-1.26835464e-01 9.91920869e-01 -2.39876949e-03 -1.59225450e+00] [-2.40071950e-02 -6.52154938e-04 9.99711573e-01 -8.33268531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58771942099999 meters Centerline goodness : 0.964270 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:-1.61, Z:-0.84 [[ 9.92282765e-01 1.21671401e-01 2.38952809e-02 5.78143335e+01] [-1.21648732e-01 9.92570300e-01 -2.40545712e-03 -1.60628982e+00] [-2.40104215e-02 -5.19936982e-04 9.99711573e-01 -8.38956588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters Centerline goodness : 0.964833 with order 1 Centerline is valid? [True, True] Translation: X:57.88, Y:-1.62, Z:-0.84 [[ 9.93522345e-01 1.11096254e-01 2.38950453e-02 5.78755665e+01] [-1.11070467e-01 9.93809617e-01 -2.40779589e-03 -1.61766881e+00] [-2.40146229e-02 -2.61834817e-04 9.99711573e-01 -8.38287901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters Centerline goodness : 0.966753 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:-1.63, Z:-0.84 [[ 9.94539044e-01 1.01592940e-01 2.38948578e-02 5.79368963e+01] [-1.01564363e-01 9.94826052e-01 -2.40965457e-03 -1.62824421e+00] [-2.40160310e-02 -3.03704697e-05 9.99711573e-01 -8.36890766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76771942099998 meters Centerline goodness : 0.968780 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:-1.63, Z:-0.84 [[ 9.95322601e-01 9.36054952e-02 2.38941666e-02 5.79986993e+01] [-9.35744515e-02 9.95609352e-01 -2.41648973e-03 -1.63134421e+00] [-2.40154524e-02 1.69303311e-04 9.99711573e-01 -8.35036209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82771942099998 meters Centerline goodness : 0.972626 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:-1.63, Z:-0.83 [[ 9.95879534e-01 8.74817374e-02 2.38935071e-02 5.80608039e+01] [-8.74487745e-02 9.96166071e-01 -2.42299255e-03 -1.63068750e+00] [-2.40138687e-02 3.23550775e-04 9.99711573e-01 -8.32535639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88771942099999 meters Centerline goodness : 0.972542 with order 1 Centerline is valid? [True, True] Translation: X:58.12, Y:-1.63, Z:-0.84 [[ 9.96564764e-01 7.92956741e-02 2.38928351e-02 5.81230927e+01] [-7.92601995e-02 9.96851001e-01 -2.42960086e-03 -1.62743929e+00] [-2.40102535e-02 5.27503725e-04 9.99711573e-01 -8.36109709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94771942099999 meters Centerline goodness : 0.970217 with order 1 Centerline is valid? [True, True] Translation: X:58.19, Y:-1.62, Z:-0.84 [[ 9.96721218e-01 7.73044695e-02 2.38921168e-02 5.81852373e+01] [-7.72682544e-02 9.97007362e-01 -2.43664428e-03 -1.62394990e+00] [-2.40089799e-02 5.82552890e-04 9.99711573e-01 -8.40872862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00771942099999 meters Centerline goodness : 0.971485 with order 1 Centerline is valid? [True, True] Translation: X:58.25, Y:-1.62, Z:-0.84 [[ 9.96393030e-01 8.14256249e-02 2.38913561e-02 5.82484757e+01] [-8.13904152e-02 9.96679300e-01 -2.44408045e-03 -1.61879211e+00] [-2.40110309e-02 4.90737329e-04 9.99711573e-01 -8.41608494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters Centerline goodness : 0.965397 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:-1.62, Z:-0.85 [[ 9.96246310e-01 8.32017244e-02 2.38906349e-02 5.83091785e+01] [-8.31668565e-02 9.96532622e-01 -2.45111025e-03 -1.62088217e+00] [-2.40117336e-02 4.55000538e-04 9.99711573e-01 -8.49586994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters Centerline goodness : 0.967317 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:-1.62, Z:-0.85 [[ 9.95772843e-01 8.86888582e-02 2.38899766e-02 5.83728935e+01] [-8.86554147e-02 9.96059325e-01 -2.45750978e-03 -1.61506936e+00] [-2.40137877e-02 3.29145725e-04 9.99711573e-01 -8.47756657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18771942099998 meters Centerline goodness : 0.966576 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.60, Z:-0.85 [[ 9.94615027e-01 1.00847592e-01 2.38895565e-02 5.84358369e+01] [-1.00817553e-01 9.94901885e-01 -2.46158660e-03 -1.60265298e+00] [-2.40160099e-02 3.98443886e-05 9.99711573e-01 -8.51178183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24771942099999 meters Centerline goodness : 0.976919 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:-1.59, Z:-0.84 [[ 9.93217932e-01 1.13786912e-01 2.38888781e-02 5.84990997e+01] [-1.13760451e-01 9.93505142e-01 -2.46815279e-03 -1.59239215e+00] [-2.40145667e-02 -2.66195948e-04 9.99711573e-01 -8.41304567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30771942099999 meters Centerline goodness : 0.973828 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:-1.59, Z:-0.85 [[ 9.92332175e-01 1.21269042e-01 2.38887724e-02 5.85618409e+01] [-1.21244723e-01 9.92619575e-01 -2.46917485e-03 -1.58545264e+00] [-2.40118976e-02 -4.46145941e-04 9.99711573e-01 -8.47452145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36771942099999 meters Centerline goodness : 0.972755 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:-1.59, Z:-0.85 [[ 9.91539873e-01 1.27585433e-01 2.38880421e-02 5.86238002e+01] [-1.27562774e-01 9.91827408e-01 -2.47622083e-03 -1.58712194e+00] [-2.40087445e-02 -5.91953229e-04 9.99711573e-01 -8.50547048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters Centerline goodness : 0.970374 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:-1.59, Z:-0.85 [[ 9.91164421e-01 1.30470258e-01 2.38873054e-02 5.86844418e+01] [-1.30448265e-01 9.91452008e-01 -2.48330652e-03 -1.59134509e+00] [-2.40071146e-02 -6.54692489e-04 9.99711573e-01 -8.54799529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters Centerline goodness : 0.972226 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.60, Z:-0.86 [[ 9.91288106e-01 1.29527245e-01 2.38868898e-02 5.87458619e+01] [-1.29504883e-01 9.91575665e-01 -2.48729801e-03 -1.60382950e+00] [-2.40078315e-02 -6.27839932e-04 9.99711573e-01 -8.56362431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54771942099998 meters Centerline goodness : 0.975730 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.62, Z:-0.85 [[ 9.91944823e-01 1.24398220e-01 2.38861968e-02 5.88070582e+01] [-1.24374211e-01 9.92232249e-01 -2.49393578e-03 -1.62056939e+00] [-2.40108959e-02 -4.96980185e-04 9.99711573e-01 -8.53801740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60771942099998 meters Centerline goodness : 0.973892 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.63, Z:-0.86 [[ 9.92301481e-01 1.21520603e-01 2.38854490e-02 5.88684198e+01] [-1.21495589e-01 9.92588820e-01 -2.50107679e-03 -1.63035908e+00] [-2.40123620e-02 -4.20154491e-04 9.99711573e-01 -8.57439261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66771942099999 meters Centerline goodness : 0.969514 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.65, Z:-0.86 [[ 9.92944629e-01 1.16148548e-01 2.38847157e-02 5.89273966e+01] [-1.16121811e-01 9.93231813e-01 -2.50806001e-03 -1.64971600e+00] [-2.40143670e-02 -2.83171724e-04 9.99711573e-01 -8.62545211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72771942099999 meters Centerline goodness : 0.969495 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.66, Z:-0.86 [[ 9.94516140e-01 1.01819445e-01 2.38840422e-02 5.89886541e+01] [-1.01788417e-01 9.94802893e-01 -2.51445795e-03 -1.66176278e+00] [-2.40159350e-02 6.95501812e-05 9.99711573e-01 -8.63943652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters Centerline goodness : 0.971198 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.67, Z:-0.86 [[ 9.95056202e-01 9.63988742e-02 2.38832992e-02 5.90474984e+01] [-9.63661147e-02 9.95342762e-01 -2.52149502e-03 -1.67377791e+00] [-2.40151383e-02 2.07488508e-04 9.99711573e-01 -8.62447929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters Centerline goodness : 0.974278 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:-1.68, Z:-0.86 [[ 9.94890659e-01 9.80926957e-02 2.38830371e-02 5.91087668e+01] [-9.80603645e-02 9.95177268e-01 -2.52397499e-03 -1.68330833e+00] [-2.40154392e-02 1.69099809e-04 9.99711573e-01 -8.58405589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90771942099998 meters Centerline goodness : 0.973362 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:-1.69, Z:-0.86 [[ 9.93801402e-01 1.08574430e-01 2.38823593e-02 5.91701645e+01] [-1.08544968e-01 9.94088320e-01 -2.53037248e-03 -1.68694083e+00] [-2.40159082e-02 -7.76222156e-05 9.99711573e-01 -8.62755089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96771942099998 meters Centerline goodness : 0.973770 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.70, Z:-0.86 [[ 9.92779297e-01 1.17553961e-01 2.38816390e-02 5.92312151e+01] [-1.17526931e-01 9.93066455e-01 -2.53715290e-03 -1.69621801e+00] [-2.40143069e-02 -2.87902869e-04 9.99711573e-01 -8.63709718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02771942099999 meters Centerline goodness : 0.970951 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.70, Z:-0.87 [[ 9.91959660e-01 1.24280871e-01 2.38809137e-02 5.92925141e+01] [-1.24255625e-01 9.92246979e-01 -2.54396125e-03 -1.70000270e+00] [-2.40119302e-02 -4.43830910e-04 9.99711574e-01 -8.69784102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08771942099999 meters Centerline goodness : 0.971623 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.71, Z:-0.87 [[ 9.91017991e-01 1.31579055e-01 2.38808052e-02 5.93528008e+01] [-1.31555899e-01 9.91305487e-01 -2.54497925e-03 -1.70807755e+00] [-2.40080392e-02 -6.19540588e-04 9.99711574e-01 -8.70784018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters Centerline goodness : 0.975214 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.72, Z:-0.87 [[ 9.90383933e-01 1.36269607e-01 2.38801163e-02 5.94129526e+01] [-1.36247657e-01 9.90671523e-01 -2.55142688e-03 -1.71904330e+00] [-2.40050332e-02 -7.26717717e-04 9.99711574e-01 -8.68282610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters Centerline goodness : 0.970259 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.73, Z:-0.88 [[ 9.89879770e-01 1.39884892e-01 2.38800641e-02 5.94729963e+01] [-1.39863981e-01 9.90167438e-01 -2.55191605e-03 -1.72649496e+00] [-2.40022363e-02 -8.13870748e-04 9.99711574e-01 -8.75363688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26771942099998 meters Centerline goodness : 0.968657 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-1.75, Z:-0.88 [[ 9.90058786e-01 1.38612222e-01 2.38799610e-02 5.95338454e+01] [-1.38590917e-01 9.90346424e-01 -2.55288017e-03 -1.74542628e+00] [-2.40032944e-02 -7.82044253e-04 9.99711574e-01 -8.77150952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32771942099998 meters Centerline goodness : 0.974655 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.76, Z:-0.87 [[ 9.91017345e-01 1.31584203e-01 2.38792614e-02 5.95926490e+01] [-1.31560702e-01 9.91304812e-01 -2.55940717e-03 -1.76314448e+00] [-2.40084043e-02 -6.05155488e-04 9.99711574e-01 -8.71632904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38771942099999 meters Centerline goodness : 0.977047 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.78, Z:-0.87 [[ 9.91783775e-01 1.25677076e-01 2.38792122e-02 5.96531042e+01] [-1.25651851e-01 9.92071096e-01 -2.55986617e-03 -1.78164911e+00] [-2.40115927e-02 -4.61633488e-04 9.99711574e-01 -8.71378862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44771942099999 meters Centerline goodness : 0.968353 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-1.79, Z:-0.88 [[ 9.92586663e-01 1.19170201e-01 2.38784471e-02 5.97124960e+01] [-1.19142921e-01 9.92873796e-01 -2.56698379e-03 -1.79468227e+00] [-2.40141924e-02 -2.96994058e-04 9.99711574e-01 -8.81251545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters Centerline goodness : 0.968346 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-1.81, Z:-0.88 [[ 9.93232202e-01 1.13664489e-01 2.38783832e-02 5.97732749e+01] [-1.13635603e-01 9.93519178e-01 -2.56757764e-03 -1.80797404e+00] [-2.40154741e-02 -1.63233676e-04 9.99711574e-01 -8.81258223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters Centerline goodness : 0.971705 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-1.81, Z:-0.88 [[ 9.93175683e-01 1.14157442e-01 2.38776226e-02 5.98326777e+01] [-1.14128528e-01 9.93462657e-01 -2.57463189e-03 -1.81422851e+00] [-2.40154397e-02 -1.68056143e-04 9.99711574e-01 -8.78669738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62771942099998 meters Centerline goodness : 0.970980 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-1.82, Z:-0.88 [[ 9.91864691e-01 1.25037166e-01 2.38776226e-02 5.98948825e+01] [-1.25011400e-01 9.92151965e-01 -2.57463189e-03 -1.81914146e+00] [-2.40121548e-02 -4.31288575e-04 9.99711574e-01 -8.78663395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68771942099998 meters Centerline goodness : 0.971348 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:-1.83, Z:-0.88 [[ 9.90164502e-01 1.37855553e-01 2.38769018e-02 5.99577041e+01] [-1.37833344e-01 9.90452072e-01 -2.58129908e-03 -1.82817094e+00] [-2.40047733e-02 -7.35122501e-04 9.99711574e-01 -8.80852911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74771942099999 meters Centerline goodness : 0.967915 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.84, Z:-0.89 [[ 9.89315932e-01 1.43819052e-01 2.38760786e-02 6.00173443e+01] [-1.43798394e-01 9.89603617e-01 -2.58889100e-03 -1.83712774e+00] [-2.40001856e-02 -8.72110645e-04 9.99711574e-01 -8.86488540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80771942099999 meters Centerline goodness : 0.963204 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-1.84, Z:-0.89 [[ 9.88957878e-01 1.46260889e-01 2.38760786e-02 6.00778236e+01] [-1.46240940e-01 9.89245614e-01 -2.58889100e-03 -1.84431957e+00] [-2.39979595e-02 -9.31356035e-04 9.99711574e-01 -8.92504968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86771942099999 meters Centerline goodness : 0.965357 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.86, Z:-0.89 [[ 9.88769526e-01 1.47528944e-01 2.38753945e-02 6.01381363e+01] [-1.47509213e-01 9.89057277e-01 -2.59518451e-03 -1.86439893e+00] [-2.39969975e-02 -9.55801286e-04 9.99711574e-01 -8.91523228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters Centerline goodness : 0.965441 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.88, Z:-0.89 [[ 9.88739171e-01 1.47732369e-01 2.38746660e-02 6.02004524e+01] [-1.47712536e-01 9.89026914e-01 -2.60186975e-03 -1.87782513e+00] [-2.39970676e-02 -9.54016908e-04 9.99711574e-01 -8.93382755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters Centerline goodness : 0.963106 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:-1.89, Z:-0.90 [[ 9.88747371e-01 1.47677608e-01 2.38738393e-02 6.02609918e+01] [-1.47657576e-01 9.89035101e-01 -2.60943283e-03 -1.89158765e+00] [-2.39974199e-02 -9.45083400e-04 9.99711574e-01 -8.97210734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04771942099998 meters Centerline goodness : 0.972830 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-1.91, Z:-0.89 [[ 9.89284857e-01 1.44033140e-01 2.38731262e-02 6.03214058e+01] [-1.44011892e-01 9.89572500e-01 -2.61594035e-03 -1.90775396e+00] [-2.40009713e-02 -8.50103903e-04 9.99711574e-01 -8.89565123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10771942099998 meters Centerline goodness : 0.970022 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:-1.93, Z:-0.89 [[ 9.90518164e-01 1.35291816e-01 2.38724123e-02 6.03809005e+01] [-1.35267872e-01 9.90805594e-01 -2.62243981e-03 -1.92601372e+00] [-2.40077143e-02 -6.31596154e-04 9.99711574e-01 -8.89367075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16771942099999 meters Centerline goodness : 0.968931 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:-1.94, Z:-0.89 [[ 9.91016946e-01 1.31588581e-01 2.38717112e-02 6.04421718e+01] [-1.31563410e-01 9.91304271e-01 -2.62880594e-03 -1.94128816e+00] [-2.40100501e-02 -5.35452483e-04 9.99711574e-01 -8.91338467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22771942099999 meters Centerline goodness : 0.965784 with order 1 Centerline is valid? [True, True] Translation: X:60.50, Y:-1.96, Z:-0.90 [[ 9.90300599e-01 1.36875433e-01 2.38713045e-02 6.05020145e+01] [-1.36851707e-01 9.90588048e-01 -2.63249352e-03 -1.95549301e+00] [-2.40069527e-02 -6.59868859e-04 9.99711574e-01 -8.95633691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters Centerline goodness : 0.970567 with order 1 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.97, Z:-0.89 [[ 9.89140351e-01 1.45022524e-01 2.38711962e-02 6.05613888e+01] [-1.45001140e-01 9.89427983e-01 -2.63347559e-03 -1.96696500e+00] [-2.40007428e-02 -8.56473705e-04 9.99711574e-01 -8.91141739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters Centerline goodness : 0.970176 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-1.98, Z:-0.89 [[ 9.88256616e-01 1.50927225e-01 2.38711962e-02 6.06222391e+01] [-1.50907559e-01 9.88544371e-01 -2.63347559e-03 -1.98285752e+00] [-2.39951998e-02 -9.99794287e-04 9.99711574e-01 -8.91936002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40771942099998 meters Centerline goodness : 0.964057 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-1.99, Z:-0.90 [[ 9.87739243e-01 1.54276995e-01 2.38704281e-02 6.06828403e+01] [-1.54258138e-01 9.88027052e-01 -2.64041957e-03 -1.99389850e+00] [-2.39919847e-02 -1.07416178e-03 9.99711574e-01 -9.00791831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46771942099998 meters Centerline goodness : 0.961057 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.01, Z:-0.90 [[ 9.87972132e-01 1.52778521e-01 2.38702633e-02 6.07429187e+01] [-1.52759192e-01 9.88259910e-01 -2.64190810e-03 -2.00856420e+00] [-2.39936511e-02 -1.03627056e-03 9.99711574e-01 -9.04871700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52771942099999 meters Centerline goodness : 0.965849 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.02, Z:-0.90 [[ 9.88955893e-01 1.46275376e-01 2.38695626e-02 6.08025059e+01] [-1.46254001e-01 9.89243526e-01 -2.64822418e-03 -2.02312646e+00] [-2.40001803e-02 -8.72042131e-04 9.99711574e-01 -9.00485363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58771942099999 meters Centerline goodness : 0.972374 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-2.04, Z:-0.90 [[ 9.89909027e-01 1.39679505e-01 2.38695104e-02 6.08636985e+01] [-1.39656202e-01 9.90196511e-01 -2.64869474e-03 -2.03799219e+00] [-2.40054743e-02 -7.11558340e-04 9.99711574e-01 -8.96551891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters Centerline goodness : 0.969847 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-2.05, Z:-0.90 [[ 9.90909012e-01 1.32399443e-01 2.38687360e-02 6.09236366e+01] [-1.32373861e-01 9.91196302e-01 -2.65565476e-03 -2.05032778e+00] [-2.40102101e-02 -5.28084493e-04 9.99711574e-01 -9.01343557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters Centerline goodness : 0.967382 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-2.06, Z:-0.91 [[ 9.91556324e-01 1.27461260e-01 2.38680277e-02 6.09845197e+01] [-1.27434093e-01 9.91843468e-01 -2.66200535e-03 -2.05950638e+00] [-2.40126500e-02 -4.02072238e-04 9.99711574e-01 -9.05359793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76771942099998 meters Centerline goodness : 0.969991 with order 1 Centerline is valid? [True, True] Translation: X:61.05, Y:-2.07, Z:-0.90 [[ 9.91799050e-01 1.25558617e-01 2.38679179e-02 6.10451591e+01] [-1.25530876e-01 9.92086139e-01 -2.66298977e-03 -2.06895437e+00] [-2.40133918e-02 -3.55009916e-04 9.99711574e-01 -9.02269914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82771942099998 meters Centerline goodness : 0.973072 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-2.07, Z:-0.90 [[ 9.91492351e-01 1.27958090e-01 2.38672195e-02 6.11061896e+01] [-1.27930894e-01 9.91779492e-01 -2.66923427e-03 -2.07292899e+00] [-2.40125690e-02 -4.06829369e-04 9.99711574e-01 -8.99700515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88771942099999 meters Centerline goodness : 0.969898 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-2.07, Z:-0.90 [[ 9.90532261e-01 1.35189601e-01 2.38665340e-02 6.11672610e+01] [-1.35164353e-01 9.90819580e-01 -2.67534989e-03 -2.07385939e+00] [-2.40091087e-02 -5.75884249e-04 9.99711574e-01 -9.04523943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94771942099999 meters Centerline goodness : 0.973412 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-2.08, Z:-0.90 [[ 9.89694768e-01 1.41190253e-01 2.38658613e-02 6.12293980e+01] [-1.41166603e-01 9.89982222e-01 -2.68133774e-03 -2.08063254e+00] [-2.40053571e-02 -7.15356627e-04 9.99711574e-01 -9.03000334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters Centerline goodness : 0.963510 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.08, Z:-0.92 [[ 9.88507919e-01 1.49273417e-01 2.38650767e-02 6.12906933e+01] [-1.49251949e-01 9.88795544e-01 -2.68830227e-03 -2.08160035e+00] [-2.39989736e-02 -9.04501130e-04 9.99711574e-01 -9.15438690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters Centerline goodness : 0.970572 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.09, Z:-0.91 [[ 9.87664876e-01 1.54753304e-01 2.38643609e-02 6.13525271e+01] [-1.54733278e-01 9.87952606e-01 -2.69464197e-03 -2.08537552e+00] [-2.39938623e-02 -1.03120756e-03 9.99711574e-01 -9.10307792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12771942099998 meters Centerline goodness : 0.971750 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-2.10, Z:-0.91 [[ 9.87464424e-01 1.56027354e-01 2.38636915e-02 6.14134187e+01] [-1.56007557e-01 9.87752170e-01 -2.70055682e-03 -2.09659159e+00] [-2.39927738e-02 -1.05621243e-03 9.99711574e-01 -9.09349483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18771942099998 meters Centerline goodness : 0.970561 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-2.11, Z:-0.91 [[ 9.87572876e-01 1.55339544e-01 2.38629402e-02 6.14748139e+01] [-1.55319387e-01 9.87860597e-01 -2.70717976e-03 -2.10989335e+00] [-2.39937904e-02 -1.03283993e-03 9.99711574e-01 -9.14489536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24771942099999 meters Centerline goodness : 0.972622 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:-2.12, Z:-0.91 [[ 9.86816845e-01 1.60072134e-01 2.38626755e-02 6.15370031e+01] [-1.60053300e-01 9.87104655e-01 -2.70951030e-03 -2.11718271e+00] [-2.39886752e-02 -1.14550955e-03 9.99711574e-01 -9.13688545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30771942099999 meters Centerline goodness : 0.972982 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-2.13, Z:-0.91 [[ 9.85907100e-01 1.65583228e-01 2.38617772e-02 6.15977661e+01] [-1.65565812e-01 9.86195000e-01 -2.71739922e-03 -2.13336599e+00] [-2.39823210e-02 -1.27159132e-03 9.99711574e-01 -9.11389882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36771942099999 meters Centerline goodness : 0.974715 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:-2.14, Z:-0.91 [[ 9.85604865e-01 1.67372951e-01 2.38609495e-02 6.16581740e+01] [-1.67355883e-01 9.85892786e-01 -2.72464759e-03 -2.14293437e+00] [-2.39803703e-02 -1.30784435e-03 9.99711574e-01 -9.11883451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters Centerline goodness : 0.971462 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:-2.15, Z:-0.92 [[ 9.87036459e-01 1.58712638e-01 2.38605578e-02 6.17183347e+01] [-1.58692960e-01 9.87324213e-01 -2.72807338e-03 -2.15420488e+00] [-2.39910862e-02 -1.09379465e-03 9.99711574e-01 -9.18647071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters Centerline goodness : 0.969691 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.17, Z:-0.92 [[ 9.88444035e-01 1.49696678e-01 2.38598701e-02 6.17794900e+01] [-1.49674229e-01 9.88731586e-01 -2.73407468e-03 -2.16577074e+00] [-2.40002891e-02 -8.68727862e-04 9.99711574e-01 -9.21174069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54771942099998 meters Centerline goodness : 0.967985 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.17, Z:-0.92 [[ 9.90042580e-01 1.38731511e-01 2.38591344e-02 6.18404836e+01] [-1.38705722e-01 9.90329850e-01 -2.74047997e-03 -2.17468820e+00] [-2.40086039e-02 -5.96206597e-04 9.99711574e-01 -9.23828735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60771942099998 meters Centerline goodness : 0.973503 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.18, Z:-0.92 [[ 9.91996217e-01 1.23993075e-01 2.38584069e-02 6.19017253e+01] [-1.23962865e-01 9.92283056e-01 -2.74679871e-03 -2.18047925e+00] [-2.40148769e-02 -2.32742539e-04 9.99711574e-01 -9.21653728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66771942099999 meters Centerline goodness : 0.974441 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.19, Z:-0.92 [[ 9.93740432e-01 1.09136317e-01 2.38583045e-02 6.19613486e+01] [-1.09101797e-01 9.94026784e-01 -2.74768783e-03 -2.18746024e+00] [-2.40156663e-02 1.27504598e-04 9.99711574e-01 -9.18345477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72771942099999 meters Centerline goodness : 0.980978 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:-2.19, Z:-0.91 [[ 9.95037317e-01 9.65998508e-02 2.38580572e-02 6.20228586e+01] [-9.65616723e-02 9.95323205e-01 -2.74983407e-03 -2.19466543e+00] [-2.40121115e-02 4.32413614e-04 9.99711574e-01 -9.12096756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters Centerline goodness : 0.978545 with order 1 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.19, Z:-0.92 [[ 9.95637136e-01 9.02082253e-02 2.38572847e-02 6.20856821e+01] [-9.01680517e-02 9.95922750e-01 -2.75651958e-03 -2.18941095e+00] [-2.40086733e-02 5.93328377e-04 9.99711574e-01 -9.18955433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters Centerline goodness : 0.981019 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:-2.19, Z:-0.92 [[ 9.95574174e-01 9.09006734e-02 2.38564643e-02 6.21489589e+01] [-9.08605288e-02 9.95859793e-01 -2.76360182e-03 -2.18737024e+00] [-2.40089068e-02 5.83759644e-04 9.99711574e-01 -9.16073738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90771942099998 meters Centerline goodness : 0.977604 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.18, Z:-0.92 [[ 9.95499824e-01 9.17115579e-02 2.38556151e-02 6.22111203e+01] [-9.16714709e-02 9.95785451e-01 -2.77091278e-03 -2.18351471e+00] [-2.40091991e-02 5.71563864e-04 9.99711574e-01 -9.21397436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96771942099998 meters Centerline goodness : 0.975077 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:-2.17, Z:-0.93 [[ 9.95594469e-01 9.06785574e-02 2.38548378e-02 6.22763055e+01] [-9.06380143e-02 9.95880031e-01 -2.77758819e-03 -2.16863631e+00] [-2.40084243e-02 6.03196307e-04 9.99711574e-01 -9.27316532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02771942099999 meters Centerline goodness : 0.974523 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:-2.16, Z:-0.93 [[ 9.95879206e-01 8.74962715e-02 2.38539140e-02 6.23398949e+01] [-8.74546266e-02 9.96164610e-01 -2.78549948e-03 -2.16119162e+00] [-2.40061457e-02 6.87885873e-04 9.99711574e-01 -9.30576252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08771942099999 meters Centerline goodness : 0.979906 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:-2.15, Z:-0.93 [[ 9.95993740e-01 8.61829431e-02 2.38530773e-02 6.24026019e+01] [-8.61407509e-02 9.96279063e-01 -2.79264633e-03 -2.14764527e+00] [-2.40049999e-02 7.26736283e-04 9.99711574e-01 -9.27121927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters Centerline goodness : 0.980413 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:-2.13, Z:-0.93 [[ 9.95374198e-01 9.30657852e-02 2.38530186e-02 6.24666246e+01] [-9.30255543e-02 9.95659804e-01 -2.79314695e-03 -2.13219735e+00] [-2.40094383e-02 5.61286120e-04 9.99711574e-01 -9.28255962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters Centerline goodness : 0.982807 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:-2.12, Z:-0.93 [[ 9.93783858e-01 1.08741506e-01 2.38522152e-02 6.25302013e+01] [-1.08705617e-01 9.94070042e-01 -2.79999147e-03 -2.12351315e+00] [-2.40152478e-02 1.89716559e-04 9.99711574e-01 -9.26573801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26771942099998 meters Centerline goodness : 0.976979 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:-2.12, Z:-0.94 [[ 9.91681299e-01 1.26488387e-01 2.38514133e-02 6.25921224e+01] [-1.26457455e-01 9.91968061e-01 -2.80680552e-03 -2.11505258e+00] [-2.40148685e-02 -2.32732483e-04 9.99711574e-01 -9.37835078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32771942099998 meters Centerline goodness : 0.977456 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:-2.11, Z:-0.94 [[ 9.90253669e-01 1.37218024e-01 2.38513011e-02 6.26556567e+01] [-1.37190176e-01 9.90540747e-01 -2.80775820e-03 -2.11025767e+00] [-2.40109607e-02 -4.91771333e-04 9.99711574e-01 -9.39077844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38771942099999 meters Centerline goodness : 0.977682 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:-2.11, Z:-0.94 [[ 9.89755957e-01 1.40763273e-01 2.38504914e-02 6.27177686e+01] [-1.40736288e-01 9.90043118e-01 -2.81462015e-03 -2.11152814e+00] [-2.40092100e-02 -5.70842554e-04 9.99711574e-01 -9.40615075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44771942099999 meters Centerline goodness : 0.976597 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:-2.12, Z:-0.94 [[ 9.89903716e-01 1.39720530e-01 2.38496876e-02 6.27797794e+01] [-1.39693079e-01 9.90190832e-01 -2.82141429e-03 -2.11534919e+00] [-2.40099515e-02 -5.38707798e-04 9.99711574e-01 -9.43612233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters Centerline goodness : 0.971398 with order 1 Centerline is valid? [True, True] Translation: X:62.84, Y:-2.12, Z:-0.95 [[ 9.89912051e-01 1.39661602e-01 2.38488513e-02 6.28411704e+01] [-1.39633964e-01 9.90199150e-01 -2.82846576e-03 -2.11961882e+00] [-2.40101403e-02 -5.30177316e-04 9.99711574e-01 -9.51109200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters Centerline goodness : 0.975348 with order 1 Centerline is valid? [True, True] Translation: X:62.90, Y:-2.13, Z:-0.95 [[ 9.90039463e-01 1.38755660e-01 2.38480278e-02 6.29033883e+01] [-1.38727592e-01 9.90326520e-01 -2.83539223e-03 -2.12513785e+00] [-2.40107611e-02 -5.01229280e-04 9.99711574e-01 -9.47630029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62771942099998 meters Centerline goodness : 0.978651 with order 1 Centerline is valid? [True, True] Translation: X:62.96, Y:-2.13, Z:-0.95 [[ 9.90894322e-01 1.32513108e-01 2.38478062e-02 6.29646856e+01] [-1.32483187e-01 9.91181192e-01 -2.83725469e-03 -2.13167891e+00] [-2.40134704e-02 -3.48013813e-04 9.99711574e-01 -9.46433067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68771942099998 meters Centerline goodness : 0.979287 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:-2.14, Z:-0.95 [[ 9.93107101e-01 1.14758894e-01 2.38470653e-02 6.30255535e+01] [-1.14723695e-01 9.93393371e-01 -2.84346823e-03 -2.14335591e+00] [-2.40158299e-02 8.80450467e-05 9.99711574e-01 -9.47748629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74771942099999 meters Centerline goodness : 0.979187 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.15, Z:-0.95 [[ 9.94394343e-01 1.03010911e-01 2.38462218e-02 6.30872419e+01] [-1.02972161e-01 9.94680154e-01 -2.85052457e-03 -2.15113044e+00] [-2.40129987e-02 3.79048518e-04 9.99711575e-01 -9.47594697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80771942099999 meters Centerline goodness : 0.978717 with order 1 Centerline is valid? [True, True] Translation: X:63.15, Y:-2.15, Z:-0.95 [[ 9.95470562e-01 9.20312946e-02 2.38453378e-02 6.31499233e+01] [-9.19892165e-02 9.95755902e-01 -2.85790017e-03 -2.15184829e+00] [-2.40071522e-02 6.51441544e-04 9.99711575e-01 -9.49530700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86771942099999 meters Centerline goodness : 0.981139 with order 1 Centerline is valid? [True, True] Translation: X:63.21, Y:-2.15, Z:-0.95 [[ 9.95385383e-01 9.29482733e-02 2.38444493e-02 6.32111419e+01] [-9.29062812e-02 9.95670735e-01 -2.86529425e-03 -2.15317616e+00] [-2.40075445e-02 6.36772895e-04 9.99711575e-01 -9.49332223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters Centerline goodness : 0.977734 with order 1 Centerline is valid? [True, True] Translation: X:63.27, Y:-2.15, Z:-0.95 [[ 9.94891726e-01 9.80914581e-02 2.38436392e-02 6.32734009e+01] [-9.80507802e-02 9.95177269e-01 -2.87202010e-03 -2.14834941e+00] [-2.40103684e-02 5.19461606e-04 9.99711575e-01 -9.54269594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98771942099998 meters Centerline goodness : 0.975863 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:-2.15, Z:-0.96 [[ 9.94873663e-01 9.82746791e-02 2.38428473e-02 6.33359045e+01] [-9.82338966e-02 9.95159191e-01 -2.87857930e-03 -2.15272671e+00] [-2.40103201e-02 5.21646940e-04 9.99711575e-01 -9.59013691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04771942099998 meters Centerline goodness : 0.974929 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.16, Z:-0.96 [[ 9.95032877e-01 9.66493994e-02 2.38425479e-02 6.33982082e+01] [-9.66080913e-02 9.95318329e-01 -2.88105717e-03 -2.15782548e+00] [-2.40093774e-02 5.63363566e-04 9.99711575e-01 -9.62971162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10771942099998 meters Centerline goodness : 0.974868 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:-2.16, Z:-0.96 [[ 9.94775821e-01 9.92604600e-02 2.38417203e-02 6.34604643e+01] [-9.92197374e-02 9.95061357e-01 -2.88788976e-03 -2.15759171e+00] [-2.40106278e-02 5.07233678e-04 9.99711575e-01 -9.64129734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16771942099999 meters Centerline goodness : 0.978137 with order 1 Centerline is valid? [True, True] Translation: X:63.52, Y:-2.16, Z:-0.96 [[ 9.94368579e-01 1.03260561e-01 2.38408462e-02 6.35212552e+01] [-1.03220815e-01 9.94654252e-01 -2.89508749e-03 -2.16135191e+00] [-2.40123474e-02 4.17912461e-04 9.99711575e-01 -9.61707149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22771942099999 meters Centerline goodness : 0.976160 with order 1 Centerline is valid? [True, True] Translation: X:63.58, Y:-2.17, Z:-0.97 [[ 9.94585181e-01 1.01153053e-01 2.38406842e-02 6.35831877e+01] [-1.01112669e-01 9.94870765e-01 -2.89642090e-03 -2.16751259e+00] [-2.40113816e-02 4.70142083e-04 9.99711575e-01 -9.66614548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters Centerline goodness : 0.972587 with order 1 Centerline is valid? [True, True] Translation: X:63.64, Y:-2.17, Z:-0.97 [[ 9.95322140e-01 9.36242325e-02 2.38398779e-02 6.36446552e+01] [-9.35815305e-02 9.95607387e-01 -2.90304247e-03 -2.16516072e+00] [-2.40069537e-02 6.58490186e-04 9.99711575e-01 -9.71701354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters Centerline goodness : 0.974284 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:-2.17, Z:-0.97 [[ 9.96283386e-01 8.27712530e-02 2.38397644e-02 6.37061815e+01] [-8.27254226e-02 9.96568147e-01 -2.90397436e-03 -2.17431411e+00] [-2.39983154e-02 9.21026828e-04 9.99711575e-01 -9.70598626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40771942099998 meters Centerline goodness : 0.976744 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:-2.17, Z:-0.97 [[ 9.96941407e-01 7.44280706e-02 2.38389004e-02 6.37683904e+01] [-7.43796892e-02 9.97225746e-01 -2.91104949e-03 -2.17394377e+00] [-2.39894290e-02 1.12901578e-03 9.99711575e-01 -9.69492337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46771942099998 meters Centerline goodness : 0.975672 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:-2.17, Z:-0.97 [[ 9.97100926e-01 7.22598565e-02 2.38381150e-02 6.38299198e+01] [-7.22107037e-02 9.97385133e-01 -2.91746700e-03 -2.17466165e+00] [-2.39865972e-02 1.18764199e-03 9.99711575e-01 -9.72343465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52771942099999 meters Centerline goodness : 0.976801 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-2.18, Z:-0.97 [[ 9.96878569e-01 7.52655298e-02 2.38373405e-02 6.38911517e+01] [-7.52170835e-02 9.97162896e-01 -2.92378133e-03 -2.17545263e+00] [-2.39897714e-02 1.12167972e-03 9.99711575e-01 -9.72036795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58771942099999 meters Centerline goodness : 0.980583 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-2.18, Z:-0.97 [[ 9.96112491e-01 8.48039189e-02 2.38369424e-02 6.39540415e+01] [-8.47581188e-02 9.96397257e-01 -2.92702352e-03 -2.17517005e+00] [-2.39992871e-02 8.95270302e-04 9.99711575e-01 -9.70023343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters Centerline goodness : 0.982203 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:-2.17, Z:-0.97 [[ 9.94804385e-01 9.89751423e-02 2.38360476e-02 6.40168999e+01] [-9.89332264e-02 9.95089748e-01 -2.93429203e-03 -2.16514506e+00] [-2.40094286e-02 5.60869482e-04 9.99711575e-01 -9.69525019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters Centerline goodness : 0.976024 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:-2.16, Z:-0.98 [[ 9.93226832e-01 1.13720313e-01 2.38359203e-02 6.40762903e+01] [-1.13682609e-01 9.93512782e-01 -2.93532587e-03 -2.16400474e+00] [-2.40150977e-02 2.05714793e-04 9.99711575e-01 -9.78586625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76771942099998 meters Centerline goodness : 0.972365 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:-2.16, Z:-0.98 [[ 9.92608832e-01 1.18993906e-01 2.38360452e-02 6.41363484e+01] [-1.18957746e-01 9.92894982e-01 -2.93431123e-03 -2.16486006e+00] [-2.40158548e-02 7.71410256e-05 9.99711575e-01 -9.83553925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82771942099998 meters Centerline goodness : 0.974442 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:-2.15, Z:-0.98 [[ 9.91531860e-01 1.27657383e-01 2.38361700e-02 6.41977813e+01] [-1.27623748e-01 9.91818317e-01 -2.93329698e-03 -2.15491239e+00] [-2.40156070e-02 -1.33603936e-04 9.99711575e-01 -9.82574663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88771942099999 meters Centerline goodness : 0.974315 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:-2.16, Z:-0.99 [[ 9.90430493e-01 1.35938474e-01 2.38362936e-02 6.42554904e+01] [-1.35907258e-01 9.90717224e-01 -2.93229214e-03 -2.16404757e+00] [-2.40136380e-02 -3.35293770e-04 9.99711575e-01 -9.86216284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94771942099999 meters Centerline goodness : 0.976448 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:-2.17, Z:-0.99 [[ 9.90557512e-01 1.35009757e-01 2.38365414e-02 6.43142347e+01] [-1.34978321e-01 9.90844219e-01 -2.93027684e-03 -2.17160408e+00] [-2.40139152e-02 -3.14808589e-04 9.99711575e-01 -9.86364096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters Centerline goodness : 0.971601 with order 1 Centerline is valid? [True, True] Translation: X:64.37, Y:-2.18, Z:-0.99 [[ 9.91456707e-01 1.28239640e-01 2.38367958e-02 6.43725173e+01] [-1.28206296e-01 9.91743198e-01 -2.92820571e-03 -2.17959376e+00] [-2.40154921e-02 -1.52838092e-04 9.99711575e-01 -9.91021067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters Centerline goodness : 0.977287 with order 1 Centerline is valid? [True, True] Translation: X:64.43, Y:-2.20, Z:-0.98 [[ 9.92948537e-01 1.16124923e-01 2.38370470e-02 6.44313610e+01] [-1.16088133e-01 9.93234606e-01 -2.92615963e-03 -2.19627541e+00] [-2.40155800e-02 1.38327649e-04 9.99711575e-01 -9.84808946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12771942099998 meters Centerline goodness : 0.974878 with order 1 Centerline is valid? [True, True] Translation: X:64.49, Y:-2.20, Z:-0.99 [[ 9.94257626e-01 1.04324331e-01 2.38371088e-02 6.44889049e+01] [-1.04284158e-01 9.94543239e-01 -2.92565601e-03 -2.20478130e+00] [-2.40122525e-02 4.23022985e-04 9.99711575e-01 -9.90887640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18771942099998 meters Centerline goodness : 0.973854 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:-2.21, Z:-0.99 [[ 9.94960313e-01 9.73948633e-02 2.38372899e-02 6.45488813e+01] [-9.73527363e-02 9.95245645e-01 -2.92417926e-03 -2.21109248e+00] [-2.40087590e-02 5.88816915e-04 9.99711575e-01 -9.92656336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24771942099999 meters Centerline goodness : 0.970564 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:-2.22, Z:-1.00 [[ 9.95239058e-01 9.45039726e-02 2.38372899e-02 6.46085756e+01] [-9.44610169e-02 9.95524267e-01 -2.92417926e-03 -2.22233955e+00] [-2.40069471e-02 6.58562771e-04 9.99711575e-01 -9.97263221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30771942099999 meters Centerline goodness : 0.972261 with order 1 Centerline is valid? [True, True] Translation: X:64.67, Y:-2.22, Z:-1.00 [[ 9.95247481e-01 9.44152292e-02 2.38372899e-02 6.46679426e+01] [-9.43722481e-02 9.95532686e-01 -2.92417926e-03 -2.22312513e+00] [-2.40068883e-02 6.60703407e-04 9.99711575e-01 -9.95968946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36771942099999 meters Centerline goodness : 0.973627 with order 1 Centerline is valid? [True, True] Translation: X:64.73, Y:-2.23, Z:-1.00 [[ 9.95204444e-01 9.48677637e-02 2.38374109e-02 6.47272899e+01] [-9.48249359e-02 9.95489672e-01 -2.92319273e-03 -2.23191603e+00] [-2.40072131e-02 6.48793432e-04 9.99711575e-01 -9.96683310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters Centerline goodness : 0.978846 with order 1 Centerline is valid? [True, True] Translation: X:64.79, Y:-2.24, Z:-0.99 [[ 9.94920031e-01 9.78054798e-02 2.38373698e-02 6.47876126e+01] [-9.77634862e-02 9.95205383e-01 -2.92352808e-03 -2.23649993e+00] [-2.40090158e-02 5.78252281e-04 9.99711575e-01 -9.91448742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48771942099998 meters Centerline goodness : 0.977341 with order 1 Centerline is valid? [True, True] Translation: X:64.85, Y:-2.24, Z:-1.00 [[ 9.93490367e-01 1.11394213e-01 2.38373698e-02 6.48472841e+01] [-1.11356123e-01 9.93776266e-01 -2.92352808e-03 -2.23645959e+00] [-2.40146764e-02 2.50059902e-04 9.99711575e-01 -9.95347056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54771942099998 meters Centerline goodness : 0.975639 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:-2.24, Z:-1.00 [[ 9.90502335e-01 1.35413795e-01 2.38375598e-02 6.49051045e+01] [-1.35382675e-01 9.90789076e-01 -2.92197830e-03 -2.24199010e+00] [-2.40136700e-02 -3.32966280e-04 9.99711575e-01 -9.98348424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60771942099998 meters Centerline goodness : 0.972272 with order 1 Centerline is valid? [True, True] Translation: X:64.96, Y:-2.25, Z:-1.00 [[ 9.89619039e-01 1.41724778e-01 2.38378724e-02 6.49635732e+01] [-1.41695548e-01 9.89905980e-01 -2.91942584e-03 -2.24528429e+00] [-2.40110074e-02 -4.88600984e-04 9.99711575e-01 -1.00405281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66771942099999 meters Centerline goodness : 0.966888 with order 1 Centerline is valid? [True, True] Translation: X:65.02, Y:-2.26, Z:-1.01 [[ 9.89758473e-01 1.40747679e-01 2.38381207e-02 6.50211592e+01] [-1.40718215e-01 9.90045389e-01 -2.91739630e-03 -2.25713842e+00] [-2.40114383e-02 -4.66940087e-04 9.99711575e-01 -1.00842216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72771942099999 meters Centerline goodness : 0.966285 with order 1 Centerline is valid? [True, True] Translation: X:65.08, Y:-2.27, Z:-1.01 [[ 9.89332521e-01 1.43711148e-01 2.38383776e-02 6.50772020e+01] [-1.43682593e-01 9.89619530e-01 -2.91529582e-03 -2.27333172e+00] [-2.40098845e-02 -5.40962952e-04 9.99711575e-01 -1.01343172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters Centerline goodness : 0.970054 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:-2.29, Z:-1.01 [[ 9.88858546e-01 1.46937039e-01 2.38386923e-02 6.51352455e+01] [-1.46909483e-01 9.89145652e-01 -2.91272060e-03 -2.28839838e+00] [-2.40079253e-02 -6.21861288e-04 9.99711575e-01 -1.00972349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters Centerline goodness : 0.969904 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.31, Z:-1.01 [[ 9.90112899e-01 1.38232253e-01 2.38388773e-02 6.51924934e+01] [-1.38202208e-01 9.90399755e-01 -2.91120552e-03 -2.30550670e+00] [-2.40124407e-02 -4.12163350e-04 9.99711575e-01 -1.01176875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90771942099998 meters Centerline goodness : 0.974635 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.32, Z:-1.01 [[ 9.91841412e-01 1.25229033e-01 2.38391221e-02 6.52499804e+01] [-1.25195275e-01 9.92127854e-01 -2.90919972e-03 -2.32327221e+00] [-2.40157733e-02 -9.90806953e-05 9.99711575e-01 -1.00708795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96771942099998 meters Centerline goodness : 0.971904 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.34, Z:-1.01 [[ 9.93100811e-01 1.14814934e-01 2.38392419e-02 6.53090187e+01] [-1.14778197e-01 9.93386887e-01 -2.90821728e-03 -2.34165055e+00] [-2.40154971e-02 1.51927742e-04 9.99711575e-01 -1.01069770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02771942099999 meters Centerline goodness : 0.973216 with order 1 Centerline is valid? [True, True] Translation: X:65.37, Y:-2.35, Z:-1.01 [[ 9.93799471e-01 1.08601601e-01 2.38391250e-02 6.53700462e+01] [-1.08563052e-01 9.94085308e-01 -2.90917567e-03 -2.34995482e+00] [-2.40140650e-02 3.03089073e-04 9.99711575e-01 -1.01284974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08771942099999 meters Centerline goodness : 0.972984 with order 1 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.36, Z:-1.01 [[ 9.93124819e-01 1.14607142e-01 2.38389979e-02 6.54298694e+01] [-1.14570297e-01 9.93410881e-01 -2.91021667e-03 -2.35858978e+00] [-2.40154515e-02 1.58967342e-04 9.99711575e-01 -1.01367953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters Centerline goodness : 0.969436 with order 1 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.37, Z:-1.02 [[ 9.91356080e-01 1.29014887e-01 2.38386670e-02 6.54891860e+01] [-1.28982134e-01 9.91642639e-01 -2.91292420e-03 -2.36738301e+00] [-2.40152493e-02 -1.87017044e-04 9.99711575e-01 -1.01829950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters Centerline goodness : 0.968947 with order 1 Centerline is valid? [True, True] Translation: X:65.55, Y:-2.38, Z:-1.02 [[ 9.89263363e-01 1.44186382e-01 2.38387285e-02 6.55469856e+01] [-1.44158035e-01 9.89550392e-01 -2.91242126e-03 -2.37562619e+00] [-2.40095546e-02 -5.55392609e-04 9.99711575e-01 -1.02127828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26771942099998 meters Centerline goodness : 0.969095 with order 1 Centerline is valid? [True, True] Translation: X:65.61, Y:-2.38, Z:-1.02 [[ 9.87422729e-01 1.56294786e-01 2.38389103e-02 6.56054046e+01] [-1.56269993e-01 9.87710087e-01 -2.91093194e-03 -2.38162328e+00] [-2.40008957e-02 -8.50985994e-04 9.99711575e-01 -1.02233036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32771942099998 meters Centerline goodness : 0.964856 with order 1 Centerline is valid? [True, True] Translation: X:65.66, Y:-2.39, Z:-1.03 [[ 9.86362673e-01 1.62850768e-01 2.38391520e-02 6.56630072e+01] [-1.62827933e-01 9.86650192e-01 -2.90895136e-03 -2.39302261e+00] [-2.39946289e-02 -1.01239880e-03 9.99711575e-01 -1.02664671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38771942099999 meters Centerline goodness : 0.972360 with order 1 Centerline is valid? [True, True] Translation: X:65.72, Y:-2.41, Z:-1.02 [[ 9.85698424e-01 1.66824159e-01 2.38393895e-02 6.57203998e+01] [-1.66802529e-01 9.85986037e-01 -2.90700402e-03 -2.41028460e+00] [-2.39902637e-02 -1.11104118e-03 9.99711575e-01 -1.02158397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44771942099999 meters Centerline goodness : 0.971332 with order 1 Centerline is valid? [True, True] Translation: X:65.78, Y:-2.43, Z:-1.02 [[ 9.86276925e-01 1.63369242e-01 2.38393977e-02 6.57784834e+01] [-1.63346607e-01 9.86564461e-01 -2.90693692e-03 -2.42558551e+00] [-2.39940066e-02 -1.02703991e-03 9.99711575e-01 -1.02244784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters Centerline goodness : 0.971268 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:-2.44, Z:-1.03 [[ 9.86892777e-01 1.59606783e-01 2.38395097e-02 6.58372972e+01] [-1.59583073e-01 9.87180226e-01 -2.90601766e-03 -2.44253895e+00] [-2.39977127e-02 -9.36454387e-04 9.99711575e-01 -1.02571658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters Centerline goodness : 0.969039 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:-2.46, Z:-1.03 [[ 9.88960055e-01 1.46252136e-01 2.38395097e-02 6.58977484e+01] [-1.46224543e-01 9.89247157e-01 -2.90601766e-03 -2.46104651e+00] [-2.40081785e-02 -6.11986022e-04 9.99711575e-01 -1.03118468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62771942099998 meters Centerline goodness : 0.961873 with order 1 Centerline is valid? [True, True] Translation: X:65.96, Y:-2.48, Z:-1.04 [[ 9.91294717e-01 1.29485524e-01 2.38386842e-02 6.59561521e+01] [-1.29452910e-01 9.91581293e-01 -2.91277369e-03 -2.48381545e+00] [-2.40151553e-02 -1.98569881e-04 9.99711575e-01 -1.03636905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68771942099998 meters Centerline goodness : 0.965593 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:-2.49, Z:-1.03 [[ 9.91738730e-01 1.26039851e-01 2.38379294e-02 6.60180897e+01] [-1.26006094e-01 9.92025173e-01 -2.91893766e-03 -2.49470264e+00] [-2.40157286e-02 -1.08900846e-04 9.99711575e-01 -1.03475919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74771942099999 meters Centerline goodness : 0.963820 with order 1 Centerline is valid? [True, True] Translation: X:66.08, Y:-2.50, Z:-1.04 [[ 9.91737312e-01 1.26051189e-01 2.38369929e-02 6.60790696e+01] [-1.26017252e-01 9.92023733e-01 -2.92656558e-03 -2.50066655e+00] [-2.40157598e-02 -1.01488052e-04 9.99711575e-01 -1.03651853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80771942099999 meters Centerline goodness : 0.968899 with order 1 Centerline is valid? [True, True] Translation: X:66.14, Y:-2.51, Z:-1.03 [[ 9.89773690e-01 1.40640948e-01 2.38362450e-02 6.61406778e+01] [-1.40611086e-01 9.90060565e-01 -2.93264457e-03 -2.50896379e+00] [-2.40117761e-02 -4.48985855e-04 9.99711575e-01 -1.02979382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86771942099999 meters Centerline goodness : 0.969495 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:-2.52, Z:-1.03 [[ 9.87109562e-01 1.58261140e-01 2.38353680e-02 6.62015833e+01] [-1.58236225e-01 9.87396909e-01 -2.93975510e-03 -2.51720668e+00] [-2.40002177e-02 -8.69758280e-04 9.99711575e-01 -1.03371960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters Centerline goodness : 0.967712 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:-2.53, Z:-1.04 [[ 9.85632215e-01 1.67215535e-01 2.38348758e-02 6.62616293e+01] [-1.67193133e-01 9.85919769e-01 -2.94374061e-03 -2.52582853e+00] [-2.39915144e-02 -1.08358198e-03 9.99711575e-01 -1.03732174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98771942099998 meters Centerline goodness : 0.963535 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:-2.54, Z:-1.04 [[ 9.85886595e-01 1.65709256e-01 2.38341014e-02 6.63224684e+01] [-1.65686263e-01 9.86174102e-01 -2.94999717e-03 -2.54302156e+00] [-2.39934154e-02 -1.04062054e-03 9.99711575e-01 -1.04168004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04771942099998 meters Centerline goodness : 0.968787 with order 1 Centerline is valid? [True, True] Translation: X:66.38, Y:-2.56, Z:-1.04 [[ 9.87877354e-01 1.53395921e-01 2.38332835e-02 6.63838410e+01] [-1.53369185e-01 9.88164537e-01 -2.95659025e-03 -2.55553029e+00] [-2.40047345e-02 -7.34542712e-04 9.99711575e-01 -1.03935298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10771942099998 meters Centerline goodness : 0.961980 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:-2.57, Z:-1.05 [[ 9.88688859e-01 1.48075407e-01 2.38330374e-02 6.64434110e+01] [-1.48047077e-01 9.88975889e-01 -2.95857277e-03 -2.57499118e+00] [-2.40083912e-02 -6.03303591e-04 9.99711575e-01 -1.04675189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16771942099999 meters Centerline goodness : 0.963962 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:-2.59, Z:-1.05 [[ 9.89091559e-01 1.45361326e-01 2.38321838e-02 6.65049551e+01] [-1.45332043e-01 9.89378493e-01 -2.96543302e-03 -2.58559944e+00] [-2.40101094e-02 -5.30495197e-04 9.99711575e-01 -1.04702815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22771942099999 meters Centerline goodness : 0.962790 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-2.59, Z:-1.05 [[ 9.89318383e-01 1.43809610e-01 2.38313307e-02 6.65660817e+01] [-1.43779713e-01 9.89605255e-01 -2.97227332e-03 -2.59156105e+00] [-2.40110515e-02 -4.85937235e-04 9.99711575e-01 -1.04922566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters Centerline goodness : 0.957734 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-2.61, Z:-1.05 [[ 9.90524435e-01 1.35253275e-01 2.38305504e-02 6.66263015e+01] [-1.35220749e-01 9.90811020e-01 -2.97851634e-03 -2.60734609e+00] [-2.40144260e-02 -2.72091645e-04 9.99711575e-01 -1.05473070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34771942099998 meters Centerline goodness : 0.966040 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-2.61, Z:-1.05 [[ 9.92531225e-01 1.19640632e-01 2.38303727e-02 6.66875540e+01] [-1.19603563e-01 9.92817258e-01 -2.97993716e-03 -2.61284147e+00] [-2.40157268e-02 1.07483198e-04 9.99711575e-01 -1.04671057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40771942099998 meters Centerline goodness : 0.966877 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-2.62, Z:-1.05 [[ 9.94072204e-01 1.06078141e-01 2.38302442e-02 6.67470604e+01] [-1.06037145e-01 9.94357701e-01 -2.98096460e-03 -2.62371435e+00] [-2.40120020e-02 4.36402982e-04 9.99711575e-01 -1.04630351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46771942099998 meters Centerline goodness : 0.972069 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-2.63, Z:-1.04 [[ 9.95079889e-01 9.61672605e-02 2.38300735e-02 6.68103552e+01] [-9.61233898e-02 9.95364958e-01 -2.98232815e-03 -2.62947022e+00] [-2.40064225e-02 6.77027313e-04 9.99711575e-01 -1.04335952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52771942099999 meters Centerline goodness : 0.965576 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-2.63, Z:-1.05 [[ 9.95699779e-01 8.95216520e-02 2.38290397e-02 6.68724968e+01] [-8.94756822e-02 9.95984517e-01 -2.99056549e-03 -2.63025246e+00] [-2.40010750e-02 8.45585807e-04 9.99711575e-01 -1.04926400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58771942099999 meters Centerline goodness : 0.968259 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:-2.63, Z:-1.05 [[ 9.96125499e-01 8.46532961e-02 2.38287454e-02 6.69348715e+01] [-8.46058790e-02 9.96410000e-01 -2.99290917e-03 -2.62600242e+00] [-2.39965598e-02 9.65261192e-04 9.99711575e-01 -1.04842330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters Centerline goodness : 0.963698 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-2.62, Z:-1.06 [[ 9.96719466e-01 7.73468748e-02 2.38278822e-02 6.69972866e+01] [-7.72972094e-02 9.97003582e-01 -2.99976516e-03 -2.62074283e+00] [-2.39885064e-02 1.14809553e-03 9.99711575e-01 -1.05580434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters Centerline goodness : 0.964547 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:-2.61, Z:-1.06 [[ 9.97314779e-01 6.92493280e-02 2.38277529e-02 6.70619814e+01] [-6.91973322e-02 9.97598479e-01 -3.00079209e-03 -2.61300530e+00] [-2.39783329e-02 1.34391736e-03 9.99711575e-01 -1.05703152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76771942099998 meters Centerline goodness : 0.972467 with order 1 Centerline is valid? [True, True] Translation: X:67.13, Y:-2.60, Z:-1.05 [[ 9.97650451e-01 6.42328979e-02 2.38267376e-02 6.71260910e+01] [-6.41792847e-02 9.97933849e-01 -3.00883205e-03 -2.60339728e+00] [-2.39707740e-02 1.47257967e-03 9.99711575e-01 -1.04991313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82771942099998 meters Centerline goodness : 0.971536 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:-2.60, Z:-1.05 [[ 9.97607860e-01 6.48911145e-02 2.38264788e-02 6.71908658e+01] [-6.48376397e-02 9.97891284e-01 -3.01088009e-03 -2.59549434e+00] [-2.39716149e-02 1.45882499e-03 9.99711575e-01 -1.05230303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88771942099999 meters Centerline goodness : 0.968409 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:-2.59, Z:-1.06 [[ 9.97550428e-01 6.57684701e-02 2.38254621e-02 6.72543973e+01] [-6.57150535e-02 9.97833863e-01 -3.01890433e-03 -2.58707941e+00] [-2.39724016e-02 1.44581779e-03 9.99711575e-01 -1.05701298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94771942099999 meters Centerline goodness : 0.975055 with order 1 Centerline is valid? [True, True] Translation: X:67.32, Y:-2.58, Z:-1.05 [[ 9.97638125e-01 6.44248452e-02 2.38245842e-02 6.73182686e+01] [-6.43708825e-02 9.97921457e-01 -3.02581667e-03 -2.57623639e+00] [-2.39700015e-02 1.48506056e-03 9.99711575e-01 -1.05214854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters Centerline goodness : 0.977439 with order 1 Centerline is valid? [True, True] Translation: X:67.38, Y:-2.56, Z:-1.05 [[ 9.98025626e-01 5.81143555e-02 2.38237602e-02 6.73807665e+01] [-5.80584483e-02 9.98308580e-01 -3.03229016e-03 -2.56333705e+00] [-2.39596839e-02 1.64313273e-03 9.99711575e-01 -1.04958618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters Centerline goodness : 0.975804 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:-2.55, Z:-1.05 [[ 9.98273219e-01 5.36936758e-02 2.38236984e-02 6.74448994e+01] [-5.36365045e-02 9.98555921e-01 -3.03277590e-03 -2.54848866e+00] [-2.39521360e-02 1.74971906e-03 9.99711575e-01 -1.05442989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12771942099998 meters Centerline goodness : 0.974390 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:-2.53, Z:-1.06 [[ 9.98188854e-01 5.52402593e-02 2.38227765e-02 6.75080859e+01] [-5.51833545e-02 9.98471610e-01 -3.04000025e-03 -2.52740368e+00] [-2.39542964e-02 1.71987365e-03 9.99711575e-01 -1.05785092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18771942099998 meters Centerline goodness : 0.972807 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:-2.50, Z:-1.06 [[ 9.97617025e-01 6.47514465e-02 2.38227121e-02 6.75703992e+01] [-6.46972272e-02 9.97900308e-01 -3.04050483e-03 -2.50037336e+00] [-2.39695688e-02 1.49199597e-03 9.99711575e-01 -1.06136026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24771942099999 meters Centerline goodness : 0.973512 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:-2.49, Z:-1.06 [[ 9.96897141e-01 7.50237459e-02 2.38228525e-02 6.76306768e+01] [-7.49724736e-02 9.97180972e-01 -3.03940480e-03 -2.49056651e+00] [-2.39837227e-02 1.24391578e-03 9.99711575e-01 -1.06210138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30771942099999 meters Centerline goodness : 0.966778 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:-2.48, Z:-1.07 [[ 9.96036073e-01 8.57006432e-02 2.38231020e-02 6.76903426e+01] [-8.56524616e-02 9.96320445e-01 -3.03744752e-03 -2.47825428e+00] [-2.39957548e-02 9.84899965e-04 9.99711575e-01 -1.06863876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36771942099999 meters Centerline goodness : 0.966356 with order 1 Centerline is valid? [True, True] Translation: X:67.75, Y:-2.48, Z:-1.07 [[ 9.95229235e-01 9.46108580e-02 2.38234081e-02 6.77493043e+01] [-9.45652807e-02 9.95514036e-01 -3.03504474e-03 -2.47799634e+00] [-2.40036854e-02 7.67697975e-04 9.99711575e-01 -1.07119461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters Centerline goodness : 0.964717 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:-2.48, Z:-1.07 [[ 9.94399139e-01 1.02969826e-01 2.38236571e-02 6.78080746e+01] [-1.02926690e-01 9.94684320e-01 -3.03308930e-03 -2.47605414e+00] [-2.40093348e-02 5.64011231e-04 9.99711575e-01 -1.07453381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48771942099998 meters Centerline goodness : 0.962130 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:-2.48, Z:-1.08 [[ 9.93436152e-01 1.11879533e-01 2.38239633e-02 6.78674541e+01] [-1.11839013e-01 9.93721717e-01 -3.03068248e-03 -2.47504672e+00] [-2.40134610e-02 3.46340997e-04 9.99711575e-01 -1.07572644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54771942099998 meters Centerline goodness : 0.960536 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:-2.48, Z:-1.08 [[ 9.92649270e-01 1.18658475e-01 2.38242211e-02 6.79258929e+01] [-1.18619954e-01 9.92935111e-01 -3.02865412e-03 -2.48138761e+00] [-2.40152811e-02 1.80363291e-04 9.99711575e-01 -1.07912357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60771942099998 meters Centerline goodness : 0.961731 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:-2.49, Z:-1.08 [[ 9.92656873e-01 1.18594798e-01 2.38244788e-02 6.79831417e+01] [-1.18556308e-01 9.92942718e-01 -3.02662549e-03 -2.49108453e+00] [-2.40152848e-02 1.79858350e-04 9.99711575e-01 -1.08118479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66771942099999 meters Centerline goodness : 0.963687 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:-2.50, Z:-1.08 [[ 9.93076855e-01 1.15024946e-01 2.38247971e-02 6.80417157e+01] [-1.14985488e-01 9.93362568e-01 -3.02411798e-03 -2.49930841e+00] [-2.40145107e-02 2.63675646e-04 9.99711575e-01 -1.07980014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72771942099999 meters Centerline goodness : 0.959987 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-2.52, Z:-1.09 [[ 9.93357312e-01 1.12577165e-01 2.38250429e-02 6.80982197e+01] [-1.12537049e-01 9.93642933e-01 -3.02218064e-03 -2.51933855e+00] [-2.40138140e-02 3.20905221e-04 9.99711575e-01 -1.08559831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters Centerline goodness : 0.966578 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:-2.53, Z:-1.08 [[ 9.93771570e-01 1.08859648e-01 2.38252849e-02 6.81559662e+01] [-1.08818510e-01 9.94057046e-01 -3.02027111e-03 -2.53457613e+00] [-2.40124780e-02 4.08827562e-04 9.99711575e-01 -1.08017316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84771942099998 meters Centerline goodness : 0.963748 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:-2.55, Z:-1.08 [[ 9.93972498e-01 1.07009442e-01 2.38254714e-02 6.82125579e+01] [-1.06967808e-01 9.94257902e-01 -3.01879974e-03 -2.54979794e+00] [-2.40117032e-02 4.52045470e-04 9.99711575e-01 -1.08458239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90771942099998 meters Centerline goodness : 0.963951 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:-2.57, Z:-1.09 [[ 9.93870252e-01 1.07954876e-01 2.38257754e-02 6.82700402e+01] [-1.07913571e-01 9.94155703e-01 -3.01639786e-03 -2.56618438e+00] [-2.40121654e-02 4.26783600e-04 9.99711575e-01 -1.08714597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96771942099998 meters Centerline goodness : 0.967571 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-2.57, Z:-1.08 [[ 9.93316662e-01 1.12935073e-01 2.38260167e-02 6.83285022e+01] [-1.12895244e-01 9.93602323e-01 -3.01449097e-03 -2.57356544e+00] [-2.40140273e-02 3.04500130e-04 9.99711575e-01 -1.08462766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02771942099999 meters Centerline goodness : 0.966548 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-2.59, Z:-1.09 [[ 9.92663152e-01 1.18541876e-01 2.38262628e-02 6.83860151e+01] [-1.18503708e-01 9.92949040e-01 -3.01254447e-03 -2.58716751e+00] [-2.40153775e-02 1.66941408e-04 9.99711575e-01 -1.08668780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08771942099999 meters Centerline goodness : 0.965578 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:-2.60, Z:-1.09 [[ 9.92760878e-01 1.17720585e-01 2.38265171e-02 6.84433209e+01] [-1.17682229e-01 9.93046741e-01 -3.01053227e-03 -2.60100932e+00] [-2.40152467e-02 1.84781023e-04 9.99711575e-01 -1.08847466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters Centerline goodness : 0.962456 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:-2.61, Z:-1.09 [[ 9.92990477e-01 1.15767857e-01 2.38267678e-02 6.85012333e+01] [-1.15728987e-01 9.93276271e-01 -3.00854641e-03 -2.61323212e+00] [-2.40148560e-02 2.30010245e-04 9.99711575e-01 -1.09410579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters Centerline goodness : 0.961748 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:-2.63, Z:-1.10 [[ 9.93246772e-01 1.13547886e-01 2.38270150e-02 6.85578003e+01] [-1.13508424e-01 9.93532485e-01 -3.00658763e-03 -2.62768089e+00] [-2.40143051e-02 2.81716556e-04 9.99711575e-01 -1.09847514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26771942099998 meters Centerline goodness : 0.964472 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:-2.64, Z:-1.10 [[ 9.93528754e-01 1.11053472e-01 2.38273180e-02 6.86157223e+01] [-1.11013350e-01 9.93814375e-01 -3.00418418e-03 -2.64177950e+00] [-2.40135562e-02 3.39592983e-04 9.99711575e-01 -1.09748499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32771942099998 meters Centerline goodness : 0.964053 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:-2.65, Z:-1.10 [[ 9.93564390e-01 1.10734138e-01 2.38275624e-02 6.86736587e+01] [-1.10693971e-01 9.93850004e-01 -3.00224479e-03 -2.65119474e+00] [-2.40134740e-02 3.45356018e-04 9.99711575e-01 -1.09761165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38771942099999 meters Centerline goodness : 0.966242 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:-2.66, Z:-1.10 [[ 9.92988828e-01 1.15781787e-01 2.38278141e-02 6.87320284e+01] [-1.15743119e-01 9.93274649e-01 -3.00024537e-03 -2.65954534e+00] [-2.40149375e-02 2.21304612e-04 9.99711575e-01 -1.09780412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44771942099999 meters Centerline goodness : 0.967153 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:-2.67, Z:-1.10 [[ 9.91938086e-01 1.24463071e-01 2.38280681e-02 6.87904780e+01] [-1.24426953e-01 9.92224241e-01 -2.99822653e-03 -2.66796362e+00] [-2.40159553e-02 9.20116308e-06 9.99711575e-01 -1.09733511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters Centerline goodness : 0.970640 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:-2.68, Z:-1.10 [[ 9.90682611e-01 1.34090174e-01 2.38283299e-02 6.88488433e+01] [-1.34056887e-01 9.90969109e-01 -2.99614471e-03 -2.67543986e+00] [-2.40148924e-02 -2.26123271e-04 9.99711575e-01 -1.09714389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters Centerline goodness : 0.972452 with order 1 Centerline is valid? [True, True] Translation: X:68.91, Y:-2.69, Z:-1.10 [[ 9.89466112e-01 1.42790093e-01 2.38285911e-02 6.89053391e+01] [-1.42759375e-01 9.89752897e-01 -2.99406633e-03 -2.68576257e+00] [-2.40119400e-02 -4.39227603e-04 9.99711575e-01 -1.09580005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62771942099998 meters Centerline goodness : 0.970142 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:-2.70, Z:-1.10 [[ 9.88611888e-01 1.48589064e-01 2.38290975e-02 6.89626064e+01] [-1.48560125e-01 9.88898857e-01 -2.99003024e-03 -2.70283862e+00] [-2.40088531e-02 -5.84074271e-04 9.99711575e-01 -1.10082739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68771942099998 meters Centerline goodness : 0.969752 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:-2.71, Z:-1.10 [[ 9.87991254e-01 1.52661209e-01 2.38293477e-02 6.90206386e+01] [-1.52633501e-01 9.88278344e-01 -2.98803488e-03 -2.71485621e+00] [-2.40061853e-02 -6.85004448e-04 9.99711575e-01 -1.10073148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74771942099999 meters Centerline goodness : 0.968203 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:-2.73, Z:-1.10 [[ 9.86397008e-01 1.62644066e-01 2.38296145e-02 6.90762748e+01] [-1.62619314e-01 9.86684369e-01 -2.98590540e-03 -2.73403146e+00] [-2.39979480e-02 -9.29867404e-04 9.99711575e-01 -1.10323174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80771942099999 meters Centerline goodness : 0.965022 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:-2.75, Z:-1.11 [[ 9.86047201e-01 1.64751484e-01 2.38299416e-02 6.91324637e+01] [-1.64727409e-01 9.86334619e-01 -2.98329265e-03 -2.75359421e+00] [-2.39957983e-02 -9.83777167e-04 9.99711575e-01 -1.10984930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86771942099999 meters Centerline goodness : 0.964211 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:-2.77, Z:-1.11 [[ 9.85503136e-01 1.67975270e-01 2.38301954e-02 6.91899910e+01] [-1.67952184e-01 9.85790635e-01 -2.98126455e-03 -2.76525781e+00] [-2.39923621e-02 -1.06428779e-03 9.99711575e-01 -1.10948233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters Centerline goodness : 0.960295 with order 1 Centerline is valid? [True, True] Translation: X:69.25, Y:-2.79, Z:-1.12 [[ 9.85269051e-01 1.69342870e-01 2.38304532e-02 6.92474536e+01] [-1.69320232e-01 9.85556586e-01 -2.97920187e-03 -2.78831281e+00] [-2.39907667e-02 -1.09966248e-03 9.99711575e-01 -1.11647574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98771942099998 meters Centerline goodness : 0.960686 with order 1 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.81, Z:-1.12 [[ 9.86367703e-01 1.62821562e-01 2.38305167e-02 6.93037016e+01] [-1.62797035e-01 9.86655083e-01 -2.97869426e-03 -2.80918541e+00] [-2.39974961e-02 -9.41449638e-04 9.99711575e-01 -1.11589637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04771942099998 meters Centerline goodness : 0.961192 with order 1 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.83, Z:-1.12 [[ 9.88434857e-01 1.49761907e-01 2.38307666e-02 6.93587284e+01] [-1.49733630e-01 9.88721892e-01 -2.97669337e-03 -2.83086320e+00] [-2.40077959e-02 -6.25999709e-04 9.99711575e-01 -1.11715167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10771942099998 meters Centerline goodness : 0.962410 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.85, Z:-1.12 [[ 9.90471821e-01 1.35637955e-01 2.38309909e-02 6.94163828e+01] [-1.35605628e-01 9.90758429e-01 -2.97489623e-03 -2.85462700e+00] [-2.40142640e-02 -2.85065599e-04 9.99711575e-01 -1.11585055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16771942099999 meters Centerline goodness : 0.959299 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.87, Z:-1.12 [[ 9.91738548e-01 1.26042583e-01 2.38310510e-02 6.94744332e+01] [-1.26007494e-01 9.92024831e-01 -2.97441479e-03 -2.87397616e+00] [-2.40158973e-02 -5.30492122e-05 9.99711575e-01 -1.12057262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22771942099999 meters Centerline goodness : 0.962580 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:-2.89, Z:-1.12 [[ 9.92642465e-01 1.18714031e-01 2.38309921e-02 6.95355842e+01] [-1.18676817e-01 9.92928478e-01 -2.97488666e-03 -2.88802611e+00] [-2.40156315e-02 1.24812545e-04 9.99711575e-01 -1.11723224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters Centerline goodness : 0.962759 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:-2.90, Z:-1.12 [[ 9.93333654e-01 1.12784651e-01 2.38301059e-02 6.95964587e+01] [-1.12745560e-01 9.93619417e-01 -2.98196875e-03 -2.89877361e+00] [-2.40143763e-02 2.75351290e-04 9.99711575e-01 -1.11837710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34771942099998 meters Centerline goodness : 0.969045 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-2.91, Z:-1.11 [[ 9.93700595e-01 1.09504773e-01 2.38292274e-02 6.96574039e+01] [-1.09464570e-01 9.93986204e-01 -2.98897297e-03 -2.91012378e+00] [-2.40132301e-02 3.61688093e-04 9.99711575e-01 -1.11227426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40771942099998 meters Centerline goodness : 0.963475 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:-2.91, Z:-1.12 [[ 9.93986455e-01 1.06879075e-01 2.38283605e-02 6.97180903e+01] [-1.06837952e-01 9.94271933e-01 -2.99586768e-03 -2.91434536e+00] [-2.40120656e-02 4.32078643e-04 9.99711575e-01 -1.12098321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46771942099998 meters Centerline goodness : 0.962798 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-2.92, Z:-1.12 [[ 9.94254167e-01 1.04359406e-01 2.38278349e-02 6.97797224e+01] [-1.04317460e-01 9.94539525e-01 -3.00004243e-03 -2.92290464e+00] [-2.40108062e-02 4.97145462e-04 9.99711575e-01 -1.12250845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52771942099999 meters Centerline goodness : 0.964847 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-2.93, Z:-1.12 [[ 9.94296740e-01 1.03953198e-01 2.38269983e-02 6.98419884e+01] [-1.03910977e-01 9.94582057e-01 -3.00667213e-03 -2.92970896e+00] [-2.40104582e-02 5.13637621e-04 9.99711575e-01 -1.12081134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58771942099999 meters Centerline goodness : 0.964095 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-2.94, Z:-1.12 [[ 9.94332116e-01 1.03614474e-01 2.38260987e-02 6.99041190e+01] [-1.03571986e-01 9.94617394e-01 -3.01378380e-03 -2.93606891e+00] [-2.40101239e-02 5.28985670e-04 9.99711575e-01 -1.12269057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters Centerline goodness : 0.965862 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.94, Z:-1.12 [[ 9.94147065e-01 1.05375392e-01 2.38252000e-02 6.99665186e+01] [-1.05333238e-01 9.94432392e-01 -3.02087211e-03 -2.93672707e+00] [-2.40108762e-02 4.93605674e-04 9.99711575e-01 -1.12214284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters Centerline goodness : 0.959912 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:-2.94, Z:-1.13 [[ 9.93476990e-01 1.11516247e-01 2.38242967e-02 7.00277683e+01] [-1.11475688e-01 9.93762548e-01 -3.02797934e-03 -2.94001813e+00] [-2.40133627e-02 3.52397948e-04 9.99711576e-01 -1.12928431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76771942099998 meters Centerline goodness : 0.967777 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-2.94, Z:-1.13 [[ 9.91791292e-01 1.25628191e-01 2.38241683e-02 7.00880095e+01] [-1.25591670e-01 9.92077395e-01 -3.02898899e-03 -2.93873041e+00] [-2.40159453e-02 1.20078120e-05 9.99711576e-01 -1.12531769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82771942099998 meters Centerline goodness : 0.969867 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.94, Z:-1.12 [[ 9.89253863e-01 1.44253937e-01 2.38242963e-02 7.01477825e+01] [-1.44222827e-01 9.89540604e-01 -3.02798191e-03 -2.93645658e+00] [-2.40119069e-02 -4.40564564e-04 9.99711576e-01 -1.12488415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88771942099999 meters Centerline goodness : 0.966798 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.95, Z:-1.13 [[ 9.87645148e-01 1.54885287e-01 2.38245622e-02 7.02058259e+01] [-1.54857313e-01 9.87932212e-01 -3.02588861e-03 -2.94654520e+00] [-2.40057181e-02 -7.00903491e-04 9.99711576e-01 -1.13114175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94771942099999 meters Centerline goodness : 0.974691 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:-2.95, Z:-1.13 [[ 9.87280915e-01 1.57190244e-01 2.38248292e-02 7.02643576e+01] [-1.57162991e-01 9.87568049e-01 -3.02378469e-03 -2.95422490e+00] [-2.40039495e-02 -7.59056509e-04 9.99711576e-01 -1.12648949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters Centerline goodness : 0.974772 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:-2.97, Z:-1.13 [[ 9.86732894e-01 1.60594435e-01 2.38248618e-02 7.03218617e+01] [-1.60568178e-01 9.87020121e-01 -3.02352789e-03 -2.96576182e+00] [-2.40011797e-02 -8.42100240e-04 9.99711576e-01 -1.12588986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters Centerline goodness : 0.969066 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:-2.98, Z:-1.13 [[ 9.86160052e-01 1.64075336e-01 2.38251277e-02 7.03796554e+01] [-1.64050144e-01 9.86447374e-01 -3.02143128e-03 -2.98367131e+00] [-2.39979770e-02 -9.28900795e-04 9.99711576e-01 -1.13409403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12771942099998 meters Centerline goodness : 0.966213 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:-3.00, Z:-1.14 [[ 9.85606760e-01 1.67366880e-01 2.38252590e-02 7.04378225e+01] [-1.67342672e-01 9.85894166e-01 -3.02039508e-03 -2.99582778e+00] [-2.39946980e-02 -1.01006071e-03 9.99711576e-01 -1.13931181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18771942099998 meters Centerline goodness : 0.970216 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:-3.01, Z:-1.14 [[ 9.85456391e-01 1.68249958e-01 2.38254525e-02 7.04955180e+01] [-1.68226045e-01 9.85743823e-01 -3.01886805e-03 -3.01211376e+00] [-2.39937171e-02 -1.03309882e-03 9.99711576e-01 -1.13525789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24771942099999 meters Centerline goodness : 0.971090 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:-3.04, Z:-1.14 [[ 9.86352015e-01 1.62917282e-01 2.38256568e-02 7.05529675e+01] [-1.62891853e-01 9.86639316e-01 -3.01725481e-03 -3.03612697e+00] [-2.39988927e-02 -9.04930031e-04 9.99711576e-01 -1.13775661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30771942099999 meters Centerline goodness : 0.969032 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:-3.05, Z:-1.14 [[ 9.87622771e-01 1.55027781e-01 2.38253993e-02 7.06131218e+01] [-1.55000008e-01 9.87909855e-01 -3.01928691e-03 -3.04749019e+00] [-2.40054201e-02 -7.11020578e-04 9.99711576e-01 -1.14283152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36771942099999 meters Centerline goodness : 0.967850 with order 1 Centerline is valid? [True, True] Translation: X:70.67, Y:-3.07, Z:-1.14 [[ 9.89134857e-01 1.45067658e-01 2.38245601e-02 7.06734702e+01] [-1.45036834e-01 9.89421629e-01 -3.02589448e-03 -3.06907411e+00] [-2.40114945e-02 -4.62421065e-04 9.99711576e-01 -1.14422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters Centerline goodness : 0.968206 with order 1 Centerline is valid? [True, True] Translation: X:70.73, Y:-3.09, Z:-1.14 [[ 9.90691767e-01 1.34023337e-01 2.38236616e-02 7.07336926e+01] [-1.33989146e-01 9.90978158e-01 -3.03295177e-03 -3.08504713e+00] [-2.40152147e-02 -1.87391732e-04 9.99711576e-01 -1.14337335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48771942099998 meters Centerline goodness : 0.972466 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-3.09, Z:-1.14 [[ 9.90523241e-01 1.35263400e-01 2.38227210e-02 7.07951758e+01] [-1.35229390e-01 9.90809653e-01 -3.04032243e-03 -3.09460762e+00] [-2.40150263e-02 -2.10021995e-04 9.99711576e-01 -1.14235380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54771942099998 meters Centerline goodness : 0.970313 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:-3.11, Z:-1.15 [[ 9.89352240e-01 1.43578093e-01 2.38217862e-02 7.08568840e+01] [-1.43546313e-01 9.89638908e-01 -3.04762910e-03 -3.10569825e+00] [-2.40125393e-02 -4.04350916e-04 9.99711576e-01 -1.14553727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60771942099998 meters Centerline goodness : 0.968508 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:-3.11, Z:-1.15 [[ 9.87700964e-01 1.54529537e-01 2.38207324e-02 7.09183746e+01] [-1.54500738e-01 9.87987947e-01 -3.05584390e-03 -3.11278646e+00] [-2.40068146e-02 -6.62060756e-04 9.99711576e-01 -1.15262283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66771942099999 meters Centerline goodness : 0.966045 with order 1 Centerline is valid? [True, True] Translation: X:70.98, Y:-3.12, Z:-1.16 [[ 9.86009688e-01 1.64977308e-01 2.38198151e-02 7.09797935e+01] [-1.64951377e-01 9.86296944e-01 -3.06297692e-03 -3.12032705e+00] [-2.39987326e-02 -9.08986382e-04 9.99711576e-01 -1.15522184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72771942099999 meters Centerline goodness : 0.964982 with order 1 Centerline is valid? [True, True] Translation: X:71.04, Y:-3.14, Z:-1.16 [[ 9.84691574e-01 1.72670679e-01 2.38189183e-02 7.10408703e+01] [-1.72646823e-01 9.84979010e-01 -3.06993532e-03 -3.13643129e+00] [-2.39912224e-02 -1.08932112e-03 9.99711576e-01 -1.15674426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters Centerline goodness : 0.965560 with order 1 Centerline is valid? [True, True] Translation: X:71.10, Y:-3.14, Z:-1.16 [[ 9.83864289e-01 1.77323815e-01 2.38185980e-02 7.11011221e+01] [-1.77301258e-01 9.84151830e-01 -3.07241828e-03 -3.14346988e+00] [-2.39859298e-02 -1.20022477e-03 9.99711576e-01 -1.15844889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84771942099998 meters Centerline goodness : 0.968330 with order 1 Centerline is valid? [True, True] Translation: X:71.16, Y:-3.16, Z:-1.16 [[ 9.84094433e-01 1.76042158e-01 2.38181596e-02 7.11611312e+01] [-1.76019145e-01 9.84381938e-01 -3.07581298e-03 -3.16168807e+00] [-2.39876389e-02 -1.16556166e-03 9.99711576e-01 -1.15692710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90771942099998 meters Centerline goodness : 0.964296 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:-3.18, Z:-1.16 [[ 9.85405835e-01 1.68546966e-01 2.38172432e-02 7.12213885e+01] [-1.68521594e-01 9.85693141e-01 -3.08289315e-03 -3.18166145e+00] [-2.39961055e-02 -9.75818897e-04 9.99711576e-01 -1.16326026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96771942099998 meters Centerline goodness : 0.962093 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:-3.20, Z:-1.17 [[ 9.87156780e-01 1.57969231e-01 2.38162721e-02 7.12814090e+01] [-1.57940599e-01 9.87443779e-01 -3.09037711e-03 -3.19993047e+00] [-2.40054142e-02 -7.10869555e-04 9.99711576e-01 -1.16718046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02771942099999 meters Centerline goodness : 0.962380 with order 1 Centerline is valid? [True, True] Translation: X:71.34, Y:-3.22, Z:-1.17 [[ 9.87952382e-01 1.52914733e-01 2.38154319e-02 7.13424803e+01] [-1.52884477e-01 9.88239215e-01 -3.09683848e-03 -3.21555055e+00] [-2.40088959e-02 -5.81480890e-04 9.99711576e-01 -1.16785964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08771942099999 meters Centerline goodness : 0.964390 with order 1 Centerline is valid? [True, True] Translation: X:71.40, Y:-3.23, Z:-1.17 [[ 9.89197261e-01 1.44643187e-01 2.38144245e-02 7.14027691e+01] [-1.44610346e-01 9.89483810e-01 -3.10456542e-03 -3.23315900e+00] [-2.40130418e-02 -3.72784575e-04 9.99711576e-01 -1.16609474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters Centerline goodness : 0.964959 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:-3.24, Z:-1.17 [[ 9.90255816e-01 1.37209097e-01 2.38135114e-02 7.14636627e+01] [-1.37173936e-01 9.90542089e-01 -3.11155381e-03 -3.24362471e+00] [-2.40152188e-02 -1.85358844e-04 9.99711576e-01 -1.16909928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20771942099998 meters Centerline goodness : 0.966142 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:-3.26, Z:-1.17 [[ 9.91762814e-01 1.25854996e-01 2.38126081e-02 7.15247528e+01] [-1.25816392e-01 9.92048643e-01 -3.11845175e-03 -3.25638603e+00] [-2.40157383e-02 9.67480426e-05 9.99711576e-01 -1.16674901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26771942099998 meters Centerline goodness : 0.967634 with order 1 Centerline is valid? [True, True] Translation: X:71.59, Y:-3.26, Z:-1.17 [[ 9.92461901e-01 1.20218048e-01 2.38116869e-02 7.15854024e+01] [-1.20177653e-01 9.92747482e-01 -3.12546959e-03 -3.26194221e+00] [-2.40147301e-02 2.40276834e-04 9.99711576e-01 -1.16875454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32771942099998 meters Centerline goodness : 0.971251 with order 1 Centerline is valid? [True, True] Translation: X:71.65, Y:-3.27, Z:-1.17 [[ 9.92860931e-01 1.16876921e-01 2.38108413e-02 7.16473798e+01] [-1.16835410e-01 9.93146353e-01 -3.13189852e-03 -3.26677597e+00] [-2.40136969e-02 3.27590261e-04 9.99711576e-01 -1.16562473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38771942099999 meters Centerline goodness : 0.965420 with order 1 Centerline is valid? [True, True] Translation: X:71.71, Y:-3.27, Z:-1.17 [[ 9.92761987e-01 1.17714456e-01 2.38105780e-02 7.17077507e+01] [-1.17673139e-01 9.93047437e-01 -3.13389947e-03 -3.27320788e+00] [-2.40139387e-02 3.09350827e-04 9.99711576e-01 -1.17223836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44771942099999 meters Centerline goodness : 0.962994 with order 1 Centerline is valid? [True, True] Translation: X:71.77, Y:-3.28, Z:-1.18 [[ 9.92025364e-01 1.23769034e-01 2.38097339e-02 7.17692121e+01] [-1.23729305e-01 9.92311039e-01 -3.14029921e-03 -3.27590829e+00] [-2.40153336e-02 1.69294641e-04 9.99711576e-01 -1.17680326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters Centerline goodness : 0.964391 with order 1 Centerline is valid? [True, True] Translation: X:71.83, Y:-3.28, Z:-1.18 [[ 9.90742720e-01 1.33648662e-01 2.38096048e-02 7.18317105e+01] [-1.33611759e-01 9.91028774e-01 -3.14127768e-03 -3.27820707e+00] [-2.40158310e-02 -6.90451781e-05 9.99711576e-01 -1.17571873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters Centerline goodness : 0.960938 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.28, Z:-1.18 [[ 9.88721415e-01 1.47861801e-01 2.38086407e-02 7.18937562e+01] [-1.47828833e-01 9.89007949e-01 -3.14856811e-03 -3.28016645e+00] [-2.40124878e-02 -4.06546859e-04 9.99711576e-01 -1.17884743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62771942099998 meters Centerline goodness : 0.966478 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:-3.29, Z:-1.17 [[ 9.86984709e-01 1.59042065e-01 2.38076863e-02 7.19552953e+01] [-1.59012169e-01 9.87271579e-01 -3.15576808e-03 -3.28591201e+00] [-2.40065519e-02 -6.71016992e-04 9.99711576e-01 -1.17453484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68771942099998 meters Centerline goodness : 0.964120 with order 1 Centerline is valid? [True, True] Translation: X:72.02, Y:-3.29, Z:-1.18 [[ 9.85770767e-01 1.66400811e-01 2.38068045e-02 7.20165663e+01] [-1.66372896e-01 9.86057837e-01 -3.16240653e-03 -3.29196020e+00] [-2.40011132e-02 -8.43399102e-04 9.99711576e-01 -1.17893942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74771942099999 meters Centerline goodness : 0.969228 with order 1 Centerline is valid? [True, True] Translation: X:72.08, Y:-3.30, Z:-1.17 [[ 9.84840841e-01 1.71819096e-01 2.38058060e-02 7.20780621e+01] [-1.71792579e-01 9.85128043e-01 -3.16990490e-03 -3.30372561e+00] [-2.39964173e-02 -9.67808991e-04 9.99711576e-01 -1.17466582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80771942099999 meters Centerline goodness : 0.967995 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-3.32, Z:-1.18 [[ 9.84374598e-01 1.74470572e-01 2.38048465e-02 7.21397717e+01] [-1.74444655e-01 9.84661855e-01 -3.17709412e-03 -3.31989791e+00] [-2.39940338e-02 -1.02517749e-03 9.99711576e-01 -1.17701041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86771942099999 meters Centerline goodness : 0.963914 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.33, Z:-1.18 [[ 9.84256654e-01 1.75134862e-01 2.38037606e-02 7.22010781e+01] [-1.75108943e-01 9.84543911e-01 -3.18520954e-03 -3.33108029e+00] [-2.39936888e-02 -1.03318766e-03 9.99711576e-01 -1.18322810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters Centerline goodness : 0.960253 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.35, Z:-1.19 [[ 9.85325155e-01 1.69020012e-01 2.38028162e-02 7.22616784e+01] [-1.68992139e-01 9.85612229e-01 -3.19225116e-03 -3.34866332e+00] [-2.39999011e-02 -8.77083458e-04 9.99711576e-01 -1.18675031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98771942099998 meters Centerline goodness : 0.965075 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.37, Z:-1.18 [[ 9.86526517e-01 1.61860751e-01 2.38018682e-02 7.23215375e+01] [-1.61830624e-01 9.86813363e-01 -3.19930389e-03 -3.36813746e+00] [-2.40058434e-02 -6.95673077e-04 9.99711576e-01 -1.18193971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04771942099998 meters Centerline goodness : 0.961875 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-3.38, Z:-1.19 [[ 9.88192410e-01 1.51358094e-01 2.38009996e-02 7.23824825e+01] [-1.51324763e-01 9.88478902e-01 -3.20575300e-03 -3.38007029e+00] [-2.40120026e-02 -4.33779839e-04 9.99711576e-01 -1.18849093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10771942099998 meters Centerline goodness : 0.962537 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-3.39, Z:-1.19 [[ 9.89817025e-01 1.40341782e-01 2.38000392e-02 7.24435104e+01] [-1.40305091e-01 9.90103105e-01 -3.21286769e-03 -3.39401295e+00] [-2.40153923e-02 -1.59115517e-04 9.99711576e-01 -1.18697328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16771942099999 meters Centerline goodness : 0.965147 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-3.41, Z:-1.18 [[ 9.90798568e-01 1.33235886e-01 2.37990702e-02 7.25043383e+01] [-1.33196971e-01 9.91084355e-01 -3.22002960e-03 -3.40594788e+00] [-2.40159096e-02 2.04366591e-05 9.99711576e-01 -1.18365159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22771942099999 meters Centerline goodness : 0.967917 with order 1 Centerline is valid? [True, True] Translation: X:72.57, Y:-3.41, Z:-1.18 [[ 9.90834617e-01 1.32967718e-01 2.37980705e-02 7.25658625e+01] [-1.32928549e-01 9.91120368e-01 -3.22740096e-03 -3.40673768e+00] [-2.40158925e-02 3.43776091e-05 9.99711576e-01 -1.18480943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters Centerline goodness : 0.964037 with order 1 Centerline is valid? [True, True] Translation: X:72.63, Y:-3.41, Z:-1.19 [[ 9.90510547e-01 1.35360816e-01 2.37971597e-02 7.26274748e+01] [-1.35322177e-01 9.90796371e-01 -3.23410259e-03 -3.41344456e+00] [-2.40159103e-02 -1.68707185e-05 9.99711576e-01 -1.18990674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34771942099998 meters Centerline goodness : 0.958994 with order 1 Centerline is valid? [True, True] Translation: X:72.69, Y:-3.42, Z:-1.20 [[ 9.90533398e-01 1.35193673e-01 2.37961965e-02 7.26890473e+01] [-1.35154815e-01 9.90819192e-01 -3.24117460e-03 -3.41888002e+00] [-2.40159144e-02 -5.67884249e-06 9.99711576e-01 -1.19640109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40771942099998 meters Centerline goodness : 0.961837 with order 1 Centerline is valid? [True, True] Translation: X:72.75, Y:-3.42, Z:-1.20 [[ 9.89918713e-01 1.39623394e-01 2.37959852e-02 7.27511578e+01] [-1.39585778e-01 9.90204674e-01 -3.24272517e-03 -3.42051601e+00] [-2.40156560e-02 -1.11546761e-04 9.99711576e-01 -1.19566523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46771942099998 meters Centerline goodness : 0.963924 with order 1 Centerline is valid? [True, True] Translation: X:72.81, Y:-3.42, Z:-1.20 [[ 9.88989352e-01 1.46061153e-01 2.37949930e-02 7.28126327e+01] [-1.46025223e-01 9.89275529e-01 -3.24998917e-03 -3.42226439e+00] [-2.40145015e-02 -2.60464479e-04 9.99711576e-01 -1.19673024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52771942099999 meters Centerline goodness : 0.962299 with order 1 Centerline is valid? [True, True] Translation: X:72.87, Y:-3.43, Z:-1.20 [[ 9.87722419e-01 1.54396455e-01 2.37940866e-02 7.28749008e+01] [-1.54362781e-01 9.88008870e-01 -3.25661154e-03 -3.42942821e+00] [-2.40115779e-02 -4.56293150e-04 9.99711576e-01 -1.19684563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58771942099999 meters Centerline goodness : 0.964487 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:-3.44, Z:-1.20 [[ 9.86633870e-01 1.61206279e-01 2.37937353e-02 7.29356086e+01] [-1.61174520e-01 9.86920540e-01 -3.25917642e-03 -3.43530322e+00] [-2.40079258e-02 -6.19330025e-04 9.99711576e-01 -1.19701049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters Centerline goodness : 0.966893 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:-3.44, Z:-1.19 [[ 9.85854891e-01 1.65903689e-01 2.37928437e-02 7.29970825e+01] [-1.65873138e-01 9.86141692e-01 -3.26567262e-03 -3.44412337e+00] [-2.40049023e-02 -7.27114331e-04 9.99711576e-01 -1.19415820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70771942099998 meters Centerline goodness : 0.961406 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:-3.46, Z:-1.20 [[ 9.85199771e-01 1.69750873e-01 2.37918582e-02 7.30565722e+01] [-1.69721270e-01 9.85486671e-01 -3.27283626e-03 -3.45663508e+00] [-2.40021260e-02 -8.13586860e-04 9.99711576e-01 -1.20321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76771942099998 meters Centerline goodness : 0.957958 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:-3.47, Z:-1.21 [[ 9.85197700e-01 1.69762909e-01 2.37917192e-02 7.31166135e+01] [-1.69733285e-01 9.85484598e-01 -3.27384666e-03 -3.47305332e+00] [-2.40021506e-02 -8.12860456e-04 9.99711576e-01 -1.20679103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82771942099998 meters Centerline goodness : 0.960300 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:-3.49, Z:-1.21 [[ 9.86185798e-01 1.63925512e-01 2.37907264e-02 7.31766228e+01] [-1.63894015e-01 9.86472497e-01 -3.28104544e-03 -3.49146623e+00] [-2.40067443e-02 -6.63437266e-04 9.99711576e-01 -1.20696486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88771942099999 meters Centerline goodness : 0.963497 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:-3.50, Z:-1.21 [[ 9.87334852e-01 1.56856425e-01 2.37897519e-02 7.32378889e+01] [-1.56822705e-01 9.87621298e-01 -3.28809646e-03 -3.50426535e+00] [-2.40110247e-02 -4.84321015e-04 9.99711576e-01 -1.20617921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94771942099999 meters Centerline goodness : 0.967733 with order 1 Centerline is valid? [True, True] Translation: X:73.30, Y:-3.52, Z:-1.20 [[ 9.88628867e-01 1.48482522e-01 2.37887363e-02 7.32971443e+01] [-1.48446199e-01 9.88914994e-01 -3.29542776e-03 -3.52018666e+00] [-2.40143514e-02 -2.73392476e-04 9.99711576e-01 -1.20249269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters Centerline goodness : 0.967496 with order 1 Centerline is valid? [True, True] Translation: X:73.36, Y:-3.53, Z:-1.20 [[ 9.89937625e-01 1.39490510e-01 2.37885957e-02 7.33589973e+01] [-1.39451564e-01 9.90223407e-01 -3.29644241e-03 -3.53001616e+00] [-2.40158467e-02 -5.40844958e-05 9.99711576e-01 -1.20440902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters Centerline goodness : 0.965203 with order 1 Centerline is valid? [True, True] Translation: X:73.42, Y:-3.54, Z:-1.21 [[ 9.90413979e-01 1.36067187e-01 2.37880467e-02 7.34197236e+01] [-1.36027158e-01 9.90699611e-01 -3.30039905e-03 -3.54344160e+00] [-2.40158846e-02 3.29409593e-05 9.99711577e-01 -1.20753071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12771942099998 meters Centerline goodness : 0.968344 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:-3.55, Z:-1.21 [[ 9.89246775e-01 1.44308676e-01 2.37870560e-02 7.34804964e+01] [-1.44270855e-01 9.89532708e-01 -3.30752419e-03 -3.55167467e+00] [-2.40153744e-02 -1.59821275e-04 9.99711577e-01 -1.20580310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18771942099998 meters Centerline goodness : 0.969517 with order 1 Centerline is valid? [True, True] Translation: X:73.54, Y:-3.56, Z:-1.21 [[ 9.87528783e-01 1.55631366e-01 2.37861455e-02 7.35413581e+01] [-1.55596667e-01 9.87815111e-01 -3.31405887e-03 -3.56223592e+00] [-2.40120855e-02 -4.28316432e-04 9.99711577e-01 -1.20664122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24771942099999 meters Centerline goodness : 0.968699 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:-3.57, Z:-1.21 [[ 9.85401086e-01 1.68579255e-01 2.37851878e-02 7.36027041e+01] [-1.68548151e-01 9.85687827e-01 -3.32091815e-03 -3.57028835e+00] [-2.40046080e-02 -7.36513071e-04 9.99711577e-01 -1.20897271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30771942099999 meters Centerline goodness : 0.964346 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-3.58, Z:-1.22 [[ 9.84665586e-01 1.72823596e-01 2.37841901e-02 7.36636197e+01] [-1.72793556e-01 9.84952441e-01 -3.32804823e-03 -3.57866591e+00] [-2.40014614e-02 -8.32740233e-04 9.99711577e-01 -1.21687255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36771942099999 meters Centerline goodness : 0.962476 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-3.59, Z:-1.22 [[ 9.82951295e-01 1.82321449e-01 2.37832117e-02 7.37245872e+01] [-1.82294010e-01 9.83238410e-01 -3.33502587e-03 -3.59199434e+00] [-2.39926140e-02 -1.05736904e-03 9.99711577e-01 -1.21868657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters Centerline goodness : 0.963851 with order 1 Centerline is valid? [True, True] Translation: X:73.79, Y:-3.61, Z:-1.22 [[ 9.81797759e-01 1.88434515e-01 2.37822333e-02 7.37851356e+01] [-1.88408696e-01 9.82085024e-01 -3.34198839e-03 -3.60560474e+00] [-2.39859211e-02 -1.19962284e-03 9.99711577e-01 -1.21954867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48771942099998 meters Centerline goodness : 0.962456 with order 1 Centerline is valid? [True, True] Translation: X:73.85, Y:-3.62, Z:-1.22 [[ 9.81718133e-01 1.88849036e-01 2.37812726e-02 7.38469166e+01] [-1.88823173e-01 9.82005394e-01 -3.34881079e-03 -3.61791140e+00] [-2.39857576e-02 -1.20286708e-03 9.99711577e-01 -1.22445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54771942099998 meters Centerline goodness : 0.963997 with order 1 Centerline is valid? [True, True] Translation: X:73.91, Y:-3.64, Z:-1.22 [[ 9.84189475e-01 1.75515183e-01 2.37801916e-02 7.39061843e+01] [-1.75485241e-01 9.84476340e-01 -3.35646947e-03 -3.64301681e+00] [-2.40001473e-02 -8.69670733e-04 9.99711577e-01 -1.22207632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60771942099998 meters Centerline goodness : 0.963665 with order 1 Centerline is valid? [True, True] Translation: X:73.97, Y:-3.66, Z:-1.22 [[ 9.86039216e-01 1.64806594e-01 2.37792320e-02 7.39677663e+01] [-1.64773372e-01 9.86325719e-01 -3.36325408e-03 -3.66079208e+00] [-2.40083545e-02 -6.01883823e-04 9.99711577e-01 -1.22180500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66771942099999 meters Centerline goodness : 0.960850 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:-3.67, Z:-1.23 [[ 9.87976018e-01 1.52767764e-01 2.37781071e-02 7.40271464e+01] [-1.52730860e-01 9.88262070e-01 -3.37118818e-03 -3.67394323e+00] [-2.40140102e-02 -3.00997669e-04 9.99711577e-01 -1.22820477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72771942099999 meters Centerline goodness : 0.959617 with order 1 Centerline is valid? [True, True] Translation: X:74.09, Y:-3.69, Z:-1.23 [[ 9.88873388e-01 1.46847089e-01 2.37772078e-02 7.40869534e+01] [-1.46808319e-01 9.89159193e-01 -3.37751919e-03 -3.69001059e+00] [-2.40154225e-02 -1.50753061e-04 9.99711577e-01 -1.22958048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters Centerline goodness : 0.957901 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:-3.70, Z:-1.23 [[ 9.89023673e-01 1.45831617e-01 2.37763348e-02 7.41493794e+01] [-1.45792406e-01 9.89309418e-01 -3.38365359e-03 -3.69825396e+00] [-2.40155956e-02 -1.19895566e-04 9.99711577e-01 -1.23314665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84771942099998 meters Centerline goodness : 0.960492 with order 1 Centerline is valid? [True, True] Translation: X:74.21, Y:-3.71, Z:-1.23 [[ 9.88558105e-01 1.48955057e-01 2.37752852e-02 7.42109176e+01] [-1.48916572e-01 9.88843949e-01 -3.39101241e-03 -3.70726158e+00] [-2.40151554e-02 -1.88321184e-04 9.99711577e-01 -1.23113239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90771942099998 meters Centerline goodness : 0.966036 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:-3.72, Z:-1.23 [[ 9.86320879e-01 1.63113178e-01 2.37742507e-02 7.42722645e+01] [-1.63078621e-01 9.86607224e-01 -3.39825003e-03 -3.71669091e+00] [-2.40101469e-02 -5.25307072e-04 9.99711577e-01 -1.22765582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96771942099998 meters Centerline goodness : 0.970451 with order 1 Centerline is valid? [True, True] Translation: X:74.33, Y:-3.73, Z:-1.22 [[ 9.85801027e-01 1.66226156e-01 2.37739592e-02 7.43315333e+01] [-1.66192454e-01 9.86087474e-01 -3.40028788e-03 -3.72580888e+00] [-2.40084202e-02 -5.99045336e-04 9.99711577e-01 -1.22294739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02771942099999 meters Centerline goodness : 0.971369 with order 1 Centerline is valid? [True, True] Translation: X:74.39, Y:-3.74, Z:-1.22 [[ 9.85866462e-01 1.65837626e-01 2.37739592e-02 7.43921888e+01] [-1.65803811e-01 9.86152896e-01 -3.40028788e-03 -3.73865586e+00] [-2.40086544e-02 -5.89583259e-04 9.99711577e-01 -1.22485709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08771942099999 meters Centerline goodness : 0.966217 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:-3.75, Z:-1.24 [[ 9.85791461e-01 1.66283019e-01 2.37729416e-02 7.44524986e+01] [-1.66249162e-01 9.86077890e-01 -3.40738752e-03 -3.75012519e+00] [-2.40085628e-02 -5.93258113e-04 9.99711577e-01 -1.23518780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters Centerline goodness : 0.964712 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:-3.77, Z:-1.24 [[ 9.84912750e-01 1.71411110e-01 2.37719475e-02 7.45132151e+01] [-1.71378578e-01 9.85199333e-01 -3.41430911e-03 -3.76568925e+00] [-2.40053573e-02 -7.11205991e-04 9.99711577e-01 -1.23859265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20771942099998 meters Centerline goodness : 0.962885 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:-3.78, Z:-1.24 [[ 9.84626347e-01 1.73048835e-01 2.37709291e-02 7.45740209e+01] [-1.73016609e-01 9.84912964e-01 -3.42138508e-03 -3.77849442e+00] [-2.40043629e-02 -7.43979644e-04 9.99711577e-01 -1.24226974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26771942099998 meters Centerline goodness : 0.963010 with order 1 Centerline is valid? [True, True] Translation: X:74.64, Y:-3.80, Z:-1.24 [[ 9.84467631e-01 1.73949632e-01 2.37699032e-02 7.46352341e+01] [-1.73917496e-01 9.84754259e-01 -3.42849731e-03 -3.79657655e+00] [-2.40038993e-02 -7.58757425e-04 9.99711577e-01 -1.24330299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32771942099998 meters Centerline goodness : 0.962810 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:-3.81, Z:-1.25 [[ 9.84488365e-01 1.73832410e-01 2.37687402e-02 7.46968835e+01] [-1.73800046e-01 9.84774966e-01 -3.43654125e-03 -3.81138907e+00] [-2.40042426e-02 -7.47773275e-04 9.99711577e-01 -1.24537639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38771942099999 meters Centerline goodness : 0.958707 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:-3.82, Z:-1.25 [[ 9.85471483e-01 1.68169733e-01 2.37675539e-02 7.47565723e+01] [-1.68135525e-01 9.85757870e-01 -3.44472670e-03 -3.82323826e+00] [-2.40083520e-02 -6.01490222e-04 9.99711577e-01 -1.25239544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44771942099999 meters Centerline goodness : 0.965724 with order 1 Centerline is valid? [True, True] Translation: X:74.82, Y:-3.84, Z:-1.24 [[ 9.86817140e-01 1.60084601e-01 2.37666072e-02 7.48157781e+01] [-1.60047890e-01 9.87103217e-01 -3.45124549e-03 -3.84142230e+00] [-2.40125857e-02 -3.98047123e-04 9.99711577e-01 -1.24425678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters Centerline goodness : 0.969707 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:-3.85, Z:-1.24 [[ 9.87650316e-01 1.54861246e-01 2.37665387e-02 7.48778276e+01] [-1.54823009e-01 9.87936193e-01 -3.45171708e-03 -3.84835268e+00] [-2.40143610e-02 -2.70517593e-04 9.99711577e-01 -1.24236483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099998 meters Centerline goodness : 0.964980 with order 1 Centerline is valid? [True, True] Translation: X:74.94, Y:-3.86, Z:-1.25 [[ 9.88591642e-01 1.48733881e-01 2.37654886e-02 7.49392480e+01] [-1.48693699e-01 9.88877252e-01 -3.45893203e-03 -3.85770872e+00] [-2.40156115e-02 -1.14307123e-04 9.99711577e-01 -1.24830841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62771942099998 meters Centerline goodness : 0.963929 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:-3.87, Z:-1.25 [[ 9.90338550e-01 1.36619204e-01 2.37644470e-02 7.50006462e+01] [-1.36575357e-01 9.90623621e-01 -3.46607374e-03 -3.86917643e+00] [-2.40151548e-02 1.86948599e-04 9.99711577e-01 -1.24913764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68771942099998 meters Centerline goodness : 0.965067 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:-3.87, Z:-1.25 [[ 9.92333217e-01 1.21285148e-01 2.37634047e-02 7.50628110e+01] [-1.21236727e-01 9.92617546e-01 -3.47320539e-03 -3.87123584e+00] [-2.40092207e-02 5.65579669e-04 9.99711577e-01 -1.25094347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74771942099999 meters Centerline goodness : 0.965213 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:-3.87, Z:-1.25 [[ 9.93518872e-01 1.11155755e-01 2.37623656e-02 7.51253094e+01] [-1.11104266e-01 9.93802661e-01 -3.48029994e-03 -3.87213438e+00] [-2.40019575e-02 8.17643482e-04 9.99711577e-01 -1.24752227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80771942099999 meters Centerline goodness : 0.966807 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:-3.87, Z:-1.25 [[ 9.93606373e-01 1.10371086e-01 2.37612944e-02 7.51898225e+01] [-1.10319198e-01 9.93890090e-01 -3.48759824e-03 -3.86685785e+00] [-2.40010450e-02 8.43972898e-04 9.99711577e-01 -1.24795684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86771942099999 meters Centerline goodness : 0.964208 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:-3.85, Z:-1.26 [[ 9.92913641e-01 1.16438659e-01 2.37600467e-02 7.52536977e+01] [-1.16388303e-01 9.93197634e-01 -3.49607758e-03 -3.85498139e+00] [-2.40055008e-02 7.05911617e-04 9.99711577e-01 -1.25512453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters Centerline goodness : 0.966360 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:-3.85, Z:-1.25 [[ 9.92251692e-01 1.21951177e-01 2.37589796e-02 7.53182125e+01] [-1.21902226e-01 9.92535931e-01 -3.50331454e-03 -3.84574823e+00] [-2.40088743e-02 5.79897272e-04 9.99711577e-01 -1.25374385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98771942099998 meters Centerline goodness : 0.965530 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:-3.84, Z:-1.26 [[ 9.91763795e-01 1.25857611e-01 2.37578658e-02 7.53819616e+01] [-1.25809599e-01 9.92048194e-01 -3.51085175e-03 -3.84224319e+00] [-2.40108153e-02 4.92968086e-04 9.99711577e-01 -1.25668921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04771942099998 meters Centerline goodness : 0.963753 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:-3.84, Z:-1.26 [[ 9.90423530e-01 1.36003140e-01 2.37566151e-02 7.54458020e+01] [-1.35957839e-01 9.90708373e-01 -3.51929461e-03 -3.83538682e+00] [-2.40145126e-02 2.55694148e-04 9.99711577e-01 -1.26325652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10771942099998 meters Centerline goodness : 0.960936 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:-3.84, Z:-1.27 [[ 9.89114890e-01 1.45215046e-01 2.37555358e-02 7.55085100e+01] [-1.45172224e-01 9.89400116e-01 -3.52656476e-03 -3.83530564e+00] [-2.40158401e-02 3.95337569e-05 9.99711577e-01 -1.26721135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16771942099999 meters Centerline goodness : 0.955891 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:-3.83, Z:-1.27 [[ 9.87250597e-01 1.57391178e-01 2.37544686e-02 7.55715539e+01] [-1.57351701e-01 9.87536306e-01 -3.53373876e-03 -3.83160421e+00] [-2.40145795e-02 -2.49120331e-04 9.99711577e-01 -1.27344787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22771942099999 meters Centerline goodness : 0.956072 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:-3.84, Z:-1.28 [[ 9.86515678e-01 1.61933918e-01 2.37533858e-02 7.56340062e+01] [-1.61895581e-01 9.86801541e-01 -3.54100215e-03 -3.83828399e+00] [-2.40132861e-02 -3.52314060e-04 9.99711577e-01 -1.27551456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters Centerline goodness : 0.955420 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:-3.84, Z:-1.28 [[ 9.84265121e-01 1.75094277e-01 2.37521598e-02 7.56970283e+01] [-1.75059563e-01 9.84551447e-01 -3.54920681e-03 -3.84316613e+00] [-2.40066691e-02 -6.64682253e-04 9.99711577e-01 -1.27630641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34771942099998 meters Centerline goodness : 0.952749 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:-3.85, Z:-1.28 [[ 9.82436182e-01 1.85081174e-01 2.37509520e-02 7.57592014e+01] [-1.85049176e-01 9.82722824e-01 -3.55727078e-03 -3.84994848e+00] [-2.39989865e-02 -9.00302573e-04 9.99711577e-01 -1.27816890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40771942099998 meters Centerline goodness : 0.960304 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:-3.87, Z:-1.27 [[ 9.82358587e-01 1.85492634e-01 2.37505638e-02 7.58186283e+01] [-1.85460692e-01 9.82645236e-01 -3.55986085e-03 -3.86740830e+00] [-2.39987064e-02 -9.07736135e-04 9.99711577e-01 -1.27452055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46771942099998 meters Centerline goodness : 0.962616 with order 1 Centerline is valid? [True, True] Translation: X:75.88, Y:-3.89, Z:-1.27 [[ 9.82680955e-01 1.83777196e-01 2.37504110e-02 7.58778767e+01] [-1.83744730e-01 9.82967545e-01 -3.56088033e-03 -3.88570451e+00] [-2.40002918e-02 -8.64803575e-04 9.99711577e-01 -1.27234131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52771942099999 meters Centerline goodness : 0.958359 with order 1 Centerline is valid? [True, True] Translation: X:75.94, Y:-3.90, Z:-1.28 [[ 9.82513732e-01 1.84669138e-01 2.37502611e-02 7.59371003e+01] [-1.84636908e-01 9.82800349e-01 -3.56187964e-03 -3.90437002e+00] [-2.39995341e-02 -8.85579124e-04 9.99711577e-01 -1.27883668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58771942099999 meters Centerline goodness : 0.950474 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:-3.93, Z:-1.28 [[ 9.81579475e-01 1.89572437e-01 2.37492262e-02 7.59958486e+01] [-1.89541473e-01 9.81866230e-01 -3.56876650e-03 -3.92876964e+00] [-2.39951030e-02 -9.98435365e-04 9.99711577e-01 -1.28313021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters Centerline goodness : 0.946833 with order 1 Centerline is valid? [True, False] Translation: X:75.99, Y:-3.93, Z:-1.28 [[ 9.82453062e-01 1.86144826e-01 1.16655437e-02 7.59922345e+01] [-1.86100192e-01 9.82518993e-01 -4.81102264e-03 -3.92867017e+00] [-1.23571652e-02 2.55564400e-03 9.99920381e-01 -1.27953420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70771942099998 meters Centerline goodness : 0.954170 with order 1 Centerline is valid? [False, True] Translation: X:75.99, Y:-3.94, Z:-1.27 [[ 9.83339426e-01 1.81430409e-01 1.12507590e-02 7.59851161e+01] [-1.81331561e-01 9.83378352e-01 -9.26725939e-03 -3.93763546e+00] [-1.27451156e-02 7.07274384e-03 9.99893764e-01 -1.27377293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76771942099998 meters Centerline goodness : 0.956039 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:-3.96, Z:-1.27 [[ 9.85814292e-01 1.67387088e-01 1.23184655e-02 7.60441678e+01] [-1.67378294e-01 9.85891195e-01 -1.74875843e-03 -3.96028989e+00] [-1.24373863e-02 -3.37892695e-04 9.99922596e-01 -1.27262733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82771942099998 meters Centerline goodness : 0.957182 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:-3.98, Z:-1.27 [[ 9.87090061e-01 1.59691821e-01 1.23179905e-02 7.61045922e+01] [-1.59682386e-01 9.87166889e-01 -1.75209783e-03 -3.97833333e+00] [-1.24397081e-02 -2.37487761e-04 9.99922596e-01 -1.27001033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88771942099999 meters Centerline goodness : 0.962205 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:-4.00, Z:-1.26 [[ 9.89125131e-01 1.46559731e-01 1.23174697e-02 7.61644103e+01] [-1.46549230e-01 9.89201820e-01 -1.75575178e-03 -3.99657422e+00] [-1.24417860e-02 -6.84574975e-05 9.99922596e-01 -1.26280684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94771942099999 meters Centerline goodness : 0.961343 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.01, Z:-1.27 [[ 9.90307752e-01 1.38343231e-01 1.23169635e-02 7.62243453e+01] [-1.38332050e-01 9.90384344e-01 -1.75929592e-03 -4.00858031e+00] [-1.24419145e-02 3.84135776e-05 9.99922596e-01 -1.26668216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters Centerline goodness : 0.963102 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:-4.02, Z:-1.27 [[ 9.90866538e-01 1.34282567e-01 1.23164658e-02 7.62859554e+01] [-1.34271028e-01 9.90943078e-01 -1.76277341e-03 -4.01693209e+00] [-1.24416262e-02 9.29286679e-05 9.99922596e-01 -1.26586512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099998 meters Centerline goodness : 0.950753 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:-4.02, Z:-1.28 [[ 9.90121360e-01 1.39671080e-01 1.23159347e-02 7.63467044e+01] [-1.39659912e-01 9.90197954e-01 -1.76647584e-03 -4.02384598e+00] [-1.24419390e-02 2.89830953e-05 9.99922596e-01 -1.27673569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12771942099998 meters Centerline goodness : 0.945940 with order 1 Centerline is valid? [True, False] Translation: X:76.35, Y:-4.02, Z:-1.27 [[ 9.90517796e-01 1.37384478e-01 -1.26576933e-06 7.63458473e+01] [-1.37383387e-01 9.90509890e-01 -3.99526321e-03 -4.01703474e+00] [-5.47633394e-04 3.95755321e-03 9.99992019e-01 -1.27476560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18771942099998 meters Centerline goodness : 0.954202 with order 1 Centerline is valid? [False, True] Translation: X:76.34, Y:-4.01, Z:-1.27 [[ 9.90478795e-01 1.37665317e-01 1.33260845e-04 7.63427616e+01] [-1.37660323e-01 9.90450233e-01 -7.61393834e-03 -4.01084697e+00] [-1.18016347e-03 7.52309974e-03 9.99971005e-01 -1.26867105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24771942099999 meters Centerline goodness : 0.957722 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-4.02, Z:-1.27 [[ 9.89215326e-01 1.46464087e-01 1.14470629e-03 7.64047231e+01] [-1.46464005e-01 9.89215988e-01 -1.55223822e-04 -4.01534972e+00] [-1.15509648e-03 -1.41084853e-05 9.99999333e-01 -1.26706417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30771942099999 meters Centerline goodness : 0.966705 with order 1 Centerline is valid? [True, True] Translation: X:76.46, Y:-4.02, Z:-1.26 [[ 9.87181013e-01 1.59600557e-01 1.14465985e-03 7.64647267e+01] [-1.59600484e-01 9.87181676e-01 -1.55565568e-04 -4.02080826e+00] [-1.15481558e-03 -2.91168910e-05 9.99999333e-01 -1.26041024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters Centerline goodness : 0.967712 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:-4.03, Z:-1.26 [[ 9.86124977e-01 1.66000660e-01 1.14465658e-03 7.65272133e+01] [-1.66000591e-01 9.86125641e-01 -1.55589597e-04 -4.02661511e+00] [-1.15460318e-03 -3.65828817e-05 9.99999333e-01 -1.26048958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters Centerline goodness : 0.964671 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:-4.03, Z:-1.27 [[ 9.85126562e-01 1.71826502e-01 1.14460243e-03 7.65891560e+01] [-1.71826437e-01 9.85127226e-01 -1.55986946e-04 -4.02958211e+00] [-1.15438171e-03 -4.30060737e-05 9.99999333e-01 -1.26503996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48771942099998 meters Centerline goodness : 0.957662 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-4.04, Z:-1.27 [[ 9.83921433e-01 1.78598163e-01 1.14455504e-03 7.66477226e+01] [-1.78598102e-01 9.83922097e-01 -1.56333937e-04 -4.04483136e+00] [-1.15407395e-03 -5.05950456e-05 9.99999333e-01 -1.26981165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54771942099998 meters Centerline goodness : 0.954637 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.06, Z:-1.28 [[ 9.83471225e-01 1.81060874e-01 1.14455166e-03 7.67074884e+01] [-1.81060814e-01 9.83471889e-01 -1.56358685e-04 -4.05949130e+00] [-1.15394482e-03 -5.34591870e-05 9.99999333e-01 -1.27641596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60771942099998 meters Centerline goodness : 0.950977 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-4.07, Z:-1.28 [[ 9.83567478e-01 1.80537273e-01 1.14451029e-03 7.67680167e+01] [-1.80537213e-01 9.83568142e-01 -1.56660902e-04 -4.07140661e+00] [-1.15398699e-03 -5.25401286e-05 9.99999333e-01 -1.27704421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66771942099999 meters Centerline goodness : 0.956924 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-4.09, Z:-1.27 [[ 9.83762723e-01 1.79470316e-01 1.14450368e-03 7.68271296e+01] [-1.79470255e-01 9.83763388e-01 -1.56709181e-04 -4.08858779e+00] [-1.15404546e-03 -5.12397158e-05 9.99999333e-01 -1.27086822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72771942099999 meters Centerline goodness : 0.963411 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.10, Z:-1.26 [[ 9.84434503e-01 1.75748111e-01 1.14450045e-03 7.68869029e+01] [-1.75748047e-01 9.84435168e-01 -1.56732778e-04 -4.10243273e+00] [-1.15423198e-03 -4.68505643e-05 9.99999333e-01 -1.26326346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters Centerline goodness : 0.961944 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.11, Z:-1.26 [[ 9.86364438e-01 1.64571822e-01 1.14449399e-03 7.69480420e+01] [-1.64571751e-01 9.86365102e-01 -1.56779912e-04 -4.11307464e+00] [-1.15469049e-03 -3.37092503e-05 9.99999333e-01 -1.26433071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84771942099998 meters Centerline goodness : 0.960795 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.13, Z:-1.26 [[ 9.88543202e-01 1.50933855e-01 1.14444637e-03 7.70091440e+01] [-1.50933774e-01 9.88543864e-01 -1.57126774e-04 -4.12848034e+00] [-1.15505118e-03 -1.74090050e-05 9.99999333e-01 -1.26477321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90771942099998 meters Centerline goodness : 0.963144 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.14, Z:-1.26 [[ 9.90602988e-01 1.36764067e-01 1.14439271e-03 7.70694343e+01] [-1.36763976e-01 9.90603649e-01 -1.57516588e-04 -4.14374123e+00] [-1.15518221e-03 -4.75294320e-07 9.99999333e-01 -1.26275273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96771942099998 meters Centerline goodness : 0.959996 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.15, Z:-1.27 [[ 9.91904667e-01 1.26979611e-01 1.14434607e-03 7.71316572e+01] [-1.26979514e-01 9.91905327e-01 -1.57854753e-04 -4.15120270e+00] [-1.15512729e-03 1.12683593e-05 9.99999333e-01 -1.26832242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02771942099999 meters Centerline goodness : 0.955277 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:-4.16, Z:-1.27 [[ 9.91819587e-01 1.27642458e-01 1.14432090e-03 7.71922698e+01] [-1.27642360e-01 9.91820247e-01 -1.58036999e-04 -4.16026221e+00] [-1.15513286e-03 1.06803704e-05 9.99999333e-01 -1.27207521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08771942099999 meters Centerline goodness : 0.960638 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:-4.17, Z:-1.27 [[ 9.90546673e-01 1.37171348e-01 1.14431429e-03 7.72541169e+01] [-1.37171257e-01 9.90547334e-01 -1.58084837e-04 -4.16660099e+00] [-1.15518218e-03 -3.76620427e-07 9.99999333e-01 -1.26556480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters Centerline goodness : 0.963344 with order 1 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.17, Z:-1.27 [[ 9.89026599e-01 1.47733131e-01 1.14430121e-03 7.73154247e+01] [-1.47733047e-01 9.89027260e-01 -1.58179454e-04 -4.16690167e+00] [-1.15511343e-03 -1.26074165e-05 9.99999333e-01 -1.26540271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20771942099998 meters Centerline goodness : 0.959551 with order 1 Centerline is valid? [True, True] Translation: X:77.38, Y:-4.17, Z:-1.27 [[ 9.86498609e-01 1.63765641e-01 1.14429482e-03 7.73784251e+01] [-1.63765568e-01 9.86499272e-01 -1.58225658e-04 -4.16837306e+00] [-1.15475793e-03 -3.13066994e-05 9.99999333e-01 -1.27086785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26771942099998 meters Centerline goodness : 0.960659 with order 1 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.17, Z:-1.27 [[ 9.84635142e-01 1.74620525e-01 1.14427937e-03 7.74405244e+01] [-1.74620459e-01 9.84635806e-01 -1.58337279e-04 -4.17336710e+00] [-1.15434738e-03 -4.39101395e-05 9.99999333e-01 -1.26963059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32771942099998 meters Centerline goodness : 0.959562 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.18, Z:-1.27 [[ 9.83860824e-01 1.78931746e-01 1.14423293e-03 7.75017088e+01] [-1.78931683e-01 9.83861488e-01 -1.58672170e-04 -4.18169011e+00] [-1.15415821e-03 -4.86281920e-05 9.99999333e-01 -1.27008241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38771942099999 meters Centerline goodness : 0.959667 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.19, Z:-1.27 [[ 9.84482977e-01 1.75476379e-01 1.14418393e-03 7.75625338e+01] [-1.75476313e-01 9.84483640e-01 -1.59024744e-04 -4.19354650e+00] [-1.15433545e-03 -4.42200242e-05 9.99999333e-01 -1.27297127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44771942099999 meters Centerline goodness : 0.956113 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.21, Z:-1.27 [[ 9.85328803e-01 1.70662944e-01 1.14413590e-03 7.76226331e+01] [-1.70662874e-01 9.85329467e-01 -1.59369538e-04 -4.21074981e+00] [-1.15454930e-03 -3.82301260e-05 9.99999333e-01 -1.27344247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters Centerline goodness : 0.954990 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.23, Z:-1.28 [[ 9.86065406e-01 1.66354160e-01 1.14409168e-03 7.76828615e+01] [-1.66354087e-01 9.86066069e-01 -1.59686419e-04 -4.22757217e+00] [-1.15471448e-03 -3.28630723e-05 9.99999333e-01 -1.27622658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099998 meters Centerline goodness : 0.955586 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.24, Z:-1.27 [[ 9.86764399e-01 1.62156441e-01 1.14404810e-03 7.77438747e+01] [-1.62156365e-01 9.86765062e-01 -1.59998029e-04 -4.24268440e+00] [-1.15485140e-03 -2.76343210e-05 9.99999333e-01 -1.27491377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62771942099998 meters Centerline goodness : 0.954777 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.26, Z:-1.27 [[ 9.87828975e-01 1.55539732e-01 1.14400415e-03 7.78030254e+01] [-1.55539651e-01 9.87829637e-01 -1.60311646e-04 -4.26367537e+00] [-1.15501603e-03 -1.95775168e-05 9.99999333e-01 -1.27356026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68771942099998 meters Centerline goodness : 0.963156 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:-4.28, Z:-1.27 [[ 9.88138291e-01 1.53562397e-01 1.14395773e-03 7.78636481e+01] [-1.53562314e-01 9.88138953e-01 -1.60642181e-04 -4.27819596e+00] [-1.15505779e-03 -1.69321063e-05 9.99999333e-01 -1.26784138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74771942099999 meters Centerline goodness : 0.956776 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:-4.29, Z:-1.27 [[ 9.86660715e-01 1.62786133e-01 1.14394462e-03 7.79228624e+01] [-1.62786056e-01 9.86661378e-01 -1.60735532e-04 -4.29169987e+00] [-1.15485149e-03 -2.76267964e-05 9.99999333e-01 -1.27252848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80771942099999 meters Centerline goodness : 0.956769 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:-4.31, Z:-1.27 [[ 9.85082738e-01 1.72077573e-01 1.14392532e-03 7.79829282e+01] [-1.72077502e-01 9.85083401e-01 -1.60872714e-04 -4.30970640e+00] [-1.15454443e-03 -3.83708787e-05 9.99999333e-01 -1.27185430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters Centerline goodness : 0.960598 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:-4.32, Z:-1.27 [[ 9.84127143e-01 1.77461145e-01 1.14388125e-03 7.80441249e+01] [-1.77461077e-01 9.84127807e-01 -1.61185519e-04 -4.32342490e+00] [-1.15432951e-03 -4.43673542e-05 9.99999333e-01 -1.27081735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099998 meters Centerline goodness : 0.959030 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:-4.34, Z:-1.27 [[ 9.83134692e-01 1.82879381e-01 1.14383770e-03 7.81042804e+01] [-1.82879317e-01 9.83135357e-01 -1.61493939e-04 -4.34441246e+00] [-1.15408120e-03 -5.04139640e-05 9.99999333e-01 -1.27132389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98771942099998 meters Centerline goodness : 0.959416 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:-4.36, Z:-1.27 [[ 9.82448426e-01 1.86530912e-01 1.14379197e-03 7.81646094e+01] [-1.86530850e-01 9.82449091e-01 -1.61817169e-04 -4.35845593e+00] [-1.15390129e-03 -5.43754662e-05 9.99999333e-01 -1.27233005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04771942099998 meters Centerline goodness : 0.959087 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:-4.38, Z:-1.27 [[ 9.82173745e-01 1.87971878e-01 1.14374673e-03 7.82238465e+01] [-1.87971816e-01 9.82174409e-01 -1.62136286e-04 -4.37745322e+00] [-1.15383584e-03 -5.57461474e-05 9.99999333e-01 -1.27194127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10771942099998 meters Centerline goodness : 0.959348 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:-4.39, Z:-1.27 [[ 9.83126572e-01 1.82923031e-01 1.14372168e-03 7.82848042e+01] [-1.82922966e-01 9.83127236e-01 -1.62312867e-04 -4.39053356e+00] [-1.15411469e-03 -4.96388688e-05 9.99999333e-01 -1.27139692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16771942099999 meters Centerline goodness : 0.959862 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:-4.41, Z:-1.27 [[ 9.84483758e-01 1.75472001e-01 1.14367809e-03 7.83460985e+01] [-1.75471930e-01 9.84484421e-01 -1.62619365e-04 -4.40803381e+00] [-1.15446841e-03 -4.05872799e-05 9.99999333e-01 -1.27008522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22771942099999 meters Centerline goodness : 0.963310 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-4.42, Z:-1.27 [[ 9.86180831e-01 1.65668528e-01 1.14362697e-03 7.84080353e+01] [-1.65668450e-01 9.86181493e-01 -1.62978100e-04 -4.41621403e+00] [-1.15482410e-03 -2.87370294e-05 9.99999333e-01 -1.27088670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters Centerline goodness : 0.961825 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-4.43, Z:-1.27 [[ 9.87927780e-01 1.54910923e-01 1.14358073e-03 7.84682070e+01] [-1.54910837e-01 9.87928442e-01 -1.63301939e-04 -4.43184085e+00] [-1.15507318e-03 -1.58225264e-05 9.99999333e-01 -1.26855851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34771942099998 meters Centerline goodness : 0.955908 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:-4.44, Z:-1.27 [[ 9.89319249e-01 1.45760473e-01 1.14353475e-03 7.85290712e+01] [-1.45760381e-01 9.89319910e-01 -1.63623281e-04 -4.44229394e+00] [-1.15517150e-03 -4.80639957e-06 9.99999333e-01 -1.27403238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40771942099998 meters Centerline goodness : 0.963003 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:-4.45, Z:-1.27 [[ 9.89445686e-01 1.44899712e-01 1.14352495e-03 7.85916350e+01] [-1.44899620e-01 9.89446347e-01 -1.63691721e-04 -4.44581073e+00] [-1.15517547e-03 -3.73226371e-06 9.99999333e-01 -1.26747237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46771942099998 meters Centerline goodness : 0.964249 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:-4.45, Z:-1.27 [[ 9.89393675e-01 1.45254423e-01 1.14351080e-03 7.86519748e+01] [-1.45254330e-01 9.89394336e-01 -1.63790483e-04 -4.45282592e+00] [-1.15517441e-03 -4.04662794e-06 9.99999333e-01 -1.26699060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52771942099999 meters Centerline goodness : 0.963739 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:-4.45, Z:-1.27 [[ 9.89421487e-01 1.45064857e-01 1.14350381e-03 7.87148790e+01] [-1.45064764e-01 9.89422148e-01 -1.63839315e-04 -4.45423183e+00] [-1.15517532e-03 -3.77597202e-06 9.99999333e-01 -1.26776005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58771942099999 meters Centerline goodness : 0.963009 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:-4.46, Z:-1.27 [[ 9.89602460e-01 1.43825112e-01 1.14345606e-03 7.87782578e+01] [-1.43825018e-01 9.89603121e-01 -1.64171854e-04 -4.45537949e+00] [-1.15517972e-03 -1.99271847e-06 9.99999333e-01 -1.26827582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters Centerline goodness : 0.963762 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:-4.46, Z:-1.26 [[ 9.89854139e-01 1.42082641e-01 1.14340187e-03 7.88400414e+01] [-1.42082546e-01 9.89854799e-01 -1.64548466e-04 -4.45916027e+00] [-1.15518130e-03 4.21532667e-07 9.99999333e-01 -1.26405524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70771942099998 meters Centerline goodness : 0.965652 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:-4.46, Z:-1.27 [[ 9.90006165e-01 1.41019453e-01 1.14335856e-03 7.89027489e+01] [-1.41019357e-01 9.90006825e-01 -1.64848837e-04 -4.45828755e+00] [-1.15517967e-03 1.96567627e-06 9.99999333e-01 -1.26637082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76771942099998 meters Centerline goodness : 0.961456 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:-4.46, Z:-1.27 [[ 9.90004171e-01 1.41033449e-01 1.14331253e-03 7.89647907e+01] [-1.41033352e-01 9.90004831e-01 -1.65167428e-04 -4.45982613e+00] [-1.15517906e-03 2.27124374e-06 9.99999333e-01 -1.27030182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82771942099998 meters Centerline goodness : 0.958344 with order 1 Centerline is valid? [True, True] Translation: X:79.03, Y:-4.46, Z:-1.27 [[ 9.89590217e-01 1.43909328e-01 1.14330254e-03 7.90267933e+01] [-1.43909233e-01 9.89590878e-01 -1.65236592e-04 -4.45944725e+00] [-1.15518085e-03 -1.01527565e-06 9.99999333e-01 -1.27424370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88771942099999 meters Centerline goodness : 0.963110 with order 1 Centerline is valid? [True, True] Translation: X:79.09, Y:-4.46, Z:-1.27 [[ 9.88708671e-01 1.49846110e-01 1.14327667e-03 7.90898518e+01] [-1.49846019e-01 9.88709332e-01 -1.65415356e-04 -4.46022910e+00] [-1.15515516e-03 -7.76786075e-06 9.99999333e-01 -1.26927467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94771942099999 meters Centerline goodness : 0.963409 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:-4.46, Z:-1.27 [[ 9.87206823e-01 1.59440841e-01 1.14322890e-03 7.91514355e+01] [-1.59440756e-01 9.87207485e-01 -1.65744865e-04 -4.46290315e+00] [-1.15503063e-03 -1.86528181e-05 9.99999333e-01 -1.26849399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters Centerline goodness : 0.968326 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:-4.47, Z:-1.26 [[ 9.85626805e-01 1.68933400e-01 1.14318538e-03 7.92140081e+01] [-1.68933321e-01 9.85627468e-01 -1.66044480e-04 -4.46618437e+00] [-1.15480537e-03 -2.94642126e-05 9.99999333e-01 -1.26497899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099998 meters Centerline goodness : 0.967304 with order 1 Centerline is valid? [True, True] Translation: X:79.28, Y:-4.47, Z:-1.26 [[ 9.83333289e-01 1.81808513e-01 1.14317206e-03 7.92774277e+01] [-1.81808443e-01 9.83333953e-01 -1.66136141e-04 -4.46794333e+00] [-1.15432487e-03 -4.44711341e-05 9.99999333e-01 -1.26442004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12771942099998 meters Centerline goodness : 0.957907 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:-4.48, Z:-1.28 [[ 9.82022902e-01 1.88758348e-01 1.14311953e-03 7.93371628e+01] [-1.88758281e-01 9.82023566e-01 -1.66496779e-04 -4.47575099e+00] [-1.15399798e-03 -5.22696284e-05 9.99999333e-01 -1.27513082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18771942099998 meters Centerline goodness : 0.961457 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:-4.48, Z:-1.27 [[ 9.81417749e-01 1.91879898e-01 1.14311627e-03 7.93982994e+01] [-1.91879834e-01 9.81418413e-01 -1.66519157e-04 -4.48474466e+00] [-1.15382704e-03 -5.59161044e-05 9.99999333e-01 -1.27242489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24771942099999 meters Centerline goodness : 0.958402 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:-4.50, Z:-1.28 [[ 9.81622322e-01 1.90830580e-01 1.14307185e-03 7.94582445e+01] [-1.90830515e-01 9.81622986e-01 -1.66823564e-04 -4.49929404e+00] [-1.15390064e-03 -5.43752550e-05 9.99999333e-01 -1.27663420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30771942099999 meters Centerline goodness : 0.959199 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:-4.52, Z:-1.28 [[ 9.82710298e-01 1.85146331e-01 1.14303137e-03 7.95181124e+01] [-1.85146262e-01 9.82710961e-01 -1.67100468e-04 -4.51765020e+00] [-1.15420749e-03 -4.74166345e-05 9.99999333e-01 -1.27533724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters Centerline goodness : 0.955823 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:-4.53, Z:-1.28 [[ 9.84907387e-01 1.73078402e-01 1.14298603e-03 7.95779918e+01] [-1.73078324e-01 9.84908049e-01 -1.67410024e-04 -4.53279224e+00] [-1.15471120e-03 -3.29427360e-05 9.99999333e-01 -1.27883721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099998 meters Centerline goodness : 0.958330 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:-4.55, Z:-1.27 [[ 9.87315063e-01 1.58769204e-01 1.14294460e-03 7.96378802e+01] [-1.58769116e-01 9.87315724e-01 -1.67692411e-04 -4.54908894e+00] [-1.15507156e-03 -1.58990603e-05 9.99999333e-01 -1.27471305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48771942099998 meters Centerline goodness : 0.964622 with order 1 Centerline is valid? [True, True] Translation: X:79.70, Y:-4.56, Z:-1.27 [[ 9.88650050e-01 1.50232394e-01 1.14293829e-03 7.96983977e+01] [-1.50232300e-01 9.88650711e-01 -1.67735378e-04 -4.56291611e+00] [-1.15516604e-03 -5.87465857e-06 9.99999333e-01 -1.26800718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54771942099998 meters Centerline goodness : 0.959932 with order 1 Centerline is valid? [True, True] Translation: X:79.76, Y:-4.57, Z:-1.27 [[ 9.88165846e-01 1.53384987e-01 1.14288987e-03 7.97594979e+01] [-1.53384895e-01 9.88166507e-01 -1.68064617e-04 -4.57432829e+00] [-1.15514408e-03 -9.22632900e-06 9.99999333e-01 -1.27132254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60771942099998 meters Centerline goodness : 0.959149 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:-4.58, Z:-1.27 [[ 9.88020094e-01 1.54321052e-01 1.14284229e-03 7.98213446e+01] [-1.54320961e-01 9.88020755e-01 -1.68387579e-04 -4.58396276e+00] [-1.15513765e-03 -9.99420843e-06 9.99999333e-01 -1.27308740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66771942099999 meters Centerline goodness : 0.963075 with order 1 Centerline is valid? [True, True] Translation: X:79.88, Y:-4.60, Z:-1.27 [[ 9.89055177e-01 1.47541691e-01 1.14281677e-03 7.98815924e+01] [-1.47541595e-01 9.89055837e-01 -1.68560618e-04 -4.59672694e+00] [-1.15517931e-03 -1.89725645e-06 9.99999333e-01 -1.27126201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72771942099999 meters Centerline goodness : 0.962561 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:-4.61, Z:-1.27 [[ 9.90613080e-01 1.36690964e-01 1.14279459e-03 7.99424298e+01] [-1.36690861e-01 9.90613739e-01 -1.68710799e-04 -4.60526295e+00] [-1.15512927e-03 1.09175476e-05 9.99999333e-01 -1.27080939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters Centerline goodness : 0.967305 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:-4.61, Z:-1.26 [[ 9.91689633e-01 1.28648229e-01 1.14275240e-03 8.00037694e+01] [-1.28648120e-01 9.91690291e-01 -1.68996102e-04 -4.61140953e+00] [-1.15499751e-03 2.05787343e-05 9.99999333e-01 -1.26387297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84771942099998 meters Centerline goodness : 0.963327 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:-4.61, Z:-1.27 [[ 9.92440380e-01 1.22722399e-01 1.14270784e-03 8.00656112e+01] [-1.22722285e-01 9.92441037e-01 -1.69296910e-04 -4.61162810e+00] [-1.15484667e-03 2.77813726e-05 9.99999333e-01 -1.26859248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90771942099998 meters Centerline goodness : 0.965322 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:-4.61, Z:-1.27 [[ 9.92653646e-01 1.20985258e-01 1.14266375e-03 8.01280339e+01] [-1.20985143e-01 9.92654304e-01 -1.69593958e-04 -4.61317694e+00] [-1.15478846e-03 3.01027234e-05 9.99999333e-01 -1.26523296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96771942099998 meters Centerline goodness : 0.960008 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:-4.61, Z:-1.27 [[ 9.92135913e-01 1.25159996e-01 1.14261615e-03 8.01888201e+01] [-1.25159883e-01 9.92136571e-01 -1.69914061e-04 -4.61232498e+00] [-1.15489771e-03 2.55681379e-05 9.99999333e-01 -1.27057011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02771942099999 meters Centerline goodness : 0.961894 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:-4.61, Z:-1.27 [[ 9.90943870e-01 1.34271890e-01 1.14261281e-03 8.02523884e+01] [-1.34271783e-01 9.90944529e-01 -1.69936522e-04 -4.60511141e+00] [-1.15508361e-03 1.49768955e-05 9.99999333e-01 -1.27122870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08771942099999 meters Centerline goodness : 0.960733 with order 1 Centerline is valid? [True, True] Translation: X:80.31, Y:-4.61, Z:-1.27 [[ 9.89183304e-01 1.46680214e-01 1.14256261e-03 8.03143818e+01] [-1.46680115e-01 9.89183964e-01 -1.70273343e-04 -4.60822891e+00] [-1.15518034e-03 8.40333164e-07 9.99999333e-01 -1.27121774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters Centerline goodness : 0.959433 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-4.60, Z:-1.27 [[ 9.86223850e-01 1.65412247e-01 1.14251271e-03 8.03775621e+01] [-1.65412161e-01 9.86224512e-01 -1.70607551e-04 -4.60133443e+00] [-1.15499461e-03 -2.07282595e-05 9.99999333e-01 -1.27446070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20771942099998 meters Centerline goodness : 0.959415 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:-4.60, Z:-1.27 [[ 9.84306344e-01 1.76464492e-01 1.14246746e-03 8.04398005e+01] [-1.76464412e-01 9.84307006e-01 -1.70910022e-04 -4.60329991e+00] [-1.15469827e-03 -3.33770291e-05 9.99999333e-01 -1.27363885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26771942099998 meters Centerline goodness : 0.965094 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:-4.61, Z:-1.27 [[ 9.84018413e-01 1.78063073e-01 1.14241951e-03 8.05012986e+01] [-1.78062995e-01 9.84019075e-01 -1.71229905e-04 -4.61455139e+00] [-1.15465231e-03 -3.49292603e-05 9.99999333e-01 -1.26694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32771942099998 meters Centerline goodness : 0.964966 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-4.62, Z:-1.27 [[ 9.84101767e-01 1.77601823e-01 1.14236900e-03 8.05630551e+01] [-1.77601744e-01 9.84102429e-01 -1.71566218e-04 -4.61685243e+00] [-1.15467858e-03 -3.40481092e-05 9.99999333e-01 -1.27033360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38771942099999 meters Centerline goodness : 0.963855 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-4.63, Z:-1.27 [[ 9.83051067e-01 1.83328380e-01 1.14232312e-03 8.06249582e+01] [-1.83328304e-01 9.83051730e-01 -1.71871170e-04 -4.63082291e+00] [-1.15447158e-03 -4.04620232e-05 9.99999333e-01 -1.26880937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44771942099999 meters Centerline goodness : 0.964642 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:-4.65, Z:-1.27 [[ 9.83429944e-01 1.81284971e-01 1.14226713e-03 8.06856492e+01] [-1.81284894e-01 9.83430606e-01 -1.72242474e-04 -4.64504932e+00] [-1.15456543e-03 -3.76873690e-05 9.99999333e-01 -1.26922968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters Centerline goodness : 0.960206 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:-4.66, Z:-1.27 [[ 9.85335694e-01 1.70623166e-01 1.14221613e-03 8.07462066e+01] [-1.70623081e-01 9.85336356e-01 -1.72580009e-04 -4.66087747e+00] [-1.15491323e-03 -2.48391923e-05 9.99999333e-01 -1.27206027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099998 meters Centerline goodness : 0.955532 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:-4.68, Z:-1.28 [[ 9.87903248e-01 1.55067304e-01 1.14216478e-03 8.08054326e+01] [-1.55067208e-01 9.87903908e-01 -1.72919170e-04 -4.67900307e+00] [-1.15516316e-03 -6.28489437e-06 9.99999333e-01 -1.27706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62771942099998 meters Centerline goodness : 0.956311 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:-4.69, Z:-1.27 [[ 9.89738184e-01 1.42888146e-01 1.14213591e-03 8.08672224e+01] [-1.42888042e-01 9.89738843e-01 -1.73109661e-04 -4.69112856e+00] [-1.15515160e-03 8.13567818e-06 9.99999333e-01 -1.27416535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68771942099998 meters Centerline goodness : 0.958633 with order 1 Centerline is valid? [True, True] Translation: X:80.93, Y:-4.69, Z:-1.27 [[ 9.89403819e-01 1.45185322e-01 1.14207901e-03 8.09296247e+01] [-1.45185219e-01 9.89404479e-01 -1.73484273e-04 -4.69489725e+00] [-1.15516546e-03 5.83301125e-06 9.99999333e-01 -1.27288854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74771942099999 meters Centerline goodness : 0.961933 with order 1 Centerline is valid? [True, True] Translation: X:80.99, Y:-4.70, Z:-1.27 [[ 9.88718182e-01 1.49783349e-01 1.14202932e-03 8.09912697e+01] [-1.49783248e-01 9.88718842e-01 -1.73810783e-04 -4.70224416e+00] [-1.15517986e-03 7.93021152e-07 9.99999333e-01 -1.26893417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80771942099999 meters Centerline goodness : 0.962706 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:-4.71, Z:-1.27 [[ 9.86613222e-01 1.63073742e-01 1.14201508e-03 8.10529567e+01] [-1.63073650e-01 9.86613883e-01 -1.73904268e-04 -4.70535587e+00] [-1.15508715e-03 -1.46563171e-05 9.99999333e-01 -1.26884922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters Centerline goodness : 0.961968 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:-4.71, Z:-1.27 [[ 9.84416580e-01 1.75848492e-01 1.14196986e-03 8.11145706e+01] [-1.75848408e-01 9.84417242e-01 -1.74200683e-04 -4.71137243e+00] [-1.15480775e-03 -2.93275415e-05 9.99999333e-01 -1.27120740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099998 meters Centerline goodness : 0.960279 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:-4.72, Z:-1.27 [[ 9.83759850e-01 1.79486079e-01 1.14192095e-03 8.11751628e+01] [-1.79485997e-01 9.83760513e-01 -1.74520753e-04 -4.72208135e+00] [-1.15470078e-03 -3.32723102e-05 9.99999333e-01 -1.27317374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98771942099998 meters Centerline goodness : 0.961113 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:-4.73, Z:-1.27 [[ 9.82423531e-01 1.86661998e-01 1.14187631e-03 8.12362032e+01] [-1.86661921e-01 9.82424194e-01 -1.74812320e-04 -4.73440962e+00] [-1.15443773e-03 -4.14050886e-05 9.99999333e-01 -1.27177421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04771942099998 meters Centerline goodness : 0.962183 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:-4.75, Z:-1.27 [[ 9.82260309e-01 1.87519017e-01 1.14182641e-03 8.12958110e+01] [-1.87518940e-01 9.82260972e-01 -1.75137673e-04 -4.74616138e+00] [-1.15441316e-03 -4.20832929e-05 9.99999333e-01 -1.26914660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10771942099998 meters Centerline goodness : 0.964973 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:-4.76, Z:-1.27 [[ 9.82424356e-01 1.86657655e-01 1.14181939e-03 8.13563596e+01] [-1.86657577e-01 9.82425019e-01 -1.75183424e-04 -4.76082536e+00] [-1.15445126e-03 -4.10247777e-05 9.99999333e-01 -1.26590378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16771942099999 meters Centerline goodness : 0.963131 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:-4.77, Z:-1.27 [[ 9.81820346e-01 1.89809125e-01 1.14176953e-03 8.14178157e+01] [-1.89809049e-01 9.81821009e-01 -1.75507752e-04 -4.77158243e+00] [-1.15432629e-03 -4.44011073e-05 9.99999333e-01 -1.26808228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22771942099999 meters Centerline goodness : 0.958013 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:-4.78, Z:-1.27 [[ 9.81035952e-01 1.93822490e-01 1.14171946e-03 8.14773739e+01] [-1.93822416e-01 9.81036615e-01 -1.75832904e-04 -4.78455405e+00] [-1.15414896e-03 -4.87924232e-05 9.99999333e-01 -1.27355447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099998 meters Centerline goodness : 0.958019 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:-4.80, Z:-1.27 [[ 9.80015627e-01 1.98917237e-01 1.14171234e-03 8.15370233e+01] [-1.98917167e-01 9.80016291e-01 -1.75879085e-04 -4.80449106e+00] [-1.15388208e-03 -5.47419326e-05 9.99999333e-01 -1.27437137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34771942099998 meters Centerline goodness : 0.958927 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:-4.82, Z:-1.27 [[ 9.79571904e-01 2.01090976e-01 1.14166350e-03 8.15979427e+01] [-2.01090907e-01 9.79572568e-01 -1.76195534e-04 -4.82034075e+00] [-1.15377358e-03 -5.69819547e-05 9.99999333e-01 -1.27165309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40771942099998 meters Centerline goodness : 0.956469 with order 1 Centerline is valid? [True, True] Translation: X:81.66, Y:-4.84, Z:-1.27 [[ 9.80803906e-01 1.94993318e-01 1.14164445e-03 8.16562502e+01] [-1.94993245e-01 9.80804569e-01 -1.76318907e-04 -4.84292674e+00] [-1.15411110e-03 -4.96786825e-05 9.99999333e-01 -1.27261216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46771942099998 meters Centerline goodness : 0.953965 with order 1 Centerline is valid? [True, True] Translation: X:81.72, Y:-4.86, Z:-1.28 [[ 9.83255410e-01 1.82229237e-01 1.14161453e-03 8.17151161e+01] [-1.82229155e-01 9.83256072e-01 -1.76512393e-04 -4.86492421e+00] [-1.15466514e-03 -3.44786859e-05 9.99999333e-01 -1.27798378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52771942099999 meters Centerline goodness : 0.961691 with order 1 Centerline is valid? [True, True] Translation: X:81.78, Y:-4.87, Z:-1.27 [[ 9.84597696e-01 1.74831557e-01 1.14155955e-03 8.17757334e+01] [-1.74831470e-01 9.84598358e-01 -1.76867306e-04 -4.87474488e+00] [-1.15489964e-03 -2.54373914e-05 9.99999333e-01 -1.26852342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58771942099999 meters Centerline goodness : 0.959875 with order 1 Centerline is valid? [True, True] Translation: X:81.84, Y:-4.89, Z:-1.27 [[ 9.85270528e-01 1.70999074e-01 1.14155216e-03 8.18350845e+01] [-1.70998983e-01 9.85271189e-01 -1.76914993e-04 -4.88875516e+00] [-1.15499075e-03 -2.08951289e-05 9.99999333e-01 -1.26858445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters Centerline goodness : 0.958587 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:-4.90, Z:-1.27 [[ 9.85630841e-01 1.68909863e-01 1.14150470e-03 8.18967764e+01] [-1.68909771e-01 9.85631502e-01 -1.77220686e-04 -4.89963115e+00] [-1.15503731e-03 -1.81371230e-05 9.99999333e-01 -1.27145327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70771942099998 meters Centerline goodness : 0.954447 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:-4.91, Z:-1.27 [[ 9.85528146e-01 1.69508024e-01 1.14148670e-03 8.19575444e+01] [-1.69507933e-01 9.85528807e-01 -1.77336524e-04 -4.90993699e+00] [-1.15502799e-03 -1.87209145e-05 9.99999333e-01 -1.27456726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76771942099998 meters Centerline goodness : 0.959169 with order 1 Centerline is valid? [True, True] Translation: X:82.02, Y:-4.92, Z:-1.27 [[ 9.84575920e-01 1.74954149e-01 1.14147574e-03 8.20175675e+01] [-1.74954060e-01 9.84576582e-01 -1.77407057e-04 -4.92106938e+00] [-1.15490838e-03 -2.50350986e-05 9.99999333e-01 -1.27191253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82771942099998 meters Centerline goodness : 0.954821 with order 1 Centerline is valid? [True, True] Translation: X:82.08, Y:-4.93, Z:-1.28 [[ 9.83254709e-01 1.82233023e-01 1.14145146e-03 8.20774897e+01] [-1.82232939e-01 9.83255371e-01 -1.77563132e-04 -4.93230771e+00] [-1.15469614e-03 -3.34202687e-05 9.99999333e-01 -1.27703434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88771942099999 meters Centerline goodness : 0.959788 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:-4.94, Z:-1.27 [[ 9.81833735e-01 1.89739860e-01 1.14144443e-03 8.21375393e+01] [-1.89739782e-01 9.81834397e-01 -1.77608303e-04 -4.94257002e+00] [-1.15440878e-03 -4.21955935e-05 9.99999333e-01 -1.26952396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94771942099999 meters Centerline goodness : 0.964843 with order 1 Centerline is valid? [True, True] Translation: X:82.20, Y:-4.95, Z:-1.27 [[ 9.81165024e-01 1.93168044e-01 1.14144089e-03 8.21970578e+01] [-1.93167967e-01 9.81165687e-01 -1.77631060e-04 -4.95085524e+00] [-1.15425528e-03 -4.62044333e-05 9.99999333e-01 -1.26513507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters Centerline goodness : 0.964968 with order 1 Centerline is valid? [True, True] Translation: X:82.26, Y:-4.96, Z:-1.27 [[ 9.80123718e-01 1.98383957e-01 1.14144089e-03 8.22578946e+01] [-1.98383884e-01 9.80124381e-01 -1.77631060e-04 -4.96334948e+00] [-1.15399320e-03 -5.23430622e-05 9.99999333e-01 -1.26503837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099998 meters Centerline goodness : 0.958896 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:-4.97, Z:-1.27 [[ 9.78527732e-01 2.06112045e-01 1.14139299e-03 8.23172952e+01] [-2.06111977e-01 9.78528396e-01 -1.77938293e-04 -4.97409848e+00] [-1.15356068e-03 -6.11372115e-05 9.99999333e-01 -1.27480139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12771942099998 meters Centerline goodness : 0.955043 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:-4.99, Z:-1.28 [[ 9.76301762e-01 2.16410645e-01 1.14138959e-03 8.23776665e+01] [-2.16410585e-01 9.76302426e-01 -1.77960106e-04 -4.98835135e+00] [-1.15285389e-03 -7.32660238e-05 9.99999333e-01 -1.27981811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18771942099998 meters Centerline goodness : 0.954435 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:-5.01, Z:-1.28 [[ 9.76017459e-01 2.17689268e-01 1.14134322e-03 8.24369210e+01] [-2.17689207e-01 9.76018123e-01 -1.78257004e-04 -5.00880019e+00] [-1.15277631e-03 -7.44761532e-05 9.99999333e-01 -1.28222975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24771942099999 meters Centerline goodness : 0.960229 with order 1 Centerline is valid? [True, True] Translation: X:82.50, Y:-5.03, Z:-1.28 [[ 9.78142046e-01 2.07934688e-01 1.14129779e-03 8.24960750e+01] [-2.07934621e-01 9.78142710e-01 -1.78547432e-04 -5.03265900e+00] [-1.15347831e-03 -6.26705714e-05 9.99999333e-01 -1.27547055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30771942099999 meters Centerline goodness : 0.961610 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:-5.05, Z:-1.27 [[ 9.80330901e-01 1.97357600e-01 1.14128362e-03 8.25563842e+01] [-1.97357526e-01 9.80331564e-01 -1.78637930e-04 -5.05269366e+00] [-1.15409191e-03 -5.01166292e-05 9.99999333e-01 -1.27377030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters Centerline goodness : 0.961549 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:-5.07, Z:-1.27 [[ 9.82881257e-01 1.84236620e-01 1.14122791e-03 8.26157885e+01] [-1.84236536e-01 9.82881919e-01 -1.78993155e-04 -5.06952457e+00] [-1.15466937e-03 -3.43268590e-05 9.99999333e-01 -1.27421351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099998 meters Centerline goodness : 0.968656 with order 1 Centerline is valid? [True, True] Translation: X:82.68, Y:-5.08, Z:-1.27 [[ 9.85003548e-01 1.72530311e-01 1.14118319e-03 8.26766046e+01] [-1.72530219e-01 9.85004209e-01 -1.79277778e-04 -5.07914093e+00] [-1.15500110e-03 -2.02993387e-05 9.99999333e-01 -1.26614456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48771942099998 meters Centerline goodness : 0.964555 with order 1 Centerline is valid? [True, True] Translation: X:82.74, Y:-5.09, Z:-1.27 [[ 9.85914018e-01 1.67249056e-01 1.14113556e-03 8.27367523e+01] [-1.67248960e-01 9.85914678e-01 -1.79580440e-04 -5.08782826e+00] [-1.15509696e-03 -1.38028629e-05 9.99999333e-01 -1.27073572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54771942099998 meters Centerline goodness : 0.961266 with order 1 Centerline is valid? [True, True] Translation: X:82.80, Y:-5.09, Z:-1.28 [[ 9.86229678e-01 1.65377507e-01 1.14108867e-03 8.27983462e+01] [-1.65377409e-01 9.86230338e-01 -1.79877918e-04 -5.09457674e+00] [-1.15512403e-03 -1.13093469e-05 9.99999333e-01 -1.27500305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60771942099998 meters Centerline goodness : 0.960397 with order 1 Centerline is valid? [True, True] Translation: X:82.86, Y:-5.10, Z:-1.28 [[ 9.86301248e-01 1.64950130e-01 1.14103817e-03 8.28606654e+01] [-1.64950032e-01 9.86301908e-01 -1.80197659e-04 -5.10082067e+00] [-1.15513176e-03 -1.04851078e-05 9.99999333e-01 -1.27561156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66771942099999 meters Centerline goodness : 0.962063 with order 1 Centerline is valid? [True, True] Translation: X:82.92, Y:-5.11, Z:-1.27 [[ 9.86401187e-01 1.64351441e-01 1.14098842e-03 8.29219035e+01] [-1.64351342e-01 9.86401847e-01 -1.80512176e-04 -5.10967229e+00] [-1.15514052e-03 -9.46555305e-06 9.99999333e-01 -1.27244494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72771942099999 meters Centerline goodness : 0.962514 with order 1 Centerline is valid? [True, True] Translation: X:82.98, Y:-5.11, Z:-1.27 [[ 9.85548405e-01 1.69390202e-01 1.14093952e-03 8.29848110e+01] [-1.69390106e-01 9.85549065e-01 -1.80820722e-04 -5.11499939e+00] [-1.15508113e-03 -1.50562913e-05 9.99999333e-01 -1.27438694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099998 meters Centerline goodness : 0.961201 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-5.12, Z:-1.28 [[ 9.83321655e-01 1.81871441e-01 1.14088471e-03 8.30467140e+01] [-1.81871353e-01 9.83322317e-01 -1.81165863e-04 -5.11799083e+00] [-1.15480629e-03 -2.93499293e-05 9.99999333e-01 -1.27587873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84771942099998 meters Centerline goodness : 0.962565 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-5.12, Z:-1.27 [[ 9.81816079e-01 1.89831205e-01 1.14083425e-03 8.31089248e+01] [-1.89831122e-01 9.81816741e-01 -1.81483055e-04 -5.12408262e+00] [-1.15454131e-03 -3.83828644e-05 9.99999333e-01 -1.27379456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90771942099998 meters Centerline goodness : 0.963848 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:-5.13, Z:-1.27 [[ 9.80654306e-01 1.95744300e-01 1.14078746e-03 8.31720511e+01] [-1.95744221e-01 9.80654968e-01 -1.81776683e-04 -5.13018583e+00] [-1.15430064e-03 -4.50424662e-05 9.99999333e-01 -1.27323256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96771942099998 meters Centerline goodness : 0.961109 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:-5.14, Z:-1.28 [[ 9.80431508e-01 1.96857201e-01 1.14073036e-03 8.32340048e+01] [-1.96857122e-01 9.80432170e-01 -1.82134314e-04 -5.13907007e+00] [-1.15426320e-03 -4.59906758e-05 9.99999333e-01 -1.27636030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02771942099999 meters Centerline goodness : 0.961716 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:-5.15, Z:-1.28 [[ 9.79511849e-01 2.01383306e-01 1.14071260e-03 8.32957994e+01] [-2.01383230e-01 9.79512512e-01 -1.82245524e-04 -5.15409448e+00] [-1.15404347e-03 -5.12087367e-05 9.99999333e-01 -1.27526366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08771942099999 meters Centerline goodness : 0.960422 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-5.17, Z:-1.28 [[ 9.78986329e-01 2.03922698e-01 1.14065525e-03 8.33560655e+01] [-2.03922624e-01 9.78986992e-01 -1.82603765e-04 -5.16822786e+00] [-1.15392370e-03 -5.38388206e-05 9.99999333e-01 -1.27885854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters Centerline goodness : 0.961061 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.19, Z:-1.28 [[ 9.81126384e-01 1.93364212e-01 1.14060495e-03 8.34142713e+01] [-1.93364129e-01 9.81127046e-01 -1.82917389e-04 -5.19322521e+00] [-1.15444804e-03 -4.10870066e-05 9.99999333e-01 -1.27601391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20771942099998 meters Centerline goodness : 0.964061 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.21, Z:-1.27 [[ 9.82889410e-01 1.84193126e-01 1.14058083e-03 8.34745792e+01] [-1.84193037e-01 9.82890071e-01 -1.83067685e-04 -5.20768388e+00] [-1.15478538e-03 -3.01517584e-05 9.99999333e-01 -1.27413295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26771942099998 meters Centerline goodness : 0.966429 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.22, Z:-1.27 [[ 9.85905665e-01 1.67298292e-01 1.14053043e-03 8.35349429e+01] [-1.67298192e-01 9.85906325e-01 -1.83381132e-04 -5.22196444e+00] [-1.15513551e-03 -1.00121814e-05 9.99999333e-01 -1.27211486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32771942099998 meters Centerline goodness : 0.968635 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:-5.24, Z:-1.27 [[ 9.88386950e-01 1.51953734e-01 1.14048008e-03 8.35959956e+01] [-1.51953623e-01 9.88387608e-01 -1.83693706e-04 -5.23552944e+00] [-1.15514933e-03 8.26038063e-06 9.99999333e-01 -1.26761520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38771942099999 meters Centerline goodness : 0.964141 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:-5.24, Z:-1.28 [[ 9.89085185e-01 1.47340411e-01 1.14041866e-03 8.36580030e+01] [-1.47340297e-01 9.89085842e-01 -1.84074233e-04 -5.23583476e+00] [-1.15509353e-03 1.40354728e-05 9.99999333e-01 -1.27769743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44771942099999 meters Centerline goodness : 0.963565 with order 1 Centerline is valid? [True, True] Translation: X:83.72, Y:-5.24, Z:-1.28 [[ 9.88001786e-01 1.54438239e-01 1.14036943e-03 8.37198519e+01] [-1.54438129e-01 9.88002444e-01 -1.84378738e-04 -5.24097847e+00] [-1.15516291e-03 6.05000088e-06 9.99999333e-01 -1.27613405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters Centerline goodness : 0.959124 with order 1 Centerline is valid? [True, True] Translation: X:83.78, Y:-5.24, Z:-1.28 [[ 9.86512995e-01 1.63678987e-01 1.14031707e-03 8.37813236e+01] [-1.63678883e-01 9.86513654e-01 -1.84701983e-04 -5.24482813e+00] [-1.15517019e-03 -4.43491842e-06 9.99999333e-01 -1.28074285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099998 meters Centerline goodness : 0.959182 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:-5.25, Z:-1.28 [[ 9.84196415e-01 1.77076585e-01 1.14030965e-03 8.38445868e+01] [-1.77076489e-01 9.84197075e-01 -1.84747796e-04 -5.24669823e+00] [-1.15500393e-03 -2.00939107e-05 9.99999333e-01 -1.28027043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62771942099998 meters Centerline goodness : 0.962558 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-5.25, Z:-1.28 [[ 9.82129222e-01 1.88204387e-01 1.14024807e-03 8.39069201e+01] [-1.88204299e-01 9.82129883e-01 -1.85127058e-04 -5.24828216e+00] [-1.15471343e-03 -3.27808958e-05 9.99999333e-01 -1.27691035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68771942099998 meters Centerline goodness : 0.960990 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:-5.25, Z:-1.28 [[ 9.81114515e-01 1.93424424e-01 1.14019352e-03 8.39695707e+01] [-1.93424339e-01 9.81115177e-01 -1.85462463e-04 -5.25175702e+00] [-1.15453413e-03 -3.85812625e-05 9.99999333e-01 -1.27596700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74771942099999 meters Centerline goodness : 0.962780 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:-5.25, Z:-1.28 [[ 9.80450540e-01 1.96762390e-01 1.14013948e-03 8.40314287e+01] [-1.96762307e-01 9.80451202e-01 -1.85794038e-04 -5.25088060e+00] [-1.15440841e-03 -4.21746103e-05 9.99999333e-01 -1.27704728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80771942099999 meters Centerline goodness : 0.958023 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:-5.26, Z:-1.28 [[ 9.80382882e-01 1.97099228e-01 1.14009041e-03 8.40914160e+01] [-1.97099145e-01 9.80383544e-01 -1.86094693e-04 -5.25775756e+00] [-1.15440500e-03 -4.22667934e-05 9.99999333e-01 -1.27982175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters Centerline goodness : 0.954669 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:-5.27, Z:-1.28 [[ 9.80374646e-01 1.97140190e-01 1.14008670e-03 8.41534819e+01] [-1.97140106e-01 9.80375308e-01 -1.86117401e-04 -5.26565716e+00] [-1.15440407e-03 -4.22920323e-05 9.99999333e-01 -1.28391579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099998 meters Centerline goodness : 0.954741 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:-5.28, Z:-1.28 [[ 9.79957422e-01 1.99203794e-01 1.14006829e-03 8.42146237e+01] [-1.99203712e-01 9.79958084e-01 -1.86230111e-04 -5.27686233e+00] [-1.15431688e-03 -4.46082559e-05 9.99999333e-01 -1.28161028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98771942099998 meters Centerline goodness : 0.955712 with order 1 Centerline is valid? [True, True] Translation: X:84.28, Y:-5.29, Z:-1.28 [[ 9.79137031e-01 2.03197873e-01 1.14001749e-03 8.42753701e+01] [-2.03197793e-01 9.79137693e-01 -1.86540546e-04 -5.29069986e+00] [-1.15413874e-03 -4.90002825e-05 9.99999333e-01 -1.27907119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04771942099998 meters Centerline goodness : 0.955645 with order 1 Centerline is valid? [True, True] Translation: X:84.34, Y:-5.30, Z:-1.28 [[ 9.77561064e-01 2.10649157e-01 1.13996447e-03 8.43363183e+01] [-2.10649082e-01 9.77561727e-01 -1.86864026e-04 -5.30300218e+00] [-1.15374839e-03 -5.74614734e-05 9.99999333e-01 -1.27833185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10771942099998 meters Centerline goodness : 0.954763 with order 1 Centerline is valid? [True, True] Translation: X:84.40, Y:-5.32, Z:-1.28 [[ 9.76441260e-01 2.15780366e-01 1.13991194e-03 8.43982843e+01] [-2.15780294e-01 9.76441923e-01 -1.87183941e-04 -5.31523981e+00] [-1.15344842e-03 -6.31964092e-05 9.99999333e-01 -1.27844842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16771942099999 meters Centerline goodness : 0.954199 with order 1 Centerline is valid? [True, True] Translation: X:84.46, Y:-5.33, Z:-1.28 [[ 9.74932737e-01 2.22496872e-01 1.13985292e-03 8.44595937e+01] [-2.22496804e-01 9.74933401e-01 -1.87542666e-04 -5.32572647e+00] [-1.15300834e-03 -7.07721463e-05 9.99999333e-01 -1.28030823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22771942099999 meters Centerline goodness : 0.953630 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:-5.34, Z:-1.28 [[ 9.73871834e-01 2.27095467e-01 1.13980149e-03 8.45197500e+01] [-2.27095402e-01 9.73872498e-01 -1.87854664e-04 -5.34056770e+00] [-1.15268227e-03 -7.58973116e-05 9.99999333e-01 -1.27904280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099998 meters Centerline goodness : 0.947358 with order 1 Centerline is valid? [True, False] Translation: X:84.52, Y:-5.34, Z:-1.28 [[ 9.75595267e-01 2.19255027e-01 -1.18788776e-02 8.45162694e+01] [-2.19284368e-01 9.75660238e-01 -1.21049759e-03 -5.34488881e+00] [ 1.13243408e-02 3.78580787e-03 9.99928711e-01 -1.27512883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34771942099998 meters Centerline goodness : 0.945218 with order 1 Centerline is valid? [False, False] Translation: X:84.51, Y:-5.35, Z:-1.27 [[ 9.77976165e-01 2.07938336e-01 -1.80074634e-02 8.45064917e+01] [-2.07930744e-01 9.78140814e-01 2.31357207e-03 -5.34847039e+00] [ 1.80949153e-02 1.48168693e-03 9.99835176e-01 -1.27233961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40771942099998 meters Centerline goodness : 0.947797 with order 1 Centerline is valid? [False, False] Translation: X:84.49, Y:-5.35, Z:-1.27 [[ 9.81064697e-01 1.92326637e-01 -2.28587841e-02 8.44941226e+01] [-1.92331316e-01 9.81327981e-01 2.01437415e-03 -5.35438539e+00] [ 2.28193822e-02 2.42022867e-03 9.99736674e-01 -1.26537568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46771942099998 meters Centerline goodness : 0.948787 with order 1 Centerline is valid? [False, False] Translation: X:84.48, Y:-5.35, Z:-1.26 [[ 9.83914940e-01 1.76330200e-01 -2.86190702e-02 8.44843958e+01] [-1.76371228e-01 9.84323103e-01 1.10427278e-03 -5.35456147e+00] [ 2.83651286e-02 3.96107007e-03 9.99589781e-01 -1.26408009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52771942099999 meters Centerline goodness : 0.951630 with order 1 Centerline is valid? [False, True] Translation: X:84.47, Y:-5.35, Z:-1.26 [[ 9.86899073e-01 1.58252358e-01 -3.14071891e-02 8.44716445e+01] [-1.58447022e-01 9.87360193e-01 -3.79343190e-03 -5.35201293e+00] [ 3.04098888e-02 8.72011002e-03 9.99499474e-01 -1.26013046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58771942099999 meters Centerline goodness : 0.955393 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:-5.36, Z:-1.25 [[ 9.89779074e-01 1.39372516e-01 -3.02106957e-02 8.45326657e+01] [-1.39302812e-01 9.90240010e-01 4.41014265e-03 -5.36235691e+00] [ 3.05304922e-02 -1.56632052e-04 9.99533824e-01 -1.24877328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters Centerline goodness : 0.957618 with order 1 Centerline is valid? [True, True] Translation: X:84.59, Y:-5.37, Z:-1.24 [[ 9.91646349e-01 1.25399004e-01 -3.02094069e-02 8.45936749e+01] [-1.25322538e-01 9.92106211e-01 4.41895316e-03 -5.36586054e+00] [ 3.05250725e-02 -5.96119239e-04 9.99533824e-01 -1.24489675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70771942099998 meters Centerline goodness : 0.954130 with order 1 Centerline is valid? [True, True] Translation: X:84.66, Y:-5.37, Z:-1.24 [[ 9.92700788e-01 1.16758760e-01 -3.02082242e-02 8.46559399e+01] [-1.16678047e-01 9.93159924e-01 4.42702320e-03 -5.36838872e+00] [ 3.05184914e-02 -8.70072831e-04 9.99533824e-01 -1.24385081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76771942099998 meters Centerline goodness : 0.952926 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:-5.37, Z:-1.24 [[ 9.93051829e-01 1.13734807e-01 -3.02069284e-02 8.47183591e+01] [-1.13652427e-01 9.93510669e-01 4.43584702e-03 -5.36829469e+00] [ 3.05154159e-02 -9.71935252e-04 9.99533824e-01 -1.24309698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82771942099998 meters Centerline goodness : 0.955545 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:-5.37, Z:-1.24 [[ 9.94018558e-01 1.04951075e-01 -3.02055817e-02 8.47816075e+01] [-1.04864365e-01 9.94476600e-01 4.44499857e-03 -5.36516030e+00] [ 3.05052516e-02 -1.25092193e-03 9.99533824e-01 -1.23933292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88771942099999 meters Centerline goodness : 0.962563 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-5.36, Z:-1.23 [[ 9.95018549e-01 9.50041606e-02 -3.02042359e-02 8.48441199e+01] [-9.49125970e-02 9.95475645e-01 4.45412455e-03 -5.35720197e+00] [ 3.04907416e-02 -1.56517408e-03 9.99533824e-01 -1.23249120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94771942099999 meters Centerline goodness : 0.959697 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-5.34, Z:-1.24 [[ 9.95817529e-01 8.62273653e-02 -3.02041383e-02 8.49085043e+01] [-8.61317550e-02 9.96273796e-01 4.45478683e-03 -5.34435539e+00] [ 3.04757160e-02 -1.83461937e-03 9.99533824e-01 -1.23536723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters Centerline goodness : 0.959809 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-5.33, Z:-1.23 [[ 9.96333990e-01 8.00398137e-02 -3.02027775e-02 8.49735413e+01] [-7.99410932e-02 9.96789594e-01 4.46399326e-03 -5.33207940e+00] [ 3.04631116e-02 -2.03318517e-03 9.99533824e-01 -1.23318038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099998 meters Centerline goodness : 0.957118 with order 1 Centerline is valid? [True, True] Translation: X:85.04, Y:-5.31, Z:-1.24 [[ 9.96265700e-01 8.08859948e-02 -3.02011618e-02 8.50374988e+01] [-8.07873322e-02 9.96721316e-01 4.47489825e-03 -5.31322388e+00] [ 3.04640983e-02 -2.01831635e-03 9.99533824e-01 -1.23959950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12771942099998 meters Centerline goodness : 0.956066 with order 1 Centerline is valid? [True, True] Translation: X:85.10, Y:-5.30, Z:-1.24 [[ 9.95974169e-01 8.44000698e-02 -3.02006976e-02 8.51001487e+01] [-8.43029205e-02 9.96430110e-01 4.47802865e-03 -5.29840220e+00] [ 3.04708304e-02 -1.91399386e-03 9.99533824e-01 -1.23661732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18771942099998 meters Centerline goodness : 0.961608 with order 1 Centerline is valid? [True, True] Translation: X:85.16, Y:-5.29, Z:-1.23 [[ 9.95592940e-01 8.87840300e-02 -3.02008934e-02 8.51619328e+01] [-8.86889290e-02 9.96049313e-01 4.47670767e-03 -5.28652128e+00] [ 3.04790393e-02 -1.77849366e-03 9.99533824e-01 -1.23078312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24771942099999 meters Centerline goodness : 0.963106 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:-5.27, Z:-1.23 [[ 9.94588929e-01 9.94019966e-02 -3.02010897e-02 8.52231586e+01] [-9.93118106e-02 9.95046298e-01 4.47538295e-03 -5.27490326e+00] [ 3.04963445e-02 -1.45184143e-03 9.99533824e-01 -1.22846603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30771942099999 meters Centerline goodness : 0.965785 with order 1 Centerline is valid? [True, True] Translation: X:85.28, Y:-5.27, Z:-1.23 [[ 9.93268058e-01 1.11832171e-01 -3.02014819e-02 8.52842257e+01] [-1.11747792e-01 9.93726535e-01 4.47273469e-03 -5.26673783e+00] [ 3.05122096e-02 -1.06767557e-03 9.99533824e-01 -1.22589346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters Centerline goodness : 0.966273 with order 1 Centerline is valid? [True, True] Translation: X:85.34, Y:-5.26, Z:-1.22 [[ 9.91658694e-01 1.25303154e-01 -3.02018814e-02 8.53438340e+01] [-1.25225088e-01 9.92118287e-01 4.47003564e-03 -5.25892381e+00] [ 3.05239484e-02 -6.50716457e-04 9.99533824e-01 -1.22301876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099998 meters Centerline goodness : 0.967189 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:-5.25, Z:-1.22 [[ 9.90307298e-01 1.35570160e-01 -3.02024545e-02 8.54040308e+01] [-1.35496977e-01 9.90767694e-01 4.46616018e-03 -5.25407478e+00] [ 3.05290942e-02 -3.30529728e-04 9.99533824e-01 -1.22123202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48771942099998 meters Centerline goodness : 0.964028 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:-5.25, Z:-1.22 [[ 9.89614585e-01 1.40537406e-01 -3.02028398e-02 8.54644553e+01] [-1.40466614e-01 9.90075354e-01 4.46355276e-03 -5.24841228e+00] [ 3.05303834e-02 -1.74706264e-04 9.99533824e-01 -1.22328309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54771942099998 meters Centerline goodness : 0.962985 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:-5.25, Z:-1.22 [[ 9.89159926e-01 1.43702494e-01 -3.02032247e-02 8.55228874e+01] [-1.43633256e-01 9.89620931e-01 4.46094695e-03 -5.24836599e+00] [ 3.05307925e-02 -7.44024540e-05 9.99533824e-01 -1.22434475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60771942099998 meters Centerline goodness : 0.967768 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:-5.25, Z:-1.22 [[ 9.89449544e-01 1.41694516e-01 -3.02036961e-02 8.55812740e+01] [-1.41624440e-01 9.89910423e-01 4.45775248e-03 -5.25291753e+00] [ 3.05305927e-02 -1.33139602e-04 9.99533824e-01 -1.21704510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66771942099999 meters Centerline goodness : 0.966888 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:-5.26, Z:-1.22 [[ 9.90488702e-01 1.34238013e-01 -3.02040900e-02 8.56402511e+01] [-1.34164549e-01 9.90949053e-01 4.45508197e-03 -5.25989262e+00] [ 3.05287558e-02 -3.60390236e-04 9.99533824e-01 -1.21569498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72771942099999 meters Centerline goodness : 0.964943 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:-5.27, Z:-1.22 [[ 9.92043408e-01 1.22219356e-01 -3.02043899e-02 8.56978946e+01] [-1.22140379e-01 9.92502845e-01 4.45304825e-03 -5.27049135e+00] [ 3.05221916e-02 -7.28441551e-04 9.99533824e-01 -1.21572210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099998 meters Centerline goodness : 0.963852 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-5.28, Z:-1.22 [[ 9.93217045e-01 1.12283445e-01 -3.02047922e-02 8.57555920e+01] [-1.12199956e-01 9.93675684e-01 4.45031777e-03 -5.27640126e+00] [ 3.05134645e-02 -1.03115511e-03 9.99533824e-01 -1.21533813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84771942099998 meters Centerline goodness : 0.967345 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:-5.28, Z:-1.21 [[ 9.93365981e-01 1.10957955e-01 -3.02052843e-02 8.58143522e+01] [-1.10873955e-01 9.93824527e-01 4.44697528e-03 -5.28079420e+00] [ 3.05121796e-02 -1.06849463e-03 9.99533824e-01 -1.21019443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90771942099998 meters Centerline goodness : 0.966775 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-5.28, Z:-1.21 [[ 9.91662939e-01 1.25268644e-01 -3.02056701e-02 8.58738788e+01] [-1.25191343e-01 9.92122661e-01 4.44435332e-03 -5.27864377e+00] [ 3.05244679e-02 -6.25812059e-04 9.99533824e-01 -1.21007543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96771942099998 meters Centerline goodness : 0.973012 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-5.28, Z:-1.20 [[ 9.89103813e-01 1.44087616e-01 -3.02060540e-02 8.59334827e+01] [-1.44019145e-01 9.89564933e-01 4.44174264e-03 -5.28140222e+00] [ 3.05308519e-02 -4.30945328e-05 9.99533824e-01 -1.20121517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02771942099999 meters Centerline goodness : 0.967753 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:-5.29, Z:-1.21 [[ 9.86660909e-01 1.59961974e-01 -3.02062487e-02 8.59908628e+01] [-1.59900961e-01 9.87123075e-01 4.44041785e-03 -5.28789364e+00] [ 3.05275831e-02 4.48821471e-04 9.99533824e-01 -1.20523263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08771942099999 meters Centerline goodness : 0.967878 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:-5.30, Z:-1.20 [[ 9.85099222e-01 1.69313502e-01 -3.02069605e-02 8.60488441e+01] [-1.69257024e-01 9.85561964e-01 4.43557014e-03 -5.29575360e+00] [ 3.05218333e-02 7.43263547e-04 9.99533824e-01 -1.20394641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099998 meters Centerline goodness : 0.967586 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-5.31, Z:-1.20 [[ 9.84454032e-01 1.73025360e-01 -3.02073375e-02 8.61065456e+01] [-1.72970705e-01 9.84916993e-01 4.43300173e-03 -5.31159198e+00] [ 3.05187417e-02 8.60898043e-04 9.99533824e-01 -1.20273200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20771942099998 meters Centerline goodness : 0.964651 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:-5.32, Z:-1.20 [[ 9.85125427e-01 1.69160845e-01 -3.02076283e-02 8.61643367e+01] [-1.69104435e-01 9.85588178e-01 4.43101902e-03 -5.32478618e+00] [ 3.05218363e-02 7.43134412e-04 9.99533824e-01 -1.20257488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26771942099998 meters Centerline goodness : 0.956525 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:-5.34, Z:-1.21 [[ 9.86767009e-01 1.59305824e-01 -3.02080108e-02 8.62207926e+01] [-1.59244871e-01 9.87229183e-01 4.42840982e-03 -5.34184291e+00] [ 3.05277013e-02 4.40662082e-04 9.99533824e-01 -1.20824453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32771942099998 meters Centerline goodness : 0.960566 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:-5.36, Z:-1.20 [[ 9.88530984e-01 1.47966015e-01 -3.02084801e-02 8.62777885e+01] [-1.47899858e-01 9.88992442e-01 4.42520609e-03 -5.36131516e+00] [ 3.05307386e-02 9.33765752e-05 9.99533824e-01 -1.20102546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38771942099999 meters Centerline goodness : 0.961879 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-5.38, Z:-1.20 [[ 9.90195181e-01 1.36385264e-01 -3.02086642e-02 8.63351026e+01] [-1.36313748e-01 9.90655839e-01 4.42394920e-03 -5.37622852e+00] [ 3.05297510e-02 -2.62716951e-04 9.99533824e-01 -1.19809995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44771942099999 meters Centerline goodness : 0.959552 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:-5.39, Z:-1.20 [[ 9.91211212e-01 1.28793422e-01 -3.02090492e-02 8.63921286e+01] [-1.28718459e-01 9.91671322e-01 4.42131822e-03 -5.39194514e+00] [ 3.05268845e-02 -4.93997940e-04 9.99533824e-01 -1.19861972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters Centerline goodness : 0.958811 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:-5.40, Z:-1.20 [[ 9.92268222e-01 1.20379255e-01 -3.02094473e-02 8.64493252e+01] [-1.20300474e-01 9.92727693e-01 4.41859671e-03 -5.40382496e+00] [ 3.05216623e-02 -7.50222284e-04 9.99533824e-01 -1.19793647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099998 meters Centerline goodness : 0.966535 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:-5.41, Z:-1.18 [[ 9.92868231e-01 1.15325806e-01 -3.02098380e-02 8.65084747e+01] [-1.15244768e-01 9.93327309e-01 4.41592403e-03 -5.41122476e+00] [ 3.05175271e-02 -9.02904913e-04 9.99533824e-01 -1.18471305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62771942099998 meters Centerline goodness : 0.961108 with order 1 Centerline is valid? [True, True] Translation: X:86.57, Y:-5.42, Z:-1.19 [[ 9.92921644e-01 1.14864973e-01 -3.02100365e-02 8.65654955e+01] [-1.14783762e-01 9.93380692e-01 4.41456565e-03 -5.41842122e+00] [ 3.05171459e-02 -9.15696146e-04 9.99533824e-01 -1.18908289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68771942099998 meters Centerline goodness : 0.965160 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:-5.42, Z:-1.18 [[ 9.92501052e-01 1.18443997e-01 -3.02106169e-02 8.66240318e+01] [-1.18364563e-01 9.92960410e-01 4.41058989e-03 -5.42466196e+00] [ 3.05203545e-02 -8.01648621e-04 9.99533824e-01 -1.18153439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74771942099999 meters Centerline goodness : 0.965299 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:-5.42, Z:-1.18 [[ 9.91048839e-01 1.30036514e-01 -3.02110025e-02 8.66841728e+01] [-1.29962535e-01 9.91509107e-01 4.40794691e-03 -5.42256814e+00] [ 3.05276782e-02 -4.42192187e-04 9.99533824e-01 -1.18124464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80771942099999 meters Centerline goodness : 0.956725 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:-5.42, Z:-1.19 [[ 9.89085207e-01 1.44214163e-01 -3.02113833e-02 8.67443693e+01] [-1.44146862e-01 9.89546500e-01 4.40533578e-03 -5.42454331e+00] [ 3.05308804e-02 -2.37635600e-06 9.99533824e-01 -1.18581564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters Centerline goodness : 0.953496 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:-5.43, Z:-1.19 [[ 9.87671845e-01 1.53595531e-01 -3.02115756e-02 8.68032314e+01] [-1.53532652e-01 9.88133761e-01 4.40401654e-03 -5.43278016e+00] [ 3.05295151e-02 2.88740169e-04 9.99533824e-01 -1.18663927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099998 meters Centerline goodness : 0.959260 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.44, Z:-1.18 [[ 9.87303565e-01 1.55945160e-01 -3.02122142e-02 8.68619226e+01] [-1.55883514e-01 9.87765647e-01 4.39963151e-03 -5.44113956e+00] [ 3.05286885e-02 3.65814238e-04 9.99533824e-01 -1.17975602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98771942099998 meters Centerline goodness : 0.957833 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.45, Z:-1.18 [[ 9.87033351e-01 1.57646356e-01 -3.02124114e-02 8.69204284e+01] [-1.57585548e-01 9.87495544e-01 4.39827679e-03 -5.44908174e+00] [ 3.05279939e-02 4.19793532e-04 9.99533824e-01 -1.17877436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04771942099998 meters Centerline goodness : 0.956089 with order 1 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.47, Z:-1.18 [[ 9.87776474e-01 1.52920971e-01 -3.02128016e-02 8.69772052e+01] [-1.52858034e-01 9.88238382e-01 4.39559506e-03 -5.46511369e+00] [ 3.05296288e-02 2.76404055e-04 9.99533824e-01 -1.17976499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10771942099998 meters Centerline goodness : 0.953292 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:-5.48, Z:-1.18 [[ 9.88381414e-01 1.48960877e-01 -3.02131869e-02 8.70334833e+01] [-1.48896170e-01 9.88843078e-01 4.39294474e-03 -5.47546149e+00] [ 3.05304776e-02 1.56722883e-04 9.99533824e-01 -1.18062796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16771942099999 meters Centerline goodness : 0.951490 with order 1 Centerline is valid? [True, True] Translation: X:87.09, Y:-5.49, Z:-1.18 [[ 9.88996669e-01 1.44819581e-01 -3.02138500e-02 8.70910006e+01] [-1.44753081e-01 9.89458078e-01 4.38837945e-03 -5.49135976e+00] [ 3.05308612e-02 3.34552121e-05 9.99533824e-01 -1.18057419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22771942099999 meters Centerline goodness : 0.952479 with order 1 Centerline is valid? [True, True] Translation: X:87.15, Y:-5.51, Z:-1.18 [[ 9.89217197e-01 1.43305399e-01 -3.02142197e-02 8.71481951e+01] [-1.43238270e-01 9.89678515e-01 4.38583241e-03 -5.50720121e+00] [ 3.05308775e-02 -1.07082943e-05 9.99533824e-01 -1.17788881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099998 meters Centerline goodness : 0.951438 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.52, Z:-1.18 [[ 9.90383876e-01 1.35006872e-01 -3.02145977e-02 8.72042576e+01] [-1.34935957e-01 9.90844627e-01 4.38322694e-03 -5.52062518e+00] [ 3.05297375e-02 -2.64041643e-04 9.99533824e-01 -1.17989609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34771942099998 meters Centerline goodness : 0.949679 with order 1 Centerline is valid? [True, False] Translation: X:87.19, Y:-5.52, Z:-1.18 [[ 9.92452374e-01 1.18998918e-01 -2.96233362e-02 8.71888187e+01] [-1.18732646e-01 9.92869708e-01 1.05971988e-02 -5.52381159e+00] [ 3.06731684e-02 -6.99995799e-03 9.99504956e-01 -1.18252116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40771942099998 meters Centerline goodness : 0.955286 with order 1 Centerline is valid? [False, True] Translation: X:87.18, Y:-5.52, Z:-1.18 [[ 9.94082635e-01 1.05944506e-01 -2.39891070e-02 8.71765569e+01] [-1.05834529e-01 9.94366769e-01 5.81217283e-03 -5.52180727e+00] [ 2.44697385e-02 -3.23890425e-03 9.99695324e-01 -1.18212055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46771942099998 meters Centerline goodness : 0.960716 with order 1 Centerline is valid? [True, True] Translation: X:87.24, Y:-5.53, Z:-1.17 [[ 9.95095190e-01 9.58866278e-02 -2.43170032e-02 8.72350795e+01] [-9.58273489e-02 9.95391481e-01 3.59412979e-03 -5.52610547e+00] [ 2.45495668e-02 -1.24626732e-03 9.99697837e-01 -1.17306909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52771942099999 meters Centerline goodness : 0.962840 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-5.53, Z:-1.17 [[ 9.95381855e-01 9.28635073e-02 -2.43173292e-02 8.72947123e+01] [-9.28033825e-02 9.95677975e-01 3.59192281e-03 -5.52665672e+00] [ 2.45457876e-02 -1.31860439e-03 9.99697837e-01 -1.16784177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58771942099999 meters Centerline goodness : 0.954107 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:-5.53, Z:-1.18 [[ 9.95607347e-01 9.04138401e-02 -2.43176605e-02 8.73551268e+01] [-9.03530414e-02 9.95903330e-01 3.58967840e-03 -5.52515553e+00] [ 2.45425956e-02 -1.37673560e-03 9.99697837e-01 -1.17775435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099998 meters Centerline goodness : 0.953443 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:-5.52, Z:-1.17 [[ 9.96220741e-01 8.33839258e-02 -2.43178219e-02 8.74161625e+01] [-8.33210660e-02 9.96516293e-01 3.58858442e-03 -5.52261259e+00] [ 2.45323360e-02 -1.54883539e-03 9.99697837e-01 -1.17346513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70771942099998 meters Centerline goodness : 0.960055 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:-5.51, Z:-1.16 [[ 9.96897061e-01 7.48658164e-02 -2.43179000e-02 8.74769532e+01] [-7.48004455e-02 9.97192067e-01 3.58805551e-03 -5.51499967e+00] [ 2.45182396e-02 -1.75793224e-03 9.99697837e-01 -1.16426649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76771942099998 meters Centerline goodness : 0.962827 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:-5.51, Z:-1.16 [[ 9.97079845e-01 7.23906608e-02 -2.43181937e-02 8.75367101e+01] [-7.23246060e-02 9.97374700e-01 3.58606380e-03 -5.51261135e+00] [ 2.45139486e-02 -1.81678817e-03 9.99697837e-01 -1.16235171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82771942099998 meters Centerline goodness : 0.959736 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:-5.49, Z:-1.16 [[ 9.96781977e-01 7.63826009e-02 -2.43184986e-02 8.75983579e+01] [-7.63177775e-02 9.97077104e-01 3.58399437e-03 -5.49466290e+00] [ 2.45211730e-02 -1.71652722e-03 9.99697837e-01 -1.16388384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88771942099999 meters Centerline goodness : 0.958319 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:-5.49, Z:-1.17 [[ 9.96411454e-01 8.10728728e-02 -2.43187978e-02 8.76580650e+01] [-8.10094885e-02 9.96706894e-01 3.58196349e-03 -5.48560046e+00] [ 2.45291135e-02 -1.59905608e-03 9.99697837e-01 -1.16522153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94771942099999 meters Centerline goodness : 0.962201 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:-5.47, Z:-1.16 [[ 9.96290935e-01 8.25405504e-02 -2.43193269e-02 8.77193434e+01] [-8.24776887e-02 9.96586487e-01 3.57836727e-03 -5.47324496e+00] [ 2.45316730e-02 -1.55929299e-03 9.99697837e-01 -1.15782252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters Centerline goodness : 0.961325 with order 1 Centerline is valid? [True, True] Translation: X:87.78, Y:-5.46, Z:-1.16 [[ 9.96340026e-01 8.19457904e-02 -2.43195412e-02 8.77794917e+01] [-8.18827878e-02 9.96635548e-01 3.57691053e-03 -5.46495266e+00] [ 2.45308320e-02 -1.57246730e-03 9.99697837e-01 -1.15852519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099998 meters Centerline goodness : 0.960894 with order 1 Centerline is valid? [True, True] Translation: X:87.84, Y:-5.46, Z:-1.16 [[ 9.95929848e-01 8.67887111e-02 -2.43198903e-02 8.78400570e+01] [-8.67272037e-02 9.96225685e-01 3.57453561e-03 -5.45879450e+00] [ 2.45383287e-02 -1.45079063e-03 9.99697837e-01 -1.15619190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12771942099998 meters Centerline goodness : 0.950716 with order 1 Centerline is valid? [True, True] Translation: X:87.90, Y:-5.45, Z:-1.16 [[ 9.94797089e-01 9.89306884e-02 -2.43201656e-02 8.79016436e+01] [-9.88728400e-02 9.95093663e-01 3.57266097e-03 -5.45174121e+00] [ 2.45542885e-02 -1.14946889e-03 9.99697837e-01 -1.16355278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18771942099998 meters Centerline goodness : 0.947456 with order 1 Centerline is valid? [True, False] Translation: X:87.90, Y:-5.44, Z:-1.17 [[ 9.92849920e-01 1.17209475e-01 -2.26047648e-02 8.79043093e+01] [-1.16767949e-01 9.92958697e-01 1.99567685e-02 -5.44246701e+00] [ 2.47847202e-02 -1.71745640e-02 9.99545273e-01 -1.16522557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24771942099999 meters Centerline goodness : 0.946966 with order 1 Centerline is valid? [False, False] Translation: X:87.90, Y:-5.44, Z:-1.16 [[ 9.91925996e-01 1.24875567e-01 -2.21113168e-02 8.79049079e+01] [-1.24308381e-01 9.91918437e-01 2.54015834e-02 -5.43576234e+00] [ 2.51046600e-02 -2.24478690e-02 9.99432764e-01 -1.16414054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30771942099999 meters Centerline goodness : 0.948133 with order 1 Centerline is valid? [False, False] Translation: X:87.91, Y:-5.43, Z:-1.16 [[ 9.90478368e-01 1.36054146e-01 -2.10207405e-02 8.79063850e+01] [-1.35278867e-01 9.90198972e-01 3.47220967e-02 -5.43039361e+00] [ 2.55388009e-02 -3.15478237e-02 9.99175913e-01 -1.16439479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters Centerline goodness : 0.950435 with order 1 Centerline is valid? [False, True] Translation: X:87.91, Y:-5.43, Z:-1.16 [[ 9.88167553e-01 1.52223597e-01 -1.87846844e-02 8.79054228e+01] [-1.51633724e-01 9.87992981e-01 2.96155881e-02 -5.42610906e+00] [ 2.30673276e-02 -2.64167716e-02 9.99384837e-01 -1.16344210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099998 meters Centerline goodness : 0.952594 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:-5.43, Z:-1.15 [[ 9.87405024e-01 1.56596853e-01 -2.25553415e-02 8.79638196e+01] [-1.56564267e-01 9.87662542e-01 3.21439364e-03 -5.42755151e+00] [ 2.27804298e-02 3.57452076e-04 9.99740428e-01 -1.15426282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48771942099998 meters Centerline goodness : 0.951992 with order 1 Centerline is valid? [True, True] Translation: X:88.02, Y:-5.45, Z:-1.15 [[ 9.87732159e-01 1.54519974e-01 -2.25556960e-02 8.80207001e+01] [-1.54486904e-01 9.87989615e-01 3.21190399e-03 -5.44589083e+00] [ 2.27810967e-02 3.12058770e-04 9.99740428e-01 -1.15206564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54771942099998 meters Centerline goodness : 0.952872 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:-5.46, Z:-1.15 [[ 9.87901646e-01 1.53432502e-01 -2.25567107e-02 8.80778380e+01] [-1.53399312e-01 9.88159087e-01 3.20476161e-03 -5.45625462e+00] [ 2.27813333e-02 2.94194633e-04 9.99740428e-01 -1.15480824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60771942099998 meters Centerline goodness : 0.956756 with order 1 Centerline is valid? [True, True] Translation: X:88.13, Y:-5.47, Z:-1.15 [[ 9.87390233e-01 1.56689839e-01 -2.25570640e-02 8.81339980e+01] [-1.56657555e-01 9.87647789e-01 3.20227310e-03 -5.47455758e+00] [ 2.27801981e-02 3.71841301e-04 9.99740428e-01 -1.14637089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66771942099999 meters Centerline goodness : 0.958468 with order 1 Centerline is valid? [True, True] Translation: X:88.19, Y:-5.50, Z:-1.15 [[ 9.85747510e-01 1.66712353e-01 -2.25574182e-02 8.81900580e+01] [-1.66682743e-01 9.86005388e-01 3.19977613e-03 -5.49516001e+00] [ 2.27751781e-02 6.05760990e-04 9.99740428e-01 -1.14503093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72771942099999 meters Centerline goodness : 0.956696 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:-5.52, Z:-1.15 [[ 9.83944654e-01 1.77042552e-01 -2.25577686e-02 8.82460466e+01] [-1.77015706e-01 9.84202833e-01 3.19730421e-03 -5.51712985e+00] [ 2.27674787e-02 8.47108937e-04 9.99740428e-01 -1.14677164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099998 meters Centerline goodness : 0.957437 with order 1 Centerline is valid? [True, True] Translation: X:88.30, Y:-5.54, Z:-1.15 [[ 9.83316598e-01 1.80498119e-01 -2.25587638e-02 8.83002618e+01] [-1.80472341e-01 9.83574886e-01 3.19026657e-03 -5.54404784e+00] [ 2.27640707e-02 9.34190853e-04 9.99740428e-01 -1.14650378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84771942099998 meters Centerline goodness : 0.954892 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:-5.58, Z:-1.15 [[ 9.83482574e-01 1.79591493e-01 -2.25592942e-02 8.83561602e+01] [-1.79565563e-01 9.83740847e-01 3.18651198e-03 -5.57912574e+00] [ 2.27647696e-02 9.16993349e-04 9.99740429e-01 -1.14705617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90771942099998 meters Centerline goodness : 0.958329 with order 1 Centerline is valid? [True, True] Translation: X:88.41, Y:-5.61, Z:-1.14 [[ 9.84432898e-01 1.74307041e-01 -2.25593666e-02 8.84114292e+01] [-1.74279736e-01 9.84691029e-01 3.18599918e-03 -5.60732654e+00] [ 2.27693480e-02 7.95238049e-04 9.99740429e-01 -1.14236281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96771942099998 meters Centerline goodness : 0.960802 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:-5.63, Z:-1.14 [[ 9.85405552e-01 1.68721541e-01 -2.25596747e-02 8.84671523e+01] [-1.68692822e-01 9.85663530e-01 3.18381617e-03 -5.63167388e+00] [ 2.27734270e-02 6.68305052e-04 9.99740429e-01 -1.13806929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02771942099999 meters Centerline goodness : 0.954091 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:-5.66, Z:-1.15 [[ 9.87198526e-01 1.57892746e-01 -2.25599560e-02 8.85219137e+01] [-1.57861242e-01 9.87456178e-01 3.18182194e-03 -5.66240721e+00] [ 2.27793545e-02 4.20252742e-04 9.99740429e-01 -1.14513650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08771942099999 meters Centerline goodness : 0.953445 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:-5.69, Z:-1.14 [[ 9.88600634e-01 1.48861759e-01 -2.25602301e-02 8.85781227e+01] [-1.48827946e-01 9.88857993e-01 3.17987669e-03 -5.68671996e+00] [ 2.27822259e-02 2.13964601e-04 9.99740429e-01 -1.14281393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099998 meters Centerline goodness : 0.951268 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.71, Z:-1.14 [[ 9.89092966e-01 1.45554554e-01 -2.25605055e-02 8.86351109e+01] [-1.45519924e-01 9.89350217e-01 3.17792176e-03 -5.70847079e+00] [ 2.27828020e-02 1.39743001e-04 9.99740429e-01 -1.14391732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20771942099998 meters Centerline goodness : 0.955020 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:-5.72, Z:-1.14 [[ 9.88636226e-01 1.48625120e-01 -2.25607120e-02 8.86931216e+01] [-1.48591323e-01 9.88893588e-01 3.17645503e-03 -5.72260213e+00] [ 2.27822445e-02 2.11967530e-04 9.99740429e-01 -1.13862014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26771942099998 meters Centerline goodness : 0.954862 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:-5.74, Z:-1.14 [[ 9.86838861e-01 1.60125174e-01 -2.25608465e-02 8.87490446e+01] [-1.60094398e-01 9.87096601e-01 3.17549984e-03 -5.74250372e+00] [ 2.27782123e-02 4.78158478e-04 9.99740429e-01 -1.13608130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32771942099998 meters Centerline goodness : 0.956511 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:-5.75, Z:-1.13 [[ 9.85164919e-01 1.70120778e-01 -2.25611107e-02 8.88063645e+01] [-1.70092659e-01 9.85422963e-01 3.17362164e-03 -5.75435182e+00] [ 2.27721355e-02 7.10938596e-04 9.99740429e-01 -1.13447117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38771942099999 meters Centerline goodness : 0.955895 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:-5.77, Z:-1.13 [[ 9.83444507e-01 1.79799570e-01 -2.25613794e-02 8.88633395e+01] [-1.79774033e-01 9.83702820e-01 3.17171017e-03 -5.76974402e+00] [ 2.27639646e-02 9.36749227e-04 9.99740429e-01 -1.13434641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44771942099999 meters Centerline goodness : 0.959055 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:-5.79, Z:-1.13 [[ 9.82726637e-01 1.83682684e-01 -2.25616429e-02 8.89193133e+01] [-1.83658211e-01 9.82985053e-01 3.16983486e-03 -5.78719842e+00] [ 2.27600015e-02 1.02854981e-03 9.99740429e-01 -1.13001060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099998 meters Centerline goodness : 0.958614 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:-5.80, Z:-1.13 [[ 9.82632268e-01 1.84186820e-01 -2.25619634e-02 8.89777481e+01] [-1.84162532e-01 9.82890700e-01 3.16755207e-03 -5.80084649e+00] [ 2.27593653e-02 1.04252941e-03 9.99740429e-01 -1.12777656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099998 meters Centerline goodness : 0.959917 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:-5.83, Z:-1.13 [[ 9.82581836e-01 1.84455652e-01 -2.25620932e-02 8.90340405e+01] [-1.84431455e-01 9.82840277e-01 3.16662665e-03 -5.82612990e+00] [ 2.27590362e-02 1.04968987e-03 9.99740429e-01 -1.12507421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62771942099998 meters Centerline goodness : 0.957933 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:-5.85, Z:-1.13 [[ 9.82168181e-01 1.86645681e-01 -2.25622249e-02 8.90912186e+01] [-1.86622082e-01 9.82426678e-01 3.16568799e-03 -5.84694866e+00] [ 2.27565937e-02 1.10137138e-03 9.99740429e-01 -1.12774324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68771942099998 meters Centerline goodness : 0.949825 with order 1 Centerline is valid? [True, False] Translation: X:89.09, Y:-5.86, Z:-1.13 [[ 9.81588549e-01 1.88000306e-01 -3.37610144e-02 8.90866393e+01] [-1.87791560e-01 9.82165067e-01 9.27958323e-03 -5.86214262e+00] [ 3.49034535e-02 -2.76869905e-03 9.99386854e-01 -1.12553355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74771942099999 meters Centerline goodness : 0.949603 with order 1 Centerline is valid? [False, False] Translation: X:89.08, Y:-5.87, Z:-1.12 [[ 9.81488613e-01 1.86035187e-01 -4.55083671e-02 8.90826315e+01] [-1.85974737e-01 9.82538591e-01 5.59598204e-03 -5.86562527e+00] [ 4.57547764e-02 2.97101393e-03 9.98948284e-01 -1.12089244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80771942099999 meters Centerline goodness : 0.950207 with order 1 Centerline is valid? [False, True] Translation: X:89.08, Y:-5.87, Z:-1.12 [[ 9.81534831e-01 1.85630719e-01 -4.61585484e-02 8.90823801e+01] [-1.85554117e-01 9.82615872e-01 5.97640667e-03 -5.87374216e+00] [ 4.64655270e-02 2.69885739e-03 9.98916248e-01 -1.12131256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters Centerline goodness : 0.947400 with order 1 Centerline is valid? [True, False] Translation: X:89.07, Y:-5.88, Z:-1.12 [[ 9.82010428e-01 1.81320037e-01 -5.27120906e-02 8.90732070e+01] [-1.80986845e-01 9.83423246e-01 1.10671124e-02 -5.88396258e+00] [ 5.38449845e-02 -1.32782487e-03 9.98548424e-01 -1.12035419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099998 meters Centerline goodness : 0.948465 with order 1 Centerline is valid? [False, False] Translation: X:89.06, Y:-5.90, Z:-1.11 [[ 9.84618861e-01 1.64502108e-01 -5.88621672e-02 8.90591292e+01] [-1.64338568e-01 9.86374390e-01 7.64179357e-03 -5.90106104e+00] [ 5.93172254e-02 2.14907019e-03 9.98236870e-01 -1.11410131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98771942099998 meters Centerline goodness : 0.948119 with order 1 Centerline is valid? [False, False] Translation: X:89.05, Y:-5.91, Z:-1.11 [[ 9.86596057e-01 1.50592050e-01 -6.28510521e-02 8.90459145e+01] [-1.50330671e-01 9.88595762e-01 8.89428861e-03 -5.90990450e+00] [ 6.34736929e-02 6.73370763e-04 9.97983285e-01 -1.11097031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04771942099998 meters Centerline goodness : 0.953775 with order 1 Centerline is valid? [False, True] Translation: X:89.04, Y:-5.92, Z:-1.11 [[ 9.88215015e-01 1.39734932e-01 -6.24918629e-02 8.90396392e+01] [-1.39775753e-01 9.90176123e-01 3.73961634e-03 -5.92035734e+00] [ 6.24005055e-02 5.03930218e-03 9.98038467e-01 -1.10689282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10771942099998 meters Centerline goodness : 0.952584 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-5.94, Z:-1.10 [[ 9.88928687e-01 1.34751906e-01 -6.21448003e-02 8.91003220e+01] [-1.34585311e-01 9.90878138e-01 6.87818167e-03 -5.93700404e+00] [ 6.25047721e-02 1.56174609e-03 9.98043443e-01 -1.10298671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16771942099999 meters Centerline goodness : 0.951824 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:-5.95, Z:-1.10 [[ 9.89566682e-01 1.29984844e-01 -6.21427528e-02 8.91606658e+01] [-1.29807699e-01 9.91515203e-01 6.89663088e-03 -5.95027103e+00] [ 6.25119417e-02 1.24193159e-03 9.98043443e-01 -1.09899477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters Centerline goodness : 0.953027 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:-5.96, Z:-1.09 [[ 9.89612241e-01 1.29638229e-01 -6.21413069e-02 8.92218593e+01] [-1.29459584e-01 9.91560625e-01 6.90963486e-03 -5.96025534e+00] [ 6.25126259e-02 1.20692853e-03 9.98043443e-01 -1.09149100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099998 meters Centerline goodness : 0.955136 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-5.97, Z:-1.09 [[ 9.88665237e-01 1.36673957e-01 -6.21391817e-02 8.92820068e+01] [-1.36507978e-01 9.90614741e-01 6.92869427e-03 -5.96771990e+00] [ 6.25029615e-02 1.63233491e-03 9.98043444e-01 -1.08984737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34771942099998 meters Centerline goodness : 0.952433 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:-5.97, Z:-1.09 [[ 9.87226825e-01 1.46703570e-01 -6.21390328e-02 8.93433566e+01] [-1.46557307e-01 9.89177906e-01 6.93002990e-03 -5.97288992e+00] [ 6.24832185e-02 2.26541791e-03 9.98043444e-01 -1.08536574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40771942099998 meters Centerline goodness : 0.949740 with order 1 Centerline is valid? [True, False] Translation: X:89.34, Y:-5.97, Z:-1.08 [[ 9.86686818e-01 1.43558878e-01 -7.64197032e-02 8.93445002e+01] [-1.43890345e-01 9.89592935e-01 1.17959896e-03 -5.97061197e+00] [ 7.57937402e-02 9.83216269e-03 9.97075041e-01 -1.08057148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46771942099998 meters Centerline goodness : 0.951107 with order 1 Centerline is valid? [False, True] Translation: X:89.34, Y:-5.96, Z:-1.08 [[ 9.86318111e-01 1.39096292e-01 -8.84805337e-02 8.93436812e+01] [-1.39842275e-01 9.90171216e-01 -2.25839267e-03 -5.96433648e+00] [ 8.72967436e-02 1.46008127e-02 9.96075346e-01 -1.07810894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52771942099999 meters Centerline goodness : 0.947883 with order 1 Centerline is valid? [True, False] Translation: X:89.34, Y:-5.96, Z:-1.07 [[ 9.85659410e-01 1.34128330e-01 -1.02396870e-01 8.93429366e+01] [-1.35735854e-01 9.90705408e-01 -8.86413569e-03 -5.96188581e+00] [ 1.00256201e-01 2.26359454e-02 9.94704131e-01 -1.07280508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58771942099999 meters Centerline goodness : 0.945502 with order 1 Centerline is valid? [False, False] Translation: X:89.35, Y:-5.97, Z:-1.07 [[ 9.85527024e-01 1.34368388e-01 -1.03351929e-01 8.93461544e+01] [-1.35910583e-01 9.90688849e-01 -7.99490279e-03 -5.96566398e+00] [ 1.01315341e-01 2.19258136e-02 9.94612719e-01 -1.07491921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099998 meters Centerline goodness : 0.941572 with order 1 Centerline is valid? [False, False] Translation: X:89.34, Y:-5.97, Z:-1.07 [[ 9.86186164e-01 1.25838990e-01 -1.07709787e-01 8.93398600e+01] [-1.26976890e-01 9.91898607e-01 -3.74463025e-03 -5.96796601e+00] [ 1.06365967e-01 1.73695563e-02 9.94175326e-01 -1.07497512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70771942099998 meters Centerline goodness : 0.944792 with order 1 Centerline is valid? [False, False] Translation: X:89.33, Y:-5.98, Z:-1.07 [[ 9.87759407e-01 1.15927093e-01 -1.04366002e-01 8.93317679e+01] [-1.17165511e-01 9.93095502e-01 -5.79365811e-03 -5.97546649e+00] [ 1.02973765e-01 1.79508362e-02 9.94522082e-01 -1.07350957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76771942099998 meters Centerline goodness : 0.948748 with order 1 Centerline is valid? [False, False] Translation: X:89.32, Y:-5.98, Z:-1.07 [[ 9.89560816e-01 1.06486679e-01 -9.71080799e-02 8.93210788e+01] [-1.07216655e-01 9.94232985e-01 -2.31528178e-03 -5.98334792e+00] [ 9.63015094e-02 1.27027156e-02 9.95271149e-01 -1.07483496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82771942099998 meters Centerline goodness : 0.946271 with order 1 Centerline is valid? [False, False] Translation: X:89.32, Y:-5.99, Z:-1.08 [[ 9.90399067e-01 1.00153811e-01 -9.52832698e-02 8.93190903e+01] [-1.00867270e-01 9.94896258e-01 -2.68879941e-03 -5.98685001e+00] [ 9.45276751e-02 1.22739477e-02 9.95446568e-01 -1.07866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88771942099999 meters Centerline goodness : 0.954825 with order 1 Centerline is valid? [False, True] Translation: X:89.32, Y:-5.99, Z:-1.08 [[ 9.91216256e-01 9.73843236e-02 -8.94797583e-02 8.93249817e+01] [-9.91408898e-02 9.94954385e-01 -1.53900934e-02 -5.98734837e+00] [ 8.75295241e-02 2.41260136e-02 9.95869729e-01 -1.07864399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94771942099999 meters Centerline goodness : 0.958062 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:-6.00, Z:-1.07 [[ 9.90892793e-01 1.02667741e-01 -8.71252461e-02 8.93813821e+01] [-1.02304822e-01 9.94715641e-01 8.63236947e-03 -5.99529530e+00] [ 8.75511108e-02 3.59580108e-04 9.96159964e-01 -1.06862273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099998 meters Centerline goodness : 0.957654 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-6.00, Z:-1.06 [[ 9.90812177e-01 1.03442017e-01 -8.71262288e-02 8.94395792e+01] [-1.03082958e-01 9.94635389e-01 8.62243911e-03 -5.99670498e+00] [ 8.75507530e-02 4.38011743e-04 9.96159964e-01 -1.06101608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099998 meters Centerline goodness : 0.952721 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-6.00, Z:-1.06 [[ 9.91099534e-01 1.00650890e-01 -8.71269893e-02 8.94986864e+01] [-1.00281740e-01 9.94921785e-01 8.61474764e-03 -5.99848142e+00] [ 8.75516218e-02 1.99173757e-04 9.96159964e-01 -1.06192309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12771942099998 meters Centerline goodness : 0.953864 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-6.00, Z:-1.06 [[ 9.90943915e-01 1.02171013e-01 -8.71277283e-02 8.95573800e+01] [-1.01808385e-01 9.94766791e-01 8.60726759e-03 -5.99929077e+00] [ 8.75511839e-02 3.41013846e-04 9.96159964e-01 -1.05630216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18771942099998 meters Centerline goodness : 0.954934 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-6.00, Z:-1.05 [[ 9.89779285e-01 1.12896405e-01 -8.71284663e-02 8.96153929e+01] [-1.12575855e-01 9.93605918e-01 8.59979042e-03 -5.99847891e+00] [ 8.75422452e-02 1.29666719e-03 9.96159964e-01 -1.05157655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24771942099999 meters Centerline goodness : 0.951146 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.99, Z:-1.05 [[ 9.87376462e-01 1.32273182e-01 -8.71293765e-02 8.96736992e+01] [-1.32028505e-01 9.91208695e-01 8.59055895e-03 -5.99412369e+00] [ 8.74996961e-02 3.02144560e-03 9.96159964e-01 -1.05100004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30771942099999 meters Centerline goodness : 0.952465 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:-6.00, Z:-1.04 [[ 9.85956985e-01 1.42468041e-01 -8.71302537e-02 8.97313779e+01] [-1.42263759e-01 9.89791583e-01 8.58165226e-03 -5.99978516e+00] [ 8.74634030e-02 3.93433739e-03 9.96159964e-01 -1.04207293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters Centerline goodness : 0.955636 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:-6.01, Z:-1.03 [[ 9.85689928e-01 1.44303692e-01 -8.71309985e-02 8.97901406e+01] [-1.44107217e-01 9.89524934e-01 8.57408364e-03 -6.00582830e+00] [ 8.74555675e-02 4.10481784e-03 9.96159964e-01 -1.03455669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099998 meters Centerline goodness : 0.955031 with order 1 Centerline is valid? [True, True] Translation: X:89.85, Y:-6.01, Z:-1.03 [[ 9.85609391e-01 1.44852528e-01 -8.71313639e-02 8.98485736e+01] [-1.44658516e-01 9.89444522e-01 8.57036893e-03 -6.01265927e+00] [ 8.74530903e-02 4.15725772e-03 9.96159964e-01 -1.03335429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48771942099998 meters Centerline goodness : 0.952892 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:-6.03, Z:-1.03 [[ 9.85430534e-01 1.46063895e-01 -8.71320924e-02 8.99055195e+01] [-1.45875252e-01 9.89265933e-01 8.56295571e-03 -6.02562236e+00] [ 8.74475494e-02 4.27221789e-03 9.96159964e-01 -1.03148044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54771942099998 meters Centerline goodness : 0.950662 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:-6.04, Z:-1.03 [[ 9.85905139e-01 1.42824716e-01 -8.71329830e-02 8.99627497e+01] [-1.42624269e-01 9.89739940e-01 8.55388371e-03 -6.03860628e+00] [ 8.74606994e-02 3.99396014e-03 9.96159964e-01 -1.02953823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60771942099998 meters Centerline goodness : 0.952086 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:-6.05, Z:-1.02 [[ 9.85990622e-01 1.42233433e-01 -8.71329058e-02 9.00205534e+01] [-1.42030617e-01 9.89825298e-01 8.55467011e-03 -6.05199049e+00] [ 8.74631146e-02 3.94071590e-03 9.96159964e-01 -1.02336861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66771942099999 meters Centerline goodness : 0.954512 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:-6.06, Z:-1.01 [[ 9.85454109e-01 1.45903862e-01 -8.71335872e-02 9.00788707e+01] [-1.45715939e-01 9.89289544e-01 8.54772467e-03 -6.06249137e+00] [ 8.74474927e-02 4.27336210e-03 9.96159964e-01 -1.01455428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters Centerline goodness : 0.950362 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:-6.08, Z:-1.02 [[ 9.83749141e-01 1.56988224e-01 -8.71339514e-02 9.01371530e+01] [-1.56843818e-01 9.87586460e-01 8.54400985e-03 -6.07521816e+00] [ 8.73936196e-02 5.26125925e-03 9.96159964e-01 -1.01531117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099998 meters Centerline goodness : 0.952399 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:-6.08, Z:-1.01 [[ 9.82275749e-01 1.65957629e-01 -8.71344870e-02 9.01965362e+01] [-1.65848724e-01 9.86114240e-01 8.53854410e-03 -6.08436853e+00] [ 8.73415950e-02 6.06393871e-03 9.96159964e-01 -1.00693873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84771942099998 meters Centerline goodness : 0.957461 with order 1 Centerline is valid? [True, True] Translation: X:90.26, Y:-6.10, Z:-1.00 [[ 9.82615961e-01 1.63931251e-01 -8.71344870e-02 9.02563983e+01] [-1.63814429e-01 9.86454219e-01 8.53854410e-03 -6.10211633e+00] [ 8.73539166e-02 5.88377651e-03 9.96159964e-01 -9.95130554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90771942099998 meters Centerline goodness : 0.958018 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:-6.12, Z:-0.99 [[ 9.83686418e-01 1.57380874e-01 -8.71337602e-02 9.03176438e+01] [-1.57237828e-01 9.87523788e-01 8.54595476e-03 -6.11810274e+00] [ 8.73916308e-02 5.29418361e-03 9.96159964e-01 -9.92654599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96771942099998 meters Centerline goodness : 0.961280 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:-6.13, Z:-0.99 [[ 9.85227928e-01 1.47424823e-01 -8.71312290e-02 9.03779366e+01] [-1.47240707e-01 9.89063547e-01 8.57168447e-03 -6.13401318e+00] [ 8.74420015e-02 4.38420082e-03 9.96159965e-01 -9.85287974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02771942099999 meters Centerline goodness : 0.961096 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:-6.15, Z:-0.98 [[ 9.86948159e-01 1.35432331e-01 -8.71287292e-02 9.04385357e+01] [-1.35199349e-01 9.90781120e-01 8.59702021e-03 -6.14966757e+00] [ 8.74898144e-02 3.29493420e-03 9.96159965e-01 -9.80129194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08771942099999 meters Centerline goodness : 0.962121 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:-6.16, Z:-0.98 [[ 9.88594626e-01 1.22840107e-01 -8.71261870e-02 9.04993349e+01] [-1.22556021e-01 9.92424138e-01 8.62270720e-03 -6.16383434e+00] [ 8.75253454e-02 2.15347684e-03 9.96159965e-01 -9.75934554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099998 meters Centerline goodness : 0.965161 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:-6.17, Z:-0.96 [[ 9.89648119e-01 1.14044305e-01 -8.71234643e-02 9.05598234e+01] [-1.13723763e-01 9.93474751e-01 8.65013071e-03 -6.17269950e+00] [ 8.75414601e-02 1.34742259e-03 9.96159966e-01 -9.64955425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20771942099998 meters Centerline goodness : 0.964499 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:-6.18, Z:-0.96 [[ 9.90145807e-01 1.09641411e-01 -8.71208519e-02 9.06198242e+01] [-1.09301544e-01 9.93970771e-01 8.67636268e-03 -6.17865623e+00] [ 8.75468689e-02 9.31579483e-04 9.96159966e-01 -9.62246797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26771942099998 meters Centerline goodness : 0.960309 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:-6.18, Z:-0.96 [[ 9.90110903e-01 1.09956301e-01 -8.71206677e-02 9.06797906e+01] [-1.09617488e-01 9.93935961e-01 8.67821131e-03 -6.18189532e+00] [ 8.75465886e-02 9.57557097e-04 9.96159966e-01 -9.59996716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32771942099998 meters Centerline goodness : 0.964248 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:-6.18, Z:-0.95 [[ 9.90664642e-01 1.04849858e-01 -8.71210280e-02 9.07397423e+01] [-1.04491646e-01 9.94487932e-01 8.67459321e-03 -6.18459245e+00] [ 8.75503408e-02 5.09806855e-04 9.96159966e-01 -9.52221868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38771942099999 meters Centerline goodness : 0.964929 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:-6.18, Z:-0.95 [[ 9.91334317e-01 9.83168290e-02 -8.71210280e-02 9.07985187e+01] [-9.79334204e-02 9.95155162e-01 8.67459321e-03 -6.18486055e+00] [ 8.75517992e-02 -6.73616727e-05 9.96159966e-01 -9.46420197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44771942099999 meters Centerline goodness : 0.966171 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:-6.19, Z:-0.94 [[ 9.91940536e-01 9.19989223e-02 -8.71215845e-02 9.08568306e+01] [-9.15916696e-02 9.95758914e-01 8.66900026e-03 -6.18622060e+00] [ 8.75496331e-02 -6.19521377e-04 9.96159966e-01 -9.39377742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099998 meters Centerline goodness : 0.966512 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:-6.18, Z:-0.93 [[ 9.91751347e-01 9.40157686e-02 -8.71223307e-02 9.09158066e+01] [-9.36169405e-02 9.95570614e-01 8.66149441e-03 -6.17977694e+00] [ 8.75507493e-02 -4.33922697e-04 9.96159966e-01 -9.32944117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099998 meters Centerline goodness : 0.963882 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:-6.17, Z:-0.93 [[ 9.90328755e-01 1.07974392e-01 -8.71234086e-02 9.09762731e+01] [-1.07630349e-01 9.94153345e-01 8.65063870e-03 -6.17188848e+00] [ 8.75480756e-02 8.10146651e-04 9.96159966e-01 -9.30911232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62771942099998 meters Centerline goodness : 0.959651 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-6.17, Z:-0.93 [[ 9.88623901e-01 1.22605846e-01 -8.71239900e-02 9.10366560e+01] [-1.22318908e-01 9.92453199e-01 8.64477963e-03 -6.16650281e+00] [ 8.75263831e-02 2.11047556e-03 9.96159966e-01 -9.30859094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68771942099998 meters Centerline goodness : 0.955716 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:-6.16, Z:-0.93 [[ 9.87528879e-01 1.31133617e-01 -8.71245534e-02 9.10959667e+01] [-1.30880240e-01 9.91360544e-01 8.63909800e-03 -6.16069420e+00] [ 8.75047208e-02 2.87152368e-03 9.96159966e-01 -9.34335899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74771942099999 meters Centerline goodness : 0.950308 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-6.16, Z:-0.93 [[ 9.87314080e-01 1.32740593e-01 -8.71254359e-02 9.11552340e+01] [-1.32494237e-01 9.91146204e-01 8.63018814e-03 -6.16243467e+00] [ 8.74996214e-02 3.02291190e-03 9.96159966e-01 -9.30627982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80771942099999 meters Centerline goodness : 0.950881 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:-6.17, Z:-0.92 [[ 9.87055050e-01 1.34652608e-01 -8.71263630e-02 9.12135243e+01] [-1.34414501e-01 9.90887695e-01 8.62081907e-03 -6.16694341e+00] [ 8.74932567e-02 3.20182361e-03 9.96159966e-01 -9.24116482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099998 meters Centerline goodness : 0.954148 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:-6.17, Z:-0.92 [[ 9.86668796e-01 1.37453845e-01 -8.71270826e-02 9.12719711e+01] [-1.37227259e-01 9.90502138e-01 8.61353954e-03 -6.17114128e+00] [ 8.74835258e-02 3.45750007e-03 9.96159966e-01 -9.17572599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099998 meters Centerline goodness : 0.954257 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-6.18, Z:-0.91 [[ 9.85891615e-01 1.42921318e-01 -8.71276153e-02 9.13305354e+01] [-1.42716461e-01 9.89726180e-01 8.60814815e-03 -6.17711803e+00] [ 8.74627697e-02 3.94784386e-03 9.96159966e-01 -9.09679128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98771942099998 meters Centerline goodness : 0.956513 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:-6.18, Z:-0.91 [[ 9.85501710e-01 1.45585124e-01 -8.71283596e-02 9.13888929e+01] [-1.45391296e-01 9.89336849e-01 8.60060852e-03 -6.18277261e+00] [ 8.74514174e-02 4.19179069e-03 9.96159966e-01 -9.07165830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04771942099998 meters Centerline goodness : 0.959343 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:-6.19, Z:-0.89 [[ 9.85105378e-01 1.48242867e-01 -8.71289039e-02 9.14465561e+01] [-1.48059872e-01 9.88941049e-01 8.59509043e-03 -6.19141217e+00] [ 8.74395105e-02 4.43322453e-03 9.96159966e-01 -8.94498221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10771942099998 meters Centerline goodness : 0.955306 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-6.20, Z:-0.89 [[ 9.84682873e-01 1.51023495e-01 -8.71294616e-02 9.15059058e+01] [-1.50851828e-01 9.88519068e-01 8.58943316e-03 -6.20090997e+00] [ 8.74263404e-02 4.68577082e-03 9.96159966e-01 -8.93164008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16771942099999 meters Centerline goodness : 0.952911 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:-6.22, Z:-0.89 [[ 9.84441120e-01 1.52591201e-01 -8.71298253e-02 9.15638002e+01] [-1.52425969e-01 9.88277597e-01 8.58574291e-03 -6.21598027e+00] [ 8.74185632e-02 4.82868967e-03 9.96159966e-01 -8.94618781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters Centerline goodness : 0.954001 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:-6.23, Z:-0.89 [[ 9.84385758e-01 1.52947635e-01 -8.71303612e-02 9.16227271e+01] [-1.52784272e-01 9.88222315e-01 8.58030009e-03 -6.22705435e+00] [ 8.74165039e-02 4.86582357e-03 9.96159966e-01 -8.86511462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099998 meters Centerline goodness : 0.951345 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:-6.24, Z:-0.88 [[ 9.84700812e-01 1.50905964e-01 -8.71303612e-02 9.16819855e+01] [-1.50734646e-01 9.88537023e-01 8.58030009e-03 -6.23963999e+00] [ 8.74264063e-02 4.68453566e-03 9.96159966e-01 -8.84083889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34771942099998 meters Centerline goodness : 0.954641 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:-6.26, Z:-0.87 [[ 9.86445078e-01 1.39048226e-01 -8.71303612e-02 9.17413153e+01] [-1.38830766e-01 9.90278949e-01 8.58030009e-03 -6.25756780e+00] [ 8.74764381e-02 3.63238003e-03 9.96159966e-01 -8.73233441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40771942099998 meters Centerline goodness : 0.956757 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:-6.27, Z:-0.86 [[ 9.87378796e-01 1.32256568e-01 -8.71281390e-02 9.18023851e+01] [-1.32010747e-01 9.91210954e-01 8.60280728e-03 -6.26743159e+00] [ 8.75001435e-02 3.00762120e-03 9.96159967e-01 -8.64086946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46771942099998 meters Centerline goodness : 0.959834 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:-6.28, Z:-0.86 [[ 9.88979683e-01 1.19700902e-01 -8.71256582e-02 9.18630156e+01] [-1.19404206e-01 9.92808237e-01 8.62785837e-03 -6.27780471e+00] [ 8.75318336e-02 1.87039343e-03 9.96159967e-01 -8.59082794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52771942099999 meters Centerline goodness : 0.954385 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-6.29, Z:-0.86 [[ 9.90157013e-01 1.09538161e-01 -8.71233692e-02 9.19231402e+01] [-1.09200135e-01 9.93982139e-01 8.65091135e-03 -6.28523421e+00] [ 8.75466778e-02 9.48123141e-04 9.96159967e-01 -8.57926769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58771942099999 meters Centerline goodness : 0.958790 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-6.29, Z:-0.85 [[ 9.90611404e-01 1.05349726e-01 -8.71233692e-02 9.19809654e+01] [-1.04995525e-01 9.94435066e-01 8.65091135e-03 -6.29384229e+00] [ 8.75499046e-02 5.77872477e-04 9.96159967e-01 -8.46652810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099998 meters Centerline goodness : 0.955570 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:-6.30, Z:-0.85 [[ 9.90785190e-01 1.03702104e-01 -8.71239353e-02 9.20393795e+01] [-1.03342047e-01 9.94608306e-01 8.64520676e-03 -6.29637562e+00] [ 8.75507158e-02 4.38023006e-04 9.96159967e-01 -8.47353900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70771942099998 meters Centerline goodness : 0.958339 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:-6.30, Z:-0.84 [[ 9.90719458e-01 1.04327417e-01 -8.71248810e-02 9.20972558e+01] [-1.03970612e-01 9.94542879e-01 8.63566529e-03 -6.30061872e+00] [ 8.75503666e-02 5.02905529e-04 9.96159967e-01 -8.38422155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76771942099998 meters Centerline goodness : 0.962470 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:-6.30, Z:-0.83 [[ 9.90461963e-01 1.06743743e-01 -8.71256231e-02 9.21562324e+01] [-1.06396924e-01 9.94286301e-01 8.62817144e-03 -6.30004941e+00] [ 8.75488169e-02 7.24022688e-04 9.96159967e-01 -8.31375260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82771942099998 meters Centerline goodness : 0.958583 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:-6.30, Z:-0.83 [[ 9.89728624e-01 1.13341289e-01 -8.71263606e-02 9.22153160e+01] [-1.13020618e-01 9.93555244e-01 8.62071879e-03 -6.29676218e+00] [ 8.75419358e-02 1.31490293e-03 9.96159967e-01 -8.31443305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88771942099999 meters Centerline goodness : 0.960255 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:-6.30, Z:-0.82 [[ 9.89267632e-01 1.17296173e-01 -8.71272619e-02 9.22735435e+01] [-1.16991602e-01 9.93095567e-01 8.61159957e-03 -6.30039207e+00] [ 8.75358052e-02 1.67398120e-03 9.96159967e-01 -8.22432292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94771942099999 meters Centerline goodness : 0.961344 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:-6.29, Z:-0.82 [[ 9.88211334e-01 1.25885174e-01 -8.71279640e-02 9.23330432e+01] [-1.25614492e-01 9.92041815e-01 8.60449032e-03 -6.29415350e+00] [ 8.75177613e-02 2.44148008e-03 9.96159967e-01 -8.18615802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099998 meters Centerline goodness : 0.958277 with order 1 Centerline is valid? [True, True] Translation: X:92.39, Y:-6.30, Z:-0.82 [[ 9.86818677e-01 1.36372609e-01 -8.71287006e-02 9.23899681e+01] [-1.36143279e-01 9.90651855e-01 8.59702532e-03 -6.30310947e+00] [ 8.74866076e-02 3.37828185e-03 9.96159967e-01 -8.15856173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099998 meters Centerline goodness : 0.953699 with order 1 Centerline is valid? [True, True] Translation: X:92.45, Y:-6.31, Z:-0.81 [[ 9.86382312e-01 1.39493253e-01 -8.71296013e-02 9.24496847e+01] [-1.39276855e-01 9.90216242e-01 8.58788680e-03 -6.30797187e+00] [ 8.74750986e-02 3.66419718e-03 9.96159967e-01 -8.14929531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12771942099998 meters Centerline goodness : 0.952706 with order 1 Centerline is valid? [True, True] Translation: X:92.51, Y:-6.32, Z:-0.81 [[ 9.85820072e-01 1.43412539e-01 -8.71299548e-02 9.25078692e+01] [-1.43211696e-01 9.89654849e-01 8.58429885e-03 -6.31537126e+00] [ 8.74596783e-02 4.01545451e-03 9.96159967e-01 -8.12803653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18771942099998 meters Centerline goodness : 0.952741 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:-6.33, Z:-0.81 [[ 9.85415576e-01 1.46165636e-01 -8.71306436e-02 9.25655970e+01] [-1.45976123e-01 9.89250929e-01 8.57730137e-03 -6.32873838e+00] [ 8.74477769e-02 4.26678721e-03 9.96159967e-01 -8.05975234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24771942099999 meters Centerline goodness : 0.961037 with order 1 Centerline is valid? [True, True] Translation: X:92.62, Y:-6.34, Z:-0.79 [[ 9.85118732e-01 1.48152783e-01 -8.71311517e-02 9.26248395e+01] [-1.47971462e-01 9.88954481e-01 8.57213677e-03 -6.33883886e+00] [ 8.74387289e-02 4.44835139e-03 9.96159968e-01 -7.93956939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30771942099999 meters Centerline goodness : 0.965909 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:-6.35, Z:-0.79 [[ 9.84603017e-01 1.51542379e-01 -8.71309707e-02 9.26855501e+01] [-1.51374097e-01 9.88439361e-01 8.57397693e-03 -6.34633504e+00] [ 8.74230018e-02 4.74740848e-03 9.96159968e-01 -7.85919597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099998 meters Centerline goodness : 0.963325 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:-6.37, Z:-0.78 [[ 9.83503226e-01 1.58524483e-01 -8.71286046e-02 9.27452006e+01] [-1.58381309e-01 9.87340588e-01 8.59795410e-03 -6.36703840e+00] [ 8.73885939e-02 5.34342684e-03 9.96159968e-01 -7.80566698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099998 meters Centerline goodness : 0.964241 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:-6.38, Z:-0.78 [[ 9.83324274e-01 1.59632129e-01 -8.71260898e-02 9.28066743e+01] [-1.59491034e-01 9.87161713e-01 8.62336275e-03 -6.38149706e+00] [ 8.73841058e-02 5.41626827e-03 9.96159968e-01 -7.75141062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48771942099998 meters Centerline goodness : 0.963044 with order 1 Centerline is valid? [True, True] Translation: X:92.87, Y:-6.40, Z:-0.77 [[ 9.82964546e-01 1.61833985e-01 -8.71232558e-02 9.28660255e+01] [-1.61698966e-01 9.86802204e-01 8.65190064e-03 -6.40203330e+00] [ 8.73735924e-02 5.58322883e-03 9.96159969e-01 -7.72919330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54771942099998 meters Centerline goodness : 0.961783 with order 1 Centerline is valid? [True, True] Translation: X:92.93, Y:-6.42, Z:-0.77 [[ 9.82645670e-01 1.63760255e-01 -8.71209892e-02 9.29271681e+01] [-1.63630749e-01 9.86483516e-01 8.67466542e-03 -6.41632676e+00] [ 8.73639852e-02 5.73155032e-03 9.96159969e-01 -7.69055428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60771942099998 meters Centerline goodness : 0.957254 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:-6.44, Z:-0.76 [[ 9.82940919e-01 1.61979887e-01 -8.71186918e-02 9.29876068e+01] [-1.61841397e-01 9.86778452e-01 8.69767630e-03 -6.43839630e+00] [ 8.73756965e-02 5.55010889e-03 9.96159969e-01 -7.63614130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66771942099999 meters Centerline goodness : 0.957696 with order 1 Centerline is valid? [True, True] Translation: X:93.05, Y:-6.45, Z:-0.76 [[ 9.83822459e-01 1.56537041e-01 -8.71178748e-02 9.30470420e+01] [-1.56376592e-01 9.87659136e-01 8.70585278e-03 -6.45286784e+00] [ 8.74055534e-02 5.05818286e-03 9.96159969e-01 -7.61197098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters Centerline goodness : 0.956255 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:-6.47, Z:-0.76 [[ 9.84949942e-01 1.49279593e-01 -8.71160993e-02 9.31080262e+01] [-1.49089298e-01 9.88785255e-01 8.72358303e-03 -6.46980952e+00] [ 8.74413674e-02 4.39578553e-03 9.96159969e-01 -7.55907227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099998 meters Centerline goodness : 0.961466 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:-6.49, Z:-0.74 [[ 9.86462487e-01 1.38935198e-01 -8.71135571e-02 9.31678371e+01] [-1.38702434e-01 9.90295457e-01 8.74889625e-03 -6.48652005e+00] [ 8.74836894e-02 3.45240447e-03 9.96159970e-01 -7.41772845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84771942099998 meters Centerline goodness : 0.964047 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:-6.50, Z:-0.74 [[ 9.87920764e-01 1.28155815e-01 -8.71128647e-02 9.32282871e+01] [-1.27880606e-01 9.91750920e-01 8.75578550e-03 -6.49616552e+00] [ 8.75163685e-02 2.49002366e-03 9.96159970e-01 -7.38344719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90771942099998 meters Centerline goodness : 0.964525 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:-6.51, Z:-0.73 [[ 9.89292248e-01 1.17100046e-01 -8.71115776e-02 9.32891817e+01] [-1.16780897e-01 9.93118993e-01 8.76857193e-03 -6.50773349e+00] [ 8.75389624e-02 1.49828790e-03 9.96159970e-01 -7.29142587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96771942099998 meters Centerline goodness : 0.961142 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:-6.52, Z:-0.73 [[ 9.90647639e-01 1.05020254e-01 -8.71091323e-02 9.33500504e+01] [-1.04652305e-01 9.94470000e-01 8.79279776e-03 -6.51615380e+00] [ 8.75508407e-02 4.05607174e-04 9.96159970e-01 -7.27705892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02771942099999 meters Centerline goodness : 0.961556 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:-6.52, Z:-0.72 [[ 9.91226866e-01 9.94066842e-02 -8.71069007e-02 9.34126778e+01] [-9.90151502e-02 9.95046883e-01 8.81485043e-03 -6.51915503e+00] [ 8.75517050e-02 -1.12613711e-04 9.96159970e-01 -7.23615607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08771942099999 meters Centerline goodness : 0.959238 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:-6.52, Z:-0.72 [[ 9.91763143e-01 9.39080713e-02 -8.71041985e-02 9.34740648e+01] [-9.34930204e-02 9.95580677e-01 8.84147209e-03 -6.52397513e+00] [ 8.75495424e-02 -6.25011547e-04 9.96159971e-01 -7.20769488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099998 meters Centerline goodness : 0.954494 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:-6.52, Z:-0.72 [[ 9.92092841e-01 9.03589765e-02 -8.71036752e-02 9.35349582e+01] [-8.99298171e-02 9.95908814e-01 8.84662375e-03 -6.52027823e+00] [ 8.75466897e-02 -9.43454508e-04 9.96159971e-01 -7.18649252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20771942099998 meters Centerline goodness : 0.958577 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-6.51, Z:-0.71 [[ 9.91541861e-01 9.62168762e-02 -8.71036752e-02 9.35935627e+01] [-9.58102620e-02 9.95360302e-01 8.84662375e-03 -6.51495331e+00] [ 8.75507350e-02 -4.26371827e-04 9.96159971e-01 -7.08910500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26771942099998 meters Centerline goodness : 0.957923 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:-6.50, Z:-0.71 [[ 9.89122603e-01 1.18529867e-01 -8.71042257e-02 9.36537944e+01] [-1.18209855e-01 9.92949275e-01 8.84120038e-03 -6.49841094e+00] [ 8.75380241e-02 1.55154676e-03 9.96159971e-01 -7.08728351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32771942099998 meters Centerline goodness : 0.963270 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-6.50, Z:-0.69 [[ 9.87608039e-01 1.30549080e-01 -8.71051031e-02 9.37137079e+01] [-1.30276388e-01 9.91438374e-01 8.83254790e-03 -6.49764630e+00] [ 8.75124228e-02 2.62464286e-03 9.96159971e-01 -6.94626774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38771942099999 meters Centerline goodness : 0.963242 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:-6.49, Z:-0.69 [[ 9.86542901e-01 1.38368370e-01 -8.71051031e-02 9.37746112e+01] [-1.38126028e-01 9.90375276e-01 8.83254790e-03 -6.49232711e+00] [ 8.74888857e-02 3.31779449e-03 9.96159971e-01 -6.92401037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44771942099999 meters Centerline goodness : 0.961091 with order 1 Centerline is valid? [True, True] Translation: X:93.84, Y:-6.49, Z:-0.69 [[ 9.86694855e-01 1.37281135e-01 -8.71042622e-02 9.38362781e+01] [-1.37033840e-01 9.90526914e-01 8.84083316e-03 -6.49465114e+00] [ 8.74927956e-02 3.21302690e-03 9.96159971e-01 -6.88081927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099998 meters Centerline goodness : 0.959121 with order 1 Centerline is valid? [True, True] Translation: X:93.90, Y:-6.50, Z:-0.68 [[ 9.87232895e-01 1.33358538e-01 -8.71017302e-02 9.38964798e+01] [-1.33093822e-01 9.91063789e-01 8.86570895e-03 -6.50481881e+00] [ 8.75056887e-02 2.84018266e-03 9.96159971e-01 -6.83088592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099998 meters Centerline goodness : 0.958634 with order 1 Centerline is valid? [True, True] Translation: X:93.96, Y:-6.51, Z:-0.68 [[ 9.87576700e-01 1.30789730e-01 -8.70994183e-02 9.39582817e+01] [-1.30513053e-01 9.91406748e-01 8.88836413e-03 -6.50892099e+00] [ 8.75134578e-02 2.58966967e-03 9.96159971e-01 -6.82881024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62771942099998 meters Centerline goodness : 0.954536 with order 1 Centerline is valid? [True, True] Translation: X:94.02, Y:-6.52, Z:-0.68 [[ 9.87893109e-01 1.28379604e-01 -8.70969700e-02 9.40190852e+01] [-1.28091474e-01 9.91722313e-01 8.91229119e-03 -6.51645066e+00] [ 8.75201649e-02 2.35198817e-03 9.96159972e-01 -6.81088112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68771942099998 meters Centerline goodness : 0.956630 with order 1 Centerline is valid? [True, True] Translation: X:94.08, Y:-6.53, Z:-0.67 [[ 9.89063344e-01 1.19028902e-01 -8.70966198e-02 9.40795175e+01] [-1.18704262e-01 9.92889625e-01 8.91571146e-03 -6.52810313e+00] [ 8.75385576e-02 1.52053655e-03 9.96159972e-01 -6.65124684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74771942099999 meters Centerline goodness : 0.957958 with order 1 Centerline is valid? [True, True] Translation: X:94.14, Y:-6.53, Z:-0.66 [[ 9.90055257e-01 1.10477275e-01 -8.70939731e-02 9.41406046e+01] [-1.10117313e-01 9.93878376e-01 8.94149213e-03 -6.53004670e+00] [ 8.75486483e-02 7.37983032e-04 9.96159972e-01 -6.60122896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80771942099999 meters Centerline goodness : 0.956869 with order 1 Centerline is valid? [True, True] Translation: X:94.20, Y:-6.54, Z:-0.65 [[ 9.90705925e-01 1.04481944e-01 -8.70935860e-02 9.42009201e+01] [-1.04098514e-01 9.94526763e-01 8.94526054e-03 -6.53569984e+00] [ 8.75515204e-02 2.04190237e-04 9.96159972e-01 -6.53567427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099998 meters Centerline goodness : 0.954655 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:-6.54, Z:-0.65 [[ 9.91168827e-01 9.99953138e-02 -8.70935860e-02 9.42606796e+01] [-9.95945884e-02 9.94987890e-01 8.94526054e-03 -6.54176791e+00] [ 8.75515475e-02 -1.92213545e-04 9.96159972e-01 -6.48765697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099998 meters Centerline goodness : 0.956246 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:-6.54, Z:-0.65 [[ 9.91545377e-01 9.61895997e-02 -8.70937789e-02 9.43198766e+01] [-9.57743814e-02 9.95362891e-01 8.94338232e-03 -6.54052560e+00] [ 8.75501759e-02 -5.26416594e-04 9.96159972e-01 -6.45028997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98771942099998 meters Centerline goodness : 0.957930 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:-6.54, Z:-0.63 [[ 9.91703409e-01 9.45458749e-02 -8.70943462e-02 9.43780051e+01] [-9.41248146e-02 9.95520283e-01 8.93785413e-03 -6.54407866e+00] [ 8.75492255e-02 -6.65961222e-04 9.96159972e-01 -6.34957364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04771942099998 meters Centerline goodness : 0.955307 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:-6.54, Z:-0.64 [[ 9.91410462e-01 9.75691675e-02 -8.70950857e-02 9.44367449e+01] [-9.71603805e-02 9.95228669e-01 8.93064252e-03 -6.54332061e+00] [ 8.75508816e-02 -3.91740759e-04 9.96159972e-01 -6.35043548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10771942099998 meters Centerline goodness : 0.952300 with order 1 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.54, Z:-0.63 [[ 9.90468558e-01 1.06706717e-01 -8.70959977e-02 9.44964208e+01] [-1.06333937e-01 9.94290449e-01 8.92173933e-03 -6.54022125e+00] [ 8.75507282e-02 4.24558061e-04 9.96159972e-01 -6.33393773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16771942099999 meters Centerline goodness : 0.953105 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.54, Z:-0.62 [[ 9.89905875e-01 1.11805723e-01 -8.70967222e-02 9.45543766e+01] [-1.11453252e-01 9.93729692e-01 8.91466139e-03 -6.54457492e+00] [ 8.75473091e-02 8.82537221e-04 9.96159972e-01 -6.24272785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099997 meters Centerline goodness : 0.948799 with order 1 Centerline is valid? [True, False] Translation: X:94.57, Y:-6.54, Z:-0.62 [[ 9.87723134e-01 1.25323384e-01 -9.32580333e-02 9.45724111e+01] [-1.25891509e-01 9.92043993e-01 -2.10659050e-04 -6.53950946e+00] [ 9.24896712e-02 1.19484674e-02 9.95641951e-01 -6.23428575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099998 meters Centerline goodness : 0.945171 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.53, Z:-0.62 [[ 9.86725541e-01 1.31905991e-01 -9.47286423e-02 9.45775549e+01] [-1.32408370e-01 9.91194755e-01 9.90261140e-04 -6.53400715e+00] [ 9.40251548e-02 1.15657492e-02 9.95502639e-01 -6.23895044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34771942099998 meters Centerline goodness : 0.945301 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.54, Z:-0.62 [[ 9.86310628e-01 1.33680147e-01 -9.65451369e-02 9.45774546e+01] [-1.34352321e-01 9.90933518e-01 -4.65931996e-04 -6.53646325e+00] [ 9.56075263e-02 1.34306169e-02 9.95328498e-01 -6.19624628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40771942099998 meters Centerline goodness : 0.947011 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.54, Z:-0.62 [[ 9.86863679e-01 1.29604092e-01 -9.64513251e-02 9.45770821e+01] [-1.30300280e-01 9.91474143e-01 -9.28014212e-04 -6.54124403e+00] [ 9.55087204e-02 1.34834582e-02 9.95337270e-01 -6.21504659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46771942099998 meters Centerline goodness : 0.949192 with order 1 Centerline is valid? [False, False] Translation: X:94.57, Y:-6.55, Z:-0.62 [[ 9.88021102e-01 1.20903362e-01 -9.58993134e-02 9.45738517e+01] [-1.21902437e-01 9.92531396e-01 -4.60689370e-03 -6.54701174e+00] [ 9.46260905e-02 1.62420682e-02 9.95380379e-01 -6.22050297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52771942099999 meters Centerline goodness : 0.950633 with order 1 Centerline is valid? [False, True] Translation: X:94.57, Y:-6.55, Z:-0.62 [[ 9.88825663e-01 1.13291939e-01 -9.68955357e-02 9.45717830e+01] [-1.14791679e-01 9.93338971e-01 -1.00279144e-02 -6.55307394e+00] [ 9.51140298e-02 2.10386604e-02 9.95244038e-01 -6.20364284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58771942099999 meters Centerline goodness : 0.946494 with order 1 Centerline is valid? [True, False] Translation: X:94.58, Y:-6.55, Z:-0.62 [[ 9.89293669e-01 1.08705814e-01 -9.73708531e-02 9.45758841e+01] [-1.10521061e-01 9.93783025e-01 -1.34310591e-02 -6.55397736e+00] [ 9.53054668e-02 2.40487917e-02 9.95157537e-01 -6.24110797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099998 meters Centerline goodness : 0.948237 with order 1 Centerline is valid? [False, False] Translation: X:94.57, Y:-6.55, Z:-0.62 [[ 9.89754977e-01 1.04059657e-01 -9.77582404e-02 9.45746141e+01] [-1.06258366e-01 9.94183723e-01 -1.75466420e-02 -6.55287727e+00] [ 9.53637538e-02 2.77545071e-02 9.95055497e-01 -6.22560023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70771942099998 meters Centerline goodness : 0.947050 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.55, Z:-0.62 [[ 9.89868698e-01 1.02533287e-01 -9.82185643e-02 9.45764444e+01] [-1.04958317e-01 9.94278772e-01 -1.98361865e-02 -6.54805279e+00] [ 9.56227641e-02 2.99440753e-02 9.94967155e-01 -6.23393047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76771942099998 meters Centerline goodness : 0.946305 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.54, Z:-0.62 [[ 9.89555151e-01 1.05351424e-01 -9.83955289e-02 9.45789085e+01] [-1.07651348e-01 9.94019342e-01 -1.83503599e-02 -6.54221556e+00] [ 9.58738223e-02 2.87511045e-02 9.94978183e-01 -6.24590296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82771942099998 meters Centerline goodness : 0.950354 with order 1 Centerline is valid? [False, True] Translation: X:94.59, Y:-6.54, Z:-0.62 [[ 9.89412734e-01 1.11695847e-01 -9.26632636e-02 9.45871559e+01] [-1.14309733e-01 9.93169987e-01 -2.33808065e-02 -6.53651049e+00] [ 8.94188333e-02 3.37255805e-02 9.95422954e-01 -6.24720270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88771942099999 meters Centerline goodness : 0.945722 with order 1 Centerline is valid? [True, False] Translation: X:94.59, Y:-6.53, Z:-0.62 [[ 9.88932873e-01 1.15643902e-01 -9.29422417e-02 9.45888808e+01] [-1.18085515e-01 9.92777182e-01 -2.11961853e-02 -6.53144769e+00] [ 8.98197273e-02 3.19367369e-02 9.95445861e-01 -6.24895600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94771942099999 meters Centerline goodness : 0.945227 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.53, Z:-0.62 [[ 9.88280891e-01 1.20498834e-01 -9.37065183e-02 9.45912904e+01] [-1.22884246e-01 9.92217529e-01 -2.00956819e-02 -6.52701252e+00] [ 9.05557439e-02 3.13752333e-02 9.95397032e-01 -6.23807210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099998 meters Centerline goodness : 0.950394 with order 1 Centerline is valid? [False, True] Translation: X:94.59, Y:-6.52, Z:-0.62 [[ 9.88308220e-01 1.20054677e-01 -9.39879651e-02 9.45915193e+01] [-1.22702883e-01 9.92179166e-01 -2.29020674e-02 -6.52205130e+00] [ 9.05034006e-02 3.41668958e-02 9.95309880e-01 -6.22349164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099998 meters Centerline goodness : 0.943506 with order 1 Centerline is valid? [True, False] Translation: X:94.60, Y:-6.52, Z:-0.62 [[ 9.87609171e-01 1.24998297e-01 -9.48870442e-02 9.45961267e+01] [-1.27487237e-01 9.91625970e-01 -2.06140594e-02 -6.51885209e+00] [ 9.15157350e-02 3.24555212e-02 9.95274590e-01 -6.23956787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12771942099998 meters Centerline goodness : 0.940431 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.52, Z:-0.62 [[ 9.87047699e-01 1.27815004e-01 -9.69544447e-02 9.46002304e+01] [-1.30531796e-01 9.91195770e-01 -2.21899852e-02 -6.51614409e+00] [ 9.32646224e-02 3.45582116e-02 9.95041426e-01 -6.23057206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18771942099998 meters Centerline goodness : 0.938957 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.52, Z:-0.62 [[ 9.86794173e-01 1.29032526e-01 -9.79176589e-02 9.46017590e+01] [-1.31818200e-01 9.91018364e-01 -2.25069667e-02 -6.51648377e+00] [ 9.41340674e-02 3.51170732e-02 9.94939982e-01 -6.22348071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24771942099999 meters Centerline goodness : 0.935672 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.52, Z:-0.62 [[ 9.86482980e-01 1.30467072e-01 -9.91447135e-02 9.46050486e+01] [-1.33242371e-01 9.90841979e-01 -2.18779139e-02 -6.51848275e+00] [ 9.53823968e-02 3.47924663e-02 9.94832490e-01 -6.23399679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30771942099999 meters Centerline goodness : 0.936481 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.52, Z:-0.62 [[ 9.86856631e-01 1.27228096e-01 -9.96343335e-02 9.46024202e+01] [-1.30147227e-01 9.91219887e-01 -2.33417008e-02 -6.52483558e+00] [ 9.57898127e-02 3.60020445e-02 9.94750303e-01 -6.21428415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099998 meters Centerline goodness : 0.935374 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.53, Z:-0.62 [[ 9.87358023e-01 1.23356490e-01 -9.95354787e-02 9.46006035e+01] [-1.26142580e-01 9.91764215e-01 -2.21763706e-02 -6.53391481e+00] [ 9.59801267e-02 3.44516795e-02 9.94786860e-01 -6.21996649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099998 meters Centerline goodness : 0.934655 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.54, Z:-0.62 [[ 9.88314142e-01 1.17288875e-01 -9.73574669e-02 9.45957260e+01] [-1.19863633e-01 9.92567971e-01 -2.10126945e-02 -6.54153386e+00] [ 9.41693480e-02 3.24367628e-02 9.95027633e-01 -6.23085780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48771942099998 meters Centerline goodness : 0.938481 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.55, Z:-0.62 [[ 9.89549440e-01 1.11655838e-01 -9.12407801e-02 9.45841067e+01] [-1.13823449e-01 9.93321338e-01 -1.88929087e-02 -6.54927930e+00] [ 8.85219103e-02 2.90808075e-02 9.95649626e-01 -6.17617995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54771942099998 meters Centerline goodness : 0.944498 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.55, Z:-0.62 [[ 9.89474901e-01 1.12933760e-01 -9.04731253e-02 9.45808776e+01] [-1.14884903e-01 9.93239434e-01 -1.66399036e-02 -6.55206223e+00] [ 8.79822689e-02 2.68587632e-02 9.95759874e-01 -6.15121512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60771942099998 meters Centerline goodness : 0.941848 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.55, Z:-0.62 [[ 9.89023885e-01 1.16920853e-01 -9.03397432e-02 9.45827544e+01] [-1.18582003e-01 9.92856172e-01 -1.32260946e-02 -6.55161003e+00] [ 8.81479654e-02 2.37935911e-02 9.95823178e-01 -6.16606327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66771942099999 meters Centerline goodness : 0.934177 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.55, Z:-0.61 [[ 9.87348478e-01 1.24758381e-01 -9.78689437e-02 9.45933999e+01] [-1.26999149e-01 9.91757381e-01 -1.69856795e-02 -6.55253323e+00] [ 9.49431414e-02 2.92000573e-02 9.95054349e-01 -6.12845229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099997 meters Centerline goodness : 0.936518 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.55, Z:-0.61 [[ 9.86024764e-01 1.32771860e-01 -1.00631989e-01 9.45961954e+01] [-1.35014815e-01 9.90717834e-01 -1.57852505e-02 -6.55276390e+00] [ 9.76020690e-02 2.91514572e-02 9.94798486e-01 -6.07750952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099998 meters Centerline goodness : 0.935005 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.56, Z:-0.61 [[ 9.84923061e-01 1.40266962e-01 -1.01250891e-01 9.45994985e+01] [-1.41969929e-01 9.89822675e-01 -9.77806067e-03 -6.55558453e+00] [ 9.88488893e-02 2.40052193e-02 9.94812870e-01 -6.08712055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84771942099998 meters Centerline goodness : 0.930615 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.56, Z:-0.60 [[ 9.84329000e-01 1.41574047e-01 -1.05134243e-01 9.46017833e+01] [-1.43705500e-01 9.89535837e-01 -1.29443864e-02 -6.56377652e+00] [ 1.02201512e-01 2.78499039e-02 9.94373790e-01 -6.04118932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90771942099998 meters Centerline goodness : 0.930478 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.57, Z:-0.60 [[ 9.83782192e-01 1.44659263e-01 -1.06048558e-01 9.46014692e+01] [-1.46506555e-01 9.89161160e-01 -9.79942811e-03 -6.57101869e+00] [ 1.03481536e-01 2.51773117e-02 9.94312664e-01 -6.02299922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96771942099998 meters Centerline goodness : 0.930508 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.58, Z:-0.60 [[ 9.83709370e-01 1.43748348e-01 -1.07945767e-01 9.46022818e+01] [-1.45823324e-01 9.89243343e-01 -1.15398155e-02 -6.57701895e+00] [ 1.05125802e-01 2.70928353e-02 9.94089807e-01 -6.00651354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02771942099999 meters Centerline goodness : 0.926515 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.59, Z:-0.60 [[ 9.83926025e-01 1.39470241e-01 -1.11524119e-01 9.46035340e+01] [-1.42335656e-01 9.89652603e-01 -1.81186779e-02 -6.58568906e+00] [ 1.07843119e-01 3.37012974e-02 9.93596540e-01 -5.97270162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08771942099999 meters Centerline goodness : 0.928470 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.59, Z:-0.60 [[ 9.84019503e-01 1.37491491e-01 -1.13144632e-01 9.46052729e+01] [-1.40660445e-01 9.89846052e-01 -2.04800794e-02 -6.58966073e+00] [ 1.09179930e-01 3.60677717e-02 9.93367434e-01 -5.97047637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099998 meters Centerline goodness : 0.922346 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.60, Z:-0.60 [[ 9.83672469e-01 1.39041021e-01 -1.14263155e-01 9.46085945e+01] [-1.42033979e-01 9.89689944e-01 -1.84435154e-02 -6.59512222e+00] [ 1.10520690e-01 3.43716288e-02 9.93279300e-01 -5.99017609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20771942099998 meters Centerline goodness : 0.913244 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.61, Z:-0.60 [[ 9.83670525e-01 1.32911863e-01 -1.21353761e-01 9.46180337e+01] [-1.37548219e-01 9.90021496e-01 -3.06255610e-02 -6.60824961e+00] [ 1.16072331e-01 4.68174553e-02 9.92136755e-01 -5.97325730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26771942099998 meters Centerline goodness : 0.910979 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.62, Z:-0.60 [[ 9.84872434e-01 1.21854107e-01 -1.23198478e-01 9.46213319e+01] [-1.27281602e-01 9.91170309e-01 -3.71592912e-02 -6.61770021e+00] [ 1.17582661e-01 5.22780611e-02 9.91686101e-01 -6.01471783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32771942099998 meters Centerline goodness : 0.911962 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.63, Z:-0.61 [[ 9.86327489e-01 1.22033981e-01 -1.10751036e-01 9.46227884e+01] [-1.26448998e-01 9.91399464e-01 -3.37306004e-02 -6.62951775e+00] [ 1.05682238e-01 4.72737759e-02 9.93275619e-01 -6.07531147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38771942099999 meters Centerline goodness : 0.913478 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.64, Z:-0.61 [[ 9.87944181e-01 1.08173450e-01 -1.10746560e-01 9.46183688e+01] [-1.13255658e-01 9.92733599e-01 -4.06590438e-02 -6.63781806e+00] [ 1.05543602e-01 5.27115401e-02 9.93016637e-01 -6.05415218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44771942099999 meters Centerline goodness : 0.919999 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.64, Z:-0.60 [[ 9.89520207e-01 9.90702291e-02 -1.05046891e-01 9.46087065e+01] [-1.03789559e-01 9.93776773e-01 -4.04407359e-02 -6.64200892e+00] [ 1.00386687e-01 5.09196958e-02 9.93644654e-01 -6.03189608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099998 meters Centerline goodness : 0.924279 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.64, Z:-0.60 [[ 9.90209705e-01 9.34261796e-02 -1.03712527e-01 9.46065430e+01] [-9.83611862e-02 9.94198521e-01 -4.35244594e-02 -6.64096703e+00] [ 9.90445171e-02 5.32996293e-02 9.93654534e-01 -6.04385082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099998 meters Centerline goodness : 0.921424 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.64, Z:-0.61 [[ 9.90498241e-01 9.16598286e-02 -1.02526628e-01 9.46047841e+01] [-9.65123167e-02 9.94384943e-01 -4.34045929e-02 -6.64057336e+00] [ 9.79724778e-02 5.28872554e-02 9.93782839e-01 -6.05075407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62771942099998 meters Centerline goodness : 0.919332 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.64, Z:-0.61 [[ 9.91149008e-01 8.58364896e-02 -1.01270628e-01 9.46039169e+01] [-9.07750909e-02 9.94845044e-01 -4.52020010e-02 -6.64213964e+00] [ 9.68686012e-02 5.39947689e-02 9.93831494e-01 -6.07953607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68771942099998 meters Centerline goodness : 0.916048 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.64, Z:-0.61 [[ 9.91330224e-01 8.73603953e-02 -9.81455474e-02 9.46025109e+01] [-9.15343290e-02 9.95043636e-01 -3.88539421e-02 -6.64068727e+00] [ 9.42648066e-02 4.75007740e-02 9.94413306e-01 -6.12501101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74771942099999 meters Centerline goodness : 0.917203 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.64, Z:-0.61 [[ 9.91263778e-01 8.79104739e-02 -9.83253286e-02 9.46021809e+01] [-9.21271816e-02 9.94975667e-01 -3.91918929e-02 -6.64051464e+00] [ 9.43859315e-02 4.79079392e-02 9.94382283e-01 -6.11481994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80771942099999 meters Centerline goodness : 0.921738 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.63, Z:-0.61 [[ 9.91582705e-01 9.43018239e-02 -8.87181205e-02 9.45902760e+01] [-9.70349981e-02 9.94914495e-01 -2.70065950e-02 -6.63225240e+00] [ 8.57201729e-02 3.53880352e-02 9.95690584e-01 -6.11786205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099998 meters Centerline goodness : 0.926648 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.62, Z:-0.61 [[ 9.91801091e-01 9.43706332e-02 -8.61671552e-02 9.45861200e+01] [-9.71731759e-02 9.94847178e-01 -2.89217374e-02 -6.62132753e+00] [ 8.29937885e-02 3.70577469e-02 9.95860811e-01 -6.09949522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099998 meters Centerline goodness : 0.936537 with order 1 Centerline is valid? [False, False] Translation: X:94.57, Y:-6.61, Z:-0.60 [[ 9.93150104e-01 9.06597996e-02 -7.37134391e-02 9.45689043e+01] [-9.30843788e-02 9.95201830e-01 -3.01432418e-02 -6.61190501e+00] [ 7.06269693e-02 3.67983334e-02 9.96823813e-01 -6.03894827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98771942099998 meters Centerline goodness : 0.938898 with order 1 Centerline is valid? [False, False] Translation: X:94.57, Y:-6.60, Z:-0.61 [[ 9.93441345e-01 8.69333062e-02 -7.42757945e-02 9.45732469e+01] [-8.95976747e-02 9.95420547e-01 -3.33195398e-02 -6.60423101e+00] [ 7.10390742e-02 3.97559469e-02 9.96680949e-01 -6.06071565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04771942099998 meters Centerline goodness : 0.939445 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.59, Z:-0.61 [[ 9.93756593e-01 8.29604537e-02 -7.46015841e-02 9.45767027e+01] [-8.59221404e-02 9.95599528e-01 -3.74027578e-02 -6.58954875e+00] [ 7.11703521e-02 4.35791650e-02 9.96511735e-01 -6.06978229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10771942099998 meters Centerline goodness : 0.938952 with order 1 Centerline is valid? [False, False] Translation: X:94.58, Y:-6.58, Z:-0.61 [[ 9.93556645e-01 8.48746839e-02 -7.51097902e-02 9.45791920e+01] [-8.78305299e-02 9.95449481e-01 -3.69611811e-02 -6.57902986e+00] [ 7.16309331e-02 4.33199597e-02 9.96490035e-01 -6.06984787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16771942099999 meters Centerline goodness : 0.936522 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.57, Z:-0.61 [[ 9.92719341e-01 9.35129193e-02 -7.59186622e-02 9.45855960e+01] [-9.60375432e-02 9.94916241e-01 -3.03061779e-02 -6.56611973e+00] [ 7.26986908e-02 3.73765707e-02 9.96653346e-01 -6.09035655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099997 meters Centerline goodness : 0.934330 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.55, Z:-0.61 [[ 9.91963907e-01 1.03733330e-01 -7.24361976e-02 9.45986735e+01] [-1.06390887e-01 9.93748449e-01 -3.38378398e-02 -6.55358175e+00] [ 6.84732472e-02 4.12724671e-02 9.96798875e-01 -6.12812237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099998 meters Centerline goodness : 0.936553 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.62 [[ 9.91082779e-01 1.14895229e-01 -6.74834209e-02 9.46101173e+01] [-1.17674979e-01 9.92295467e-01 -3.87595944e-02 -6.54114636e+00] [ 6.25102002e-02 4.63550766e-02 9.96967242e-01 -6.16635530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34771942099998 meters Centerline goodness : 0.940844 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.53, Z:-0.61 [[ 9.90354881e-01 1.20752243e-01 -6.79419329e-02 9.46115976e+01] [-1.23792047e-01 9.91399662e-01 -4.24527924e-02 -6.52815835e+00] [ 6.22313394e-02 5.04540011e-02 9.96785661e-01 -6.13451615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40771942099998 meters Centerline goodness : 0.941684 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.52, Z:-0.61 [[ 9.89279024e-01 1.27306858e-01 -7.15540090e-02 9.46173936e+01] [-1.30863312e-01 9.90265965e-01 -4.74142650e-02 -6.51546860e+00] [ 6.48213387e-02 5.62697324e-02 9.96309144e-01 -6.11355620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46771942099998 meters Centerline goodness : 0.943442 with order 1 Centerline is valid? [False, False] Translation: X:94.63, Y:-6.51, Z:-0.61 [[ 9.87572392e-01 1.35851316e-01 -7.90265205e-02 9.46281540e+01] [-1.40147055e-01 9.88785368e-01 -5.15974755e-02 -6.50824013e+00] [ 7.11306822e-02 6.20315764e-02 9.95536292e-01 -6.08987974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52771942099999 meters Centerline goodness : 0.941675 with order 1 Centerline is valid? [False, False] Translation: X:94.63, Y:-6.50, Z:-0.61 [[ 9.85958351e-01 1.40063942e-01 -9.09297713e-02 9.46312180e+01] [-1.45147118e-01 9.88048007e-01 -5.18984526e-02 -6.50152394e+00] [ 8.25738775e-02 6.43679069e-02 9.94504061e-01 -6.06332741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58771942099999 meters Centerline goodness : 0.947036 with order 1 Centerline is valid? [False, False] Translation: X:94.63, Y:-6.50, Z:-0.60 [[ 9.86055430e-01 1.38909323e-01 -9.16454478e-02 9.46293396e+01] [-1.44288642e-01 9.88010698e-01 -5.49149132e-02 -6.50204988e+00] [ 8.29184894e-02 6.73725456e-02 9.94276352e-01 -6.02750223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099998 meters Centerline goodness : 0.948326 with order 1 Centerline is valid? [False, False] Translation: X:94.63, Y:-6.51, Z:-0.60 [[ 9.86425657e-01 1.35909308e-01 -9.21579240e-02 9.46284067e+01] [-1.41285747e-01 9.88465370e-01 -5.45394380e-02 -6.51107340e+00] [ 8.36824992e-02 6.68197021e-02 9.94249650e-01 -6.03455786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70771942099998 meters Centerline goodness : 0.947500 with order 1 Centerline is valid? [False, False] Translation: X:94.63, Y:-6.52, Z:-0.61 [[ 9.87170136e-01 1.31081355e-01 -9.11745614e-02 9.46281794e+01] [-1.36256193e-01 9.89253036e-01 -5.30347177e-02 -6.51908408e+00] [ 8.32428490e-02 6.47773882e-02 9.94421700e-01 -6.08616053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76771942099998 meters Centerline goodness : 0.947645 with order 1 Centerline is valid? [False, False] Translation: X:94.62, Y:-6.53, Z:-0.61 [[ 9.88582949e-01 1.24262407e-01 -8.52209335e-02 9.46194451e+01] [-1.28649039e-01 9.90525239e-01 -4.80538813e-02 -6.53085632e+00] [ 7.84421946e-02 5.84688389e-02 9.95202601e-01 -6.09681340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82771942099998 meters Centerline goodness : 0.948997 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.61 [[ 9.89662095e-01 1.17263079e-01 -8.25730407e-02 9.46142243e+01] [-1.21486242e-01 9.91426499e-01 -4.81101930e-02 -6.53667065e+00] [ 7.62235513e-02 5.76443228e-02 9.95423077e-01 -6.11336524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88771942099999 meters Centerline goodness : 0.945732 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.62 [[ 9.90126646e-01 1.14946758e-01 -8.02275979e-02 9.46124201e+01] [-1.18836596e-01 9.91870400e-01 -4.55079523e-02 -6.53822657e+00] [ 7.43443880e-02 5.45926109e-02 9.95737194e-01 -6.15371308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94771942099999 meters Centerline goodness : 0.943819 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.61 [[ 9.90839017e-01 1.09001187e-01 -7.97294409e-02 9.46096292e+01] [-1.13139980e-01 9.92351894e-01 -4.93666154e-02 -6.53950648e+00] [ 7.37386420e-02 5.79349560e-02 9.95593368e-01 -6.14712531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099998 meters Centerline goodness : 0.942850 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.62 [[ 9.91040603e-01 1.08624843e-01 -7.77120742e-02 9.46086150e+01] [-1.12412470e-01 9.92589958e-01 -4.61368895e-02 -6.53764543e+00] [ 7.21246121e-02 5.44593370e-02 9.95907737e-01 -6.17794725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099998 meters Centerline goodness : 0.941997 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.54, Z:-0.62 [[ 9.91575989e-01 1.04964392e-01 -7.58916022e-02 9.46057301e+01] [-1.08688494e-01 9.92977381e-01 -4.67197118e-02 -6.53601806e+00] [ 7.04547383e-02 5.45746884e-02 9.96020950e-01 -6.18872709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12771942099998 meters Centerline goodness : 0.946720 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.53, Z:-0.62 [[ 9.93845831e-01 8.96657702e-02 -6.50423938e-02 9.45877750e+01] [-9.27305143e-02 9.94640370e-01 -4.57338673e-02 -6.53125472e+00] [ 6.05930282e-02 5.14838280e-02 9.96833938e-01 -6.19736476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18771942099998 meters Centerline goodness : 0.945568 with order 1 Centerline is valid? [False, False] Translation: X:94.59, Y:-6.53, Z:-0.62 [[ 9.94014216e-01 8.75917945e-02 -6.52948337e-02 9.45898798e+01] [-9.07837886e-02 9.94730873e-01 -4.76318580e-02 -6.52808251e+00] [ 6.07786270e-02 5.32744564e-02 9.96728544e-01 -6.21170320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24771942099999 meters Centerline goodness : 0.943590 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.52, Z:-0.62 [[ 9.93827847e-01 8.89819581e-02 -6.62451625e-02 9.45980136e+01] [-9.21252856e-02 9.94684013e-01 -4.60070291e-02 -6.51740059e+00] [ 6.17992085e-02 5.18259211e-02 9.96742159e-01 -6.24748950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30771942099999 meters Centerline goodness : 0.943616 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.51, Z:-0.62 [[ 9.93227081e-01 9.55870750e-02 -6.60535909e-02 9.46006445e+01] [-9.84198728e-02 9.94298123e-01 -4.10459698e-02 -6.50571139e+00] [ 6.17534972e-02 4.72689547e-02 9.96971490e-01 -6.24797998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099998 meters Centerline goodness : 0.944248 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.50, Z:-0.62 [[ 9.92812424e-01 9.92395300e-02 -6.68954900e-02 9.46034342e+01] [-1.02198326e-01 9.93861928e-01 -4.23552819e-02 -6.49688331e+00] [ 6.22815624e-02 4.88874572e-02 9.96860584e-01 -6.23726382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099998 meters Centerline goodness : 0.941076 with order 1 Centerline is valid? [False, False] Translation: X:94.61, Y:-6.48, Z:-0.63 [[ 9.92875562e-01 9.98358261e-02 -6.50455719e-02 9.46056991e+01] [-1.02623152e-01 9.93874431e-01 -4.10134710e-02 -6.48399374e+00] [ 6.05525170e-02 4.73964547e-02 9.97039101e-01 -6.27389499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48771942099998 meters Centerline goodness : 0.946864 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.48, Z:-0.63 [[ 9.93422735e-01 9.50730631e-02 -6.38152220e-02 9.46031108e+01] [-9.80907245e-02 9.94116417e-01 -4.59430039e-02 -6.47651872e+00] [ 5.90718177e-02 5.19005059e-02 9.96903635e-01 -6.26399876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54771942099998 meters Centerline goodness : 0.948180 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.46, Z:-0.63 [[ 9.94320015e-01 8.82149843e-02 -5.95468167e-02 9.45951785e+01] [-9.11652128e-02 9.94639883e-01 -4.87894127e-02 -6.46260972e+00] [ 5.49236815e-02 5.39408878e-02 9.97032482e-01 -6.26349547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60771942099998 meters Centerline goodness : 0.949717 with order 1 Centerline is valid? [False, False] Translation: X:94.60, Y:-6.45, Z:-0.63 [[ 9.94458265e-01 8.77069334e-02 -5.79676967e-02 9.45953655e+01] [-9.06901365e-02 9.94572127e-01 -5.10057266e-02 -6.44743268e+00] [ 5.31794995e-02 5.59801647e-02 9.97014625e-01 -6.26915578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66771942099999 meters Centerline goodness : 0.953114 with order 1 Centerline is valid? [False, True] Translation: X:94.60, Y:-6.43, Z:-0.63 [[ 9.94231905e-01 9.03561138e-02 -5.77814177e-02 9.45988898e+01] [-9.33343832e-02 9.94322371e-01 -5.11049473e-02 -6.43365393e+00] [ 5.28357118e-02 5.62031621e-02 9.97020357e-01 -6.28069348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099997 meters Centerline goodness : 0.956469 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:-6.44, Z:-0.62 [[ 9.94488900e-01 9.25129621e-02 -4.93272669e-02 9.46566636e+01] [-9.22680758e-02 9.95708000e-01 7.22357693e-03 -6.43951995e+00] [ 4.97838288e-02 -2.63243508e-03 9.98756547e-01 -6.16556697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099998 meters Centerline goodness : 0.957554 with order 1 Centerline is valid? [True, True] Translation: X:94.72, Y:-6.43, Z:-0.61 [[ 9.94224873e-01 9.53082152e-02 -4.93279377e-02 9.47166051e+01] [-9.50669837e-02 9.95444702e-01 7.21899316e-03 -6.42820754e+00] [ 4.97912636e-02 -2.48784432e-03 9.98756547e-01 -6.14583312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84771942099998 meters Centerline goodness : 0.959202 with order 1 Centerline is valid? [True, True] Translation: X:94.78, Y:-6.42, Z:-0.61 [[ 9.93590430e-01 1.01709056e-01 -4.93287508e-02 9.47768176e+01] [-1.01475961e-01 9.94811839e-01 7.21343292e-03 -6.41731587e+00] [ 4.98064967e-02 -2.16151552e-03 9.98756547e-01 -6.12657656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90771942099998 meters Centerline goodness : 0.959637 with order 1 Centerline is valid? [True, True] Translation: X:94.84, Y:-6.41, Z:-0.61 [[ 9.92097782e-01 1.15362775e-01 -4.93297140e-02 9.48378307e+01] [-1.15146826e-01 9.93322339e-01 7.20683988e-03 -6.40823927e+00] [ 4.98317079e-02 -1.46972988e-03 9.98756547e-01 -6.10620862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96771942099998 meters Centerline goodness : 0.960185 with order 1 Centerline is valid? [True, True] Translation: X:94.90, Y:-6.40, Z:-0.61 [[ 9.89910339e-01 1.32830857e-01 -4.93303482e-02 9.48982261e+01] [-1.32636741e-01 9.91138547e-01 7.20249638e-03 -6.40298169e+00] [ 4.98499234e-02 -5.86809024e-04 9.98756547e-01 -6.12441966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02771942099999 meters Centerline goodness : 0.961609 with order 1 Centerline is valid? [True, True] Translation: X:94.96, Y:-6.40, Z:-0.61 [[ 9.87647629e-01 1.48723287e-01 -4.93309721e-02 9.49584082e+01] [-1.48549148e-01 9.88878828e-01 7.19822021e-03 -6.39895849e+00] [ 4.98528969e-02 2.18768777e-04 9.98756547e-01 -6.11236057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08771942099997 meters Centerline goodness : 0.960920 with order 1 Centerline is valid? [True, True] Translation: X:95.02, Y:-6.40, Z:-0.61 [[ 9.85942445e-01 1.59636740e-01 -4.93315909e-02 9.50170273e+01] [-1.59476441e-01 9.87175522e-01 7.19397690e-03 -6.40492767e+00] [ 4.98473620e-02 7.74379354e-04 9.98756547e-01 -6.08131404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099998 meters Centerline goodness : 0.962626 with order 1 Centerline is valid? [True, True] Translation: X:95.07, Y:-6.42, Z:-0.61 [[ 9.85510668e-01 1.62280781e-01 -4.93322460e-02 9.50744742e+01] [-1.62124015e-01 9.86744199e-01 7.18948224e-03 -6.41689190e+00] [ 4.98450223e-02 9.12630320e-04 9.98756547e-01 -6.06201226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20771942099998 meters Centerline goodness : 0.963225 with order 1 Centerline is valid? [True, True] Translation: X:95.13, Y:-6.43, Z:-0.60 [[ 9.85811538e-01 1.60442751e-01 -4.93328942e-02 9.51307047e+01] [-1.60283908e-01 9.87044804e-01 7.18503154e-03 -6.42789120e+00] [ 4.98465631e-02 8.24182052e-04 9.98756547e-01 -6.03362359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26771942099998 meters Centerline goodness : 0.960120 with order 1 Centerline is valid? [True, True] Translation: X:95.19, Y:-6.45, Z:-0.60 [[ 9.86213142e-01 1.57955090e-01 -4.93338444e-02 9.51873385e+01] [-1.57793462e-01 9.87446045e-01 7.17850127e-03 -6.44597697e+00] [ 4.98483904e-02 7.05025793e-04 9.98756547e-01 -6.04615963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32771942099998 meters Centerline goodness : 0.960373 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-6.46, Z:-0.60 [[ 9.86542276e-01 1.55886008e-01 -4.93344707e-02 9.52436436e+01] [-1.55722010e-01 9.87774866e-01 7.17419411e-03 -6.46419164e+00] [ 4.98497067e-02 6.04817149e-04 9.98756547e-01 -6.01857569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38771942099999 meters Centerline goodness : 0.961592 with order 1 Centerline is valid? [True, True] Translation: X:95.30, Y:-6.48, Z:-0.60 [[ 9.87533392e-01 1.49478474e-01 -4.93354341e-02 9.52998511e+01] [-1.49306809e-01 9.88764938e-01 7.16756301e-03 -6.48141240e+00] [ 4.98525438e-02 2.87908422e-04 9.98756547e-01 -6.00210928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44771942099999 meters Centerline goodness : 0.961540 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:-6.50, Z:-0.60 [[ 9.89471325e-01 1.36060409e-01 -4.93362228e-02 9.53567646e+01] [-1.35872314e-01 9.90700469e-01 7.16213033e-03 -6.49794053e+00] [ 4.98519014e-02 -3.83295853e-04 9.98756547e-01 -5.97131341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099998 meters Centerline goodness : 0.962194 with order 1 Centerline is valid? [True, True] Translation: X:95.41, Y:-6.51, Z:-0.59 [[ 9.90517847e-01 1.28219622e-01 -4.93368436e-02 9.54137329e+01] [-1.28022011e-01 9.91745497e-01 7.15785146e-03 -6.51481333e+00] [ 4.98473694e-02 -7.73777694e-04 9.98756547e-01 -5.90734872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099998 meters Centerline goodness : 0.961506 with order 1 Centerline is valid? [True, True] Translation: X:95.47, Y:-6.53, Z:-0.59 [[ 9.90233532e-01 1.30396956e-01 -4.93374593e-02 9.54699481e+01] [-1.30202257e-01 9.91461647e-01 7.15360499e-03 -6.52695884e+00] [ 4.98490070e-02 -6.59891001e-04 9.98756547e-01 -5.89110032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62771942099998 meters Centerline goodness : 0.959690 with order 1 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.54, Z:-0.59 [[ 9.89132761e-01 1.38499493e-01 -4.93383403e-02 9.55279412e+01] [-1.38315157e-01 9.90362474e-01 7.14752306e-03 -6.53507255e+00] [ 4.98527691e-02 -2.45608923e-04 9.98756547e-01 -5.91203997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68771942099998 meters Centerline goodness : 0.960625 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:-6.55, Z:-0.58 [[ 9.87709411e-01 1.48309772e-01 -4.93389281e-02 9.55850938e+01] [-1.48137854e-01 9.88940922e-01 7.14346358e-03 -6.54651028e+00] [ 4.98527305e-02 2.53296707e-04 9.98756547e-01 -5.84865452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74771942099999 meters Centerline goodness : 0.963522 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:-6.55, Z:-0.58 [[ 9.85798211e-01 1.60522562e-01 -4.93395861e-02 9.56426239e+01] [-1.60366125e-01 9.87031784e-01 7.13891594e-03 -6.55281858e+00] [ 4.98456967e-02 8.74867665e-04 9.98756547e-01 -5.82324175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80771942099999 meters Centerline goodness : 0.961179 with order 1 Centerline is valid? [True, True] Translation: X:95.70, Y:-6.56, Z:-0.59 [[ 9.83982745e-01 1.71299396e-01 -4.93403906e-02 9.56997615e+01] [-1.71156745e-01 9.85217988e-01 7.13335119e-03 -6.56177388e+00] [ 4.98329791e-02 1.42584616e-03 9.98756547e-01 -5.86977301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099998 meters Centerline goodness : 0.959953 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:-6.57, Z:-0.58 [[ 9.83492845e-01 1.74089851e-01 -4.93411336e-02 9.57577519e+01] [-1.73950962e-01 9.84728517e-01 7.12820849e-03 -6.57157497e+00] [ 4.98285700e-02 1.57239562e-03 9.98756548e-01 -5.81315264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099998 meters Centerline goodness : 0.958246 with order 1 Centerline is valid? [True, True] Translation: X:95.81, Y:-6.59, Z:-0.58 [[ 9.82644308e-01 1.78817099e-01 -4.93417577e-02 9.58144122e+01] [-1.78684370e-01 9.83880656e-01 7.12388576e-03 -6.58605790e+00] [ 4.98202735e-02 1.81635510e-03 9.98756548e-01 -5.84729815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98771942099998 meters Centerline goodness : 0.960591 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:-6.60, Z:-0.58 [[ 9.81997155e-01 1.82337306e-01 -4.93426229e-02 9.58715407e+01] [-1.82209310e-01 9.83234002e-01 7.11788800e-03 -6.59902396e+00] [ 4.98132011e-02 2.00093949e-03 9.98756548e-01 -5.76968208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04771942099998 meters Centerline goodness : 0.959730 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:-6.62, Z:-0.57 [[ 9.81432714e-01 1.85351212e-01 -4.93432460e-02 9.59271622e+01] [-1.85227231e-01 9.82669970e-01 7.11356567e-03 -6.62319437e+00] [ 4.98066341e-02 2.15822674e-03 9.98756548e-01 -5.73069862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10771942099998 meters Centerline goodness : 0.960787 with order 1 Centerline is valid? [True, True] Translation: X:95.98, Y:-6.64, Z:-0.57 [[ 9.81386042e-01 1.85598002e-01 -4.93438708e-02 9.59830920e+01] [-1.85474549e-01 9.82623351e-01 7.10922880e-03 -6.63853544e+00] [ 4.98058984e-02 2.17513428e-03 9.98756548e-01 -5.70585377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16771942099999 meters Centerline goodness : 0.957192 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:-6.67, Z:-0.57 [[ 9.81353525e-01 1.85769660e-01 -4.93446327e-02 9.60398842e+01] [-1.85646690e-01 9.82590882e-01 7.10393682e-03 -6.66598075e+00] [ 4.98052821e-02 2.18919428e-03 9.98756548e-01 -5.70297197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099997 meters Centerline goodness : 0.953551 with order 1 Centerline is valid? [True, True] Translation: X:96.10, Y:-6.68, Z:-0.57 [[ 9.81415356e-01 1.85442689e-01 -4.93447839e-02 9.60985829e+01] [-1.85319359e-01 9.82652677e-01 7.10288632e-03 -6.68186533e+00] [ 4.98059624e-02 2.17366200e-03 9.98756548e-01 -5.70184369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099998 meters Centerline goodness : 0.954768 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:-6.70, Z:-0.57 [[ 9.81200390e-01 1.86576760e-01 -4.93447839e-02 9.61572921e+01] [-1.86454860e-01 9.82437853e-01 7.10288632e-03 -6.70135010e+00] [ 4.98034171e-02 2.23121996e-03 9.98756548e-01 -5.65283991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34771942099998 meters Centerline goodness : 0.955282 with order 1 Centerline is valid? [True, True] Translation: X:96.22, Y:-6.73, Z:-0.56 [[ 9.80619895e-01 1.89604173e-01 -4.93444890e-02 9.62152657e+01] [-1.89485990e-01 9.81857719e-01 7.10493463e-03 -6.72602237e+00] [ 4.97963926e-02 2.38284907e-03 9.98756548e-01 -5.61630242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40771942099998 meters Centerline goodness : 0.955478 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:-6.75, Z:-0.56 [[ 9.79776476e-01 1.93915870e-01 -4.93426046e-02 9.62751763e+01] [-1.93802477e-01 9.81014747e-01 7.11799729e-03 -6.74704578e+00] [ 4.97861154e-02 2.58867267e-03 9.98756548e-01 -5.55705973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46771942099998 meters Centerline goodness : 0.952762 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:-6.77, Z:-0.56 [[ 9.79041373e-01 1.97594298e-01 -4.93404771e-02 9.63337457e+01] [-1.97484817e-01 9.80279997e-01 7.13271467e-03 -6.76908566e+00] [ 4.97768664e-02 2.76077231e-03 9.98756548e-01 -5.57451002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52771942099999 meters Centerline goodness : 0.952627 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:-6.78, Z:-0.55 [[ 9.78862471e-01 1.98479146e-01 -4.93385432e-02 9.63943270e+01] [-1.98370113e-01 9.80101134e-01 7.14606671e-03 -6.78490678e+00] [ 4.97751073e-02 2.79227588e-03 9.98756548e-01 -5.52944038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58771942099997 meters Centerline goodness : 0.953095 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:-6.81, Z:-0.55 [[ 9.79890795e-01 1.93338944e-01 -4.93364245e-02 9.64529424e+01] [-1.93222679e-01 9.81128799e-01 7.16066422e-03 -6.80931130e+00] [ 4.97898222e-02 2.51624717e-03 9.98756548e-01 -5.47747817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099998 meters Centerline goodness : 0.955742 with order 1 Centerline is valid? [True, True] Translation: X:96.51, Y:-6.83, Z:-0.54 [[ 9.82001882e-01 1.82314095e-01 -4.93343202e-02 9.65119147e+01] [-1.82183198e-01 9.83238425e-01 7.17513271e-03 -6.83032563e+00] [ 4.98155271e-02 1.94189040e-03 9.98756548e-01 -5.44614396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70771942099998 meters Centerline goodness : 0.956599 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:-6.85, Z:-0.54 [[ 9.83052208e-01 1.76563501e-01 -4.93324019e-02 9.65724365e+01] [-1.76424709e-01 9.84287890e-01 7.18829812e-03 -6.84546374e+00] [ 4.98264769e-02 1.63698230e-03 9.98756548e-01 -5.37107264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76771942099998 meters Centerline goodness : 0.952923 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:-6.87, Z:-0.54 [[ 9.83160372e-01 1.75960840e-01 -4.93301748e-02 9.66315721e+01] [-1.75820526e-01 9.84395882e-01 7.20354955e-03 -6.86732089e+00] [ 4.98279635e-02 1.59101282e-03 9.98756548e-01 -5.36036712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82771942099998 meters Centerline goodness : 0.952652 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:-6.89, Z:-0.53 [[ 9.81502493e-01 1.84985424e-01 -4.93279842e-02 9.66915512e+01] [-1.84855715e-01 9.82739160e-01 7.21851865e-03 -6.88509617e+00] [ 4.98118626e-02 2.03356575e-03 9.98756548e-01 -5.33549724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88771942099999 meters Centerline goodness : 0.952657 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-6.90, Z:-0.53 [[ 9.80277503e-01 1.91371311e-01 -4.93258407e-02 9.67519040e+01] [-1.91248922e-01 9.81514917e-01 7.23313660e-03 -6.89865878e+00] [ 4.97982632e-02 2.34303280e-03 9.98756549e-01 -5.30613138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94771942099999 meters Centerline goodness : 0.949534 with order 1 Centerline is valid? [True, False] Translation: X:96.75, Y:-6.90, Z:-0.52 [[ 9.80428993e-01 1.85612171e-01 -6.56285902e-02 9.67531317e+01] [-1.85865615e-01 9.82572538e-01 2.27619542e-03 -6.90257690e+00] [ 6.49073400e-02 9.96645033e-03 9.97841524e-01 -5.24875375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00771942099996 meters Centerline goodness : 0.953150 with order 1 Centerline is valid? [False, True] Translation: X:96.75, Y:-6.90, Z:-0.52 [[ 9.80701980e-01 1.78134732e-01 -8.05707411e-02 9.67525537e+01] [-1.79031263e-01 9.83835315e-01 -3.98500059e-03 -6.90227692e+00] [ 7.85584735e-02 1.83327795e-02 9.96740927e-01 -5.18134266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters Centerline goodness : 0.953653 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-6.92, Z:-0.51 [[ 9.79949374e-01 1.82998052e-01 -7.88094947e-02 9.68124564e+01] [-1.82784051e-01 9.83102407e-01 9.98240583e-03 -6.91709411e+00] [ 7.93045648e-02 4.62286639e-03 9.96839714e-01 -5.08560217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters Centerline goodness : 0.947968 with order 1 Centerline is valid? [True, False] Translation: X:96.81, Y:-6.92, Z:-0.50 [[ 9.79286728e-01 1.79407562e-01 -9.38638953e-02 9.68127804e+01] [-1.79245643e-01 9.83751238e-01 1.02225954e-02 -6.92285405e+00] [ 9.41727341e-02 6.81384221e-03 9.95532555e-01 -5.03311706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18771942099997 meters Centerline goodness : 0.945485 with order 1 Centerline is valid? [False, False] Translation: X:96.81, Y:-6.92, Z:-0.50 [[ 9.79235095e-01 1.70767677e-01 -1.09256711e-01 9.68137803e+01] [-1.71266987e-01 9.85212629e-01 4.86768192e-03 -6.92463021e+00] [ 1.08472334e-01 1.39454627e-02 9.94001648e-01 -4.98943634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24771942099997 meters Centerline goodness : 0.945116 with order 1 Centerline is valid? [False, False] Translation: X:96.81, Y:-6.93, Z:-0.50 [[ 9.79582436e-01 1.68337941e-01 -1.09911727e-01 9.68133853e+01] [-1.68948889e-01 9.85617495e-01 3.79810020e-03 -6.92900671e+00] [ 1.08970286e-01 1.48489120e-02 9.93934096e-01 -4.98819041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30771942099997 meters Centerline goodness : 0.945220 with order 1 Centerline is valid? [False, False] Translation: X:96.81, Y:-6.94, Z:-0.50 [[ 9.80548916e-01 1.60390269e-01 -1.13131717e-01 9.68143557e+01] [-1.61714660e-01 9.86834218e-01 -2.56805282e-03 -6.93844729e+00] [ 1.11230358e-01 2.08131585e-02 9.93576680e-01 -4.97423754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36771942099998 meters Centerline goodness : 0.948762 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.94, Z:-0.50 [[ 9.81289824e-01 1.54389462e-01 -1.15039884e-01 9.68159793e+01] [-1.56333940e-01 9.87671683e-01 -8.02161261e-03 -6.94275309e+00] [ 1.12383184e-01 2.58561652e-02 9.93328485e-01 -4.97995599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42771942099998 meters Centerline goodness : 0.947575 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.95, Z:-0.50 [[ 9.81439987e-01 1.52106517e-01 -1.16786815e-01 9.68179108e+01] [-1.54353439e-01 9.87961072e-01 -1.03891828e-02 -6.94725316e+00] [ 1.13800565e-01 2.82228059e-02 9.93102666e-01 -4.98043123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48771942099998 meters Centerline goodness : 0.940592 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.96, Z:-0.50 [[ 9.81094837e-01 1.51175702e-01 -1.20825612e-01 9.68226404e+01] [-1.53990742e-01 9.87969435e-01 -1.42564872e-02 -6.95531001e+00] [ 1.17216777e-01 3.25929916e-02 9.92571370e-01 -4.96741476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters Centerline goodness : 0.941152 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.96, Z:-0.50 [[ 9.81591695e-01 1.47198113e-01 -1.21698229e-01 9.68244186e+01] [-1.50211255e-01 9.88525796e-01 -1.59163199e-02 -6.96106332e+00] [ 1.17958987e-01 3.39037712e-02 9.92439525e-01 -4.99126727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters Centerline goodness : 0.945754 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.96, Z:-0.50 [[ 9.82335377e-01 1.42202298e-01 -1.21637630e-01 9.68239063e+01] [-1.45445007e-01 9.89199601e-01 -1.81631216e-02 -6.96404973e+00] [ 1.17741057e-01 3.55338628e-02 9.92408378e-01 -5.00658049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters Centerline goodness : 0.943506 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.97, Z:-0.50 [[ 9.82694784e-01 1.38554314e-01 -1.22937637e-01 9.68224794e+01] [-1.42274550e-01 9.89583295e-01 -2.19739361e-02 -6.96788299e+00] [ 1.18612449e-01 3.90845695e-02 9.92171096e-01 -4.97982301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters Centerline goodness : 0.946755 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.97, Z:-0.50 [[ 9.83162377e-01 1.34966805e-01 -1.23189695e-01 9.68219327e+01] [-1.38950193e-01 9.90001231e-01 -2.42982940e-02 -6.97096371e+00] [ 1.18678487e-01 4.10064005e-02 9.92085627e-01 -4.98396968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters Centerline goodness : 0.945873 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.97, Z:-0.50 [[ 9.83338841e-01 1.34555655e-01 -1.22227242e-01 9.68218848e+01] [-1.38358945e-01 9.90111735e-01 -2.31420735e-02 -6.97117660e+00] [ 1.17904730e-01 3.96677320e-02 9.92232304e-01 -5.00494032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters Centerline goodness : 0.943585 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.97, Z:-0.50 [[ 9.84213781e-01 1.28927576e-01 -1.21247324e-01 9.68198647e+01] [-1.32825203e-01 9.90834174e-01 -2.45988701e-02 -6.97464690e+00] [ 1.16964519e-01 4.03152473e-02 9.92317480e-01 -5.02332902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90771942099997 meters Centerline goodness : 0.940726 with order 1 Centerline is valid? [False, False] Translation: X:96.82, Y:-6.98, Z:-0.51 [[ 9.85713494e-01 1.17809591e-01 -1.20373617e-01 9.68182850e+01] [-1.22188954e-01 9.92063984e-01 -2.96464361e-02 -6.97819858e+00] [ 1.15925695e-01 4.39312184e-02 9.92285887e-01 -5.05764319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96771942099997 meters Centerline goodness : 0.950964 with order 1 Centerline is valid? [False, True] Translation: X:96.80, Y:-6.98, Z:-0.51 [[ 9.87994404e-01 1.08056144e-01 -1.10412536e-01 9.68039113e+01] [-1.11473604e-01 9.93446710e-01 -2.52442002e-02 -6.97979271e+00] [ 1.06961180e-01 3.72492118e-02 9.93565198e-01 -5.06369673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02771942099997 meters Centerline goodness : 0.952850 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:-7.00, Z:-0.49 [[ 9.89052258e-01 1.01961106e-01 -1.06675042e-01 9.68610401e+01] [-1.01348465e-01 9.94788360e-01 1.11628098e-02 -6.99520538e+00] [ 1.07257262e-01 -2.29250576e-04 9.94231274e-01 -4.86393859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08771942099997 meters Centerline goodness : 0.954912 with order 1 Centerline is valid? [True, True] Translation: X:96.92, Y:-6.99, Z:-0.48 [[ 9.89388058e-01 9.86496446e-02 -1.06674827e-01 9.69203430e+01] [-9.80175846e-02 9.95122052e-01 1.11648566e-02 -6.99271104e+00] [ 1.07255882e-01 -5.90366840e-04 9.94231274e-01 -4.76661829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14771942099998 meters Centerline goodness : 0.955439 with order 1 Centerline is valid? [True, True] Translation: X:96.98, Y:-6.99, Z:-0.47 [[ 9.89221482e-01 1.00305769e-01 -1.06675264e-01 9.69803542e+01] [-9.96837589e-02 9.94956576e-01 1.11606798e-02 -6.98750416e+00] [ 1.07256736e-01 -4.06592868e-04 9.94231274e-01 -4.73452165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20771942099998 meters Centerline goodness : 0.954614 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:-6.98, Z:-0.47 [[ 9.88906902e-01 1.03360209e-01 -1.06676172e-01 9.70400130e+01] [-1.02756850e-01 9.94643988e-01 1.11520032e-02 -6.97911046e+00] [ 1.07257486e-01 -6.65856119e-05 9.94231275e-01 -4.66009094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26771942099998 meters Centerline goodness : 0.954449 with order 1 Centerline is valid? [True, True] Translation: X:97.10, Y:-6.97, Z:-0.46 [[ 9.88168948e-01 1.10191277e-01 -1.06677144e-01 9.70984208e+01] [-1.09628582e-01 9.93910164e-01 1.11426927e-02 -6.97461597e+00] [ 1.07255325e-01 6.84001073e-04 9.94231275e-01 -4.62129849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters Centerline goodness : 0.952290 with order 1 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.97, Z:-0.46 [[ 9.87595929e-01 1.15212902e-01 -1.06678343e-01 9.71582202e+01] [-1.14680638e-01 9.93340046e-01 1.11312013e-02 -6.96954079e+00] [ 1.07250328e-01 1.24081145e-03 9.94231275e-01 -4.59095885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters Centerline goodness : 0.950906 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:-6.97, Z:-0.45 [[ 9.87097570e-01 1.19406516e-01 -1.06679295e-01 9.72174543e+01] [-1.18899640e-01 9.92843983e-01 1.11220732e-02 -6.96759696e+00] [ 1.07243944e-01 1.70555829e-03 9.94231275e-01 -4.54464570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters Centerline goodness : 0.956142 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:-6.97, Z:-0.44 [[ 9.86380604e-01 1.25190371e-01 -1.06680250e-01 9.72769659e+01] [-1.24718178e-01 9.92129971e-01 1.11129050e-02 -6.96632624e+00] [ 1.07231902e-01 2.34341245e-03 9.94231275e-01 -4.43333349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters Centerline goodness : 0.955899 with order 1 Centerline is valid? [True, True] Translation: X:97.34, Y:-6.96, Z:-0.44 [[ 9.85465715e-01 1.32198897e-01 -1.06680722e-01 9.73360668e+01] [-1.31768076e-01 9.91218330e-01 1.11083679e-02 -6.96410953e+00] [ 1.07212401e-01 3.11019789e-03 9.94231275e-01 -4.39955146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters Centerline goodness : 0.958730 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:-6.97, Z:-0.43 [[ 9.85062349e-01 1.35170978e-01 -1.06681653e-01 9.73941881e+01] [-1.34758480e-01 9.90816307e-01 1.10994186e-02 -6.96726241e+00] [ 1.07202241e-01 3.44263805e-03 9.94231275e-01 -4.31271040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters Centerline goodness : 0.960061 with order 1 Centerline is valid? [True, True] Translation: X:97.45, Y:-6.97, Z:-0.42 [[ 9.85327321e-01 1.33224998e-01 -1.06682567e-01 9.74524378e+01] [-1.32802087e-01 9.91080523e-01 1.10906277e-02 -6.97178617e+00] [ 1.07208563e-01 3.23976911e-03 9.94231275e-01 -4.24526696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68771942099997 meters Centerline goodness : 0.957885 with order 1 Centerline is valid? [True, True] Translation: X:97.51, Y:-6.98, Z:-0.42 [[ 9.86289505e-01 1.25903328e-01 -1.06683480e-01 9.75092161e+01] [-1.25438649e-01 9.92039484e-01 1.10818419e-02 -6.97928109e+00] [ 1.07229465e-01 2.45232721e-03 9.94231275e-01 -4.19691707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74771942099997 meters Centerline goodness : 0.956390 with order 1 Centerline is valid? [True, True] Translation: X:97.57, Y:-6.99, Z:-0.41 [[ 9.87126562e-01 1.19161859e-01 -1.06684589e-01 9.75664098e+01] [-1.18659061e-01 9.92873334e-01 1.10711543e-02 -6.98851990e+00] [ 1.07243543e-01 1.73046261e-03 9.94231275e-01 -4.10802688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80771942099997 meters Centerline goodness : 0.957043 with order 1 Centerline is valid? [True, True] Translation: X:97.62, Y:-6.99, Z:-0.40 [[ 9.87392504e-01 1.16936900e-01 -1.06685541e-01 9.76249907e+01] [-1.16422143e-01 9.93138217e-01 1.10619753e-02 -6.99473695e+00] [ 1.07247041e-01 1.49804775e-03 9.94231275e-01 -4.04971398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86771942099998 meters Centerline goodness : 0.953027 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:-7.00, Z:-0.40 [[ 9.87104804e-01 1.19340251e-01 -1.06686509e-01 9.76819790e+01] [-1.18840493e-01 9.92851840e-01 1.10526282e-02 -7.00453600e+00] [ 1.07242920e-01 1.76857487e-03 9.94231275e-01 -3.99938853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92771942099998 meters Centerline goodness : 0.954972 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:-7.01, Z:-0.40 [[ 9.86146245e-01 1.27016994e-01 -1.06687702e-01 9.77410864e+01] [-1.26563213e-01 9.91897095e-01 1.10411039e-02 -7.00640248e+00] [ 1.07225629e-01 2.61459517e-03 9.94231275e-01 -3.95845564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98771942099998 meters Centerline goodness : 0.956634 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:-7.02, Z:-0.39 [[ 9.84626190e-01 1.38306902e-01 -1.06688646e-01 9.77979739e+01] [-1.37920026e-01 9.90381927e-01 1.10319740e-02 -7.01545428e+00] [ 1.07188305e-01 3.85213025e-03 9.94231275e-01 -3.87905667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters Centerline goodness : 0.958765 with order 1 Centerline is valid? [True, True] Translation: X:97.86, Y:-7.02, Z:-0.38 [[ 9.83379373e-01 1.46909146e-01 -1.06689794e-01 9.78562271e+01] [-1.46573805e-01 9.89138342e-01 1.10208564e-02 -7.02039466e+00] [ 1.07150031e-01 4.80024619e-03 9.94231275e-01 -3.80114720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters Centerline goodness : 0.959068 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:-7.03, Z:-0.37 [[ 9.82260282e-01 1.54213575e-01 -1.06690728e-01 9.79138021e+01] [-1.53922024e-01 9.88021635e-01 1.10118145e-02 -7.02861833e+00] [ 1.07110918e-01 5.60558466e-03 9.94231275e-01 -3.71315625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters Centerline goodness : 0.957788 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:-7.04, Z:-0.37 [[ 9.81664476e-01 1.57961408e-01 -1.06691382e-01 9.79739796e+01] [-1.57692534e-01 9.87426931e-01 1.10054731e-02 -7.04141385e+00] [ 1.07088384e-01 6.02075236e-03 9.94231275e-01 -3.65080783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters Centerline goodness : 0.956817 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:-7.06, Z:-0.36 [[ 9.81281489e-01 1.60323677e-01 -1.06690944e-01 9.80348596e+01] [-1.60068214e-01 9.87044555e-01 1.10097143e-02 -7.05522242e+00] [ 1.07073833e-01 6.27419997e-03 9.94231275e-01 -3.58994802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters Centerline goodness : 0.952652 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-7.07, Z:-0.36 [[ 9.81492503e-01 1.59028823e-01 -1.06687862e-01 9.80951835e+01] [-1.58762529e-01 9.87255078e-01 1.10395030e-02 -7.07235566e+00] [ 1.07083732e-01 6.10284535e-03 9.94231276e-01 -3.55563791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters Centerline goodness : 0.950043 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-7.09, Z:-0.35 [[ 9.82487013e-01 1.52766559e-01 -1.06684807e-01 9.81552742e+01] [-1.52460333e-01 9.88247603e-01 1.10689487e-02 -7.09125000e+00] [ 1.07121970e-01 5.39010288e-03 9.94231276e-01 -3.48467260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40771942099997 meters Centerline goodness : 0.953060 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-7.11, Z:-0.34 [[ 9.84059391e-01 1.42288953e-01 -1.06681619e-01 9.82150286e+01] [-1.41918046e-01 9.89816179e-01 1.10995864e-02 -7.10909293e+00] [ 1.07174541e-01 4.21739473e-03 9.94231277e-01 -3.39625567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46771942099997 meters Centerline goodness : 0.956939 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-7.12, Z:-0.33 [[ 9.85499693e-01 1.31947197e-01 -1.06678456e-01 9.82754487e+01] [-1.31512577e-01 9.91252020e-01 1.11299081e-02 -7.12451758e+00] [ 1.07213795e-01 3.06103760e-03 9.94231277e-01 -3.30867343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52771942099997 meters Centerline goodness : 0.954077 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-7.13, Z:-0.33 [[ 9.86460006e-01 1.24565462e-01 -1.06677560e-01 9.83375367e+01] [-1.24086862e-01 9.92208841e-01 1.11384810e-02 -7.13430293e+00] [ 1.07233889e-01 2.24961770e-03 9.94231277e-01 -3.25382280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58771942099997 meters Centerline goodness : 0.952948 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-7.14, Z:-0.32 [[ 9.87095348e-01 1.19429645e-01 -1.06673962e-01 9.83991353e+01] [-1.18917419e-01 9.92841284e-01 1.11728385e-02 -7.14406946e+00] [ 1.07244681e-01 1.65673534e-03 9.94231278e-01 -3.16696643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64771942099998 meters Centerline goodness : 0.952966 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:-7.15, Z:-0.31 [[ 9.87383620e-01 1.17025757e-01 -1.06670328e-01 9.84596345e+01] [-1.16495805e-01 9.93127948e-01 1.12074257e-02 -7.14853578e+00] [ 1.07248841e-01 1.36061719e-03 9.94231278e-01 -3.09650104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70771942099998 meters Centerline goodness : 0.953340 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:-7.15, Z:-0.30 [[ 9.87479066e-01 1.16218036e-01 -1.06669876e-01 9.85198946e+01] [-1.15682921e-01 9.93222915e-01 1.12117286e-02 -7.15262026e+00] [ 1.07249970e-01 1.26853553e-03 9.94231278e-01 -3.04541638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76771942099998 meters Centerline goodness : 0.952447 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-7.16, Z:-0.30 [[ 9.87561990e-01 1.15511274e-01 -1.06669876e-01 9.85789746e+01] [-1.14972048e-01 9.93305454e-01 1.12117286e-02 -7.15952138e+00] [ 1.07250850e-01 1.19177712e-03 9.94231278e-01 -3.01086952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters Centerline goodness : 0.954937 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-7.16, Z:-0.29 [[ 9.88559449e-01 1.06638207e-01 -1.06670095e-01 9.86383177e+01] [-1.06047651e-01 9.94297863e-01 1.12096442e-02 -7.16140469e+00] [ 1.07257224e-01 2.30713284e-04 9.94231278e-01 -2.92600982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters Centerline goodness : 0.959210 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-7.17, Z:-0.28 [[ 9.89093966e-01 1.01562027e-01 -1.06669023e-01 9.86972719e+01] [-1.00940922e-01 9.94829154e-01 1.12198300e-02 -7.16536672e+00] [ 1.07256963e-01 -3.30196594e-04 9.94231278e-01 -2.82074462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters Centerline goodness : 0.961147 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-7.16, Z:-0.28 [[ 9.89854800e-01 9.38568248e-02 -1.06669449e-01 9.87570640e+01] [-9.31915153e-02 9.95585028e-01 1.12157781e-02 -7.16131022e+00] [ 1.07251184e-01 -1.16130420e-03 9.94231278e-01 -2.78109101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters Centerline goodness : 0.965225 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-7.15, Z:-0.27 [[ 9.90735809e-01 8.40474911e-02 -1.06670411e-01 9.88170685e+01] [-8.33264400e-02 9.96459290e-01 1.12066257e-02 -7.15227336e+00] [ 1.07234611e-01 -2.21433980e-03 9.94231278e-01 -2.70105682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters Centerline goodness : 0.964593 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-7.15, Z:-0.26 [[ 9.91139601e-01 7.91423219e-02 -1.06671380e-01 9.88764107e+01] [-7.83939414e-02 9.96859573e-01 1.11973934e-02 -7.15185900e+00] [ 1.07222574e-01 -2.73579008e-03 9.94231278e-01 -2.63085178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12771942099997 meters Centerline goodness : 0.963503 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-7.14, Z:-0.26 [[ 9.91623145e-01 7.28310180e-02 -1.06673248e-01 9.89368860e+01] [-7.20481544e-02 9.97338499e-01 1.11795667e-02 -7.14423005e+00] [ 1.07203557e-01 -3.40030642e-03 9.94231279e-01 -2.61853430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18771942099997 meters Centerline goodness : 0.960792 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-7.14, Z:-0.26 [[ 9.91622545e-01 7.28377546e-02 -1.06674227e-01 9.89964268e+01] [-7.20559341e-02 9.97338041e-01 1.11702219e-02 -7.13759622e+00] [ 1.07203878e-01 -3.39013276e-03 9.94231279e-01 -2.57092620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24771942099997 meters Centerline goodness : 0.963429 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-7.13, Z:-0.25 [[ 9.90859534e-01 8.25698731e-02 -1.06675212e-01 9.90551617e+01] [-8.18452173e-02 9.96582559e-01 1.11608083e-02 -7.13053038e+00] [ 1.07232202e-01 -2.32793740e-03 9.94231279e-01 -2.49881585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30771942099997 meters Centerline goodness : 0.961453 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-7.12, Z:-0.25 [[ 9.89523127e-01 9.72837260e-02 -1.06676415e-01 9.91148889e+01] [-9.66454283e-02 9.95256426e-01 1.11492968e-02 -7.11783682e+00] [ 1.07255033e-01 -7.22699248e-04 9.94231279e-01 -2.47963143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36771942099998 meters Centerline goodness : 0.959711 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:-7.11, Z:-0.24 [[ 9.88367038e-01 1.08399439e-01 -1.06677830e-01 9.91737607e+01] [-1.07827085e-01 9.94107296e-01 1.11357432e-02 -7.11209312e+00] [ 1.07256317e-01 4.96557822e-04 9.94231279e-01 -2.37858063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42771942099998 meters Centerline goodness : 0.960252 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-7.11, Z:-0.23 [[ 9.87947696e-01 1.12156072e-01 -1.06678799e-01 9.92326130e+01] [-1.11606548e-01 9.93690183e-01 1.11264480e-02 -7.10677195e+00] [ 1.07253574e-01 9.13703845e-04 9.94231279e-01 -2.30665777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48771942099998 meters Centerline goodness : 0.956092 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-7.10, Z:-0.23 [[ 9.87501628e-01 1.16017049e-01 -1.06679793e-01 9.92912241e+01] [-1.15491006e-01 9.93246315e-01 1.11169173e-02 -7.10318221e+00] [ 1.07249063e-01 1.34258259e-03 9.94231279e-01 -2.30519291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters Centerline goodness : 0.952264 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:-7.10, Z:-0.22 [[ 9.86541757e-01 1.23913368e-01 -1.06681014e-01 9.93502504e+01] [-1.23434567e-01 9.92290574e-01 1.11051879e-02 -7.10260262e+00] [ 1.07234645e-01 2.21239309e-03 9.94231279e-01 -2.24611716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters Centerline goodness : 0.950509 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:-7.11, Z:-0.22 [[ 9.85351126e-01 1.33049283e-01 -1.06681987e-01 9.94093566e+01] [-1.32624783e-01 9.91104207e-01 1.10958256e-02 -7.10541728e+00] [ 1.07209258e-01 3.21539118e-03 9.94231279e-01 -2.22021495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters Centerline goodness : 0.948645 with order 1 Centerline is valid? [True, False] Translation: X:99.41, Y:-7.10, Z:-0.22 [[ 9.84491796e-01 1.38686233e-01 -1.07433851e-01 9.94118819e+01] [-1.37936754e-01 9.90336171e-01 1.44125038e-02 -7.10438035e+00] [ 1.08394445e-01 6.30085009e-04 9.94107764e-01 -2.21428527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters Centerline goodness : 0.948602 with order 1 Centerline is valid? [False, False] Translation: X:99.41, Y:-7.11, Z:-0.22 [[ 9.85243975e-01 1.32109660e-01 -1.08817956e-01 9.94110758e+01] [-1.32089466e-01 9.91209983e-01 7.42581974e-03 -7.10533365e+00] [ 1.08842467e-01 7.05746160e-03 9.94033958e-01 -2.19535398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters Centerline goodness : 0.953379 with order 1 Centerline is valid? [False, True] Translation: X:99.40, Y:-7.11, Z:-0.22 [[ 9.87098191e-01 1.21115270e-01 -1.04729423e-01 9.94020794e+01] [-1.21267490e-01 9.92607589e-01 4.93667954e-03 -7.11152806e+00] [ 1.04553127e-01 7.82728680e-03 9.94488500e-01 -2.18311113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters Centerline goodness : 0.958104 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-7.12, Z:-0.21 [[ 9.88892032e-01 1.06043050e-01 -1.04150947e-01 9.94599804e+01] [-1.05510589e-01 9.94361423e-01 1.06243557e-02 -7.11776835e+00] [ 1.04690323e-01 4.82687132e-04 9.94504753e-01 -2.06096977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90771942099997 meters Centerline goodness : 0.954367 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:-7.12, Z:-0.20 [[ 9.90186514e-01 9.31828715e-02 -1.04151909e-01 9.95174401e+01] [-9.25803709e-02 9.95648632e-01 1.06149164e-02 -7.12394717e+00] [ 1.04687834e-01 -8.68324685e-04 9.94504753e-01 -2.01915160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96771942099997 meters Centerline goodness : 0.951828 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:-7.12, Z:-0.20 [[ 9.91126739e-01 8.25823520e-02 -1.04153451e-01 9.95769553e+01] [-8.19230317e-02 9.96582291e-01 1.05997660e-02 -7.12101705e+00] [ 1.04672839e-01 -1.97314507e-03 9.94504753e-01 -1.96487375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02771942099997 meters Centerline goodness : 0.950781 with order 1 Centerline is valid? [True, True] Translation: X:99.63, Y:-7.12, Z:-0.19 [[ 9.91815197e-01 7.38543971e-02 -1.04154416e-01 9.96347634e+01] [-7.31480731e-02 9.97264862e-01 1.05902816e-02 -7.11813402e+00] [ 1.04651678e-01 -2.88490738e-03 9.94504753e-01 -1.91776504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08771942099997 meters Centerline goodness : 0.951113 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:-7.12, Z:-0.18 [[ 9.92503739e-01 6.39365988e-02 -1.04155838e-01 9.96921775e+01] [-6.31773031e-02 9.97946276e-01 1.05762779e-02 -7.11749380e+00] [ 1.04618142e-01 -3.91671039e-03 9.94504753e-01 -1.83571406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14771942099998 meters Centerline goodness : 0.951256 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:-7.11, Z:-0.18 [[ 9.92428927e-01 6.50816327e-02 -1.04159524e-01 9.97518049e+01] [-6.43324350e-02 9.97872862e-01 1.05398500e-02 -7.10989937e+00] [ 1.04623913e-01 -3.75921622e-03 9.94504754e-01 -1.79196788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20771942099998 meters Centerline goodness : 0.950493 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:-7.10, Z:-0.18 [[ 9.91749899e-01 7.47144652e-02 -1.04162785e-01 9.98110709e+01] [-7.40215531e-02 9.97201284e-01 1.05075226e-02 -7.10428710e+00] [ 1.04656327e-01 -2.71054335e-03 9.94504754e-01 -1.75316344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26771942099998 meters Centerline goodness : 0.954584 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:-7.09, Z:-0.17 [[ 9.90690035e-01 8.76504612e-02 -1.04166458e-01 9.98692496e+01] [-8.70325902e-02 9.96150434e-01 1.04709820e-02 -7.09480753e+00] [ 1.04683249e-01 -1.30762089e-03 9.94504755e-01 -1.67262500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters Centerline goodness : 0.954920 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:-7.09, Z:-0.16 [[ 9.89457165e-01 1.00616041e-01 -1.04167798e-01 9.99291923e+01] [-1.00071132e-01 9.94925327e-01 1.04576357e-02 -7.08600821e+00] [ 1.04691386e-01 7.68068635e-05 9.94504755e-01 -1.62944186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters Centerline goodness : 0.950583 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:-7.08, Z:-0.16 [[ 9.88413513e-01 1.10395428e-01 -1.04170900e-01 9.99888706e+01] [-1.09907884e-01 9.93887087e-01 1.04266456e-02 -7.08080347e+00] [ 1.04685166e-01 1.14336573e-03 9.94504755e-01 -1.62250973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters Centerline goodness : 0.949640 with order 1 Centerline is valid? [True, False] Translation: X:99.99, Y:-7.08, Z:-0.16 [[ 9.87879561e-01 1.14823747e-01 -1.04448453e-01 9.99899433e+01] [-1.14132261e-01 9.93385744e-01 1.25932463e-02 -7.07766189e+00] [ 1.05203608e-01 -5.19672507e-04 9.94450567e-01 -1.61233702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters Centerline goodness : 0.952525 with order 1 Centerline is valid? [False, True] Translation: X:99.99, Y:-7.08, Z:-0.16 [[ 9.87747786e-01 1.15699138e-01 -1.04728316e-01 9.99898192e+01] [-1.15011826e-01 9.93284224e-01 1.25988032e-02 -7.07778177e+00] [ 1.05482654e-01 -3.99445127e-04 9.94421063e-01 -1.60230317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters Centerline goodness : 0.949714 with order 1 Centerline is valid? [True, False] Translation: X:99.99, Y:-7.08, Z:-0.16 [[ 9.87452068e-01 1.17675935e-01 -1.05312805e-01 9.99921169e+01] [-1.16885780e-01 9.93051344e-01 1.36653839e-02 -7.07814831e+00] [ 1.06189110e-01 -1.18434220e-03 9.94345247e-01 -1.61254477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62771942099997 meters Centerline goodness : 0.946712 with order 1 Centerline is valid? [False, False] Translation: X:99.99, Y:-7.08, Z:-0.16 [[ 9.87560043e-01 1.15373351e-01 -1.06837036e-01 9.99949170e+01] [-1.14823542e-01 9.93321585e-01 1.13041156e-02 -7.08107838e+00] [ 1.07427727e-01 1.10391391e-03 9.94212284e-01 -1.62104883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68771942099997 meters Centerline goodness : 0.947672 with order 1 Centerline is valid? [False, False] Translation: X:99.99, Y:-7.09, Z:-0.16 [[ 9.87863685e-01 1.11968722e-01 -1.07649180e-01 9.99937508e+01] [-1.11657221e-01 9.93706604e-01 8.93592244e-03 -7.08582621e+00] [ 1.07972245e-01 3.19233497e-03 9.94148783e-01 -1.60416838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74771942099997 meters Centerline goodness : 0.949223 with order 1 Centerline is valid? [False, False] Translation: X:99.99, Y:-7.09, Z:-0.16 [[ 9.87772078e-01 1.12691027e-01 -1.07736037e-01 9.99936501e+01] [-1.12248274e-01 9.93627998e-01 1.01846069e-02 -7.08838575e+00] [ 1.08197257e-01 2.03311392e-03 9.94127366e-01 -1.60306814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80771942099997 meters Centerline goodness : 0.952413 with order 1 Centerline is valid? [False, True] Translation: X:99.99, Y:-7.09, Z:-0.16 [[ 9.87849072e-01 1.10811742e-01 -1.08972328e-01 9.99939529e+01] [-1.10664441e-01 9.93830149e-01 7.41733297e-03 -7.09121276e+00] [ 1.09121912e-01 4.73215630e-03 9.94017110e-01 -1.58747082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86771942099998 meters Centerline goodness : 0.950556 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:-7.11, Z:-0.15 [[ 9.87069388e-01 1.17644728e-01 -1.08874892e-01 1.00050706e+02] [-1.17403534e-01 9.93046659e-01 8.64542296e-03 -7.10772173e+00] [ 1.09134936e-01 4.24866473e-03 9.94017864e-01 -1.50493613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92771942099998 meters Centerline goodness : 0.947820 with order 1 Centerline is valid? [True, False] Translation: X:100.05, Y:-7.11, Z:-0.15 [[ 9.86777737e-01 1.19331766e-01 -1.09679659e-01 1.00053000e+02] [-1.18931491e-01 9.92849989e-01 1.02078617e-02 -7.11032921e+00] [ 1.10113571e-01 2.97147475e-03 9.93914570e-01 -1.51334095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98771942099998 meters Centerline goodness : 0.942467 with order 1 Centerline is valid? [False, False] Translation: X:100.06, Y:-7.12, Z:-0.15 [[ 9.86700311e-01 1.18310882e-01 -1.11467630e-01 1.00055594e+02] [-1.17932553e-01 9.92971206e-01 1.00048094e-02 -7.12023211e+00] [ 1.11867825e-01 3.27391361e-03 9.93717702e-01 -1.52121252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters Centerline goodness : 0.943654 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.13, Z:-0.15 [[ 9.87174683e-01 1.13467901e-01 -1.12299509e-01 1.00053033e+02] [-1.13209223e-01 9.93533094e-01 8.69848916e-03 -7.13454465e+00] [ 1.12560278e-01 4.12641185e-03 9.93636330e-01 -1.50358350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters Centerline goodness : 0.947524 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.14, Z:-0.15 [[ 9.88156540e-01 1.06293688e-01 -1.10672062e-01 1.00047835e+02] [-1.06073876e-01 9.94326957e-01 7.88893331e-03 -7.14452730e+00] [ 1.10882759e-01 3.94391360e-03 9.93825668e-01 -1.49833504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters Centerline goodness : 0.945430 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.15, Z:-0.15 [[ 9.88491871e-01 1.03067562e-01 -1.10728940e-01 1.00047162e+02] [-1.02845778e-01 9.94667293e-01 7.72803758e-03 -7.15198775e+00] [ 1.10934965e-01 3.74890158e-03 9.93820597e-01 -1.50710939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters Centerline goodness : 0.944388 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.17, Z:-0.15 [[ 9.88349112e-01 1.02713374e-01 -1.12320947e-01 1.00045584e+02] [-1.02605509e-01 9.94699183e-01 6.75604269e-03 -7.16594970e+00] [ 1.12419490e-01 4.84741913e-03 9.93649013e-01 -1.47730382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters Centerline goodness : 0.948000 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.17, Z:-0.15 [[ 9.87798092e-01 1.06581246e-01 -1.13557774e-01 1.00046228e+02] [-1.06278820e-01 9.94298032e-01 8.73130467e-03 -7.17102728e+00] [ 1.13840865e-01 3.44402015e-03 9.93493028e-01 -1.45456920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters Centerline goodness : 0.948859 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.17, Z:-0.14 [[ 9.87383963e-01 1.08911038e-01 -1.14940401e-01 1.00047335e+02] [-1.08560322e-01 9.94046122e-01 9.32548272e-03 -7.17417901e+00] [ 1.15271707e-01 3.27013477e-03 9.93328616e-01 -1.43398379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40771942099997 meters Centerline goodness : 0.948245 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.19, Z:-0.14 [[ 9.86585466e-01 1.13540847e-01 -1.17292774e-01 1.00050105e+02] [-1.12944709e-01 9.93531931e-01 1.17385635e-02 -7.18749364e+00] [ 1.17866923e-01 1.66650211e-03 9.93028001e-01 -1.42185874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46771942099997 meters Centerline goodness : 0.943680 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.20, Z:-0.15 [[ 9.86258076e-01 1.15494756e-01 -1.18135385e-01 1.00053780e+02] [-1.14279440e-01 9.93302612e-01 1.70331919e-02 -7.20000888e+00] [ 1.19311431e-01 -3.29867732e-03 9.92851399e-01 -1.45948077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52771942099997 meters Centerline goodness : 0.940971 with order 1 Centerline is valid? [False, False] Translation: X:100.05, Y:-7.21, Z:-0.14 [[ 9.86651183e-01 1.10481491e-01 -1.19638136e-01 1.00053639e+02] [-1.09251437e-01 9.93871958e-01 1.68123340e-02 -7.21408383e+00] [ 1.20762440e-01 -3.51727102e-03 9.92675205e-01 -1.44995624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58771942099997 meters Centerline goodness : 0.943437 with order 1 Centerline is valid? [False, False] Translation: X:100.06, Y:-7.22, Z:-0.15 [[ 9.88073798e-01 1.02782375e-01 -1.14655805e-01 1.00060924e+02] [-1.03341352e-01 9.94645370e-01 1.07392414e-03 -7.22037506e+00] [ 1.14152246e-01 1.07875696e-02 9.93404698e-01 -1.46388947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64771942099998 meters Centerline goodness : 0.952500 with order 1 Centerline is valid? [False, True] Translation: X:100.06, Y:-7.23, Z:-0.15 [[ 9.90186877e-01 9.17127302e-02 -1.05445362e-01 1.00061351e+02] [-9.25207144e-02 9.95706861e-01 -2.78630059e-03 -7.23221613e+00] [ 1.04737131e-01 1.25148385e-02 9.94421195e-01 -1.47041777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70771942099998 meters Centerline goodness : 0.954560 with order 1 Centerline is valid? [True, True] Translation: X:100.12, Y:-7.24, Z:-0.14 [[ 9.90715853e-01 8.64710759e-02 -1.04904008e-01 1.00118869e+02] [-8.62870225e-02 9.96250398e-01 6.30026195e-03 -7.24420175e+00] [ 1.05055450e-01 2.81008512e-03 9.94462395e-01 -1.37295914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76771942099998 meters Centerline goodness : 0.952824 with order 1 Centerline is valid? [True, True] Translation: X:100.18, Y:-7.26, Z:-0.13 [[ 9.91042479e-01 8.26428584e-02 -1.04904543e-01 1.00176375e+02] [-8.24383668e-02 9.96576306e-01 6.29135026e-03 -7.25565652e+00] [ 1.05065317e-01 2.41316381e-03 9.94462395e-01 -1.30675241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters Centerline goodness : 0.951677 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:-7.26, Z:-0.13 [[ 9.91127098e-01 8.16210884e-02 -1.04905065e-01 1.00234796e+02] [-8.14118142e-02 9.96660747e-01 6.28263013e-03 -7.26153922e+00] [ 1.05067556e-01 2.31362669e-03 9.94462395e-01 -1.25152470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters Centerline goodness : 0.949387 with order 1 Centerline is valid? [True, False] Translation: X:100.24, Y:-7.26, Z:-0.13 [[ 9.91073995e-01 8.17760860e-02 -1.05285368e-01 1.00237096e+02] [-8.15878294e-02 9.96647482e-01 6.10107697e-03 -7.26192344e+00] [ 1.05431319e-01 2.54338594e-03 9.94423334e-01 -1.27039488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters Centerline goodness : 0.941855 with order 1 Centerline is valid? [False, False] Translation: X:100.25, Y:-7.27, Z:-0.12 [[ 9.89642284e-01 9.14524509e-02 -1.10655320e-01 1.00247255e+02] [-9.14485884e-02 9.95796632e-01 5.12088082e-03 -7.26856509e+00] [ 1.10658512e-01 5.05143265e-03 9.93845650e-01 -1.24897208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters Centerline goodness : 0.942250 with order 1 Centerline is valid? [False, False] Translation: X:100.26, Y:-7.27, Z:-0.13 [[ 9.89432616e-01 9.74756214e-02 -1.07338721e-01 1.00260769e+02] [-9.80260361e-02 9.95183839e-01 1.49114314e-04 -7.26705997e+00] [ 1.06836295e-01 1.03744508e-02 9.94222499e-01 -1.28818745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters Centerline goodness : 0.943230 with order 1 Centerline is valid? [False, False] Translation: X:100.27, Y:-7.27, Z:-0.13 [[ 9.89941687e-01 9.76498355e-02 -1.02371703e-01 1.00269393e+02] [-9.91941849e-02 9.95016909e-01 -1.00928408e-02 -7.26795387e+00] [ 1.00876011e-01 2.01460014e-02 9.94695013e-01 -1.30499173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12771942099997 meters Centerline goodness : 0.950038 with order 1 Centerline is valid? [False, True] Translation: X:100.26, Y:-7.27, Z:-0.13 [[ 9.91795771e-01 8.57476352e-02 -9.48076521e-02 1.00258565e+02] [-8.72321807e-02 9.96120249e-01 -1.16188111e-02 -7.27096006e+00] [ 9.34435364e-02 1.97937659e-02 9.95427804e-01 -1.31185841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18771942099997 meters Centerline goodness : 0.953290 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:-7.28, Z:-0.12 [[ 9.92888814e-01 7.31428148e-02 -9.39251405e-02 1.00316174e+02] [-7.29917501e-02 9.97319772e-01 5.04745854e-03 -7.27981523e+00] [ 9.40425850e-02 1.84419526e-03 9.95566467e-01 -1.16348932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24771942099997 meters Centerline goodness : 0.952814 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:-7.28, Z:-0.11 [[ 9.93744964e-01 6.04064377e-02 -9.39255524e-02 1.00373457e+02] [-6.01992993e-02 9.98173655e-01 5.03978095e-03 -7.28463933e+00] [ 9.40584471e-02 6.45995503e-04 9.95566467e-01 -1.09882102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30771942099997 meters Centerline goodness : 0.952083 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:-7.29, Z:-0.11 [[ 9.94205686e-01 5.22776344e-02 -9.39260552e-02 1.00432287e+02] [-5.20351723e-02 9.98632583e-01 5.03039296e-03 -7.28508049e+00] [ 9.40605962e-02 -1.13786811e-04 9.95566468e-01 -1.09757791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36771942099998 meters Centerline goodness : 0.951281 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:-7.28, Z:-0.10 [[ 9.94602884e-01 4.40787829e-02 -9.39263803e-02 1.00489786e+02] [-4.38004038e-02 9.99027668e-01 5.02431512e-03 -7.28097518e+00] [ 9.40565184e-02 -8.83184926e-04 9.95566468e-01 -1.02829090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42771942099998 meters Centerline goodness : 0.950508 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.28, Z:-0.10 [[ 9.94501547e-01 4.63075022e-02 -9.39270331e-02 1.00547680e+02] [-4.60401946e-02 9.98927014e-01 5.01208273e-03 -7.27863107e+00] [ 9.40583477e-02 -6.60105143e-04 9.95566468e-01 -9.88413185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48771942099998 meters Centerline goodness : 0.951117 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.27, Z:-0.09 [[ 9.94386668e-01 4.87110469e-02 -9.39275663e-02 1.00605641e+02] [-4.84553821e-02 9.98812823e-01 5.00207042e-03 -7.27481204e+00] [ 9.40597137e-02 -4.22696028e-04 9.95566468e-01 -9.28953870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters Centerline goodness : 0.951222 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-7.26, Z:-0.09 [[ 9.94270759e-01 5.10190367e-02 -9.39293145e-02 1.00664265e+02] [-5.07767680e-02 9.98697666e-01 4.96902584e-03 -7.26495669e+00] [ 9.40605021e-02 -1.71130084e-04 9.95566468e-01 -9.17623369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters Centerline goodness : 0.950580 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-7.26, Z:-0.09 [[ 9.94092411e-01 5.43825443e-02 -9.39298480e-02 1.00722179e+02] [-5.41562089e-02 9.98520162e-01 4.95892003e-03 -7.25866085e+00] [ 9.40605257e-02 1.57259702e-04 9.95566468e-01 -8.77662555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters Centerline goodness : 0.954212 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:-7.25, Z:-0.08 [[ 9.93829290e-01 5.89951703e-02 -9.39303603e-02 1.00780800e+02] [-5.87903039e-02 9.98258086e-01 4.94919612e-03 -7.24740712e+00] [ 9.40587204e-02 6.03538368e-04 9.95566468e-01 -7.83252714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters Centerline goodness : 0.958340 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:-7.24, Z:-0.07 [[ 9.93475546e-01 6.46772639e-02 -9.39318475e-02 1.00839099e+02] [-6.45004099e-02 9.97905548e-01 4.92080808e-03 -7.23766672e+00] [ 9.40533762e-02 1.16994018e-03 9.95566469e-01 -6.96299793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters Centerline goodness : 0.955901 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:-7.23, Z:-0.07 [[ 9.92876952e-01 7.32940288e-02 -9.39326520e-02 1.00896518e+02] [-7.31570719e-02 9.97308367e-01 4.90540489e-03 -7.23180621e+00] [ 9.40393567e-02 2.00137431e-03 9.95566469e-01 -6.58292791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters Centerline goodness : 0.953889 with order 1 Centerline is valid? [True, True] Translation: X:100.95, Y:-7.23, Z:-0.06 [[ 9.91975237e-01 8.46260679e-02 -9.39337958e-02 1.00954970e+02] [-8.45417997e-02 9.96407967e-01 4.88340233e-03 -7.23105258e+00] [ 9.40096457e-02 3.09711797e-03 9.95566469e-01 -6.42659586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90771942099997 meters Centerline goodness : 0.955399 with order 1 Centerline is valid? [True, True] Translation: X:101.01, Y:-7.23, Z:-0.06 [[ 9.91442787e-01 9.06506918e-02 -9.39342990e-02 1.01013897e+02] [-9.05942711e-02 9.95875959e-01 4.87370384e-03 -7.23268576e+00] [ 9.39887147e-02 3.67791084e-03 9.95566469e-01 -5.82613405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96771942099997 meters Centerline goodness : 0.951059 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:-7.24, Z:-0.06 [[ 9.91536301e-01 8.96216037e-02 -9.39347175e-02 1.01071921e+02] [-8.95613460e-02 9.95969423e-01 4.86562458e-03 -7.23926982e+00] [ 9.39921715e-02 3.58847635e-03 9.95566469e-01 -5.82265881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02771942099997 meters Centerline goodness : 0.952279 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:-7.25, Z:-0.05 [[ 9.92212587e-01 8.17945911e-02 -9.39352282e-02 1.01129143e+02] [-8.17002879e-02 9.96645115e-01 4.85574574e-03 -7.24725219e+00] [ 9.40172600e-02 2.85660314e-03 9.95566469e-01 -5.38150619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08771942099997 meters Centerline goodness : 0.948958 with order 1 Centerline is valid? [True, False] Translation: X:101.13, Y:-7.25, Z:-0.06 [[ 9.92847256e-01 7.23582033e-02 -9.49663968e-02 1.01133698e+02] [-7.29413214e-02 9.97332636e-01 -2.67877018e-03 -7.25030146e+00] [ 9.45192559e-02 9.58658410e-03 9.95476875e-01 -5.74481083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14771942099998 meters Centerline goodness : 0.951008 with order 1 Centerline is valid? [False, True] Translation: X:101.13, Y:-7.25, Z:-0.06 [[ 9.93168311e-01 6.68372783e-02 -9.56529379e-02 1.01133484e+02] [-6.77417460e-02 9.97683399e-01 -6.23621662e-03 -7.25260934e+00] [ 9.50145365e-02 1.26733098e-02 9.95395210e-01 -5.57064368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20771942099998 meters Centerline goodness : 0.951222 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:-7.26, Z:-0.05 [[ 9.93774081e-01 5.82125360e-02 -9.49967190e-02 1.01191658e+02] [-5.79610361e-02 9.98304204e-01 5.40696546e-03 -7.26137296e+00] [ 9.51503771e-02 1.32806133e-04 9.95462901e-01 -4.62712617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26771942099998 meters Centerline goodness : 0.951106 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:-7.26, Z:-0.04 [[ 9.94179820e-01 5.08135832e-02 -9.49971889e-02 1.01250180e+02] [-5.05291594e-02 9.98707994e-01 5.39869831e-03 -7.26267485e+00] [ 9.51487792e-02 -5.67148821e-04 9.95462901e-01 -3.87531705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters Centerline goodness : 0.949826 with order 1 Centerline is valid? [True, False] Translation: X:101.26, Y:-7.26, Z:-0.04 [[ 9.94655989e-01 4.73523802e-02 -9.17453813e-02 1.01262562e+02] [-4.82347183e-02 9.98808448e-01 -7.42265256e-03 -7.25863370e+00] [ 9.12845817e-02 1.18082985e-02 9.95754834e-01 -4.11692654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters Centerline goodness : 0.946760 with order 1 Centerline is valid? [False, False] Translation: X:101.26, Y:-7.26, Z:-0.04 [[ 9.94668370e-01 4.56182088e-02 -9.24868236e-02 1.01264702e+02] [-4.66619006e-02 9.98868807e-01 -9.15277127e-03 -7.25604874e+00] [ 9.19646701e-02 1.34195830e-02 9.95671841e-01 -4.17776942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters Centerline goodness : 0.945715 with order 1 Centerline is valid? [False, False] Translation: X:101.27, Y:-7.25, Z:-0.04 [[ 9.94577339e-01 4.56895847e-02 -9.34257936e-02 1.01269298e+02] [-4.67211463e-02 9.98868473e-01 -8.88306762e-03 -7.24984686e+00] [ 9.29142161e-02 1.31998579e-02 9.95586617e-01 -4.36540759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters Centerline goodness : 0.946217 with order 1 Centerline is valid? [False, False] Translation: X:101.27, Y:-7.25, Z:-0.04 [[ 9.94751529e-01 4.05136251e-02 -9.39576623e-02 1.01269421e+02] [-4.20145776e-02 9.99018188e-01 -1.40511909e-02 -7.24714166e+00] [ 9.32961488e-02 1.79250352e-02 9.95477032e-01 -4.29738315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters Centerline goodness : 0.946716 with order 1 Centerline is valid? [False, False] Translation: X:101.28, Y:-7.23, Z:-0.04 [[ 9.94853757e-01 3.35741499e-02 -9.55969576e-02 1.01275141e+02] [-3.56489955e-02 9.99162639e-01 -2.00791009e-02 -7.23492281e+00] [ 9.48427696e-02 2.33837045e-02 9.95217590e-01 -4.39832073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62771942099997 meters Centerline goodness : 0.948353 with order 1 Centerline is valid? [False, False] Translation: X:101.29, Y:-7.22, Z:-0.05 [[ 9.95282906e-01 3.51920697e-02 -9.04071642e-02 1.01288515e+02] [-3.77745839e-02 9.98921069e-01 -2.70144276e-02 -7.22105374e+00] [ 8.93589275e-02 3.03020910e-02 9.95538430e-01 -4.66546666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68771942099997 meters Centerline goodness : 0.948377 with order 1 Centerline is valid? [False, False] Translation: X:101.30, Y:-7.21, Z:-0.05 [[ 9.95561520e-01 3.89966694e-02 -8.56534893e-02 1.01300752e+02] [-4.19447913e-02 9.98578336e-01 -3.28928918e-02 -7.21251801e+00] [ 8.42490056e-02 3.63396151e-02 9.95781872e-01 -4.83513702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74771942099997 meters Centerline goodness : 0.949042 with order 1 Centerline is valid? [False, False] Translation: X:101.32, Y:-7.19, Z:-0.05 [[ 9.95698055e-01 4.53720054e-02 -8.07883899e-02 1.01315738e+02] [-4.83940524e-02 9.98184769e-01 -3.58494472e-02 -7.19095154e+00] [ 7.90151790e-02 3.96049024e-02 9.96086368e-01 -5.00846338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80771942099997 meters Centerline goodness : 0.948573 with order 1 Centerline is valid? [False, False] Translation: X:101.33, Y:-7.18, Z:-0.05 [[ 9.95732577e-01 5.03148974e-02 -7.73630764e-02 1.01331524e+02] [-5.35528375e-02 9.97748893e-01 -4.03638506e-02 -7.17799468e+00] [ 7.51580208e-02 4.43346133e-02 9.96185582e-01 -5.25933808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86771942099998 meters Centerline goodness : 0.943576 with order 1 Centerline is valid? [False, False] Translation: X:101.35, Y:-7.17, Z:-0.06 [[ 9.95535636e-01 5.59951277e-02 -7.59825235e-02 1.01351000e+02] [-5.95285311e-02 9.97208987e-01 -4.50620655e-02 -7.16562880e+00] [ 7.32471992e-02 4.93840200e-02 9.96090391e-01 -5.69642002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92771942099998 meters Centerline goodness : 0.940415 with order 1 Centerline is valid? [False, False] Translation: X:101.35, Y:-7.16, Z:-0.06 [[ 9.95146748e-01 6.19865236e-02 -7.64239569e-02 1.01354587e+02] [-6.51946548e-02 9.97061639e-01 -4.02212085e-02 -7.15981559e+00] [ 7.37062228e-02 4.50084383e-02 9.96263837e-01 -5.84994632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98771942099998 meters Centerline goodness : 0.937902 with order 1 Centerline is valid? [False, False] Translation: X:101.40, Y:-7.14, Z:-0.06 [[ 9.94569082e-01 7.44977877e-02 -7.26802615e-02 1.01395063e+02] [-7.96739088e-02 9.94280145e-01 -7.11270865e-02 -7.14231093e+00] [ 6.69657303e-02 7.65315217e-02 9.94815821e-01 -5.91567209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters Centerline goodness : 0.938386 with order 1 Centerline is valid? [False, False] Translation: X:101.39, Y:-7.14, Z:-0.06 [[ 9.93922014e-01 8.32078320e-02 -7.20797272e-02 1.01394629e+02] [-8.79743517e-02 9.93954456e-01 -6.56890592e-02 -7.13645625e+00] [ 6.61781219e-02 7.16309693e-02 9.95233370e-01 -5.69756003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters Centerline goodness : 0.950346 with order 1 Centerline is valid? [False, True] Translation: X:101.40, Y:-7.12, Z:-0.05 [[ 9.92837077e-01 1.00576669e-01 -6.44893207e-02 1.01398003e+02] [-1.04899094e-01 9.92185249e-01 -6.75619157e-02 -7.12147556e+00] [ 5.71902002e-02 7.38428462e-02 9.95628703e-01 -5.27496011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters Centerline goodness : 0.951700 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:-7.15, Z:-0.04 [[ 9.92013082e-01 1.11492352e-01 -5.89872919e-02 1.01454680e+02] [-1.11414147e-01 9.93763308e-01 4.62332463e-03 -7.14547559e+00] [ 5.91348716e-02 1.98562027e-03 9.98248027e-01 -4.01746589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters Centerline goodness : 0.948587 with order 1 Centerline is valid? [True, False] Translation: X:101.46, Y:-7.14, Z:-0.04 [[ 9.92360307e-01 1.07792400e-01 -6.00151544e-02 1.01456310e+02] [-1.07998051e-01 9.94151089e-01 -1.84075106e-04 -7.14372781e+00] [ 5.96442892e-02 6.66418854e-03 9.98197449e-01 -4.05920617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters Centerline goodness : 0.951342 with order 1 Centerline is valid? [False, True] Translation: X:101.46, Y:-7.15, Z:-0.04 [[ 9.92769833e-01 1.03936552e-01 -6.00437484e-02 1.01455272e+02] [-1.04300617e-01 9.94541433e-01 -2.95282018e-03 -7.14646921e+00] [ 5.94090896e-02 9.19407079e-03 9.98191379e-01 -4.05490215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters Centerline goodness : 0.946761 with order 1 Centerline is valid? [True, False] Translation: X:101.45, Y:-7.15, Z:-0.04 [[ 9.92319000e-01 1.02184984e-01 -6.97225353e-02 1.01449924e+02] [-1.02295810e-01 9.94752036e-01 1.98853684e-03 -7.15114487e+00] [ 6.95598325e-02 5.15906030e-03 9.97564441e-01 -3.85713287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40771942099997 meters Centerline goodness : 0.944532 with order 1 Centerline is valid? [False, False] Translation: X:101.45, Y:-7.15, Z:-0.04 [[ 9.92301097e-01 1.01796745e-01 -7.05404522e-02 1.01452869e+02] [-1.01884063e-01 9.94793460e-01 2.36840130e-03 -7.15386268e+00] [ 7.04142761e-02 4.83678070e-03 9.97506108e-01 -4.05545823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46771942099997 meters Centerline goodness : 0.942120 with order 1 Centerline is valid? [False, False] Translation: X:101.44, Y:-7.16, Z:-0.04 [[ 9.92384895e-01 9.53361896e-02 -7.79950737e-02 1.01444195e+02] [-9.53069443e-02 9.95439465e-01 4.10581963e-03 -7.15964800e+00] [ 7.80308077e-02 3.35891876e-03 9.96945290e-01 -3.97347383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52771942099997 meters Centerline goodness : 0.940688 with order 1 Centerline is valid? [False, False] Translation: X:101.44, Y:-7.16, Z:-0.04 [[ 9.93122556e-01 8.69814829e-02 -7.83697030e-02 1.01443625e+02] [-8.73432455e-02 9.96177561e-01 -1.19364693e-03 -7.16459468e+00] [ 7.79663144e-02 8.03050190e-03 9.96923650e-01 -4.04765701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58771942099997 meters Centerline goodness : 0.939837 with order 1 Centerline is valid? [False, False] Translation: X:101.43, Y:-7.17, Z:-0.04 [[ 9.93991208e-01 7.53839021e-02 -7.93646383e-02 1.01434369e+02] [-7.55008282e-02 9.97144564e-01 1.53076804e-03 -7.16900673e+00] [ 7.92534129e-02 4.47052594e-03 9.96844477e-01 -4.14239334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64771942099998 meters Centerline goodness : 0.943618 with order 1 Centerline is valid? [False, False] Translation: X:101.43, Y:-7.17, Z:-0.04 [[ 9.94403495e-01 7.03493130e-02 -7.88204527e-02 1.01430667e+02] [-7.08016418e-02 9.97486037e-01 -2.95535823e-03 -7.16823135e+00] [ 7.84143936e-02 8.51943601e-03 9.96884448e-01 -3.87608911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70771942099998 meters Centerline goodness : 0.944522 with order 1 Centerline is valid? [False, False] Translation: X:101.43, Y:-7.17, Z:-0.04 [[ 9.94676201e-01 6.79047030e-02 -7.75126241e-02 1.01428219e+02] [-6.83667154e-02 9.97654737e-01 -3.31940922e-03 -7.16854655e+00] [ 7.71054331e-02 8.60102086e-03 9.96985845e-01 -3.90002535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76771942099998 meters Centerline goodness : 0.946715 with order 1 Centerline is valid? [False, False] Translation: X:101.42, Y:-7.17, Z:-0.04 [[ 9.95183860e-01 6.17638699e-02 -7.61203536e-02 1.01424539e+02] [-6.24429889e-02 9.98026895e-01 -6.57184779e-03 -7.17069278e+00] [ 7.55642574e-02 1.12933792e-02 9.97076979e-01 -3.84938841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters Centerline goodness : 0.950132 with order 1 Centerline is valid? [False, True] Translation: X:101.42, Y:-7.17, Z:-0.04 [[ 9.95789000e-01 5.40988421e-02 -7.40106880e-02 1.01420294e+02] [-5.50169441e-02 9.98431033e-01 -1.04215354e-02 -7.17127034e+00] [ 7.33307746e-02 1.44494922e-02 9.97202993e-01 -3.85731191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters Centerline goodness : 0.950826 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:-7.18, Z:-0.03 [[ 9.96334174e-01 4.51884818e-02 -7.26375535e-02 1.01477810e+02] [-4.48645193e-02 9.98974541e-01 6.08623347e-03 -7.18232231e+00] [ 7.28380943e-02 -2.80507348e-03 9.97339834e-01 -3.05520539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters Centerline goodness : 0.950528 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:-7.18, Z:-0.03 [[ 9.96506241e-01 4.12191715e-02 -7.26380795e-02 1.01536127e+02] [-4.08851508e-02 9.99145354e-01 6.07994880e-03 -7.17971230e+00] [ 7.28266102e-02 -3.08888809e-03 9.97339834e-01 -2.75822522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters Centerline goodness : 0.948530 with order 1 Centerline is valid? [True, False] Translation: X:101.55, Y:-7.17, Z:-0.03 [[ 9.96521592e-01 4.39214346e-02 -7.08210759e-02 1.01551634e+02] [-4.43460792e-02 9.99006388e-01 -4.43415580e-03 -7.16598149e+00] [ 7.05559528e-02 7.55936903e-03 9.97479179e-01 -3.35415052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters Centerline goodness : 0.945363 with order 1 Centerline is valid? [False, False] Translation: X:101.58, Y:-7.15, Z:-0.04 [[ 9.95682108e-01 5.52100021e-02 -7.46257069e-02 1.01579813e+02] [-5.68266284e-02 9.98189395e-01 -1.97146356e-02 -7.15152528e+00] [ 7.34021441e-02 2.38702372e-02 9.97016719e-01 -3.52951198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12771942099997 meters Centerline goodness : 0.942710 with order 1 Centerline is valid? [False, False] Translation: X:101.59, Y:-7.14, Z:-0.03 [[ 9.94469186e-01 6.77811808e-02 -8.02293614e-02 1.01591742e+02] [-7.00853612e-02 9.97195350e-01 -2.62578898e-02 -7.13607731e+00] [ 7.82245554e-02 3.17355661e-02 9.96430516e-01 -3.29489248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18771942099997 meters Centerline goodness : 0.948791 with order 1 Centerline is valid? [False, False] Translation: X:101.59, Y:-7.12, Z:-0.03 [[ 9.93644035e-01 7.98082085e-02 -7.93862867e-02 1.01590427e+02] [-8.15856640e-02 9.96477523e-01 -1.93990994e-02 -7.12402454e+00] [ 7.75584430e-02 2.57525823e-02 9.96655152e-01 -2.92958777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24771942099997 meters Centerline goodness : 0.952944 with order 1 Centerline is valid? [False, True] Translation: X:101.59, Y:-7.12, Z:-0.03 [[ 9.93255969e-01 8.47799264e-02 -7.90882091e-02 1.01588831e+02] [-8.64080853e-02 9.96108034e-01 -1.73904638e-02 -7.12048882e+00] [ 7.73060382e-02 2.41070427e-02 9.96715921e-01 -2.63657198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30771942099997 meters Centerline goodness : 0.950014 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:-7.13, Z:-0.02 [[ 9.93165502e-01 8.75183361e-02 -7.72193462e-02 1.01647165e+02] [-8.73011022e-02 9.96162732e-01 6.19096018e-03 -7.13105524e+00] [ 7.74648575e-02 5.92685959e-04 9.96994907e-01 -2.16450675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36771942099998 meters Centerline goodness : 0.947859 with order 1 Centerline is valid? [True, False] Translation: X:101.65, Y:-7.13, Z:-0.02 [[ 9.93631323e-01 8.18854942e-02 -7.74051684e-02 1.01646286e+02] [-8.19642123e-02 9.96632922e-01 2.16485167e-03 -7.13214229e+00] [ 7.73218091e-02 4.19338922e-03 9.96997369e-01 -2.12399723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42771942099998 meters Centerline goodness : 0.950704 with order 1 Centerline is valid? [False, True] Translation: X:101.65, Y:-7.13, Z:-0.02 [[ 9.94010865e-01 7.67226542e-02 -7.78205255e-02 1.01647114e+02] [-7.72275478e-02 9.97007368e-01 -3.49483711e-03 -7.12895200e+00] [ 7.73195042e-02 9.48379442e-03 9.96961259e-01 -2.17888814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48771942099998 meters Centerline goodness : 0.950389 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:-7.13, Z:-0.02 [[ 9.94309449e-01 7.36327237e-02 -7.69866331e-02 1.01704025e+02] [-7.33520141e-02 9.97285116e-01 6.47149636e-03 -7.13159744e+00] [ 7.72541372e-02 -7.87545392e-04 9.97011122e-01 -1.70871760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters Centerline goodness : 0.950803 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:-7.13, Z:-0.01 [[ 9.94672424e-01 6.85541870e-02 -7.69876095e-02 1.01762560e+02] [-6.82591859e-02 9.97646708e-01 6.45985926e-03 -7.13060652e+00] [ 7.72492856e-02 -1.17033232e-03 9.97011122e-01 -1.04812517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters Centerline goodness : 0.946730 with order 1 Centerline is valid? [True, False] Translation: X:101.77, Y:-7.13, Z:-0.01 [[ 9.95025559e-01 6.22752730e-02 -7.77555561e-02 1.01765650e+02] [-6.24294765e-02 9.98049277e-01 4.48411100e-04 -7.12710634e+00] [ 7.76318015e-02 4.40805816e-03 9.96972353e-01 -1.28916938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters Centerline goodness : 0.947651 with order 1 Centerline is valid? [False, False] Translation: X:101.77, Y:-7.12, Z:-0.01 [[ 9.95403626e-01 5.58075268e-02 -7.78276361e-02 1.01765433e+02] [-5.64708057e-02 9.98384082e-01 -6.34605254e-03 -7.12129420e+00] [ 7.73477155e-02 1.07118730e-02 9.96946632e-01 -1.26004500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters Centerline goodness : 0.951715 with order 1 Centerline is valid? [False, True] Translation: X:101.76, Y:-7.11, Z:-0.01 [[ 9.96421182e-01 4.76809537e-02 -6.97950901e-02 1.01761059e+02] [-4.77969672e-02 9.98857072e-01 7.83987489e-06 -7.11446557e+00] [ 6.97156932e-02 3.32818182e-03 9.97561349e-01 -1.13069620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters Centerline goodness : 0.950177 with order 1 Centerline is valid? [True, True] Translation: X:101.82, Y:-7.12, Z:-0.01 [[ 9.96648429e-01 4.36472694e-02 -6.91868862e-02 1.01819819e+02] [-4.33009092e-02 9.99040939e-01 6.49871584e-03 -7.11560957e+00] [ 6.94041830e-02 -3.48107986e-03 9.97582549e-01 -7.76008569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84771942099997 meters Centerline goodness : 0.949783 with order 1 Centerline is valid? [True, False] Translation: X:101.82, Y:-7.11, Z:-0.01 [[ 9.96716453e-01 4.21192725e-02 -6.91540278e-02 1.01820750e+02] [-4.20082859e-02 9.99112579e-01 3.05904462e-03 -7.10523983e+00] [ 6.92215038e-02 -1.43957937e-04 9.97601304e-01 -8.06106311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90771942099997 meters Centerline goodness : 0.950033 with order 1 Centerline is valid? [False, True] Translation: X:101.82, Y:-7.09, Z:-0.01 [[ 9.96779712e-01 4.09674662e-02 -6.89338315e-02 1.01822543e+02] [-4.10362791e-02 9.99157570e-01 4.18131975e-04 -7.08515161e+00] [ 6.88928894e-02 2.41200248e-03 9.97621147e-01 -8.98508821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96771942099997 meters Centerline goodness : 0.953000 with order 1 Centerline is valid? [True, True] Translation: X:101.88, Y:-7.08, Z:-0.00 [[ 9.96721051e-01 4.33645651e-02 -6.83129592e-02 1.01881463e+02] [-4.30045724e-02 9.99052192e-01 6.73226881e-03 -7.07771317e+00] [ 6.85401536e-02 -3.77242445e-03 9.97641226e-01 -8.28467808e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02771942099997 meters Centerline goodness : 0.955801 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:-7.06, Z:0.00 [[ 9.96336741e-01 5.14425495e-02 -6.83137098e-02 1.01942413e+02] [-5.11019865e-02 9.98670800e-01 6.72464340e-03 -7.06135361e+00] [ 6.85688400e-02 -3.20904301e-03 9.97641226e-01 3.28116940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08771942099997 meters Centerline goodness : 0.948478 with order 1 Centerline is valid? [True, False] Translation: X:101.95, Y:-7.05, Z:0.00 [[ 9.95915810e-01 5.82736124e-02 -6.89629268e-02 1.01946964e+02] [-5.77203755e-02 9.98282809e-01 9.98958325e-03 -7.04726053e+00] [ 6.94266334e-02 -5.96821786e-03 9.97569207e-01 3.58256498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14771942099998 meters Centerline goodness : 0.952307 with order 1 Centerline is valid? [False, True] Translation: X:101.94, Y:-7.03, Z:0.00 [[ 9.96132591e-01 5.62185709e-02 -6.75228431e-02 1.01941781e+02] [-5.57484017e-02 9.98405813e-01 8.82883727e-03 -7.03471221e+00] [ 6.79115437e-02 -5.03040196e-03 9.97678664e-01 2.76700434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20771942099998 meters Centerline goodness : 0.953466 with order 1 Centerline is valid? [True, True] Translation: X:102.00, Y:-7.03, Z:0.01 [[ 9.96530446e-01 4.83743272e-02 -6.77273613e-02 1.02001378e+02] [-4.80241209e-02 9.98823095e-01 6.79041062e-03 -7.02920686e+00] [ 6.79761341e-02 -3.51430394e-03 9.97680758e-01 5.83198929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26771942099998 meters Centerline goodness : 0.952347 with order 1 Centerline is valid? [True, True] Translation: X:102.06, Y:-7.02, Z:0.01 [[ 9.96698504e-01 4.47752738e-02 -6.77293652e-02 1.02060435e+02] [-4.44181485e-02 9.98990085e-01 6.77036351e-03 -7.02197313e+00] [ 6.79641092e-02 -3.73959818e-03 9.97680758e-01 9.92993418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters Centerline goodness : 0.952562 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:-7.02, Z:0.02 [[ 9.96725795e-01 4.41619807e-02 -6.77304155e-02 1.02118255e+02] [-4.38041583e-02 9.99017267e-01 6.75984027e-03 -7.02351994e+00] [ 6.79623825e-02 -3.77083333e-03 9.97680758e-01 1.56907628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters Centerline goodness : 0.951247 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:-7.01, Z:0.02 [[ 9.96930317e-01 3.92710983e-02 -6.77327370e-02 1.02177133e+02] [-3.89036173e-02 9.99220260e-01 6.73649876e-03 -7.01335591e+00] [ 6.79444728e-02 -4.08077136e-03 9.97680759e-01 1.68494239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters Centerline goodness : 0.950802 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:-7.00, Z:0.02 [[ 9.97148707e-01 3.32661605e-02 -6.77334451e-02 1.02237153e+02] [-3.28853766e-02 9.99436475e-01 6.72937128e-03 -7.00331674e+00] [ 6.79191360e-02 -4.48274402e-03 9.97680759e-01 2.36852122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters Centerline goodness : 0.949162 with order 1 Centerline is valid? [True, False] Translation: X:102.24, Y:-6.98, Z:0.02 [[ 9.97140835e-01 3.55289749e-02 -6.66921793e-02 1.02238311e+02] [-3.51387468e-02 9.99357819e-01 7.01550876e-03 -6.98331428e+00] [ 6.68986047e-02 -4.65197067e-03 9.97748934e-01 2.06102581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters Centerline goodness : 0.950278 with order 1 Centerline is valid? [False, True] Translation: X:102.22, Y:-6.97, Z:0.02 [[ 9.96962371e-01 3.79002855e-02 -6.80411531e-02 1.02222252e+02] [-3.63370264e-02 9.99049722e-01 2.40681062e-02 -6.97150503e+00] [ 6.88886832e-02 -2.15225830e-02 9.97392163e-01 2.07630930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62771942099997 meters Centerline goodness : 0.955609 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:-6.96, Z:0.03 [[ 9.96883761e-01 3.68198433e-02 -6.97643629e-02 1.02282663e+02] [-3.64195259e-02 9.99312059e-01 7.00184889e-03 -6.95985165e+00] [ 6.99741761e-02 -4.43924444e-03 9.97538925e-01 3.43396013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68771942099997 meters Centerline goodness : 0.956456 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:-6.95, Z:0.03 [[ 9.97003970e-01 3.34062157e-02 -6.97646629e-02 1.02341403e+02] [-3.29977943e-02 9.99430919e-01 6.99885779e-03 -6.95430492e+00] [ 6.99587665e-02 -4.67580900e-03 9.97538925e-01 3.39475288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74771942099997 meters Centerline goodness : 0.952393 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:-6.95, Z:0.04 [[ 9.97218467e-01 2.62320262e-02 -6.97653979e-02 1.02400575e+02] [-2.58066640e-02 9.99642503e-01 6.99152358e-03 -6.95179389e+00] [ 6.99238589e-02 -5.17166424e-03 9.97538925e-01 3.86110091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80771942099997 meters Centerline goodness : 0.949094 with order 1 Centerline is valid? [True, False] Translation: X:102.37, Y:-6.94, Z:0.04 [[ 9.96766965e-01 2.30145677e-02 -7.69801731e-02 1.02369020e+02] [-2.03099698e-02 9.99154935e-01 3.57340322e-02 -6.93865201e+00] [ 7.77375231e-02 -3.40550378e-02 9.96392057e-01 3.82501478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86771942099998 meters Centerline goodness : 0.952093 with order 1 Centerline is valid? [False, True] Translation: X:102.35, Y:-6.93, Z:0.04 [[ 9.96823255e-01 2.48560497e-02 -7.56675248e-02 1.02352050e+02] [-2.26250563e-02 9.99287778e-01 3.02000674e-02 -6.92530851e+00] [ 7.63642871e-02 -2.83921475e-02 9.96675665e-01 3.75492082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92771942099998 meters Centerline goodness : 0.950943 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-6.91, Z:0.05 [[ 9.96599683e-01 2.67023579e-02 -7.79490570e-02 1.02411502e+02] [-2.61648397e-02 9.99626354e-01 7.90913664e-03 -6.91110182e+00] [ 7.81311242e-02 -5.84271849e-03 9.96925970e-01 4.67128533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98771942099998 meters Centerline goodness : 0.952760 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-6.91, Z:0.05 [[ 9.96558408e-01 2.81937923e-02 -7.79515858e-02 1.02470497e+02] [-2.76627494e-02 9.99586221e-01 7.88413387e-03 -6.90593802e+00] [ 7.81416147e-02 -5.70064472e-03 9.96925971e-01 5.22733482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters Centerline goodness : 0.949651 with order 1 Centerline is valid? [True, False] Translation: X:102.46, Y:-6.91, Z:0.05 [[ 9.96458927e-01 3.13538587e-02 -7.80162928e-02 1.02458375e+02] [-2.53057610e-02 9.96683626e-01 7.73393073e-02 -6.91140271e+00] [ 8.01824472e-02 -7.50911816e-02 9.93947730e-01 5.17081292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters Centerline goodness : 0.952683 with order 1 Centerline is valid? [False, True] Translation: X:102.44, Y:-6.91, Z:0.05 [[ 9.96484386e-01 3.66829541e-02 -7.53208443e-02 1.02440404e+02] [-2.72708682e-02 9.92107477e-01 1.22388945e-01 -6.90727645e+00] [ 7.92159609e-02 -1.19904608e-01 9.89619986e-01 4.94284727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters Centerline goodness : 0.951331 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:-6.87, Z:0.08 [[ 9.95771292e-01 3.06067172e-02 -8.66184934e-02 1.02500478e+02] [-3.00149557e-02 9.99516416e-01 8.12626744e-03 -6.86682741e+00] [ 8.68253245e-02 -5.49205358e-03 9.96208412e-01 7.81606714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters Centerline goodness : 0.951638 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:-6.87, Z:0.09 [[ 9.95780017e-01 3.03191459e-02 -8.66193228e-02 1.02559502e+02] [-2.97270696e-02 9.99525092e-01 8.11741765e-03 -6.86755028e+00] [ 8.68242997e-02 -5.50822366e-03 9.96208412e-01 8.57874389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters Centerline goodness : 0.950756 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:-6.87, Z:0.09 [[ 9.95841204e-01 2.82310815e-02 -8.66216014e-02 1.02617776e+02] [-2.76332659e-02 9.99585367e-01 8.09302859e-03 -6.86639320e+00] [ 8.68141602e-02 -5.66573359e-03 9.96208412e-01 9.01824655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34771942099997 meters Centerline goodness : 0.956476 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:-6.87, Z:0.10 [[ 9.95836024e-01 2.84106067e-02 -8.66224561e-02 1.02675609e+02] [-2.78142593e-02 9.99580421e-01 8.08387060e-03 -6.86999250e+00] [ 8.68157788e-02 -5.64087010e-03 9.96208412e-01 9.50842892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40771942099997 meters Centerline goodness : 0.961522 with order 1 Centerline is valid? [True, True] Translation: X:102.73, Y:-6.87, Z:0.11 [[ 9.95862141e-01 2.74772981e-02 -8.66232850e-02 1.02733759e+02] [-2.68782119e-02 9.99606101e-01 8.07497893e-03 -6.86741996e+00] [ 8.68110427e-02 -5.71328680e-03 9.96208413e-01 1.05424180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46771942099997 meters Centerline goodness : 0.957944 with order 1 Centerline is valid? [True, True] Translation: X:102.79, Y:-6.87, Z:0.11 [[ 9.95892105e-01 2.63648652e-02 -8.66245276e-02 1.02792740e+02] [-2.57627534e-02 9.99635579e-01 8.06162668e-03 -6.86993078e+00] [ 8.68055035e-02 -5.79682402e-03 9.96208413e-01 1.09583855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52771942099997 meters Centerline goodness : 0.958014 with order 1 Centerline is valid? [True, True] Translation: X:102.85, Y:-6.87, Z:0.11 [[ 9.95991118e-01 2.23041521e-02 -8.66268926e-02 1.02851353e+02] [-2.16889884e-02 9.99732468e-01 8.03613295e-03 -6.87267761e+00] [ 8.67829563e-02 -6.12506737e-03 9.96208413e-01 1.09379185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58771942099997 meters Centerline goodness : 0.956532 with order 1 Centerline is valid? [True, True] Translation: X:102.91, Y:-6.87, Z:0.11 [[ 9.96082195e-01 1.77662570e-02 -8.66292113e-02 1.02909917e+02] [-1.71362226e-02 9.99821070e-01 8.01105988e-03 -6.87163933e+00] [ 8.67560373e-02 -6.49517666e-03 9.96208413e-01 1.11601322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64771942099998 meters Centerline goodness : 0.951043 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:-6.87, Z:0.12 [[ 9.96055062e-01 1.92219724e-02 -8.66304201e-02 1.02968939e+02] [-1.85985356e-02 9.99795042e-01 7.99796649e-03 -6.87015258e+00] [ 8.67664012e-02 -6.35521606e-03 9.96208413e-01 1.15883037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70771942099998 meters Centerline goodness : 0.951751 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:-6.87, Z:0.12 [[ 9.95901821e-01 2.59680513e-02 -8.66326915e-02 1.03027641e+02] [-2.53720979e-02 9.99646279e-01 7.97328716e-03 -6.86814271e+00] [ 8.68090984e-02 -5.74255807e-03 9.96208414e-01 1.22499287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters Centerline goodness : 0.951022 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:-6.87, Z:0.13 [[ 9.95611934e-01 3.53730500e-02 -8.66350096e-02 1.03087259e+02] [-3.48146807e-02 9.99362180e-01 7.94802021e-03 -6.86637445e+00] [ 8.68608977e-02 -4.89697358e-03 9.96208414e-01 1.26241166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters Centerline goodness : 0.952735 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:-6.87, Z:0.14 [[ 9.95002371e-01 4.96432109e-02 -8.66362102e-02 1.03145349e+02] [-4.91398046e-02 9.98760390e-01 7.93491114e-03 -6.86688121e+00] [ 8.69227296e-02 -3.63796895e-03 9.96208414e-01 1.35494716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters Centerline goodness : 0.955527 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:-6.87, Z:0.14 [[ 9.94432548e-01 5.99805315e-02 -8.66385731e-02 1.03203774e+02] [-5.95184582e-02 9.98195873e-01 7.90902756e-03 -6.87077114e+00] [ 8.69566538e-02 -2.70840014e-03 9.96208414e-01 1.41247890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters Centerline goodness : 0.957563 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:-6.87, Z:0.15 [[ 9.93620011e-01 7.21985311e-02 -8.66409019e-02 1.03262251e+02] [-7.17849785e-02 9.97388975e-01 7.88343426e-03 -6.87333302e+00] [ 8.69838527e-02 -1.61362276e-03 9.96208415e-01 1.48700074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters Centerline goodness : 0.959980 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:-6.88, Z:0.16 [[ 9.92732328e-01 8.35193259e-02 -8.66432150e-02 1.03319916e+02] [-8.31509855e-02 9.96505979e-01 7.85792898e-03 -6.88399735e+00] [ 8.69967708e-02 -5.96351415e-04 9.96208415e-01 1.56327351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters Centerline goodness : 0.962443 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:-6.89, Z:0.16 [[ 9.92114807e-01 9.05579737e-02 -8.66456158e-02 1.03376415e+02] [-9.02187261e-02 9.95891184e-01 7.83136734e-03 -6.89254301e+00] [ 8.69987977e-02 4.74415784e-05 9.96208415e-01 1.63014521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12771942099997 meters Centerline goodness : 0.961389 with order 1 Centerline is valid? [True, True] Translation: X:103.43, Y:-6.91, Z:0.17 [[ 9.91246777e-01 9.96103326e-02 -8.66464573e-02 1.03432609e+02] [-9.93063850e-02 9.95026159e-01 7.82204644e-03 -6.90558929e+00] [ 8.69946482e-02 8.50968120e-04 9.96208415e-01 1.67899138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18771942099997 meters Centerline goodness : 0.957990 with order 1 Centerline is valid? [True, True] Translation: X:103.49, Y:-6.93, Z:0.17 [[ 9.90737680e-01 1.04551896e-01 -8.66472763e-02 1.03489564e+02] [-1.04267592e-01 9.94518590e-01 7.81296342e-03 -6.92606213e+00] [ 8.69891872e-02 1.29390563e-03 9.96208416e-01 1.69525115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24771942099997 meters Centerline goodness : 0.956759 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:-6.94, Z:0.17 [[ 9.90634413e-01 1.05523959e-01 -8.66496021e-02 1.03547130e+02] [-1.05245628e-01 9.94415768e-01 7.78708351e-03 -6.93524519e+00] [ 8.69874545e-02 1.40533890e-03 9.96208416e-01 1.74100132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30771942099997 meters Centerline goodness : 0.951025 with order 1 Centerline is valid? [True, True] Translation: X:103.60, Y:-6.95, Z:0.18 [[ 9.90268036e-01 1.08906625e-01 -8.66519641e-02 1.03604437e+02] [-1.08643517e-01 9.94050480e-01 7.76071059e-03 -6.95397725e+00] [ 8.69816194e-02 1.72899053e-03 9.96208416e-01 1.77627661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36771942099998 meters Centerline goodness : 0.946394 with order 1 Centerline is valid? [True, False] Translation: X:103.62, Y:-6.97, Z:0.17 [[ 9.90559064e-01 1.08398275e-01 -8.39199263e-02 1.03619852e+02] [-1.07468068e-01 9.94087128e-01 1.55369635e-02 -6.97399652e+00] [ 8.51078985e-02 -6.37156766e-03 9.96351368e-01 1.73531452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42771942099998 meters Centerline goodness : 0.947903 with order 1 Centerline is valid? [False, False] Translation: X:103.63, Y:-6.99, Z:0.17 [[ 9.91164056e-01 1.06526515e-01 -7.90311078e-02 1.03632099e+02] [-1.05101194e-01 9.94218322e-01 2.19924497e-02 -6.99263587e+00] [ 8.09169544e-02 -1.34918619e-02 9.96629528e-01 1.71937781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48771942099998 meters Centerline goodness : 0.948931 with order 1 Centerline is valid? [False, False] Translation: X:103.66, Y:-7.02, Z:0.17 [[ 9.92334010e-01 9.99478087e-02 -7.26887048e-02 1.03655076e+02] [-9.78920258e-02 9.94703958e-01 3.13239081e-02 -7.01653225e+00] [ 7.54344984e-02 -2.39681348e-02 9.96862661e-01 1.70165442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters Centerline goodness : 0.953609 with order 1 Centerline is valid? [False, True] Translation: X:103.66, Y:-7.04, Z:0.17 [[ 9.93298022e-01 9.41827764e-02 -6.69973505e-02 1.03663639e+02] [-9.19575778e-02 9.95127679e-01 3.55627132e-02 -7.03826206e+00] [ 7.00203130e-02 -2.91634586e-02 9.97119175e-01 1.70526174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters Centerline goodness : 0.956664 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:-7.06, Z:0.18 [[ 9.94248918e-01 8.15418013e-02 -6.94263933e-02 1.03719667e+02] [-8.13531846e-02 9.96669913e-01 5.54463924e-03 -7.05647947e+00] [ 6.96473172e-02 1.35306621e-04 9.97571668e-01 1.78854007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters Centerline goodness : 0.957002 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:-7.08, Z:0.19 [[ 9.95581790e-01 6.32202351e-02 -6.94269542e-02 1.03776207e+02] [-6.29875612e-02 9.97998949e-01 5.53760698e-03 -7.07872255e+00] [ 6.96381161e-02 -1.14010614e-03 9.97571668e-01 1.85158033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters Centerline goodness : 0.951460 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:-7.10, Z:0.19 [[ 9.96392093e-01 4.88105767e-02 -6.94285531e-02 1.03833655e+02] [-4.85443589e-02 9.98805788e-01 5.51748692e-03 -7.09770262e+00] [ 6.96149524e-02 -2.12721574e-03 9.97571668e-01 1.86520563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters Centerline goodness : 0.948214 with order 1 Centerline is valid? [True, False] Translation: X:103.82, Y:-7.15, Z:0.20 [[ 9.96960358e-01 4.30315284e-02 -6.49486833e-02 1.03818101e+02] [-3.09599932e-02 9.83799602e-01 1.76578091e-01 -7.14781627e+00] [ 7.14949139e-02 -1.74030546e-01 9.82141459e-01 1.96388887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84771942099997 meters Centerline goodness : 0.951709 with order 1 Centerline is valid? [False, True] Translation: X:103.83, Y:-7.16, Z:0.21 [[ 9.96656153e-01 4.89355913e-02 -6.54356250e-02 1.03827684e+02] [-3.19572635e-02 9.70486692e-01 2.39027851e-01 -7.16260415e+00] [ 7.52013725e-02 -2.36137434e-01 9.68805381e-01 2.11715232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90771942099997 meters Centerline goodness : 0.954575 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:-7.09, Z:0.23 [[ 9.95449081e-01 4.65710257e-02 -8.31400479e-02 1.03890588e+02] [-4.62757856e-02 9.98913694e-01 5.47566564e-03 -7.08500394e+00] [ 8.33047397e-02 -1.60337529e-03 9.96522829e-01 2.32253391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96771942099997 meters Centerline goodness : 0.958144 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:-7.09, Z:0.24 [[ 9.94710418e-01 6.03213002e-02 -8.31416001e-02 1.03948926e+02] [-6.00759394e-02 9.98178920e-01 5.45199436e-03 -7.08982834e+00] [ 8.33190641e-02 -4.28345863e-04 9.96522830e-01 2.41195912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02771942099997 meters Centerline goodness : 0.951975 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:-7.09, Z:0.24 [[ 9.93269807e-01 8.06367669e-02 -8.31432641e-02 1.04007768e+02] [-8.04644737e-02 9.96742706e-01 5.42650037e-03 -7.09444884e+00] [ 8.33100174e-02 1.30010001e-03 9.96522830e-01 2.42192641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08771942099997 meters Centerline goodness : 0.948575 with order 1 Centerline is valid? [True, False] Translation: X:104.02, Y:-7.10, Z:0.24 [[ 9.93418540e-01 8.03454286e-02 -8.16346499e-02 1.04020279e+02] [-7.94395969e-02 9.96737258e-01 1.42894439e-02 -7.09913995e+00] [ 8.25163887e-02 -7.71037482e-03 9.96559881e-01 2.40038706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14771942099998 meters Centerline goodness : 0.948120 with order 1 Centerline is valid? [False, False] Translation: X:104.04, Y:-7.11, Z:0.24 [[ 9.94122154e-01 7.54127526e-02 -7.76792046e-02 1.04042916e+02] [-7.33730423e-02 9.96888932e-01 2.87898354e-02 -7.11291465e+00] [ 7.96086600e-02 -2.29210536e-02 9.96562636e-01 2.38204820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20771942099998 meters Centerline goodness : 0.953622 with order 1 Centerline is valid? [False, True] Translation: X:104.07, Y:-7.14, Z:0.24 [[ 9.95738195e-01 6.93878873e-02 -6.07516951e-02 1.04065041e+02] [-6.40090295e-02 9.94201609e-01 8.64060455e-02 -7.13702345e+00] [ 6.63949660e-02 -8.21491428e-02 9.94405967e-01 2.39118468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters Centerline goodness : 0.948371 with order 1 Centerline is valid? [True, False] Translation: X:104.10, Y:-7.16, Z:0.25 [[ 9.95957241e-01 6.83726012e-02 -5.82611516e-02 1.04096745e+02] [-5.94070938e-02 9.87832519e-01 1.43727910e-01 -7.16189540e+00] [ 6.73793113e-02 -1.39685727e-01 9.87900767e-01 2.45230563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters Centerline goodness : 0.943858 with order 1 Centerline is valid? [False, False] Translation: X:104.13, Y:-7.18, Z:0.25 [[ 9.95975695e-01 6.63261118e-02 -6.02765377e-02 1.04126066e+02] [-5.39972610e-02 9.80859236e-01 1.87081412e-01 -7.17747427e+00] [ 7.15311814e-02 -1.83073772e-01 9.80493388e-01 2.54964804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters Centerline goodness : 0.938155 with order 1 Centerline is valid? [False, False] Translation: X:104.15, Y:-7.20, Z:0.27 [[ 9.95877947e-01 6.77239954e-02 -6.03371749e-02 1.04151356e+02] [-5.13301996e-02 9.69244137e-01 2.40688624e-01 -7.19686815e+00] [ 7.47818483e-02 -2.36599374e-01 9.68725148e-01 2.65356034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters Centerline goodness : 0.941689 with order 1 Centerline is valid? [False, False] Translation: X:104.17, Y:-7.23, Z:0.29 [[ 9.96624825e-01 6.58252513e-02 -4.90509419e-02 1.04167669e+02] [-4.46896484e-02 9.36266326e-01 3.48436798e-01 -7.22863275e+00] [ 6.88606849e-02 -3.45068693e-01 9.36047970e-01 2.86695358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.507719421 meters Centerline goodness : 0.942588 with order 1 Centerline is valid? [False, False] Translation: X:104.18, Y:-7.25, Z:0.31 [[ 9.97195999e-01 6.19135520e-02 -4.20339298e-02 1.04182253e+02] [-3.78886510e-02 9.02092816e-01 4.29875565e-01 -7.24919210e+00] [ 6.45336292e-02 -4.27077585e-01 9.01909168e-01 3.07732885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters Centerline goodness : 0.946533 with order 1 Centerline is valid? [False, False] Translation: X:104.20, Y:-7.26, Z:0.33 [[ 9.97060926e-01 6.50408207e-02 -4.04870514e-02 1.04202128e+02] [-3.76174685e-02 8.75992936e-01 4.80854762e-01 -7.25792081e+00] [ 6.67415594e-02 -4.77918474e-01 8.75864999e-01 3.26972106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62771942099997 meters Centerline goodness : 0.951285 with order 1 Centerline is valid? [False, True] Translation: X:104.20, Y:-7.25, Z:0.33 [[ 9.95867646e-01 8.08492746e-02 -4.13645442e-02 1.04196795e+02] [-5.20019429e-02 8.81066349e-01 4.70125395e-01 -7.25466273e+00] [ 7.44542051e-02 -4.66031634e-01 8.81629790e-01 3.34817945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68771942099997 meters Centerline goodness : 0.945113 with order 1 Centerline is valid? [True, False] Translation: X:104.19, Y:-7.25, Z:0.33 [[ 9.94380421e-01 9.45286417e-02 -4.76646092e-02 1.04189762e+02] [-6.48252516e-02 8.99642468e-01 4.31788278e-01 -7.24641430e+00] [ 8.36974661e-02 -4.26271939e-01 9.00714698e-01 3.32438172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74771942099997 meters Centerline goodness : 0.941500 with order 1 Centerline is valid? [False, False] Translation: X:104.19, Y:-7.24, Z:0.33 [[ 9.93562874e-01 9.93947116e-02 -5.43461663e-02 1.04193472e+02] [-6.96117384e-02 9.14173891e-01 3.99299765e-01 -7.24404300e+00] [ 8.93701313e-02 -3.92946291e-01 9.15208278e-01 3.34556297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80771942099997 meters Centerline goodness : 0.941928 with order 1 Centerline is valid? [False, False] Translation: X:104.20, Y:-7.24, Z:0.34 [[ 9.93276704e-01 1.00002625e-01 -5.83169218e-02 1.04204572e+02] [-7.12422209e-02 9.25107729e-01 3.72961441e-01 -7.24226621e+00] [ 9.12465583e-02 -3.66299284e-01 9.26012365e-01 3.38837675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86771942099998 meters Centerline goodness : 0.941483 with order 1 Centerline is valid? [False, False] Translation: X:104.23, Y:-7.25, Z:0.35 [[ 9.93441389e-01 9.91387121e-02 -5.69712459e-02 1.04228499e+02] [-7.19056560e-02 9.29066497e-01 3.62856750e-01 -7.24911347e+00] [ 8.89032268e-02 -3.56380359e-01 9.30101745e-01 3.47814705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92771942099998 meters Centerline goodness : 0.940109 with order 1 Centerline is valid? [False, False] Translation: X:104.26, Y:-7.26, Z:0.36 [[ 9.93899850e-01 9.77131280e-02 -5.11393400e-02 1.04255694e+02] [-7.16579533e-02 9.24637890e-01 3.74045332e-01 -7.26359215e+00] [ 8.38345108e-02 -3.68099059e-01 9.25999383e-01 3.55050396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98771942099998 meters Centerline goodness : 0.938154 with order 1 Centerline is valid? [False, False] Translation: X:104.29, Y:-7.28, Z:0.37 [[ 9.94397683e-01 9.47123205e-02 -4.69342541e-02 1.04287615e+02] [-6.68284701e-02 9.07329612e-01 4.15074609e-01 -7.28338855e+00] [ 8.18975180e-02 -4.09612685e-01 9.08575943e-01 3.71497398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters Centerline goodness : 0.938757 with order 1 Centerline is valid? [False, False] Translation: X:104.28, Y:-7.28, Z:0.37 [[ 9.94088844e-01 9.57369824e-02 -5.12035136e-02 1.04275812e+02] [-6.97018462e-02 9.24363806e-01 3.75090932e-01 -7.28274611e+00] [ 8.32407487e-02 -3.69304732e-01 9.25572792e-01 3.71734468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters Centerline goodness : 0.939295 with order 1 Centerline is valid? [False, False] Translation: X:104.26, Y:-7.28, Z:0.37 [[ 9.94036656e-01 9.48453210e-02 -5.38097760e-02 1.04264965e+02] [-7.13015092e-02 9.38675553e-01 3.37348931e-01 -7.28096887e+00] [ 8.25058889e-02 -3.31500485e-01 9.39840522e-01 3.70331027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters Centerline goodness : 0.937446 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.28, Z:0.37 [[ 9.94343800e-01 8.95421516e-02 -5.71192617e-02 1.04246054e+02] [-6.81480486e-02 9.50384597e-01 3.03520941e-01 -7.28068665e+00] [ 8.14631845e-02 -2.97911599e-01 9.51111155e-01 3.67571918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters Centerline goodness : 0.936239 with order 1 Centerline is valid? [False, False] Translation: X:104.23, Y:-7.28, Z:0.37 [[ 9.95254169e-01 7.78944688e-02 -5.83231585e-02 1.04227442e+02] [-5.97992776e-02 9.62413326e-01 2.64923830e-01 -7.28221360e+00] [ 7.67670860e-02 -2.60178863e-01 9.62503908e-01 3.66444564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters Centerline goodness : 0.929372 with order 1 Centerline is valid? [False, False] Translation: X:104.21, Y:-7.28, Z:0.36 [[ 9.96146405e-01 6.15965159e-02 -6.24356428e-02 1.04213523e+02] [-4.52752006e-02 9.70835626e-01 2.35432248e-01 -7.28209870e+00] [ 7.51165525e-02 -2.31698201e-01 9.69883213e-01 3.62886146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34771942099997 meters Centerline goodness : 0.929737 with order 1 Centerline is valid? [False, False] Translation: X:104.20, Y:-7.28, Z:0.36 [[ 9.96884026e-01 4.64083788e-02 -6.37848074e-02 1.04196531e+02] [-3.23176164e-02 9.77927466e-01 2.06430235e-01 -7.27922060e+00] [ 7.19570077e-02 -2.03725631e-01 9.76380078e-01 3.61304562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40771942099997 meters Centerline goodness : 0.933572 with order 1 Centerline is valid? [False, False] Translation: X:104.18, Y:-7.28, Z:0.36 [[ 9.97173358e-01 4.05729745e-02 -6.32386509e-02 1.04181272e+02] [-2.89959494e-02 9.84270370e-01 1.74272984e-01 -7.27557757e+00] [ 6.93147037e-02 -1.71946713e-01 9.82664643e-01 3.58941867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46771942099997 meters Centerline goodness : 0.939790 with order 1 Centerline is valid? [False, False] Translation: X:104.18, Y:-7.27, Z:0.36 [[ 9.97604480e-01 2.93349378e-02 -6.26479351e-02 1.04178982e+02] [-1.88114492e-02 9.86546053e-01 1.62397708e-01 -7.26915273e+00] [ 6.65689998e-02 -1.60830183e-01 9.84734594e-01 3.58985014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52771942099997 meters Centerline goodness : 0.940126 with order 1 Centerline is valid? [False, False] Translation: X:104.18, Y:-7.26, Z:0.36 [[ 9.97913784e-01 1.48258936e-02 -6.28352869e-02 1.04179186e+02] [-5.40293685e-03 9.89038951e-01 1.47555961e-01 -7.26049011e+00] [ 6.43341952e-02 -1.46908632e-01 9.87055705e-01 3.57739646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58771942099997 meters Centerline goodness : 0.939406 with order 1 Centerline is valid? [False, False] Translation: X:104.19, Y:-7.25, Z:0.36 [[ 9.97759454e-01 6.95883273e-03 -6.65405568e-02 1.04193988e+02] [ 1.20664826e-03 9.92542415e-01 1.21893800e-01 -7.24948757e+00] [ 6.68925635e-02 -1.21700983e-01 9.90310182e-01 3.55131954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64771942099998 meters Centerline goodness : 0.942587 with order 1 Centerline is valid? [False, False] Translation: X:104.21, Y:-7.23, Z:0.35 [[ 9.97800111e-01 2.31596423e-03 -6.62538663e-02 1.04210523e+02] [ 4.54168279e-03 9.94653584e-01 1.03167922e-01 -7.22969050e+00] [ 6.61385788e-02 -1.03241868e-01 9.92454939e-01 3.48165879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70771942099998 meters Centerline goodness : 0.939998 with order 1 Centerline is valid? [False, False] Translation: X:104.24, Y:-7.21, Z:0.35 [[ 9.97626547e-01 3.30957723e-03 -6.87773134e-02 1.04236105e+02] [ 1.90169836e-03 9.97138916e-01 7.55669676e-02 -7.20964434e+00] [ 6.88306304e-02 -7.55184067e-02 9.94765960e-01 3.46896243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters Centerline goodness : 0.943825 with order 1 Centerline is valid? [False, False] Translation: X:104.26, Y:-7.19, Z:0.35 [[ 9.97672889e-01 8.40257679e-03 -6.76624249e-02 1.04260595e+02] [-4.96022506e-03 9.98692274e-01 5.08835807e-02 -7.18556621e+00] [ 6.80014941e-02 -5.04295481e-02 9.96409884e-01 3.46306190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters Centerline goodness : 0.940661 with order 1 Centerline is valid? [False, False] Translation: X:104.26, Y:-7.16, Z:0.34 [[ 9.97559926e-01 1.61112259e-02 -6.79310195e-02 1.04261725e+02] [-1.29294243e-02 9.98810222e-01 4.70209570e-02 -7.15849093e+00] [ 6.86077620e-02 -4.60279134e-02 9.96581360e-01 3.44928952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters Centerline goodness : 0.940798 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.14, Z:0.35 [[ 9.97137722e-01 2.00181634e-02 -7.29084118e-02 1.04247954e+02] [-1.68202246e-02 9.98880415e-01 4.42153501e-02 -7.14487312e+00] [ 7.37118947e-02 -4.28624576e-02 9.96358051e-01 3.47065122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters Centerline goodness : 0.941507 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.13, Z:0.35 [[ 9.96684170e-01 3.39203815e-02 -7.39599382e-02 1.04250642e+02] [-3.00239710e-02 9.98133860e-01 5.31729049e-02 -7.12839656e+00] [ 7.56255638e-02 -5.07760215e-02 9.95842643e-01 3.47270622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters Centerline goodness : 0.941751 with order 1 Centerline is valid? [False, False] Translation: X:104.24, Y:-7.11, Z:0.34 [[ 9.95962539e-01 5.28115894e-02 -7.25917097e-02 1.04237000e+02] [-4.95413124e-02 9.97705900e-01 4.61367136e-02 -7.10963576e+00] [ 7.48617302e-02 -4.23541498e-02 9.96294057e-01 3.44159576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters Centerline goodness : 0.945050 with order 1 Centerline is valid? [False, False] Translation: X:104.24, Y:-7.09, Z:0.35 [[ 9.95349542e-01 6.24227848e-02 -7.33667881e-02 1.04240274e+02] [-5.92498853e-02 9.97243775e-01 4.46576373e-02 -7.09326894e+00] [ 7.59522268e-02 -4.01029851e-02 9.96304677e-01 3.45793032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12771942099997 meters Centerline goodness : 0.947245 with order 1 Centerline is valid? [False, False] Translation: X:104.24, Y:-7.08, Z:0.35 [[ 9.94899577e-01 6.96383419e-02 -7.29748801e-02 1.04240871e+02] [-6.61359773e-02 9.96588923e-01 4.93614288e-02 -7.08495536e+00] [ 7.61634053e-02 -4.42833996e-02 9.96111498e-01 3.45443672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18771942099997 meters Centerline goodness : 0.947129 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.08, Z:0.35 [[ 9.94298986e-01 7.45053986e-02 -7.62789070e-02 1.04247984e+02] [-7.09534434e-02 9.96311229e-01 4.82653534e-02 -7.07947110e+00] [ 7.95935610e-02 -4.25779408e-02 9.95917659e-01 3.46787005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24771942099997 meters Centerline goodness : 0.947695 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.08, Z:0.35 [[ 9.93730435e-01 8.47994857e-02 -7.28619871e-02 1.04249041e+02] [-8.19835726e-02 9.95797751e-01 4.08109356e-02 -7.07733450e+00] [ 7.60165492e-02 -3.45815828e-02 9.96506698e-01 3.45365276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30771942099997 meters Centerline goodness : 0.948960 with order 1 Centerline is valid? [False, False] Translation: X:104.25, Y:-7.08, Z:0.35 [[ 9.93201985e-01 9.10385849e-02 -7.25382200e-02 1.04249199e+02] [-8.78212858e-02 9.95056006e-01 4.63785202e-02 -7.07906875e+00] [ 7.64018263e-02 -3.96928386e-02 9.96286726e-01 3.45557963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36771942099998 meters Centerline goodness : 0.952522 with order 1 Centerline is valid? [False, True] Translation: X:104.25, Y:-7.09, Z:0.35 [[ 9.93320250e-01 8.96654440e-02 -7.26291135e-02 1.04247955e+02] [-8.64880577e-02 9.95200610e-01 4.57773092e-02 -7.08674838e+00] [ 7.63851808e-02 -3.91899773e-02 9.96307909e-01 3.46851362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42771942099998 meters Centerline goodness : 0.953448 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:-7.09, Z:0.35 [[ 9.93475090e-01 8.59024083e-02 -7.50201449e-02 1.04305645e+02] [-8.58298976e-02 9.96300970e-01 4.19603880e-03 -7.08840201e+00] [ 7.51030930e-02 2.27031134e-03 9.97173190e-01 3.51885425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48771942099998 meters Centerline goodness : 0.945545 with order 1 Centerline is valid? [True, False] Translation: X:104.32, Y:-7.10, Z:0.35 [[ 9.93113033e-01 8.56387008e-02 -7.99532105e-02 1.04324973e+02] [-8.52213581e-02 9.96324720e-01 8.62395803e-03 -7.09911961e+00] [ 8.03979046e-02 -1.75084394e-03 9.96761311e-01 3.51421922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters Centerline goodness : 0.947902 with order 1 Centerline is valid? [False, False] Translation: X:104.34, Y:-7.11, Z:0.35 [[ 9.93366208e-01 8.71132626e-02 -7.50656819e-02 1.04336688e+02] [-8.60963249e-02 9.96147100e-01 1.66846430e-02 -7.11386120e+00] [ 7.62299150e-02 -1.01110812e-02 9.97038999e-01 3.50947450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters Centerline goodness : 0.947596 with order 1 Centerline is valid? [False, False] Translation: X:104.35, Y:-7.13, Z:0.35 [[ 9.93283058e-01 8.92762691e-02 -7.36105546e-02 1.04353627e+02] [-8.78374389e-02 9.95879237e-01 2.25639207e-02 -7.12554494e+00] [ 7.53216456e-02 -1.59465976e-02 9.97031773e-01 3.51253334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters Centerline goodness : 0.945278 with order 1 Centerline is valid? [False, False] Translation: X:104.37, Y:-7.14, Z:0.35 [[ 9.93739143e-01 8.66568186e-02 -7.05202937e-02 1.04369950e+02] [-8.49317016e-02 9.96017906e-01 2.71097370e-02 -7.14157192e+00] [ 7.25887188e-02 -2.09505983e-02 9.97141891e-01 3.48725281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters Centerline goodness : 0.952123 with order 1 Centerline is valid? [False, True] Translation: X:104.40, Y:-7.17, Z:0.35 [[ 9.95357682e-01 7.78479370e-02 -5.65931462e-02 1.04401857e+02] [-7.35123500e-02 9.94467903e-01 7.50301523e-02 -7.17161864e+00] [ 6.21210100e-02 -7.05215433e-02 9.95574052e-01 3.50442276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters Centerline goodness : 0.950476 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:-7.17, Z:0.36 [[ 9.96492521e-01 5.81170261e-02 -6.02085339e-02 1.04460776e+02] [-5.80486464e-02 9.98309585e-01 2.88567480e-03 -7.16739265e+00] [ 6.02744633e-02 6.19470536e-04 9.98181649e-01 3.56906326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84771942099997 meters Centerline goodness : 0.948102 with order 1 Centerline is valid? [True, False] Translation: X:104.47, Y:-7.19, Z:0.36 [[ 9.97045247e-01 4.45029547e-02 -6.26120022e-02 1.04467517e+02] [-4.40776812e-02 9.98994799e-01 8.15782480e-03 -7.18669451e+00] [ 6.29121119e-02 -5.37392856e-03 9.98004603e-01 3.59420022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90771942099997 meters Centerline goodness : 0.949950 with order 1 Centerline is valid? [False, False] Translation: X:104.47, Y:-7.20, Z:0.36 [[ 9.97335224e-01 3.71340132e-02 -6.27974200e-02 1.04467195e+02] [-3.69590899e-02 9.99308992e-01 3.94524379e-03 -7.19674551e+00] [ 6.29005292e-02 -1.61379511e-03 9.98018496e-01 3.59453286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96771942099997 meters Centerline goodness : 0.955424 with order 1 Centerline is valid? [False, True] Translation: X:104.47, Y:-7.21, Z:0.36 [[ 9.97946552e-01 3.66499495e-02 -5.25305745e-02 1.04470862e+02] [-3.62198653e-02 9.99302263e-01 9.11636237e-03 -7.20529507e+00] [ 5.28280362e-02 -7.19499205e-03 9.98577704e-01 3.58415943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02771942099997 meters Centerline goodness : 0.953314 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:-7.21, Z:0.36 [[ 9.97726621e-01 4.18141034e-02 -5.28504574e-02 1.04528780e+02] [-4.17362973e-02 9.99125342e-01 2.57548262e-03 -7.20731471e+00] [ 5.29119228e-02 -3.63845162e-04 9.98599117e-01 3.56511384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08771942099997 meters Centerline goodness : 0.954207 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:-7.21, Z:0.36 [[ 9.96941271e-01 5.75751811e-02 -5.28507375e-02 1.04587704e+02] [-5.75197929e-02 9.98341059e-01 2.56972307e-03 -7.21237953e+00] [ 5.29110135e-02 4.78100489e-04 9.98599117e-01 3.60387774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14771942099998 meters Centerline goodness : 0.955644 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:-7.21, Z:0.36 [[ 9.96293446e-01 6.78681596e-02 -5.28515141e-02 1.04646717e+02] [-6.78280833e-02 9.97693756e-01 2.55364938e-03 -7.21295750e+00] [ 5.29029371e-02 1.04063276e-03 9.98599117e-01 3.62984044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20771942099998 meters Centerline goodness : 0.949911 with order 1 Centerline is valid? [True, False] Translation: X:104.65, Y:-7.22, Z:0.36 [[ 9.96191785e-01 6.92371316e-02 -5.29919489e-02 1.04647368e+02] [-6.91165219e-02 9.97600138e-01 4.10742895e-03 -7.21712573e+00] [ 5.31491621e-02 -4.29167784e-04 9.98586492e-01 3.62462015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters Centerline goodness : 0.948981 with order 1 Centerline is valid? [False, False] Translation: X:104.65, Y:-7.22, Z:0.36 [[ 9.96118182e-01 7.03971017e-02 -5.28470867e-02 1.04648108e+02] [-7.02026745e-02 9.97517427e-01 5.52869316e-03 -7.22082919e+00] [ 5.31050939e-02 -1.79722496e-03 9.98587312e-01 3.61259379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters Centerline goodness : 0.950189 with order 1 Centerline is valid? [False, True] Translation: X:104.65, Y:-7.22, Z:0.36 [[ 9.95661606e-01 7.66613270e-02 -5.27352491e-02 1.04646746e+02] [-7.61397111e-02 9.97026942e-01 1.18330959e-02 -7.22468728e+00] [ 5.34856050e-02 -7.76651267e-03 9.98538418e-01 3.63346438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters Centerline goodness : 0.947923 with order 1 Centerline is valid? [True, False] Translation: X:104.64, Y:-7.24, Z:0.36 [[ 9.95354189e-01 8.09932625e-02 -5.20589004e-02 1.04644624e+02] [-8.02696508e-02 9.96647208e-01 1.58469671e-02 -7.23591247e+00] [ 5.31678552e-02 -1.15945953e-02 9.98518275e-01 3.63956286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters Centerline goodness : 0.947381 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.25, Z:0.36 [[ 9.95394361e-01 8.06003044e-02 -5.19004466e-02 1.04644510e+02] [-7.98464528e-02 9.96671571e-01 1.64415367e-02 -7.24505118e+00] [ 5.30528925e-02 -1.22217464e-02 9.98516910e-01 3.63218513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters Centerline goodness : 0.940221 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.26, Z:0.36 [[ 9.95291174e-01 7.71019891e-02 -5.87431883e-02 1.04641745e+02] [-7.71540004e-02 9.97018225e-01 1.38556800e-03 -7.25757035e+00] [ 5.86748593e-02 3.15322837e-03 9.98272166e-01 3.62482485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters Centerline goodness : 0.936581 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.27, Z:0.36 [[ 9.95872075e-01 6.93013117e-02 -5.86185847e-02 1.04638874e+02] [-6.96428157e-02 9.97564751e-01 -3.80066599e-03 -7.27368726e+00] [ 5.82124428e-02 7.86734042e-03 9.98273217e-01 3.62797444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62771942099997 meters Centerline goodness : 0.938358 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.28, Z:0.36 [[ 9.96240871e-01 6.31470260e-02 -5.93007662e-02 1.04637850e+02] [-6.37731520e-02 9.97926288e-01 -8.72405638e-03 -7.28111723e+00] [ 5.86268952e-02 1.24730583e-02 9.98202039e-01 3.64048238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68771942099997 meters Centerline goodness : 0.940075 with order 1 Centerline is valid? [False, False] Translation: X:104.63, Y:-7.29, Z:0.37 [[ 9.96453956e-01 5.99107802e-02 -5.90780108e-02 1.04634581e+02] [-6.05779388e-02 9.98117634e-01 -9.56566806e-03 -7.29310138e+00] [ 5.83937177e-02 1.31105719e-02 9.98207537e-01 3.65670179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74771942099997 meters Centerline goodness : 0.940702 with order 1 Centerline is valid? [False, False] Translation: X:104.63, Y:-7.31, Z:0.37 [[ 9.96092876e-01 6.45736863e-02 -6.02430200e-02 1.04633711e+02] [-6.49770163e-02 9.97875416e-01 -4.75820948e-03 -7.31296198e+00] [ 5.98077736e-02 8.65403026e-03 9.98172399e-01 3.67793341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80771942099997 meters Centerline goodness : 0.940610 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.33, Z:0.37 [[ 9.95681062e-01 6.97702887e-02 -6.12481000e-02 1.04635761e+02] [-6.98072743e-02 9.97559311e-01 1.53833498e-03 -7.32811083e+00] [ 6.12059425e-02 2.74387191e-03 9.98121387e-01 3.66847103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86771942099998 meters Centerline goodness : 0.940291 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.34, Z:0.37 [[ 9.95714281e-01 6.86839541e-02 -6.19320940e-02 1.04636495e+02] [-6.86995301e-02 9.97635624e-01 1.88038433e-03 -7.33630529e+00] [ 6.19148155e-02 2.38238022e-03 9.98078594e-01 3.66357386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92771942099998 meters Centerline goodness : 0.939491 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.36, Z:0.37 [[ 9.95798530e-01 6.48798510e-02 -6.46211496e-02 1.04636166e+02] [-6.49725665e-02 9.97886827e-01 6.67930398e-04 -7.36262092e+00] [ 6.45279291e-02 3.53347783e-03 9.97909646e-01 3.70118092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98771942099998 meters Centerline goodness : 0.939376 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.38, Z:0.37 [[ 9.95725447e-01 6.47035375e-02 -6.59111937e-02 1.04638188e+02] [-6.46007253e-02 9.97904361e-01 3.69218205e-03 -7.37841017e+00] [ 6.60119649e-02 5.81511286e-04 9.97818662e-01 3.68946690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters Centerline goodness : 0.934430 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.39, Z:0.37 [[ 9.95416648e-01 6.45532267e-02 -7.05590409e-02 1.04642415e+02] [-6.52788925e-02 9.97834788e-01 -8.02506773e-03 -7.39424469e+00] [ 6.98882216e-02 1.25943021e-02 9.97475323e-01 3.68244372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters Centerline goodness : 0.935636 with order 1 Centerline is valid? [False, False] Translation: X:104.65, Y:-7.41, Z:0.37 [[ 9.95838775e-01 6.27198327e-02 -6.61162376e-02 1.04649140e+02] [-6.31409434e-02 9.97995370e-01 -4.29693397e-03 -7.41244685e+00] [ 6.57141960e-02 8.45369508e-03 9.97802676e-01 3.66579684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters Centerline goodness : 0.940820 with order 1 Centerline is valid? [False, False] Translation: X:104.65, Y:-7.43, Z:0.37 [[ 9.96328305e-01 5.61945792e-02 -6.45916259e-02 1.04646564e+02] [-5.65396738e-02 9.98394127e-01 -3.52583713e-03 -7.42934369e+00] [ 6.42897671e-02 7.16488079e-03 9.97905552e-01 3.68040561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters Centerline goodness : 0.948313 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.45, Z:0.37 [[ 9.97123331e-01 4.37231436e-02 -6.19140563e-02 1.04639352e+02] [-4.43586485e-02 9.98975789e-01 -8.92659127e-03 -7.45048570e+00] [ 6.14603446e-02 1.16473363e-02 9.98041565e-01 3.72019201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters Centerline goodness : 0.950477 with order 1 Centerline is valid? [False, True] Translation: X:104.64, Y:-7.46, Z:0.37 [[ 9.97507738e-01 3.27899918e-02 -6.24750293e-02 1.04640770e+02] [-3.37389414e-02 9.99329867e-01 -1.41950632e-02 -7.46452001e+00] [ 6.19677067e-02 1.62675267e-02 9.97945575e-01 3.71949126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34771942099997 meters Centerline goodness : 0.946749 with order 1 Centerline is valid? [True, False] Translation: X:104.65, Y:-7.48, Z:0.37 [[ 9.97597507e-01 2.39571743e-02 -6.50020549e-02 1.04645752e+02] [-2.50611365e-02 9.99554302e-01 -1.62214983e-02 -7.47844837e+00] [ 6.45844624e-02 1.78115517e-02 9.97753274e-01 3.71088961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40771942099997 meters Centerline goodness : 0.944560 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.49, Z:0.37 [[ 9.97938931e-01 1.16846613e-02 -6.30980152e-02 1.04642346e+02] [-1.25241896e-02 9.99838018e-01 -1.29260446e-02 -7.48684011e+00] [ 6.29367580e-02 1.36896546e-02 9.97923623e-01 3.67542608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46771942099997 meters Centerline goodness : 0.944892 with order 1 Centerline is valid? [False, False] Translation: X:104.64, Y:-7.49, Z:0.37 [[ 9.97957155e-01 5.57309354e-03 -6.36432016e-02 1.04644785e+02] [-6.67966836e-03 9.99829969e-01 -1.71876473e-02 -7.48863283e+00] [ 6.35365919e-02 1.75776510e-02 9.97824698e-01 3.66408108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52771942099997 meters Centerline goodness : 0.944210 with order 1 Centerline is valid? [False, False] Translation: X:104.65, Y:-7.49, Z:0.37 [[ 9.97938530e-01 -1.21160481e-03 -6.41655887e-02 1.04646818e+02] [-2.28477498e-04 9.99748365e-01 -2.24311264e-02 -7.49067701e+00] [ 6.41766200e-02 2.23995457e-02 9.97687136e-01 3.65918243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58771942099997 meters Centerline goodness : 0.946772 with order 1 Centerline is valid? [False, False] Translation: X:104.65, Y:-7.49, Z:0.36 [[ 9.97915818e-01 -2.51389135e-04 -6.45287329e-02 1.04648969e+02] [-1.11876867e-03 9.99774708e-01 -2.11962856e-02 -7.48684408e+00] [ 6.45195236e-02 2.12243014e-02 9.97690714e-01 3.64942569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64771942099998 meters Centerline goodness : 0.949072 with order 1 Centerline is valid? [False, False] Translation: X:104.66, Y:-7.48, Z:0.36 [[ 9.98218461e-01 8.88924567e-03 -5.89990313e-02 1.04659762e+02] [-1.02254059e-02 9.99697153e-01 -2.23840167e-02 -7.47942622e+00] [ 5.87821866e-02 2.29474278e-02 9.98007049e-01 3.63586124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70771942099998 meters Centerline goodness : 0.951145 with order 1 Centerline is valid? [False, True] Translation: X:104.67, Y:-7.47, Z:0.36 [[ 9.98336762e-01 2.00967800e-02 -5.40354388e-02 1.04670525e+02] [-2.14084524e-02 9.99487345e-01 -2.38060018e-02 -7.46929257e+00] [ 5.35293133e-02 2.49232218e-02 9.98255201e-01 3.61332552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters Centerline goodness : 0.947927 with order 1 Centerline is valid? [True, False] Translation: X:104.68, Y:-7.46, Z:0.36 [[ 9.98256827e-01 2.96466908e-02 -5.10331275e-02 1.04684953e+02] [-3.10061338e-02 9.99179516e-01 -2.60559891e-02 -7.46082185e+00] [ 5.02187818e-02 2.75929090e-02 9.98357003e-01 3.58375570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters Centerline goodness : 0.949818 with order 1 Centerline is valid? [False, False] Translation: X:104.70, Y:-7.45, Z:0.36 [[ 9.98244419e-01 3.61346248e-02 -4.69293996e-02 1.04699168e+02] [-3.75491249e-02 9.98855783e-01 -2.96173727e-02 -7.45268352e+00] [ 4.58054896e-02 3.13275349e-02 9.98459034e-01 3.55699299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters Centerline goodness : 0.944607 with order 1 Centerline is valid? [False, False] Translation: X:104.72, Y:-7.45, Z:0.35 [[ 9.98122976e-01 3.94139656e-02 -4.68728554e-02 1.04718063e+02] [-4.11213898e-02 9.98504031e-01 -3.60379239e-02 -7.44611362e+00] [ 4.53823375e-02 3.78977568e-02 9.98250571e-01 3.51612785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters Centerline goodness : 0.941594 with order 1 Centerline is valid? [False, False] Translation: X:104.72, Y:-7.45, Z:0.35 [[ 9.98015698e-01 4.14275706e-02 -4.74175394e-02 1.04720942e+02] [-4.30533406e-02 9.98501058e-01 -3.37941764e-02 -7.44590644e+00] [ 4.59464526e-02 3.57686021e-02 9.98303326e-01 3.50033871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters Centerline goodness : 0.939957 with order 1 Centerline is valid? [False, False] Translation: X:104.74, Y:-7.44, Z:0.35 [[ 9.97864269e-01 4.51169715e-02 -4.72372612e-02 1.04739153e+02] [-4.69670133e-02 9.98141983e-01 -3.88159887e-02 -7.44171454e+00] [ 4.53982337e-02 4.09516812e-02 9.98129230e-01 3.46752500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06771942099996 meters Centerline goodness : 0.938378 with order 1 Centerline is valid? [False, False] Translation: X:104.76, Y:-7.44, Z:0.34 [[ 9.97569057e-01 5.21201443e-02 -4.62543833e-02 1.04756531e+02] [-5.40253574e-02 9.97699845e-01 -4.09423881e-02 -7.43707969e+00] [ 4.40140679e-02 4.33417690e-02 9.98090303e-01 3.43318231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12771942099997 meters Centerline goodness : 0.943057 with order 1 Centerline is valid? [False, False] Translation: X:104.76, Y:-7.44, Z:0.34 [[ 9.97620321e-01 5.65745899e-02 -3.94082482e-02 1.04764734e+02] [-5.83820082e-02 9.97218597e-01 -4.63315349e-02 -7.43714256e+00] [ 3.66774504e-02 4.85220135e-02 9.98148475e-01 3.42683243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18771942099997 meters Centerline goodness : 0.947742 with order 1 Centerline is valid? [False, False] Translation: X:104.77, Y:-7.44, Z:0.35 [[ 9.97488912e-01 5.92410628e-02 -3.88119351e-02 1.04771433e+02] [-6.06377231e-02 9.97515689e-01 -3.58540955e-02 -7.43945797e+00] [ 3.65914794e-02 3.81175301e-02 9.98603083e-01 3.45097385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24771942099997 meters Centerline goodness : 0.944565 with order 1 Centerline is valid? [False, False] Translation: X:104.77, Y:-7.44, Z:0.34 [[ 9.97457499e-01 5.92872263e-02 -3.95419152e-02 1.04773069e+02] [-6.06851224e-02 9.97538168e-01 -3.51414272e-02 -7.44153478e+00] [ 3.73611319e-02 3.74516860e-02 9.98599778e-01 3.44722421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30771942099997 meters Centerline goodness : 0.938559 with order 1 Centerline is valid? [False, False] Translation: X:104.78, Y:-7.45, Z:0.34 [[ 9.97586389e-01 5.59593402e-02 -4.11089953e-02 1.04777125e+02] [-5.74910724e-02 9.97657417e-01 -3.70736503e-02 -7.44844571e+00] [ 3.89380770e-02 3.93475692e-02 9.98466622e-01 3.42371169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36771942099998 meters Centerline goodness : 0.943773 with order 1 Centerline is valid? [False, False] Translation: X:104.78, Y:-7.45, Z:0.34 [[ 9.97875458e-01 5.57008739e-02 -3.37932430e-02 1.04784878e+02] [-5.67028614e-02 9.97956539e-01 -2.94538900e-02 -7.45374124e+00] [ 3.20835804e-02 3.13074875e-02 9.98994737e-01 3.39499718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42771942099998 meters Centerline goodness : 0.951638 with order 1 Centerline is valid? [False, True] Translation: X:104.78, Y:-7.46, Z:0.34 [[ 9.98290760e-01 5.39551806e-02 -2.24587711e-02 1.04784746e+02] [-5.45278350e-02 9.98180991e-01 -2.57181602e-02 -7.46000068e+00] [ 2.10302904e-02 2.68988299e-02 9.99416920e-01 3.38629406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48771942099998 meters Centerline goodness : 0.945599 with order 1 Centerline is valid? [True, False] Translation: X:104.79, Y:-7.47, Z:0.34 [[ 9.98401439e-01 5.12390540e-02 -2.38563564e-02 1.04789333e+02] [-5.18913459e-02 9.98271906e-01 -2.75769794e-02 -7.46576485e+00] [ 2.24021121e-02 2.87708344e-02 9.99334971e-01 3.35409890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters Centerline goodness : 0.945648 with order 1 Centerline is valid? [False, False] Translation: X:104.79, Y:-7.47, Z:0.33 [[ 9.98611804e-01 4.66168490e-02 -2.45221304e-02 1.04790917e+02] [-4.73543123e-02 9.98415291e-01 -3.04052007e-02 -7.46999053e+00] [ 2.30658753e-02 3.15242209e-02 9.99236803e-01 3.34667684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters Centerline goodness : 0.952458 with order 1 Centerline is valid? [False, True] Translation: X:104.79, Y:-7.48, Z:0.34 [[ 9.98937959e-01 3.89538344e-02 -2.46079684e-02 1.04789117e+02] [-3.98225621e-02 9.98563132e-01 -3.58585489e-02 -7.47590271e+00] [ 2.31757820e-02 3.68004180e-02 9.99053859e-01 3.36848451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters Centerline goodness : 0.954877 with order 1 Centerline is valid? [True, True] Translation: X:104.85, Y:-7.49, Z:0.35 [[ 9.99138449e-01 3.37891892e-02 -2.40966710e-02 1.04850876e+02] [-3.37905510e-02 9.99428875e-01 3.50779666e-04 -7.49144635e+00] [ 2.40947613e-02 4.63762336e-04 9.99709572e-01 3.52390461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters Centerline goodness : 0.957345 with order 1 Centerline is valid? [True, True] Translation: X:104.91, Y:-7.49, Z:0.36 [[ 9.99318483e-01 2.79629203e-02 -2.40965669e-02 1.04913210e+02] [-2.79624198e-02 9.99608911e-01 3.57785697e-04 -7.49120562e+00] [ 2.40971478e-02 3.16256461e-04 9.99709572e-01 3.55387766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters Centerline goodness : 0.955207 with order 1 Centerline is valid? [True, True] Translation: X:104.97, Y:-7.49, Z:0.36 [[ 9.99470142e-01 2.18814173e-02 -2.40964625e-02 1.04974267e+02] [-2.18789830e-02 9.99760560e-01 3.64689509e-04 -7.49171767e+00] [ 2.40986727e-02 1.62709817e-04 9.99709572e-01 3.57599632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84771942099997 meters Centerline goodness : 0.953958 with order 1 Centerline is valid? [True, True] Translation: X:105.03, Y:-7.48, Z:0.36 [[ 9.99490669e-01 2.09228190e-02 -2.40964466e-02 1.05033977e+02] [-2.09200809e-02 9.99781084e-01 3.65737312e-04 -7.48435354e+00] [ 2.40988237e-02 1.38548581e-04 9.99709572e-01 3.55668150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90771942099997 meters Centerline goodness : 0.957282 with order 1 Centerline is valid? [True, True] Translation: X:105.09, Y:-7.48, Z:0.36 [[ 9.99435800e-01 2.33974849e-02 -2.40964620e-02 1.05093191e+02] [-2.33954906e-02 9.99726222e-01 3.64714281e-04 -7.48075160e+00] [ 2.40983983e-02 1.99240043e-04 9.99709572e-01 3.62377426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96771942099997 meters Centerline goodness : 0.955186 with order 1 Centerline is valid? [True, True] Translation: X:105.15, Y:-7.47, Z:0.36 [[ 9.99434572e-01 2.34498487e-02 -2.40964853e-02 1.05152650e+02] [-2.34479067e-02 9.99724994e-01 3.63172073e-04 -7.47291086e+00] [ 2.40983749e-02 2.02045414e-04 9.99709572e-01 3.59109224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02771942099997 meters Centerline goodness : 0.951486 with order 1 Centerline is valid? [True, True] Translation: X:105.21, Y:-7.47, Z:0.36 [[ 9.99361683e-01 2.63739682e-02 -2.40965004e-02 1.05212815e+02] [-2.63729003e-02 9.99652109e-01 3.62164866e-04 -7.46513098e+00] [ 2.40976692e-02 2.73560913e-04 9.99709572e-01 3.57211083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08771942099997 meters Centerline goodness : 0.948664 with order 1 Centerline is valid? [True, False] Translation: X:105.23, Y:-7.45, Z:0.35 [[ 9.99346616e-01 2.84465875e-02 -2.22964630e-02 1.05226661e+02] [-2.87094244e-02 9.99520975e-01 -1.15581239e-02 -7.45233710e+00] [ 2.19569933e-02 1.21906907e-02 9.99684589e-01 3.52166334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14771942099998 meters Centerline goodness : 0.946382 with order 1 Centerline is valid? [False, False] Translation: X:105.23, Y:-7.44, Z:0.35 [[ 9.99402612e-01 2.58209661e-02 -2.29716517e-02 1.05228842e+02] [-2.61757165e-02 9.99540592e-01 -1.52786441e-02 -7.44233923e+00] [ 2.25665890e-02 1.58708162e-02 9.99619361e-01 3.51328997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20771942099998 meters Centerline goodness : 0.945428 with order 1 Centerline is valid? [False, False] Translation: X:105.23, Y:-7.44, Z:0.35 [[ 9.99546469e-01 1.78496227e-02 -2.42538294e-02 1.05231850e+02] [-1.84087635e-02 9.99565287e-01 -2.30294083e-02 -7.43516020e+00] [ 2.38322197e-02 2.34654467e-02 9.99440543e-01 3.50977962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters Centerline goodness : 0.945713 with order 1 Centerline is valid? [False, False] Translation: X:105.23, Y:-7.43, Z:0.35 [[ 9.99624952e-01 1.15281117e-02 -2.48406343e-02 1.05233470e+02] [-1.22518134e-02 9.99499047e-01 -2.91812904e-02 -7.43105682e+00] [ 2.44917851e-02 2.94746889e-02 9.99265428e-01 3.50517443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters Centerline goodness : 0.947135 with order 1 Centerline is valid? [False, False] Translation: X:105.25, Y:-7.43, Z:0.36 [[ 9.99676811e-01 -4.38646179e-04 -2.54181125e-02 1.05245827e+02] [-2.52085111e-04 9.99630926e-01 -2.71651928e-02 -7.42667955e+00] [ 2.54206472e-02 2.71628209e-02 9.99307746e-01 3.56698951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters Centerline goodness : 0.944663 with order 1 Centerline is valid? [False, False] Translation: X:105.25, Y:-7.42, Z:0.36 [[ 9.99640121e-01 -4.15130388e-03 -2.65027210e-02 1.05249493e+02] [ 3.32816329e-03 9.99512986e-01 -3.10276282e-02 -7.41903750e+00] [ 2.66186190e-02 3.09282566e-02 9.99167099e-01 3.55407458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters Centerline goodness : 0.949014 with order 1 Centerline is valid? [False, False] Translation: X:105.26, Y:-7.41, Z:0.35 [[ 9.99808129e-01 6.04153634e-04 -1.95790799e-02 1.05258884e+02] [-1.29751317e-03 9.99371674e-01 -3.54199579e-02 -7.40879107e+00] [ 1.95453788e-02 3.54385660e-02 9.99180707e-01 3.53094163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters Centerline goodness : 0.946182 with order 1 Centerline is valid? [False, False] Translation: X:105.27, Y:-7.40, Z:0.35 [[ 9.99813489e-01 9.65901504e-03 -1.67239772e-02 1.05274389e+02] [-1.02711406e-02 9.99265764e-01 -3.69111859e-02 -7.39528002e+00] [ 1.63551722e-02 3.70760759e-02 9.99178599e-01 3.49631533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56771942099996 meters Centerline goodness : 0.942111 with order 1 Centerline is valid? [False, False] Translation: X:105.29, Y:-7.38, Z:0.35 [[ 9.99650330e-01 2.25527393e-02 -1.38055190e-02 1.05288287e+02] [-2.30533235e-02 9.99040267e-01 -3.72436371e-02 -7.38044803e+00] [ 1.29523234e-02 3.75488772e-02 9.99210848e-01 3.45883119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62771942099997 meters Centerline goodness : 0.944202 with order 1 Centerline is valid? [False, False] Translation: X:105.32, Y:-7.36, Z:0.34 [[ 9.99223359e-01 3.84608188e-02 -8.56991506e-03 1.05321231e+02] [-3.88833917e-02 9.97656246e-01 -5.63036130e-02 -7.36338219e+00] [ 6.38434623e-03 5.65931127e-02 9.98376913e-01 3.41710746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68771942099997 meters Centerline goodness : 0.944299 with order 1 Centerline is valid? [False, False] Translation: X:105.36, Y:-7.35, Z:0.34 [[ 9.98616749e-01 5.24832708e-02 -3.17731036e-03 1.05360144e+02] [-5.25610396e-02 9.94849437e-01 -8.66714241e-02 -7.34591160e+00] [-1.38785441e-03 8.67185385e-02 9.96231885e-01 3.37323213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74771942099997 meters Centerline goodness : 0.944322 with order 1 Centerline is valid? [False, False] Translation: X:105.39, Y:-7.34, Z:0.33 [[ 9.98222945e-01 5.95577577e-02 1.95616034e-03 1.05388264e+02] [-5.90964296e-02 9.93639236e-01 -9.58576056e-02 -7.33803040e+00] [-7.65278171e-03 9.55716592e-02 9.95393135e-01 3.33804526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80771942099997 meters Centerline goodness : 0.947979 with order 1 Centerline is valid? [False, False] Translation: X:105.39, Y:-7.34, Z:0.33 [[ 9.98046047e-01 6.24103443e-02 3.00599906e-03 1.05386491e+02] [-6.18655993e-02 9.93789583e-01 -9.24927699e-02 -7.33735528e+00] [-8.75983617e-03 9.21260755e-02 9.95708819e-01 3.34441391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86771942099998 meters Centerline goodness : 0.948484 with order 1 Centerline is valid? [False, False] Translation: X:105.39, Y:-7.34, Z:0.33 [[ 9.98061013e-01 6.21571795e-02 3.27095287e-03 1.05385408e+02] [-6.15948422e-02 9.93865393e-01 -9.18567178e-02 -7.33908740e+00] [-8.96044135e-03 9.14771350e-02 9.95766862e-01 3.34900831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92771942099998 meters Centerline goodness : 0.949397 with order 1 Centerline is valid? [False, False] Translation: X:105.38, Y:-7.34, Z:0.34 [[ 9.98939142e-01 4.58853348e-02 3.88924321e-03 1.05381295e+02] [-4.54663217e-02 9.96159461e-01 -7.48274100e-02 -7.34358485e+00] [-7.30778719e-03 7.45711992e-02 9.97188915e-01 3.39480611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98771942099998 meters Centerline goodness : 0.942418 with order 1 Centerline is valid? [False, False] Translation: X:105.39, Y:-7.35, Z:0.34 [[ 9.99591550e-01 2.85766724e-02 3.28516111e-04 1.05391402e+02] [-2.84970575e-02 9.97542500e-01 -6.40068599e-02 -7.34924748e+00] [-2.15681185e-03 6.39713545e-02 9.97949405e-01 3.42727838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters Centerline goodness : 0.946576 with order 1 Centerline is valid? [False, False] Translation: X:105.41, Y:-7.35, Z:0.35 [[ 9.99881812e-01 1.53590515e-02 -6.79180831e-04 1.05409429e+02] [-1.53740533e-02 9.98861060e-01 -4.51688055e-02 -7.35326934e+00] [-1.53427271e-05 4.51739089e-02 9.98979138e-01 3.46962316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters Centerline goodness : 0.944902 with order 1 Centerline is valid? [False, False] Translation: X:105.42, Y:-7.35, Z:0.35 [[ 9.99964501e-01 8.40846613e-03 -5.43155696e-04 1.05422484e+02] [-8.41957190e-03 9.99640234e-01 -2.54659256e-02 -7.35211231e+00] [ 3.28830914e-04 2.54695947e-02 9.99675543e-01 3.48052198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters Centerline goodness : 0.946029 with order 1 Centerline is valid? [False, False] Translation: X:105.44, Y:-7.35, Z:0.34 [[ 9.99912328e-01 1.28030363e-02 3.37900594e-03 1.05435089e+02] [-1.26904673e-02 9.99424369e-01 -3.14624112e-02 -7.34526160e+00] [-3.77987527e-03 3.14167716e-02 9.99499224e-01 3.44667906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters Centerline goodness : 0.943070 with order 1 Centerline is valid? [False, False] Translation: X:105.46, Y:-7.33, Z:0.34 [[ 9.99588747e-01 2.86637566e-02 8.51506796e-04 1.05464303e+02] [-2.85985686e-02 9.98622371e-01 -4.39941175e-02 -7.33490798e+00] [-2.11137041e-03 4.39516729e-02 9.99031427e-01 3.43341426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters Centerline goodness : 0.946051 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.32, Z:0.34 [[ 9.99059529e-01 4.26836133e-02 7.62665308e-03 1.05501041e+02] [-4.20067727e-02 9.96392603e-01 -7.37374570e-02 -7.31552248e+00] [-1.07465218e-02 7.33477381e-02 9.97248525e-01 3.40942982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34771942099997 meters Centerline goodness : 0.947164 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.31, Z:0.34 [[ 9.98629964e-01 5.17135095e-02 7.99429515e-03 1.05500089e+02] [-5.10550430e-02 9.96392909e-01 -6.77831408e-02 -7.30988701e+00] [-1.14707631e-02 6.72821264e-02 9.97668050e-01 3.43826831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40771942099997 meters Centerline goodness : 0.947681 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.31, Z:0.34 [[ 9.98000969e-01 6.25915914e-02 8.73830623e-03 1.05500622e+02] [-6.19919574e-02 9.96433134e-01 -5.72538847e-02 -7.30628824e+00] [-1.22907496e-02 5.65977277e-02 9.98321409e-01 3.43582069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46771942099997 meters Centerline goodness : 0.949800 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.31, Z:0.34 [[ 9.97724353e-01 6.68077044e-02 9.10202276e-03 1.05500371e+02] [-6.62274127e-02 9.96362974e-01 -5.36167233e-02 -7.30554569e+00] [-1.26509287e-02 5.28919072e-02 9.98520105e-01 3.44033523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52771942099997 meters Centerline goodness : 0.944963 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.30, Z:0.34 [[ 9.97420766e-01 7.11838753e-02 9.20176007e-03 1.05502991e+02] [-7.06522257e-02 9.96299166e-01 -4.89513498e-02 -7.30462383e+00] [-1.26522527e-02 4.81749680e-02 9.98758776e-01 3.41241592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58771942099997 meters Centerline goodness : 0.943792 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.31, Z:0.34 [[ 9.97073296e-01 7.58760393e-02 9.36315699e-03 1.05503290e+02] [-7.53933680e-02 9.96176722e-01 -4.41336382e-02 -7.30565459e+00] [-1.26760447e-02 4.32985522e-02 9.98981758e-01 3.41159125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64771942099998 meters Centerline goodness : 0.946764 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.31, Z:0.34 [[ 9.96870267e-01 7.84414126e-02 9.82931630e-03 1.05500049e+02] [-7.79748636e-02 9.96103693e-01 -4.11989609e-02 -7.31091577e+00] [-1.30227229e-02 4.03035795e-02 9.99102612e-01 3.44198324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70771942099998 meters Centerline goodness : 0.943872 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.32, Z:0.34 [[ 9.96181467e-01 8.66169247e-02 1.09541757e-02 1.05500091e+02] [-8.62467822e-02 9.95801920e-01 -3.06598995e-02 -7.31589275e+00] [-1.35638554e-02 2.95980612e-02 9.99469848e-01 3.42341868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters Centerline goodness : 0.944920 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.33, Z:0.34 [[ 9.95941540e-01 8.92688643e-02 1.14681828e-02 1.05498424e+02] [-8.89485702e-02 9.95698754e-01 -2.59257294e-02 -7.32933639e+00] [-1.37332157e-02 2.48004324e-02 9.99598088e-01 3.41615667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters Centerline goodness : 0.944967 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.34, Z:0.34 [[ 9.95772361e-01 9.11369372e-02 1.14657263e-02 1.05498171e+02] [-9.08658452e-02 9.95613804e-01 -2.22834162e-02 -7.33669303e+00] [-1.34462777e-02 2.11473671e-02 9.99685944e-01 3.41212212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters Centerline goodness : 0.942836 with order 1 Centerline is valid? [False, False] Translation: X:105.50, Y:-7.35, Z:0.34 [[ 9.95373964e-01 9.53544928e-02 1.17555193e-02 1.05497142e+02] [-9.51880726e-02 9.95361045e-01 -1.39864841e-02 -7.35300339e+00] [-1.30346600e-02 1.28027969e-02 9.99833079e-01 3.40570499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters Centerline goodness : 0.949127 with order 1 Centerline is valid? [False, False] Translation: X:105.49, Y:-7.37, Z:0.35 [[ 9.95735724e-01 9.14394822e-02 1.22143133e-02 1.05490249e+02] [-9.12266178e-02 9.95685440e-01 -1.69767048e-02 -7.36610657e+00] [-1.37139550e-02 1.57900410e-02 9.99781277e-01 3.45363497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters Centerline goodness : 0.950012 with order 1 Centerline is valid? [False, True] Translation: X:105.49, Y:-7.38, Z:0.35 [[ 9.96143070e-01 8.70002564e-02 1.13990855e-02 1.05488732e+02] [-8.67699776e-02 9.96040600e-01 -1.93415201e-02 -7.37780532e+00] [-1.30366692e-02 1.82778228e-02 9.99747951e-01 3.46504542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06771942099996 meters Centerline goodness : 0.948155 with order 1 Centerline is valid? [True, False] Translation: X:105.48, Y:-7.39, Z:0.35 [[ 9.96632670e-01 8.18662162e-02 4.60916728e-03 1.05483054e+02] [-8.18202720e-02 9.96602744e-01 -9.40290396e-03 -7.39261092e+00] [-5.36328893e-03 8.99411795e-03 9.99945169e-01 3.48900421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12771942099997 meters Centerline goodness : 0.942305 with order 1 Centerline is valid? [False, False] Translation: X:105.48, Y:-7.41, Z:0.35 [[ 9.96730460e-01 8.04420424e-02 -7.58078654e-03 1.05480817e+02] [-8.04800774e-02 9.96744404e-01 -4.85292455e-03 -7.40857971e+00] [ 7.16572740e-03 5.44716000e-03 9.99959490e-01 3.52383042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18771942099997 meters Centerline goodness : 0.943482 with order 1 Centerline is valid? [False, False] Translation: X:105.47, Y:-7.42, Z:0.36 [[ 9.97004236e-01 7.62864505e-02 -1.27644276e-02 1.05472907e+02] [-7.62942485e-02 9.97085338e-01 -1.24377291e-04 -7.42071051e+00] [ 1.27177353e-02 1.09785709e-03 9.99918524e-01 3.57569769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24771942099997 meters Centerline goodness : 0.939869 with order 1 Centerline is valid? [False, False] Translation: X:105.49, Y:-7.43, Z:0.35 [[ 9.96904711e-01 7.74447974e-02 -1.35388188e-02 1.05491860e+02] [-7.76823132e-02 9.96815691e-01 -1.79982326e-02 -7.42952539e+00] [ 1.21018375e-02 1.89942497e-02 9.99746350e-01 3.54689687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30771942099997 meters Centerline goodness : 0.939283 with order 1 Centerline is valid? [False, False] Translation: X:105.49, Y:-7.44, Z:0.35 [[ 9.97305151e-01 7.20422167e-02 -1.38691903e-02 1.05492436e+02] [-7.23201290e-02 9.97166557e-01 -2.07040229e-02 -7.44244297e+00] [ 1.23383291e-02 2.16512503e-02 9.99689446e-01 3.53259811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36771942099998 meters Centerline goodness : 0.938395 with order 1 Centerline is valid? [False, False] Translation: X:105.49, Y:-7.46, Z:0.35 [[ 9.98031505e-01 6.09713113e-02 -1.46838320e-02 1.05492898e+02] [-6.13491575e-02 9.97755797e-01 -2.68262865e-02 -7.45619250e+00] [ 1.30152446e-02 2.76743198e-02 9.99532258e-01 3.53858051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42771942099998 meters Centerline goodness : 0.944466 with order 1 Centerline is valid? [False, False] Translation: X:105.48, Y:-7.47, Z:0.36 [[ 9.98927849e-01 4.53239241e-02 -9.42842093e-03 1.05484971e+02] [-4.55755313e-02 9.98555809e-01 -2.84458803e-02 -7.47002012e+00] [ 8.12552556e-03 2.88450874e-02 9.99550868e-01 3.55358262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48771942099998 meters Centerline goodness : 0.947968 with order 1 Centerline is valid? [False, False] Translation: X:105.48, Y:-7.48, Z:0.36 [[ 9.99610527e-01 2.76305717e-02 -3.91736279e-03 1.05476531e+02] [-2.77364469e-02 9.99158908e-01 -3.02020855e-02 -7.48176813e+00] [ 3.07956704e-03 3.02989763e-02 9.99536137e-01 3.55086681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters Centerline goodness : 0.951510 with order 1 Centerline is valid? [False, True] Translation: X:105.48, Y:-7.49, Z:0.36 [[ 9.99725995e-01 2.30719622e-02 -3.95218100e-03 1.05476265e+02] [-2.31898471e-02 9.99187497e-01 -3.29632735e-02 -7.48619576e+00] [ 3.18844244e-03 3.30458919e-02 9.99448749e-01 3.55689845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters Centerline goodness : 0.950386 with order 1 Centerline is valid? [True, True] Translation: X:105.54, Y:-7.50, Z:0.36 [[ 9.99689401e-01 2.47000517e-02 -3.31792803e-03 1.05536817e+02] [-2.46999756e-02 9.99694907e-01 6.38993800e-05 -7.50077933e+00] [ 3.31849407e-03 1.80732086e-05 9.99994494e-01 3.64479142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters Centerline goodness : 0.946673 with order 1 Centerline is valid? [True, False] Translation: X:105.54, Y:-7.50, Z:0.36 [[ 9.99621199e-01 2.72477751e-02 -3.87524758e-03 1.05540238e+02] [-2.72394102e-02 9.99626528e-01 2.19521902e-03 -7.49765937e+00] [ 3.93361511e-03 -2.08882801e-03 9.99990082e-01 3.61412278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters Centerline goodness : 0.947591 with order 1 Centerline is valid? [False, False] Translation: X:105.55, Y:-7.49, Z:0.36 [[ 9.99566683e-01 2.94345374e-02 -2.30750456e-04 1.05552086e+02] [-2.94354394e-02 9.99539077e-01 -7.42888554e-03 -7.49439856e+00] [ 1.19782887e-05 7.43245872e-03 9.99972379e-01 3.56827368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters Centerline goodness : 0.946160 with order 1 Centerline is valid? [False, False] Translation: X:105.56, Y:-7.49, Z:0.35 [[ 9.99339044e-01 3.61893254e-02 3.43626347e-03 1.05560767e+02] [-3.61365988e-02 9.99244060e-01 -1.43336807e-02 -7.49180894e+00] [-3.95239210e-03 1.42000319e-02 9.99891363e-01 3.54523092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84771942099997 meters Centerline goodness : 0.947175 with order 1 Centerline is valid? [False, False] Translation: X:105.57, Y:-7.49, Z:0.35 [[ 9.98711404e-01 5.02777151e-02 6.90530247e-03 1.05573207e+02] [-5.01757442e-02 9.98639141e-01 -1.42218624e-02 -7.48517177e+00] [-7.61094807e-03 1.38570575e-02 9.99875020e-01 3.48473003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90771942099997 meters Centerline goodness : 0.950540 with order 1 Centerline is valid? [False, True] Translation: X:105.61, Y:-7.47, Z:0.34 [[ 9.97842268e-01 6.31435531e-02 1.79916379e-02 1.05607852e+02] [-6.20712367e-02 9.96557230e-01 -5.49622429e-02 -7.47036060e+00] [-2.14002081e-02 5.37268859e-02 9.98326326e-01 3.39864538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96771942099997 meters Centerline goodness : 0.948796 with order 1 Centerline is valid? [True, False] Translation: X:105.61, Y:-7.47, Z:0.34 [[ 9.97781058e-01 6.40529149e-02 1.81709690e-02 1.05606738e+02] [-6.29820591e-02 9.96531173e-01 -5.43956054e-02 -7.47132662e+00] [-2.15921341e-02 5.31304596e-02 9.98354113e-01 3.41375158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02771942099997 meters Centerline goodness : 0.947243 with order 1 Centerline is valid? [False, False] Translation: X:105.61, Y:-7.47, Z:0.34 [[ 9.97718452e-01 6.51727996e-02 1.76180843e-02 1.05610361e+02] [-6.41663612e-02 9.96548476e-01 -5.26669987e-02 -7.47140431e+00] [-2.09897308e-02 5.14163480e-02 9.98456704e-01 3.38410854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08771942099997 meters Centerline goodness : 0.950996 with order 1 Centerline is valid? [False, True] Translation: X:105.61, Y:-7.47, Z:0.34 [[ 9.97719664e-01 6.51963786e-02 1.74615313e-02 1.05610665e+02] [-6.42250856e-02 9.96612667e-01 -5.13646788e-02 -7.47365280e+00] [-2.07511743e-02 5.01260817e-02 9.98527298e-01 3.38731996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14771942099998 meters Centerline goodness : 0.947061 with order 1 Centerline is valid? [True, False] Translation: X:105.61, Y:-7.48, Z:0.34 [[ 9.97986437e-01 6.11726346e-02 1.67624765e-02 1.05611631e+02] [-6.01860512e-02 9.96719285e-01 -5.41138284e-02 -7.48186735e+00] [-2.00177691e-02 5.29959995e-02 9.98394067e-01 3.37812125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20771942099998 meters Centerline goodness : 0.947197 with order 1 Centerline is valid? [False, False] Translation: X:105.61, Y:-7.49, Z:0.34 [[ 9.97982614e-01 6.13255906e-02 1.64278587e-02 1.05612460e+02] [-6.04054699e-02 9.96838064e-01 -5.16241499e-02 -7.48928262e+00] [-1.95417963e-02 5.05276715e-02 9.98531458e-01 3.37569804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters Centerline goodness : 0.950018 with order 1 Centerline is valid? [False, True] Translation: X:105.61, Y:-7.50, Z:0.34 [[ 9.97890189e-01 6.27094715e-02 1.68134564e-02 1.05610621e+02] [-6.18648335e-02 9.96988303e-01 -4.67660693e-02 -7.49923973e+00] [-1.96954949e-02 4.56272401e-02 9.98764358e-01 3.40406790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters Centerline goodness : 0.952620 with order 1 Centerline is valid? [True, True] Translation: X:105.67, Y:-7.52, Z:0.36 [[ 9.97762922e-01 6.44613133e-02 1.77169374e-02 1.05672981e+02] [-6.44654615e-02 9.97919882e-01 -3.37468027e-04 -7.52485000e+00] [-1.77018377e-02 -8.05417459e-04 9.99842986e-01 3.59604190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters Centerline goodness : 0.947764 with order 1 Centerline is valid? [True, False] Translation: X:105.70, Y:-7.53, Z:0.35 [[ 9.97153464e-01 7.39295294e-02 1.48119227e-02 1.05697560e+02] [-7.37550627e-02 9.97204205e-01 -1.19985263e-02 -7.52967048e+00] [-1.56575570e-02 1.08719178e-02 9.99818305e-01 3.52226584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters Centerline goodness : 0.946725 with order 1 Centerline is valid? [False, False] Translation: X:105.70, Y:-7.53, Z:0.35 [[ 9.96790581e-01 7.86505131e-02 1.49209656e-02 1.05697281e+02] [-7.85577515e-02 9.96887014e-01 -6.70522886e-03 -7.53407820e+00] [-1.54018865e-02 5.51155146e-03 9.99866193e-01 3.52985905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters Centerline goodness : 0.949564 with order 1 Centerline is valid? [False, False] Translation: X:105.71, Y:-7.54, Z:0.35 [[ 9.96436412e-01 8.19159849e-02 2.01059397e-02 1.05706550e+02] [-8.16493951e-02 9.96566379e-01 -1.37415177e-02 -7.53778299e+00] [-2.11625535e-02 1.20509108e-02 9.99703417e-01 3.49239474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56771942099996 meters Centerline goodness : 0.950398 with order 1 Centerline is valid? [False, True] Translation: X:105.72, Y:-7.54, Z:0.34 [[ 9.96462123e-01 8.03296635e-02 2.47059234e-02 1.05717628e+02] [-7.96672024e-02 9.96463263e-01 -2.67226976e-02 -7.53966168e+00] [-2.67651704e-02 2.46599042e-02 9.99337538e-01 3.44094545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62771942099997 meters Centerline goodness : 0.941384 with order 1 Centerline is valid? [True, False] Translation: X:105.75, Y:-7.55, Z:0.33 [[ 9.96380243e-01 8.04019564e-02 2.76031840e-02 1.05745997e+02] [-7.90955398e-02 9.95826146e-01 -4.55431965e-02 -7.54645269e+00] [-3.11497344e-02 4.31950525e-02 9.98580934e-01 3.34258487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68771942099997 meters Centerline goodness : 0.946759 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.54, Z:0.32 [[ 9.95685410e-01 8.28936659e-02 4.17037743e-02 1.05775958e+02] [-7.84478380e-02 9.92006997e-01 -9.88334716e-02 -7.54281540e+00] [-4.95631047e-02 9.51354748e-02 9.94229722e-01 3.22568434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74771942099997 meters Centerline goodness : 0.945865 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.55, Z:0.32 [[ 9.96124123e-01 7.79965630e-02 4.06604019e-02 1.05776236e+02] [-7.35563442e-02 9.92148026e-01 -1.01152153e-01 -7.54991707e+00] [-4.82306578e-02 9.77692688e-02 9.94039724e-01 3.22063868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80771942099997 meters Centerline goodness : 0.947562 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.56, Z:0.32 [[ 9.96490871e-01 7.32641681e-02 4.04759842e-02 1.05776587e+02] [-6.88599306e-02 9.92482773e-01 -1.01174378e-01 -7.55780577e+00] [-4.75841736e-02 9.80321702e-02 9.94044989e-01 3.19028778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86771942099998 meters Centerline goodness : 0.941500 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.56, Z:0.32 [[ 9.96656169e-01 7.15047451e-02 3.95417711e-02 1.05777521e+02] [-6.71928510e-02 9.92582627e-01 -1.01315597e-01 -7.56491971e+00] [-4.64930210e-02 9.83198909e-02 9.94068206e-01 3.17996801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92771942099998 meters Centerline goodness : 0.940552 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.57, Z:0.32 [[ 9.96632259e-01 7.21869150e-02 3.88997379e-02 1.05777710e+02] [-6.80377516e-02 9.92748982e-01 -9.90975396e-02 -7.57112755e+00] [-4.57712209e-02 9.61171540e-02 9.94317096e-01 3.18208295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98771942099998 meters Centerline goodness : 0.943500 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.58, Z:0.32 [[ 9.96564219e-01 7.34743515e-02 3.82266433e-02 1.05778233e+02] [-6.94606343e-02 9.92815347e-01 -9.74315464e-02 -7.57515034e+00] [-4.51107179e-02 9.44415461e-02 9.94507827e-01 3.18564593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters Centerline goodness : 0.937680 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.58, Z:0.32 [[ 9.96529262e-01 7.45735119e-02 3.69894879e-02 1.05779131e+02] [-7.07447119e-02 9.92883369e-01 -9.58008456e-02 -7.58292029e+00] [-4.38704528e-02 9.28515353e-02 9.94713012e-01 3.18923119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters Centerline goodness : 0.941495 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.59, Z:0.32 [[ 9.96839844e-01 7.04651483e-02 3.66740782e-02 1.05778184e+02] [-6.66713340e-02 9.93144144e-01 -9.60189699e-02 -7.59030068e+00] [-4.31886370e-02 9.32704253e-02 9.94703659e-01 3.19018729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters Centerline goodness : 0.943709 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.60, Z:0.32 [[ 9.97410939e-01 6.13388952e-02 3.75360893e-02 1.05774650e+02] [-5.73475866e-02 9.93385672e-01 -9.94794475e-02 -7.59707079e+00] [-4.33897727e-02 9.70692851e-02 9.94331374e-01 3.20097814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters Centerline goodness : 0.946524 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.61, Z:0.32 [[ 9.97918047e-01 5.08557833e-02 3.96643497e-02 1.05769624e+02] [-4.65981013e-02 9.93719470e-01 -1.01736088e-01 -7.60521099e+00] [-4.45891050e-02 9.96759949e-02 9.94020376e-01 3.21819462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters Centerline goodness : 0.949650 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.61, Z:0.33 [[ 9.98217651e-01 3.96773224e-02 4.45783711e-02 1.05776119e+02] [-3.66001487e-02 9.97024429e-01 -6.78433319e-02 -7.61414875e+00] [-4.71375667e-02 6.60908364e-02 9.96699579e-01 3.30317716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34771942099997 meters Centerline goodness : 0.946575 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.62, Z:0.34 [[ 9.98301942e-01 4.19875075e-02 4.03767555e-02 1.05769622e+02] [-3.99849690e-02 9.97988918e-01 -4.91865931e-02 -7.61695186e+00] [-4.23607770e-02 4.74886081e-02 9.97973144e-01 3.36626618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40771942099997 meters Centerline goodness : 0.951485 with order 1 Centerline is valid? [False, True] Translation: X:105.77, Y:-7.61, Z:0.34 [[ 9.97938481e-01 5.12509293e-02 3.86281030e-02 1.05769302e+02] [-4.94327461e-02 9.97687910e-01 -4.66394369e-02 -7.61461138e+00] [-4.09291058e-02 4.46337956e-02 9.98164632e-01 3.43776500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46771942099997 meters Centerline goodness : 0.945181 with order 1 Centerline is valid? [True, False] Translation: X:105.77, Y:-7.62, Z:0.34 [[ 9.97017414e-01 6.66829385e-02 3.88543662e-02 1.05770781e+02] [-6.55400392e-02 9.97399387e-01 -2.99827708e-02 -7.61526166e+00] [-4.07526603e-02 2.73468279e-02 9.98794960e-01 3.44196804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52771942099997 meters Centerline goodness : 0.943710 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.62, Z:0.34 [[ 9.96765575e-01 7.04102292e-02 3.87400023e-02 1.05771944e+02] [-6.94563816e-02 9.97260513e-01 -2.54416907e-02 -7.61856832e+00] [-4.04252299e-02 2.26686611e-02 9.98925389e-01 3.43709945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58771942099997 meters Centerline goodness : 0.943856 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.62, Z:0.35 [[ 9.96756911e-01 7.06481220e-02 3.85292589e-02 1.05771548e+02] [-6.97638585e-02 9.97278795e-01 -2.38329488e-02 -7.62303493e+00] [-4.01081659e-02 2.10677067e-02 9.98973216e-01 3.45326363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64771942099998 meters Centerline goodness : 0.945912 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.63, Z:0.35 [[ 9.96550685e-01 7.33351153e-02 3.88418894e-02 1.05771993e+02] [-7.26177170e-02 9.97167808e-01 -1.95711501e-02 -7.62533634e+00] [-4.01671342e-02 1.66830337e-02 9.99053691e-01 3.45640956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70771942099998 meters Centerline goodness : 0.945476 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.63, Z:0.35 [[ 9.96578252e-01 7.29634875e-02 3.88344784e-02 1.05772728e+02] [-7.22984347e-02 9.97215795e-01 -1.82645566e-02 -7.63112360e+00] [-4.00590011e-02 1.53943879e-02 9.99078720e-01 3.45122742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters Centerline goodness : 0.940609 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.63, Z:0.34 [[ 9.96541629e-01 7.34284439e-02 3.88978951e-02 1.05773258e+02] [-7.27986146e-02 9.97195390e-01 -1.73699819e-02 -7.63474763e+00] [-4.00642524e-02 1.44781971e-02 9.99092207e-01 3.44086076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters Centerline goodness : 0.943245 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.64, Z:0.34 [[ 9.96260347e-01 7.71141596e-02 3.89708476e-02 1.05773863e+02] [-7.66572848e-02 9.96971609e-01 -1.30870786e-02 -7.63604318e+00] [-3.98620277e-02 1.00507381e-02 9.99154643e-01 3.44023520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters Centerline goodness : 0.944412 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.64, Z:0.35 [[ 9.95956170e-01 8.09540924e-02 3.89582055e-02 1.05773859e+02] [-8.06935143e-02 9.96705084e-01 -8.21783085e-03 -7.63934245e+00] [-3.94951086e-02 5.04092483e-03 9.99207048e-01 3.45225091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters Centerline goodness : 0.943340 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.64, Z:0.35 [[ 9.95965931e-01 8.09843051e-02 3.86446121e-02 1.05774106e+02] [-8.07683464e-02 9.96707471e-01 -7.11976628e-03 -7.64309231e+00] [-3.90939629e-02 3.96978325e-03 9.99227653e-01 3.46038656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters Centerline goodness : 0.937142 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.65, Z:0.34 [[ 9.96154852e-01 7.87709373e-02 3.83490505e-02 1.05777310e+02] [-7.84952036e-02 9.96877000e-01 -8.64578608e-03 -7.64592279e+00] [-3.89103231e-02 5.60232523e-03 9.99227002e-01 3.42289276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06771942099996 meters Centerline goodness : 0.934261 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.65, Z:0.34 [[ 9.96405610e-01 7.55725750e-02 3.82707028e-02 1.05777610e+02] [-7.51795126e-02 9.97102430e-01 -1.16096681e-02 -7.64974597e+00] [-3.90371833e-02 8.69076564e-03 9.99199964e-01 3.41061010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12771942099997 meters Centerline goodness : 0.937909 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.65, Z:0.34 [[ 9.96386140e-01 7.58049019e-02 3.83181046e-02 1.05777519e+02] [-7.54598852e-02 9.97094877e-01 -1.03735719e-02 -7.65356916e+00] [-3.89931534e-02 7.44460344e-03 9.99211745e-01 3.41402343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18771942099997 meters Centerline goodness : 0.941141 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.66, Z:0.34 [[ 9.96254777e-01 7.71482277e-02 3.90457450e-02 1.05774893e+02] [-7.68628195e-02 9.97003186e-01 -8.76094644e-03 -7.65657118e+00] [-3.96046237e-02 5.72696869e-03 9.99199017e-01 3.43193185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24771942099997 meters Centerline goodness : 0.941921 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.66, Z:0.34 [[ 9.96173072e-01 7.80066388e-02 3.94230314e-02 1.05773823e+02] [-7.77513651e-02 9.96940925e-01 -7.96981764e-03 -7.65881883e+00] [-3.99241321e-02 4.87412321e-03 9.99190826e-01 3.43396098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30771942099997 meters Centerline goodness : 0.945256 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.66, Z:0.34 [[ 9.96171680e-01 7.80834676e-02 3.93059196e-02 1.05774053e+02] [-7.78666832e-02 9.96939074e-01 -7.01866889e-03 -7.66439604e+00] [-3.97336491e-02 3.93117760e-03 9.99202574e-01 3.43203948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36771942099998 meters Centerline goodness : 0.942396 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.67, Z:0.34 [[ 9.96448623e-01 7.45774278e-02 3.90940984e-02 1.05777238e+02] [-7.42733445e-02 9.97195706e-01 -9.17578216e-03 -7.66972447e+00] [-3.96687732e-02 6.23954607e-03 9.99193403e-01 3.39380491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42771942099998 meters Centerline goodness : 0.939236 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.68, Z:0.34 [[ 9.96995126e-01 6.70650043e-02 3.87685838e-02 1.05778254e+02] [-6.64886628e-02 9.97659360e-01 -1.59705722e-02 -7.67601561e+00] [-3.97489070e-02 1.33449113e-02 9.99120582e-01 3.37331291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48771942099998 meters Centerline goodness : 0.938687 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.68, Z:0.34 [[ 9.97254415e-01 6.32267653e-02 3.85487618e-02 1.05779408e+02] [-6.25203853e-02 9.97857763e-01 -1.92636086e-02 -7.68052077e+00] [-3.96841569e-02 1.68006352e-02 9.99071022e-01 3.35466096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters Centerline goodness : 0.938034 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.69, Z:0.34 [[ 9.97210445e-01 6.38753053e-02 3.86170264e-02 1.05778787e+02] [-6.32506967e-02 9.97849672e-01 -1.71866434e-02 -7.68653381e+00] [-3.96317892e-02 1.46961465e-02 9.99106273e-01 3.36560013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters Centerline goodness : 0.937782 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.69, Z:0.34 [[ 9.96902394e-01 6.84491256e-02 3.87341476e-02 1.05779606e+02] [-6.80619818e-02 9.97617908e-01 -1.12283583e-02 -7.69394751e+00] [-3.94104506e-02 8.55725446e-03 9.99186464e-01 3.35836816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters Centerline goodness : 0.941014 with order 1 Centerline is valid? [False, False] Translation: X:105.78, Y:-7.70, Z:0.34 [[ 9.96447136e-01 7.42438818e-02 3.97611713e-02 1.05776112e+02] [-7.41116179e-02 9.97238438e-01 -4.79219470e-03 -7.69692064e+00] [-4.00071595e-02 1.82840395e-03 9.99197720e-01 3.39151143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters Centerline goodness : 0.946582 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.70, Z:0.34 [[ 9.96124883e-01 7.79871084e-02 4.06599230e-02 1.05770299e+02] [-7.79709495e-02 9.96953654e-01 -1.98548720e-03 -7.70047462e+00] [-4.06909012e-02 -1.19249960e-03 9.99171071e-01 3.43602988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78771942099996 meters Centerline goodness : 0.946936 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.70, Z:0.34 [[ 9.96050581e-01 7.85645157e-02 4.13624979e-02 1.05770143e+02] [-7.85550540e-02 9.96908048e-01 -1.85653107e-03 -7.70181797e+00] [-4.13804646e-02 -1.40003441e-03 9.99142481e-01 3.41367688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84771942099997 meters Centerline goodness : 0.947133 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.71, Z:0.34 [[ 9.96295314e-01 7.53662464e-02 4.14195195e-02 1.05770123e+02] [-7.52530497e-02 9.97155251e-01 -4.28753502e-03 -7.70835002e+00] [-4.16248268e-02 1.15470589e-03 9.99132644e-01 3.40313279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90771942099997 meters Centerline goodness : 0.947173 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.71, Z:0.34 [[ 9.96621235e-01 7.12074517e-02 4.09342552e-02 1.05771826e+02] [-7.09565590e-02 9.97450821e-01 -7.55156534e-03 -7.71326600e+00] [-4.13676342e-02 4.62149648e-03 9.99133305e-01 3.38629653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96771942099997 meters Centerline goodness : 0.943678 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.72, Z:0.34 [[ 9.96650095e-01 7.09045292e-02 4.07570354e-02 1.05773439e+02] [-7.06523989e-02 9.97472079e-01 -7.59545069e-03 -7.71578011e+00] [-4.11925567e-02 4.69042433e-03 9.99140217e-01 3.36598820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02771942099997 meters Centerline goodness : 0.945909 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.72, Z:0.34 [[ 9.96836555e-01 6.81472538e-02 4.09002874e-02 1.05771936e+02] [-6.77936500e-02 9.97649521e-01 -9.97270531e-03 -7.72249289e+00] [-4.14837646e-02 7.16837744e-03 9.99113463e-01 3.37108456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08771942099997 meters Centerline goodness : 0.947144 with order 1 Centerline is valid? [False, False] Translation: X:105.77, Y:-7.73, Z:0.34 [[ 9.96865629e-01 6.78632275e-02 4.06632468e-02 1.05773416e+02] [-6.75517535e-02 9.97675294e-01 -8.98708848e-03 -7.72601602e+00] [-4.11786095e-02 6.21204599e-03 9.99132490e-01 3.36279816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14771942099998 meters Centerline goodness : 0.951652 with order 1 Centerline is valid? [False, True] Translation: X:105.77, Y:-7.73, Z:0.34 [[ 9.96831883e-01 6.82829477e-02 4.07876913e-02 1.05772452e+02] [-6.80290836e-02 9.97654532e-01 -7.58151887e-03 -7.73096579e+00] [-4.12097135e-02 4.78275047e-03 9.99139072e-01 3.37643721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20771942099998 meters Centerline goodness : 0.951476 with order 1 Centerline is valid? [True, True] Translation: X:105.83, Y:-7.74, Z:0.34 [[ 9.96874600e-01 6.75984986e-02 4.08836797e-02 1.05834594e+02] [-6.76325015e-02 9.97710148e-01 -5.52425902e-04 -7.73727863e+00] [-4.08274053e-02 -2.21436618e-03 9.99163760e-01 3.38965958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters Centerline goodness : 0.950776 with order 1 Centerline is valid? [True, True] Translation: X:105.90, Y:-7.74, Z:0.34 [[ 9.96817280e-01 6.84386302e-02 4.08835340e-02 1.05897664e+02] [-6.84729045e-02 9.97652818e-01 -5.63009743e-04 -7.74000073e+00] [-4.08261045e-02 -2.23819648e-03 9.99163760e-01 3.36671420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters Centerline goodness : 0.950464 with order 1 Centerline is valid? [True, True] Translation: X:105.96, Y:-7.74, Z:0.34 [[ 9.96796568e-01 6.87397501e-02 4.08833619e-02 1.05959760e+02] [-6.87737767e-02 9.97632115e-01 -5.75240327e-04 -7.74423860e+00] [-4.08260966e-02 -2.23830562e-03 9.99163760e-01 3.35701736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters Centerline goodness : 0.950310 with order 1 Centerline is valid? [True, True] Translation: X:106.02, Y:-7.75, Z:0.33 [[ 9.96711783e-01 6.99584516e-02 4.08832000e-02 1.06020658e+02] [-6.99930385e-02 9.97547307e-01 -5.86520957e-04 -7.74654778e+00] [-4.08239582e-02 -2.27694704e-03 9.99163760e-01 3.29230033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters Centerline goodness : 0.951122 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:-7.75, Z:0.33 [[ 9.96586554e-01 7.17204034e-02 4.08830607e-02 1.06082647e+02] [-7.17560764e-02 9.97422032e-01 -5.96081518e-04 -7.75026342e+00] [-4.08204166e-02 -2.33956120e-03 9.99163760e-01 3.27746413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters Centerline goodness : 0.954085 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:-7.75, Z:0.33 [[ 9.96538120e-01 7.23903559e-02 4.08829097e-02 1.06144231e+02] [-7.24261744e-02 9.97373592e-01 -6.06260508e-04 -7.75301933e+00] [-4.08194219e-02 -2.35683104e-03 9.99163760e-01 3.28973499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56771942099996 meters Centerline goodness : 0.955156 with order 1 Centerline is valid? [True, True] Translation: X:106.21, Y:-7.76, Z:0.33 [[ 9.96554316e-01 7.21671346e-02 4.08827597e-02 1.06205288e+02] [-7.22023589e-02 9.97389813e-01 -6.16213099e-04 -7.75590842e+00] [-4.08205184e-02 -2.33774187e-03 9.99163760e-01 3.26267348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62771942099997 meters Centerline goodness : 0.952154 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.76, Z:0.32 [[ 9.96896027e-01 6.72824131e-02 4.08826099e-02 1.06267188e+02] [-6.73131422e-02 9.97731702e-01 -6.25997808e-04 -7.76214831e+00] [-4.08319946e-02 -2.12788220e-03 9.99163761e-01 3.24518348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68771942099997 meters Centerline goodness : 0.955468 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:-7.77, Z:0.32 [[ 9.97371278e-01 5.98260874e-02 4.08824409e-02 1.06328676e+02] [-5.98501230e-02 9.98207171e-01 -6.36846863e-04 -7.76518737e+00] [-4.08472457e-02 -1.81164634e-03 9.99163761e-01 3.22986591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74771942099997 meters Centerline goodness : 0.954121 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:-7.77, Z:0.32 [[ 9.97452289e-01 5.84599870e-02 4.08822809e-02 1.06389958e+02] [-5.84824641e-02 9.98288226e-01 -6.46956062e-04 -7.76712885e+00] [-4.08501207e-02 -1.74558872e-03 9.99163761e-01 3.17714102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80771942099997 meters Centerline goodness : 0.947128 with order 1 Centerline is valid? [True, False] Translation: X:106.39, Y:-7.76, Z:0.32 [[ 9.97350511e-01 6.09952584e-02 3.96426112e-02 1.06394211e+02] [-6.11052121e-02 9.98130101e-01 1.56677637e-03 -7.76480827e+00] [-3.94729176e-02 -3.98499538e-03 9.99212694e-01 3.15356027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86771942099998 meters Centerline goodness : 0.947563 with order 1 Centerline is valid? [False, False] Translation: X:106.39, Y:-7.76, Z:0.32 [[ 9.97060813e-01 6.53919816e-02 3.99202254e-02 1.06393510e+02] [-6.56485426e-02 9.97829524e-01 5.14875315e-03 -7.76184678e+00] [-3.94968924e-02 -7.75432462e-03 9.99189605e-01 3.15798540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92771942099998 meters Centerline goodness : 0.946665 with order 1 Centerline is valid? [False, False] Translation: X:106.39, Y:-7.76, Z:0.32 [[ 9.97038986e-01 6.57768734e-02 3.98329320e-02 1.06393450e+02] [-6.60048201e-02 9.97809455e-01 4.43333401e-03 -7.75907274e+00] [-3.94540653e-02 -7.04937236e-03 9.99196519e-01 3.15316446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98771942099998 meters Centerline goodness : 0.952358 with order 1 Centerline is valid? [False, True] Translation: X:106.39, Y:-7.76, Z:0.32 [[ 9.97061718e-01 6.55434198e-02 3.96483445e-02 1.06393367e+02] [-6.57719060e-02 9.97824606e-01 4.48474009e-03 -7.75892200e+00] [-3.92681485e-02 -7.07930984e-03 9.99203631e-01 3.16253760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters Centerline goodness : 0.955117 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:-7.76, Z:0.31 [[ 9.97053607e-01 6.56988663e-02 3.95950066e-02 1.06455580e+02] [-6.57332889e-02 9.97837135e-01 -4.33279637e-04 -7.75855391e+00] [-3.95378339e-02 -2.17070699e-03 9.99215716e-01 3.14627469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters Centerline goodness : 0.957886 with order 1 Centerline is valid? [True, True] Translation: X:106.52, Y:-7.76, Z:0.31 [[ 9.97264248e-01 6.24200596e-02 3.95948912e-02 1.06517278e+02] [-6.24514978e-02 9.98047901e-01 -4.43580272e-04 -7.75867357e+00] [-3.95452864e-02 -2.03039351e-03 9.99215716e-01 3.14996899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters Centerline goodness : 0.956368 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:-7.76, Z:0.31 [[ 9.97779300e-01 5.35604490e-02 3.95947699e-02 1.06577912e+02] [-5.35845071e-02 9.98563215e-01 -4.54155889e-04 -7.75910656e+00] [-3.95622055e-02 -1.66851888e-03 9.99215716e-01 3.09295636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters Centerline goodness : 0.951438 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.76, Z:0.30 [[ 9.98202931e-01 4.49796507e-02 3.95947015e-02 1.06640422e+02] [-4.49967346e-02 9.98987028e-01 -4.60041840e-04 -7.76126661e+00] [-3.95752857e-02 -1.32241716e-03 9.99215716e-01 3.03945978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28771942099996 meters Centerline goodness : 0.949697 with order 1 Centerline is valid? [True, False] Translation: X:106.64, Y:-7.76, Z:0.30 [[ 9.98249878e-01 4.43085370e-02 3.91654768e-02 1.06642345e+02] [-4.42905912e-02 9.99017810e-01 -1.32617644e-03 -7.75969345e+00] [-3.91857698e-02 -4.10806650e-04 9.99231858e-01 3.02360021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34771942099997 meters Centerline goodness : 0.946246 with order 1 Centerline is valid? [False, False] Translation: X:106.62, Y:-7.75, Z:0.30 [[ 9.98188568e-01 4.51857238e-02 3.97219508e-02 1.06624318e+02] [-4.52946619e-02 9.98971964e-01 1.84639654e-03 -7.75357752e+00] [-3.95976844e-02 -3.64224425e-03 9.99209066e-01 2.98888893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40771942099997 meters Centerline goodness : 0.949258 with order 1 Centerline is valid? [False, False] Translation: X:106.62, Y:-7.75, Z:0.30 [[ 9.97972722e-01 4.92869361e-02 4.02646633e-02 1.06619046e+02] [-4.94931548e-02 9.98765881e-01 4.14031264e-03 -7.75368072e+00] [-4.00109086e-02 -6.12474429e-03 9.99180472e-01 3.02755888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46771942099997 meters Centerline goodness : 0.951601 with order 1 Centerline is valid? [False, True] Translation: X:106.62, Y:-7.75, Z:0.30 [[ 9.97897806e-01 5.04445422e-02 4.06855776e-02 1.06617822e+02] [-5.06500242e-02 9.98708313e-01 4.03495377e-03 -7.75013966e+00] [-4.04294832e-02 -6.08719701e-03 9.99163852e-01 3.02404431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52771942099997 meters Centerline goodness : 0.954299 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:-7.75, Z:0.30 [[ 9.97892226e-01 5.05619447e-02 4.06767102e-02 1.06678661e+02] [-5.06001329e-02 9.98718989e-01 -9.08383842e-05 -7.75348426e+00] [-4.06291958e-02 -1.96760002e-03 9.99172356e-01 3.00223461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58771942099997 meters Centerline goodness : 0.956747 with order 1 Centerline is valid? [True, True] Translation: X:106.74, Y:-7.75, Z:0.30 [[ 9.98084649e-01 4.66094582e-02 4.06766860e-02 1.06739918e+02] [-4.66439750e-02 9.98911572e-01 -1.00591676e-04 -7.75255026e+00] [-4.06371009e-02 -1.79692332e-03 9.99172356e-01 2.98840951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64771942099998 meters Centerline goodness : 0.960339 with order 1 Centerline is valid? [True, True] Translation: X:106.80, Y:-7.75, Z:0.30 [[ 9.98266619e-01 4.25343113e-02 4.06766601e-02 1.06801546e+02] [-4.25650622e-02 9.99093691e-01 -1.10169649e-04 -7.75327226e+00] [-4.06444805e-02 -1.62142589e-03 9.99172356e-01 2.98118755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70771942099998 meters Centerline goodness : 0.958995 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:-7.75, Z:0.29 [[ 9.98436329e-01 3.83446098e-02 4.06766316e-02 1.06863132e+02] [-3.83714962e-02 9.99263536e-01 -1.19837045e-04 -7.75339387e+00] [-4.06512698e-02 -1.44117356e-03 9.99172356e-01 2.93576885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters Centerline goodness : 0.955353 with order 1 Centerline is valid? [True, True] Translation: X:106.93, Y:-7.75, Z:0.29 [[ 9.98440435e-01 3.82375860e-02 4.06765988e-02 1.06926091e+02] [-3.82639665e-02 9.99267658e-01 -1.30092187e-04 -7.75006628e+00] [-4.06517840e-02 -1.42655871e-03 9.99172356e-01 2.87618180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters Centerline goodness : 0.954928 with order 1 Centerline is valid? [True, True] Translation: X:106.99, Y:-7.75, Z:0.29 [[ 9.98346751e-01 4.06101221e-02 4.06765584e-02 1.06988490e+02] [-4.06379966e-02 9.99173925e-01 -1.41684732e-04 -7.75191466e+00] [-4.06487104e-02 -1.51156335e-03 9.99172356e-01 2.87775768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters Centerline goodness : 0.953038 with order 1 Centerline is valid? [True, True] Translation: X:107.05, Y:-7.75, Z:0.28 [[ 9.98180925e-01 4.45001333e-02 4.06765192e-02 1.07051554e+02] [-4.45308043e-02 9.99008000e-01 -1.52170488e-04 -7.74758290e+00] [-4.06429397e-02 -1.65946444e-03 9.99172356e-01 2.82772569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters Centerline goodness : 0.952964 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:-7.75, Z:0.28 [[ 9.97902434e-01 5.03602635e-02 4.06764690e-02 1.07113559e+02] [-5.03952851e-02 9.98729337e-01 -1.64587180e-04 -7.74632671e+00] [-4.06330715e-02 -1.88566031e-03 9.99172356e-01 2.78236351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters Centerline goodness : 0.950299 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:-7.74, Z:0.28 [[ 9.97599759e-01 5.60370344e-02 4.06764195e-02 1.07176201e+02] [-5.60762947e-02 9.98426471e-01 -1.76032851e-04 -7.74489662e+00] [-4.06222783e-02 -2.10537256e-03 9.99172356e-01 2.77337525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06771942099996 meters Centerline goodness : 0.956750 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:-7.74, Z:0.28 [[ 9.97529985e-01 5.72656989e-02 4.06764027e-02 1.07237648e+02] [-5.73058235e-02 9.98356655e-01 -1.79817834e-04 -7.74160095e+00] [-4.06198547e-02 -2.15162107e-03 9.99172356e-01 2.80012787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12771942099997 meters Centerline goodness : 0.957732 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:-7.74, Z:0.28 [[ 9.97961343e-01 4.91791422e-02 4.06763958e-02 1.07299372e+02] [-4.92125026e-02 9.98788314e-01 -1.81368138e-04 -7.74383909e+00] [-4.06360283e-02 -1.82078884e-03 9.99172356e-01 2.77363653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18771942099997 meters Centerline goodness : 0.958854 with order 1 Centerline is valid? [True, True] Translation: X:107.36, Y:-7.74, Z:0.28 [[ 9.98140679e-01 4.53940433e-02 4.06763603e-02 1.07362594e+02] [-4.54239559e-02 9.98967782e-01 -1.89016390e-04 -7.74483443e+00] [-4.06429536e-02 -1.65901625e-03 9.99172356e-01 2.75529296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24771942099997 meters Centerline goodness : 0.958149 with order 1 Centerline is valid? [True, True] Translation: X:107.42, Y:-7.75, Z:0.27 [[ 9.98033415e-01 4.76942406e-02 4.06763025e-02 1.07424501e+02] [-4.77255830e-02 9.98860465e-01 -2.00723202e-04 -7.74640414e+00] [-4.06395238e-02 -1.74097179e-03 9.99172357e-01 2.73347594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30771942099997 meters Centerline goodness : 0.954353 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-7.75, Z:0.27 [[ 9.97943156e-01 4.95469449e-02 4.06762480e-02 1.07486329e+02] [-4.95793953e-02 9.98770163e-01 -2.11228628e-04 -7.74757587e+00] [-4.06366885e-02 -1.80590961e-03 9.99172357e-01 2.66491000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36771942099998 meters Centerline goodness : 0.952969 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.75, Z:0.26 [[ 9.97840428e-01 5.15744881e-02 4.06761888e-02 1.07548842e+02] [-5.16081780e-02 9.98667385e-01 -2.22064612e-04 -7.75008374e+00] [-4.06334360e-02 -1.87763895e-03 9.99172357e-01 2.63342543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42771942099998 meters Centerline goodness : 0.951777 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.75, Z:0.26 [[ 9.97660901e-01 5.49379456e-02 4.06761559e-02 1.07610628e+02] [-5.49741839e-02 9.98487750e-01 -2.27943725e-04 -7.75117313e+00] [-4.06271661e-02 -2.00872793e-03 9.99172357e-01 2.60250377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48771942099998 meters Centerline goodness : 0.951977 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-7.75, Z:0.26 [[ 9.97580564e-01 5.63779553e-02 4.06760927e-02 1.07671178e+02] [-5.64149492e-02 9.98407380e-01 -2.38709356e-04 -7.75156603e+00] [-4.06247691e-02 -2.05660789e-03 9.99172357e-01 2.55903155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters Centerline goodness : 0.956872 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-7.75, Z:0.26 [[ 9.97277202e-01 6.15113268e-02 4.06760326e-02 1.07733348e+02] [-6.15521757e-02 9.98103836e-01 -2.48543424e-04 -7.74774497e+00] [-4.06141924e-02 -2.25583161e-03 9.99172357e-01 2.56355451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters Centerline goodness : 0.957798 with order 1 Centerline is valid? [True, True] Translation: X:107.79, Y:-7.74, Z:0.25 [[ 9.97154634e-01 6.34672952e-02 4.06760135e-02 1.07794681e+02] [-6.35096398e-02 9.97981193e-01 -2.51632551e-04 -7.74413039e+00] [-4.06098669e-02 -2.33240240e-03 9.99172357e-01 2.52437607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters Centerline goodness : 0.960695 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:-7.74, Z:0.25 [[ 9.97458185e-01 5.85033022e-02 4.06759399e-02 1.07857229e+02] [-5.85410693e-02 9.98284966e-01 -2.63012902e-04 -7.74385316e+00] [-4.06215664e-02 -2.11886864e-03 9.99172357e-01 2.53029780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters Centerline goodness : 0.955247 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:-7.74, Z:0.25 [[ 9.97807255e-01 5.22126003e-02 4.06758592e-02 1.07919168e+02] [-5.22446679e-02 9.98634277e-01 -2.74945981e-04 -7.74199849e+00] [-4.06346629e-02 -1.85075366e-03 9.99172357e-01 2.46738659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78771942099996 meters Centerline goodness : 0.950803 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:-7.74, Z:0.24 [[ 9.98008819e-01 4.82066074e-02 4.06757825e-02 1.07980841e+02] [-4.82349104e-02 9.98835978e-01 -2.85866514e-04 -7.74381413e+00] [-4.06422157e-02 -1.67669542e-03 9.99172357e-01 2.40690724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84771942099997 meters Centerline goodness : 0.955693 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:-7.75, Z:0.24 [[ 9.98183155e-01 4.44508387e-02 4.06757039e-02 1.08043760e+02] [-4.44755907e-02 9.99010427e-01 -2.96639773e-04 -7.74870535e+00] [-4.06486383e-02 -1.51297513e-03 9.99172357e-01 2.41579723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90771942099997 meters Centerline goodness : 0.958251 with order 1 Centerline is valid? [True, True] Translation: X:108.10, Y:-7.75, Z:0.24 [[ 9.98197360e-01 4.41307683e-02 4.06756099e-02 1.08104768e+02] [-4.41547512e-02 9.99024656e-01 -3.09016851e-04 -7.74947783e+00] [-4.06495743e-02 -1.48756163e-03 9.99172357e-01 2.37549600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96771942099997 meters Centerline goodness : 0.960674 with order 1 Centerline is valid? [True, True] Translation: X:108.17, Y:-7.75, Z:0.24 [[ 9.98063455e-01 4.70620587e-02 4.06755659e-02 1.08167394e+02] [-4.70882397e-02 9.98890684e-01 -3.14706048e-04 -7.75380517e+00] [-4.06452545e-02 -1.60124419e-03 9.99172357e-01 2.37637809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02771942099997 meters Centerline goodness : 0.963089 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:-7.76, Z:0.24 [[ 9.97982495e-01 4.87488109e-02 4.06754662e-02 1.08229554e+02] [-4.87758853e-02 9.98809695e-01 -3.27107681e-04 -7.75588255e+00] [-4.06429960e-02 -1.65753413e-03 9.99172357e-01 2.36835380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08771942099997 meters Centerline goodness : 0.961527 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:-7.76, Z:0.23 [[ 9.97862360e-01 5.11490486e-02 4.06753765e-02 1.08291612e+02] [-5.11776733e-02 9.98689507e-01 -3.37904283e-04 -7.75596170e+00] [-4.06393552e-02 -1.74448916e-03 9.99172357e-01 2.30191959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14771942099998 meters Centerline goodness : 0.956818 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:-7.76, Z:0.23 [[ 9.97866501e-01 5.10682551e-02 4.06752855e-02 1.08354143e+02] [-5.10963808e-02 9.98693666e-01 -3.48521559e-04 -7.75882856e+00] [-4.06399484e-02 -1.73058189e-03 9.99172357e-01 2.25886269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20771942099998 meters Centerline goodness : 0.951879 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:-7.76, Z:0.22 [[ 9.97844988e-01 5.14869241e-02 4.06752518e-02 1.08414816e+02] [-5.15152384e-02 9.98672146e-01 -3.52414924e-04 -7.76001593e+00] [-4.06393857e-02 -1.74373982e-03 9.99172357e-01 2.21009643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters Centerline goodness : 0.954424 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:-7.76, Z:0.22 [[ 9.97841780e-01 5.15491373e-02 4.06751633e-02 1.08477407e+02] [-5.15770991e-02 9.98668950e-01 -3.62345283e-04 -7.76294351e+00] [-4.06397012e-02 -1.73634366e-03 9.99172357e-01 2.18482513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters Centerline goodness : 0.952057 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:-7.76, Z:0.21 [[ 9.97852088e-01 5.13492965e-02 4.06750514e-02 1.08538916e+02] [-5.13765981e-02 9.98679280e-01 -3.74499275e-04 -7.76339469e+00] [-4.06405613e-02 -1.71605089e-03 9.99172357e-01 2.13486471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters Centerline goodness : 0.954423 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:-7.76, Z:0.21 [[ 9.97624948e-01 5.55878683e-02 4.06749509e-02 1.08599882e+02] [-5.56182517e-02 9.98452033e-01 -3.85116463e-04 -7.76454610e+00] [-4.06333952e-02 -1.87806787e-03 9.99172358e-01 2.12711191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters Centerline goodness : 0.955808 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:-7.77, Z:0.21 [[ 9.97420141e-01 5.91490933e-02 4.06748957e-02 1.08661718e+02] [-5.91821955e-02 9.98247121e-01 -3.90862240e-04 -7.76583970e+00] [-4.06267167e-02 -2.01737576e-03 9.99172358e-01 2.11292692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters Centerline goodness : 0.956751 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:-7.76, Z:0.21 [[ 9.97319229e-01 6.08269423e-02 4.06747939e-02 1.08723243e+02] [-6.08610160e-02 9.98146170e-01 -4.01180796e-04 -7.76369384e+00] [-4.06237923e-02 -2.07540396e-03 9.99172358e-01 2.08739675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56771942099996 meters Centerline goodness : 0.953410 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:-7.77, Z:0.21 [[ 9.97417859e-01 5.91877000e-02 4.06746954e-02 1.08785062e+02] [-5.92200179e-02 9.98244870e-01 -4.10929361e-04 -7.76673694e+00] [-4.06276280e-02 -1.99888791e-03 9.99172358e-01 2.05541639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62771942099997 meters Centerline goodness : 0.952187 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:-7.77, Z:0.20 [[ 9.97655523e-01 5.50366785e-02 4.06745854e-02 1.08848100e+02] [-5.50651229e-02 9.98482676e-01 -4.21543949e-04 -7.76761754e+00] [-4.06360693e-02 -1.81919539e-03 9.99172358e-01 2.03329228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68771942099997 meters Centerline goodness : 0.951904 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:-7.77, Z:0.20 [[ 9.97837326e-01 5.16358302e-02 4.06744573e-02 1.08909534e+02] [-5.16609659e-02 9.98664587e-01 -4.33563817e-04 -7.76891695e+00] [-4.06425275e-02 -1.66865559e-03 9.99172358e-01 1.99352194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74771942099997 meters Centerline goodness : 0.944412 with order 1 Centerline is valid? [True, False] Translation: X:108.91, Y:-7.77, Z:0.20 [[ 9.97992953e-01 4.94846068e-02 3.95137781e-02 1.08914633e+02] [-4.94416355e-02 9.98774881e-01 -2.06455717e-03 -7.76842667e+00] [-3.95675328e-02 1.06787698e-04 9.99216893e-01 1.95768522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80771942099997 meters Centerline goodness : 0.948201 with order 1 Centerline is valid? [False, False] Translation: X:108.91, Y:-7.77, Z:0.20 [[ 9.97984313e-01 4.97101168e-02 3.94489068e-02 1.08914043e+02] [-4.97033603e-02 9.98763359e-01 -1.15261359e-03 -7.76900600e+00] [-3.94574192e-02 -8.10452946e-04 9.99220924e-01 1.97463399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86771942099998 meters Centerline goodness : 0.952576 with order 1 Centerline is valid? [False, True] Translation: X:108.91, Y:-7.77, Z:0.20 [[ 9.97925393e-01 5.06419620e-02 3.97530024e-02 1.08912235e+02] [-5.06519806e-02 9.98716079e-01 -7.55768634e-04 -7.76775232e+00] [-3.97402362e-02 -1.25936759e-03 9.99209251e-01 1.98853401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92771942099998 meters Centerline goodness : 0.950236 with order 1 Centerline is valid? [True, True] Translation: X:108.97, Y:-7.77, Z:0.19 [[ 9.97855191e-01 5.20041467e-02 3.97565853e-02 1.08973252e+02] [-5.20294295e-02 9.98645472e-01 -3.99160571e-04 -7.76630798e+00] [-3.97234919e-02 -1.67020801e-03 9.99209315e-01 1.89801982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98771942099998 meters Centerline goodness : 0.949167 with order 1 Centerline is valid? [True, False] Translation: X:108.98, Y:-7.77, Z:0.19 [[ 9.97792109e-01 5.39792147e-02 3.86930493e-02 1.08976794e+02] [-5.41206875e-02 9.98530971e-01 2.61745153e-03 -7.76505573e+00] [-3.84949201e-02 -4.70576691e-03 9.99247715e-01 1.89364169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters Centerline goodness : 0.946569 with order 1 Centerline is valid? [False, False] Translation: X:108.98, Y:-7.76, Z:0.19 [[ 9.97882152e-01 5.29883070e-02 3.77286303e-02 1.08978701e+02] [-5.31038987e-02 9.98586852e-01 2.06755398e-03 -7.76423425e+00] [-3.75657580e-02 -4.06671258e-03 9.99285883e-01 1.89806460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters Centerline goodness : 0.946780 with order 1 Centerline is valid? [False, False] Translation: X:108.98, Y:-7.76, Z:0.19 [[ 9.97942652e-01 5.19543518e-02 3.75660509e-02 1.08980700e+02] [-5.20111182e-02 9.98646363e-01 5.34757436e-04 -7.76054632e+00] [-3.74874171e-02 -2.48750957e-03 9.99294004e-01 1.87365672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters Centerline goodness : 0.953537 with order 1 Centerline is valid? [False, True] Translation: X:108.98, Y:-7.76, Z:0.19 [[ 9.97980950e-01 5.12513220e-02 3.75143255e-02 1.08977573e+02] [-5.12542189e-02 9.98685247e-01 -8.85128945e-04 -7.75797271e+00] [-3.75103674e-02 -1.03942563e-03 9.99295698e-01 1.90985906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters Centerline goodness : 0.955153 with order 1 Centerline is valid? [True, True] Translation: X:109.04, Y:-7.76, Z:0.19 [[ 9.97782850e-01 5.49697027e-02 3.75195397e-02 1.09040502e+02] [-5.49911316e-02 9.98486736e-01 -4.61387561e-04 -7.75690487e+00] [-3.74881251e-02 -1.60287735e-03 9.99295788e-01 1.90711530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28771942099996 meters Centerline goodness : 0.952582 with order 1 Centerline is valid? [True, True] Translation: X:109.10, Y:-7.75, Z:0.19 [[ 9.97465957e-01 6.04479918e-02 3.75193983e-02 1.09102178e+02] [-6.04728642e-02 9.98169730e-01 -4.72616175e-04 -7.75284921e+00] [-3.74792963e-02 -1.79748693e-03 9.99295788e-01 1.85613580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34771942099997 meters Centerline goodness : 0.949628 with order 1 Centerline is valid? [True, False] Translation: X:109.11, Y:-7.75, Z:0.18 [[ 9.97376525e-01 6.23716443e-02 3.67402426e-02 1.09106132e+02] [-6.24961172e-02 9.98042675e-01 2.24814675e-03 -7.75110731e+00] [-3.65281094e-02 -4.53837130e-03 9.99322321e-01 1.83742673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40771942099997 meters Centerline goodness : 0.945858 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.75, Z:0.18 [[ 9.97723580e-01 5.71724107e-02 3.57627286e-02 1.09108086e+02] [-5.71245866e-02 9.98364272e-01 -2.35846354e-03 -7.75244509e+00] [-3.58390695e-02 3.10163599e-04 9.99357526e-01 1.83494977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46771942099997 meters Centerline goodness : 0.947667 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.75, Z:0.18 [[ 9.98111195e-01 5.07684243e-02 3.45920453e-02 1.09112272e+02] [-5.05241697e-02 9.98691597e-01 -7.89948654e-03 -7.75102989e+00] [-3.49478294e-02 6.13683158e-03 9.99370296e-01 1.81397187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52771942099997 meters Centerline goodness : 0.944150 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.75, Z:0.18 [[ 9.98227495e-01 4.89786499e-02 3.38076858e-02 1.09115272e+02] [-4.86916410e-02 9.98770917e-01 -9.26169021e-03 -7.74780571e+00] [-3.42197584e-02 7.59912212e-03 9.99385442e-01 1.80211326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58771942099997 meters Centerline goodness : 0.946580 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.75, Z:0.18 [[ 9.98239050e-01 4.88413243e-02 3.36648879e-02 1.09115014e+02] [-4.85523413e-02 9.98776883e-01 -9.34928303e-03 -7.74693768e+00] [-3.40803432e-02 7.69831028e-03 9.99389447e-01 1.81322455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64771942099998 meters Centerline goodness : 0.946283 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97823297e-01 5.66449454e-02 3.37641476e-02 1.09114654e+02] [-5.66098715e-02 9.98394383e-01 -1.99462072e-03 -7.74163691e+00] [-3.38229205e-02 7.88949597e-05 9.99427838e-01 1.82984428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70771942099998 meters Centerline goodness : 0.940889 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.74, Z:0.18 [[ 9.97648971e-01 5.99885107e-02 3.31347139e-02 1.09117019e+02] [-6.00530741e-02 9.98194728e-01 9.55868322e-04 -7.73922444e+00] [-3.30175556e-02 -2.94346247e-03 9.99450438e-01 1.81853597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters Centerline goodness : 0.936756 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.74, Z:0.18 [[ 9.97625339e-01 6.05432953e-02 3.28358441e-02 1.09117117e+02] [-6.05959259e-02 9.98162193e-01 6.09173136e-04 -7.73870698e+00] [-3.27386168e-02 -2.59744493e-03 9.99460573e-01 1.81678330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters Centerline goodness : 0.943152 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97528223e-01 6.19022646e-02 3.32498797e-02 1.09114725e+02] [-6.19788553e-02 9.98076646e-01 1.27677870e-03 -7.73644048e+00] [-3.31068929e-02 -3.33441226e-03 9.99446254e-01 1.83524064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters Centerline goodness : 0.945121 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97664507e-01 5.95405881e-02 3.34731133e-02 1.09112845e+02] [-5.95037324e-02 9.98225880e-01 -2.09702964e-03 -7.73764401e+00] [-3.35385864e-02 1.00356858e-04 9.99437418e-01 1.83914315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters Centerline goodness : 0.946742 with order 1 Centerline is valid? [False, False] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97644789e-01 5.95541992e-02 3.40319391e-02 1.09112807e+02] [-5.95057787e-02 9.98224992e-01 -2.43477024e-03 -7.73710987e+00] [-3.41165330e-02 4.03938802e-04 9.99417780e-01 1.82329183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters Centerline goodness : 0.950269 with order 1 Centerline is valid? [False, True] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97811649e-01 5.69377428e-02 3.36155748e-02 1.09111498e+02] [-5.67668098e-02 9.98369325e-01 -6.01839061e-03 -7.73659809e+00] [-3.39034323e-02 4.09697131e-03 9.99416716e-01 1.83846428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06771942099996 meters Centerline goodness : 0.941965 with order 1 Centerline is valid? [True, False] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97856261e-01 5.65641449e-02 3.29147337e-02 1.09114642e+02] [-5.63748379e-02 9.98387514e-01 -6.65206909e-03 -7.73728424e+00] [-3.32379278e-02 4.78224601e-03 9.99436026e-01 1.80965919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12771942099997 meters Centerline goodness : 0.935226 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.74, Z:0.18 [[ 9.97677292e-01 5.98910101e-02 3.24513242e-02 1.09121726e+02] [-5.98587590e-02 9.98204922e-01 -1.96529878e-03 -7.73534998e+00] [-3.25107753e-02 1.82379711e-05 9.99471385e-01 1.75302614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18771942099997 meters Centerline goodness : 0.941454 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.74, Z:0.18 [[ 9.97729299e-01 5.88572016e-02 3.27425709e-02 1.09116576e+02] [-5.87940120e-02 9.98265952e-01 -2.89018051e-03 -7.73944976e+00] [-3.28559017e-02 9.58550668e-04 9.99459639e-01 1.80996738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24771942099997 meters Centerline goodness : 0.948953 with order 1 Centerline is valid? [False, False] Translation: X:109.12, Y:-7.74, Z:0.18 [[ 9.97681317e-01 5.95031882e-02 3.30357443e-02 1.09115068e+02] [-5.94647626e-02 9.98228100e-01 -2.14530598e-03 -7.73989254e+00] [-3.31048608e-02 1.75869004e-04 9.99451868e-01 1.82570821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30771942099997 meters Centerline goodness : 0.952572 with order 1 Centerline is valid? [False, True] Translation: X:109.11, Y:-7.74, Z:0.18 [[ 9.97801454e-01 5.72472219e-02 3.33918342e-02 1.09113250e+02] [-5.71135534e-02 9.98355447e-01 -4.94400059e-03 -7.74130072e+00] [-3.36199499e-02 3.02600466e-03 9.99430109e-01 1.83053871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36771942099998 meters Centerline goodness : 0.951875 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:-7.74, Z:0.18 [[ 9.98005503e-01 5.35646068e-02 3.34043250e-02 1.09174155e+02] [-5.35917423e-02 9.98562927e-01 -8.31255903e-05 -7.74374167e+00] [-3.33607731e-02 -1.70723618e-03 9.99441916e-01 1.81581664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42771942099998 meters Centerline goodness : 0.953527 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:-7.75, Z:0.18 [[ 9.98336651e-01 4.69902595e-02 3.34043032e-02 1.09236543e+02] [-4.70134565e-02 9.98894252e-01 -9.11087586e-05 -7.74609306e+00] [-3.33716477e-02 -1.47949454e-03 9.99441916e-01 1.81230265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48771942099998 meters Centerline goodness : 0.951969 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:-7.75, Z:0.18 [[ 9.98468827e-01 4.40925822e-02 3.34042771e-02 1.09298534e+02] [-4.41138681e-02 9.99026504e-01 -9.98715182e-05 -7.74652216e+00] [-3.33761617e-02 -1.37387327e-03 9.99441916e-01 1.79203080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters Centerline goodness : 0.945842 with order 1 Centerline is valid? [True, False] Translation: X:109.30, Y:-7.74, Z:0.18 [[ 9.98390768e-01 4.64519993e-02 3.25282468e-02 1.09302492e+02] [-4.65388529e-02 9.98914640e-01 1.91768463e-03 -7.74257483e+00] [-3.24038617e-02 -3.42842592e-03 9.99468977e-01 1.76533095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters Centerline goodness : 0.944970 with order 1 Centerline is valid? [False, False] Translation: X:109.30, Y:-7.74, Z:0.18 [[ 9.98372781e-01 4.70125512e-02 3.22739971e-02 1.09302838e+02] [-4.70783257e-02 9.98890380e-01 1.28071582e-03 -7.74009989e+00] [-3.21779755e-02 -2.79803756e-03 9.99478238e-01 1.75862733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters Centerline goodness : 0.944725 with order 1 Centerline is valid? [False, False] Translation: X:109.30, Y:-7.74, Z:0.18 [[ 9.98399100e-01 4.68174940e-02 3.17389322e-02 1.09303580e+02] [-4.68759638e-02 9.98900112e-01 1.10022856e-03 -7.73989529e+00] [-3.16525130e-02 -2.58626024e-03 9.99495588e-01 1.76432377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters Centerline goodness : 0.947773 with order 1 Centerline is valid? [False, False] Translation: X:109.30, Y:-7.74, Z:0.18 [[ 9.98338603e-01 4.79914733e-02 3.18881062e-02 1.09302477e+02] [-4.80600781e-02 9.98843482e-01 1.38800571e-03 -7.73762003e+00] [-3.17846146e-02 -2.91824455e-03 9.99490481e-01 1.77087254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78771942099996 meters Centerline goodness : 0.949004 with order 1 Centerline is valid? [False, False] Translation: X:109.30, Y:-7.74, Z:0.18 [[ 9.98308415e-01 4.88862389e-02 3.14713245e-02 1.09302759e+02] [-4.89403367e-02 9.98801252e-01 9.50496991e-04 -7.73511969e+00] [-3.13871320e-02 -2.48910636e-03 9.99504203e-01 1.76851696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84771942099997 meters Centerline goodness : 0.947049 with order 1 Centerline is valid? [False, False] Translation: X:109.30, Y:-7.73, Z:0.18 [[ 9.98364310e-01 4.80612591e-02 3.09648167e-02 1.09303935e+02] [-4.80868421e-02 9.98843155e-01 8.16187227e-05 -7.73380901e+00] [-3.09250725e-02 -1.57048547e-03 9.99520472e-01 1.76710304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90771942099997 meters Centerline goodness : 0.949967 with order 1 Centerline is valid? [False, False] Translation: X:109.31, Y:-7.73, Z:0.18 [[ 9.98525563e-01 4.50716030e-02 3.02531168e-02 1.09306944e+02] [-4.50734095e-02 9.98983483e-01 -6.22593144e-04 -7.73403911e+00] [-3.02504252e-02 -7.41935951e-04 9.99542076e-01 1.77059008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96771942099997 meters Centerline goodness : 0.951086 with order 1 Centerline is valid? [False, True] Translation: X:109.31, Y:-7.73, Z:0.18 [[ 9.98768230e-01 3.98762897e-02 2.95280283e-02 1.09308585e+02] [-3.97399812e-02 9.99196581e-01 -5.18902408e-03 -7.73495194e+00] [-2.97112239e-02 4.00918910e-03 9.99550484e-01 1.76962221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02771942099997 meters Centerline goodness : 0.944611 with order 1 Centerline is valid? [True, False] Translation: X:109.32, Y:-7.73, Z:0.17 [[ 9.98877301e-01 3.84842698e-02 2.76242500e-02 1.09318041e+02] [-3.83989334e-02 9.99255956e-01 -3.61323585e-03 -7.73259859e+00] [-2.77427491e-02 2.54843754e-03 9.99611847e-01 1.73354814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08771942099997 meters Centerline goodness : 0.944465 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.73, Z:0.17 [[ 9.98905446e-01 3.82142743e-02 2.69736842e-02 1.09319066e+02] [-3.81378644e-02 9.99266899e-01 -3.34173436e-03 -7.73424849e+00] [-2.70816117e-02 2.30935793e-03 9.99630558e-01 1.74145791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14771942099998 meters Centerline goodness : 0.945690 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.73, Z:0.18 [[ 9.98760448e-01 4.21006080e-02 2.65538219e-02 1.09319303e+02] [-4.21418058e-02 9.99111146e-01 9.93537242e-04 -7.73355804e+00] [-2.64883909e-02 -2.11133171e-03 9.99646891e-01 1.76009848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20771942099998 meters Centerline goodness : 0.950750 with order 1 Centerline is valid? [False, True] Translation: X:109.32, Y:-7.73, Z:0.18 [[ 9.98600869e-01 4.55419807e-02 2.68743868e-02 1.09316150e+02] [-4.56502664e-02 9.98951597e-01 3.42933875e-03 -7.73136490e+00] [-2.66900327e-02 -4.65136357e-03 9.99632936e-01 1.79000002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters Centerline goodness : 0.949827 with order 1 Centerline is valid? [True, False] Translation: X:109.32, Y:-7.73, Z:0.18 [[ 9.98606241e-01 4.57651260e-02 2.62893255e-02 1.09316884e+02] [-4.58654324e-02 9.98942422e-01 3.22493141e-03 -7.73025053e+00] [-2.61139331e-02 -4.42620791e-03 9.99649174e-01 1.79428106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters Centerline goodness : 0.946971 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.73, Z:0.18 [[ 9.98472581e-01 4.88935642e-02 2.57278847e-02 1.09319226e+02] [-4.90551324e-02 9.98779886e-01 5.68628883e-03 -7.72693449e+00] [-2.54184708e-02 -6.93968827e-03 9.99652811e-01 1.77922524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters Centerline goodness : 0.949075 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.72, Z:0.18 [[ 9.98427775e-01 4.99036338e-02 2.55265534e-02 1.09318257e+02] [-5.00533083e-02 9.98732706e-01 5.25813291e-03 -7.72252485e+00] [-2.52318038e-02 -6.52755439e-03 9.99660316e-01 1.79170777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters Centerline goodness : 0.949570 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.72, Z:0.18 [[ 9.98489202e-01 4.91213041e-02 2.46254196e-02 1.09320309e+02] [-4.92379435e-02 9.98778445e-01 4.15242334e-03 -7.72007581e+00] [-2.43913658e-02 -5.35865488e-03 9.99688124e-01 1.78757769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters Centerline goodness : 0.945639 with order 1 Centerline is valid? [False, False] Translation: X:109.32, Y:-7.72, Z:0.18 [[ 9.98619679e-01 4.69922920e-02 2.34619102e-02 1.09324674e+02] [-4.70671318e-02 9.98888220e-01 2.64757567e-03 -7.71936955e+00] [-2.33114101e-02 -3.74820599e-03 9.99721226e-01 1.76501089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56771942099996 meters Centerline goodness : 0.945182 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98735841e-01 4.49629127e-02 2.24734712e-02 1.09328428e+02] [-4.50064259e-02 9.98985668e-01 1.43392469e-03 -7.71921201e+00] [-2.23862022e-02 -2.44356259e-03 9.99746411e-01 1.74656220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62771942099997 meters Centerline goodness : 0.944264 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.18 [[ 9.98780142e-01 4.43362518e-02 2.17376280e-02 1.09329474e+02] [-4.43805155e-02 9.99013485e-01 1.55786086e-03 -7.72144810e+00] [-2.16471138e-02 -2.52068763e-03 9.99762496e-01 1.75635758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68771942099997 meters Centerline goodness : 0.941219 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98634484e-01 4.77725862e-02 2.11411511e-02 1.09332841e+02] [-4.78736207e-02 9.98844151e-01 4.29873277e-03 -7.71854354e+00] [-2.09113536e-02 -5.30496623e-03 9.99767259e-01 1.72659064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74771942099997 meters Centerline goodness : 0.940657 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98530027e-01 4.99555203e-02 2.10293088e-02 1.09330936e+02] [-5.00721547e-02 9.98732803e-01 5.05642623e-03 -7.71801417e+00] [-2.07500641e-02 -6.10197622e-03 9.99766073e-01 1.74650507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80771942099997 meters Centerline goodness : 0.938533 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98526727e-01 5.01610369e-02 2.06940836e-02 1.09331603e+02] [-5.02701532e-02 9.98724187e-01 4.78642913e-03 -7.71630325e+00] [-2.04275896e-02 -5.81967217e-03 9.99774397e-01 1.74551776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86771942099998 meters Centerline goodness : 0.939994 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98539349e-01 4.99562506e-02 2.05801189e-02 1.09332471e+02] [-5.00647288e-02 9.98734490e-01 4.78963142e-03 -7.71778683e+00] [-2.03148025e-02 -5.81297351e-03 9.99776734e-01 1.73924851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92771942099998 meters Centerline goodness : 0.938063 with order 1 Centerline is valid? [False, False] Translation: X:109.33, Y:-7.72, Z:0.17 [[ 9.98597794e-01 4.90108258e-02 2.00096207e-02 1.09334226e+02] [-4.91161741e-02 9.98781502e-01 4.80753293e-03 -7.72135840e+00] [-1.97496179e-02 -5.78358780e-03 9.99788229e-01 1.73736668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98771942099998 meters Centerline goodness : 0.939701 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98643299e-01 4.81681095e-02 1.97837127e-02 1.09335551e+02] [-4.82720130e-02 9.98822654e-01 4.80816539e-03 -7.72300893e+00] [-1.95288202e-02 -5.75664178e-03 9.99792722e-01 1.73304191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters Centerline goodness : 0.936202 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98847124e-01 4.39643308e-02 1.92759068e-02 1.09339292e+02] [-4.39895185e-02 9.99031601e-01 8.84435773e-04 -7.72428663e+00] [-1.92183564e-02 -1.73135399e-03 9.99813811e-01 1.69693288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters Centerline goodness : 0.935649 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.99015138e-01 4.01586634e-02 1.88688869e-02 1.09340281e+02] [-4.01069388e-02 9.99190547e-01 -3.11188572e-03 -7.72409246e+00] [-1.89785826e-02 2.35204765e-03 9.99817124e-01 1.68987096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters Centerline goodness : 0.933001 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.73, Z:0.17 [[ 9.98972589e-01 4.16328138e-02 1.79018079e-02 1.09344300e+02] [-4.16334784e-02 9.99132894e-01 -3.35724684e-04 -7.72520409e+00] [-1.79002623e-02 -4.09934773e-04 9.99839693e-01 1.67780190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters Centerline goodness : 0.932238 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98816646e-01 4.52181500e-02 1.79060351e-02 1.09344779e+02] [-4.52830549e-02 9.98968956e-01 3.23583445e-03 -7.72378645e+00] [-1.77412548e-02 -4.04284528e-03 9.99834438e-01 1.67894927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28771942099996 meters Centerline goodness : 0.939212 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98797701e-01 4.56220619e-02 1.79382079e-02 1.09342394e+02] [-4.56995321e-02 9.98947490e-01 3.93257391e-03 -7.72373505e+00] [-1.77399156e-02 -4.74761349e-03 9.99831364e-01 1.71641122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34771942099997 meters Centerline goodness : 0.941359 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98795729e-01 4.57778698e-02 1.76487589e-02 1.09342508e+02] [-4.58576470e-02 9.98939397e-01 4.14218056e-03 -7.72411032e+00] [-1.74404204e-02 -4.94652281e-03 9.99835668e-01 1.72510729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40771942099997 meters Centerline goodness : 0.943809 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98599022e-01 4.96986005e-02 1.81670485e-02 1.09342898e+02] [-4.98311385e-02 9.98733706e-01 6.91684738e-03 -7.72016539e+00] [-1.78002860e-02 -7.81244174e-03 9.99811040e-01 1.70566276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46771942099997 meters Centerline goodness : 0.941637 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98741547e-01 4.68519098e-02 1.78947299e-02 1.09342567e+02] [-4.69137480e-02 9.98894283e-01 3.05142072e-03 -7.71917503e+00] [-1.77319785e-02 -3.88708950e-03 9.99835220e-01 1.70633387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52771942099997 meters Centerline goodness : 0.937602 with order 1 Centerline is valid? [False, False] Translation: X:109.34, Y:-7.72, Z:0.17 [[ 9.98953927e-01 4.22159293e-02 1.75746061e-02 1.09344499e+02] [-4.21976971e-02 9.99108290e-01 -1.40712809e-03 -7.71959264e+00] [-1.76183378e-02 6.64048227e-04 9.99844565e-01 1.68647415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58771942099997 meters Centerline goodness : 0.936965 with order 1 Centerline is valid? [False, False] Translation: X:109.35, Y:-7.72, Z:0.17 [[ 9.99079344e-01 3.92926333e-02 1.72207043e-02 1.09348529e+02] [-3.92515421e-02 9.99225665e-01 -2.71781164e-03 -7.72094848e+00] [-1.73141597e-02 2.03937027e-03 9.99848019e-01 1.65640468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64771942099998 meters Centerline goodness : 0.938054 with order 1 Centerline is valid? [False, False] Translation: X:109.35, Y:-7.72, Z:0.17 [[ 9.99150307e-01 3.78190923e-02 1.63823075e-02 1.09350760e+02] [-3.77876421e-02 9.99283315e-01 -2.22518514e-03 -7.72383252e+00] [-1.64547210e-02 1.60424564e-03 9.99863325e-01 1.66560965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70771942099998 meters Centerline goodness : 0.936655 with order 1 Centerline is valid? [False, False] Translation: X:109.35, Y:-7.72, Z:0.17 [[ 9.99077477e-01 4.01886820e-02 1.51349165e-02 1.09354410e+02] [-4.02143399e-02 9.99190103e-01 1.39464831e-03 -7.72427099e+00] [-1.50666097e-02 -2.00200239e-03 9.99884488e-01 1.66505392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters Centerline goodness : 0.933551 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.17 [[ 9.98926179e-01 4.39753787e-02 1.45826754e-02 1.09356399e+02] [-4.40466103e-02 9.99018887e-01 4.59985706e-03 -7.72140453e+00] [-1.43660877e-02 -5.23723506e-03 9.99883087e-01 1.65744660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters Centerline goodness : 0.934204 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.17 [[ 9.98720546e-01 4.83185573e-02 1.49194099e-02 1.09355775e+02] [-4.84382368e-02 9.98795979e-01 7.76716869e-03 -7.71871619e+00] [-1.45261482e-02 -8.47990086e-03 9.99858531e-01 1.65766140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters Centerline goodness : 0.930497 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.17 [[ 9.98495185e-01 5.29013408e-02 1.44503801e-02 1.09356870e+02] [-5.30683185e-02 9.98525503e-01 1.14268634e-02 -7.71593640e+00] [-1.38245766e-02 -1.21765255e-02 9.99830292e-01 1.65818545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters Centerline goodness : 0.936197 with order 1 Centerline is valid? [False, False] Translation: X:109.35, Y:-7.72, Z:0.17 [[ 9.98395102e-01 5.46030244e-02 1.50243037e-02 1.09353625e+02] [-5.47929352e-02 9.98419082e-01 1.25328079e-02 -7.71622332e+00] [-1.43162223e-02 -1.33359197e-02 9.99808581e-01 1.68773073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00771942099996 meters Centerline goodness : 0.934353 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.17 [[ 9.98460048e-01 5.35467906e-02 1.45008426e-02 1.09356881e+02] [-5.37160195e-02 9.98489528e-01 1.15434430e-02 -7.71572097e+00] [-1.38608252e-02 -1.23045941e-02 9.99828222e-01 1.65841747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06771942099996 meters Centerline goodness : 0.935153 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.16 [[ 9.98727964e-01 4.85231939e-02 1.37095953e-02 1.09359490e+02] [-4.86224737e-02 9.98792675e-01 7.00337909e-03 -7.71732244e+00] [-1.33532170e-02 -7.66106498e-03 9.99881493e-01 1.64269847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12771942099997 meters Centerline goodness : 0.936483 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.17 [[ 9.98994887e-01 4.30466702e-02 1.24979916e-02 1.09361912e+02] [-4.30933183e-02 9.99064965e-01 3.48732337e-03 -7.72205836e+00] [-1.23361879e-02 -4.02239814e-03 9.99915816e-01 1.65141269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18771942099997 meters Centerline goodness : 0.937660 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.72, Z:0.16 [[ 9.99038429e-01 4.22273248e-02 1.17928464e-02 1.09364026e+02] [-4.22701934e-02 9.99100398e-01 3.40974565e-03 -7.72377757e+00] [-1.16382531e-02 -3.90495283e-03 9.99924648e-01 1.64647527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24771942099997 meters Centerline goodness : 0.937379 with order 3 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.73, Z:0.16 [[ 9.99030082e-01 4.24677372e-02 1.16356064e-02 1.09367759e+02] [-4.25253753e-02 9.99084088e-01 4.75167684e-03 -7.72554516e+00] [-1.14231563e-02 -5.24187663e-03 9.99921014e-01 1.61564823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30771942099997 meters Centerline goodness : 0.936447 with order 3 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.73, Z:0.16 [[ 9.99089489e-01 4.09159325e-02 1.20863580e-02 1.09366450e+02] [-4.09398700e-02 9.99160098e-01 1.73970704e-03 -7.72721808e+00] [-1.20050249e-02 -2.23293694e-03 9.99925444e-01 1.60583089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36771942099998 meters Centerline goodness : 0.939408 with order 3 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.73, Z:0.16 [[ 9.99008100e-01 4.28251002e-02 1.21995049e-02 1.09364176e+02] [-4.28729161e-02 9.99073737e-01 3.68519331e-03 -7.73083107e+00] [-1.20303861e-02 -4.20456631e-03 9.99918792e-01 1.63388543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42771942099998 meters Centerline goodness : 0.940575 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.73, Z:0.16 [[ 9.98943652e-01 4.42716504e-02 1.23126389e-02 1.09364029e+02] [-4.43267686e-02 9.99008087e-01 4.24013629e-03 -7.73016266e+00] [-1.21127080e-02 -4.78143672e-03 9.99915206e-01 1.62734602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48771942099998 meters Centerline goodness : 0.940949 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.73, Z:0.16 [[ 9.99028976e-01 4.20992807e-02 1.29906355e-02 1.09362623e+02] [-4.21229013e-02 9.99111234e-01 1.54993581e-03 -7.73401548e+00] [-1.29138387e-02 -2.09563405e-03 9.99914417e-01 1.61812146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters Centerline goodness : 0.944894 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.74, Z:0.16 [[ 9.99217018e-01 3.75857592e-02 1.23556307e-02 1.09364121e+02] [-3.75678127e-02 9.99292666e-01 -1.68147606e-03 -7.73660213e+00] [-1.24100907e-02 1.21598547e-03 9.99922252e-01 1.62123303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters Centerline goodness : 0.945581 with order 1 Centerline is valid? [False, False] Translation: X:109.36, Y:-7.74, Z:0.16 [[ 9.99358639e-01 3.37482890e-02 1.19734387e-02 1.09364999e+02] [-3.36916066e-02 9.99420242e-01 -4.90461122e-03 -7.73893504e+00] [-1.21320193e-02 4.49806121e-03 9.99916287e-01 1.62115598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters Centerline goodness : 0.939113 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.74, Z:0.16 [[ 9.99311519e-01 3.54695492e-02 1.08811089e-02 1.09370465e+02] [-3.54457132e-02 9.99368779e-01 -2.37573424e-03 -7.73878964e+00] [-1.09585067e-02 1.98840993e-03 9.99937977e-01 1.58986174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters Centerline goodness : 0.936811 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.74, Z:0.16 [[ 9.99192036e-01 3.88732225e-02 1.02052791e-02 1.09372992e+02] [-3.88880171e-02 9.99242787e-01 1.25521694e-03 -7.73903354e+00] [-1.01487572e-02 -1.65106584e-03 9.99947137e-01 1.58093712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78771942099996 meters Centerline goodness : 0.941374 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.74, Z:0.16 [[ 9.99130193e-01 4.03635919e-02 1.04708559e-02 1.09370856e+02] [-4.03903551e-02 9.99181196e-01 2.35713198e-03 -7.74032494e+00] [-1.03671401e-02 -2.77800332e-03 9.99942401e-01 1.60202197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84771942099997 meters Centerline goodness : 0.942208 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.74, Z:0.16 [[ 9.99111742e-01 4.08765177e-02 1.02389983e-02 1.09370817e+02] [-4.09109164e-02 9.99157760e-01 3.17287600e-03 -7.74236644e+00] [-1.01006785e-02 -3.58894448e-03 9.99942546e-01 1.61169339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90771942099997 meters Centerline goodness : 0.947154 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.75, Z:0.17 [[ 9.99130074e-01 4.03607374e-02 1.04931638e-02 1.09370481e+02] [-4.04313316e-02 9.99160490e-01 6.60479352e-03 -7.74817180e+00] [-1.02177804e-02 -7.02330042e-03 9.99923132e-01 1.65762736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96771942099997 meters Centerline goodness : 0.949560 with order 1 Centerline is valid? [False, False] Translation: X:109.37, Y:-7.75, Z:0.16 [[ 9.99345302e-01 3.47721618e-02 9.99318988e-03 1.09373316e+02] [-3.47924987e-02 9.99392811e-01 1.86843688e-03 -7.75120581e+00] [-9.92215253e-03 -2.21490166e-03 9.99948321e-01 1.63622050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02771942099997 meters Centerline goodness : 0.946612 with order 1 Centerline is valid? [False, False] Translation: X:109.38, Y:-7.75, Z:0.16 [[ 9.99414002e-01 3.30086522e-02 9.05991738e-03 1.09377960e+02] [-3.30179095e-02 9.99454378e-01 8.74076920e-04 -7.75246586e+00] [-9.02612198e-03 -1.17270424e-03 9.99958576e-01 1.60652053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08771942099997 meters Centerline goodness : 0.946608 with order 1 Centerline is valid? [False, False] Translation: X:109.38, Y:-7.75, Z:0.16 [[ 9.99406486e-01 3.32782847e-02 8.90120508e-03 1.09378189e+02] [-3.32906915e-02 9.99444931e-01 1.24927945e-03 -7.75459349e+00] [-8.85469041e-03 -1.54486526e-03 9.99959603e-01 1.60899627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14771942099998 meters Centerline goodness : 0.943697 with order 1 Centerline is valid? [False, False] Translation: X:109.38, Y:-7.76, Z:0.16 [[ 9.99355490e-01 3.49958883e-02 7.99327211e-03 1.09382554e+02] [-3.50290267e-02 9.99378113e-01 4.04407199e-03 -7.75581233e+00] [-7.84677531e-03 -4.32146209e-03 9.99959876e-01 1.58759791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20771942099998 meters Centerline goodness : 0.940719 with order 1 Centerline is valid? [False, False] Translation: X:109.38, Y:-7.76, Z:0.16 [[ 9.99363494e-01 3.48836249e-02 7.46585526e-03 1.09384305e+02] [-3.49162351e-02 9.99381064e-01 4.28304489e-03 -7.75822715e+00] [-7.31182625e-03 -4.54099826e-03 9.99962958e-01 1.58055786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters Centerline goodness : 0.948343 with order 1 Centerline is valid? [False, False] Translation: X:109.38, Y:-7.76, Z:0.16 [[ 9.99389446e-01 3.38094174e-02 8.81236278e-03 1.09379097e+02] [-3.38276636e-02 9.99425818e-01 1.92971393e-03 -7.75961042e+00] [-8.74206037e-03 -2.22663738e-03 9.99959308e-01 1.60339713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters Centerline goodness : 0.950422 with order 1 Centerline is valid? [False, True] Translation: X:109.38, Y:-7.76, Z:0.16 [[ 9.99382135e-01 3.40795885e-02 8.59824736e-03 1.09379396e+02] [-3.41018365e-02 9.99415350e-01 2.45425870e-03 -7.76160666e+00] [-8.50958027e-03 -2.74595833e-03 9.99960023e-01 1.60666270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters Centerline goodness : 0.950639 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:-7.76, Z:0.16 [[ 9.99595475e-01 2.70977483e-02 8.63698470e-03 1.09440610e+02] [-2.71000089e-02 9.99632717e-01 1.44783892e-04 -7.76435469e+00] [-8.62988917e-03 -3.78787686e-04 9.99962690e-01 1.59844573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters Centerline goodness : 0.947617 with order 1 Centerline is valid? [True, False] Translation: X:109.44, Y:-7.77, Z:0.16 [[ 9.99727303e-01 2.18992833e-02 8.10806410e-03 1.09444169e+02] [-2.18636106e-02 9.99751003e-01 -4.46247028e-03 -7.76552904e+00] [-8.20377012e-03 4.28398182e-03 9.99957172e-01 1.56906716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50771942099996 meters Centerline goodness : 0.945126 with order 1 Centerline is valid? [False, False] Translation: X:109.45, Y:-7.77, Z:0.15 [[ 9.99747128e-01 2.11494428e-02 7.64076248e-03 1.09447149e+02] [-2.11104242e-02 9.99763877e-01 -5.15171625e-03 -7.76613175e+00] [-7.74791425e-03 4.98911379e-03 9.99957538e-01 1.54250876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56771942099996 meters Centerline goodness : 0.944514 with order 1 Centerline is valid? [False, False] Translation: X:109.45, Y:-7.77, Z:0.15 [[ 9.99697185e-01 2.34646291e-02 7.41277054e-03 1.09446202e+02] [-2.34362008e-02 9.99717732e-01 -3.89892606e-03 -7.76731584e+00] [-7.50216501e-03 3.72401822e-03 9.99964924e-01 1.54894882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62771942099997 meters Centerline goodness : 0.947449 with order 1 Centerline is valid? [False, False] Translation: X:109.44, Y:-7.77, Z:0.16 [[ 9.99561514e-01 2.85590507e-02 7.82044667e-03 1.09444929e+02] [-2.85700028e-02 9.99590959e-01 1.29230234e-03 -7.76915306e+00] [-7.78034086e-03 -1.51516587e-03 9.99968585e-01 1.56026471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68771942099997 meters Centerline goodness : 0.952726 with order 1 Centerline is valid? [False, True] Translation: X:109.44, Y:-7.77, Z:0.16 [[ 9.99519210e-01 2.98815377e-02 8.27302701e-03 1.09443162e+02] [-2.99042844e-02 9.99549282e-01 2.63956297e-03 -7.77158277e+00] [-8.19042400e-03 -2.88569284e-03 9.99962294e-01 1.57322060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74771942099997 meters Centerline goodness : 0.951466 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-7.77, Z:0.15 [[ 9.99521282e-01 2.97966273e-02 8.32873158e-03 1.09505844e+02] [-2.97992359e-02 9.99555886e-01 1.89258084e-04 -7.77127013e+00] [-8.31939343e-03 -4.37357319e-04 9.99965298e-01 1.53029699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80771942099997 meters Centerline goodness : 0.950970 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:-7.78, Z:0.15 [[ 9.99640259e-01 2.54947992e-02 8.32878545e-03 1.09567697e+02] [-2.54972389e-02 9.99674875e-01 1.86856935e-04 -7.77543167e+00] [-8.32131368e-03 -3.99150747e-04 9.99965298e-01 1.52842316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86771942099998 meters Centerline goodness : 0.950535 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-7.78, Z:0.15 [[ 9.99762729e-01 2.01275187e-02 8.32883139e-03 1.09629457e+02] [-2.01297553e-02 9.99797359e-01 1.84786290e-04 -7.77731863e+00] [-8.32342434e-03 -3.52399783e-04 9.99965298e-01 1.52674934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92771942099998 meters Centerline goodness : 0.950315 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:-7.78, Z:0.15 [[ 9.99818922e-01 1.71100555e-02 8.32887679e-03 1.09690971e+02] [-1.71121704e-02 9.99853559e-01 1.82717045e-04 -7.77968932e+00] [-8.32453080e-03 -3.25209118e-04 9.99965298e-01 1.51462571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98771942099998 meters Centerline goodness : 0.954655 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-7.78, Z:0.15 [[ 9.99808829e-01 1.76899412e-02 8.32890852e-03 1.09753347e+02] [-1.76920641e-02 9.99843467e-01 1.81258960e-04 -7.77963236e+00] [-8.32439831e-03 -3.28579892e-04 9.99965298e-01 1.52490754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters Centerline goodness : 0.952616 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:-7.78, Z:0.15 [[ 9.99722886e-01 2.20176975e-02 8.32895315e-03 1.09815002e+02] [-2.20199530e-02 9.99757515e-01 1.79184538e-04 -7.78211691e+00] [-8.32298827e-03 -3.62538040e-04 9.99965298e-01 1.51337211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters Centerline goodness : 0.950550 with order 1 Centerline is valid? [True, True] Translation: X:109.88, Y:-7.78, Z:0.15 [[ 9.99674030e-01 2.41342554e-02 8.32899745e-03 1.09876721e+02] [-2.41365669e-02 9.99708655e-01 1.77101140e-04 -7.78381169e+00] [-8.32229663e-03 -3.78076815e-04 9.99965298e-01 1.50823413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters Centerline goodness : 0.949972 with order 1 Centerline is valid? [True, False] Translation: X:109.88, Y:-7.79, Z:0.15 [[ 9.99687952e-01 2.37522757e-02 7.73489999e-03 1.09879012e+02] [-2.37543929e-02 9.99717808e-01 1.81952533e-04 -7.78543587e+00] [-7.72839548e-03 -3.65633609e-04 9.99970069e-01 1.49558522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters Centerline goodness : 0.951732 with order 1 Centerline is valid? [False, True] Translation: X:109.88, Y:-7.78, Z:0.15 [[ 9.99703263e-01 2.30896594e-02 7.76225786e-03 1.09881226e+02] [-2.30864328e-02 9.99733345e-01 -5.05031994e-04 -7.78472957e+00] [-7.77184903e-03 3.25679288e-04 9.99969746e-01 1.46901285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28771942099996 meters Centerline goodness : 0.959995 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:-7.79, Z:0.16 [[ 9.99768038e-01 2.00961436e-02 7.74699067e-03 1.09943598e+02] [-2.00980954e-02 9.99797998e-01 1.74160601e-04 -7.78831349e+00] [-7.74192581e-03 -3.29819960e-04 9.99969976e-01 1.55435855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34771942099997 meters Centerline goodness : 0.963669 with order 1 Centerline is valid? [True, True] Translation: X:110.01, Y:-7.79, Z:0.15 [[ 9.99807829e-01 1.80080407e-02 7.74703211e-03 1.10005730e+02] [-1.80099154e-02 9.99837793e-01 1.72297470e-04 -7.78509603e+00] [-7.74267275e-03 -3.11787752e-04 9.99969976e-01 1.54946402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40771942099997 meters Centerline goodness : 0.960624 with order 1 Centerline is valid? [True, True] Translation: X:110.07, Y:-7.78, Z:0.15 [[ 9.99809423e-01 1.79192811e-02 7.74707428e-03 1.10067726e+02] [-1.79211384e-02 9.99839389e-01 1.70380146e-04 -7.78265733e+00] [-7.74277692e-03 -3.09184065e-04 9.99969976e-01 1.49618472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46771942099997 meters Centerline goodness : 0.957609 with order 1 Centerline is valid? [True, True] Translation: X:110.13, Y:-7.78, Z:0.15 [[ 9.99792906e-01 1.88182452e-02 7.74711645e-03 1.10129767e+02] [-1.88201144e-02 9.99822872e-01 1.68440538e-04 -7.78322289e+00] [-7.74257446e-03 -3.14207273e-04 9.99969976e-01 1.47691364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52771942099997 meters Centerline goodness : 0.953218 with order 1 Centerline is valid? [True, True] Translation: X:110.19, Y:-7.78, Z:0.14 [[ 9.99726583e-01 2.20622118e-02 7.74715761e-03 1.10190861e+02] [-2.20641634e-02 9.99756543e-01 1.66525779e-04 -7.78155038e+00] [-7.74159758e-03 -3.37414800e-04 9.99969976e-01 1.41959753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58771942099997 meters Centerline goodness : 0.958309 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:-7.78, Z:0.14 [[ 9.99670311e-01 2.44796082e-02 7.74719487e-03 1.10252155e+02] [-2.44816188e-02 9.99700267e-01 1.64773663e-04 -7.78387089e+00] [-7.74083919e-03 -3.54383210e-04 9.99969976e-01 1.44488325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64771942099998 meters Centerline goodness : 0.962185 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-7.78, Z:0.15 [[ 9.99699913e-01 2.32392653e-02 7.74723099e-03 1.10314543e+02] [-2.32412253e-02 9.99729873e-01 1.63057676e-04 -7.78354055e+00] [-7.74134891e-03 -3.43063886e-04 9.99969976e-01 1.49446268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70771942099998 meters Centerline goodness : 0.962748 with order 1 Centerline is valid? [True, True] Translation: X:110.38, Y:-7.78, Z:0.15 [[ 9.99702182e-01 2.31414416e-02 7.74727071e-03 1.10376371e+02] [-2.31433840e-02 9.99732143e-01 1.61148041e-04 -7.78196898e+00] [-7.74146635e-03 -3.40398109e-04 9.99969976e-01 1.49674535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters Centerline goodness : 0.962551 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:-7.78, Z:0.15 [[ 9.99666754e-01 2.46243975e-02 7.74731068e-03 1.10439187e+02] [-2.46263693e-02 9.99696712e-01 1.59203070e-04 -7.78073374e+00] [-7.74104074e-03 -3.49938150e-04 9.99969976e-01 1.48658167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters Centerline goodness : 0.958286 with order 1 Centerline is valid? [True, True] Translation: X:110.50, Y:-7.78, Z:0.15 [[ 9.99790439e-01 1.89488111e-02 7.74735544e-03 1.10500740e+02] [-1.89505956e-02 9.99820409e-01 1.56994434e-04 -7.77869648e+00] [-7.74298922e-03 -3.03778534e-04 9.99969976e-01 1.45899075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters Centerline goodness : 0.954012 with order 1 Centerline is valid? [True, True] Translation: X:110.56, Y:-7.78, Z:0.14 [[ 9.99839395e-01 1.61604866e-02 7.74739355e-03 1.10561631e+02] [-1.61621728e-02 9.99869372e-01 1.55090315e-04 -7.77563120e+00] [-7.74387519e-03 -2.80280121e-04 9.99969976e-01 1.39938563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters Centerline goodness : 0.952309 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:-7.77, Z:0.14 [[ 9.99842804e-01 1.59481828e-02 7.74742797e-03 1.10622390e+02] [-1.59498492e-02 9.99872781e-01 1.53351653e-04 -7.77377383e+00] [-7.74399667e-03 -2.76897855e-04 9.99969976e-01 1.37231473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00771942099996 meters Centerline goodness : 0.948939 with order 1 Centerline is valid? [True, False] Translation: X:110.63, Y:-7.77, Z:0.14 [[ 9.99812377e-01 1.82985718e-02 6.35405710e-03 1.10627032e+02] [-1.83192069e-02 9.99827053e-01 3.20466340e-03 -7.77244775e+00] [-6.29431742e-03 -3.32046342e-03 9.99974678e-01 1.35910878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06771942099996 meters Centerline goodness : 0.953194 with order 1 Centerline is valid? [False, True] Translation: X:110.62, Y:-7.77, Z:0.14 [[ 9.99785815e-01 1.95491716e-02 6.79372743e-03 1.10624757e+02] [-1.95743429e-02 9.99801710e-01 3.65855909e-03 -7.77084625e+00] [-6.72085850e-03 -3.79075823e-03 9.99970230e-01 1.37224562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12771942099997 meters Centerline goodness : 0.956628 with order 1 Centerline is valid? [True, True] Translation: X:110.69, Y:-7.77, Z:0.14 [[ 9.99782208e-01 1.97080453e-02 6.86505780e-03 1.10686719e+02] [-1.97094639e-02 9.99805740e-01 1.39052137e-04 -7.76682254e+00] [-6.86098374e-03 -2.74328462e-04 9.99976426e-01 1.40550783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18771942099997 meters Centerline goodness : 0.957180 with order 1 Centerline is valid? [True, True] Translation: X:110.75, Y:-7.76, Z:0.14 [[ 9.99870797e-01 1.45347565e-02 6.86509267e-03 1.10747887e+02] [-1.45360415e-02 9.99894337e-01 1.37308360e-04 -7.76475610e+00] [-6.86237154e-03 -2.37081891e-04 9.99976426e-01 1.39908514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24771942099997 meters Centerline goodness : 0.957339 with order 1 Centerline is valid? [True, True] Translation: X:110.81, Y:-7.76, Z:0.14 [[ 9.99965277e-01 4.72392115e-03 6.86512420e-03 1.10809260e+02] [-4.72496413e-03 9.99988828e-01 1.35713346e-04 -7.76409281e+00] [-6.86440641e-03 -1.68146099e-04 9.99976426e-01 1.40444474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30771942099997 meters Centerline goodness : 0.956382 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:-7.76, Z:0.14 [[ 9.99941338e-01 -8.37796072e-03 6.86515310e-03 1.10869986e+02] [ 8.37723655e-03 9.99964901e-01 1.34235369e-04 -7.76388385e+00] [-6.86603676e-03 -7.67164830e-05 9.99976426e-01 1.36743450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36771942099998 meters Centerline goodness : 0.955689 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:-7.76, Z:0.13 [[ 9.99831648e-01 -1.70160044e-02 6.86518108e-03 1.10927838e+02] [ 1.70154937e-02 9.99855217e-01 1.32789060e-04 -7.75993542e+00] [-6.86644666e-03 -1.59522595e-05 9.99976426e-01 1.34321765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42771942099998 meters Centerline goodness : 0.956636 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:-7.76, Z:0.14 [[ 9.99759659e-01 -2.08205014e-02 6.86516991e-03 1.10986431e+02] [ 2.08200765e-02 9.99783230e-01 1.33363858e-04 -7.75685628e+00] [-6.86645845e-03 9.60155775e-06 9.99976426e-01 1.38407115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48771942099998 meters Centerline goodness : 0.953268 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:-7.75, Z:0.13 [[ 9.99634396e-01 -2.61523138e-02 6.86513673e-03 1.11045209e+02] [ 2.61520030e-02 9.99657969e-01 1.35050535e-04 -7.74875654e+00] [-6.86632052e-03 4.45359165e-05 9.99976426e-01 1.33694077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters Centerline goodness : 0.953304 with order 1 Centerline is valid? [True, True] Translation: X:111.10, Y:-7.74, Z:0.13 [[ 9.99427416e-01 -3.31317188e-02 6.86510326e-03 1.11103651e+02] [ 3.31315611e-02 9.99450990e-01 1.36731191e-04 -7.74274805e+00] [-6.86586439e-03 9.07986867e-05 9.99976426e-01 1.34439044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters Centerline goodness : 0.956152 with order 1 Centerline is valid? [True, True] Translation: X:111.16, Y:-7.73, Z:0.13 [[ 9.99013734e-01 -4.38683235e-02 6.86506876e-03 1.11161114e+02] [ 4.38684074e-02 9.99037308e-01 1.38441928e-04 -7.73434590e+00] [-6.86453303e-03 1.62854245e-04 9.99976426e-01 1.33812376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters Centerline goodness : 0.956263 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:-7.72, Z:0.13 [[ 9.98643040e-01 -5.16231525e-02 6.86505660e-03 1.11219729e+02] [ 5.16234152e-02 9.98666613e-01 1.39042037e-04 -7.72089245e+00] [-6.86308061e-03 2.15544305e-04 9.99976426e-01 1.33251976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters Centerline goodness : 0.957126 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:-7.71, Z:0.14 [[ 9.98647665e-01 -5.15336124e-02 6.86502398e-03 1.11277739e+02] [ 5.15338620e-02 9.98671238e-01 1.40634732e-04 -7.70689561e+00] [-6.86314941e-03 2.13336652e-04 9.99976426e-01 1.37796965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78771942099996 meters Centerline goodness : 0.955306 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:-7.69, Z:0.14 [[ 9.98695526e-01 -5.05976116e-02 6.86498164e-03 1.11335958e+02] [ 5.05978252e-02 9.98719100e-01 1.42671879e-04 -7.68880388e+00] [-6.86340714e-03 2.04867374e-04 9.99976426e-01 1.36794973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84771942099997 meters Centerline goodness : 0.946861 with order 1 Centerline is valid? [True, False] Translation: X:111.35, Y:-7.67, Z:0.14 [[ 9.98719366e-01 -5.05263835e-02 2.59084487e-03 1.11348808e+02] [ 5.05111369e-02 9.98707536e-01 5.64652473e-03 -7.67311282e+00] [-2.87279477e-03 -5.50842707e-03 9.99980702e-01 1.38720543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90771942099997 meters Centerline goodness : 0.946917 with order 1 Centerline is valid? [False, False] Translation: X:111.37, Y:-7.66, Z:0.15 [[ 9.98313239e-01 -5.80523811e-02 7.73817900e-04 1.11373312e+02] [ 5.80227977e-02 9.98088261e-01 2.12879657e-02 -7.66449557e+00] [-2.00815566e-03 -2.12071589e-02 9.99773086e-01 1.51313902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96771942099997 meters Centerline goodness : 0.945682 with order 1 Centerline is valid? [False, False] Translation: X:111.40, Y:-7.67, Z:0.18 [[ 9.98328379e-01 -5.77621351e-02 -1.99583347e-03 1.11400006e+02] [ 5.77751688e-02 9.96422485e-01 6.16786981e-02 -7.66731866e+00] [-1.57399995e-03 -6.16909043e-02 9.98094061e-01 1.78271503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02771942099997 meters Centerline goodness : 0.942440 with order 1 Centerline is valid? [False, False] Translation: X:111.41, Y:-7.66, Z:0.19 [[ 9.98353408e-01 -5.72323201e-02 -3.86461018e-03 1.11411499e+02] [ 5.73591386e-02 9.95278634e-01 7.82966822e-02 -7.66020864e+00] [-6.34736839e-04 -7.83894301e-02 9.96922612e-01 1.91421612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08771942099997 meters Centerline goodness : 0.931963 with order 1 Centerline is valid? [False, False] Translation: X:111.40, Y:-7.63, Z:0.19 [[ 9.98091115e-01 -6.13651467e-02 -6.96019925e-03 1.11399969e+02] [ 6.16966278e-02 9.95784893e-01 6.78673202e-02 -7.63007507e+00] [ 2.76617321e-03 -6.81671902e-02 9.97670077e-01 1.87785939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14771942099998 meters Centerline goodness : 0.932624 with order 1 Centerline is valid? [False, False] Translation: X:111.39, Y:-7.61, Z:0.19 [[ 9.98681967e-01 -5.12114148e-02 -3.42343749e-03 1.11388863e+02] [ 5.13236586e-02 9.95821118e-01 7.55392747e-02 -7.60842066e+00] [-4.59341780e-04 -7.56154148e-02 9.97136951e-01 1.91203847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20771942099998 meters Centerline goodness : 0.930880 with order 1 Centerline is valid? [False, False] Translation: X:111.39, Y:-7.58, Z:0.19 [[ 9.99031112e-01 -4.37163832e-02 -5.07094313e-03 1.11390753e+02] [ 4.39554714e-02 9.96866723e-01 6.57620948e-02 -7.57867749e+00] [ 2.18017352e-03 -6.59212744e-02 9.97822445e-01 1.86078135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters Centerline goodness : 0.930772 with order 1 Centerline is valid? [False, False] Translation: X:111.40, Y:-7.55, Z:0.18 [[ 9.99313590e-01 -3.59495095e-02 -8.94328650e-03 1.11396761e+02] [ 3.64317095e-02 9.97449834e-01 6.13722995e-02 -7.55175126e+00] [ 6.71417557e-03 -6.16559921e-02 9.98074876e-01 1.82045819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters Centerline goodness : 0.929185 with order 1 Centerline is valid? [False, False] Translation: X:111.41, Y:-7.53, Z:0.18 [[ 9.99442073e-01 -2.93674622e-02 -1.59089417e-02 1.11410060e+02] [ 3.01404248e-02 9.98256580e-01 5.07479522e-02 -7.52919240e+00] [ 1.43908672e-02 -5.11991408e-02 9.98584774e-01 1.78286894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters Centerline goodness : 0.926635 with order 1 Centerline is valid? [False, False] Translation: X:111.42, Y:-7.51, Z:0.17 [[ 9.99561329e-01 -2.63960918e-02 -1.34311689e-02 1.11424493e+02] [ 2.69100008e-02 9.98851582e-01 3.96404885e-02 -7.50781483e+00] [ 1.23693903e-02 -3.99845321e-02 9.99123734e-01 1.70704057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters Centerline goodness : 0.931297 with order 1 Centerline is valid? [False, False] Translation: X:111.44, Y:-7.49, Z:0.17 [[ 9.99505498e-01 -2.97167813e-02 -1.02797520e-02 1.11438298e+02] [ 2.99465158e-02 9.99287606e-01 2.29670774e-02 -7.49012620e+00] [ 9.58992113e-03 -2.32635629e-02 9.99683370e-01 1.65460982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50771942099996 meters Centerline goodness : 0.930988 with order 1 Centerline is valid? [False, False] Translation: X:111.45, Y:-7.47, Z:0.16 [[ 9.99432309e-01 -3.32578762e-02 -5.38274353e-03 1.11451878e+02] [ 3.33007494e-02 9.99412702e-01 8.08156409e-03 -7.46946684e+00] [ 5.11080660e-03 -8.25622565e-03 9.99952856e-01 1.58219320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56771942099996 meters Centerline goodness : 0.934379 with order 1 Centerline is valid? [False, False] Translation: X:111.46, Y:-7.45, Z:0.15 [[ 9.99438361e-01 -3.35105135e-02 -9.21886897e-05 1.11463019e+02] [ 3.35097455e-02 9.99427995e-01 -4.55840081e-03 -7.45090148e+00] [ 2.44890309e-04 4.55275141e-03 9.99989606e-01 1.53224652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62771942099997 meters Centerline goodness : 0.938872 with order 1 Centerline is valid? [False, False] Translation: X:111.48, Y:-7.43, Z:0.15 [[ 9.99390764e-01 -3.44940005e-02 5.31646840e-03 1.11478412e+02] [ 3.45696464e-02 9.99291777e-01 -1.48621703e-02 -7.43164717e+00] [-4.80004745e-03 1.50369041e-02 9.99875418e-01 1.47196956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68771942099997 meters Centerline goodness : 0.938768 with order 1 Centerline is valid? [False, False] Translation: X:111.49, Y:-7.41, Z:0.14 [[ 9.99411417e-01 -3.29189807e-02 9.65190770e-03 1.11494981e+02] [ 3.31140668e-02 9.99235082e-01 -2.08016920e-02 -7.41275963e+00] [-8.95975428e-03 2.11090624e-02 9.99737031e-01 1.42568918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74771942099997 meters Centerline goodness : 0.938659 with order 1 Centerline is valid? [False, False] Translation: X:111.51, Y:-7.39, Z:0.14 [[ 9.99524510e-01 -2.90138663e-02 1.04379266e-02 1.11513672e+02] [ 2.92723906e-02 9.99245337e-01 -2.55320127e-02 -7.39447565e+00] [-9.68926711e-03 2.58254156e-02 9.99619511e-01 1.38109459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80771942099997 meters Centerline goodness : 0.935784 with order 1 Centerline is valid? [False, False] Translation: X:111.53, Y:-7.38, Z:0.13 [[ 9.99690664e-01 -2.20675683e-02 1.14716273e-02 1.11531172e+02] [ 2.23806880e-02 9.99359478e-01 -2.79237904e-02 -7.37643698e+00] [-1.08480693e-02 2.81718955e-02 9.99544228e-01 1.33999803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86771942099998 meters Centerline goodness : 0.938750 with order 1 Centerline is valid? [False, False] Translation: X:111.55, Y:-7.36, Z:0.13 [[ 9.99702344e-01 -1.84847174e-02 1.59228911e-02 1.11545826e+02] [ 1.89856626e-02 9.99310532e-01 -3.19061802e-02 -7.36245717e+00] [-1.53221361e-02 3.21989898e-02 9.99364026e-01 1.30471146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92771942099998 meters Centerline goodness : 0.939923 with order 1 Centerline is valid? [False, False] Translation: X:111.55, Y:-7.35, Z:0.13 [[ 9.99760744e-01 -1.64186948e-02 1.44527296e-02 1.11549697e+02] [ 1.68431839e-02 9.99415264e-01 -2.97563128e-02 -7.34982332e+00] [-1.39557187e-02 2.99926234e-02 9.99452690e-01 1.30345885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98771942099998 meters Centerline goodness : 0.939239 with order 1 Centerline is valid? [False, False] Translation: X:111.57, Y:-7.34, Z:0.13 [[ 9.99800819e-01 -1.37640491e-02 1.44524689e-02 1.11568456e+02] [ 1.42368989e-02 9.99349278e-01 -3.31410909e-02 -7.33953469e+00] [-1.39869088e-02 3.33402481e-02 9.99346183e-01 1.26743882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters Centerline goodness : 0.940014 with order 1 Centerline is valid? [False, False] Translation: X:111.59, Y:-7.32, Z:0.12 [[ 9.99824084e-01 -8.67830536e-03 1.66279313e-02 1.11585688e+02] [ 9.25870318e-03 9.99339089e-01 -3.51519763e-02 -7.32438150e+00] [-1.63118822e-02 3.52997456e-02 9.99243639e-01 1.23273754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters Centerline goodness : 0.941984 with order 1 Centerline is valid? [False, False] Translation: X:111.59, Y:-7.31, Z:0.13 [[ 9.99865932e-01 -3.07845296e-03 1.60823389e-02 1.11586666e+02] [ 3.58980428e-03 9.99485756e-01 -3.18643402e-02 -7.30714808e+00] [-1.59759758e-02 3.19178006e-02 9.99362808e-01 1.25228852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters Centerline goodness : 0.946616 with order 1 Centerline is valid? [False, False] Translation: X:111.60, Y:-7.29, Z:0.12 [[ 9.99775120e-01 -7.54897081e-04 2.11929277e-02 1.11600246e+02] [ 1.51958471e-03 9.99347413e-01 -3.60893289e-02 -7.28790901e+00] [-2.11518537e-02 3.61134176e-02 9.99123826e-01 1.24008706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters Centerline goodness : 0.949787 with order 1 Centerline is valid? [False, False] Translation: X:111.62, Y:-7.27, Z:0.12 [[ 9.99712632e-01 1.41857819e-03 2.39299147e-02 1.11623868e+02] [-6.37769964e-04 9.99468109e-01 -3.26050877e-02 -7.27118786e+00] [-2.39634394e-02 3.25804563e-02 9.99181799e-01 1.23446154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28771942099996 meters Centerline goodness : 0.949328 with order 1 Centerline is valid? [False, False] Translation: X:111.64, Y:-7.25, Z:0.12 [[ 9.99607993e-01 8.93582040e-03 2.65332319e-02 1.11640628e+02] [-8.06948337e-03 9.99436539e-01 -3.25804769e-02 -7.25431827e+00] [-2.68094148e-02 3.23535957e-02 9.99116860e-01 1.21121573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34771942099997 meters Centerline goodness : 0.948575 with order 1 Centerline is valid? [False, False] Translation: X:111.68, Y:-7.24, Z:0.12 [[ 9.99445899e-01 2.51981446e-02 2.17473778e-02 1.11678015e+02] [-2.42768104e-02 9.98837813e-01 -4.16372522e-02 -7.24166035e+00] [-2.27712848e-02 4.10862240e-02 9.98896086e-01 1.18826081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40771942099997 meters Centerline goodness : 0.942887 with order 1 Centerline is valid? [False, False] Translation: X:111.70, Y:-7.22, Z:0.12 [[ 9.98761089e-01 4.71712924e-02 1.58479197e-02 1.11703612e+02] [-4.66560559e-02 9.98415994e-01 -3.14438517e-02 -7.22412271e+00] [-1.73060636e-02 3.06654941e-02 9.99379872e-01 1.18484452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46771942099997 meters Centerline goodness : 0.948718 with order 1 Centerline is valid? [False, False] Translation: X:111.70, Y:-7.22, Z:0.12 [[ 9.98204203e-01 5.76728227e-02 1.61930505e-02 1.11702251e+02] [-5.73174000e-02 9.98121953e-01 -2.16167361e-02 -7.21932136e+00] [-1.74093374e-02 2.06497733e-02 9.99635184e-01 1.21781305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52771942099997 meters Centerline goodness : 0.951504 with order 1 Centerline is valid? [False, True] Translation: X:111.69, Y:-7.22, Z:0.13 [[ 9.97805509e-01 6.32737082e-02 1.95090921e-02 1.11688132e+02] [-6.34868431e-02 9.97927378e-01 1.05056700e-02 -7.21890446e+00] [-1.88039244e-02 -1.17211861e-02 9.99754483e-01 1.28064307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58771942099997 meters Centerline goodness : 0.952410 with order 1 Centerline is valid? [True, True] Translation: X:111.75, Y:-7.22, Z:0.13 [[ 9.97268479e-01 7.14591863e-02 1.86859904e-02 1.11751159e+02] [-7.14472884e-02 9.97443524e-01 -1.30440030e-03 -7.21524501e+00] [-1.87314315e-02 -3.42260384e-05 9.99824551e-01 1.27730565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64771942099998 meters Centerline goodness : 0.948502 with order 1 Centerline is valid? [True, False] Translation: X:111.78, Y:-7.23, Z:0.14 [[ 9.96882162e-01 7.73698985e-02 1.54872297e-02 1.11780078e+02] [-7.80308953e-02 9.95796051e-01 4.79729563e-02 -7.23372898e+00] [-1.17104594e-02 -4.90318668e-02 9.98728562e-01 1.35019758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70771942099998 meters Centerline goodness : 0.953581 with order 1 Centerline is valid? [False, True] Translation: X:111.78, Y:-7.24, Z:0.14 [[ 9.97444827e-01 6.97879388e-02 1.52794017e-02 1.11777340e+02] [-7.03877836e-02 9.96589722e-01 4.30637328e-02 -7.24247127e+00] [-1.22219656e-02 -4.40291808e-02 9.98955482e-01 1.39492413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters Centerline goodness : 0.947407 with order 1 Centerline is valid? [True, False] Translation: X:111.79, Y:-7.26, Z:0.14 [[ 9.98192918e-01 5.91596926e-02 1.05369992e-02 1.11785246e+02] [-5.94747171e-02 9.97696334e-01 3.26310147e-02 -7.25587461e+00] [-8.58228469e-03 -3.31987328e-02 9.99411921e-01 1.39774490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters Centerline goodness : 0.943276 with order 1 Centerline is valid? [False, False] Translation: X:111.78, Y:-7.27, Z:0.14 [[ 9.98708252e-01 5.06436565e-02 4.12890489e-03 1.11775009e+02] [-5.07498746e-02 9.98201584e-01 3.19068508e-02 -7.26928784e+00] [-2.50559981e-03 -3.20751766e-02 9.99482319e-01 1.41917287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters Centerline goodness : 0.942235 with order 1 Centerline is valid? [False, False] Translation: X:111.78, Y:-7.27, Z:0.14 [[ 9.98851133e-01 4.77834065e-02 3.62757908e-03 1.11775907e+02] [-4.78692261e-02 9.98425713e-01 2.92341132e-02 -7.27166892e+00] [-2.22496271e-03 -2.93741765e-02 9.99566009e-01 1.41516897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters Centerline goodness : 0.936342 with order 1 Centerline is valid? [False, False] Translation: X:111.79, Y:-7.28, Z:0.14 [[ 9.98547268e-01 5.38800142e-02 -5.45843339e-04 1.11787005e+02] [-5.38371025e-02 9.98066629e-01 3.10575244e-02 -7.28420851e+00] [ 2.21816788e-03 -3.09830195e-02 9.99517450e-01 1.40074053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00771942099996 meters Centerline goodness : 0.928813 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.29, Z:0.14 [[ 9.97803178e-01 6.56593161e-02 -8.81313078e-03 1.11801552e+02] [-6.54630537e-02 9.97634724e-01 2.09653744e-02 -7.28898893e+00] [ 1.01688574e-02 -2.03423828e-02 9.99741357e-01 1.38705675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06771942099996 meters Centerline goodness : 0.934950 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.30, Z:0.14 [[ 9.97342810e-01 7.25883751e-02 -6.18440095e-03 1.11804589e+02] [-7.24881424e-02 9.97254535e-01 1.51281628e-02 -7.29523082e+00] [ 7.26555065e-03 -1.46396687e-02 9.99866437e-01 1.42589074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12771942099997 meters Centerline goodness : 0.940350 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.30, Z:0.15 [[ 9.97089282e-01 7.60459281e-02 -5.47545751e-03 1.11801725e+02] [-7.59317847e-02 9.96937950e-01 1.86839115e-02 -7.30160489e+00] [ 6.87952678e-03 -1.82137666e-02 9.99810447e-01 1.45228870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18771942099997 meters Centerline goodness : 0.936678 with order 1 Centerline is valid? [False, False] Translation: X:111.81, Y:-7.32, Z:0.15 [[ 9.96592222e-01 8.19834683e-02 -9.09139285e-03 1.11809482e+02] [-8.17838826e-02 9.96439254e-01 2.04990293e-02 -7.31611685e+00] [ 1.07396022e-02 -1.96856437e-02 9.99748537e-01 1.45804439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24771942099997 meters Centerline goodness : 0.930738 with order 1 Centerline is valid? [False, False] Translation: X:111.82, Y:-7.33, Z:0.14 [[ 9.95641555e-01 9.25062150e-02 -1.18530564e-02 1.11817755e+02] [-9.21343941e-02 9.95329979e-01 2.88008115e-02 -7.33417382e+00] [ 1.44619565e-02 -2.75832105e-02 9.99514891e-01 1.44211441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30771942099997 meters Centerline goodness : 0.932124 with order 1 Centerline is valid? [False, False] Translation: X:111.82, Y:-7.35, Z:0.15 [[ 9.95703228e-01 9.15072828e-02 -1.41950539e-02 1.11818670e+02] [-9.11023429e-02 9.95476925e-01 2.69454133e-02 -7.35243054e+00] [ 1.65965502e-02 -2.55364323e-02 9.99536115e-01 1.46744846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36771942099998 meters Centerline goodness : 0.929599 with order 1 Centerline is valid? [False, False] Translation: X:111.81, Y:-7.37, Z:0.15 [[ 9.95746850e-01 8.93416048e-02 -2.25008603e-02 1.11810121e+02] [-8.86063213e-02 9.95559175e-01 3.17938513e-02 -7.37061318e+00] [ 2.52414516e-02 -2.96649089e-02 9.99241143e-01 1.49795785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42771942099998 meters Centerline goodness : 0.928983 with order 1 Centerline is valid? [False, False] Translation: X:111.81, Y:-7.39, Z:0.15 [[ 9.96014151e-01 8.58986276e-02 -2.40257689e-02 1.11809812e+02] [-8.51413113e-02 9.95888224e-01 3.09451430e-02 -7.38961820e+00] [ 2.65851256e-02 -2.87762149e-02 9.99232286e-01 1.51492754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48771942099998 meters Centerline goodness : 0.927401 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.41, Z:0.16 [[ 9.96672361e-01 7.49379445e-02 -3.20703798e-02 1.11801370e+02] [-7.39266662e-02 9.96761731e-01 3.16369912e-02 -7.41136345e+00] [ 3.43373384e-02 -2.91608585e-02 9.98984780e-01 1.58151583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters Centerline goodness : 0.928589 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.43, Z:0.16 [[ 9.97443996e-01 6.43039059e-02 -3.11525616e-02 1.11798292e+02] [-6.33168193e-02 9.97489915e-01 3.16993652e-02 -7.43000827e+00] [ 3.31127591e-02 -2.96458604e-02 9.99011846e-01 1.59642447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters Centerline goodness : 0.932472 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.44, Z:0.16 [[ 9.98107016e-01 5.51943038e-02 -2.71288147e-02 1.11800075e+02] [-5.49150151e-02 9.98431154e-01 1.09348874e-02 -7.44329553e+00] [ 2.76897973e-02 -9.42440860e-03 9.99572136e-01 1.59960834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters Centerline goodness : 0.934410 with order 1 Centerline is valid? [False, False] Translation: X:111.80, Y:-7.46, Z:0.16 [[ 9.98214776e-01 5.19484112e-02 -2.94724143e-02 1.11801673e+02] [-5.17453813e-02 9.98631310e-01 7.61070162e-03 -7.45907253e+00] [ 2.98274396e-02 -6.07205349e-03 9.99536620e-01 1.62473892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72771942099996 meters Centerline goodness : 0.935300 with order 1 Centerline is valid? [False, False] Translation: X:111.81, Y:-7.47, Z:0.16 [[ 9.97743818e-01 5.82049069e-02 -3.34583750e-02 1.11808790e+02] [-5.78840454e-02 9.98268297e-01 1.04806306e-02 -7.47326772e+00] [ 3.40104592e-02 -8.52027834e-03 9.99385158e-01 1.63673365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78771942099996 meters Centerline goodness : 0.931343 with order 1 Centerline is valid? [False, False] Translation: X:111.82, Y:-7.49, Z:0.16 [[ 9.97028623e-01 6.71217209e-02 -3.77968090e-02 1.11818087e+02] [-6.66165233e-02 9.97673694e-01 1.44719813e-02 -7.48878240e+00] [ 3.86802664e-02 -1.19110876e-02 9.99180646e-01 1.63865204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84771942099997 meters Centerline goodness : 0.928296 with order 1 Centerline is valid? [False, False] Translation: X:111.83, Y:-7.51, Z:0.17 [[ 9.96602156e-01 7.07345448e-02 -4.21991335e-02 1.11825070e+02] [-7.02327010e-02 9.97442494e-01 1.32604503e-02 -7.50747569e+00] [ 4.30291809e-02 -1.02516343e-02 9.99021218e-01 1.65617564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90771942099997 meters Centerline goodness : 0.926307 with order 1 Centerline is valid? [False, False] Translation: X:111.83, Y:-7.52, Z:0.17 [[ 9.96141162e-01 7.45380511e-02 -4.63342672e-02 1.11832787e+02] [-7.39772551e-02 9.97165755e-01 1.37048288e-02 -7.52441729e+00] [ 4.72244757e-02 -1.02242622e-02 9.98831975e-01 1.66300338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96771942099997 meters Centerline goodness : 0.926760 with order 1 Centerline is valid? [False, False] Translation: X:111.85, Y:-7.54, Z:0.16 [[ 9.95879907e-01 7.97669228e-02 -4.31329291e-02 1.11851833e+02] [-7.98556111e-02 9.96806385e-01 -3.34328444e-04 -7.53879206e+00] [ 4.29685108e-02 3.77735739e-03 9.99069286e-01 1.63300038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02771942099997 meters Centerline goodness : 0.920552 with order 1 Centerline is valid? [False, False] Translation: X:111.89, Y:-7.54, Z:0.15 [[ 9.96193679e-01 8.20617448e-02 -2.93942678e-02 1.11888582e+02] [-8.37830757e-02 9.94483433e-01 -6.31117865e-02 -7.53953094e+00] [ 2.40530490e-02 6.53343050e-02 9.97573496e-01 1.50206033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08771942099997 meters Centerline goodness : 0.917303 with order 1 Centerline is valid? [False, False] Translation: X:111.90, Y:-7.56, Z:0.15 [[ 9.95850895e-01 8.44215804e-02 -3.39704552e-02 1.11898286e+02] [-8.65918106e-02 9.93885822e-01 -6.85042430e-02 -7.55534666e+00] [ 2.79795174e-02 7.11615749e-02 9.97072303e-01 1.49253498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14771942099998 meters Centerline goodness : 0.916845 with order 1 Centerline is valid? [False, False] Translation: X:111.92, Y:-7.58, Z:0.15 [[ 9.95564362e-01 8.58246565e-02 -3.85451729e-02 1.11915961e+02] [-8.82533852e-02 9.93876562e-01 -6.64884958e-02 -7.58348496e+00] [ 3.26027916e-02 6.95953188e-02 9.97042401e-01 1.50713238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20771942099998 meters Centerline goodness : 0.914207 with order 1 Centerline is valid? [False, False] Translation: X:111.93, Y:-7.61, Z:0.15 [[ 9.95835193e-01 8.30862186e-02 -3.75359585e-02 1.11930596e+02] [-8.48494167e-02 9.95231421e-01 -4.81143933e-02 -7.60779851e+00] [ 3.33593223e-02 5.10989104e-02 9.98136292e-01 1.54551068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters Centerline goodness : 0.915692 with order 1 Centerline is valid? [False, False] Translation: X:111.96, Y:-7.63, Z:0.16 [[ 9.96391481e-01 7.52717839e-02 -3.92195637e-02 1.11958232e+02] [-7.68470632e-02 9.96226602e-01 -4.03371554e-02 -7.63395627e+00] [ 3.60353230e-02 4.32055064e-02 9.98416116e-01 1.60885190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters Centerline goodness : 0.920422 with order 1 Centerline is valid? [False, False] Translation: X:111.96, Y:-7.65, Z:0.16 [[ 9.96927044e-01 6.78366798e-02 -3.91746481e-02 1.11957704e+02] [-6.94946052e-02 9.96670837e-01 -4.26349935e-02 -7.64831867e+00] [ 3.61520129e-02 4.52264047e-02 9.98322395e-01 1.62691428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters Centerline goodness : 0.927490 with order 1 Centerline is valid? [False, False] Translation: X:111.98, Y:-7.68, Z:0.17 [[ 9.98087483e-01 5.00737785e-02 -3.62490461e-02 1.11981513e+02] [-5.10524253e-02 9.98341805e-01 -2.65949121e-02 -7.67714924e+00] [ 3.48572304e-02 2.83946506e-02 9.98988847e-01 1.70299084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters Centerline goodness : 0.932296 with order 1 Centerline is valid? [False, False] Translation: X:112.00, Y:-7.70, Z:0.18 [[ 9.98671902e-01 3.75881500e-02 -3.52358181e-02 1.12002576e+02] [-3.81143246e-02 9.99169885e-01 -1.43818871e-02 -7.69729880e+00] [ 3.46659798e-02 1.57057759e-02 9.99275537e-01 1.76828202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50771942099996 meters Centerline goodness : 0.931843 with order 1 Centerline is valid? [False, False] Translation: X:112.02, Y:-7.71, Z:0.18 [[ 9.98951057e-01 2.75198837e-02 -3.65983867e-02 1.12024453e+02] [-2.77027006e-02 9.99606089e-01 -4.49743236e-03 -7.71230031e+00] [ 3.64602014e-02 5.50658895e-03 9.99319934e-01 1.81044514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56771942099996 meters Centerline goodness : 0.939813 with order 1 Centerline is valid? [False, False] Translation: X:112.02, Y:-7.72, Z:0.18 [[ 9.99145419e-01 2.02183963e-02 -3.60506222e-02 1.12022709e+02] [-2.05089310e-02 9.99759960e-01 -7.70753563e-03 -7.72367575e+00] [ 3.58861346e-02 8.44030864e-03 9.99320242e-01 1.84601477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62771942099997 meters Centerline goodness : 0.943401 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.73, Z:0.19 [[ 9.99258518e-01 1.05831563e-02 -3.70190533e-02 1.12027607e+02] [-1.09995540e-02 9.99878306e-01 -1.10626715e-02 -7.73489531e+00] [ 3.68974703e-02 1.14616618e-02 9.99253325e-01 1.86187345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68771942099997 meters Centerline goodness : 0.939701 with order 1 Centerline is valid? [False, False] Translation: X:112.05, Y:-7.75, Z:0.19 [[ 9.99373488e-01 -4.75988347e-03 -3.50710103e-02 1.12046980e+02] [ 4.87363429e-03 9.99983135e-01 3.15866869e-03 -7.74579833e+00] [ 3.50553840e-02 -3.32761303e-03 9.99379831e-01 1.89426978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74771942099997 meters Centerline goodness : 0.936480 with order 1 Centerline is valid? [False, False] Translation: X:112.05, Y:-7.75, Z:0.19 [[ 9.99260104e-01 -1.35452177e-02 -3.59968334e-02 1.12053660e+02] [ 1.34291826e-02 9.99903827e-01 -3.46332090e-03 -7.75078888e+00] [ 3.60402829e-02 2.97735036e-03 9.99345903e-01 1.85351157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80771942099997 meters Centerline goodness : 0.937411 with order 1 Centerline is valid? [False, False] Translation: X:112.05, Y:-7.75, Z:0.19 [[ 9.99237584e-01 -1.36895546e-02 -3.65629162e-02 1.12054398e+02] [ 1.36121059e-02 9.99904551e-01 -2.36633652e-03 -7.75336545e+00] [ 3.65918204e-02 1.86683410e-03 9.99328551e-01 1.86866962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86771942099998 meters Centerline goodness : 0.942759 with order 1 Centerline is valid? [False, False] Translation: X:112.06, Y:-7.75, Z:0.19 [[ 9.99184744e-01 -1.50187338e-02 -3.74737843e-02 1.12061250e+02] [ 1.51878080e-02 9.99875706e-01 4.23119673e-03 -7.75457677e+00] [ 3.74055793e-02 -4.79689186e-03 9.99288653e-01 1.92066842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92771942099998 meters Centerline goodness : 0.941266 with order 1 Centerline is valid? [False, False] Translation: X:112.07, Y:-7.75, Z:0.19 [[ 9.99076205e-01 -1.78823672e-02 -3.90762963e-02 1.12065851e+02] [ 1.80340068e-02 9.99831137e-01 3.53154226e-03 -7.75357939e+00] [ 3.90065455e-02 -4.23298203e-03 9.99229989e-01 1.92953040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters Centerline goodness : 0.943449 with order 1 Centerline is valid? [False, False] Translation: X:112.08, Y:-7.75, Z:0.20 [[ 9.98951869e-01 -2.10870167e-02 -4.06263685e-02 1.12075759e+02] [ 2.14990226e-02 9.99721509e-01 9.73123182e-03 -7.74905143e+00] [ 4.04098518e-02 -1.05944594e-02 9.99127020e-01 1.99590659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters Centerline goodness : 0.944156 with order 1 Centerline is valid? [False, False] Translation: X:112.09, Y:-7.74, Z:0.21 [[ 9.98940172e-01 -2.13334828e-02 -4.07849937e-02 1.12093317e+02] [ 2.23762719e-02 9.99429830e-01 2.52847368e-02 -7.74384752e+00] [ 4.02223278e-02 -2.61705555e-02 9.98847970e-01 2.08118234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters Centerline goodness : 0.938711 with order 1 Centerline is valid? [False, False] Translation: X:112.11, Y:-7.74, Z:0.22 [[ 9.98885047e-01 -2.13427586e-02 -4.21087796e-02 1.12113268e+02] [ 2.31470867e-02 9.98813876e-01 4.28375127e-02 -7.74025365e+00] [ 4.11445626e-02 -4.37644465e-02 9.98194269e-01 2.17653580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters Centerline goodness : 0.942779 with order 1 Centerline is valid? [False, False] Translation: X:112.11, Y:-7.73, Z:0.22 [[ 9.98877572e-01 -1.93042198e-02 -4.32544048e-02 1.12114664e+02] [ 2.12732425e-02 9.98736259e-01 4.55338704e-02 -7.73208510e+00] [ 4.23207466e-02 -4.64029233e-02 9.98025913e-01 2.20232616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22771942099996 meters Centerline goodness : 0.943936 with order 1 Centerline is valid? [False, False] Translation: X:112.09, Y:-7.72, Z:0.22 [[ 9.98879089e-01 -2.33616322e-02 -4.11679504e-02 1.12091462e+02] [ 2.57556755e-02 9.97948294e-01 5.86161007e-02 -7.71780423e+00] [ 3.97141181e-02 -5.96107056e-02 9.97431377e-01 2.20627197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28771942099996 meters Centerline goodness : 0.941345 with order 1 Centerline is valid? [False, False] Translation: X:112.07, Y:-7.71, Z:0.22 [[ 9.98806490e-01 -2.59583373e-02 -4.13734272e-02 1.12065296e+02] [ 2.80683547e-02 9.98290723e-01 5.12620711e-02 -7.70545475e+00] [ 3.99720304e-02 -5.23621733e-02 9.97827861e-01 2.18077329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34771942099997 meters Centerline goodness : 0.938045 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.69, Z:0.22 [[ 9.98782951e-01 -2.47075898e-02 -4.26866758e-02 1.12025771e+02] [ 2.71338445e-02 9.97992392e-01 5.72271001e-02 -7.69062525e+00] [ 4.11870340e-02 -5.83157055e-02 9.97448198e-01 2.15894825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40771942099997 meters Centerline goodness : 0.930479 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.68, Z:0.21 [[ 9.98760025e-01 -2.36127121e-02 -4.38275342e-02 1.12029005e+02] [ 2.60637635e-02 9.98077978e-01 5.62230382e-02 -7.67941260e+00] [ 4.24157183e-02 -5.72956335e-02 9.97455822e-01 2.12851780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46771942099997 meters Centerline goodness : 0.939435 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.67, Z:0.21 [[ 9.98698362e-01 -2.48084966e-02 -4.45659137e-02 1.12032154e+02] [ 2.64528693e-02 9.98976346e-01 3.66947705e-02 -7.66667339e+00] [ 4.36099515e-02 -3.78259034e-02 9.98332296e-01 2.11163771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52771942099997 meters Centerline goodness : 0.939957 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.65, Z:0.21 [[ 9.98768873e-01 -1.99388606e-02 -4.54222529e-02 1.12033675e+02] [ 2.17691242e-02 9.98955987e-01 4.01626807e-02 -7.65277327e+00] [ 4.45740334e-02 -4.11020380e-02 9.98160197e-01 2.10456998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58771942099997 meters Centerline goodness : 0.939553 with order 1 Centerline is valid? [False, False] Translation: X:112.03, Y:-7.64, Z:0.21 [[ 9.98738888e-01 -2.09942464e-02 -4.56056445e-02 1.12032833e+02] [ 2.26860614e-02 9.99061375e-01 3.69013776e-02 -7.64248810e+00] [ 4.47881213e-02 -3.78894533e-02 9.98277724e-01 2.10533695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64771942099998 meters Centerline goodness : 0.934295 with order 1 Centerline is valid? [False, False] Translation: X:112.04, Y:-7.63, Z:0.21 [[ 9.98646676e-01 -2.37295350e-02 -4.62787730e-02 1.12036201e+02] [ 2.52696291e-02 9.99136428e-01 3.29824706e-02 -7.63429654e+00] [ 4.54561493e-02 -3.41072821e-02 9.98383910e-01 2.07372358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70771942099998 meters Centerline goodness : 0.931269 with order 1 Centerline is valid? [False, False] Translation: X:112.04, Y:-7.63, Z:0.21 [[ 9.98630813e-01 -2.27986808e-02 -4.70820583e-02 1.12039205e+02] [ 2.43889120e-02 9.99141696e-01 3.34821054e-02 -7.62588100e+00] [ 4.62782998e-02 -3.45845423e-02 9.98329719e-01 2.05537546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters Centerline goodness : 0.933158 with order 1 Centerline is valid? [False, False] Translation: X:112.04, Y:-7.62, Z:0.20 [[ 9.98860942e-01 -2.00747933e-02 -4.32876609e-02 1.12043104e+02] [ 2.09394470e-02 9.99588320e-01 1.96145247e-02 -7.61739464e+00] [ 4.28760828e-02 -2.04986023e-02 9.98870086e-01 2.03901828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters Centerline goodness : 0.932002 with order 1 Centerline is valid? [False, False] Translation: X:112.05, Y:-7.61, Z:0.20 [[ 9.98777534e-01 -4.04759366e-03 -4.92651382e-02 1.12053538e+02] [ 4.95486938e-03 9.99820117e-01 1.83080103e-02 -7.60572730e+00] [ 4.91821728e-02 -1.85297317e-02 9.98617926e-01 2.01294720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters Centerline goodness : 0.930788 with order 1 Centerline is valid? [False, False] Translation: X:112.07, Y:-7.60, Z:0.20 [[ 9.98582633e-01 1.00647520e-02 -5.22630454e-02 1.12070914e+02] [-9.72358556e-03 9.99929753e-01 6.77804600e-03 -7.60055500e+00] [ 5.23275934e-02 -6.26025482e-03 9.98610351e-01 2.00709478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters Centerline goodness : 0.929245 with order 1 Centerline is valid? [False, False] Translation: X:112.08, Y:-7.60, Z:0.20 [[ 9.98470984e-01 2.15040661e-02 -5.09241558e-02 1.12078218e+02] [-2.15010863e-02 9.99768641e-01 6.06394473e-04 -7.59650986e+00] [ 5.09254140e-02 4.89457383e-04 9.98702339e-01 1.97337264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00771942099996 meters Centerline goodness : 0.927999 with order 1 Centerline is valid? [False, False] Translation: X:112.09, Y:-7.60, Z:0.19 [[ 9.98258542e-01 3.58167837e-02 -4.68726163e-02 1.12086420e+02] [-3.58184390e-02 9.99357990e-01 8.04867677e-04 -7.59725947e+00] [ 4.68713514e-02 8.75437915e-04 9.98900551e-01 1.94873764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06771942099996 meters Centerline goodness : 0.925018 with order 1 Centerline is valid? [False, False] Translation: X:112.10, Y:-7.60, Z:0.19 [[ 9.97719849e-01 5.06900007e-02 -4.45603786e-02 1.12103801e+02] [-5.09669610e-02 9.98687314e-01 -5.10067385e-03 -7.60494126e+00] [ 4.42433316e-02 7.36015062e-03 9.98993672e-01 1.94565336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12771942099997 meters Centerline goodness : 0.933047 with order 1 Centerline is valid? [False, False] Translation: X:112.15, Y:-7.61, Z:0.19 [[ 9.97671434e-01 5.87242797e-02 -3.46867117e-02 1.12146421e+02] [-5.99743440e-02 9.97544394e-01 -3.61698696e-02 -7.61313685e+00] [ 3.24774852e-02 3.81659585e-02 9.98743497e-01 1.86925048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18771942099997 meters Centerline goodness : 0.927985 with order 1 Centerline is valid? [False, False] Translation: X:112.18, Y:-7.61, Z:0.16 [[ 9.98169704e-01 5.82530713e-02 -1.62426116e-02 1.12183857e+02] [-5.97927297e-02 9.90878412e-01 -1.20767558e-01 -7.60725200e+00] [ 9.05937204e-03 1.21517707e-01 9.92547921e-01 1.64509619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24771942099997 meters Centerline goodness : 0.929864 with order 1 Centerline is valid? [False, False] Translation: X:112.20, Y:-7.62, Z:0.16 [[ 9.98241125e-01 5.52098516e-02 -2.15992934e-02 1.12199129e+02] [-5.76706884e-02 9.88754687e-01 -1.37979206e-01 -7.62349141e+00] [ 1.37385911e-02 1.38982164e-01 9.90199581e-01 1.60546951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30771942099997 meters Centerline goodness : 0.923767 with order 1 Centerline is valid? [False, False] Translation: X:112.23, Y:-7.66, Z:0.17 [[ 9.97955737e-01 6.03355629e-02 -2.10705432e-02 1.12225554e+02] [-6.21249465e-02 9.93212649e-01 -9.83317071e-02 -7.65728251e+00] [ 1.49946311e-02 9.94396975e-02 9.94930604e-01 1.69049631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36771942099998 meters Centerline goodness : 0.933773 with order 1 Centerline is valid? [False, False] Translation: X:112.25, Y:-7.69, Z:0.18 [[ 9.97574098e-01 6.73367202e-02 -1.76546051e-02 1.12250746e+02] [-6.84771142e-02 9.94839518e-01 -7.48680087e-02 -7.68688993e+00] [ 1.25221326e-02 7.58953227e-02 9.97037159e-01 1.76239304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42771942099998 meters Centerline goodness : 0.942206 with order 1 Centerline is valid? [False, False] Translation: X:112.26, Y:-7.72, Z:0.18 [[ 9.96913084e-01 7.68328949e-02 -1.61557776e-02 1.12261151e+02] [-7.76720448e-02 9.95166659e-01 -6.00863922e-02 -7.71841239e+00] [ 1.14610797e-02 6.11557628e-02 9.98062431e-01 1.83029156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters Centerline goodness : 0.953522 with order 1 Centerline is valid? [False, True] Translation: X:112.28, Y:-7.76, Z:0.19 [[ 9.96729117e-01 8.02326727e-02 -9.68424687e-03 1.12281252e+02] [-8.05611202e-02 9.95929347e-01 -4.04307100e-02 -7.75786192e+00] [ 6.40096174e-03 4.10786396e-02 9.99135413e-01 1.90989152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters Centerline goodness : 0.953319 with order 1 Centerline is valid? [True, True] Translation: X:112.34, Y:-7.79, Z:0.21 [[ 9.97118966e-01 7.53972481e-02 -8.30793149e-03 1.12341777e+02] [-7.53975089e-02 9.97153517e-01 2.82261211e-04 -7.79290057e+00] [ 8.30556482e-03 3.44949331e-04 9.99965449e-01 2.14498376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters Centerline goodness : 0.957898 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:-7.83, Z:0.22 [[ 9.98052550e-01 6.18230351e-02 -8.30786061e-03 1.12402692e+02] [-6.18228085e-02 9.98087100e-01 2.84332262e-04 -7.83310227e+00] [ 8.30954678e-03 2.29836737e-04 9.99965449e-01 2.15286355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters Centerline goodness : 0.959330 with order 1 Centerline is valid? [True, True] Translation: X:112.46, Y:-7.85, Z:0.21 [[ 9.98445638e-01 5.51115994e-02 -8.30778939e-03 1.12464837e+02] [-5.51111233e-02 9.98480186e-01 2.86398139e-04 -7.85207083e+00] [ 8.31094695e-03 1.71898633e-04 9.99965449e-01 2.13626875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72771942099996 meters Centerline goodness : 0.957140 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:-7.87, Z:0.21 [[ 9.98858593e-01 4.70371515e-02 -8.30770486e-03 1.12525349e+02] [-4.70363759e-02 9.98893135e-01 2.88829412e-04 -7.87467167e+00] [ 8.31209507e-03 1.02264589e-04 9.99965449e-01 2.12591352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78771942099996 meters Centerline goodness : 0.961921 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:-7.90, Z:0.21 [[ 9.99404977e-01 3.34764832e-02 -8.30766367e-03 1.12586764e+02] [-3.34752291e-02 9.99439505e-01 2.90009443e-04 -7.90451349e+00] [ 8.31271576e-03 -1.17359360e-05 9.99965449e-01 2.14834680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84771942099997 meters Centerline goodness : 0.963671 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:-7.93, Z:0.22 [[ 9.99710675e-01 2.25732086e-02 -8.30759359e-03 1.12646856e+02] [-2.25715613e-02 9.99745187e-01 2.92003124e-04 -7.93045838e+00] [ 8.31206816e-03 -1.04403282e-04 9.99965449e-01 2.15206498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90771942099997 meters Centerline goodness : 0.967101 with order 1 Centerline is valid? [True, True] Translation: X:112.71, Y:-7.94, Z:0.22 [[ 9.99504988e-01 3.03440940e-02 -8.30755641e-03 1.12709567e+02] [-3.03427063e-02 9.99539511e-01 2.93057098e-04 -7.94429701e+00] [ 8.31262343e-03 -4.08382872e-05 9.99965449e-01 2.22842530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96771942099997 meters Centerline goodness : 0.965617 with order 1 Centerline is valid? [True, True] Translation: X:112.77, Y:-7.94, Z:0.22 [[ 9.99702013e-01 2.29536743e-02 -8.30747531e-03 1.12772772e+02] [-2.29520125e-02 9.99736524e-01 2.95338473e-04 -7.94363418e+00] [ 8.31206559e-03 -1.04577189e-04 9.99965449e-01 2.18990153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02771942099997 meters Centerline goodness : 0.959877 with order 1 Centerline is valid? [True, True] Translation: X:112.83, Y:-7.94, Z:0.21 [[ 9.99860043e-01 1.45217791e-02 -8.30739436e-03 1.12834574e+02] [-1.45198075e-02 9.99894538e-01 2.97598000e-04 -7.94004190e+00] [ 8.31083990e-03 -1.76934582e-04 9.99965449e-01 2.13975380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08771942099997 meters Centerline goodness : 0.961894 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:-7.94, Z:0.22 [[ 9.99965381e-01 -4.73712994e-04 -8.30732388e-03 1.12896308e+02] [ 4.76217888e-04 9.99999842e-01 2.99552793e-04 -7.94277436e+00] [ 8.30718066e-03 -3.03498519e-04 9.99965449e-01 2.17470839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14771942099998 meters Centerline goodness : 0.960779 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:-7.94, Z:0.22 [[ 9.99916963e-01 -9.85173895e-03 -8.30725383e-03 1.12955353e+02] [ 9.85458292e-03 9.99951397e-01 3.01482787e-04 -7.94382505e+00] [ 8.30387995e-03 -3.83322275e-04 9.99965449e-01 2.18940141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20771942099998 meters Centerline goodness : 0.954551 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:-7.94, Z:0.21 [[ 9.99939232e-01 -7.24717486e-03 -8.30727412e-03 1.13014134e+02] [ 7.24992448e-03 9.99973674e-01 3.00922820e-04 -7.94382728e+00] [ 8.30487458e-03 -3.61131644e-04 9.99965449e-01 2.13225058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters Centerline goodness : 0.953851 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:-7.95, Z:0.21 [[ 9.99961302e-01 -2.89524657e-03 -8.30734362e-03 1.13073402e+02] [ 2.89783025e-03 9.99995757e-01 2.98991825e-04 -7.94795293e+00] [ 8.30644271e-03 -3.23053526e-04 9.99965449e-01 2.13455799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters Centerline goodness : 0.950971 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:-7.95, Z:0.21 [[ 9.99854595e-01 1.48921618e-02 -8.30741212e-03 1.13131775e+02] [-1.48902073e-02 9.99889091e-01 2.97076198e-04 -7.95388445e+00] [ 8.31091486e-03 -1.73333913e-04 9.99965449e-01 2.13774186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters Centerline goodness : 0.947864 with order 1 Centerline is valid? [True, False] Translation: X:113.14, Y:-7.95, Z:0.21 [[ 9.99567328e-01 2.91791530e-02 -3.70590238e-03 1.13141003e+02] [-2.91841948e-02 9.99573187e-01 -1.31377376e-03 -7.94936387e+00] [ 3.66598584e-03 1.42135910e-03 9.99992270e-01 2.06913771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters Centerline goodness : 0.946223 with order 1 Centerline is valid? [False, False] Translation: X:113.14, Y:-7.95, Z:0.21 [[ 9.99330419e-01 3.64501300e-02 -3.17823831e-03 1.13136512e+02] [-3.64393211e-02 9.99330101e-01 3.39498456e-03 -7.94764606e+00] [ 3.29985684e-03 -3.27689850e-03 9.99989186e-01 2.08576026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50771942099996 meters Centerline goodness : 0.943945 with order 1 Centerline is valid? [False, False] Translation: X:113.14, Y:-7.95, Z:0.21 [[ 9.99383667e-01 3.48533878e-02 -4.18659331e-03 1.13140749e+02] [-3.48402593e-02 9.99387870e-01 3.16888903e-03 -7.94957293e+00] [ 4.29447709e-03 -3.02107394e-03 9.99986215e-01 2.07546397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56771942099996 meters Centerline goodness : 0.942221 with order 1 Centerline is valid? [False, False] Translation: X:113.14, Y:-7.95, Z:0.21 [[ 9.99398962e-01 3.44064655e-02 -4.23202585e-03 1.13142050e+02] [-3.43964365e-02 9.99405337e-01 2.42018507e-03 -7.94871009e+00] [ 4.31277924e-03 -2.27316384e-03 9.99988116e-01 2.05855129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62771942099997 meters Centerline goodness : 0.943722 with order 1 Centerline is valid? [False, False] Translation: X:113.15, Y:-7.95, Z:0.21 [[ 9.99450236e-01 3.26950505e-02 -5.50087455e-03 1.13145973e+02] [-3.26764988e-02 9.99460098e-01 3.42926224e-03 -7.95192792e+00] [ 5.61002452e-03 -3.24762764e-03 9.99978990e-01 2.07652301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68771942099997 meters Centerline goodness : 0.945742 with order 1 Centerline is valid? [False, False] Translation: X:113.15, Y:-7.95, Z:0.21 [[ 9.99488645e-01 3.13434792e-02 -6.32738105e-03 1.13148291e+02] [-3.13169701e-02 9.99500484e-01 4.24608414e-03 -7.95441913e+00] [ 6.45730748e-03 -4.04575847e-03 9.99970967e-01 2.09659072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74771942099997 meters Centerline goodness : 0.938203 with order 1 Centerline is valid? [False, False] Translation: X:113.16, Y:-7.95, Z:0.21 [[ 9.99490817e-01 3.07664641e-02 -8.45758584e-03 1.13158510e+02] [-3.07110982e-02 9.99506512e-01 6.60005848e-03 -7.95214453e+00] [ 8.65647259e-03 -6.33695610e-03 9.99942453e-01 2.07578841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80771942099997 meters Centerline goodness : 0.932369 with order 1 Centerline is valid? [False, False] Translation: X:113.16, Y:-7.95, Z:0.21 [[ 9.99534752e-01 2.87313683e-02 -1.02365946e-02 1.13164102e+02] [-2.86783663e-02 9.99574707e-01 5.28743127e-03 -7.95022210e+00] [ 1.03841562e-02 -4.99140250e-03 9.99933625e-01 2.06161601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86771942099998 meters Centerline goodness : 0.928434 with order 1 Centerline is valid? [False, False] Translation: X:113.18, Y:-7.95, Z:0.21 [[ 9.99588825e-01 2.59481721e-02 -1.22013398e-02 1.13177174e+02] [-2.58092605e-02 9.99601792e-01 1.14078471e-02 -7.95025111e+00] [ 1.24924939e-02 -1.10882489e-02 9.99860484e-01 2.10671931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92771942099998 meters Centerline goodness : 0.928378 with order 1 Centerline is valid? [False, False] Translation: X:113.21, Y:-7.95, Z:0.22 [[ 9.99828888e-01 1.53280291e-02 -1.03560027e-02 1.13205595e+02] [-1.50696374e-02 9.99584169e-01 2.45844345e-02 -7.95311257e+00] [ 1.07285273e-02 -2.44241666e-02 9.99644116e-01 2.22728067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters Centerline goodness : 0.931047 with order 1 Centerline is valid? [False, False] Translation: X:113.24, Y:-7.96, Z:0.25 [[ 9.99927918e-01 1.04409606e-02 -5.92829910e-03 1.13241994e+02] [-1.00576859e-02 9.98064685e-01 6.13655193e-02 -7.96161397e+00] [ 6.55754094e-03 -6.13014710e-02 9.98097755e-01 2.53288262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters Centerline goodness : 0.934261 with order 1 Centerline is valid? [False, False] Translation: X:113.24, Y:-7.96, Z:0.25 [[ 9.99940069e-01 9.01082924e-03 -6.21796501e-03 1.13243231e+02] [-8.61568391e-03 9.98107343e-01 6.08892572e-02 -7.95650836e+00] [ 6.75485924e-03 -6.08320360e-02 9.98125160e-01 2.54460253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters Centerline goodness : 0.935522 with order 1 Centerline is valid? [False, False] Translation: X:113.24, Y:-7.96, Z:0.25 [[ 9.99985498e-01 2.88073104e-03 -4.55024248e-03 1.13242224e+02] [-2.59902643e-03 9.98149827e-01 6.07467505e-02 -7.95570181e+00] [ 4.71681879e-03 -6.07340434e-02 9.98142839e-01 2.53304711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters Centerline goodness : 0.932820 with order 1 Centerline is valid? [False, False] Translation: X:113.25, Y:-7.95, Z:0.25 [[ 9.99948078e-01 -8.72894204e-03 -5.25806273e-03 1.13248634e+02] [ 8.96984334e-03 9.98822283e-01 4.76821596e-02 -7.94903450e+00] [ 4.83565541e-03 -4.77268479e-02 9.98848719e-01 2.45198603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22771942099996 meters Centerline goodness : 0.927948 with order 1 Centerline is valid? [False, False] Translation: X:113.27, Y:-7.95, Z:0.23 [[ 9.99549633e-01 -2.94329583e-02 -5.85083828e-03 1.13266930e+02] [ 2.96116878e-02 9.99008016e-01 3.32585546e-02 -7.95184402e+00] [ 4.86613669e-03 -3.34168293e-02 9.99429655e-01 2.34649074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28771942099996 meters Centerline goodness : 0.927897 with order 1 Centerline is valid? [False, False] Translation: X:113.29, Y:-7.96, Z:0.23 [[ 9.99275384e-01 -3.62268832e-02 -1.16756451e-02 1.13287402e+02] [ 3.64695450e-02 9.99108002e-01 2.12878721e-02 -7.96128303e+00] [ 1.08940372e-02 -2.16982520e-02 9.99705209e-01 2.33059546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34771942099997 meters Centerline goodness : 0.931033 with order 1 Centerline is valid? [False, False] Translation: X:113.30, Y:-7.96, Z:0.22 [[ 9.99402294e-01 -3.39728989e-02 -6.39506272e-03 1.13295655e+02] [ 3.40220489e-02 9.99391107e-01 7.74045725e-03 -7.96075681e+00] [ 6.12820304e-03 -7.95340387e-03 9.99949593e-01 2.24963743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40771942099997 meters Centerline goodness : 0.933367 with order 1 Centerline is valid? [False, False] Translation: X:113.30, Y:-7.96, Z:0.22 [[ 9.99569272e-01 -2.86707423e-02 -6.26574063e-03 1.13295350e+02] [ 2.87519269e-02 9.99498418e-01 1.32755345e-02 -7.96418631e+00] [ 5.88197841e-03 -1.34499685e-02 9.99892245e-01 2.24962130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46771942099997 meters Centerline goodness : 0.938119 with order 1 Centerline is valid? [False, False] Translation: X:113.30, Y:-7.96, Z:0.22 [[ 9.99742643e-01 -2.26705145e-02 -8.33918293e-04 1.13301277e+02] [ 2.26742744e-02 9.99731307e-01 4.81575357e-03 -7.96495461e+00] [ 7.24518614e-04 -4.83342269e-03 9.99988056e-01 2.21865183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52771942099997 meters Centerline goodness : 0.936846 with order 1 Centerline is valid? [False, False] Translation: X:113.30, Y:-7.96, Z:0.22 [[ 9.99818316e-01 -1.90212197e-02 -1.23641984e-03 1.13301262e+02] [ 1.90313731e-02 9.99780185e-01 8.79707336e-03 -7.96224908e+00] [ 1.06881699e-03 -8.81900583e-03 9.99960541e-01 2.23722860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58771942099997 meters Centerline goodness : 0.938586 with order 1 Centerline is valid? [False, False] Translation: X:113.32, Y:-7.97, Z:0.22 [[ 9.99800333e-01 -1.81973754e-02 -8.25526109e-03 1.13316693e+02] [ 1.82251365e-02 9.99828462e-01 3.30016581e-03 -7.96560982e+00] [ 8.19379064e-03 -3.44996014e-03 9.99960479e-01 2.23761597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64771942099998 meters Centerline goodness : 0.944944 with order 1 Centerline is valid? [False, False] Translation: X:113.32, Y:-7.96, Z:0.23 [[ 9.99691511e-01 -2.33509483e-02 -8.46256827e-03 1.13317425e+02] [ 2.33445028e-02 9.99727110e-01 -8.59636803e-04 -7.96268648e+00] [ 8.48033226e-03 6.61817166e-04 9.99963822e-01 2.25485962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70771942099998 meters Centerline goodness : 0.947415 with order 1 Centerline is valid? [False, False] Translation: X:113.33, Y:-7.96, Z:0.23 [[ 9.99384787e-01 -3.37496338e-02 -9.53992809e-03 1.13327506e+02] [ 3.37021463e-02 9.99418932e-01 -5.09549427e-03 -7.96161775e+00] [ 9.70635580e-03 4.77084340e-03 9.99941511e-01 2.26450507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters Centerline goodness : 0.948679 with order 1 Centerline is valid? [False, False] Translation: X:113.35, Y:-7.97, Z:0.23 [[ 9.98867663e-01 -4.48700102e-02 -1.58137112e-02 1.13348551e+02] [ 4.48614150e-02 9.98992816e-01 -8.98024022e-04 -7.97087566e+00] [ 1.58380782e-02 1.87581695e-04 9.99874552e-01 2.30379520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters Centerline goodness : 0.950338 with order 1 Centerline is valid? [False, True] Translation: X:113.35, Y:-7.97, Z:0.23 [[ 9.98835484e-01 -4.53454853e-02 -1.64761299e-02 1.13349909e+02] [ 4.53402913e-02 9.98971363e-01 -6.88845060e-04 -7.97121748e+00] [ 1.64904179e-02 -5.89896397e-05 9.99864022e-01 2.31743705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters Centerline goodness : 0.951057 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:-7.97, Z:0.23 [[ 9.98983141e-01 -4.19995712e-02 -1.63926915e-02 1.13407297e+02] [ 4.20195305e-02 9.99116406e-01 8.74896108e-04 -7.97169004e+00] [ 1.63414617e-02 -1.56281966e-03 9.99865248e-01 2.33975092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters Centerline goodness : 0.944462 with order 1 Centerline is valid? [True, False] Translation: X:113.43, Y:-7.97, Z:0.23 [[ 9.99116904e-01 -3.46777335e-02 -2.37248058e-02 1.13426703e+02] [ 3.46825297e-02 9.99398358e-01 -2.09412377e-04 -7.97411684e+00] [ 2.37177939e-02 -6.13608834e-04 9.99718505e-01 2.31773073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00771942099996 meters Centerline goodness : 0.945701 with order 3 Centerline is valid? [False, False] Translation: X:113.44, Y:-7.98, Z:0.24 [[ 9.99123400e-01 -2.76497464e-02 -3.14312477e-02 1.13436346e+02] [ 2.75922488e-02 9.99616703e-01 -2.26166163e-03 -7.98072075e+00] [ 3.14817346e-02 1.39242025e-03 9.99503357e-01 2.35362149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06771942099996 meters Centerline goodness : 0.942110 with order 2 Centerline is valid? [False, False] Translation: X:113.40, Y:-7.98, Z:0.24 [[ 9.99524031e-01 -1.58947682e-02 -2.64399089e-02 1.13403133e+02] [ 1.60802710e-02 9.99847457e-01 6.81824155e-03 -7.97767883e+00] [ 2.63275013e-02 -7.24015717e-03 9.99627152e-01 2.38735640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12771942099997 meters Centerline goodness : 0.940202 with order 1 Centerline is valid? [False, False] Translation: X:113.47, Y:-7.99, Z:0.23 [[ 9.99100888e-01 3.62398432e-02 -2.20020402e-02 1.13471093e+02] [-3.64171606e-02 9.99306913e-01 -7.71253803e-03 -7.99198489e+00] [ 2.17072897e-02 8.50685542e-03 9.99728177e-01 2.29219202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18771942099997 meters Centerline goodness : 0.948425 with order 1 Centerline is valid? [False, False] Translation: X:113.48, Y:-8.00, Z:0.23 [[ 9.99050015e-01 4.11963989e-02 -1.42099851e-02 1.13479845e+02] [-4.13554920e-02 9.99082950e-01 -1.10897475e-02 -7.99723064e+00] [ 1.37400961e-02 1.16668733e-02 9.99837534e-01 2.28477560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24771942099997 meters Centerline goodness : 0.951599 with order 1 Centerline is valid? [False, True] Translation: X:113.49, Y:-8.00, Z:0.23 [[ 9.98877847e-01 4.66590886e-02 -8.12260912e-03 1.13491072e+02] [-4.67762842e-02 9.98794383e-01 -1.48915800e-02 -8.00185550e+00] [ 7.41798881e-03 1.52548149e-02 9.99856122e-01 2.28211713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30771942099997 meters Centerline goodness : 0.946725 with order 1 Centerline is valid? [True, False] Translation: X:113.50, Y:-8.00, Z:0.22 [[ 9.98724553e-01 4.99056677e-02 -7.66100767e-03 1.13499676e+02] [-4.99747382e-02 9.98708971e-01 -9.10585671e-03 -8.00284571e+00] [ 7.19668323e-03 9.47709953e-03 9.99929194e-01 2.23569377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36771942099998 meters Centerline goodness : 0.949935 with order 1 Centerline is valid? [False, False] Translation: X:113.52, Y:-8.00, Z:0.22 [[ 9.98532046e-01 5.41468979e-02 -1.36619534e-03 1.13518406e+02] [-5.41599375e-02 9.98450928e-01 -1.27454167e-02 -8.00087872e+00] [ 6.73954232e-04 1.28007001e-02 9.99917841e-01 2.18566304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42771942099998 meters Centerline goodness : 0.948031 with order 1 Centerline is valid? [False, False] Translation: X:113.55, Y:-7.99, Z:0.21 [[ 9.98706390e-01 5.01322580e-02 8.50309744e-03 1.13547028e+02] [-4.99270226e-02 9.98491687e-01 -2.28394924e-02 -7.99476316e+00] [-9.63526744e-03 2.23854127e-02 9.99702983e-01 2.06327752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters Centerline goodness : 0.947419 with order 1 Centerline is valid? [False, False] Translation: X:113.57, Y:-8.00, Z:0.21 [[ 9.99166171e-01 3.95697964e-02 1.00594907e-02 1.13570400e+02] [-3.93733286e-02 9.99043322e-01 -1.90310700e-02 -7.99568865e+00] [-1.08029226e-02 1.86191257e-02 9.99768286e-01 2.06043995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters Centerline goodness : 0.946758 with order 1 Centerline is valid? [False, False] Translation: X:113.59, Y:-8.00, Z:0.21 [[ 9.99638304e-01 2.52620459e-02 9.22444103e-03 1.13588858e+02] [-2.50498373e-02 9.99434357e-01 -2.24381847e-02 -7.99615988e+00] [-9.78605774e-03 2.21989981e-02 9.99705675e-01 2.06744642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters Centerline goodness : 0.947139 with order 1 Centerline is valid? [False, False] Translation: X:113.61, Y:-8.00, Z:0.21 [[ 9.99920087e-01 7.72742487e-03 1.00053004e-02 1.13607043e+02] [-7.63371732e-03 9.99926959e-01 -9.37034873e-03 -7.99619892e+00] [-1.00769782e-02 9.29322229e-03 9.99906041e-01 2.10111882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters Centerline goodness : 0.952432 with order 1 Centerline is valid? [False, True] Translation: X:113.64, Y:-8.00, Z:0.21 [[ 9.99845413e-01 -1.13218034e-02 1.34523801e-02 1.13637302e+02] [ 1.14181993e-02 9.99909528e-01 -7.11064408e-03 -7.99945175e+00] [-1.33706577e-02 7.26314682e-03 9.99884229e-01 2.11077676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72771942099996 meters Centerline goodness : 0.954479 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:-8.00, Z:0.22 [[ 9.99727123e-01 -1.87525909e-02 1.39290702e-02 1.13696061e+02] [ 1.87697895e-02 9.99823221e-01 -1.10501434e-03 -8.00459207e+00] [-1.39058860e-02 1.36615853e-03 9.99902375e-01 2.16997020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78771942099996 meters Centerline goodness : 0.954901 with order 1 Centerline is valid? [True, True] Translation: X:113.75, Y:-8.01, Z:0.21 [[ 9.99721587e-01 -1.90453833e-02 1.39291420e-02 1.13753520e+02] [ 1.90625976e-02 9.99817683e-01 -1.10410959e-03 -8.00527114e+00] [-1.39055742e-02 1.36932782e-03 9.99902375e-01 2.13047248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84771942099997 meters Centerline goodness : 0.952756 with order 1 Centerline is valid? [True, True] Translation: X:113.81, Y:-8.01, Z:0.21 [[ 9.99670409e-01 -2.15649953e-02 1.39292653e-02 1.13812571e+02] [ 2.15824302e-02 9.99766464e-01 -1.10255181e-03 -8.01043515e+00] [-1.39022358e-02 1.40281581e-03 9.99902375e-01 2.09982043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90771942099997 meters Centerline goodness : 0.953538 with order 1 Centerline is valid? [True, True] Translation: X:113.87, Y:-8.02, Z:0.21 [[ 9.99665926e-01 -2.17716521e-02 1.39295125e-02 1.13869145e+02] [ 2.17890637e-02 9.99761986e-01 -1.09941970e-03 -8.02203188e+00] [-1.39022609e-02 1.40256344e-03 9.99902375e-01 2.12572178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96771942099997 meters Centerline goodness : 0.955008 with order 1 Centerline is valid? [True, True] Translation: X:113.93, Y:-8.03, Z:0.21 [[ 9.99695089e-01 -2.03885213e-02 1.39297046e-02 1.13927615e+02] [ 2.04057663e-02 9.99791179e-01 -1.09697961e-03 -8.02895266e+00] [-1.39044300e-02 1.38089143e-03 9.99902375e-01 2.13661448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02771942099997 meters Centerline goodness : 0.957589 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:-8.03, Z:0.22 [[ 9.99823449e-01 -1.26106017e-02 1.39299439e-02 1.13985842e+02] [ 1.26270565e-02 9.99919677e-01 -1.09393276e-03 -8.03011614e+00] [-1.39150299e-02 1.26963381e-03 9.99902375e-01 2.15808887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08771942099997 meters Centerline goodness : 0.957766 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:-8.03, Z:0.21 [[ 9.99817691e-01 -1.30590443e-02 1.39300748e-02 1.14043995e+02] [ 1.30755193e-02 9.99913915e-01 -1.09226340e-03 -8.03094426e+00] [-1.39146117e-02 1.27420724e-03 9.99902375e-01 2.13836081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14771942099998 meters Centerline goodness : 0.958045 with order 1 Centerline is valid? [True, True] Translation: X:114.10, Y:-8.03, Z:0.21 [[ 9.99862332e-01 -9.01480862e-03 1.39301577e-02 1.14102777e+02] [ 9.03087956e-03 9.99958625e-01 -1.09120531e-03 -8.03293594e+00] [-1.39197443e-02 1.21685666e-03 9.99902375e-01 2.11090642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20771942099998 meters Centerline goodness : 0.955848 with order 1 Centerline is valid? [True, True] Translation: X:114.16, Y:-8.03, Z:0.21 [[ 9.99902600e-01 -8.56471020e-04 1.39303999e-02 1.14162760e+02] [ 8.71712826e-04 9.99999028e-01 -1.08810471e-03 -8.03289096e+00] [-1.39294544e-02 1.10014204e-03 9.99902375e-01 2.05001224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters Centerline goodness : 0.955432 with order 1 Centerline is valid? [True, True] Translation: X:114.22, Y:-8.04, Z:0.21 [[ 9.99885486e-01 5.91257248e-03 1.39304352e-02 1.14223091e+02] [-5.89799008e-03 9.99982015e-01 -1.08765175e-03 -8.03875045e+00] [-1.39366155e-02 1.00536563e-03 9.99902375e-01 2.05068154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters Centerline goodness : 0.959758 with order 1 Centerline is valid? [True, True] Translation: X:114.28, Y:-8.05, Z:0.22 [[ 9.99902903e-01 3.61651167e-04 1.39303120e-02 1.14284711e+02] [-3.46511296e-04 9.99999347e-01 -1.08922756e-03 -8.05393466e+00] [-1.39306968e-02 1.08429479e-03 9.99902375e-01 2.19359642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters Centerline goodness : 0.951400 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:-8.07, Z:0.24 [[ 9.99858153e-01 -9.46715689e-03 1.39300647e-02 1.14346241e+02] [ 9.48328764e-03 9.99954436e-01 -1.09238079e-03 -8.06734952e+00] [-1.39190883e-02 1.22432865e-03 9.99902375e-01 2.40310472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters Centerline goodness : 0.947825 with order 1 Centerline is valid? [True, False] Translation: X:114.29, Y:-8.07, Z:0.27 [[ 9.99118101e-01 -8.71063088e-04 4.19792937e-02 1.14286577e+02] [-9.61289902e-04 9.99048211e-01 4.36090272e-02 -8.07258170e+00] [-4.19773245e-02 -4.36109227e-02 9.98166315e-01 2.65966180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50771942099996 meters Centerline goodness : 0.947755 with order 1 Centerline is valid? [False, False] Translation: X:114.29, Y:-8.07, Z:0.26 [[ 9.99159999e-01 -3.39646138e-03 4.08382128e-02 1.14293112e+02] [ 1.68875971e-03 9.99125480e-01 4.17782716e-02 -8.07192294e+00] [-4.09443973e-02 -4.16742119e-02 9.98291949e-01 2.61218596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56771942099996 meters Centerline goodness : 0.950638 with order 1 Centerline is valid? [False, True] Translation: X:114.32, Y:-8.07, Z:0.25 [[ 9.99496495e-01 -1.51712838e-02 2.78673291e-02 1.14323479e+02] [ 1.40397154e-02 9.99086485e-01 4.03618989e-02 -8.07219218e+00] [-2.84542137e-02 -3.99503271e-02 9.98796440e-01 2.53915763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62771942099997 meters Centerline goodness : 0.955416 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:-8.06, Z:0.22 [[ 9.99477979e-01 -2.22866753e-02 2.33895871e-02 1.14383980e+02] [ 2.23501967e-02 9.99747182e-01 -2.45786933e-03 -8.06302095e+00] [-2.33288960e-02 2.97934815e-03 9.99723405e-01 2.18895254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68771942099997 meters Centerline goodness : 0.953681 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:-8.06, Z:0.22 [[ 9.99575713e-01 -1.73585102e-02 2.33896659e-02 1.14443482e+02] [ 1.74206861e-02 9.99845229e-01 -2.45711891e-03 -8.05782901e+00] [-2.33433940e-02 2.86354041e-03 9.99723405e-01 2.23325125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74771942099997 meters Centerline goodness : 0.949678 with order 1 Centerline is valid? [True, False] Translation: X:114.46, Y:-8.04, Z:0.22 [[ 9.99721467e-01 2.88868878e-03 2.34231623e-02 1.14461931e+02] [-2.67754089e-03 9.99955546e-01 -9.04084845e-03 -8.03560027e+00] [-2.34482373e-02 8.97561379e-03 9.99684760e-01 2.23277791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80771942099997 meters Centerline goodness : 0.943407 with order 1 Centerline is valid? [False, False] Translation: X:114.48, Y:-8.00, Z:0.21 [[ 9.99795917e-01 1.55658593e-02 1.28774487e-02 1.14479642e+02] [-1.52666016e-02 9.99618441e-01 -2.30196265e-02 -8.00074781e+00] [-1.32308555e-02 2.28183337e-02 9.99652074e-01 2.14245758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86771942099998 meters Centerline goodness : 0.945052 with order 1 Centerline is valid? [False, False] Translation: X:114.49, Y:-7.98, Z:0.22 [[ 9.99936467e-01 9.99980583e-03 5.20250433e-03 1.14490792e+02] [-9.97654349e-03 9.99940205e-01 -4.47827427e-03 -7.97743791e+00] [-5.24697512e-03 4.42608674e-03 9.99976439e-01 2.23785075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3814.87 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%| | 0/5830 [00:00