+ python -m lidar_slam --result /working/result.json --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters Centerline goodness : 0.898021 with order 3 Centerline is valid? [0, False] SLAMing on 0.081052754 meters Centerline goodness : 0.893148 with order 3 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.00 [[ 0.99995663 0.00745995 0.00557553 0.02918471] [-0.00739919 0.99991387 -0.01084 0.01805456] [-0.00565592 0.01079827 0.9999257 -0.00326403] [ 0. 0. 0. 1. ]] SLAMing on 0.141052754 meters Centerline goodness : 0.883750 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:-0.00 [[ 9.99567485e-01 2.19384038e-02 1.95843951e-02 8.76628620e-02] [-2.02579940e-02 9.96407728e-01 -8.22268411e-02 6.53948244e-02] [-2.13179683e-02 8.17945362e-02 9.96421195e-01 -5.20616609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20105275400000003 meters Centerline goodness : 0.885020 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:0.00 [[ 0.99909477 0.02834263 0.03172292 0.1314511 ] [-0.02382048 0.99058393 -0.13481865 0.09259427] [-0.03524533 0.13394095 0.99036235 0.00343226] [ 0. 0. 0. 1. ]] SLAMing on 0.261052754 meters Centerline goodness : 0.884563 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.11, Z:0.01 [[ 0.99871765 0.03388689 0.03761295 0.16561723] [-0.02666725 0.98364702 -0.17812186 0.11297698] [-0.04303386 0.17689041 0.98328931 0.00830102] [ 0. 0. 0. 1. ]] SLAMing on 0.32105275400000005 meters Centerline goodness : 0.148114 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.13, Z:0.01 [[ 0.99809731 0.04242269 0.04474451 0.22343316] [-0.03213301 0.97722861 -0.20974202 0.12658873] [-0.05262343 0.20790517 0.97673242 0.01292125] [ 0. 0. 0. 1. ]] SLAMing on 0.38105275400000005 meters Centerline goodness : 0.148344 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:0.02 [[ 0.99780215 0.04438939 0.04919818 0.27271583] [-0.03171466 0.97181285 -0.23361071 0.13227449] [-0.05818126 0.23153697 0.97108474 0.01944598] [ 0. 0. 0. 1. ]] SLAMing on 0.44105275400000005 meters Centerline goodness : 0.148644 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.13, Z:0.02 [[ 0.99764743 0.04393215 0.05262665 0.3048943 ] [-0.02998559 0.96998814 -0.24129625 0.13148195] [-0.06164789 0.23915054 0.96902351 0.021814 ] [ 0. 0. 0. 1. ]] SLAMing on 0.501052754 meters Centerline goodness : 0.149274 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:0.02 [[ 0.99779891 0.04014627 0.05277897 0.3480462 ] [-0.02614018 0.96959075 -0.24333201 0.12764451] [-0.06094288 0.24141676 0.96850602 0.02146755] [ 0. 0. 0. 1. ]] SLAMing on 0.561052754 meters Centerline goodness : 0.148665 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:0.02 [[ 0.99800434 0.03299357 0.05384011 0.40115531] [-0.0188376 0.969376 -0.24485775 0.127902 ] [-0.06027004 0.24335488 0.96806298 0.01853557] [ 0. 0. 0. 1. ]] SLAMing on 0.621052754 meters Centerline goodness : 0.148659 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.13, Z:0.02 [[ 0.99782249 0.03295307 0.05713462 0.43188578] [-0.01707775 0.9657864 -0.25877592 0.13178846] [-0.0637073 0.25723671 0.96424616 0.01841813] [ 0. 0. 0. 1. ]] SLAMing on 0.681052754 meters Centerline goodness : 0.149218 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.13, Z:0.01 [[ 0.99795056 0.03299664 0.05482611 0.49521472] [-0.01723193 0.9637221 -0.26635086 0.1297167 ] [-0.06162581 0.26486023 0.9623156 0.01481896] [ 0. 0. 0. 1. ]] SLAMing on 0.741052754 meters Centerline goodness : 0.146613 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:0.01 [[ 0.99804702 0.03007065 0.05475312 0.54645142] [-0.01446139 0.96392335 -0.26578683 0.12325391] [-0.06077019 0.26447595 0.96247569 0.00864685] [ 0. 0. 0. 1. ]] SLAMing on 0.801052754 meters Centerline goodness : 0.146116 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.00 [[ 0.99837094 0.02690252 0.05031613 0.57880035] [-0.01266484 0.96435312 -0.26431545 0.11784576] [-0.05563327 0.26324762 0.96312285 0.00462404] [ 0. 0. 0. 1. ]] SLAMing on 0.861052754 meters Centerline goodness : 0.147568 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.01 [[ 0.99878528 0.02604053 0.04183131 0.64900252] [-0.01405241 0.9642232 -0.26471899 0.1006854 ] [-0.04722815 0.2638096 0.96341787 -0.00918356] [ 0. 0. 0. 1. ]] SLAMing on 0.921052754 meters Centerline goodness : 0.149559 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.02 [[ 0.99890118 0.02908608 0.0367483 0.70495458] [-0.01872963 0.96652539 -0.25588643 0.08492152] [-0.0429609 0.25491697 0.96600813 -0.02037454] [ 0. 0. 0. 1. ]] SLAMing on 0.981052754 meters Centerline goodness : 0.150218 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.08, Z:-0.02 [[ 0.99888312 0.03111694 0.0355562 0.72720173] [-0.02110056 0.96708809 -0.25356536 0.07714484] [-0.04227616 0.2525319 0.96666456 -0.02305367] [ 0. 0. 0. 1. ]] SLAMing on 1.041052754 meters Centerline goodness : 0.132041 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.04 [[ 0.99898527 0.03059529 0.0330508 0.78537894] [-0.02152746 0.96895818 -0.24628564 0.05609692] [-0.03956003 0.24532423 0.96863359 -0.03516414] [ 0. 0. 0. 1. ]] SLAMing on 1.1010527540000001 meters Centerline goodness : 0.129245 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.05 [[ 0.99916146 0.02376982 0.03333728 0.84373812] [-0.01511834 0.97087117 -0.23912467 0.03308034] [-0.03805015 0.23842015 0.97041641 -0.04756968] [ 0. 0. 0. 1. ]] SLAMing on 1.1610527540000002 meters Centerline goodness : 0.155717 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.06 [[ 0.99938457 0.01601948 0.03120683 0.89898739] [-0.00873359 0.97524879 -0.22093781 0.0117496 ] [-0.03397373 0.22052929 0.9747885 -0.05818251] [ 0. 0. 0. 1. ]] SLAMing on 1.2210527540000002 meters Centerline goodness : 0.154270 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.07 [[ 0.99948213 0.0124046 0.02969162 0.94689904] [-0.00595539 0.97807841 -0.20815177 -0.00950642] [-0.03162277 0.20786715 0.97764577 -0.06865651] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters Centerline goodness : 0.123534 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.03, Z:-0.07 [[ 0.99959719 0.01216464 0.02564132 0.98841208] [-0.00700141 0.98125608 -0.1925811 -0.02823639] [-0.02750338 0.192324 0.98094599 -0.07446419] [ 0. 0. 0. 1. ]] SLAMing on 1.3410527540000001 meters Centerline goodness : 0.146840 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.08 [[ 0.99960045 0.0134814 0.02484348 1.02318525] [-0.00883715 0.98392566 -0.17835973 -0.04523298] [-0.02684867 0.17806892 0.98365167 -0.07661757] [ 0. 0. 0. 1. ]] SLAMing on 1.4010527540000002 meters Centerline goodness : 0.804989 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.08 [[ 0.99971843 0.01689688 0.01666024 1.05548855] [-0.01409391 0.9876616 -0.15596768 -0.05333641] [-0.01909005 0.15568895 0.98762165 -0.08061648] [ 0. 0. 0. 1. ]] SLAMing on 1.4610527540000002 meters Centerline goodness : 0.177634 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:-0.08 [[ 0.99965037 0.02166017 0.01516476 1.08623823] [-0.01926588 0.98948936 -0.14331652 -0.0638777 ] [-0.01810963 0.14297425 0.98956071 -0.08047217] [ 0. 0. 0. 1. ]] SLAMing on 1.5210527540000003 meters Centerline goodness : 0.163404 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:-0.08 [[ 0.99967991 0.0183716 0.01739439 1.11353774] [-0.01600961 0.99172876 -0.12734895 -0.06856917] [-0.01959012 0.12702971 0.99170544 -0.08077793] [ 0. 0. 0. 1. ]] SLAMing on 1.5810527540000001 meters Centerline goodness : 0.819064 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:-0.08 [[ 0.99973712 0.01514398 0.01721493 1.14547413] [-0.01313607 0.99370042 -0.11129657 -0.06856632] [-0.01879196 0.11104118 0.99363812 -0.08246182] [ 0. 0. 0. 1. ]] SLAMing on 1.6410527540000002 meters Centerline goodness : 0.824805 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:-0.08 [[ 0.99983371 0.00685124 0.01690015 1.18076279] [-0.00514311 0.9950621 -0.099121 -0.06589674] [-0.0174958 0.09901759 0.99493186 -0.08447332] [ 0. 0. 0. 1. ]] SLAMing on 1.7010527540000002 meters Centerline goodness : 0.832340 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.06, Z:-0.09 [[ 0.99995803 -0.00506917 0.00763113 1.22265206] [ 0.00572321 0.99607921 -0.08828054 -0.05943114] [-0.00715371 0.08832051 0.99606642 -0.0860107 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7610527540000003 meters Centerline goodness : 0.238308 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.09 [[ 0.99976749 -0.02088012 0.00538405 1.26266831] [ 0.02124431 0.99656467 -0.08004715 -0.05568965] [-0.00369415 0.08014292 0.99677654 -0.0873981 ] [ 0. 0. 0. 1. ]] SLAMing on 1.821052754 meters Centerline goodness : 0.332641 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.05, Z:-0.09 [[ 0.99927063 -0.03658916 0.01092892 1.30181108] [ 0.03726649 0.99684768 -0.07004221 -0.05461003] [-0.00833168 0.07039841 0.99748416 -0.08740849] [ 0. 0. 0. 1. ]] SLAMing on 1.8810527540000002 meters Centerline goodness : 0.350075 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.09 [[ 0.99887437 -0.0463837 0.0099273 1.3396737 ] [ 0.04686321 0.9973709 -0.05527317 -0.05207856] [-0.00733742 0.05567618 0.99842192 -0.08764122] [ 0. 0. 0. 1. ]] SLAMing on 1.9410527540000002 meters Centerline goodness : 0.395507 with order 3 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:-0.08 [[ 0.99876123 -0.04892176 0.00909263 1.37942825] [ 0.04926995 0.99785397 -0.04312696 -0.05608426] [-0.00696327 0.04352153 0.99902822 -0.08483967] [ 0. 0. 0. 1. ]] SLAMing on 2.0010527540000003 meters Centerline goodness : 0.462103 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.08 [[ 0.99911826 -0.04137247 0.00714353 1.41515407] [ 0.0415407 0.99881714 -0.0252725 -0.055149 ] [-0.00608949 0.02554696 0.99965508 -0.08052589] [ 0. 0. 0. 1. ]] SLAMing on 2.061052754 meters Centerline goodness : 0.886944 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.05, Z:-0.08 [[ 0.99936994 -0.03480413 0.00695672 1.4511475 ] [ 0.03489364 0.99930399 -0.0131897 -0.04948707] [-0.00649282 0.01342413 0.99988881 -0.08195198] [ 0. 0. 0. 1. ]] SLAMing on 2.121052754 meters Centerline goodness : 0.885798 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:-0.08 [[ 9.99475612e-01 -3.23442110e-02 1.53419896e-03 1.47763172e+00] [ 3.23631078e-02 9.99370653e-01 -1.45233410e-02 -4.57900882e-02] [-1.06348741e-03 1.45653766e-02 9.99893354e-01 -8.49176551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181052754 meters Centerline goodness : 0.847752 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.08 [[ 0.99924617 -0.0387366 -0.00256218 1.52036034] [ 0.03871184 0.99920903 -0.00909449 -0.03978439] [ 0.00291244 0.00898844 0.99995536 -0.08395649] [ 0. 0. 0. 1. ]] SLAMing on 2.241052754 meters Centerline goodness : 0.857846 with order 3 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.08 [[ 9.99123261e-01 -4.18577512e-02 7.98549387e-04 1.56303046e+00] [ 4.18637441e-02 9.99070739e-01 -1.02511409e-02 -2.79011904e-02] [-3.68717621e-04 1.02755836e-02 9.99947137e-01 -8.17205133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.301052754 meters Centerline goodness : 0.896128 with order 2 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.02, Z:-0.08 [[ 0.99863063 -0.05137638 0.00986531 1.59781327] [ 0.05144568 0.99865193 -0.00690345 -0.01759565] [-0.00949734 0.00740152 0.99992751 -0.08104065] [ 0. 0. 0. 1. ]] SLAMing on 2.361052754 meters Centerline goodness : 0.916415 with order 2 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.00, Z:-0.08 [[ 0.99830011 -0.05784483 0.00713174 1.63996066] [ 0.05786274 0.99832183 -0.00233095 -0.00487355] [-0.00698494 0.00273965 0.99997185 -0.0826874 ] [ 0. 0. 0. 1. ]] SLAMing on 2.421052754 meters Centerline goodness : 0.913803 with order 2 Centerline is valid? [False, False] Translation: X:1.69, Y:0.01, Z:-0.09 [[ 0.99777587 -0.06659262 -0.00295557 1.68741268] [ 0.06657852 0.99777042 -0.00463617 0.00730523] [ 0.00325772 0.00442908 0.99998489 -0.08854046] [ 0. 0. 0. 1. ]] SLAMing on 2.4810527540000002 meters Centerline goodness : 0.921390 with order 2 Centerline is valid? [False, False] Translation: X:1.73, Y:0.02, Z:-0.09 [[ 0.99710809 -0.07572645 -0.0064008 1.73044894] [ 0.07570507 0.99712404 -0.00352015 0.02087853] [ 0.00664896 0.00302539 0.99997332 -0.0902636 ] [ 0. 0. 0. 1. ]] SLAMing on 2.541052754 meters Centerline goodness : 0.934438 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.04, Z:-0.09 [[ 9.97056653e-01 -7.66673185e-02 -3.91638987e-04 1.77321438e+00] [ 7.66645638e-02 9.97045368e-01 -4.80407958e-03 3.97407324e-02] [ 7.58797738e-04 4.75991468e-03 9.99988384e-01 -9.10349951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601052754 meters Centerline goodness : 0.942654 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.06, Z:-0.09 [[ 0.997486 -0.07082426 0.00236578 1.81279208] [ 0.07083743 0.99746955 -0.00604676 0.05703067] [-0.00193154 0.00619915 0.99997892 -0.09318279] [ 0. 0. 0. 1. ]] SLAMing on 2.661052754 meters Centerline goodness : 0.949622 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.08, Z:-0.10 [[ 0.99773358 -0.06721964 -0.00303787 1.87303136] [ 0.06718944 0.99769838 -0.00913886 0.08110191] [ 0.00364518 0.00891404 0.99995363 -0.09674641] [ 0. 0. 0. 1. ]] SLAMing on 2.721052754 meters Centerline goodness : 0.957436 with order 1 Centerline is valid? [False, True] Translation: X:1.92, Y:0.10, Z:-0.10 [[ 9.97372981e-01 -7.24273393e-02 1.19044791e-03 1.92040725e+00] [ 7.24352620e-02 9.97330450e-01 -9.22535584e-03 9.83403120e-02] [-5.19101969e-04 9.28735106e-03 9.99956737e-01 -9.76076528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.781052754 meters Centerline goodness : 0.965226 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:0.10, Z:-0.07 [[ 9.96250371e-01 -8.65123537e-02 9.00647256e-04 1.98065671e+00] [ 8.65123634e-02 9.96250777e-01 2.82099857e-05 1.00134216e-01] [-8.99711040e-04 4.98129140e-05 9.99999594e-01 -7.43308566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.841052754 meters Centerline goodness : 0.972073 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:0.11, Z:-0.06 [[ 9.96228099e-01 -8.67684436e-02 9.00647069e-04 2.03947787e+00] [ 8.67684535e-02 9.96228505e-01 2.82159314e-05 1.13674319e-01] [-8.99698536e-04 5.00382496e-05 9.99999594e-01 -6.03046616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.901052754 meters Centerline goodness : 0.975553 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:0.12, Z:-0.08 [[ 9.96736495e-01 -8.07189453e-02 9.00640562e-04 2.09926367e+00] [ 8.07189525e-02 9.96736901e-01 2.84221344e-05 1.16434989e-01] [-8.99995887e-04 4.43693841e-05 9.99999594e-01 -8.05029661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9610527540000002 meters Centerline goodness : 0.979089 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:0.13, Z:-0.07 [[ 9.96364592e-01 -8.51867846e-02 9.00640470e-04 2.15961889e+00] [ 8.51867936e-02 9.96364998e-01 2.84250571e-05 1.25830504e-01] [-8.99788079e-04 4.84009534e-05 9.99999594e-01 -7.00434419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0210527540000003 meters Centerline goodness : 0.983575 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:0.13, Z:-0.05 [[ 9.95843519e-01 -9.10761978e-02 9.00640315e-04 2.22017419e+00] [ 9.10762092e-02 9.95843925e-01 2.84299500e-05 1.30333090e-01] [-8.99486479e-04 5.37151243e-05 9.99999594e-01 -5.31473798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081052754 meters Centerline goodness : 0.987395 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:0.13, Z:-0.04 [[ 9.95255863e-01 -9.72880062e-02 9.00640103e-04 2.28074796e+00] [ 9.72880202e-02 9.95256269e-01 2.84366618e-05 1.32766048e-01] [-8.99134255e-04 5.93197381e-05 9.99999594e-01 -3.78076776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141052754 meters Centerline goodness : 0.990550 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:0.13, Z:-0.04 [[ 9.95053971e-01 -9.93316861e-02 9.00639874e-04 2.33845366e+00] [ 9.93317009e-02 9.95054377e-01 2.84439291e-05 1.28662833e-01] [-8.99011032e-04 6.11588459e-05 9.99999594e-01 -4.07614833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.201052754 meters Centerline goodness : 0.992374 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:0.13, Z:-0.04 [[ 9.94660795e-01 -1.03194433e-01 9.00633545e-04 2.39655747e+00] [ 1.03194449e-01 9.94661201e-01 2.86429205e-05 1.25400923e-01] [-8.98781034e-04 6.44503928e-05 9.99999594e-01 -3.84239391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.261052754 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:0.12, Z:-0.05 [[ 9.94544762e-01 -1.04306789e-01 9.00631302e-04 2.45732854e+00] [ 1.04306805e-01 9.94545167e-01 2.87132831e-05 1.21766352e-01] [-8.98713499e-04 6.53853287e-05 9.99999594e-01 -4.53215785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.321052754 meters Centerline goodness : 0.994886 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:0.12, Z:-0.04 [[ 9.94244902e-01 -1.07127321e-01 9.00631820e-04 2.51812464e+00] [ 1.07127339e-01 9.94245308e-01 2.86970453e-05 1.17930871e-01] [-8.98523198e-04 6.79503994e-05 9.99999594e-01 -3.88952016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.381052754 meters Centerline goodness : 0.996847 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:0.11, Z:-0.04 [[ 9.92860811e-01 -1.19275310e-01 9.00631608e-04 2.57802786e+00] [ 1.19275332e-01 9.92861216e-01 2.87036743e-05 1.05934479e-01] [-8.97625833e-04 7.89243809e-05 9.99999594e-01 -4.02867151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.441052754 meters Centerline goodness : 0.998074 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:0.10, Z:-0.05 [[ 9.91129935e-01 -1.32893344e-01 9.00630776e-04 2.63700174e+00] [ 1.32893373e-01 9.91130340e-01 2.87297679e-05 1.03588176e-01] [-8.96460482e-04 9.12129282e-05 9.99999594e-01 -4.76851511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5010527540000003 meters Centerline goodness : 0.998470 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:0.10, Z:-0.04 [[ 9.89012778e-01 -1.47827314e-01 9.00630346e-04 2.69691088e+00] [ 1.47827348e-01 9.89013182e-01 2.87432455e-05 1.01935300e-01] [-8.94984321e-04 1.04710359e-04 9.99999594e-01 -3.79226798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5610527540000003 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:0.11, Z:-0.04 [[ 9.87556566e-01 -1.57261624e-01 9.00629820e-04 2.75680806e+00] [ 1.57261662e-01 9.87556970e-01 2.87597021e-05 1.09138432e-01] [-8.93946054e-04 1.13232710e-04 9.99999594e-01 -4.07219602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.621052754 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:0.11, Z:-0.05 [[ 9.86106371e-01 -1.66112656e-01 9.00630122e-04 2.81681638e+00] [ 1.66112698e-01 9.86106775e-01 2.87502373e-05 1.13449430e-01] [-8.92893243e-04 1.21255307e-04 9.99999594e-01 -5.03778693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.681052754 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:0.12, Z:-0.03 [[ 9.84069344e-01 -1.77782777e-01 9.00629561e-04 2.87737155e+00] [ 1.77782824e-01 9.84069747e-01 2.87678220e-05 1.16920023e-01] [-8.91396727e-04 1.31806935e-04 9.99999594e-01 -2.58544029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.741052754 meters Centerline goodness : 0.997353 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:0.12, Z:-0.01 [[ 9.83118110e-01 -1.82969861e-01 9.00629045e-04 2.93731226e+00] [ 1.82969910e-01 9.83118513e-01 2.87839555e-05 1.15403242e-01] [-8.90691684e-04 1.36489987e-04 9.99999594e-01 -5.98700612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.801052754 meters Centerline goodness : 0.996302 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:0.12, Z:0.00 [[ 9.82677019e-01 -1.85324216e-01 9.00628482e-04 2.99547072e+00] [ 1.85324265e-01 9.82677422e-01 2.88015577e-05 1.20247259e-01] [-8.90364901e-04 1.38605683e-04 9.99999594e-01 2.15776219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.861052754 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:3.05, Y:0.13, Z:0.01 [[ 9.84769851e-01 -1.73860659e-01 9.00625921e-04 3.05484480e+00] [ 1.73860703e-01 9.84770255e-01 2.88814239e-05 1.31635354e-01] [-8.91930961e-04 1.28141901e-04 9.99999594e-01 8.97233670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.921052754 meters Centerline goodness : 0.995387 with order 1 Centerline is valid? [True, True] Translation: X:3.11, Y:0.14, Z:0.01 [[ 9.87166355e-01 -1.59692754e-01 9.00624829e-04 3.11397823e+00] [ 1.59692793e-01 9.87166759e-01 2.89154257e-05 1.37592784e-01] [-8.93684478e-04 1.15278959e-04 9.99999594e-01 7.97652343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9810527540000002 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:3.17, Y:0.14, Z:0.01 [[ 9.88326231e-01 -1.52349762e-01 9.00618754e-04 3.17303881e+00] [ 1.52349798e-01 9.88326635e-01 2.91034348e-05 1.41783486e-01] [-8.94539404e-04 1.08445397e-04 9.99999594e-01 8.53064940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.041052754000001 meters Centerline goodness : 0.996550 with order 1 Centerline is valid? [True, True] Translation: X:3.23, Y:0.14, Z:0.01 [[ 9.88664761e-01 -1.50137199e-01 9.00612268e-04 3.23112883e+00] [ 1.50137233e-01 9.88665166e-01 2.93027828e-05 1.39238158e-01] [-8.94803415e-04 1.06244805e-04 9.99999594e-01 1.06773456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.101052754 meters Centerline goodness : 0.996631 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:0.14, Z:0.01 [[ 9.87870732e-01 -1.55275905e-01 9.00608850e-04 3.28892627e+00] [ 1.55275942e-01 9.87871136e-01 2.94074561e-05 1.36198255e-01] [-8.94251757e-04 1.10792122e-04 9.99999594e-01 5.17633688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161052754000001 meters Centerline goodness : 0.996989 with order 1 Centerline is valid? [True, True] Translation: X:3.35, Y:0.13, Z:0.00 [[ 9.87567360e-01 -1.57193823e-01 9.00606582e-04 3.34702769e+00] [ 1.57193860e-01 9.87567764e-01 2.94767415e-05 1.28961242e-01] [-8.94043591e-04 1.12459558e-04 9.99999594e-01 4.67411168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2210527540000005 meters Centerline goodness : 0.996361 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:0.13, Z:0.00 [[ 9.87165179e-01 -1.59700025e-01 9.00604342e-04 3.40582974e+00] [ 1.59700063e-01 9.87165583e-01 2.95450326e-05 1.29510409e-01] [-8.93763953e-04 1.14660743e-04 9.99999594e-01 2.60027573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281052754000001 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:3.47, Y:0.13, Z:0.03 [[ 9.87734203e-01 -1.56142029e-01 9.00601089e-04 3.46577040e+00] [ 1.56142065e-01 9.87734607e-01 2.96438518e-05 1.26053929e-01] [-8.94183514e-04 1.11341468e-04 9.99999594e-01 2.97912727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341052754000001 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:0.13, Z:0.04 [[ 9.86815585e-01 -1.61846195e-01 9.00600338e-04 3.52525792e+00] [ 1.61846234e-01 9.86815989e-01 2.96666415e-05 1.28041581e-01] [-8.93528246e-04 1.16483269e-04 9.99999594e-01 4.39395867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401052754000001 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:3.58, Y:0.13, Z:0.02 [[ 9.84847784e-01 -1.73418657e-01 9.00599588e-04 3.58327794e+00] [ 1.73418701e-01 9.84848188e-01 2.96894134e-05 1.30262873e-01] [-8.92102570e-04 1.26941257e-04 9.99999594e-01 2.33686385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461052754000001 meters Centerline goodness : 0.998391 with order 1 Centerline is valid? [True, True] Translation: X:3.64, Y:0.14, Z:0.03 [[ 9.85226695e-01 -1.71252878e-01 9.00597108e-04 3.64147899e+00] [ 1.71252921e-01 9.85227099e-01 2.97644300e-05 1.35885555e-01] [-8.92389921e-04 1.24905174e-04 9.99999594e-01 3.14875990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521052754 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:0.15, Z:0.05 [[ 9.87871653e-01 -1.55270043e-01 9.00588868e-04 3.70017504e+00] [ 1.55270079e-01 9.87872057e-01 3.00116985e-05 1.47670142e-01] [-8.94326496e-04 1.10186799e-04 9.99999594e-01 4.63835186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581052754000001 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:0.15, Z:0.05 [[ 9.91186558e-01 -1.32470362e-01 9.00581745e-04 3.75813314e+00] [ 1.32470389e-01 9.91186963e-01 3.02239563e-05 1.53009456e-01] [-8.96648663e-04 8.93428350e-05 9.99999594e-01 4.63414694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641052754 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:0.15, Z:0.05 [[ 9.93018873e-01 -1.17952140e-01 9.00573703e-04 3.81636888e+00] [ 1.17952160e-01 9.93019278e-01 3.04616986e-05 1.53870598e-01] [-8.97880071e-04 7.59755721e-05 9.99999594e-01 4.79266738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.701052754000001 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:0.16, Z:0.05 [[ 9.94019853e-01 -1.09195792e-01 9.00565559e-04 3.87443001e+00] [ 1.09195808e-01 9.94020259e-01 3.07005881e-05 1.55468433e-01] [-8.98532785e-04 6.78209902e-05 9.99999594e-01 4.60704295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7610527540000005 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:0.15, Z:0.04 [[ 9.95202952e-01 -9.78277787e-02 9.00563048e-04 3.93353362e+00] [ 9.78277907e-02 9.95203357e-01 3.07740697e-05 1.50513689e-01] [-8.99253928e-04 5.74736485e-05 9.99999594e-01 4.20237048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821052754000001 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:3.99, Y:0.15, Z:0.04 [[ 9.95489513e-01 -9.48673772e-02 9.00555599e-04 3.99072882e+00] [ 9.48673879e-02 9.95489918e-01 3.09905303e-05 1.49859936e-01] [-8.99434011e-04 5.45826094e-05 9.99999594e-01 4.09969348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.881052754000001 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:4.05, Y:0.15, Z:0.04 [[ 9.96154790e-01 -8.76060736e-02 9.00551942e-04 4.05018874e+00] [ 8.76060812e-02 9.96155196e-01 3.10964542e-05 1.46174709e-01] [-8.99813734e-04 4.79169447e-05 9.99999594e-01 4.09449613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754000001 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:4.11, Y:0.14, Z:0.04 [[ 9.96502710e-01 -8.35555937e-02 9.00544955e-04 4.10847349e+00] [ 8.35555994e-02 9.96503116e-01 3.12974871e-05 1.35265064e-01] [-9.00010934e-04 4.40575428e-05 9.99999594e-01 3.74172127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001052754000001 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:0.13, Z:0.04 [[ 9.96771491e-01 -8.02856442e-02 9.00541297e-04 4.16708513e+00] [ 8.02856485e-02 9.96771897e-01 3.14023860e-05 1.27931575e-01] [-9.00155418e-04 4.09995389e-05 9.99999594e-01 3.70093750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061052754 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:4.23, Y:0.11, Z:0.05 [[ 9.96789951e-01 -8.00561190e-02 9.00538860e-04 4.22681611e+00] [ 8.00561232e-02 9.96790357e-01 3.14721267e-05 1.09218083e-01] [-9.00167988e-04 4.07225503e-05 9.99999594e-01 4.59217652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121052754000001 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:0.11, Z:0.05 [[ 9.96766418e-01 -8.03485989e-02 9.00531688e-04 4.28510447e+00] [ 8.03486030e-02 9.96766824e-01 3.16760122e-05 1.05525059e-01] [-9.00165234e-04 4.07828779e-05 9.99999594e-01 4.77155672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.181052754 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:4.34, Y:0.10, Z:0.05 [[ 9.96552301e-01 -8.29620444e-02 9.00522939e-04 4.34272788e+00] [ 8.29620494e-02 9.96552707e-01 3.19228204e-05 9.79539661e-02] [-9.00066955e-04 4.28964685e-05 9.99999594e-01 4.97935665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241052754000001 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:4.40, Y:0.09, Z:0.06 [[ 9.95678973e-01 -9.28578071e-02 9.00517003e-04 4.40065942e+00] [ 9.28578159e-02 9.95679379e-01 3.20894027e-05 9.48120924e-02] [-8.99605962e-04 5.16692985e-05 9.99999594e-01 5.60905507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3010527540000005 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:4.46, Y:0.09, Z:0.06 [[ 9.94211350e-01 -1.07438260e-01 9.00508370e-04 4.45820565e+00] [ 1.07438275e-01 9.94211756e-01 3.23298557e-05 9.45718796e-02] [-8.98769472e-04 6.46063560e-05 9.99999594e-01 5.50442403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361052754000001 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:0.10, Z:0.06 [[ 9.94083082e-01 -1.08618671e-01 9.00505723e-04 4.51644381e+00] [ 1.08618686e-01 9.94083487e-01 3.24034243e-05 9.77044351e-02] [-8.98697487e-04 6.56000521e-05 9.99999594e-01 6.01489183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421052754000001 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:4.57, Y:0.10, Z:0.06 [[ 9.94568850e-01 -1.04076859e-01 9.00497280e-04 4.57291271e+00] [ 1.04076872e-01 9.94569255e-01 3.26363939e-05 1.04737066e-01] [-8.99003602e-04 6.12617993e-05 9.99999594e-01 6.42482842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481052754000001 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:4.63, Y:0.11, Z:0.06 [[ 9.94949195e-01 -1.00375733e-01 9.00493631e-04 4.63093653e+00] [ 1.00375744e-01 9.94949601e-01 3.27367610e-05 1.12802604e-01] [-8.99231755e-04 5.78163041e-05 9.99999594e-01 6.42842300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541052754000001 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:4.69, Y:0.12, Z:0.06 [[ 9.95258095e-01 -9.72651684e-02 9.00484816e-04 4.68844297e+00] [ 9.72651782e-02 9.95258501e-01 3.29774584e-05 1.17591484e-01] [-8.99422726e-04 5.47647338e-05 9.99999594e-01 6.37333032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601052754 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:4.75, Y:0.12, Z:0.06 [[ 9.95390961e-01 -9.58958967e-02 9.00475734e-04 4.74683609e+00] [ 9.58959057e-02 9.95391367e-01 3.32236093e-05 1.17465504e-01] [-8.99511780e-04 5.32814557e-05 9.99999594e-01 6.20006570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754000001 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:0.12, Z:0.06 [[ 9.95452574e-01 -9.52541989e-02 9.00466750e-04 4.80457710e+00] [ 9.52542075e-02 9.95452980e-01 3.34653405e-05 1.17656473e-01] [-8.99560024e-04 5.24600873e-05 9.99999594e-01 5.89964197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:0.11, Z:0.06 [[ 9.95234870e-01 -9.75025288e-02 9.00457826e-04 4.86240280e+00] [ 9.75025380e-02 9.95235276e-01 3.37037635e-05 1.11329742e-01] [-8.99453595e-04 5.42537628e-05 9.99999594e-01 5.90433376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754000001 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:0.11, Z:0.06 [[ 9.95069635e-01 -9.91746437e-02 9.00455072e-04 4.92012782e+00] [ 9.91746536e-02 9.95070041e-01 3.37771798e-05 1.13061348e-01] [-8.99365706e-04 5.56916739e-05 9.99999594e-01 6.12148744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841052754000001 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:0.11, Z:0.06 [[ 9.94318310e-01 -1.06443824e-01 9.00446295e-04 4.97788167e+00] [ 1.06443837e-01 9.94318716e-01 3.40095621e-05 1.13913077e-01] [-8.98950712e-04 6.20306284e-05 9.99999594e-01 6.20148315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901052754000001 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:0.12, Z:0.06 [[ 9.93595326e-01 -1.12993437e-01 9.00443593e-04 5.03663350e+00] [ 1.12993452e-01 9.93595732e-01 3.40809590e-05 1.20327592e-01] [-8.98527836e-04 6.78815485e-05 9.99999594e-01 6.41578530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961052754000001 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:5.09, Y:0.12, Z:0.06 [[ 9.93774582e-01 -1.11405875e-01 9.00436044e-04 5.09462418e+00] [ 1.11405889e-01 9.93774988e-01 3.42792701e-05 1.24814176e-01] [-8.98649730e-04 6.62480109e-05 9.99999594e-01 5.83359860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021052754000001 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:5.15, Y:0.12, Z:0.06 [[ 9.94480310e-01 -1.04919501e-01 9.00432079e-04 5.15362096e+00] [ 1.04919512e-01 9.94480716e-01 3.43831015e-05 1.19491380e-01] [-8.99069796e-04 6.02795773e-05 9.99999594e-01 5.60823666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081052754000001 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:5.21, Y:0.11, Z:0.05 [[ 9.95534356e-01 -9.43956332e-02 9.00424432e-04 5.21237489e+00] [ 9.43956404e-02 9.95534762e-01 3.45822072e-05 1.11317114e-01] [-8.99668231e-04 5.05683655e-05 9.99999594e-01 5.12721442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:5.27, Y:0.10, Z:0.05 [[ 9.96604280e-01 -8.23352749e-02 9.00416851e-04 5.27201839e+00] [ 8.23352770e-02 9.96604686e-01 3.47784693e-05 1.01773402e-01] [-9.00223148e-04 3.94756995e-05 9.99999594e-01 5.05146546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754000001 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:5.33, Y:0.09, Z:0.05 [[ 9.97543816e-01 -7.00394455e-02 9.00409270e-04 5.33103913e+00] [ 7.00394424e-02 9.97544222e-01 3.49736458e-05 8.55926750e-02] [-9.00647600e-04 2.81764191e-05 9.99999594e-01 5.34423742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:0.07, Z:0.05 [[ 9.97859791e-01 -6.53836929e-02 9.00406580e-04 5.38978289e+00] [ 6.53836878e-02 9.97860197e-01 3.50427784e-05 7.29174551e-02] [-9.00771113e-04 2.39041232e-05 9.99999594e-01 5.33677419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754000001 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:0.06, Z:0.05 [[ 9.97907793e-01 -6.46469407e-02 9.00397396e-04 5.44798987e+00] [ 6.46469351e-02 9.97908198e-01 3.52771699e-05 6.41075960e-02] [-9.00794505e-04 2.30045693e-05 9.99999594e-01 5.39722341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754000001 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:0.05, Z:0.06 [[ 9.97993721e-01 -6.33065670e-02 9.00394563e-04 5.50730744e+00] [ 6.33065608e-02 9.97994127e-01 3.53493228e-05 5.49953148e-02] [-9.00826331e-04 2.17224810e-05 9.99999594e-01 5.73705965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754000001 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:0.04, Z:0.05 [[ 9.97749939e-01 -6.70391586e-02 9.00386648e-04 5.56694933e+00] [ 6.70391538e-02 9.97750345e-01 3.55497914e-05 4.17571752e-02] [-9.00744317e-04 2.48913568e-05 9.99999594e-01 5.15096640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754000001 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:0.03, Z:0.05 [[ 9.96791854e-01 -8.00324222e-02 9.00378715e-04 5.62576122e+00] [ 8.00324225e-02 9.96792260e-01 3.57496104e-05 2.57296044e-02] [-9.00351662e-04 3.64245693e-05 9.99999594e-01 5.33318186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754000001 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.01, Z:0.06 [[ 9.95991790e-01 -8.94401700e-02 9.00375922e-04 5.68442693e+00] [ 8.94401741e-02 9.95992196e-01 3.58198112e-05 1.34961385e-02] [-8.99971121e-04 4.48535413e-05 9.99999594e-01 5.50434214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.01, Z:0.07 [[ 9.95138079e-01 -9.84854954e-02 9.00367120e-04 5.74484556e+00] [ 9.84855030e-02 9.95138485e-01 3.60397081e-05 -1.29277332e-02] [-8.99539360e-04 5.28086228e-05 9.99999594e-01 6.71247365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.02, Z:0.07 [[ 9.95909512e-01 -9.03517181e-02 9.00358261e-04 5.80352516e+00] [ 9.03517221e-02 9.95909918e-01 3.62596811e-05 -1.62779176e-02] [-8.99951846e-04 4.52375581e-05 9.99999594e-01 6.70053831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754000001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.01, Z:0.06 [[ 9.95907329e-01 -9.03757771e-02 9.00348086e-04 5.86177584e+00] [ 9.03757810e-02 9.95907735e-01 3.65105896e-05 -1.20345004e-02] [-8.99963296e-04 4.50084976e-05 9.99999594e-01 6.48696971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8010527540000005 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.01, Z:0.07 [[ 9.95856339e-01 -9.09359206e-02 9.00337967e-04 5.91925750e+00] [ 9.09359244e-02 9.95856745e-01 3.67584521e-05 -1.47550681e-02] [-8.99950300e-04 4.52669277e-05 9.99999594e-01 6.57217681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754000001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.01, Z:0.06 [[ 9.95718592e-01 -9.24319995e-02 9.00333237e-04 5.97838267e+00] [ 9.24320039e-02 9.95718998e-01 3.68739294e-05 -1.43488567e-02] [-8.99887240e-04 4.65035481e-05 9.99999594e-01 6.25555587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.01, Z:0.06 [[ 9.95068821e-01 -9.91828190e-02 9.00323817e-04 6.03578277e+00] [ 9.91828258e-02 9.95069227e-01 3.71025290e-05 -1.11875060e-02] [-8.99564457e-04 5.23770906e-05 9.99999594e-01 5.84070015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754000001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.01, Z:0.06 [[ 9.94001453e-01 -1.09363160e-01 9.00320483e-04 6.09531884e+00] [ 1.09363171e-01 9.94001859e-01 3.71832356e-05 -1.39783906e-02] [-8.98986710e-04 6.15017127e-05 9.99999594e-01 6.33033721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754000001 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.00, Z:0.06 [[ 9.94703506e-01 -1.02781928e-01 9.00311349e-04 6.15323843e+00] [ 1.02781936e-01 9.94703912e-01 3.74030982e-05 -3.04649508e-03] [-8.99387583e-04 5.53307506e-05 9.99999594e-01 6.41194417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754000001 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:6.21, Y:0.00, Z:0.07 [[ 9.95788522e-01 -9.16755647e-02 9.00300845e-04 6.21141672e+00] [ 9.16755680e-02 9.95788928e-01 3.76542386e-05 2.48295546e-03] [-8.99961587e-04 4.50399327e-05 9.99999594e-01 6.64946833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754000001 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:0.01, Z:0.07 [[ 9.96223791e-01 -8.68178969e-02 9.00293698e-04 6.26898457e+00] [ 8.68178981e-02 9.96224197e-01 3.78243674e-05 7.14807696e-03] [-9.00178198e-04 4.04800718e-05 9.99999594e-01 6.87056816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2210527540000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.33, Y:0.01, Z:0.07 [[ 9.96503752e-01 -8.35431758e-02 9.00282058e-04 6.32737958e+00] [ 8.35431754e-02 9.96504158e-01 3.80994135e-05 9.05221240e-03] [-9.00317760e-04 3.72462134e-05 9.99999594e-01 6.70093806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754000001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.00, Z:0.06 [[ 9.96361271e-01 -8.52256202e-02 9.00271587e-04 6.38558816e+00] [ 8.52256202e-02 9.96361677e-01 3.83452466e-05 -6.82732020e-04] [-9.00264106e-04 3.85204857e-05 9.99999594e-01 6.40446429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.01, Z:0.06 [[ 9.96459679e-01 -8.40672263e-02 9.00260712e-04 6.44521059e+00] [ 8.40672257e-02 9.96460085e-01 3.85988929e-05 -1.18156655e-02] [-9.00318767e-04 3.72201800e-05 9.99999594e-01 6.23498869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.02, Z:0.06 [[ 9.97001083e-01 -7.73823578e-02 9.00250949e-04 6.50394946e+00] [ 7.73823542e-02 9.97001489e-01 3.88252782e-05 -2.11133052e-02] [-9.00555928e-04 3.09546934e-05 9.99999594e-01 5.83574398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.03, Z:0.06 [[ 9.97317287e-01 -7.31943947e-02 9.00247514e-04 6.56272048e+00] [ 7.31943893e-02 9.97317693e-01 3.89047473e-05 -3.28251223e-02] [-9.00680383e-04 2.70926901e-05 9.99999594e-01 6.25162803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.04, Z:0.07 [[ 9.97076555e-01 -7.64037458e-02 9.00244385e-04 6.62126538e+00] [ 7.64037417e-02 9.97076961e-01 3.89770313e-05 -3.72454041e-02] [-9.00590927e-04 2.99189554e-05 9.99999594e-01 7.08884551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.04, Z:0.07 [[ 9.96470198e-01 -8.39424486e-02 9.00240859e-04 6.67938705e+00] [ 8.39424475e-02 9.96470604e-01 3.90582955e-05 -4.35814537e-02] [-9.00342201e-04 3.66479936e-05 9.99999594e-01 7.48338611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.05, Z:0.08 [[ 9.96373760e-01 -8.50794937e-02 9.00229646e-04 6.73729334e+00] [ 8.50794928e-02 9.96374166e-01 3.93150417e-05 -4.94723909e-02] [-9.00310467e-04 3.74186058e-05 9.99999594e-01 7.74141033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754000001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.05, Z:0.08 [[ 9.96887454e-01 -7.88326948e-02 9.00226200e-04 6.79622374e+00] [ 7.88326913e-02 9.96887860e-01 3.93937981e-05 -5.11886044e-02] [-9.00530089e-04 3.16960710e-05 9.99999594e-01 7.61131811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7610527540000005 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.06, Z:0.08 [[ 9.97248081e-01 -7.41313345e-02 9.00216470e-04 6.85472358e+00] [ 7.41313289e-02 9.97248487e-01 3.96149157e-05 -5.93403744e-02] [-9.00676219e-04 2.72283445e-05 9.99999594e-01 7.67126962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821052754000001 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.07, Z:0.07 [[ 9.97197650e-01 -7.48066615e-02 9.00212388e-04 6.91402038e+00] [ 7.48066561e-02 9.97198056e-01 3.97074484e-05 -6.74295918e-02] [-9.00660425e-04 2.77457043e-05 9.99999594e-01 7.46182219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881052754000001 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.08, Z:0.07 [[ 9.96848076e-01 -7.93290794e-02 9.00200414e-04 6.97208378e+00] [ 7.93290756e-02 9.96848482e-01 3.99770744e-05 -7.75964770e-02] [-9.00534761e-04 3.15609970e-05 9.99999594e-01 7.10433308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941052754000001 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.09, Z:0.09 [[ 9.96134411e-01 -8.78374867e-02 9.00195804e-04 7.03286500e+00] [ 8.78374862e-02 9.96134817e-01 4.00806134e-05 -9.20483647e-02] [-9.00236963e-04 3.91452583e-05 9.99999594e-01 9.12500369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.10, Z:0.09 [[ 9.95690520e-01 -9.27339067e-02 9.00193884e-04 7.09321052e+00] [ 9.27339083e-02 9.95690926e-01 4.01236833e-05 -1.03330040e-01] [-9.00035709e-04 4.35277260e-05 9.99999594e-01 8.55148981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061052754 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.11, Z:0.09 [[ 9.95797947e-01 -9.15731350e-02 9.00193148e-04 7.15397482e+00] [ 9.15731360e-02 9.95798353e-01 4.01402096e-05 -1.07888676e-01] [-9.00086618e-04 4.24619713e-05 9.99999594e-01 8.92035209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121052754 meters Centerline goodness : 0.994706 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.11, Z:0.08 [[ 9.95559713e-01 -9.41278220e-02 9.00192482e-04 7.21330527e+00] [ 9.41278241e-02 9.95560119e-01 4.01551326e-05 -1.10988895e-01] [-8.99975450e-04 4.47563273e-05 9.99999594e-01 8.09708163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.11, Z:0.08 [[ 9.96057357e-01 -8.87069997e-02 9.00191232e-04 7.27128884e+00] [ 8.87069995e-02 9.96057763e-01 4.01831271e-05 -1.13056260e-01] [-9.00206989e-04 3.98285638e-05 9.99999594e-01 7.90357899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052754 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.12, Z:0.08 [[ 9.96544930e-01 -8.30505413e-02 9.00184996e-04 7.33104474e+00] [ 8.30505387e-02 9.96545336e-01 4.03223588e-05 -1.16511667e-01] [-9.00423952e-04 3.45778065e-05 9.99999594e-01 7.51763325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301052754 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.12, Z:0.08 [[ 9.96876233e-01 -7.89744640e-02 9.00174068e-04 7.39036040e+00] [ 7.89744595e-02 9.96876639e-01 4.05648562e-05 -1.20488836e-01] [-9.00566087e-04 3.06526195e-05 9.99999594e-01 8.35976705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361052754 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.13, Z:0.08 [[ 9.97331964e-01 -7.29941379e-02 9.00170893e-04 7.45007010e+00] [ 7.29941310e-02 9.97332369e-01 4.06351930e-05 -1.29670261e-01] [-9.00735700e-04 2.51804152e-05 9.99999594e-01 7.88093273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.13, Z:0.09 [[ 9.97608650e-01 -6.91098543e-02 9.00160294e-04 7.50818489e+00] [ 6.91098456e-02 9.97609055e-01 4.08686452e-05 -1.26884336e-01] [-9.00832486e-04 2.14390250e-05 9.99999594e-01 8.99852197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052754 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.12, Z:0.09 [[ 9.97880692e-01 -6.50639215e-02 9.00157029e-04 7.56760924e+00] [ 6.50639111e-02 9.97881098e-01 4.09404129e-05 -1.21900982e-01] [-9.00913429e-04 1.77140893e-05 9.99999594e-01 8.67852369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052754 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.11, Z:0.08 [[ 9.97677123e-01 -6.81142313e-02 9.00155588e-04 7.62606784e+00] [ 6.81142220e-02 9.97677529e-01 4.09720787e-05 -1.14490319e-01] [-9.00855784e-04 2.04364921e-05 9.99999594e-01 8.32763596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.11, Z:0.09 [[ 9.97535851e-01 -7.01528040e-02 9.00146140e-04 7.68378834e+00] [ 7.01527954e-02 9.97536257e-01 4.11786028e-05 -1.12582441e-01] [-9.00817206e-04 2.20706354e-05 9.99999594e-01 8.64304208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.11, Z:0.09 [[ 9.97171581e-01 -7.51533619e-02 9.00142502e-04 7.74247600e+00] [ 7.51533553e-02 9.97171987e-01 4.12579886e-05 -1.07767945e-01] [-9.00697564e-04 2.65074356e-05 9.99999594e-01 8.71391812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052754 meters Centerline goodness : 0.997172 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.11, Z:0.08 [[ 9.96512407e-01 -8.34398778e-02 9.00131341e-04 7.79991058e+00] [ 8.34398743e-02 9.96512813e-01 4.15000674e-05 -1.05454456e-01] [-9.00455175e-04 3.37515140e-05 9.99999594e-01 7.60400041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781052754000001 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.10, Z:0.08 [[ 9.95760046e-01 -9.19843505e-02 9.00124975e-04 7.85844161e+00] [ 9.19843504e-02 9.95760452e-01 4.16376882e-05 -1.00989481e-01] [-9.00138867e-04 4.13362648e-05 9.99999594e-01 8.42143138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.10, Z:0.08 [[ 9.95442998e-01 -9.53542216e-02 9.00112045e-04 7.91711380e+00] [ 9.53542226e-02 9.95443404e-01 4.19153523e-05 -9.84732806e-02] [-9.00007404e-04 4.41051404e-05 9.99999594e-01 7.86832706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901052754 meters Centerline goodness : 0.996141 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.09, Z:0.08 [[ 9.95284807e-01 -9.69914541e-02 9.00100410e-04 7.97585011e+00] [ 9.69914556e-02 9.95285213e-01 4.21637283e-05 -9.35724529e-02] [-8.99946150e-04 4.53371307e-05 9.99999594e-01 7.64604721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961052754 meters Centerline goodness : 0.998111 with order 1 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.09, Z:0.08 [[ 9.95609761e-01 -9.35969713e-02 9.00087593e-04 8.03403273e+00] [ 9.35969711e-02 9.95610167e-01 4.24355870e-05 -8.72783433e-02] [-9.00108202e-04 4.19961878e-05 9.99999594e-01 8.14325260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.08, Z:0.10 [[ 9.96049475e-01 -8.87954604e-02 9.00082838e-04 8.09248166e+00] [ 8.87954581e-02 9.96049881e-01 4.25362157e-05 -8.13705022e-02] [-9.00304426e-04 3.75550926e-05 9.99999594e-01 9.59729112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.08, Z:0.10 [[ 9.96631664e-01 -8.20031460e-02 9.00083614e-04 8.15206000e+00] [ 8.20031410e-02 9.96632070e-01 4.25197847e-05 -7.50834366e-02] [-9.00538951e-04 3.14331197e-05 9.99999594e-01 9.73170690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052754 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.07, Z:0.09 [[ 9.96612663e-01 -8.22337456e-02 9.00082146e-04 8.21246860e+00] [ 8.22337407e-02 9.96613069e-01 4.25508222e-05 -7.22024727e-02] [-9.00532744e-04 3.16104335e-05 9.99999594e-01 8.56649244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201052754000001 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.07, Z:0.08 [[ 9.96634110e-01 -8.19734176e-02 9.00082819e-04 8.27099489e+00] [ 8.19734125e-02 9.96634516e-01 4.25365992e-05 -6.67214930e-02] [-9.00540474e-04 3.13894346e-05 9.99999594e-01 8.17016220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261052754 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.07, Z:0.09 [[ 9.96756941e-01 -8.04660863e-02 9.00069995e-04 8.32936848e+00] [ 8.04660804e-02 9.96757347e-01 4.28062305e-05 -6.56568487e-02] [-9.00595830e-04 2.97576973e-05 9.99999594e-01 9.23654140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321052754 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.06, Z:0.09 [[ 9.96836161e-01 -7.94786658e-02 9.00066471e-04 8.38718935e+00] [ 7.94786594e-02 9.96836567e-01 4.28802114e-05 -6.42413397e-02] [-9.00627233e-04 2.87915312e-05 9.99999594e-01 9.03318331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052754 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.06, Z:0.09 [[ 9.97214127e-01 -7.45866942e-02 9.00054312e-04 8.44522476e+00] [ 7.45866856e-02 9.97214533e-01 4.31339246e-05 -6.16369969e-02] [-9.00764457e-04 2.41183090e-05 9.99999594e-01 8.65624998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.06, Z:0.09 [[ 9.97003803e-01 -7.73473167e-02 9.00050570e-04 8.50303175e+00] [ 7.73473092e-02 9.97004209e-01 4.32118720e-05 -6.25634404e-02] [-9.00696528e-04 2.65340890e-05 9.99999594e-01 8.59128745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.06, Z:0.09 [[ 9.95936684e-01 -9.00517132e-02 9.00046947e-04 8.56247347e+00] [ 9.00517108e-02 9.95937090e-01 4.32871966e-05 -6.28264096e-02] [-9.00288223e-04 3.79394603e-05 9.99999594e-01 9.18563179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052754 meters Centerline goodness : 0.997024 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.06, Z:0.08 [[ 9.95259071e-01 -9.72551832e-02 9.00044726e-04 8.61993032e+00] [ 9.72551837e-02 9.95259477e-01 4.33333294e-05 -5.61025660e-02] [-8.99992434e-04 4.44061260e-05 9.99999594e-01 8.26291559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621052754 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.05, Z:0.09 [[ 9.95499643e-01 -9.47610238e-02 9.00029859e-04 8.67694119e+00] [ 9.47610230e-02 9.95500049e-01 4.36399356e-05 -4.97815474e-02] [-9.00115134e-04 4.18442099e-05 9.99999594e-01 8.87167692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.04, Z:0.08 [[ 9.95930735e-01 -9.01174813e-02 9.00023349e-04 8.73448665e+00] [ 9.01174785e-02 9.95931141e-01 4.37737948e-05 -4.16455936e-02] [-9.00306065e-04 3.75121672e-05 9.99999594e-01 8.43951284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741052754 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.03, Z:0.07 [[ 9.97091743e-01 -7.62052833e-02 9.00011425e-04 8.79329288e+00] [ 7.62052746e-02 9.97092149e-01 4.40175913e-05 -3.02115526e-02] [-9.00748700e-04 2.46960410e-05 9.99999594e-01 6.94384082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801052754 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.03, Z:0.08 [[ 9.97556176e-01 -6.98631870e-02 9.00000066e-04 8.85078214e+00] [ 6.98631755e-02 9.97556582e-01 4.42486457e-05 -2.60616996e-02] [-9.00892341e-04 1.87363527e-05 9.99999594e-01 8.05168540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754000001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.02, Z:0.08 [[ 9.96934413e-01 -7.82365989e-02 8.99995691e-04 8.90974552e+00] [ 7.82365907e-02 9.96934819e-01 4.43374339e-05 -2.33343490e-02] [-9.00705852e-04 2.62110809e-05 9.99999594e-01 8.29788266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.03, Z:0.09 [[ 9.95895773e-01 -9.05030321e-02 8.99985457e-04 8.96834600e+00] [ 9.05030288e-02 9.95896179e-01 4.45442193e-05 -2.57868472e-02] [-9.00323465e-04 3.70900100e-05 9.99999594e-01 8.57836216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052754 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.03, Z:0.09 [[ 9.95273795e-01 -9.71043909e-02 8.99973647e-04 9.02611742e+00] [ 9.71043900e-02 9.95274201e-01 4.47815588e-05 -2.57347318e-02] [-9.00069039e-04 4.28214800e-05 9.99999594e-01 8.55123930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052754 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.02, Z:0.08 [[ 9.95252349e-01 -9.73239564e-02 8.99961293e-04 9.08355866e+00] [ 9.73239554e-02 9.95252755e-01 4.50284770e-05 -2.41431721e-02] [-9.00071305e-04 4.27730952e-05 9.99999594e-01 8.31643168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.02, Z:0.08 [[ 9.95648908e-01 -9.31796258e-02 8.99955973e-04 9.14286088e+00] [ 9.31796230e-02 9.95649314e-01 4.51345510e-05 -2.26569279e-02] [-9.00246167e-04 3.89193918e-05 9.99999594e-01 8.43506477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.02, Z:0.08 [[ 9.96689596e-01 -8.12959941e-02 8.99945058e-04 9.20057532e+00] [ 8.12959863e-02 9.96690002e-01 4.53511491e-05 -1.91853229e-02] [-9.00653108e-04 2.79609026e-05 9.99999594e-01 8.35351745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.02, Z:0.08 [[ 9.97492082e-01 -7.07724214e-02 8.99941215e-04 9.25807039e+00] [ 7.07724092e-02 9.97492488e-01 4.54272737e-05 -1.52327574e-02] [-9.00899600e-04 1.83776621e-05 9.99999594e-01 7.84073949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.01, Z:0.07 [[ 9.97748405e-01 -6.70619840e-02 8.99937449e-04 9.31572111e+00] [ 6.70619702e-02 9.97748811e-01 4.55017613e-05 -1.17991832e-02] [-9.00962958e-04 1.49522686e-05 9.99999594e-01 7.46667255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.02, Z:0.08 [[ 9.97326171e-01 -7.30732458e-02 8.99925006e-04 9.37420301e+00] [ 7.30732342e-02 9.97326577e-01 4.57465423e-05 -1.54404940e-02] [-9.00861974e-04 2.01362069e-05 9.99999594e-01 8.02289557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.01, Z:0.08 [[ 9.96672484e-01 -8.15055169e-02 8.99921176e-04 9.43312822e+00] [ 8.15055087e-02 9.96672890e-01 4.58217602e-05 -1.45799111e-02] [-9.00661766e-04 2.76792456e-05 9.99999594e-01 8.00556570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.01, Z:0.07 [[ 9.96125145e-01 -8.79425177e-02 8.99909612e-04 9.49227335e+00] [ 8.79425120e-02 9.96125551e-01 4.60477495e-05 -9.27886512e-03] [-9.00472513e-04 3.32709907e-05 9.99999594e-01 6.75349783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.01, Z:0.08 [[ 9.96537412e-01 -8.31407040e-02 8.99898679e-04 9.55105990e+00] [ 8.31406961e-02 9.96537818e-01 4.62604373e-05 -1.31316118e-02] [-9.00629191e-04 2.87179461e-05 9.99999594e-01 7.51792138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.01, Z:0.07 [[ 9.96784981e-01 -8.01179904e-02 8.99896204e-04 9.60921296e+00] [ 8.01179812e-02 9.96785387e-01 4.63085327e-05 -8.89402791e-03] [-9.00713532e-04 2.59382173e-05 9.99999594e-01 7.35494543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.01, Z:0.07 [[ 9.96748088e-01 -8.05756727e-02 8.99883607e-04 9.66840190e+00] [ 8.05756635e-02 9.96748494e-01 4.65520373e-05 -6.23566069e-03] [-9.00708592e-04 2.61080645e-05 9.99999594e-01 6.96416104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.00, Z:0.07 [[ 9.96502265e-01 -8.35609104e-02 8.99872628e-04 9.72643804e+00] [ 8.35609022e-02 9.96502671e-01 4.67632999e-05 -3.23852964e-03] [-9.00633062e-04 2.85944344e-05 9.99999594e-01 6.91590099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.00, Z:0.07 [[ 9.96035808e-01 -8.89486317e-02 8.99868763e-04 9.78591148e+00] [ 8.89486257e-02 9.96036214e-01 4.68375650e-05 -3.33415066e-03] [-9.00468013e-04 3.33901978e-05 9.99999594e-01 7.45052534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:0.00, Z:0.07 [[ 9.95354911e-01 -9.62693646e-02 8.99862668e-04 9.84494641e+00] [ 9.62693614e-02 9.95355317e-01 4.69543691e-05 5.08558039e-04] [-9.00203359e-04 3.98929426e-05 9.99999594e-01 7.37561843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:0.01, Z:0.07 [[ 9.94626554e-01 -1.03523954e-01 8.99851550e-04 9.90322410e+00] [ 1.03523954e-01 9.94626960e-01 4.71664870e-05 7.09855237e-03] [-8.99899472e-04 4.62431500e-05 9.99999594e-01 7.09860025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:0.01, Z:0.07 [[ 9.94248174e-01 -1.07096962e-01 8.99840420e-04 9.96148088e+00] [ 1.07096963e-01 9.94248580e-01 4.73778783e-05 1.24500810e-02] [-8.99739086e-04 4.92648074e-05 9.99999594e-01 7.19301144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:0.02, Z:0.07 [[ 9.94777193e-01 -1.02066281e-01 8.99827370e-04 1.00187744e+01] [ 1.02066280e-01 9.94777599e-01 4.76244367e-05 2.15899206e-02] [-8.99988961e-04 4.44663285e-05 9.99999594e-01 6.74877957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:0.03, Z:0.07 [[ 9.96049156e-01 -8.87990342e-02 8.99823355e-04 1.00761710e+01] [ 8.87990273e-02 9.96049562e-01 4.77001899e-05 2.97259530e-02] [-9.00504389e-04 3.23917047e-05 9.99999594e-01 6.60979919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.13, Y:0.04, Z:0.06 [[ 9.96986952e-01 -7.75642132e-02 8.99819417e-04 1.01344304e+01] [ 7.75642017e-02 9.96987358e-01 4.77743505e-05 3.86237875e-02] [-9.00814164e-04 2.21633707e-05 9.99999594e-01 6.18604053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:0.04, Z:0.07 [[ 9.97587835e-01 -6.94096723e-02 8.99807907e-04 1.01923883e+01] [ 6.94096572e-02 9.97588240e-01 4.79901608e-05 3.77260189e-02] [-9.00968768e-04 1.45809579e-05 9.99999594e-01 7.12582783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:0.04, Z:0.07 [[ 9.97605770e-01 -6.91514136e-02 8.99801864e-04 1.02513138e+01] [ 6.91513983e-02 9.97606176e-01 4.81032095e-05 3.78600541e-02] [-9.00974301e-04 1.42345177e-05 9.99999594e-01 6.74474769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:0.04, Z:0.06 [[ 9.97219204e-01 -7.45187803e-02 8.99790536e-04 1.03096432e+01] [ 7.45187670e-02 9.97219610e-01 4.83141825e-05 4.41455040e-02] [-9.00889081e-04 1.88714506e-05 9.99999594e-01 5.75971054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:0.04, Z:0.06 [[ 9.97292962e-01 -7.35250898e-02 8.99778315e-04 1.03679371e+01] [ 7.35250759e-02 9.97293367e-01 4.85407083e-05 3.82342304e-02] [-9.00911906e-04 1.77469622e-05 9.99999594e-01 5.90313934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:0.04, Z:0.06 [[ 9.96403455e-01 -8.47310204e-02 8.99774088e-04 1.04265754e+01] [ 8.47310110e-02 9.96403861e-01 4.86189423e-05 3.80449239e-02] [-9.00657907e-04 2.77946861e-05 9.99999594e-01 5.53927089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.48, Y:0.03, Z:0.06 [[ 9.95656387e-01 -9.30996784e-02 8.99762319e-04 1.04846076e+01] [ 9.30996722e-02 9.95656793e-01 4.88357811e-05 3.39745099e-02] [-9.00401060e-04 3.51439196e-05 9.99999594e-01 5.82626929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.54, Y:0.04, Z:0.06 [[ 9.95894695e-01 -9.05148979e-02 8.99758176e-04 1.05431456e+01] [ 9.05148906e-02 9.95895101e-01 4.89119887e-05 3.50395338e-02] [-9.00492023e-04 3.27303227e-05 9.99999594e-01 6.26514015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:0.04, Z:0.06 [[ 9.96433376e-01 -8.43784197e-02 8.99746724e-04 1.06023622e+01] [ 8.43784097e-02 9.96433782e-01 4.91217445e-05 3.94568884e-02] [-9.00682846e-04 2.69726520e-05 9.99999594e-01 6.35847850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:0.05, Z:0.06 [[ 9.97097238e-01 -7.61333625e-02 8.99735345e-04 1.06598547e+01] [ 7.61333490e-02 9.97097644e-01 4.93292963e-05 4.56949141e-02] [-9.00879597e-04 1.93137600e-05 9.99999594e-01 5.97938897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:0.06, Z:0.05 [[ 9.97671398e-01 -6.81980352e-02 8.99721231e-04 1.07185824e+01] [ 6.81980182e-02 9.97671804e-01 4.95853917e-05 5.60939505e-02] [-9.01008130e-04 1.18892779e-05 9.99999594e-01 4.95251773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:0.06, Z:0.05 [[ 9.97540313e-01 -7.00893261e-02 8.99708858e-04 1.07759832e+01] [ 7.00893097e-02 9.97540719e-01 4.98088804e-05 6.04150267e-02] [-9.00987292e-04 1.33736067e-05 9.99999594e-01 5.29601523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:0.06, Z:0.06 [[ 9.96781469e-01 -8.01616690e-02 8.99702755e-04 1.08353628e+01] [ 8.01616566e-02 9.96781875e-01 4.99188870e-05 5.71566697e-02] [-9.00808980e-04 2.23634417e-05 9.99999594e-01 6.13268283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:0.06, Z:0.06 [[ 9.96378728e-01 -8.50212933e-02 8.99690098e-04 1.08923459e+01] [ 8.50212827e-02 9.96379134e-01 5.01459629e-05 6.13363063e-02] [-9.00695916e-04 2.65284354e-05 9.99999594e-01 6.08829184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:0.07, Z:0.06 [[ 9.95853902e-01 -9.09626133e-02 8.99680285e-04 1.09515107e+01] [ 9.09626050e-02 9.95854308e-01 5.03214076e-05 6.73989804e-02] [-9.00527854e-04 3.17244922e-05 9.99999594e-01 6.49274763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021052754000001 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:0.07, Z:0.06 [[ 9.95683562e-01 -9.28085911e-02 8.99667834e-04 1.10090581e+01] [ 9.28085833e-02 9.95683968e-01 5.05430338e-05 7.00655076e-02] [-9.00475667e-04 3.31720292e-05 9.99999594e-01 6.27922059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:0.08, Z:0.07 [[ 9.95882848e-01 -9.06451543e-02 8.99663458e-04 1.10662336e+01] [ 9.06451456e-02 9.95883254e-01 5.06208130e-05 7.79467550e-02] [-9.00548303e-04 3.11377257e-05 9.99999594e-01 6.62132468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:0.08, Z:0.06 [[ 9.96488650e-01 -8.37231218e-02 8.99659378e-04 1.11250930e+01] [ 8.37231101e-02 9.96489056e-01 5.06932277e-05 8.48519714e-02] [-9.00744919e-04 2.48070552e-05 9.99999594e-01 6.16013759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754000001 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:11.18, Y:0.09, Z:0.06 [[ 9.97333021e-01 -7.29796957e-02 8.99647355e-04 1.11837341e+01] [ 7.29796795e-02 9.97333427e-01 5.09057083e-05 8.74715845e-02] [-9.00963462e-04 1.48860318e-05 9.99999594e-01 6.45667330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.24, Y:0.09, Z:0.07 [[ 9.97654200e-01 -6.84491580e-02 8.99635682e-04 1.12412602e+01] [ 6.84491398e-02 9.97654606e-01 5.11111557e-05 8.93047149e-02] [-9.01024198e-04 1.05880294e-05 9.99999594e-01 6.73164771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.30, Y:0.09, Z:0.07 [[ 9.97288733e-01 -7.35824331e-02 8.99631192e-04 1.13001200e+01] [ 7.35824169e-02 9.97289138e-01 5.11900788e-05 8.77525656e-02] [-9.00959106e-04 1.51457485e-05 9.99999594e-01 6.71011423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.36, Y:0.09, Z:0.08 [[ 9.96719963e-01 -8.09228369e-02 8.99618455e-04 1.13589937e+01] [ 8.09228234e-02 9.96720369e-01 5.14129409e-05 8.79039164e-02] [-9.00828520e-04 2.15553608e-05 9.99999594e-01 7.56190570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754000001 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:11.42, Y:0.09, Z:0.07 [[ 9.96746452e-01 -8.05959184e-02 8.99605704e-04 1.14179478e+01] [ 8.05959046e-02 9.96746857e-01 5.16350996e-05 8.94306061e-02] [-9.00840736e-04 2.10374331e-05 9.99999594e-01 7.17193448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501052754 meters Centerline goodness : 0.996925 with order 1 Centerline is valid? [True, True] Translation: X:11.48, Y:0.10, Z:0.06 [[ 9.97061894e-01 -7.65948500e-02 8.99593518e-04 1.14759959e+01] [ 7.65948343e-02 9.97062299e-01 5.18465405e-05 9.50050437e-02] [-9.00921959e-04 1.72100066e-05 9.99999594e-01 6.28510745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561052754 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:0.10, Z:0.05 [[ 9.96481951e-01 -8.38028181e-02 8.99578551e-04 1.15346054e+01] [ 8.38028052e-02 9.96482357e-01 5.21049367e-05 9.98825662e-02] [-9.00780695e-04 2.34655771e-05 9.99999594e-01 5.45046461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052754 meters Centerline goodness : 0.998581 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:0.11, Z:0.05 [[ 9.96093256e-01 -8.83029831e-02 8.99574562e-04 1.15928939e+01] [ 8.83029720e-02 9.96093661e-01 5.21737188e-05 1.06459956e-01] [-9.00667614e-04 2.74652179e-05 9.99999594e-01 5.29633771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:11.65, Y:0.11, Z:0.06 [[ 9.95679816e-01 -9.28487699e-02 8.99562927e-04 1.16514930e+01] [ 9.28487605e-02 9.95680222e-01 5.23735586e-05 1.10009864e-01] [-9.00539835e-04 3.13760075e-05 9.99999594e-01 5.51277005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052754 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:0.12, Z:0.05 [[ 9.95064830e-01 -9.92228513e-02 8.99559491e-04 1.17092464e+01] [ 9.92228444e-02 9.95065236e-01 5.24325001e-05 1.17421617e-01] [-9.00322880e-04 3.70831146e-05 9.99999594e-01 5.43256457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052754 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:0.12, Z:0.06 [[ 9.94381437e-01 -1.05852480e-01 8.99545820e-04 1.17658374e+01] [ 1.05852476e-01 9.94381843e-01 5.26660121e-05 1.21631727e-01] [-9.00066859e-04 4.28490475e-05 9.99999594e-01 5.60915555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754000001 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:0.13, Z:0.06 [[ 9.94415537e-01 -1.05531659e-01 8.99536577e-04 1.18244699e+01] [ 1.05531655e-01 9.94415943e-01 5.28234054e-05 1.25908447e-01] [-9.00088055e-04 4.24011684e-05 9.99999594e-01 5.93639377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:0.13, Z:0.06 [[ 9.94892615e-01 -1.00935006e-01 8.99524385e-04 1.18834901e+01] [ 1.00934999e-01 9.94893021e-01 5.30302153e-05 1.31728764e-01] [-9.00283138e-04 3.80341236e-05 9.99999594e-01 6.16124026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052754 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:0.14, Z:0.06 [[ 9.95673563e-01 -9.29158093e-02 8.99512109e-04 1.19414217e+01] [ 9.29157990e-02 9.95673968e-01 5.32376290e-05 1.39162607e-01] [-9.00567409e-04 3.05715867e-05 9.99999594e-01 5.54173946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052754 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:0.14, Z:0.05 [[ 9.96730286e-01 -8.07955880e-02 8.99507786e-04 1.20006030e+01] [ 8.07955727e-02 9.96730692e-01 5.33105764e-05 1.41624095e-01] [-9.00874277e-04 1.95399807e-05 9.99999594e-01 5.48801556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754000001 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:0.14, Z:0.05 [[ 9.97096422e-01 -7.61440542e-02 8.99496372e-04 1.20600106e+01] [ 7.61440369e-02 9.97096827e-01 5.35024765e-05 1.42009239e-01] [-9.00958874e-04 1.51441571e-05 9.99999594e-01 5.35777467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052754 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:0.14, Z:0.06 [[ 9.96699186e-01 -8.11783463e-02 8.99484090e-04 1.21196811e+01] [ 8.11783308e-02 9.96699592e-01 5.37081578e-05 1.41361757e-01] [-9.00875365e-04 1.94877400e-05 9.99999594e-01 5.61518199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052754 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:0.14, Z:0.06 [[ 9.96821734e-01 -7.96594151e-02 8.99482333e-04 1.21800792e+01] [ 7.96593991e-02 9.96822139e-01 5.37375739e-05 1.41953810e-01] [-9.00904607e-04 1.80854405e-05 9.99999594e-01 6.21474977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754000001 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:12.24, Y:0.15, Z:0.07 [[ 9.96237091e-01 -8.66651546e-02 8.99481428e-04 1.22392060e+01] [ 8.66651413e-02 9.96237497e-01 5.37527258e-05 1.45216895e-01] [-9.00755614e-04 2.44032258e-05 9.99999594e-01 6.59164278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:12.30, Y:0.15, Z:0.06 [[ 9.96191391e-01 -8.71888976e-02 8.99468427e-04 1.22969311e+01] [ 8.71888844e-02 9.96191797e-01 5.39693994e-05 1.51430518e-01] [-9.00748601e-04 2.46597976e-05 9.99999594e-01 6.26892101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401052754 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:12.36, Y:0.15, Z:0.06 [[ 9.96355607e-01 -8.52918197e-02 8.99463918e-04 1.23561801e+01] [ 8.52918057e-02 9.96356013e-01 5.40444466e-05 1.54956396e-01] [-9.00795832e-04 2.28694142e-05 9.99999594e-01 5.60431046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461052754 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:12.41, Y:0.16, Z:0.06 [[ 9.95851243e-01 -9.09917180e-02 8.99451369e-04 1.24139922e+01] [ 9.09917060e-02 9.95851649e-01 5.42524945e-05 1.60733415e-01] [-9.00656656e-04 2.78152005e-05 9.99999594e-01 6.17502436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754000001 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:12.47, Y:0.16, Z:0.06 [[ 9.95209116e-01 -9.77650584e-02 8.99446538e-04 1.24728394e+01] [ 9.77650492e-02 9.95209522e-01 5.43324655e-05 1.63870812e-01] [-9.00449576e-04 3.38622701e-05 9.99999594e-01 5.82925014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052754 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:12.53, Y:0.17, Z:0.04 [[ 9.95020086e-01 -9.96705507e-02 8.99433787e-04 1.25317850e+01] [ 9.96705420e-02 9.95020492e-01 5.45427277e-05 1.69883810e-01] [-9.00391354e-04 3.53759435e-05 9.99999594e-01 4.39324714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641052754 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:12.59, Y:0.17, Z:0.04 [[ 9.95753592e-01 -9.20541997e-02 8.99420254e-04 1.25900151e+01] [ 9.20541877e-02 9.95753997e-01 5.47649895e-05 1.71334882e-01] [-9.00642661e-04 2.82629659e-05 9.99999594e-01 4.36997322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701052754000001 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:12.65, Y:0.17, Z:0.05 [[ 9.96286762e-01 -8.60922741e-02 8.99415492e-04 1.26481252e+01] [ 8.60922596e-02 9.96287167e-01 5.48430885e-05 1.69409716e-01] [-9.00797679e-04 2.27932690e-05 9.99999594e-01 4.83973698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:0.17, Z:0.05 [[ 9.96525540e-01 -8.32828881e-02 8.99399440e-04 1.27062854e+01] [ 8.32828723e-02 9.96525946e-01 5.51050805e-05 1.70574620e-01] [-9.00864188e-04 1.99909486e-05 9.99999594e-01 5.29438120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052754 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:0.17, Z:0.06 [[ 9.96850294e-01 -7.93012184e-02 8.99394497e-04 1.27638204e+01] [ 7.93012008e-02 9.96850699e-01 5.51856360e-05 1.71999480e-01] [-9.00938322e-04 1.63112462e-05 9.99999594e-01 5.54347821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052754 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:0.18, Z:0.05 [[ 9.97229784e-01 -7.43770717e-02 8.99387831e-04 1.28217885e+01] [ 7.43770521e-02 9.97230190e-01 5.52940678e-05 1.75488286e-01] [-9.01009308e-04 1.17529243e-05 9.99999594e-01 4.89567183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754000001 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:0.18, Z:0.05 [[ 9.97581296e-01 -6.95035860e-02 8.99372676e-04 1.28801695e+01] [ 6.95035641e-02 9.97581702e-01 5.55394794e-05 1.76890075e-01] [-9.01057917e-04 7.10446055e-06 9.99999594e-01 4.74782320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052754 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:0.18, Z:0.05 [[ 9.97646272e-01 -6.85646235e-02 8.99356832e-04 1.29376403e+01] [ 6.85646011e-02 9.97646677e-01 5.57948696e-05 1.76027191e-01] [-9.01065909e-04 6.00049878e-06 9.99999594e-01 5.09196162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052754 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:0.18, Z:0.06 [[ 9.98009318e-01 -6.30602212e-02 8.99349974e-04 1.29963250e+01] [ 6.30601964e-02 9.98009724e-01 5.59051838e-05 1.80523024e-01] [-9.01085413e-04 9.19291660e-07 9.99999594e-01 5.77094437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052754 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:0.19, Z:0.05 [[ 9.97641435e-01 -6.86349662e-02 8.99336383e-04 1.30545972e+01] [ 6.86349435e-02 9.97641840e-01 5.61229708e-05 1.87380480e-01] [-9.01067603e-04 5.73530075e-06 9.99999594e-01 4.70165984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181052754000001 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:13.11, Y:0.19, Z:0.05 [[ 9.96831792e-01 -7.95334539e-02 8.99322419e-04 1.31126275e+01] [ 7.95334355e-02 9.96832197e-01 5.63458593e-05 1.91949415e-01] [-9.00954923e-04 1.53588576e-05 9.99999594e-01 4.82958676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241052754 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:0.20, Z:0.05 [[ 9.95826455e-01 -9.12625984e-02 8.99306377e-04 1.31708183e+01] [ 9.12625845e-02 9.95826861e-01 5.66007340e-05 1.97697876e-01] [-9.00718977e-04 2.57085160e-05 9.99999594e-01 4.73813785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301052754 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:0.20, Z:0.06 [[ 9.95129386e-01 -9.85733049e-02 8.99290586e-04 1.32289975e+01] [ 9.85732937e-02 9.95129792e-01 5.68505334e-05 1.99558964e-01] [-9.00514798e-04 3.20723986e-05 9.99999594e-01 6.01452716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754000001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:0.20, Z:0.05 [[ 9.94573739e-01 -1.04030135e-01 8.99283480e-04 1.32872485e+01] [ 1.04030126e-01 9.94574145e-01 5.69627109e-05 2.03696360e-01] [-9.00329937e-04 3.68989571e-05 9.99999594e-01 5.49547937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421052754 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:0.22, Z:0.05 [[ 9.94249691e-01 -1.07082880e-01 8.99278456e-04 1.33450651e+01] [ 1.07082873e-01 9.94250097e-01 5.70419217e-05 2.15540510e-01] [-9.00215905e-04 3.95834072e-05 9.99999594e-01 5.42044601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:13.40, Y:0.22, Z:0.05 [[ 9.94785732e-01 -1.01983032e-01 8.99264571e-04 1.34035768e+01] [ 1.01983021e-01 9.94786138e-01 5.72599794e-05 2.23195611e-01] [-9.00415476e-04 3.47483075e-05 9.99999594e-01 5.22344541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:0.23, Z:0.05 [[ 9.95253271e-01 -9.73145317e-02 8.99250971e-04 1.34617091e+01] [ 9.73145194e-02 9.95253677e-01 5.74727770e-05 2.31469181e-01] [-9.00575771e-04 3.03102068e-05 9.99999594e-01 5.37102259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.52, Y:0.24, Z:0.06 [[ 9.95331350e-01 -9.65126717e-02 8.99235370e-04 1.35200075e+01] [ 9.65126589e-02 9.95331755e-01 5.77158498e-05 2.43944405e-01] [-9.00607830e-04 2.93412018e-05 9.99999594e-01 5.99710045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052754 meters Centerline goodness : 0.996811 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:0.25, Z:0.06 [[ 9.95270674e-01 -9.71363794e-02 8.99220530e-04 1.35767975e+01] [ 9.71363667e-02 9.95271080e-01 5.79461366e-05 2.50158838e-01] [-9.00596866e-04 2.96749247e-05 9.99999594e-01 5.92186032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:0.25, Z:0.06 [[ 9.94977535e-01 -1.00094437e-01 8.99200068e-04 1.36340719e+01] [ 1.00094425e-01 9.94977941e-01 5.82619380e-05 2.54765302e-01] [-9.00515928e-04 3.20355942e-05 9.99999594e-01 5.69871669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754000001 meters Centerline goodness : 0.996143 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:0.26, Z:0.06 [[ 9.95507890e-01 -9.46743487e-02 8.99193724e-04 1.36928231e+01] [ 9.46743346e-02 9.95508296e-01 5.83596803e-05 2.63195791e-01] [-9.00679977e-04 2.70330453e-05 9.99999594e-01 6.26750363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:0.27, Z:0.05 [[ 9.95768436e-01 -9.18934856e-02 8.99176894e-04 1.37499960e+01] [ 9.18934701e-02 9.95768842e-01 5.86178495e-05 2.69624732e-01] [-9.00758933e-04 2.42586807e-05 9.99999594e-01 5.27278808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:0.27, Z:0.05 [[ 9.95661090e-01 -9.30493680e-02 8.99170415e-04 1.38086618e+01] [ 9.30493529e-02 9.95661496e-01 5.87170725e-05 2.72698793e-01] [-9.00732947e-04 2.52049208e-05 9.99999594e-01 5.00921223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:0.27, Z:0.05 [[ 9.95173392e-01 -9.81280381e-02 8.99156287e-04 1.38670668e+01] [ 9.81280248e-02 9.95173798e-01 5.89326313e-05 2.74067754e-01] [-9.00599720e-04 2.95842438e-05 9.99999594e-01 5.08068550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:0.27, Z:0.05 [[ 9.94770272e-01 -1.02133725e-01 8.99140291e-04 1.39252449e+01] [ 1.02133713e-01 9.94770678e-01 5.91756784e-05 2.73728093e-01] [-9.00482229e-04 3.29663310e-05 9.99999594e-01 5.06738955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:0.27, Z:0.05 [[ 9.94272193e-01 -1.06873744e-01 8.99124506e-04 1.39849520e+01] [ 1.06873734e-01 9.94272599e-01 5.94145437e-05 2.70851266e-01] [-9.00324715e-04 3.70185645e-05 9.99999594e-01 4.68462007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:0.27, Z:0.05 [[ 9.94037870e-01 -1.09031663e-01 8.99116902e-04 1.40420952e+01] [ 1.09031654e-01 9.94038276e-01 5.95293981e-05 2.70951650e-01] [-9.00247205e-04 3.88577270e-05 9.99999594e-01 4.61882424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:0.27, Z:0.05 [[ 9.94129309e-01 -1.08194775e-01 8.99110056e-04 1.40994376e+01] [ 1.08194765e-01 9.94129714e-01 5.96326248e-05 2.70723931e-01] [-9.00283961e-04 3.79964614e-05 9.99999594e-01 4.78705061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:0.27, Z:0.05 [[ 9.94551725e-01 -1.04240384e-01 8.99103338e-04 1.41576241e+01] [ 1.04240372e-01 9.94552131e-01 5.97337451e-05 2.70023835e-01] [-9.00431809e-04 3.43145671e-05 9.99999594e-01 5.46343137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052754 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:0.28, Z:0.05 [[ 9.96054149e-01 -8.87430271e-02 8.99087482e-04 1.42157622e+01] [ 8.87430091e-02 9.96054554e-01 5.99714497e-05 2.78663377e-01] [-9.00862229e-04 2.00529174e-05 9.99999594e-01 4.60878029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052754 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:0.28, Z:0.04 [[ 9.97104114e-01 -7.60432666e-02 8.99069295e-04 1.42743050e+01] [ 7.60432432e-02 9.97104519e-01 6.02428730e-05 2.83676313e-01] [-9.01047122e-04 8.29972857e-06 9.99999594e-01 4.02251520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754000001 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:14.33, Y:0.28, Z:0.05 [[ 9.97053348e-01 -7.67060099e-02 8.99052081e-04 1.43332003e+01] [ 7.67059866e-02 9.97053754e-01 6.04986791e-05 2.84234414e-01] [-9.01043865e-04 8.64226636e-06 9.99999594e-01 4.55155031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052754 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:0.28, Z:0.05 [[ 9.96185124e-01 -8.72604702e-02 8.99033038e-04 1.43902309e+01] [ 8.72604509e-02 9.96185530e-01 6.07803564e-05 2.82170236e-01] [-9.00907426e-04 1.79015414e-05 9.99999594e-01 4.68913339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052754 meters Centerline goodness : 0.998372 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:0.28, Z:0.05 [[ 9.95676672e-01 -9.28824931e-02 8.99023705e-04 1.44483148e+01] [ 9.28824760e-02 9.95677077e-01 6.09180913e-05 2.83793777e-01] [-9.00795519e-04 2.28488253e-05 9.99999594e-01 5.03582797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:0.29, Z:0.05 [[ 9.95147216e-01 -9.83931420e-02 8.99002613e-04 1.45056575e+01] [ 9.83931268e-02 9.95147622e-01 6.12277816e-05 2.91037695e-01] [-9.00664706e-04 2.75250218e-05 9.99999594e-01 4.93045658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754000001 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:0.29, Z:0.05 [[ 9.95038288e-01 -9.94886775e-02 8.98996116e-04 1.45642857e+01] [ 9.94886627e-02 9.95038694e-01 6.13230317e-05 2.92126322e-01] [-9.00636869e-04 2.84211569e-05 9.99999594e-01 4.51463245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.62, Y:0.30, Z:0.05 [[ 9.94877527e-01 -1.01083624e-01 8.98977815e-04 1.46222351e+01] [ 1.01083609e-01 9.94877932e-01 6.15901524e-05 2.98630311e-01] [-9.00598946e-04 2.95972635e-05 9.99999594e-01 4.57075123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:0.31, Z:0.04 [[ 9.95656679e-01 -9.30965607e-02 8.98971280e-04 1.46798424e+01] [ 9.30965430e-02 9.95657084e-01 6.16853999e-05 3.05175492e-01] [-9.00809822e-04 2.22736379e-05 9.99999594e-01 4.42007122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.74, Y:0.31, Z:0.05 [[ 9.96702397e-01 -8.11389101e-02 8.98953586e-04 1.47373473e+01] [ 8.11388872e-02 9.96702803e-01 6.19421796e-05 3.13667999e-01] [-9.01015480e-04 1.12021747e-05 9.99999594e-01 5.13703272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:0.32, Z:0.05 [[ 9.97355965e-01 -7.26654736e-02 8.98947692e-04 1.47950797e+01] [ 7.26654472e-02 9.97356370e-01 6.20276054e-05 3.17875857e-01] [-9.01078472e-04 3.45883384e-06 9.99999594e-01 5.29112062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:0.32, Z:0.05 [[ 9.97167955e-01 -7.52014658e-02 8.98930903e-04 1.48542235e+01] [ 7.52014403e-02 9.97168361e-01 6.22699702e-05 3.17652645e-01] [-9.01068248e-04 5.50727975e-06 9.99999594e-01 5.06830645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:0.32, Z:0.05 [[ 9.96167864e-01 -8.74572950e-02 8.98916212e-04 1.49125009e+01] [ 8.74572742e-02 9.96168270e-01 6.24813239e-05 3.17319042e-01] [-9.00936255e-04 1.63748747e-05 9.99999594e-01 5.03204256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.97, Y:0.32, Z:0.05 [[ 9.95110987e-01 -9.87588761e-02 8.98899585e-04 1.49711126e+01] [ 9.87588597e-02 9.95111393e-01 6.27196356e-05 3.19194612e-01] [-9.00699338e-04 2.63612995e-05 9.99999594e-01 5.41376214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:0.32, Z:0.06 [[ 9.94740648e-01 -1.02421849e-01 8.98883935e-04 1.50288006e+01] [ 1.02421834e-01 9.94741054e-01 6.29431220e-05 3.24248216e-01] [-9.00603504e-04 2.94532596e-05 9.99999594e-01 5.69396103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:0.33, Z:0.05 [[ 9.94681560e-01 -1.02994107e-01 8.98878372e-04 1.50863849e+01] [ 1.02994092e-01 9.94681966e-01 6.30224702e-05 3.31091167e-01] [-9.00589049e-04 2.98918723e-05 9.99999594e-01 5.05868120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:0.34, Z:0.05 [[ 9.95063928e-01 -9.92319086e-02 8.98873251e-04 1.51436081e+01] [ 9.92318921e-02 9.95064333e-01 6.30954220e-05 3.38953724e-01] [-9.00697792e-04 2.64129150e-05 9.99999594e-01 4.90903559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:0.35, Z:0.05 [[ 9.95460911e-01 -9.51670497e-02 8.98857045e-04 1.52017051e+01] [ 9.51670313e-02 9.95461316e-01 6.33254618e-05 3.46302031e-01] [-9.00803914e-04 2.25035346e-05 9.99999594e-01 5.34952213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:0.35, Z:0.05 [[ 9.95790713e-01 -9.16517710e-02 8.98842472e-04 1.52599059e+01] [ 9.16517510e-02 9.95791119e-01 6.35316403e-05 3.51146324e-01] [-9.00882138e-04 1.91162689e-05 9.99999594e-01 5.47648064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:0.36, Z:0.06 [[ 9.96057299e-01 -8.87076605e-02 8.98825015e-04 1.53180181e+01] [ 8.87076391e-02 9.96057705e-01 6.37776612e-05 3.56412440e-01] [-9.00939148e-04 1.62064400e-05 9.99999594e-01 5.53461049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:0.36, Z:0.05 [[ 9.96191278e-01 -8.71901964e-02 8.98807568e-04 1.53744116e+01] [ 8.71901741e-02 9.96191683e-01 6.40225995e-05 3.60932413e-01] [-9.00966767e-04 1.45884331e-05 9.99999594e-01 5.44845656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:0.36, Z:0.06 [[ 9.96269887e-01 -8.62873352e-02 8.98800044e-04 1.54327882e+01] [ 8.62873125e-02 9.96270292e-01 6.41280466e-05 3.61163394e-01] [-9.00981221e-04 1.36661985e-05 9.99999594e-01 5.55762888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.49, Y:0.36, Z:0.05 [[ 9.96418329e-01 -8.45559389e-02 8.98782261e-04 1.54907776e+01] [ 8.45559153e-02 9.96418734e-01 6.43763273e-05 3.64322203e-01] [-9.01006883e-04 1.18516043e-05 9.99999594e-01 5.21202615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:0.37, Z:0.05 [[ 9.96526617e-01 -8.32700114e-02 8.98764242e-04 1.55497639e+01] [ 8.32699869e-02 9.96527022e-01 6.46269167e-05 3.67045025e-01] [-9.01024337e-04 1.04376440e-05 9.99999594e-01 5.01199659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:0.37, Z:0.05 [[ 9.96491437e-01 -8.36899564e-02 8.98748615e-04 1.56091418e+01] [ 8.36899319e-02 9.96491842e-01 6.48435112e-05 3.68390945e-01] [-9.01022413e-04 1.06002067e-05 9.99999594e-01 4.62527358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:0.37, Z:0.05 [[ 9.95862807e-01 -9.08650707e-02 8.98733207e-04 1.56664778e+01] [ 9.08650490e-02 9.95863213e-01 6.50563701e-05 3.68598438e-01] [-9.00926690e-04 1.68762174e-05 9.99999594e-01 4.92212457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:0.38, Z:0.05 [[ 9.95470769e-01 -9.50638777e-02 8.98725569e-04 1.57246227e+01] [ 9.50638576e-02 9.95471174e-01 6.51617152e-05 3.76329685e-01] [-9.00849922e-04 2.05697367e-05 9.99999594e-01 4.95512119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.38, Z:0.05 [[ 9.94876744e-01 -1.01091331e-01 8.98710377e-04 1.57837761e+01] [ 1.01091313e-01 9.94877149e-01 6.53705644e-05 3.82509275e-01] [-9.00714816e-04 2.58161580e-05 9.99999594e-01 4.73923822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.39, Z:0.05 [[ 9.94206512e-01 -1.07483044e-01 8.98696112e-04 1.58416447e+01] [ 1.07483029e-01 9.94206917e-01 6.55660880e-05 3.87761194e-01] [-9.00537134e-04 3.14083482e-05 9.99999594e-01 5.01009855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:0.40, Z:0.05 [[ 9.93104931e-01 -1.17225374e-01 8.98677912e-04 1.58999614e+01] [ 1.17225363e-01 9.93105337e-01 6.58146076e-05 4.00342511e-01] [-9.00196973e-04 3.99870328e-05 9.99999594e-01 5.49345108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:0.41, Z:0.06 [[ 9.92982694e-01 -1.18256339e-01 8.98661922e-04 1.59575054e+01] [ 1.18256327e-01 9.92983100e-01 6.60322312e-05 4.09161891e-01] [-9.00164831e-04 4.07035957e-05 9.99999594e-01 5.59017465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:0.42, Z:0.06 [[ 9.94226663e-01 -1.07296484e-01 8.98643559e-04 1.60150794e+01] [ 1.07296467e-01 9.94227068e-01 6.62811905e-05 4.23614823e-01] [-9.00567490e-04 3.05227525e-05 9.99999594e-01 5.66105586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:0.43, Z:0.05 [[ 9.95379162e-01 -9.60183074e-02 8.98625382e-04 1.60722637e+01] [ 9.60182864e-02 9.95379568e-01 6.65267182e-05 4.33650803e-01] [-9.00861128e-04 2.00651603e-05 9.99999594e-01 5.34707326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.13, Y:0.44, Z:0.05 [[ 9.96312824e-01 -8.57901422e-02 8.98617002e-04 1.61308440e+01] [ 8.57901170e-02 9.96313230e-01 6.66397226e-05 4.38668495e-01] [-9.01021039e-04 1.06984475e-05 9.99999594e-01 5.07434782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.19, Y:0.44, Z:0.04 [[ 9.96903383e-01 -7.86310253e-02 8.98600453e-04 1.61888708e+01] [ 7.86309970e-02 9.96903788e-01 6.68621314e-05 4.40575956e-01] [-9.01075633e-04 4.00276456e-06 9.99999594e-01 4.36099752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.25, Y:0.44, Z:0.05 [[ 9.96829912e-01 -7.95570200e-02 8.98594635e-04 1.62480345e+01] [ 7.95569920e-02 9.96830317e-01 6.69402308e-05 4.41522208e-01] [-9.01071940e-04 4.76146180e-06 9.99999594e-01 4.91120680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.31, Y:0.44, Z:0.05 [[ 9.96239666e-01 -8.66355560e-02 8.98578282e-04 1.63056072e+01] [ 8.66355307e-02 9.96240072e-01 6.71590387e-05 4.35456431e-01] [-9.01018052e-04 1.09423079e-05 9.99999594e-01 5.12087917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:0.43, Z:0.05 [[ 9.95542875e-01 -9.43057624e-02 8.98565635e-04 1.63645156e+01] [ 9.43057401e-02 9.95543280e-01 6.73278235e-05 4.34293579e-01] [-9.00910382e-04 1.77121622e-05 9.99999594e-01 5.19743026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:0.43, Z:0.05 [[ 9.94810859e-01 -1.01737638e-01 8.98549884e-04 1.64229119e+01] [ 1.01737619e-01 9.94811265e-01 6.75373887e-05 4.30613289e-01] [-9.00758641e-04 2.42293977e-05 9.99999594e-01 5.43319992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.48, Y:0.44, Z:0.05 [[ 9.95300374e-01 -9.68315975e-02 8.98531004e-04 1.64813094e+01] [ 9.68315758e-02 9.95300779e-01 6.77876410e-05 4.37241061e-01] [-9.00872594e-04 1.95371086e-05 9.99999594e-01 5.27357216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:0.45, Z:0.05 [[ 9.95519241e-01 -9.45549208e-02 8.98514615e-04 1.65393586e+01] [ 9.45548980e-02 9.95519647e-01 6.80041791e-05 4.45032431e-01] [-9.00919082e-04 1.72594890e-05 9.99999594e-01 4.91115595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.60, Y:0.45, Z:0.05 [[ 9.95444060e-01 -9.53431525e-02 8.98498409e-04 1.65970843e+01] [ 9.53431298e-02 9.95444465e-01 6.82176255e-05 4.50483586e-01] [-9.00909352e-04 1.77588203e-05 9.99999594e-01 4.79909878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:0.46, Z:0.05 [[ 9.95568449e-01 -9.40353998e-02 8.98492662e-04 1.66550479e+01] [ 9.40353764e-02 9.95568854e-01 6.82932367e-05 4.58338426e-01] [-9.00933292e-04 1.64995040e-05 9.99999594e-01 4.64389229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:0.46, Z:0.05 [[ 9.95986297e-01 -8.95013362e-02 8.98474409e-04 1.67136794e+01] [ 8.95013108e-02 9.95986702e-01 6.85325364e-05 4.63378171e-01] [-9.01002317e-04 1.21571703e-05 9.99999594e-01 4.51411139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:0.47, Z:0.05 [[ 9.96182005e-01 -8.72960778e-02 8.98457892e-04 1.67716406e+01] [ 8.72960512e-02 9.96182410e-01 6.87483990e-05 4.67461277e-01] [-9.01029414e-04 9.94590821e-06 9.99999594e-01 4.76646347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:0.47, Z:0.05 [[ 9.96183972e-01 -8.72736268e-02 8.98451996e-04 1.68299319e+01] [ 8.72736002e-02 9.96184378e-01 6.88253617e-05 4.70507249e-01] [-9.01030482e-04 9.84841809e-06 9.99999594e-01 5.08011717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:0.47, Z:0.05 [[ 9.95879945e-01 -9.06770514e-02 8.98446237e-04 1.68887227e+01] [ 9.06770262e-02 9.95880350e-01 6.89004564e-05 4.72249877e-01] [-9.00992644e-04 1.28518503e-05 9.99999594e-01 5.21450950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:0.48, Z:0.05 [[ 9.95742463e-01 -9.21745057e-02 8.98430218e-04 1.69466437e+01] [ 9.21744808e-02 9.95742869e-01 6.91087122e-05 4.76921869e-01] [-9.00975544e-04 1.39978596e-05 9.99999594e-01 5.04031302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.00, Y:0.48, Z:0.05 [[ 9.95294286e-01 -9.68941562e-02 8.98411968e-04 1.70048069e+01] [ 9.68941331e-02 9.95294691e-01 6.93451536e-05 4.82756647e-01] [-9.00903802e-04 1.80320136e-05 9.99999594e-01 4.71853745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.06, Y:0.49, Z:0.04 [[ 9.94542177e-01 -1.04331450e-01 8.98393828e-04 1.70636067e+01] [ 1.04331430e-01 9.94542582e-01 6.95793681e-05 4.89159290e-01] [-9.00750234e-04 2.45310967e-05 9.99999594e-01 4.05057561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:0.50, Z:0.04 [[ 9.94093653e-01 -1.08521899e-01 8.98377824e-04 1.71209365e+01] [ 1.08521881e-01 9.94094058e-01 6.97854006e-05 4.96073765e-01] [-9.00645301e-04 2.81204271e-05 9.99999594e-01 4.30483189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.18, Y:0.51, Z:0.04 [[ 9.93938309e-01 -1.09935580e-01 8.98371668e-04 1.71782858e+01] [ 1.09935561e-01 9.93938714e-01 6.98645644e-05 5.06888268e-01] [-9.00606981e-04 2.93219266e-05 9.99999594e-01 3.87645773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.24, Y:0.51, Z:0.04 [[ 9.94060545e-01 -1.08824750e-01 8.98352915e-04 1.72372333e+01] [ 1.08824731e-01 9.94060950e-01 7.01048605e-05 5.14081779e-01] [-9.00646697e-04 2.80745386e-05 9.99999594e-01 4.16917615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.30, Y:0.52, Z:0.05 [[ 9.93966131e-01 -1.09683744e-01 8.98335924e-04 1.72961461e+01] [ 1.09683725e-01 9.93966536e-01 7.03219265e-05 5.20202417e-01] [-9.00629019e-04 2.86352175e-05 9.99999594e-01 4.58015245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:0.53, Z:0.04 [[ 9.93936229e-01 -1.09954377e-01 8.98318984e-04 1.73539799e+01] [ 1.09954358e-01 9.93936635e-01 7.05376621e-05 5.31021061e-01] [-9.00628072e-04 2.86641494e-05 9.99999594e-01 4.37597462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:0.54, Z:0.04 [[ 9.94205409e-01 -1.07493248e-01 8.98299330e-04 1.74121022e+01] [ 1.07493228e-01 9.94205814e-01 7.07870649e-05 5.37565590e-01] [-9.00703549e-04 2.61842117e-05 9.99999594e-01 4.20823091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:0.54, Z:0.04 [[ 9.94717846e-01 -1.02643070e-01 8.98279550e-04 1.74690444e+01] [ 1.02643048e-01 9.94718251e-01 7.10371862e-05 5.44719762e-01] [-9.00826539e-04 2.15401942e-05 9.99999594e-01 4.10073313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754000002 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:17.53, Y:0.55, Z:0.04 [[ 9.95427285e-01 -9.55181309e-02 8.98271033e-04 1.75266128e+01] [ 9.55181056e-02 9.95427690e-01 7.11447217e-05 5.53512193e-01] [-9.00959471e-04 1.49817503e-05 9.99999594e-01 3.56813666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052754 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:0.56, Z:0.04 [[ 9.95964686e-01 -8.97414998e-02 8.98251549e-04 1.75846747e+01] [ 8.97414719e-02 9.95965091e-01 7.13898860e-05 5.55380524e-01] [-9.01033821e-04 9.50861074e-06 9.99999594e-01 3.86546772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:0.56, Z:0.04 [[ 9.96250155e-01 -8.65148608e-02 8.98231504e-04 1.76423296e+01] [ 8.65148314e-02 9.96250560e-01 7.16412080e-05 5.58565455e-01] [-9.01061668e-04 6.33778248e-06 9.99999594e-01 3.73966428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:0.56, Z:0.04 [[ 9.96437560e-01 -8.43290070e-02 8.98211388e-04 1.77006689e+01] [ 8.43289764e-02 9.96437965e-01 7.18925244e-05 5.57952526e-01] [-9.01074553e-04 4.10883538e-06 9.99999594e-01 3.63735952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:0.56, Z:0.04 [[ 9.96243102e-01 -8.65960447e-02 8.98191503e-04 1.77601130e+01] [ 8.65960149e-02 9.96243507e-01 7.21401084e-05 5.56655208e-01] [-9.01064501e-04 5.91071939e-06 9.99999594e-01 3.95937291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:0.55, Z:0.04 [[ 9.95769162e-01 -9.18856359e-02 8.98173868e-04 1.78189306e+01] [ 9.18856080e-02 9.95769567e-01 7.23590124e-05 5.54309719e-01] [-9.01022957e-04 1.04763789e-05 9.99999594e-01 4.11423275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:0.55, Z:0.04 [[ 9.95372087e-01 -9.60916280e-02 8.98153933e-04 1.78769549e+01] [ 9.60916016e-02 9.95372493e-01 7.26056123e-05 5.53955522e-01] [-9.00974510e-04 1.40354500e-05 9.99999594e-01 3.87817308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:0.56, Z:0.04 [[ 9.95327767e-01 -9.65496189e-02 8.98134148e-04 1.79346789e+01] [ 9.65495924e-02 9.95328172e-01 7.28495313e-05 5.58651051e-01] [-9.00971815e-04 1.42053246e-05 9.99999594e-01 3.80388591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:0.56, Z:0.04 [[ 9.95483734e-01 -9.49280174e-02 8.98113977e-04 1.79913878e+01] [ 9.49279901e-02 9.95484139e-01 7.30973603e-05 5.64025550e-01] [-9.00997207e-04 1.24889215e-05 9.99999594e-01 3.75795386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:0.57, Z:0.03 [[ 9.95655160e-01 -9.31128098e-02 8.98100393e-04 1.80497003e+01] [ 9.31127816e-02 9.95655565e-01 7.32638853e-05 5.69637372e-01] [-9.01020460e-04 1.06790603e-05 9.99999594e-01 3.33447835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:0.57, Z:0.03 [[ 9.95776814e-01 -9.18026649e-02 8.98082531e-04 1.81077092e+01] [ 9.18026360e-02 9.95777219e-01 7.34821863e-05 5.74028975e-01] [-9.01035986e-04 9.27448632e-06 9.99999594e-01 2.87932045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:0.58, Z:0.03 [[ 9.96010446e-01 -8.92321914e-02 8.98076246e-04 1.81655720e+01] [ 8.92321613e-02 9.96010851e-01 7.35589159e-05 5.81060912e-01] [-9.01057510e-04 6.87183580e-06 9.99999594e-01 2.87406949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:0.59, Z:0.03 [[ 9.96027514e-01 -8.90414788e-02 8.98056495e-04 1.82240276e+01] [ 8.90414485e-02 9.96027919e-01 7.37992709e-05 5.85623200e-01] [-9.01060538e-04 6.45814678e-06 9.99999594e-01 3.38585365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:0.59, Z:0.03 [[ 9.95621755e-01 -9.34693209e-02 8.98039322e-04 1.82822837e+01] [ 9.34692921e-02 9.95622160e-01 7.40076561e-05 5.89948439e-01] [-9.01025295e-04 1.02554673e-05 9.99999594e-01 3.41636039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:0.60, Z:0.03 [[ 9.95338832e-01 -9.64354860e-02 8.98019542e-04 1.83398365e+01] [ 9.64354583e-02 9.95339237e-01 7.42468904e-05 5.97498810e-01] [-9.00994121e-04 1.27001129e-05 9.99999594e-01 3.31078734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:0.61, Z:0.03 [[ 9.94834478e-01 -1.01506432e-01 8.97999530e-04 1.83971600e+01] [ 1.01506406e-01 9.94834883e-01 7.44881551e-05 6.05259844e-01] [-9.00922284e-04 1.70493197e-05 9.99999594e-01 3.19015581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:0.61, Z:0.03 [[ 9.94402751e-01 -1.05652081e-01 8.97979137e-04 1.84550767e+01] [ 1.05652056e-01 9.94403156e-01 7.47331866e-05 6.11465116e-01] [-9.00849005e-04 2.05584559e-05 9.99999594e-01 2.94454981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:0.62, Z:0.03 [[ 9.94433958e-01 -1.05357947e-01 8.97972874e-04 1.85128550e+01] [ 1.05357923e-01 9.94434363e-01 7.48083673e-05 6.18819055e-01] [-9.00856739e-04 2.02165758e-05 9.99999594e-01 2.78356887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:0.62, Z:0.03 [[ 9.94972243e-01 -1.00147038e-01 8.97952469e-04 1.85705870e+01] [ 1.00147012e-01 9.94972648e-01 7.50524955e-05 6.24595621e-01] [-9.00954431e-04 1.52521065e-05 9.99999594e-01 2.88926411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:0.63, Z:0.04 [[ 9.96256057e-01 -8.64468817e-02 8.97932325e-04 1.86305263e+01] [ 8.64468490e-02 9.96256461e-01 7.52927354e-05 6.25151250e-01] [-9.01079703e-04 2.61257640e-06 9.99999594e-01 4.06422884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:0.63, Z:0.03 [[ 9.95659024e-01 -9.30714862e-02 8.97931029e-04 1.86894792e+01] [ 9.30714561e-02 9.95659429e-01 7.53081822e-05 6.31772751e-01] [-9.01042540e-04 8.59047724e-06 9.99999594e-01 2.77728818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:0.63, Z:0.03 [[ 9.94484840e-01 -1.04876577e-01 8.97929359e-04 1.87482123e+01] [ 1.04876552e-01 9.94485245e-01 7.53280986e-05 6.31560396e-01] [-9.00877652e-04 1.92590826e-05 9.99999594e-01 3.30857777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:0.64, Z:0.04 [[ 9.94126570e-01 -1.08219948e-01 8.97911232e-04 1.88046950e+01] [ 1.08219924e-01 9.94126975e-01 7.55435474e-05 6.35203634e-01] [-9.00813096e-04 2.20720375e-05 9.99999594e-01 3.51097654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:0.64, Z:0.05 [[ 9.93913416e-01 -1.10160408e-01 8.97902285e-04 1.88638544e+01] [ 1.10160385e-01 9.93913821e-01 7.56497471e-05 6.35631335e-01] [-9.00771098e-04 2.37239627e-05 9.99999594e-01 4.74663747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181052754 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:0.65, Z:0.04 [[ 9.93327572e-01 -1.15323583e-01 8.97883607e-04 1.89211680e+01] [ 1.15323562e-01 9.93327977e-01 7.58707842e-05 6.46826935e-01] [-9.00642598e-04 2.81825939e-05 9.99999594e-01 3.94450943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241052754000002 meters Centerline goodness : 0.997924 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:0.66, Z:0.04 [[ 9.92970033e-01 -1.18362606e-01 8.97860026e-04 1.89795973e+01] [ 1.18362585e-01 9.92970439e-01 7.61488326e-05 6.59445536e-01] [-9.00561638e-04 3.06595250e-05 9.99999594e-01 3.55174602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:0.67, Z:0.03 [[ 9.92899216e-01 -1.18955203e-01 8.97837387e-04 1.90362626e+01] [ 1.18955182e-01 9.92899622e-01 7.64148233e-05 6.71533113e-01] [-9.00552343e-04 3.09301920e-05 9.99999594e-01 3.08922408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:0.68, Z:0.03 [[ 9.94032119e-01 -1.09084102e-01 8.97826063e-04 1.90951621e+01] [ 1.09084077e-01 9.94032524e-01 7.65476424e-05 6.77328575e-01] [-9.00818438e-04 2.18477125e-05 9.99999594e-01 3.37727213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:0.69, Z:0.04 [[ 9.94498411e-01 -1.04747809e-01 8.97807092e-04 1.91523623e+01] [ 1.04747782e-01 9.94498817e-01 7.67695055e-05 6.86298383e-01] [-9.00909528e-04 1.76961507e-05 9.99999594e-01 3.60572938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:0.69, Z:0.04 [[ 9.94444282e-01 -1.05260458e-01 8.97800405e-04 1.92103493e+01] [ 1.05260432e-01 9.94444687e-01 7.68476320e-05 6.88834404e-01] [-9.00901860e-04 1.80821699e-05 9.99999594e-01 3.72443954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:0.69, Z:0.04 [[ 9.93990108e-01 -1.09466244e-01 8.97779131e-04 1.92683384e+01] [ 1.09466219e-01 9.93990514e-01 7.70953686e-05 6.90186834e-01] [-9.00823280e-04 2.16444531e-05 9.99999594e-01 4.10052516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052754 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:0.69, Z:0.04 [[ 9.93683542e-01 -1.12215026e-01 8.97772598e-04 1.93279238e+01] [ 1.12215002e-01 9.93683947e-01 7.71713704e-05 6.89187892e-01] [-9.00762006e-04 2.40596330e-05 9.99999594e-01 4.41709497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters Centerline goodness : 0.999837 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:0.70, Z:0.04 [[ 9.93196740e-01 -1.16444962e-01 8.97760381e-04 1.93854002e+01] [ 1.16444940e-01 9.93197146e-01 7.73132370e-05 6.98497233e-01] [-9.00655784e-04 2.77523988e-05 9.99999594e-01 3.91749803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:0.70, Z:0.04 [[ 9.93684370e-01 -1.12207692e-01 8.97749001e-04 1.94436745e+01] [ 1.12207668e-01 9.93684776e-01 7.74451482e-05 7.04158507e-01] [-9.00769456e-04 2.37782882e-05 9.99999594e-01 3.54438727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:0.71, Z:0.04 [[ 9.94265199e-01 -1.06938803e-01 8.97728321e-04 1.95029341e+01] [ 1.06938776e-01 9.94265604e-01 7.76841256e-05 7.07734815e-01] [-9.00887840e-04 1.87633456e-05 9.99999594e-01 3.80035649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters Centerline goodness : 0.998094 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:0.71, Z:0.04 [[ 9.94745249e-01 -1.02377162e-01 8.97710951e-04 1.95616630e+01] [ 1.02377133e-01 9.94745654e-01 7.78843384e-05 7.07808768e-01] [-9.00967645e-04 1.44299978e-05 9.99999594e-01 3.66925026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.62, Y:0.72, Z:0.04 [[ 9.94859714e-01 -1.01258793e-01 8.97687545e-04 1.96185919e+01] [ 1.01258764e-01 9.94860119e-01 7.81531832e-05 7.15577498e-01] [-9.00987235e-04 1.31472777e-05 9.99999594e-01 3.93559579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.68, Y:0.71, Z:0.04 [[ 9.95108628e-01 -9.87826576e-02 8.97677513e-04 1.96767292e+01] [ 9.87826272e-02 9.95109032e-01 7.82682540e-05 7.13172740e-01] [-9.01018547e-04 1.07895283e-05 9.99999594e-01 4.33002415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.74, Y:0.71, Z:0.05 [[ 9.95666143e-01 -9.29952950e-02 8.97671178e-04 1.97367120e+01] [ 9.29952622e-02 9.95666548e-01 7.83408382e-05 7.07111897e-01] [-9.01066493e-04 5.47784635e-06 9.99999594e-01 4.51673978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:0.71, Z:0.04 [[ 9.96421144e-01 -8.45227662e-02 8.97652057e-04 1.97938522e+01] [ 8.45227298e-02 9.96421548e-01 7.85593209e-05 7.14888858e-01] [-9.01079904e-04 -2.40616609e-06 9.99999594e-01 4.40764678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:0.71, Z:0.04 [[ 9.96693608e-01 -8.12468167e-02 8.97644705e-04 1.98530056e+01] [ 8.12467788e-02 9.96694013e-01 7.86432447e-05 7.14264812e-01] [-9.01066616e-04 -5.45247856e-06 9.99999594e-01 4.18131833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754000003 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:19.91, Y:0.72, Z:0.04 [[ 9.96188872e-01 -8.72176888e-02 8.97641813e-04 1.99112682e+01] [ 8.72176533e-02 9.96189277e-01 7.86762316e-05 7.15387770e-01] [-9.01083108e-04 -8.61740189e-08 9.99999594e-01 3.54797435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052754 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:19.97, Y:0.72, Z:0.05 [[ 9.95748129e-01 -9.21132858e-02 8.97617763e-04 1.99700277e+01] [ 9.21132520e-02 9.95748534e-01 7.89496660e-05 7.22387270e-01] [-9.01073885e-04 4.06850903e-06 9.99999594e-01 4.92835324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:20.03, Y:0.73, Z:0.05 [[ 9.94601800e-01 -1.03761525e-01 8.97595618e-04 2.00280385e+01] [ 1.03761496e-01 9.94602205e-01 7.92006395e-05 7.26988575e-01] [-9.00968560e-04 1.43627657e-05 9.99999594e-01 5.28046699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754000002 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:20.09, Y:0.73, Z:0.05 [[ 9.93574719e-01 -1.13174519e-01 8.97573981e-04 2.00857497e+01] [ 1.13174494e-01 9.93575124e-01 7.94450985e-05 7.34042529e-01] [-9.00798341e-04 2.26478396e-05 9.99999594e-01 4.78092091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052754 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:0.74, Z:0.05 [[ 9.93346097e-01 -1.15163913e-01 8.97564146e-04 2.01442722e+01] [ 1.15163888e-01 9.93346502e-01 7.95560628e-05 7.39820063e-01] [-9.00754192e-04 2.43402727e-05 9.99999594e-01 5.07873774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:0.75, Z:0.05 [[ 9.94964920e-01 -1.00219773e-01 8.97544836e-04 2.02016437e+01] [ 1.00219742e-01 9.94965324e-01 7.97733207e-05 7.52711496e-01] [-9.01020853e-04 1.05800563e-05 9.99999594e-01 5.09316088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754000002 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:20.26, Y:0.76, Z:0.05 [[ 9.96334755e-01 -8.55350863e-02 8.97538038e-04 2.02603332e+01] [ 8.55350491e-02 9.96335159e-01 7.98497359e-05 7.61757693e-01] [-9.01078658e-04 -2.78610694e-06 9.99999594e-01 4.81823586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052754 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:0.77, Z:0.05 [[ 9.96837802e-01 -7.94581064e-02 8.97518985e-04 2.03190793e+01] [ 7.94580665e-02 9.96838206e-01 8.00633200e-05 7.68534447e-01] [-9.01042895e-04 -8.49502073e-06 9.99999594e-01 4.77220389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:0.77, Z:0.05 [[ 9.96991395e-01 -7.75071115e-02 8.97499718e-04 2.03784196e+01] [ 7.75070706e-02 9.96991799e-01 8.02787168e-05 7.69153618e-01] [-9.01022030e-04 -1.04746158e-05 9.99999594e-01 5.41991339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754000002 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:0.77, Z:0.05 [[ 9.96534968e-01 -8.31700195e-02 8.97495654e-04 2.04367580e+01] [ 8.31699809e-02 9.96535372e-01 8.03241303e-05 7.71025435e-01] [-9.01066725e-04 -5.40110825e-06 9.99999594e-01 5.08765386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:20.49, Y:0.77, Z:0.05 [[ 9.95607718e-01 -9.36187241e-02 8.97473960e-04 2.04944363e+01] [ 9.36186895e-02 9.95608123e-01 8.05657912e-05 7.72273893e-01] [-9.01074831e-04 3.80841246e-06 9.99999594e-01 4.94800317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754000003 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:20.55, Y:0.77, Z:0.05 [[ 9.94753577e-01 -1.02296213e-01 8.97467297e-04 2.05538525e+01] [ 1.02296182e-01 9.94753982e-01 8.06399516e-05 7.72908798e-01] [-9.01008329e-04 1.15905975e-05 9.99999594e-01 5.26513616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052754 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:20.61, Y:0.78, Z:0.05 [[ 9.94145872e-01 -1.08042489e-01 8.97448097e-04 2.06122881e+01] [ 1.08042460e-01 9.94146277e-01 8.08530570e-05 7.81313296e-01] [-9.00930251e-04 1.65827671e-05 9.99999594e-01 5.24348604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:20.67, Y:0.79, Z:0.05 [[ 9.94227646e-01 -1.07287381e-01 8.97428637e-04 2.06698298e+01] [ 1.07287352e-01 9.94228051e-01 8.10684835e-05 7.88533092e-01] [-9.00946350e-04 1.56822142e-05 9.99999594e-01 4.82613062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754000003 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:0.80, Z:0.05 [[ 9.94617672e-01 -1.03609270e-01 8.97421788e-04 2.07283414e+01] [ 1.03609239e-01 9.94618077e-01 8.11442294e-05 7.97947210e-01] [-9.00999228e-04 1.22737040e-05 9.99999594e-01 4.50465985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052754 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:0.81, Z:0.05 [[ 9.94876479e-01 -1.01093944e-01 8.97403046e-04 2.07866538e+01] [ 1.01093912e-01 9.94876884e-01 8.13509828e-05 8.07255340e-01] [-9.01029638e-04 9.78780486e-06 9.99999594e-01 4.55161818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:0.82, Z:0.05 [[ 9.94785374e-01 -1.01986539e-01 8.97383959e-04 2.08461186e+01] [ 1.01986507e-01 9.94785779e-01 8.15609893e-05 8.15111032e-01] [-9.01022923e-04 1.03853760e-05 9.99999594e-01 4.86794988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:0.82, Z:0.06 [[ 9.94478846e-01 -1.04933403e-01 8.97381274e-04 2.09051501e+01] [ 1.04933373e-01 9.94479251e-01 8.15905212e-05 8.16350416e-01] [-9.00988628e-04 1.30251961e-05 9.99999594e-01 5.72235964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052754 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:20.96, Y:0.82, Z:0.06 [[ 9.94013191e-01 -1.09256450e-01 8.97362261e-04 2.09641237e+01] [ 1.09256420e-01 9.94013595e-01 8.17991010e-05 8.20451350e-01] [-9.00927366e-04 1.67332031e-05 9.99999594e-01 6.07592913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:0.83, Z:0.06 [[ 9.93816172e-01 -1.11034278e-01 8.97342887e-04 2.10215589e+01] [ 1.11034249e-01 9.93816577e-01 8.20110826e-05 8.26548287e-01] [-9.00900278e-04 1.81318532e-05 9.99999594e-01 6.04107934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754000002 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:21.08, Y:0.83, Z:0.06 [[ 9.92965500e-01 -1.18400632e-01 8.97320835e-04 2.10804294e+01] [ 1.18400606e-01 9.92965906e-01 8.22516608e-05 8.31724385e-01] [-9.00747644e-04 2.45702692e-05 9.99999594e-01 5.74570280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:21.14, Y:0.84, Z:0.05 [[ 9.92582355e-01 -1.21570815e-01 8.97301696e-04 2.11392810e+01] [ 1.21570790e-01 9.92582760e-01 8.24599186e-05 8.38250130e-01] [-9.00670914e-04 2.72374158e-05 9.99999594e-01 5.49874932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:21.20, Y:0.85, Z:0.05 [[ 9.92997081e-01 -1.18135478e-01 8.97282308e-04 2.11980076e+01] [ 1.18135451e-01 9.92997487e-01 8.26703481e-05 8.45568975e-01] [-9.00765378e-04 2.39094359e-05 9.99999594e-01 5.24398327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052754 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:21.26, Y:0.85, Z:0.05 [[ 9.93849499e-01 -1.10735574e-01 8.97262925e-04 2.12571604e+01] [ 1.10735545e-01 9.93849904e-01 8.28801915e-05 8.50804023e-01] [-9.00922458e-04 1.69884619e-05 9.99999594e-01 5.32846786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:21.32, Y:0.85, Z:0.06 [[ 9.95030625e-01 -9.95653096e-02 8.97251936e-04 2.13157831e+01] [ 9.95652752e-02 9.95031029e-01 8.29989925e-05 8.53227488e-01] [-9.01057337e-04 6.74859662e-06 9.99999594e-01 5.96839850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:0.86, Z:0.06 [[ 9.95460415e-01 -9.51722511e-02 8.97231938e-04 2.13738968e+01] [ 9.51722147e-02 9.95460819e-01 8.32146074e-05 8.57739197e-01] [-9.01078962e-04 2.55470312e-06 9.99999594e-01 6.18263948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:0.86, Z:0.06 [[ 9.95221967e-01 -9.76341719e-02 8.97209173e-04 2.14326240e+01] [ 9.76341363e-02 9.95222371e-01 8.34593436e-05 8.62266845e-01] [-9.01071124e-04 4.53767054e-06 9.99999594e-01 5.88586660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:0.86, Z:0.07 [[ 9.94692866e-01 -1.02884878e-01 8.97189437e-04 2.14905434e+01] [ 1.02884844e-01 9.94693270e-01 8.36709710e-05 8.62517446e-01] [-9.01036772e-04 9.08027739e-06 9.99999594e-01 6.53141575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754000002 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:0.87, Z:0.06 [[ 9.93853131e-01 -1.10702981e-01 8.97182490e-04 2.15485449e+01] [ 1.10702950e-01 9.93853535e-01 8.37453898e-05 8.71580395e-01] [-9.00938854e-04 1.60901309e-05 9.99999594e-01 6.42362570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:0.88, Z:0.06 [[ 9.93942625e-01 -1.09896560e-01 8.97163067e-04 2.16066434e+01] [ 1.09896529e-01 9.93943029e-01 8.39529588e-05 8.80475424e-01] [-9.00955118e-04 1.51506829e-05 9.99999594e-01 5.66674570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:0.89, Z:0.04 [[ 9.94361177e-01 -1.06042656e-01 8.97157550e-04 2.16645841e+01] [ 1.06042624e-01 9.94361582e-01 8.40118683e-05 8.89875323e-01] [-9.01007842e-04 1.15988002e-05 9.99999594e-01 4.45963625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754000002 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:21.72, Y:0.90, Z:0.05 [[ 9.95061480e-01 -9.92564650e-02 8.97151067e-04 2.17214772e+01] [ 9.92564295e-02 9.95061885e-01 8.40810400e-05 8.97543130e-01] [-9.01066419e-04 5.38220756e-06 9.99999594e-01 4.99796782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.78, Y:0.90, Z:0.05 [[ 9.95546351e-01 -9.42690783e-02 8.97141325e-04 2.17802083e+01] [ 9.42690407e-02 9.95546755e-01 8.41848579e-05 9.02974923e-01] [-9.01082164e-04 7.62724067e-07 9.99999594e-01 5.40805105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:0.91, Z:0.05 [[ 9.95860312e-01 -9.08924341e-02 8.97119211e-04 2.18395534e+01] [ 9.08923949e-02 9.95860716e-01 8.44198613e-05 9.05307476e-01] [-9.01078907e-04 -2.52907581e-06 9.99999594e-01 4.87983585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754000002 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:0.91, Z:0.06 [[ 9.95499447e-01 -9.47631033e-02 8.97099073e-04 2.18982953e+01] [ 9.47630655e-02 9.95499851e-01 8.46333241e-05 9.06533858e-01] [-9.01082110e-04 7.59430913e-07 9.99999594e-01 5.57524719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.96, Y:0.91, Z:0.06 [[ 9.95586505e-01 -9.38440507e-02 8.97074995e-04 2.19573294e+01] [ 9.38440123e-02 9.95586909e-01 8.48877774e-05 9.07538843e-01] [-9.01082335e-04 -3.28008717e-07 9.99999594e-01 6.21037719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.02, Y:0.92, Z:0.06 [[ 9.95660482e-01 -9.30559002e-02 8.97050907e-04 2.20160408e+01] [ 9.30558612e-02 9.95660886e-01 8.51415682e-05 9.18093415e-01] [-9.01081426e-04 -1.29625012e-06 9.99999594e-01 5.97331333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421052754 meters Centerline goodness : 0.997747 with order 1 Centerline is valid? [True, True] Translation: X:22.07, Y:0.92, Z:0.05 [[ 9.94879228e-01 -1.01066898e-01 8.97030092e-04 2.20739229e+01] [ 1.01066862e-01 9.94879632e-01 8.53603092e-05 9.24113686e-01] [-9.01064069e-04 5.73681790e-06 9.99999594e-01 4.68451078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.13, Y:0.93, Z:0.06 [[ 9.94041886e-01 -1.08995066e-01 8.97023281e-04 2.21327284e+01] [ 1.08995033e-01 9.94042291e-01 8.54318204e-05 9.29391205e-01] [-9.00990724e-04 1.28482743e-05 9.99999594e-01 5.56741592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.19, Y:0.94, Z:0.06 [[ 9.93636919e-01 -1.12627119e-01 8.96998664e-04 2.21907782e+01] [ 1.12627088e-01 9.93637324e-01 8.56895091e-05 9.36194951e-01] [-9.00942315e-04 1.58820876e-05 9.99999594e-01 5.60134256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.25, Y:0.94, Z:0.05 [[ 9.94347880e-01 -1.06167272e-01 8.96991447e-04 2.22476648e+01] [ 1.06167238e-01 9.94348284e-01 8.57649940e-05 9.42681120e-01] [-9.01027342e-04 9.95086417e-06 9.99999594e-01 5.36409967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.31, Y:0.95, Z:0.04 [[ 9.95035850e-01 -9.95130817e-02 8.96975825e-04 2.23067516e+01] [ 9.95130446e-02 9.95036254e-01 8.59280646e-05 9.53866130e-01] [-9.01074431e-04 3.75929058e-06 9.99999594e-01 4.02790263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:0.95, Z:0.05 [[ 9.95801469e-01 -9.15348568e-02 8.96972867e-04 2.23652169e+01] [ 9.15348165e-02 9.95801873e-01 8.59589291e-05 9.52936058e-01] [-9.01075499e-04 -3.49378108e-06 9.99999594e-01 4.72820933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:0.95, Z:0.05 [[ 9.95393528e-01 -9.58692812e-02 8.96965565e-04 2.24240796e+01] [ 9.58692426e-02 9.95393933e-01 8.60350596e-05 9.53839312e-01] [-9.01082200e-04 3.52667886e-07 9.99999594e-01 5.27945587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:0.96, Z:0.05 [[ 9.95369724e-01 -9.61161198e-02 8.96945750e-04 2.24827627e+01] [ 9.61160811e-02 9.95370128e-01 8.62411465e-05 9.61064836e-01] [-9.01082170e-04 3.69084306e-07 9.99999594e-01 5.28534856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:0.97, Z:0.05 [[ 9.95144499e-01 -9.84206363e-02 8.96926044e-04 2.25403950e+01] [ 9.84205984e-02 9.95144903e-01 8.64456058e-05 9.65627346e-01] [-9.01079413e-04 2.25012893e-06 9.99999594e-01 5.25250812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:0.97, Z:0.05 [[ 9.94609583e-01 -1.03686898e-01 8.96903682e-04 2.25980666e+01] [ 1.03686862e-01 9.94609987e-01 8.66769977e-05 9.73122986e-01] [-9.01056629e-04 6.78735558e-06 9.99999594e-01 5.15373296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754000003 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:22.66, Y:0.98, Z:0.05 [[ 9.93827120e-01 -1.10936251e-01 8.96879848e-04 2.26568009e+01] [ 1.10936218e-01 9.93827524e-01 8.69229255e-05 9.82712770e-01] [-9.00986782e-04 1.31100974e-05 9.99999594e-01 4.59262757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:0.99, Z:0.05 [[ 9.92938235e-01 -1.18629073e-01 8.96857760e-04 2.27133647e+01] [ 1.18629043e-01 9.92938640e-01 8.71502256e-05 9.85679057e-01] [-9.00863275e-04 1.98585863e-05 9.99999594e-01 4.83306766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:1.00, Z:0.04 [[ 9.92537510e-01 -1.21936403e-01 8.96846888e-04 2.27704750e+01] [ 1.21936374e-01 9.92537915e-01 8.72619708e-05 9.96332795e-01] [-9.00794951e-04 2.27474780e-05 9.99999594e-01 4.05739896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.83, Y:1.00, Z:0.05 [[ 9.93047751e-01 -1.17708796e-01 8.96823097e-04 2.28284463e+01] [ 1.17708765e-01 9.93048155e-01 8.75057919e-05 1.00048001e+00] [-9.00888724e-04 1.86665094e-05 9.99999594e-01 4.61308200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:1.00, Z:0.05 [[ 9.93886764e-01 -1.10400614e-01 8.96798674e-04 2.28860238e+01] [ 1.10400580e-01 9.93887169e-01 8.77553792e-05 1.00488578e+00] [-9.01004943e-04 1.17881837e-05 9.99999594e-01 4.87598368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:1.01, Z:0.05 [[ 9.93867733e-01 -1.10571808e-01 8.96773966e-04 2.29434494e+01] [ 1.10571774e-01 9.93868138e-01 8.80071511e-05 1.01253969e+00] [-9.01006181e-04 1.16904204e-05 9.99999594e-01 4.98793649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:1.02, Z:0.05 [[ 9.93708564e-01 -1.11993242e-01 8.96749533e-04 2.30014322e+01] [ 1.11993208e-01 9.93708968e-01 8.82554051e-05 1.01781991e+00] [-9.00992063e-04 1.27297054e-05 9.99999594e-01 5.10468399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.06, Y:1.03, Z:0.05 [[ 9.93938566e-01 -1.09933266e-01 8.96742020e-04 2.30589141e+01] [ 1.09933231e-01 9.93938970e-01 8.83316839e-05 1.02572262e+00] [-9.01017430e-04 1.07854802e-05 9.99999594e-01 5.07265032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.12, Y:1.03, Z:0.05 [[ 9.94675002e-01 -1.03057438e-01 8.96718206e-04 2.31175735e+01] [ 1.03057400e-01 9.94675407e-01 8.85727745e-05 1.03440858e+00] [-9.01071630e-04 4.31232235e-06 9.99999594e-01 5.10217472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:1.04, Z:0.04 [[ 9.94998137e-01 -9.98894580e-02 8.96696445e-04 2.31742661e+01] [ 9.98894185e-02 9.94998541e-01 8.87925360e-05 1.04184588e+00] [-9.01081093e-04 1.22207864e-06 9.99999594e-01 4.40265595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:1.04, Z:0.04 [[ 9.95284089e-01 -9.69988597e-02 8.96685690e-04 2.32324147e+01] [ 9.69988190e-02 9.95284493e-01 8.89010156e-05 1.04498232e+00] [-9.01080659e-04 -1.50431332e-06 9.99999594e-01 4.46328422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:1.05, Z:0.05 [[ 9.95210808e-01 -9.77478581e-02 8.96660210e-04 2.32896703e+01] [ 9.77478174e-02 9.95211212e-01 8.91572706e-05 1.04562584e+00] [-9.01081226e-04 -1.08370082e-06 9.99999594e-01 4.68263649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:1.05, Z:0.05 [[ 9.94863570e-01 -1.01220916e-01 8.96648321e-04 2.33476863e+01] [ 1.01220876e-01 9.94863974e-01 8.92766727e-05 1.04571346e+00] [-9.01079779e-04 1.94141951e-06 9.99999594e-01 4.93135882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:1.05, Z:0.05 [[ 9.94593451e-01 -1.03841534e-01 8.96624035e-04 2.34041699e+01] [ 1.03841495e-01 9.94593855e-01 8.95199239e-05 1.04993152e+00] [-9.01072641e-04 4.07085031e-06 9.99999594e-01 4.59122442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:1.05, Z:0.05 [[ 9.94150638e-01 -1.07998639e-01 8.96613502e-04 2.34624899e+01] [ 1.07998602e-01 9.94151042e-01 8.96252911e-05 1.05219901e+00] [-9.01048657e-04 7.73196427e-06 9.99999594e-01 4.82278882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:1.06, Z:0.05 [[ 9.94225845e-01 -1.07304078e-01 8.96589179e-04 2.35183947e+01] [ 1.07304040e-01 9.94226249e-01 8.98679618e-05 1.06273750e+00] [-9.01055695e-04 6.85859106e-06 9.99999594e-01 4.94325720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:1.07, Z:0.04 [[ 9.94431887e-01 -1.05377505e-01 8.96578718e-04 2.35764741e+01] [ 1.05377467e-01 9.94432291e-01 8.99722041e-05 1.07416354e+00] [-9.01067875e-04 5.00796568e-06 9.99999594e-01 4.39339029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.63, Y:1.08, Z:0.04 [[ 9.94241104e-01 -1.07162606e-01 8.96557972e-04 2.36349669e+01] [ 1.07162569e-01 9.94241508e-01 9.01784605e-05 1.08042552e+00] [-9.01058909e-04 6.41832321e-06 9.99999594e-01 4.04197427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:1.09, Z:0.04 [[ 9.93225845e-01 -1.16196462e-01 8.96536990e-04 2.36935511e+01] [ 1.16196427e-01 9.93226249e-01 9.03865844e-05 1.08767940e+00] [-9.00966673e-04 1.44001037e-05 9.99999594e-01 3.59650848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:1.09, Z:0.04 [[ 9.92125362e-01 -1.25245605e-01 8.96515775e-04 2.37528021e+01] [ 1.25245575e-01 9.92125767e-01 9.05965210e-05 1.09111533e+00] [-9.00803217e-04 2.24015271e-05 9.99999594e-01 4.08995738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:1.10, Z:0.05 [[ 9.91265153e-01 -1.31880982e-01 8.96494497e-04 2.38119031e+01] [ 1.31880953e-01 9.91265558e-01 9.08065876e-05 1.09597907e+00] [-9.00639779e-04 2.82171429e-05 9.99999594e-01 4.69456844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:1.11, Z:0.05 [[ 9.91025514e-01 -1.33669844e-01 8.96472747e-04 2.38690423e+01] [ 1.33669816e-01 9.91025919e-01 9.10208033e-05 1.10643807e+00] [-9.00594464e-04 2.96274087e-05 9.99999594e-01 4.63159719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:1.11, Z:0.05 [[ 9.91886810e-01 -1.27121012e-01 8.96455881e-04 2.39268708e+01] [ 1.27120982e-01 9.91887215e-01 9.11866160e-05 1.11192466e+00] [-9.00774862e-04 2.35115500e-05 9.99999594e-01 4.84527107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:1.12, Z:0.04 [[ 9.92585182e-01 -1.21547743e-01 8.96426647e-04 2.39834084e+01] [ 1.21547710e-01 9.92585586e-01 9.14730997e-05 1.12343009e+00] [-9.00898518e-04 1.81637625e-05 9.99999594e-01 4.34755103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052754 meters Centerline goodness : 0.997990 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:1.13, Z:0.04 [[ 9.93887764e-01 -1.10391621e-01 8.96413014e-04 2.40411490e+01] [ 1.10391583e-01 9.93888168e-01 9.16065049e-05 1.13251529e+00] [-9.01046879e-04 7.90986744e-06 9.99999594e-01 3.91085749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:1.14, Z:0.04 [[ 9.94497285e-01 -1.04758517e-01 8.96385270e-04 2.41002645e+01] [ 1.04758477e-01 9.94497689e-01 9.18771908e-05 1.13842052e+00] [-9.01077997e-04 2.53233882e-06 9.99999594e-01 4.14021964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052754 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:1.14, Z:0.03 [[ 9.94884679e-01 -1.01013225e-01 8.96370564e-04 2.41581119e+01] [ 1.01013183e-01 9.94885083e-01 9.20204431e-05 1.14346833e+00] [-9.01080984e-04 -1.00448554e-06 9.99999594e-01 3.43788948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:1.14, Z:0.04 [[ 9.94327463e-01 -1.06358326e-01 8.96340036e-04 2.42166304e+01] [ 1.06358286e-01 9.94327867e-01 9.23168487e-05 1.14345111e+00] [-9.01074541e-04 3.54001153e-06 9.99999594e-01 4.12406093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:1.14, Z:0.04 [[ 9.93198029e-01 -1.16433984e-01 8.96330512e-04 2.42751504e+01] [ 1.16433948e-01 9.93198433e-01 9.24092278e-05 1.14393638e+00] [-9.00993634e-04 1.25826376e-05 9.99999594e-01 4.34481593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052754 meters Centerline goodness : 0.997926 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:1.15, Z:0.04 [[ 9.93260032e-01 -1.15903860e-01 8.96305151e-04 2.43333301e+01] [ 1.15903824e-01 9.93260437e-01 9.26545590e-05 1.14532967e+00] [-9.01003467e-04 1.18551241e-05 9.99999594e-01 3.99695379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:1.15, Z:0.04 [[ 9.92609458e-01 -1.21349335e-01 8.96276820e-04 2.43909885e+01] [ 1.21349300e-01 9.92609862e-01 9.29278072e-05 1.15086105e+00] [-9.00929939e-04 1.65215447e-05 9.99999594e-01 4.36422037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:1.16, Z:0.05 [[ 9.92632339e-01 -1.21162027e-01 8.96243549e-04 2.44472719e+01] [ 1.21161992e-01 9.92632743e-01 9.32475932e-05 1.16100535e+00] [-9.00938760e-04 1.60300774e-05 9.99999594e-01 4.78606302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052754 meters Centerline goodness : 0.997244 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:1.17, Z:0.04 [[ 9.92679501e-01 -1.20775015e-01 8.96230925e-04 2.45056967e+01] [ 1.20774980e-01 9.92679906e-01 9.33687683e-05 1.16911404e+00] [-9.00947044e-04 1.55570100e-05 9.99999594e-01 4.11414248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.56, Y:1.18, Z:0.04 [[ 9.93220424e-01 -1.16242794e-01 8.96204880e-04 2.45641162e+01] [ 1.16242757e-01 9.93220828e-01 9.36180910e-05 1.17887193e+00] [-9.01011782e-04 1.11939260e-05 9.99999594e-01 3.82079488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754000002 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:24.62, Y:1.19, Z:0.04 [[ 9.94540219e-01 -1.04350128e-01 8.96175368e-04 2.46219859e+01] [ 1.04350086e-01 9.94540623e-01 9.38997564e-05 1.18698306e+00] [-9.01081260e-04 1.28892185e-07 9.99999594e-01 3.78704743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.68, Y:1.19, Z:0.04 [[ 9.94380802e-01 -1.05858478e-01 8.96160349e-04 2.46791773e+01] [ 1.05858436e-01 9.94381206e-01 9.40428800e-05 1.19415427e+00] [-9.01080244e-04 1.35169836e-06 9.99999594e-01 3.57687230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754000003 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:24.74, Y:1.20, Z:0.04 [[ 9.93278825e-01 -1.15742698e-01 8.96150718e-04 2.47382139e+01] [ 1.15742660e-01 9.93279229e-01 9.41345632e-05 1.19612410e+00] [-9.01023283e-04 1.02209997e-05 9.99999594e-01 3.89559087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754000002 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:1.20, Z:0.05 [[ 9.92479734e-01 -1.22405776e-01 8.96127198e-04 2.47971106e+01] [ 1.22405741e-01 9.92480139e-01 9.43579352e-05 1.20077711e+00] [-9.00938402e-04 1.60427752e-05 9.99999594e-01 4.79317144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052754 meters Centerline goodness : 0.997444 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:1.21, Z:0.04 [[ 9.92164257e-01 -1.24937121e-01 8.96100731e-04 2.48550529e+01] [ 1.24937086e-01 9.92164662e-01 9.46086198e-05 1.20896588e+00] [-9.00899607e-04 1.80889231e-05 9.99999594e-01 4.47683219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.91, Y:1.21, Z:0.05 [[ 9.92620067e-01 -1.21262522e-01 8.96070256e-04 2.49126294e+01] [ 1.21262486e-01 9.92620472e-01 9.48963862e-05 1.21372275e+00] [-9.00965055e-04 1.44636492e-05 9.99999594e-01 4.70428203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:1.22, Z:0.05 [[ 9.93725352e-01 -1.11844189e-01 8.96039373e-04 2.49708056e+01] [ 1.11844148e-01 9.93725756e-01 9.51870999e-05 1.22118504e+00] [-9.01063527e-04 5.62692620e-06 9.99999594e-01 5.17338545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052754 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:25.03, Y:1.23, Z:0.04 [[ 9.94077912e-01 -1.08666014e-01 8.96032259e-04 2.50291423e+01] [ 1.08665972e-01 9.94078316e-01 9.52540174e-05 1.23062996e+00] [-9.01077113e-04 2.67830162e-06 9.99999594e-01 4.03152782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754000003 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:1.23, Z:0.05 [[ 9.93683116e-01 -1.12218815e-01 8.96007565e-04 2.50864955e+01] [ 1.12218774e-01 9.93683520e-01 9.54857408e-05 1.23401996e+00] [-9.01063248e-04 5.66630228e-06 9.99999594e-01 4.53968791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052754 meters Centerline goodness : 0.990530 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:1.24, Z:0.04 [[ 9.92555441e-01 -1.21790370e-01 8.95994265e-04 2.51459093e+01] [ 1.21790333e-01 9.92555845e-01 9.56103784e-05 1.23723653e+00] [-9.00968768e-04 1.42248390e-05 9.99999594e-01 3.85780531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters Centerline goodness : 0.990326 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:1.24, Z:0.04 [[ 9.92293333e-01 -1.23907780e-01 8.95965826e-04 2.52048397e+01] [ 1.23907744e-01 9.92293738e-01 9.58761461e-05 1.24299963e+00] [-9.00941078e-04 1.58798437e-05 9.99999594e-01 4.02169012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:1.26, Z:0.05 [[ 9.92461682e-01 -1.22552061e-01 8.95934849e-04 2.52621104e+01] [ 1.22552024e-01 9.92462086e-01 9.61647478e-05 1.25921770e+00] [-9.00966557e-04 1.43588015e-05 9.99999594e-01 4.86745605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781052754 meters Centerline goodness : 0.998040 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:1.26, Z:0.04 [[ 9.93329974e-01 -1.15302906e-01 8.95897841e-04 2.53191961e+01] [ 1.15302866e-01 9.93330378e-01 9.65082928e-05 1.26232678e+00] [-9.01050228e-04 7.43500853e-06 9.99999594e-01 4.05095385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:1.27, Z:0.05 [[ 9.93624397e-01 -1.12737553e-01 8.95874169e-04 2.53764409e+01] [ 1.12737511e-01 9.93624801e-01 9.67275377e-05 1.27173738e+00] [-9.01067619e-04 4.88778281e-06 9.99999594e-01 4.89454245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:1.28, Z:0.05 [[ 9.93056954e-01 -1.17631132e-01 8.95837902e-04 2.54332297e+01] [ 1.17631093e-01 9.93057358e-01 9.70622633e-05 1.28484044e+00] [-9.01035965e-04 8.99003582e-06 9.99999594e-01 4.67774547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:1.29, Z:0.04 [[ 9.93089998e-01 -1.17351833e-01 8.95828060e-04 2.54921225e+01] [ 1.17351793e-01 9.93090402e-01 9.71530185e-05 1.28947475e+00] [-9.01039333e-04 8.64533796e-06 9.99999594e-01 4.36805863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:1.29, Z:0.04 [[ 9.92514028e-01 -1.22127402e-01 8.95804615e-04 2.55512109e+01] [ 1.22127364e-01 9.92514432e-01 9.73687155e-05 1.29216825e+00] [-9.00990397e-04 1.27624399e-05 9.99999594e-01 4.17236446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:1.30, Z:0.04 [[ 9.91353438e-01 -1.31215692e-01 8.95791173e-04 2.56100202e+01] [ 1.31215657e-01 9.91353843e-01 9.74922269e-05 1.29745619e+00] [-9.00838531e-04 2.08925733e-05 9.99999594e-01 4.22451553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:1.30, Z:0.05 [[ 9.91562746e-01 -1.29624532e-01 8.95767252e-04 2.56683834e+01] [ 1.29624496e-01 9.91563150e-01 9.77115159e-05 1.30047145e+00] [-9.00875608e-04 1.92262797e-05 9.99999594e-01 4.72748114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:1.31, Z:0.05 [[ 9.91532241e-01 -1.29857665e-01 8.95753058e-04 2.57249632e+01] [ 1.29857629e-01 9.91532645e-01 9.78414716e-05 1.31175218e+00] [-9.00873864e-04 1.93073951e-05 9.99999594e-01 4.59357750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.78, Y:1.32, Z:0.05 [[ 9.91991300e-01 -1.26303043e-01 8.95739322e-04 2.57828080e+01] [ 1.26303006e-01 9.91991704e-01 9.79670617e-05 1.31920421e+00] [-9.00939514e-04 1.59520962e-05 9.99999594e-01 4.50209459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:1.33, Z:0.05 [[ 9.92752692e-01 -1.20171918e-01 8.95712671e-04 2.58407567e+01] [ 1.20171878e-01 9.92753096e-01 9.82101234e-05 1.32823053e+00] [-9.01023627e-04 1.01411093e-05 9.99999594e-01 4.82660470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.90, Y:1.34, Z:0.04 [[ 9.92860803e-01 -1.19275410e-01 8.95689610e-04 2.58986810e+01] [ 1.19275369e-01 9.92861207e-01 9.84200014e-05 1.33782907e+00] [-9.01034553e-04 9.11634724e-06 9.99999594e-01 4.33822863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.96, Y:1.34, Z:0.04 [[ 9.92329914e-01 -1.23614481e-01 8.95666400e-04 2.59574273e+01] [ 1.23614443e-01 9.92330318e-01 9.86307654e-05 1.34167430e+00] [-9.00989115e-04 1.28430438e-05 9.99999594e-01 4.04026972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:1.35, Z:0.04 [[ 9.90975731e-01 -1.34038424e-01 8.95639420e-04 2.60148045e+01] [ 1.34038389e-01 9.90976135e-01 9.88751636e-05 1.35116515e+00] [-9.00810362e-04 2.20671773e-05 9.99999594e-01 4.41482291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:1.36, Z:0.05 [[ 9.90364865e-01 -1.38479714e-01 8.95625822e-04 2.60736690e+01] [ 1.38479681e-01 9.90365270e-01 9.89981781e-05 1.35690732e+00] [-9.00705949e-04 2.59816607e-05 9.99999594e-01 4.83051607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:1.37, Z:0.05 [[ 9.90295820e-01 -1.38972609e-01 8.95602605e-04 2.61309623e+01] [ 1.38972576e-01 9.90296225e-01 9.92077677e-05 1.36752038e+00] [-9.00699042e-04 2.62191635e-05 9.99999594e-01 4.63196819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.19, Y:1.37, Z:0.05 [[ 9.90745031e-01 -1.35733125e-01 8.95574986e-04 2.61876385e+01] [ 1.35733090e-01 9.90745436e-01 9.94564746e-05 1.37312197e+00] [-9.00786368e-04 2.30231521e-05 9.99999594e-01 4.63400739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.25, Y:1.38, Z:0.04 [[ 9.91701683e-01 -1.28557260e-01 8.95556427e-04 2.62461860e+01] [ 1.28557222e-01 9.91702088e-01 9.96233089e-05 1.38022394e+00] [-9.00932478e-04 1.63336434e-05 9.99999594e-01 4.44179299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:1.39, Z:0.05 [[ 9.93088119e-01 -1.17367741e-01 8.95533523e-04 2.63037022e+01] [ 1.17367699e-01 9.93088522e-01 9.98287747e-05 1.38779337e+00] [-9.01060741e-04 5.96793881e-06 9.99999594e-01 4.74827960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:1.39, Z:0.05 [[ 9.93954420e-01 -1.09789836e-01 8.95524712e-04 2.63616238e+01] [ 1.09789791e-01 9.93954824e-01 9.99077533e-05 1.39148159e+00] [-9.01079963e-04 -9.84282153e-07 9.99999594e-01 4.97150406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:1.40, Z:0.04 [[ 9.93462276e-01 -1.14157364e-01 8.95497141e-04 2.64190751e+01] [ 1.14157320e-01 9.93462680e-01 1.00154270e-04 1.39640435e+00] [-9.01076337e-04 2.72806467e-06 9.99999594e-01 4.17108491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:1.40, Z:0.04 [[ 9.92472077e-01 -1.22467849e-01 8.95488677e-04 2.64786186e+01] [ 1.22467808e-01 9.92472481e-01 1.00229883e-04 1.39701645e+00] [-9.01022808e-04 1.01931753e-05 9.99999594e-01 4.41197937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:1.40, Z:0.05 [[ 9.91641438e-01 -1.29021147e-01 8.95475437e-04 2.65375629e+01] [ 1.29021109e-01 9.91641842e-01 1.00348041e-04 1.40068841e+00] [-9.00937931e-04 1.60259585e-05 9.99999594e-01 4.99179675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:1.41, Z:0.05 [[ 9.90734320e-01 -1.35811283e-01 8.95450421e-04 2.65953998e+01] [ 1.35811247e-01 9.90734725e-01 1.00570773e-04 1.40648163e+00] [-9.00812472e-04 2.19733216e-05 9.99999594e-01 4.88110386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:1.41, Z:0.05 [[ 9.90259051e-01 -1.39234374e-01 8.95422717e-04 2.66537513e+01] [ 1.39234340e-01 9.90259455e-01 1.00816828e-04 1.40993673e+00] [-9.00737980e-04 2.48388145e-05 9.99999594e-01 4.99618307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:1.42, Z:0.05 [[ 9.89977404e-01 -1.41223009e-01 8.95394401e-04 2.67098957e+01] [ 1.41222975e-01 9.89977808e-01 1.01067691e-04 1.41861448e+00] [-9.00693670e-04 2.63955308e-05 9.99999594e-01 5.02473559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:1.43, Z:0.05 [[ 9.89828176e-01 -1.42265175e-01 8.95375317e-04 2.67672120e+01] [ 1.42265142e-01 9.89828581e-01 1.01236477e-04 1.42755548e+00] [-9.00670504e-04 2.71739789e-05 9.99999594e-01 5.02945738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:1.44, Z:0.05 [[ 9.89828653e-01 -1.42261858e-01 8.95347334e-04 2.68239960e+01] [ 1.42261825e-01 9.89829057e-01 1.01483364e-04 1.44136260e+00] [-9.00678019e-04 2.69226042e-05 9.99999594e-01 4.64221085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:1.45, Z:0.05 [[ 9.89933056e-01 -1.41533538e-01 8.95318993e-04 2.68808913e+01] [ 1.41533504e-01 9.89933461e-01 1.01732782e-04 1.45150583e+00] [-9.00704830e-04 2.60089902e-05 9.99999594e-01 4.57866260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:1.46, Z:0.05 [[ 9.90863676e-01 -1.34864277e-01 8.95290859e-04 2.69375590e+01] [ 1.34864240e-01 9.90864081e-01 1.01979773e-04 1.46214895e+00] [-9.00864982e-04 1.96946688e-05 9.99999594e-01 4.78177402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:1.47, Z:0.05 [[ 9.92147951e-01 -1.25066547e-01 8.95271852e-04 2.69947064e+01] [ 1.25066505e-01 9.92148355e-01 1.02146358e-04 1.47386254e+00] [-9.01017588e-04 1.06242219e-05 9.99999594e-01 4.54157485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:1.48, Z:0.04 [[ 9.93017225e-01 -1.17966055e-01 8.95244437e-04 2.70522745e+01] [ 1.17966011e-01 9.93017628e-01 1.02386073e-04 1.48387960e+00] [-9.01071589e-04 3.93728107e-06 9.99999594e-01 4.32238144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:1.49, Z:0.04 [[ 9.92853754e-01 -1.19334075e-01 8.95215614e-04 2.71086783e+01] [ 1.19334031e-01 9.92854158e-01 1.02637469e-04 1.49047699e+00] [-9.01066692e-04 4.92569103e-06 9.99999594e-01 4.27912896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:1.49, Z:0.04 [[ 9.91870210e-01 -1.27250479e-01 8.95203201e-04 2.71670231e+01] [ 1.27250438e-01 9.91870614e-01 1.02745626e-04 1.49470606e+00] [-9.01000179e-04 1.20046736e-05 9.99999594e-01 4.46317096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:1.50, Z:0.04 [[ 9.91064978e-01 -1.33376938e-01 8.95175144e-04 2.72234283e+01] [ 1.33376899e-01 9.91065382e-01 1.02989490e-04 1.50185914e+00] [-9.00913519e-04 1.73264083e-05 9.99999594e-01 4.04191469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:1.51, Z:0.04 [[ 9.90519390e-01 -1.37370073e-01 8.95163091e-04 2.72810539e+01] [ 1.37370035e-01 9.90519794e-01 1.03094150e-04 1.50646249e+00] [-9.00838811e-04 2.08518309e-05 9.99999594e-01 4.17990313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:1.51, Z:0.05 [[ 9.90665054e-01 -1.36315626e-01 8.95135515e-04 2.73392965e+01] [ 1.36315588e-01 9.90665458e-01 1.03333031e-04 1.51130641e+00] [-9.00865741e-04 1.96525009e-05 9.99999594e-01 4.78114399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:1.52, Z:0.05 [[ 9.91709601e-01 -1.28496174e-01 8.95107133e-04 2.73968012e+01] [ 1.28496133e-01 9.91710005e-01 1.03578296e-04 1.52113365e+00] [-9.00996114e-04 1.22982145e-05 9.99999594e-01 4.56551375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:1.53, Z:0.04 [[ 9.92804038e-01 -1.19746984e-01 8.95078827e-04 2.74541662e+01] [ 1.19746939e-01 9.92804442e-01 1.03822335e-04 1.52743448e+00] [-9.01070647e-04 4.10771649e-06 9.99999594e-01 4.44853332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.51, Y:1.53, Z:0.04 [[ 9.93135073e-01 -1.16969762e-01 8.95049764e-04 2.75116361e+01] [ 1.16969716e-01 9.93135477e-01 1.04072282e-04 1.53466671e+00] [-9.01078984e-04 1.33588285e-06 9.99999594e-01 3.97399262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.57, Y:1.54, Z:0.04 [[ 9.92699089e-01 -1.20613920e-01 8.95040804e-04 2.75702108e+01] [ 1.20613875e-01 9.92699492e-01 1.04149286e-04 1.53916994e+00] [-9.01068405e-04 4.56543819e-06 9.99999594e-01 3.97709604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.63, Y:1.54, Z:0.04 [[ 9.91430023e-01 -1.30635782e-01 8.95015597e-04 2.76287956e+01] [ 1.30635741e-01 9.91430427e-01 1.04365456e-04 1.54014874e+00] [-9.00979558e-04 1.34499792e-05 9.99999594e-01 4.14200449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:1.54, Z:0.05 [[ 9.89770325e-01 -1.42667106e-01 8.95006651e-04 2.76874982e+01] [ 1.42667070e-01 9.89770729e-01 1.04442116e-04 1.54200654e+00] [-9.00751840e-04 2.43142695e-05 9.99999594e-01 4.84598040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:1.55, Z:0.04 [[ 9.87707676e-01 -1.56309774e-01 8.94978268e-04 2.77442831e+01] [ 1.56309743e-01 9.87708081e-01 1.04684769e-04 1.55259271e+00] [-9.00340520e-04 3.64958740e-05 9.99999594e-01 3.64600267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.80, Y:1.56, Z:0.04 [[ 9.87535525e-01 -1.57393732e-01 8.94949714e-04 2.78016577e+01] [ 1.57393701e-01 9.87535929e-01 1.04928313e-04 1.56104634e+00] [-9.00310056e-04 3.72390112e-05 9.99999594e-01 3.51334606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.86, Y:1.56, Z:0.05 [[ 9.89396854e-01 -1.45234513e-01 8.94917650e-04 2.78613613e+01] [ 1.45234478e-01 9.89397259e-01 1.05201070e-04 1.56043355e+00] [-9.00707896e-04 2.58872893e-05 9.99999594e-01 4.57596942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052754 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:27.92, Y:1.57, Z:0.04 [[ 9.90337762e-01 -1.38673418e-01 8.94891864e-04 2.79192704e+01] [ 1.38673379e-01 9.90338166e-01 1.05419966e-04 1.56813310e+00] [-9.00864514e-04 1.96963055e-05 9.99999594e-01 4.37582253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.98, Y:1.58, Z:0.04 [[ 9.90628006e-01 -1.36584599e-01 8.94865772e-04 2.79778469e+01] [ 1.36584559e-01 9.90628410e-01 1.05640981e-04 1.57990376e+00] [-9.00908388e-04 1.75739327e-05 9.99999594e-01 4.04660390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:1.59, Z:0.04 [[ 9.90870631e-01 -1.34813177e-01 8.94839784e-04 2.80363150e+01] [ 1.34813136e-01 9.90871035e-01 1.05860664e-04 1.58717906e+00] [-9.00942235e-04 1.57419345e-05 9.99999594e-01 4.06640597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.09, Y:1.59, Z:0.04 [[ 9.90920542e-01 -1.34445819e-01 8.94823902e-04 2.80940765e+01] [ 1.34445778e-01 9.90920946e-01 1.05994737e-04 1.59331233e+00] [-9.00950297e-04 1.52729330e-05 9.99999594e-01 4.21611907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:1.60, Z:0.04 [[ 9.90761194e-01 -1.35615101e-01 8.94808962e-04 2.81521291e+01] [ 1.35615061e-01 9.90761598e-01 1.06120710e-04 1.60477953e+00] [-9.00933928e-04 1.62092900e-05 9.99999594e-01 4.28931511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:1.62, Z:0.03 [[ 9.90858806e-01 -1.34900061e-01 8.94781135e-04 2.82094611e+01] [ 1.34900020e-01 9.90859210e-01 1.06354822e-04 1.61753652e+00] [-9.00949401e-04 1.53233814e-05 9.99999594e-01 3.48528769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:1.62, Z:0.04 [[ 9.91160689e-01 -1.32663813e-01 8.94752890e-04 2.82676981e+01] [ 1.32663770e-01 9.91161093e-01 1.06591917e-04 1.62050605e+00] [-9.00985143e-04 1.30515739e-05 9.99999594e-01 4.08896182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:1.63, Z:0.04 [[ 9.90948298e-01 -1.34241089e-01 8.94742803e-04 2.83267089e+01] [ 1.34241047e-01 9.90948702e-01 1.06676528e-04 1.62774044e+00] [-9.00964592e-04 1.44002874e-05 9.99999594e-01 4.22608654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:1.64, Z:0.04 [[ 9.90778263e-01 -1.35490342e-01 8.94718445e-04 2.83851636e+01] [ 1.35490301e-01 9.90778667e-01 1.06880432e-04 1.63577815e+00] [-9.00949214e-04 1.53308628e-05 9.99999594e-01 3.74715244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:1.64, Z:0.03 [[ 9.91043432e-01 -1.33536944e-01 8.94692737e-04 2.84427796e+01] [ 1.33536902e-01 9.91043836e-01 1.07095202e-04 1.64352556e+00] [-9.00980888e-04 1.33385002e-05 9.99999594e-01 3.17468452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:1.65, Z:0.04 [[ 9.91257319e-01 -1.31939858e-01 8.94683760e-04 2.85012606e+01] [ 1.31939815e-01 9.91257723e-01 1.07170145e-04 1.64882584e+00] [-9.01002200e-04 1.18112193e-05 9.99999594e-01 3.67047937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:1.65, Z:0.04 [[ 9.91318795e-01 -1.31477171e-01 8.94658880e-04 2.85607527e+01] [ 1.31477128e-01 9.91319199e-01 1.07377440e-04 1.65487889e+00] [-9.01010206e-04 1.11819054e-05 9.99999594e-01 3.98597466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:1.66, Z:0.04 [[ 9.91114298e-01 -1.33009956e-01 8.94655256e-04 2.86187217e+01] [ 1.33009913e-01 9.91114702e-01 1.07407629e-04 1.66091054e+00] [-9.00992261e-04 1.25447803e-05 9.99999594e-01 3.84406731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:1.67, Z:0.04 [[ 9.91670162e-01 -1.28800188e-01 8.94645201e-04 2.86774485e+01] [ 1.28800144e-01 9.91670566e-01 1.07491310e-04 1.66563638e+00] [-9.01038214e-04 8.63450587e-06 9.99999594e-01 3.72932783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:1.67, Z:0.04 [[ 9.93103903e-01 -1.17234112e-01 8.94619017e-04 2.87353538e+01] [ 1.17234063e-01 9.93104306e-01 1.07708791e-04 1.66657182e+00] [-9.01077143e-04 -2.08619889e-06 9.99999594e-01 3.99059373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754000002 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:28.79, Y:1.68, Z:0.04 [[ 9.93634951e-01 -1.12644504e-01 8.94589971e-04 2.87929594e+01] [ 1.12644452e-01 9.93635354e-01 1.07949499e-04 1.67606477e+00] [-9.01056140e-04 -6.49179782e-06 9.99999594e-01 3.59058795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052754 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:28.85, Y:1.68, Z:0.03 [[ 9.94097183e-01 -1.08489587e-01 8.94556240e-04 2.88503790e+01] [ 1.08489534e-01 9.94097585e-01 1.08228307e-04 1.68290114e+00] [-9.01017842e-04 -1.05394657e-05 9.99999594e-01 3.33436873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754000003 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:1.68, Z:0.04 [[ 9.93084869e-01 -1.17395241e-01 8.94546271e-04 2.89074774e+01] [ 1.17395191e-01 9.93085272e-01 1.08310638e-04 1.68268209e+00] [-9.01075880e-04 -2.54622597e-06 9.99999594e-01 3.73859129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754000002 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:1.69, Z:0.03 [[ 9.91890291e-01 -1.27093868e-01 8.94532859e-04 2.89655219e+01] [ 1.27093822e-01 9.91890694e-01 1.08421296e-04 1.68594726e+00] [-9.01058500e-04 6.14756846e-06 9.99999594e-01 3.41618890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052754 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:29.02, Y:1.70, Z:0.03 [[ 9.91229954e-01 -1.32145288e-01 8.94523666e-04 2.90233564e+01] [ 1.32145244e-01 9.91230358e-01 1.08497091e-04 1.69586470e+00] [-9.01016393e-04 1.06614815e-05 9.99999594e-01 2.66077987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754000003 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:1.71, Z:0.03 [[ 9.90116857e-01 -1.40241965e-01 8.94498245e-04 2.90814941e+01] [ 1.40241924e-01 9.90117261e-01 1.08706268e-04 1.70774771e+00] [-9.00903333e-04 1.78142466e-05 9.99999594e-01 2.74581647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754000002 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:29.14, Y:1.71, Z:0.04 [[ 9.89467131e-01 -1.44754955e-01 8.94470656e-04 2.91404253e+01] [ 1.44754916e-01 9.89467535e-01 1.08932805e-04 1.71138321e+00] [-9.00818238e-04 2.16935941e-05 9.99999594e-01 3.86917013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052754 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:29.20, Y:1.72, Z:0.04 [[ 9.89100319e-01 -1.47240478e-01 8.94444581e-04 2.91978357e+01] [ 1.47240440e-01 9.89100723e-01 1.09146490e-04 1.72291603e+00] [-9.00766563e-04 2.37415849e-05 9.99999594e-01 3.78832065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754000003 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:29.26, Y:1.73, Z:0.03 [[ 9.90109985e-01 -1.40290478e-01 8.94413735e-04 2.92561510e+01] [ 1.40290436e-01 9.90110389e-01 1.09398676e-04 1.73313835e+00] [-9.00915923e-04 1.71609718e-05 9.99999594e-01 3.27943970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:1.74, Z:0.04 [[ 9.91837616e-01 -1.27504289e-01 8.94397891e-04 2.93135597e+01] [ 1.27504242e-01 9.91838019e-01 1.09528057e-04 1.74323536e+00] [-9.01063130e-04 5.40547866e-06 9.99999594e-01 3.58823632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052754 meters Centerline goodness : 0.997259 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:1.75, Z:0.03 [[ 9.92689420e-01 -1.20693474e-01 8.94383092e-04 2.93710703e+01] [ 1.20693424e-01 9.92689823e-01 1.09648773e-04 1.75386932e+00] [-9.01078885e-04 -9.01019184e-07 9.99999594e-01 3.14055554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754000003 meters Centerline goodness : 0.997935 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:1.76, Z:0.03 [[ 9.92361009e-01 -1.23364612e-01 8.94371911e-04 2.94292001e+01] [ 1.23364563e-01 9.92361412e-01 1.09739891e-04 1.76073845e+00] [-9.01078192e-04 1.43221071e-06 9.99999594e-01 3.25889345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:1.77, Z:0.04 [[ 9.90784548e-01 -1.35444379e-01 8.94332642e-04 2.94863107e+01] [ 1.35444334e-01 9.90784952e-01 1.10058995e-04 1.76818905e+00] [-9.00998195e-04 1.20875375e-05 9.99999594e-01 3.69253831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754000004 meters Centerline goodness : 0.997273 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:1.78, Z:0.03 [[ 9.89170956e-01 -1.46765188e-01 8.94320805e-04 2.95443251e+01] [ 1.46765148e-01 9.89171360e-01 1.10155091e-04 1.77534189e+00] [-9.00803460e-04 2.22929095e-05 9.99999594e-01 3.33357713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:1.78, Z:0.04 [[ 9.88233325e-01 -1.52951283e-01 8.94285558e-04 2.96019708e+01] [ 1.52951246e-01 9.88233730e-01 1.10440507e-04 1.78115182e+00] [-9.00655169e-04 2.76411010e-05 9.99999594e-01 3.87533126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:1.79, Z:0.03 [[ 9.88544656e-01 -1.50926017e-01 8.94273821e-04 2.96591624e+01] [ 1.50925979e-01 9.88545061e-01 1.10535458e-04 1.79175310e+00] [-9.00712645e-04 2.56999155e-05 9.99999594e-01 3.42466670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:1.80, Z:0.03 [[ 9.89668269e-01 -1.43373351e-01 8.94243962e-04 2.97160159e+01] [ 1.43373309e-01 9.89668673e-01 1.10776502e-04 1.80031157e+00] [-9.00887633e-04 1.85787270e-05 9.99999594e-01 3.16550057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.77, Y:1.81, Z:0.04 [[ 9.90733643e-01 -1.35816236e-01 8.94231091e-04 2.97734950e+01] [ 1.35816191e-01 9.90734046e-01 1.10880299e-04 1.80534659e+00] [-9.01004532e-04 1.15982182e-05 9.99999594e-01 3.70547157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.83, Y:1.81, Z:0.04 [[ 9.91161450e-01 -1.32658130e-01 8.94201898e-04 2.98306966e+01] [ 1.32658084e-01 9.91161854e-01 1.11115229e-04 1.81344274e+00] [-9.01039150e-04 8.48997882e-06 9.99999594e-01 3.65318089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.89, Y:1.82, Z:0.03 [[ 9.91207706e-01 -1.32312071e-01 8.94172421e-04 2.98883973e+01] [ 1.32312024e-01 9.91208109e-01 1.11351933e-04 1.82099701e+00] [-9.01044160e-04 7.93686909e-06 9.99999594e-01 3.27801318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.95, Y:1.82, Z:0.03 [[ 9.90547481e-01 -1.37167372e-01 8.94142412e-04 2.99475051e+01] [ 1.37167327e-01 9.90547885e-01 1.11592388e-04 1.82442255e+00] [-9.00997709e-04 1.21095662e-05 9.99999594e-01 3.04974343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:1.82, Z:0.04 [[ 9.88736499e-01 -1.49664075e-01 8.94115573e-04 3.00068298e+01] [ 1.49664035e-01 9.88736903e-01 1.11807019e-04 1.82426949e+00] [-9.00778557e-04 2.32692637e-05 9.99999594e-01 3.78541546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754000003 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:30.07, Y:1.83, Z:0.03 [[ 9.88814094e-01 -1.49150552e-01 8.94088330e-04 3.00652207e+01] [ 1.49150512e-01 9.88814498e-01 1.12024444e-04 1.83232106e+00] [-9.00796012e-04 2.25823828e-05 9.99999594e-01 3.47183025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052754 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:30.12, Y:1.84, Z:0.03 [[ 9.89748685e-01 -1.42817159e-01 8.94059121e-04 3.01213412e+01] [ 1.42817116e-01 9.89749089e-01 1.12257078e-04 1.84401468e+00] [-9.00926438e-04 1.65806495e-05 9.99999594e-01 3.31576465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:1.85, Z:0.03 [[ 9.90486795e-01 -1.37604904e-01 8.94043393e-04 3.01789825e+01] [ 1.37604859e-01 9.90487198e-01 1.12382204e-04 1.85345207e+00] [-9.01002878e-04 1.17116257e-05 9.99999594e-01 3.44886460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754000002 meters Centerline goodness : 0.998316 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:1.86, Z:0.03 [[ 9.91723360e-01 -1.28389946e-01 8.94013376e-04 3.02370473e+01] [ 1.28389897e-01 9.91723763e-01 1.12620482e-04 1.86300277e+00] [-9.01073647e-04 3.09392210e-06 9.99999594e-01 3.00025316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052754 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:1.87, Z:0.03 [[ 9.91331103e-01 -1.31384338e-01 8.93981929e-04 3.02946344e+01] [ 1.31384289e-01 9.91331506e-01 1.12869560e-04 1.87110926e+00] [-9.01061745e-04 5.56407555e-06 9.99999594e-01 2.85236394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00105275400001 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:1.88, Z:0.03 [[ 9.90442304e-01 -1.37924774e-01 8.93945001e-04 3.03531361e+01] [ 1.37924728e-01 9.90442707e-01 1.13161281e-04 1.87501610e+00] [-9.01009051e-04 1.12174020e-05 9.99999594e-01 3.29677706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:1.88, Z:0.04 [[ 9.89587100e-01 -1.43932528e-01 8.93913955e-04 3.04117335e+01] [ 1.43932484e-01 9.89587504e-01 1.13405997e-04 1.87835442e+00] [-9.00928891e-04 1.64381442e-05 9.99999594e-01 3.77439767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:1.88, Z:0.04 [[ 9.89718543e-01 -1.43025895e-01 8.93881582e-04 3.04706860e+01] [ 1.43025851e-01 9.89718947e-01 1.13660594e-04 1.87956296e+00] [-9.00947946e-04 1.53561762e-05 9.99999594e-01 3.79833042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18105275400001 meters Centerline goodness : 0.996594 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:1.89, Z:0.03 [[ 9.89251484e-01 -1.46221417e-01 8.93848466e-04 3.05284790e+01] [ 1.46221373e-01 9.89251888e-01 1.13920431e-04 1.89450904e+00] [-9.00898889e-04 1.80037946e-05 9.99999594e-01 3.27199748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24105275400001 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:1.90, Z:0.03 [[ 9.89518141e-01 -1.44405850e-01 8.93814937e-04 3.05853631e+01] [ 1.44405805e-01 9.89518545e-01 1.14182898e-04 1.90284940e+00] [-9.00935134e-04 1.60860169e-05 9.99999594e-01 3.33435103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:1.91, Z:0.03 [[ 9.90083881e-01 -1.40474587e-01 8.93797161e-04 3.06431807e+01] [ 1.40474541e-01 9.90084284e-01 1.14321873e-04 1.91427253e+00] [-9.00993840e-04 1.23675026e-05 9.99999594e-01 3.04077820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754000006 meters Centerline goodness : 0.997209 with order 1 Centerline is valid? [True, True] Translation: X:30.70, Y:1.93, Z:0.03 [[ 9.91401551e-01 -1.30851694e-01 8.93779148e-04 3.07012380e+01] [ 1.30851644e-01 9.91401954e-01 1.14462529e-04 1.92509326e+00] [-9.01072009e-04 3.47414219e-06 9.99999594e-01 2.66482803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42105275400001 meters Centerline goodness : 0.996926 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:1.93, Z:0.02 [[ 9.92744959e-01 -1.20235802e-01 8.93746474e-04 3.07599896e+01] [ 1.20235747e-01 9.92745361e-01 1.14717088e-04 1.92998380e+00] [-9.01055767e-04 -6.42453515e-06 9.99999594e-01 2.41485815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:1.93, Z:0.03 [[ 9.92997322e-01 -1.18133484e-01 8.93736829e-04 3.08191305e+01] [ 1.18133429e-01 9.92997724e-01 1.14792181e-04 1.93263727e+00] [-9.01039437e-04 -8.40813185e-06 9.99999594e-01 3.41696746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754000006 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:1.93, Z:0.04 [[ 9.91935628e-01 -1.26739541e-01 8.93703205e-04 3.08772367e+01] [ 1.26739489e-01 9.91936031e-01 1.15053359e-04 1.93224986e+00] [-9.01078220e-04 -8.58038271e-07 9.99999594e-01 3.53165853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60105275400001 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:1.94, Z:0.04 [[ 9.90453045e-01 -1.37847619e-01 8.93691875e-04 3.09363742e+01] [ 1.37847572e-01 9.90453449e-01 1.15141301e-04 1.93533432e+00] [-9.01032154e-04 9.15120271e-06 9.99999594e-01 3.87516186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:30.99, Y:1.94, Z:0.05 [[ 9.90154279e-01 -1.39977518e-01 8.93656599e-04 3.09938404e+01] [ 1.39977471e-01 9.90154682e-01 1.15414443e-04 1.94335088e+00] [-9.01013693e-04 1.08136859e-05 9.99999594e-01 4.75602359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721052754000006 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:1.95, Z:0.04 [[ 9.89110542e-01 -1.47171795e-01 8.93644295e-04 3.10517068e+01] [ 1.47171751e-01 9.89110945e-01 1.15509636e-04 1.95487862e+00] [-9.00913114e-04 1.72673966e-05 9.99999594e-01 3.80460714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:1.97, Z:0.04 [[ 9.89511919e-01 -1.44448482e-01 8.93625575e-04 3.11080806e+01] [ 1.44448436e-01 9.89512322e-01 1.15654277e-04 1.96739582e+00] [-9.00959603e-04 1.46415308e-05 9.99999594e-01 3.79712662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters Centerline goodness : 0.996110 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:1.98, Z:0.03 [[ 9.89097685e-01 -1.47258178e-01 8.93607318e-04 3.11660283e+01] [ 1.47258133e-01 9.89098089e-01 1.15795167e-04 1.97902918e+00] [-9.00917076e-04 1.70582138e-05 9.99999594e-01 2.60537241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:1.99, Z:0.04 [[ 9.89849438e-01 -1.42117179e-01 8.93574286e-04 3.12246046e+01] [ 1.42117132e-01 9.89849841e-01 1.16049515e-04 1.98667828e+00] [-9.00996994e-04 1.21206670e-05 9.99999594e-01 3.58564656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:1.99, Z:0.04 [[ 9.90545116e-01 -1.37184457e-01 8.93538210e-04 3.12822737e+01] [ 1.37184407e-01 9.90545519e-01 1.16326628e-04 1.99354423e+00] [-9.01048475e-04 7.35273630e-06 9.99999594e-01 3.63051592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:2.00, Z:0.04 [[ 9.90506165e-01 -1.37465411e-01 8.93528007e-04 3.13398846e+01] [ 1.37465361e-01 9.90506568e-01 1.16404943e-04 1.99985706e+00] [-9.01047013e-04 7.52933630e-06 9.99999594e-01 4.00654396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:2.00, Z:0.04 [[ 9.90745995e-01 -1.35726101e-01 8.93499834e-04 3.13982984e+01] [ 1.35726051e-01 9.90746398e-01 1.16620794e-04 2.00474633e+00] [-9.01060228e-04 5.72962002e-06 9.99999594e-01 4.39755616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:2.01, Z:0.05 [[ 9.90566574e-01 -1.37029428e-01 8.93471345e-04 3.14560435e+01] [ 1.37029378e-01 9.90566977e-01 1.16838648e-04 2.00984419e+00] [-9.01053543e-04 6.69536384e-06 9.99999594e-01 4.69166594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:31.51, Y:2.02, Z:0.04 [[ 9.89939985e-01 -1.41485081e-01 8.93456145e-04 3.15149007e+01] [ 1.41485033e-01 9.89940388e-01 1.16954771e-04 2.01650764e+00] [-9.01015678e-04 1.06324683e-05 9.99999594e-01 4.42032921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:2.03, Z:0.04 [[ 9.89672318e-01 -1.43345406e-01 8.93428691e-04 3.15734363e+01] [ 1.43345359e-01 9.89672721e-01 1.17164119e-04 2.02570238e+00] [-9.00996941e-04 1.21147709e-05 9.99999594e-01 3.96231386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:2.03, Z:0.04 [[ 9.89176517e-01 -1.46727706e-01 8.93399955e-04 3.16314306e+01] [ 1.46727660e-01 9.89176920e-01 1.17382828e-04 2.03280326e+00] [-9.00953929e-04 1.49741474e-05 9.99999594e-01 3.88389067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:2.04, Z:0.04 [[ 9.88732109e-01 -1.49693080e-01 8.93371763e-04 3.16900587e+01] [ 1.49693035e-01 9.88732513e-01 1.17597000e-04 2.03936849e+00] [-9.00909165e-04 1.74595999e-05 9.99999594e-01 3.82194472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:2.04, Z:0.05 [[ 9.87997276e-01 -1.54468717e-01 8.93343992e-04 3.17485732e+01] [ 1.54468673e-01 9.87997680e-01 1.17807584e-04 2.04126774e+00] [-9.00819378e-04 2.16000888e-05 9.99999594e-01 4.55143281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:2.05, Z:0.04 [[ 9.87851988e-01 -1.55395149e-01 8.93334240e-04 3.18071180e+01] [ 1.55395106e-01 9.87852391e-01 1.17881490e-04 2.05029482e+00] [-9.00800577e-04 2.23703053e-05 9.99999594e-01 3.96045995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:2.06, Z:0.04 [[ 9.88527173e-01 -1.51040491e-01 8.93306902e-04 3.18655550e+01] [ 1.51040446e-01 9.88527577e-01 1.18088296e-04 2.05680323e+00] [-9.00894621e-04 1.81919833e-05 9.99999594e-01 4.23389050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:2.07, Z:0.04 [[ 9.89372457e-01 -1.45400630e-01 8.93279665e-04 3.19234977e+01] [ 1.45400582e-01 9.89372860e-01 1.18293971e-04 2.06642025e+00] [-9.00986675e-04 1.28465863e-05 9.99999594e-01 4.44294167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68105275400001 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:2.08, Z:0.04 [[ 9.90412805e-01 -1.38136445e-01 8.93252653e-04 3.19806209e+01] [ 1.38136394e-01 9.90413208e-01 1.18497593e-04 2.07886508e+00] [-9.01058062e-04 6.02916684e-06 9.99999594e-01 4.16806998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:2.09, Z:0.04 [[ 9.91097198e-01 -1.33137321e-01 8.93220744e-04 3.20392957e+01] [ 1.33137268e-01 9.91097601e-01 1.18737630e-04 2.08774476e+00] [-9.01077346e-04 1.24043664e-06 9.99999594e-01 3.85904706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:2.10, Z:0.03 [[ 9.90816493e-01 -1.35210500e-01 8.93192277e-04 3.20972557e+01] [ 1.35210448e-01 9.90816896e-01 1.18951387e-04 2.09994139e+00] [-9.01073476e-04 2.90993141e-06 9.99999594e-01 3.26347381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:2.11, Z:0.04 [[ 9.89888068e-01 -1.41847860e-01 8.93163987e-04 3.21554286e+01] [ 1.41847810e-01 9.89888471e-01 1.19163430e-04 2.10519441e+00] [-9.01035811e-04 8.73489840e-06 9.99999594e-01 3.52832287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:2.11, Z:0.04 [[ 9.88977967e-01 -1.48060065e-01 8.93153893e-04 3.22136775e+01] [ 1.48060018e-01 9.88978370e-01 1.19239041e-04 2.11119192e+00] [-9.00964421e-04 1.43155976e-05 9.99999594e-01 4.09111903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:2.12, Z:0.04 [[ 9.88930075e-01 -1.48379608e-01 8.93125903e-04 3.22712097e+01] [ 1.48379561e-01 9.88930479e-01 1.19448318e-04 2.12224821e+00] [-9.00963122e-04 1.43955953e-05 9.99999594e-01 4.29317849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:2.13, Z:0.04 [[ 9.88908770e-01 -1.48521540e-01 8.93097593e-04 3.23289017e+01] [ 1.48521492e-01 9.88909173e-01 1.19659614e-04 2.13080068e+00] [-9.00964433e-04 1.43117454e-05 9.99999594e-01 4.24833825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:2.14, Z:0.04 [[ 9.88350099e-01 -1.52194891e-01 8.93064530e-04 3.23868383e+01] [ 1.52194845e-01 9.88350502e-01 1.19905871e-04 2.13900405e+00] [-9.00909838e-04 1.74108378e-05 9.99999594e-01 3.82161679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:2.15, Z:0.04 [[ 9.88128830e-01 -1.53624927e-01 8.93031001e-04 3.24443756e+01] [ 1.53624881e-01 9.88129233e-01 1.20155072e-04 2.14574073e+00] [-9.00888852e-04 1.84630904e-05 9.99999594e-01 3.70998180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:2.16, Z:0.03 [[ 9.88685706e-01 -1.49999256e-01 8.93015466e-04 3.25012630e+01] [ 1.49999209e-01 9.88686109e-01 1.20270418e-04 2.15542651e+00] [-9.00952460e-04 1.50419704e-05 9.99999594e-01 3.43935261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:2.16, Z:0.03 [[ 9.89139571e-01 -1.46976568e-01 8.92983540e-04 3.25593626e+01] [ 1.46976519e-01 9.89139974e-01 1.20506996e-04 2.16297750e+00] [-9.00997421e-04 1.20493733e-05 9.99999594e-01 3.33279535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:2.17, Z:0.03 [[ 9.88724721e-01 -1.49741873e-01 8.92951455e-04 3.26166118e+01] [ 1.49741825e-01 9.88725124e-01 1.20744277e-04 2.17222246e+00] [-9.00964013e-04 1.43293288e-05 9.99999594e-01 3.15632390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754000006 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:2.18, Z:0.03 [[ 9.87811020e-01 -1.55655362e-01 8.92919823e-04 3.26750953e+01] [ 1.55655316e-01 9.87811423e-01 1.20977752e-04 2.17672122e+00] [-9.00867237e-04 1.94845608e-05 9.99999594e-01 3.44645470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.73, Y:2.18, Z:0.04 [[ 9.87534056e-01 -1.57402959e-01 8.92886737e-04 3.27333431e+01] [ 1.57402914e-01 9.87534459e-01 1.21221452e-04 2.18428100e+00] [-9.00837036e-04 2.08326617e-05 9.99999594e-01 3.82178654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.79, Y:2.19, Z:0.04 [[ 9.87855851e-01 -1.55370593e-01 8.92858026e-04 3.27905681e+01] [ 1.55370546e-01 9.87856254e-01 1.21432556e-04 2.19448097e+00] [-9.00882433e-04 1.87659782e-05 9.99999594e-01 3.60731885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:2.20, Z:0.03 [[ 9.88028789e-01 -1.54267027e-01 8.92825094e-04 3.28482646e+01] [ 1.54266980e-01 9.88029192e-01 1.21674208e-04 2.20454896e+00] [-9.00907574e-04 1.75158105e-05 9.99999594e-01 3.48195569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.90, Y:2.21, Z:0.04 [[ 9.88400281e-01 -1.51868653e-01 8.92792224e-04 3.29044959e+01] [ 1.51868605e-01 9.88400684e-01 1.21914918e-04 2.21244689e+00] [-9.00951499e-04 1.50863705e-05 9.99999594e-01 3.55932292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:2.22, Z:0.03 [[ 9.88997023e-01 -1.47932729e-01 8.92778090e-04 3.29612038e+01] [ 1.47932679e-01 9.88997426e-01 1.22018334e-04 2.22333921e+00] [-9.01005737e-04 1.13952850e-05 9.99999594e-01 3.32190187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:2.23, Z:0.03 [[ 9.88286206e-01 -1.52609235e-01 8.92745243e-04 3.30192027e+01] [ 1.52609187e-01 9.88286609e-01 1.22258187e-04 2.22983405e+00] [-9.00945897e-04 1.54150453e-05 9.99999594e-01 3.09699831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:2.23, Z:0.03 [[ 9.86143730e-01 -1.65890770e-01 8.92735135e-04 3.30769539e+01] [ 1.65890727e-01 9.86144133e-01 1.22331950e-04 2.23201264e+00] [-9.00659257e-04 2.74595955e-05 9.99999594e-01 3.40263002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:2.24, Z:0.04 [[ 9.85801767e-01 -1.67910926e-01 8.92721560e-04 3.31345668e+01] [ 1.67910884e-01 9.85802171e-01 1.22430932e-04 2.23886681e+00] [-9.00604343e-04 2.92050369e-05 9.99999594e-01 3.87329860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:2.25, Z:0.04 [[ 9.85860792e-01 -1.67564025e-01 8.92712114e-04 3.31921944e+01] [ 1.67563983e-01 9.85861195e-01 1.22499772e-04 2.24610894e+00] [-9.00616786e-04 2.88186756e-05 9.99999594e-01 3.98236563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:2.26, Z:0.03 [[ 9.86287921e-01 -1.65031327e-01 8.92678324e-04 3.32490500e+01] [ 1.65031284e-01 9.86288325e-01 1.22745513e-04 2.25701454e+00] [-9.00695064e-04 2.62574332e-05 9.99999594e-01 3.07307872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:2.26, Z:0.03 [[ 9.88443866e-01 -1.51584721e-01 8.92644159e-04 3.33064470e+01] [ 1.51584671e-01 9.88444269e-01 1.22993466e-04 2.26349001e+00] [-9.00972933e-04 1.37390346e-05 9.99999594e-01 3.30807036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:2.27, Z:0.03 [[ 9.90028084e-01 -1.40867299e-01 8.92633658e-04 3.33650888e+01] [ 1.40867245e-01 9.90028487e-01 1.23069631e-04 2.27264857e+00] [-9.01069236e-04 3.90045306e-06 9.99999594e-01 2.93467686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:2.28, Z:0.02 [[ 9.89831996e-01 -1.42238615e-01 8.92604504e-04 3.34228115e+01] [ 1.42238562e-01 9.89832398e-01 1.23280720e-04 2.28231154e+00] [-9.01064136e-04 4.93557946e-06 9.99999594e-01 1.90609261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:2.28, Z:0.03 [[ 9.88308714e-01 -1.52463406e-01 8.92571352e-04 3.34814844e+01] [ 1.52463356e-01 9.88309116e-01 1.23520281e-04 2.28262574e+00] [-9.00968727e-04 1.40082542e-05 9.99999594e-01 2.80995715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:2.29, Z:0.03 [[ 9.87570436e-01 -1.57174545e-01 8.92560316e-04 3.35395568e+01] [ 1.57174498e-01 9.87570839e-01 1.23599973e-04 2.28847002e+00] [-9.00893310e-04 1.82240405e-05 9.99999594e-01 3.03075570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:2.29, Z:0.04 [[ 9.85858329e-01 -1.67578515e-01 8.92525886e-04 3.35972385e+01] [ 1.67578471e-01 9.85858733e-01 1.23848101e-04 2.29120465e+00] [-9.00658719e-04 2.74714413e-05 9.99999594e-01 3.55379056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:2.30, Z:0.03 [[ 9.85311607e-01 -1.70763696e-01 8.92515353e-04 3.36546681e+01] [ 1.70763654e-01 9.85312011e-01 1.23923960e-04 2.30344296e+00] [-9.00567811e-04 3.03054667e-05 9.99999594e-01 3.33557481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.71, Y:2.32, Z:0.03 [[ 9.86229674e-01 -1.65379058e-01 8.92481798e-04 3.37114438e+01] [ 1.65379014e-01 9.86230078e-01 1.24165150e-04 2.31593151e+00] [-9.00726708e-04 2.51424041e-05 9.99999594e-01 3.24511552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:2.33, Z:0.03 [[ 9.87974115e-01 -1.54616793e-01 8.92447798e-04 3.37676137e+01] [ 1.54616743e-01 9.87974517e-01 1.24409048e-04 2.32912499e+00] [-9.00951410e-04 1.50744530e-05 9.99999594e-01 3.22108518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60105275400001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:2.34, Z:0.03 [[ 9.88749043e-01 -1.49581195e-01 8.92433128e-04 3.38239138e+01] [ 1.49581143e-01 9.88749446e-01 1.24514194e-04 2.34294905e+00] [-9.01017742e-04 1.03778776e-05 9.99999594e-01 2.83872084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:2.35, Z:0.03 [[ 9.89289595e-01 -1.45963356e-01 8.92398572e-04 3.38801036e+01] [ 1.45963303e-01 9.89289997e-01 1.24761363e-04 2.35475780e+00] [-9.01051568e-04 6.83232495e-06 9.99999594e-01 2.92308521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754000006 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:2.36, Z:0.03 [[ 9.88477220e-01 -1.51367067e-01 8.92375189e-04 3.39377502e+01] [ 1.51367016e-01 9.88477623e-01 1.24928391e-04 2.36176908e+00] [-9.01002950e-04 1.15873012e-05 9.99999594e-01 2.87426777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:2.37, Z:0.03 [[ 9.86907886e-01 -1.61282447e-01 8.92341580e-04 3.39962289e+01] [ 1.61282400e-01 9.86908290e-01 1.25167997e-04 2.36932949e+00] [-9.00846703e-04 2.03897078e-05 9.99999594e-01 2.86674630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:34.05, Y:2.37, Z:0.03 [[ 9.86036792e-01 -1.66525217e-01 8.92312487e-04 3.40537424e+01] [ 1.66525171e-01 9.86037196e-01 1.25375053e-04 2.37489690e+00] [-9.00731411e-04 2.49680744e-05 9.99999594e-01 2.89257434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754000006 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:2.38, Z:0.03 [[ 9.86127361e-01 -1.65988048e-01 8.92278868e-04 3.41120748e+01] [ 1.65988002e-01 9.86127764e-01 1.25613862e-04 2.38305270e+00] [-9.00751365e-04 2.42363206e-05 9.99999594e-01 2.92321834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:2.39, Z:0.03 [[ 9.87294835e-01 -1.58896547e-01 8.92249221e-04 3.41701627e+01] [ 1.58896498e-01 9.87295238e-01 1.25824098e-04 2.39016867e+00] [-9.00906422e-04 1.75497945e-05 9.99999594e-01 2.99056528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:2.40, Z:0.03 [[ 9.88874265e-01 -1.48751110e-01 8.92219511e-04 3.42276061e+01] [ 1.48751057e-01 9.88874667e-01 1.26034417e-04 2.39792771e+00] [-9.01041032e-04 8.08640360e-06 9.99999594e-01 2.71071885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754000005 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:2.41, Z:0.02 [[ 9.90700808e-01 -1.36055551e-01 8.92209051e-04 3.42848010e+01] [ 1.36055493e-01 9.90701210e-01 1.26108423e-04 2.40654410e+00] [-9.01070337e-04 -3.54577473e-06 9.99999594e-01 2.09804164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:2.41, Z:0.02 [[ 9.91382172e-01 -1.30998443e-01 8.92198676e-04 3.43437221e+01] [ 1.30998382e-01 9.91382574e-01 1.26181778e-04 2.41185970e+00] [-9.01039837e-04 -8.21778184e-06 9.99999594e-01 1.83854862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:2.41, Z:0.01 [[ 9.90138679e-01 -1.40087832e-01 8.92168985e-04 3.44016585e+01] [ 1.40087775e-01 9.90139081e-01 1.26391367e-04 2.41498371e+00] [-9.01077271e-04 -1.63013474e-07 9.99999594e-01 1.32236810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:2.42, Z:0.02 [[ 9.89032040e-01 -1.47698438e-01 8.92131759e-04 3.44603457e+01] [ 1.47698384e-01 9.89032442e-01 1.26653580e-04 2.42165956e+00] [-9.01053788e-04 6.50197094e-06 9.99999594e-01 1.84969600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.52, Y:2.43, Z:0.02 [[ 9.88343604e-01 -1.52237065e-01 8.92094895e-04 3.45183358e+01] [ 1.52237012e-01 9.88344007e-01 1.26912703e-04 2.43350934e+00] [-9.01017461e-04 1.03765030e-05 9.99999594e-01 2.01796668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:2.44, Z:0.03 [[ 9.88054337e-01 -1.54103314e-01 8.92063315e-04 3.45750661e+01] [ 1.54103262e-01 9.88054740e-01 1.27134293e-04 2.44293936e+00] [-9.00999202e-04 1.18542772e-05 9.99999594e-01 2.62510682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:34.63, Y:2.45, Z:0.02 [[ 9.88448314e-01 -1.51555717e-01 8.92052214e-04 3.46315513e+01] [ 1.51555664e-01 9.88448716e-01 1.27212134e-04 2.45285788e+00] [-9.01027592e-04 9.45294681e-06 9.99999594e-01 2.38157574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50105275400001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:2.46, Z:0.02 [[ 9.89176878e-01 -1.46725282e-01 8.92039185e-04 3.46892988e+01] [ 1.46725227e-01 9.89177280e-01 1.27303430e-04 2.46307296e+00] [-9.01063527e-04 4.95904251e-06 9.99999594e-01 1.83359914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:2.47, Z:0.02 [[ 9.89980982e-01 -1.41197946e-01 8.92008168e-04 3.47451976e+01] [ 1.41197889e-01 9.89981384e-01 1.27520397e-04 2.47202309e+00] [-9.01077098e-04 -2.93098236e-07 9.99999594e-01 1.63343423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:2.47, Z:0.02 [[ 9.90582627e-01 -1.36913345e-01 8.91992903e-04 3.48039665e+01] [ 1.36913285e-01 9.90583028e-01 1.27627085e-04 2.47499209e+00] [-9.01066882e-04 -4.29949420e-06 9.99999594e-01 2.30429453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:2.48, Z:0.03 [[ 9.89953517e-01 -1.41390374e-01 8.91958520e-04 3.48613483e+01] [ 1.41390316e-01 9.89953919e-01 1.27866931e-04 2.48215445e+00] [-9.01076985e-04 -4.68021065e-07 9.99999594e-01 2.54255761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:2.49, Z:0.03 [[ 9.88807360e-01 -1.49195207e-01 8.91945298e-04 3.49191573e+01] [ 1.49195152e-01 9.88807762e-01 1.27959093e-04 2.48707535e+00] [-9.01053317e-04 6.54702197e-06 9.99999594e-01 2.68201528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:2.49, Z:0.02 [[ 9.87815916e-01 -1.55624294e-01 8.91910563e-04 3.49778334e+01] [ 1.55624242e-01 9.87816318e-01 1.28200752e-04 2.49243004e+00] [-9.00994960e-04 1.21641615e-05 9.99999594e-01 2.47532818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:2.51, Z:0.02 [[ 9.88127400e-01 -1.53634130e-01 8.91880070e-04 3.50333043e+01] [ 1.53634076e-01 9.88127803e-01 1.28412535e-04 2.50519010e+00] [-9.01020042e-04 1.01352261e-05 9.99999594e-01 2.49555781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:2.52, Z:0.02 [[ 9.88342400e-01 -1.52244885e-01 8.91865077e-04 3.50906208e+01] [ 1.52244831e-01 9.88342802e-01 1.28516585e-04 2.51669860e+00] [-9.01034422e-04 8.76345800e-06 9.99999594e-01 2.31074825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:2.53, Z:0.02 [[ 9.88592452e-01 -1.50612645e-01 8.91831235e-04 3.51468159e+01] [ 1.50612590e-01 9.88592854e-01 1.28751000e-04 2.52735325e+00] [-9.01049515e-04 7.03874510e-06 9.99999594e-01 2.45503063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754000006 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:2.54, Z:0.02 [[ 9.88627525e-01 -1.50382251e-01 8.91816636e-04 3.52032887e+01] [ 1.50382196e-01 9.88627927e-01 1.28852045e-04 2.54019764e+00] [-9.01051893e-04 6.72666558e-06 9.99999594e-01 2.37962976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:2.55, Z:0.02 [[ 9.89108178e-01 -1.47187690e-01 8.91781484e-04 3.52605507e+01] [ 1.47187633e-01 9.89108580e-01 1.29094868e-04 2.55165327e+00] [-9.01069894e-04 3.57041594e-06 9.99999594e-01 2.22008731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:2.56, Z:0.02 [[ 9.88537986e-01 -1.50969714e-01 8.91746736e-04 3.53195453e+01] [ 1.50969659e-01 9.88538388e-01 1.29334453e-04 2.55871816e+00] [-9.01051467e-04 6.77468026e-06 9.99999594e-01 2.21789455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754000006 meters Centerline goodness : 0.996372 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:2.57, Z:0.02 [[ 9.88289867e-01 -1.52585527e-01 8.91714211e-04 3.53776758e+01] [ 1.52585472e-01 9.88290270e-01 1.29558314e-04 2.56746447e+00] [-9.01041202e-04 8.02146495e-06 9.99999594e-01 2.43111126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:2.58, Z:0.03 [[ 9.86177687e-01 -1.65688788e-01 8.91675167e-04 3.54344533e+01] [ 1.65688738e-01 9.86178090e-01 1.29826477e-04 2.57588564e+00] [-9.00861305e-04 1.97085588e-05 9.99999594e-01 2.81035694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:2.58, Z:0.03 [[ 9.84995098e-01 -1.72580018e-01 8.91657137e-04 3.54918515e+01] [ 1.72579971e-01 9.84995501e-01 1.29950189e-04 2.58496651e+00] [-9.00705075e-04 2.58818634e-05 9.99999594e-01 2.84296522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754000006 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:2.59, Z:0.03 [[ 9.85608264e-01 -1.69043059e-01 8.91620255e-04 3.55484957e+01] [ 1.69043011e-01 9.85608667e-01 1.30202760e-04 2.59458004e+00] [-9.00798523e-04 2.23932560e-05 9.99999594e-01 2.84705230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:2.61, Z:0.02 [[ 9.87674186e-01 -1.56521271e-01 8.91576895e-04 3.56058319e+01] [ 1.56521217e-01 9.87674588e-01 1.30498994e-04 2.60886780e+00] [-9.01013711e-04 1.06602135e-05 9.99999594e-01 2.45263314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:2.62, Z:0.02 [[ 9.90697709e-01 -1.36078116e-01 8.91540074e-04 3.56641663e+01] [ 1.36078054e-01 9.90698111e-01 1.30750063e-04 2.62093432e+00] [-9.01039289e-04 -8.21474952e-06 9.99999594e-01 1.61308224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754000005 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:2.63, Z:0.01 [[ 9.92192216e-01 -1.24714920e-01 8.91520849e-04 3.57201034e+01] [ 1.24714853e-01 9.92192617e-01 1.30881022e-04 2.62992900e+00] [-9.00883220e-04 -1.86732402e-05 9.99999594e-01 1.46988859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64105275400001 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:2.64, Z:0.02 [[ 9.92532354e-01 -1.21978404e-01 8.91502036e-04 3.57787954e+01] [ 1.21978335e-01 9.92532754e-01 1.31009042e-04 2.63610397e+00] [-9.00825245e-04 -2.12867791e-05 9.99999594e-01 1.64915252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:2.64, Z:0.02 [[ 9.91917705e-01 -1.26879750e-01 8.91465391e-04 3.58383241e+01] [ 1.26879683e-01 9.91918106e-01 1.31257922e-04 2.63654239e+00] [-9.00914634e-04 -1.70882105e-05 9.99999594e-01 2.04230407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:2.64, Z:0.03 [[ 9.90153453e-01 -1.39983372e-01 8.91428432e-04 3.58961392e+01] [ 1.39983311e-01 9.90153854e-01 1.31508447e-04 2.63751813e+00] [-9.01060294e-04 -5.42843955e-06 9.99999594e-01 2.61177471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82105275400001 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:35.96, Y:2.64, Z:0.02 [[ 9.88937630e-01 -1.48329260e-01 8.91410564e-04 3.59554087e+01] [ 1.48329202e-01 9.88938032e-01 1.31629451e-04 2.64199137e+00] [-9.01074308e-04 2.04890032e-06 9.99999594e-01 2.27528407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:2.65, Z:0.02 [[ 9.87549761e-01 -1.57304401e-01 8.91375444e-04 3.60149106e+01] [ 1.57304346e-01 9.87550163e-01 1.31866853e-04 2.64597879e+00] [-9.01021202e-04 9.99215197e-06 9.99999594e-01 1.69645087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:2.65, Z:0.02 [[ 9.87013253e-01 -1.60636373e-01 8.91342623e-04 3.60735203e+01] [ 1.60636319e-01 9.87013655e-01 1.32088334e-04 2.65431499e+00] [-9.00985531e-04 1.28090619e-05 9.99999594e-01 2.12194726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:2.67, Z:0.02 [[ 9.86401912e-01 -1.64348635e-01 8.91304088e-04 3.61302264e+01] [ 1.64348582e-01 9.86402314e-01 1.32347843e-04 2.66854604e+00] [-9.00935603e-04 1.59363976e-05 9.99999594e-01 1.94390401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06105275400001 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:2.68, Z:0.01 [[ 9.86107029e-01 -1.66108799e-01 8.91260570e-04 3.61859972e+01] [ 1.66108747e-01 9.86107431e-01 1.32640261e-04 2.68227624e+00] [-9.00911386e-04 1.72486837e-05 9.99999594e-01 1.19581520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:2.69, Z:0.01 [[ 9.86163943e-01 -1.65770575e-01 8.91231915e-04 3.62448243e+01] [ 1.65770523e-01 9.86164345e-01 1.32832523e-04 2.69038275e+00] [-9.00920861e-04 1.67453363e-05 9.99999594e-01 1.46553191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:2.70, Z:0.02 [[ 9.85814843e-01 -1.67834149e-01 8.91197710e-04 3.63033763e+01] [ 1.67834097e-01 9.85815245e-01 1.33061609e-04 2.69925447e+00] [-9.00888572e-04 1.83992531e-05 9.99999594e-01 1.98889778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24105275400001 meters Centerline goodness : 0.998563 with order 1 Centerline is valid? [True, True] Translation: X:36.36, Y:2.71, Z:0.02 [[ 9.85991285e-01 -1.66794462e-01 8.91159561e-04 3.63596490e+01] [ 1.66794410e-01 9.85991687e-01 1.33316620e-04 2.71191202e+00] [-9.00912393e-04 1.71914074e-05 9.99999594e-01 1.82684947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:36.42, Y:2.72, Z:0.02 [[ 9.87361378e-01 -1.58482541e-01 8.91146340e-04 3.64182729e+01] [ 1.58482486e-01 9.87361780e-01 1.33404935e-04 2.71966350e+00] [-9.01026190e-04 9.51220699e-06 9.99999594e-01 2.13790890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.48, Y:2.72, Z:0.03 [[ 9.89136103e-01 -1.46999915e-01 8.91108162e-04 3.64760260e+01] [ 1.46999855e-01 9.89136505e-01 1.33659467e-04 2.72385725e+00] [-9.01075543e-04 -1.21463422e-06 9.99999594e-01 2.56002640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.53, Y:2.73, Z:0.03 [[ 9.90086219e-01 -1.40458127e-01 8.91094914e-04 3.65341047e+01] [ 1.40458063e-01 9.90086620e-01 1.33747735e-04 2.73278403e+00] [-9.01047108e-04 -7.26032393e-06 9.99999594e-01 2.77207669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.59, Y:2.74, Z:0.03 [[ 9.89668706e-01 -1.43370356e-01 8.91061756e-04 3.65930952e+01] [ 1.43370294e-01 9.89669107e-01 1.33968278e-04 2.73717972e+00] [-9.01063372e-04 -4.83242678e-06 9.99999594e-01 2.80408887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754000006 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:36.65, Y:2.75, Z:0.02 [[ 9.88054701e-01 -1.54100987e-01 8.91028707e-04 3.66502564e+01] [ 1.54100929e-01 9.88055103e-01 1.34187727e-04 2.74686331e+00] [-9.01063922e-04 4.72353661e-06 9.99999594e-01 1.87301768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.71, Y:2.75, Z:0.03 [[ 9.87424851e-01 -1.58086590e-01 8.90990455e-04 3.67093939e+01] [ 1.58086533e-01 9.87425253e-01 1.34441240e-04 2.75141884e+00] [-9.01039832e-04 8.10297055e-06 9.99999594e-01 2.50127025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:36.77, Y:2.76, Z:0.02 [[ 9.87647898e-01 -1.56687063e-01 8.90950995e-04 3.67680311e+01] [ 1.56687005e-01 9.87648300e-01 1.34702236e-04 2.76083725e+00] [-9.01052333e-04 6.56206230e-06 9.99999594e-01 2.05003865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754000006 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:36.82, Y:2.78, Z:0.02 [[ 9.86504045e-01 -1.63734465e-01 8.90920823e-04 3.68241369e+01] [ 1.63734410e-01 9.86504447e-01 1.34901498e-04 2.77777882e+00] [-9.00985379e-04 1.27935223e-05 9.99999594e-01 1.95794841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:36.88, Y:2.78, Z:0.02 [[ 9.86045795e-01 -1.66471910e-01 8.90903714e-04 3.68836934e+01] [ 1.66471856e-01 9.86046197e-01 1.35014393e-04 2.78367782e+00] [-9.00948323e-04 1.51800203e-05 9.99999594e-01 2.34627631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters Centerline goodness : 0.999836 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:2.80, Z:0.02 [[ 9.86054186e-01 -1.66422202e-01 8.90899234e-04 3.69400212e+01] [ 1.66422148e-01 9.86054588e-01 1.35043946e-04 2.79809108e+00] [-9.00949588e-04 1.51047162e-05 9.99999594e-01 1.74324639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754000006 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:2.81, Z:0.02 [[ 9.88101270e-01 -1.53802104e-01 8.90888167e-04 3.69979047e+01] [ 1.53802045e-01 9.88101671e-01 1.35116918e-04 2.80830649e+00] [-9.01069353e-04 3.51122368e-06 9.99999594e-01 2.16907786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:2.82, Z:0.02 [[ 9.90641660e-01 -1.36485556e-01 8.90855766e-04 3.70552161e+01] [ 1.36485490e-01 9.90642061e-01 1.35330208e-04 2.82079643e+00] [-9.00989811e-04 -1.24748561e-05 9.99999594e-01 2.21328527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters Centerline goodness : 0.999907 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:2.83, Z:0.03 [[ 9.91115819e-01 -1.32998648e-01 8.90818697e-04 3.71132945e+01] [ 1.32998580e-01 9.91116219e-01 1.35573777e-04 2.82672629e+00] [-9.00935988e-04 -1.58916932e-05 9.99999594e-01 2.90531928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754000005 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:2.83, Z:0.03 [[ 9.90239928e-01 -1.39370337e-01 8.90807263e-04 3.71720906e+01] [ 1.39370272e-01 9.90240329e-01 1.35648868e-04 2.83208986e+00] [-9.01018705e-04 -1.01728751e-05 9.99999594e-01 2.94982993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14105275400001 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:2.84, Z:0.03 [[ 9.89705309e-01 -1.43117464e-01 8.90775051e-04 3.72308788e+01] [ 1.43117400e-01 9.89705709e-01 1.35860070e-04 2.83967498e+00] [-9.01049102e-04 -6.97602312e-06 9.99999594e-01 2.93829818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:2.84, Z:0.03 [[ 9.87477137e-01 -1.57759660e-01 8.90742329e-04 3.72900452e+01] [ 1.57759601e-01 9.87477539e-01 1.36074267e-04 2.84454025e+00] [-9.01055073e-04 6.15292720e-06 9.99999594e-01 3.02202779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:2.85, Z:0.03 [[ 9.85315816e-01 -1.70739422e-01 8.90709251e-04 3.73486070e+01] [ 1.70739368e-01 9.85316218e-01 1.36290441e-04 2.84927011e+00] [-9.00900422e-04 1.77900077e-05 9.99999594e-01 2.99508131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32105275400001 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:2.86, Z:0.03 [[ 9.84055501e-01 -1.77859434e-01 8.90676158e-04 3.74066299e+01] [ 1.77859383e-01 9.84055903e-01 1.36506369e-04 2.86161112e+00] [-9.00754077e-04 2.40852690e-05 9.99999594e-01 3.00770462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38105275400001 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:2.87, Z:0.03 [[ 9.82886667e-01 -1.84209140e-01 8.90660694e-04 3.74652566e+01] [ 1.84209092e-01 9.82887070e-01 1.36607188e-04 2.87459947e+00] [-9.00583173e-04 2.97984144e-05 9.99999594e-01 2.86119521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:37.52, Y:2.89, Z:0.03 [[ 9.83705766e-01 -1.79783685e-01 8.90655974e-04 3.75211174e+01] [ 1.79783635e-01 9.83706169e-01 1.36637956e-04 2.88995726e+00] [-9.00709051e-04 2.57138230e-05 9.99999594e-01 3.08335135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50105275400001 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:37.58, Y:2.90, Z:0.03 [[ 9.84711681e-01 -1.74189873e-01 8.90639689e-04 3.75789419e+01] [ 1.74189820e-01 9.84712084e-01 1.36744024e-04 2.90394072e+00] [-9.00843088e-04 2.04869299e-05 9.99999594e-01 3.26881724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56105275400001 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:2.92, Z:0.03 [[ 9.85314035e-01 -1.70749698e-01 8.90606913e-04 3.76366977e+01] [ 1.70749644e-01 9.85314437e-01 1.36957162e-04 2.91608695e+00] [-9.00913243e-04 1.71249997e-05 9.99999594e-01 3.35231182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:2.93, Z:0.03 [[ 9.86542232e-01 -1.63504222e-01 8.90575056e-04 3.76926031e+01] [ 1.63504165e-01 9.86542634e-01 1.37164000e-04 2.93290944e+00] [-9.01017155e-04 1.02946522e-05 9.99999594e-01 2.81488741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68105275400001 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:2.94, Z:0.03 [[ 9.87593066e-01 -1.57032300e-01 8.90562804e-04 3.77503323e+01] [ 1.57032241e-01 9.87593467e-01 1.37243505e-04 2.94141587e+00] [-9.01065670e-04 4.30633822e-06 9.99999594e-01 3.27712572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74105275400001 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:37.81, Y:2.95, Z:0.03 [[ 9.88416977e-01 -1.51759966e-01 8.90550916e-04 3.78082550e+01] [ 1.51759904e-01 9.88417378e-01 1.37320598e-04 2.95283619e+00] [-9.01075771e-04 -5.80089547e-07 9.99999594e-01 2.64094287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:37.87, Y:2.97, Z:0.02 [[ 9.88604828e-01 -1.50531398e-01 8.90516973e-04 3.78656402e+01] [ 1.50531335e-01 9.88605229e-01 1.37540364e-04 2.96665537e+00] [-9.01073879e-04 -1.92235868e-06 9.99999594e-01 2.47765270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754000006 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:2.97, Z:0.03 [[ 9.89057001e-01 -1.47531201e-01 8.90483060e-04 3.79231209e+01] [ 1.47531136e-01 9.89057402e-01 1.37759579e-04 2.96956919e+00] [-9.01062698e-04 -4.87809843e-06 9.99999594e-01 2.98354299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92105275400001 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:2.98, Z:0.03 [[ 9.88373084e-01 -1.52045562e-01 8.90466548e-04 3.79791471e+01] [ 1.52045500e-01 9.88373486e-01 1.37866234e-04 2.98301351e+00] [-9.01075474e-04 -8.71843223e-07 9.99999594e-01 2.71834214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:2.99, Z:0.03 [[ 9.86486585e-01 -1.63839630e-01 8.90453814e-04 3.80381631e+01] [ 1.63839572e-01 9.86486987e-01 1.37948428e-04 2.99076036e+00] [-9.01022520e-04 9.80729765e-06 9.99999594e-01 2.59566846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754000006 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:3.00, Z:0.03 [[ 9.84062461e-01 -1.77820922e-01 8.90420033e-04 3.80963591e+01] [ 1.77820870e-01 9.84062863e-01 1.38166133e-04 2.99842796e+00] [-9.00798116e-04 2.23711596e-05 9.99999594e-01 2.78790366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10105275400001 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:3.01, Z:0.03 [[ 9.83123988e-01 -1.82938328e-01 8.90387316e-04 3.81532464e+01] [ 1.82938277e-01 9.83124391e-01 1.38376653e-04 3.00875826e+00] [-9.00675881e-04 2.68445147e-05 9.99999594e-01 3.33932255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:3.02, Z:0.04 [[ 9.83932825e-01 -1.78536839e-01 8.90354520e-04 3.82107127e+01] [ 1.78536787e-01 9.83933228e-01 1.38587345e-04 3.02030379e+00] [-9.00792344e-04 2.26003971e-05 9.99999594e-01 3.63927728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754000006 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:3.04, Z:0.03 [[ 9.85398870e-01 -1.70259435e-01 8.90320311e-04 3.82677913e+01] [ 1.70259379e-01 9.85399272e-01 1.38806767e-04 3.03633811e+00] [-9.00954148e-04 1.48053526e-05 9.99999594e-01 3.13091810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28105275400001 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:3.05, Z:0.03 [[ 9.86873912e-01 -1.61490212e-01 8.90285831e-04 3.83251849e+01] [ 1.61490152e-01 9.86874314e-01 1.39027566e-04 3.05082708e+00] [-9.01051810e-04 6.56971634e-06 9.99999594e-01 2.91826858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:3.06, Z:0.03 [[ 9.87588491e-01 -1.57061073e-01 8.90251856e-04 3.83834103e+01] [ 1.57061012e-01 9.87588892e-01 1.39244780e-04 3.06088795e+00] [-9.01072779e-04 2.30731491e-06 9.99999594e-01 2.72880447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754000006 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:3.07, Z:0.02 [[ 9.86516502e-01 -1.63659399e-01 8.90219645e-04 3.84412989e+01] [ 1.63659340e-01 9.86516904e-01 1.39450413e-04 3.07084946e+00] [-9.01039098e-04 8.12262580e-06 9.99999594e-01 2.41667559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46105275400001 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:3.08, Z:0.02 [[ 9.83719298e-01 -1.79709626e-01 8.90184939e-04 3.84990210e+01] [ 1.79709573e-01 9.83719701e-01 1.39671606e-04 3.07586490e+00] [-9.00792794e-04 2.25771012e-05 9.99999594e-01 2.03724279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:3.08, Z:0.03 [[ 9.81818366e-01 -1.89820716e-01 8.90171594e-04 3.85582222e+01] [ 1.89820667e-01 9.81818769e-01 1.39756606e-04 3.08403187e+00] [-9.00515878e-04 3.17573637e-05 9.99999594e-01 2.57520964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754000005 meters Centerline goodness : 0.996811 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:3.10, Z:0.03 [[ 9.81053864e-01 -1.93733127e-01 8.90166158e-04 3.86155757e+01] [ 1.93733080e-01 9.81054267e-01 1.39791223e-04 3.09729508e+00] [-9.00383498e-04 3.53119117e-05 9.99999594e-01 2.91750091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64105275400001 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:3.11, Z:0.03 [[ 9.81043642e-01 -1.93784881e-01 8.90121714e-04 3.86712264e+01] [ 1.93784834e-01 9.81044045e-01 1.40073648e-04 3.11380005e+00] [-9.00392762e-04 3.50737262e-05 9.99999594e-01 3.17231047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:3.13, Z:0.03 [[ 9.82704496e-01 -1.85178514e-01 8.90105853e-04 3.87285606e+01] [ 1.85178463e-01 9.82704898e-01 1.40174366e-04 3.12849250e+00] [-9.00668663e-04 2.70784539e-05 9.99999594e-01 2.86261385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:3.14, Z:0.02 [[ 9.85006291e-01 -1.72516130e-01 8.90071803e-04 3.87862709e+01] [ 1.72516073e-01 9.85006693e-01 1.40390242e-04 3.13959666e+00] [-9.00946264e-04 1.52664211e-05 9.99999594e-01 2.34216996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82105275400001 meters Centerline goodness : 0.996850 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:3.15, Z:0.02 [[ 9.86654892e-01 -1.62823007e-01 8.90030524e-04 3.88434912e+01] [ 1.62822946e-01 9.86655294e-01 1.40651456e-04 3.15380550e+00] [-9.01054620e-04 6.14294512e-06 9.99999594e-01 1.67297133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88105275400001 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:3.16, Z:0.02 [[ 9.86745623e-01 -1.62272251e-01 8.89986941e-04 3.89013366e+01] [ 1.62272190e-01 9.86746024e-01 1.40926690e-04 3.16122688e+00] [-9.01059567e-04 5.36133512e-06 9.99999594e-01 1.56015776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:3.17, Z:0.02 [[ 9.85872398e-01 -1.67495740e-01 8.89936731e-04 3.89588789e+01] [ 1.67495681e-01 9.85872800e-01 1.41243049e-04 3.16751835e+00] [-9.01022026e-04 9.81293531e-06 9.99999594e-01 1.70312032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:3.17, Z:0.02 [[ 9.85802576e-01 -1.67906195e-01 8.89888775e-04 3.90154093e+01] [ 1.67906135e-01 9.85802977e-01 1.41544550e-04 3.17472346e+00] [-9.01021210e-04 9.88280348e-06 9.99999594e-01 2.00877364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06105275400001 meters Centerline goodness : 0.998337 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:3.18, Z:0.02 [[ 9.85731120e-01 -1.68325185e-01 8.89867850e-04 3.90722343e+01] [ 1.68325126e-01 9.85731521e-01 1.41675979e-04 3.18454770e+00] [-9.01018425e-04 1.01326964e-05 9.99999594e-01 1.77542045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:3.19, Z:0.02 [[ 9.87651747e-01 -1.56662805e-01 8.89819325e-04 3.91305748e+01] [ 1.56662741e-01 9.87652148e-01 1.41980096e-04 3.18938107e+00] [-9.01074968e-04 -8.25355924e-07 9.99999594e-01 1.62706154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:3.20, Z:0.02 [[ 9.89911679e-01 -1.41683015e-01 8.89803708e-04 3.91880871e+01] [ 1.41682945e-01 9.89912078e-01 1.42077905e-04 3.19644360e+00] [-9.00957463e-04 -1.45745678e-05 9.99999594e-01 1.78063821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24105275400001 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:3.20, Z:0.01 [[ 9.91100199e-01 -1.33115005e-01 8.89789546e-04 3.92470091e+01] [ 1.33114931e-01 9.91100598e-01 1.42166539e-04 3.19966394e+00] [-9.00795450e-04 -2.24570112e-05 9.99999594e-01 1.08322427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:3.20, Z:0.00 [[ 9.92084192e-01 -1.25571352e-01 8.89749467e-04 3.93068549e+01] [ 1.25571275e-01 9.92084590e-01 1.42416932e-04 3.19864224e+00] [-9.00590222e-04 -2.95626113e-05 9.99999594e-01 1.13857024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754000006 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:3.19, Z:0.00 [[ 9.91537545e-01 -1.29817202e-01 8.89703727e-04 3.93653063e+01] [ 1.29817126e-01 9.91537944e-01 1.42702105e-04 3.19291309e+00] [-9.00700192e-04 -2.59957140e-05 9.99999594e-01 3.99628333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42105275400001 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:3.19, Z:0.01 [[ 9.88848119e-01 -1.48924831e-01 8.89682095e-04 3.94249338e+01] [ 1.48924763e-01 9.88848519e-01 1.42836849e-04 3.18819974e+00] [-9.01032776e-04 -8.74825372e-06 9.99999594e-01 6.91356947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:3.18, Z:0.02 [[ 9.86328608e-01 -1.64788000e-01 8.89666835e-04 3.94842321e+01] [ 1.64787938e-01 9.86329010e-01 1.42931832e-04 3.18487537e+00] [-9.01057659e-04 5.62860853e-06 9.99999594e-01 1.57418824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.54, Y:3.19, Z:0.02 [[ 9.85347407e-01 -1.70557016e-01 8.89652064e-04 3.95426134e+01] [ 1.70556956e-01 9.85347809e-01 1.43023712e-04 3.19290028e+00] [-9.01010409e-04 1.08083044e-05 9.99999594e-01 2.09363963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.60, Y:3.20, Z:0.03 [[ 9.81120223e-01 -1.93396786e-01 8.89616824e-04 3.96008854e+01] [ 1.93396736e-01 9.81120626e-01 1.43242568e-04 3.20283281e+00] [-9.00524068e-04 3.15108101e-05 9.99999594e-01 2.84940397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.66, Y:3.22, Z:0.03 [[ 9.77409381e-01 -2.11353046e-01 8.89581168e-04 3.96583928e+01] [ 2.11353003e-01 9.77409785e-01 1.43463663e-04 3.21553970e+00] [-8.99806820e-04 4.77929213e-05 9.99999594e-01 2.52859507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:3.24, Z:0.02 [[ 9.74220804e-01 -2.25594843e-01 8.89545773e-04 3.97148552e+01] [ 2.25594806e-01 9.74221208e-01 1.43682796e-04 3.23569194e+00] [-8.99028456e-04 6.06981371e-05 9.99999594e-01 1.74457930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:3.26, Z:0.01 [[ 9.72763757e-01 -2.31797069e-01 8.89510756e-04 3.97710300e+01] [ 2.31797033e-01 9.72764162e-01 1.43899253e-04 3.25524744e+00] [-8.98639610e-04 6.62059767e-05 9.99999594e-01 1.13600450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.83, Y:3.28, Z:0.01 [[ 9.73228053e-01 -2.29839869e-01 8.89476350e-04 3.98269133e+01] [ 2.29839833e-01 9.73228458e-01 1.44111611e-04 3.27520094e+00] [-8.98786290e-04 6.41836325e-05 9.99999594e-01 9.93864006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:3.30, Z:0.01 [[ 9.74445880e-01 -2.24620648e-01 8.89436164e-04 3.98833346e+01] [ 2.24620610e-01 9.74446284e-01 1.44359210e-04 3.29805139e+00] [-8.99133824e-04 5.91154559e-05 9.99999594e-01 8.47697177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:3.31, Z:0.01 [[ 9.76685946e-01 -2.14671310e-01 8.89403003e-04 3.99394352e+01] [ 2.14671267e-01 9.76686350e-01 1.44563227e-04 3.31325099e+00] [-8.99701350e-04 4.97363972e-05 9.99999594e-01 1.09109525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:3.33, Z:0.01 [[ 9.78740273e-01 -2.05101650e-01 8.89362336e-04 3.99951857e+01] [ 2.05101603e-01 9.78740676e-01 1.44812979e-04 3.33217955e+00] [-9.00156475e-04 4.06753457e-05 9.99999594e-01 1.00328673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:3.35, Z:0.01 [[ 9.78990859e-01 -2.03902201e-01 8.89343599e-04 4.00517595e+01] [ 2.03902153e-01 9.78991262e-01 1.44927959e-04 3.35012415e+00] [-9.00210742e-04 3.94559274e-05 9.99999594e-01 7.64747374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14105275400001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:3.37, Z:0.01 [[ 9.76475470e-01 -2.15626679e-01 8.89308902e-04 4.01083502e+01] [ 2.15626636e-01 9.76475874e-01 1.45140555e-04 3.36738363e+00] [-8.99684863e-04 5.00324954e-05 9.99999594e-01 9.96787799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:3.38, Z:0.01 [[ 9.74393619e-01 -2.24847246e-01 8.89273570e-04 4.01655034e+01] [ 2.24847207e-01 9.74394023e-01 1.45356715e-04 3.38463191e+00] [-8.99185908e-04 5.83160228e-05 9.99999594e-01 8.78791926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:3.41, Z:0.00 [[ 9.71403233e-01 -2.37434135e-01 8.89237980e-04 4.02207417e+01] [ 2.37434101e-01 9.71403637e-01 1.45574115e-04 3.41223229e+00] [-8.98373272e-04 6.97242545e-05 9.99999594e-01 3.39328139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:3.43, Z:0.00 [[ 9.71066307e-01 -2.38808368e-01 8.89202612e-04 4.02772659e+01] [ 2.38808334e-01 9.71066712e-01 1.45789827e-04 3.43428105e+00] [-8.98290888e-04 7.07774050e-05 9.99999594e-01 4.46756953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:3.46, Z:0.00 [[ 9.71474602e-01 -2.37141953e-01 8.89166885e-04 4.03331081e+01] [ 2.37141919e-01 9.71475007e-01 1.46007404e-04 3.45808900e+00] [-8.98427887e-04 6.90162559e-05 9.99999594e-01 1.75806576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:3.49, Z:0.00 [[ 9.72135029e-01 -2.34419912e-01 8.89131365e-04 4.03870373e+01] [ 2.34419875e-01 9.72135433e-01 1.46223385e-04 3.48659289e+00] [-8.98633778e-04 6.62811888e-05 9.99999594e-01 1.18288433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:3.52, Z:0.00 [[ 9.73036869e-01 -2.30647917e-01 8.89091031e-04 4.04411978e+01] [ 2.30647879e-01 9.73037273e-01 1.46468225e-04 3.51946408e+00] [-8.98901303e-04 6.25479777e-05 9.99999594e-01 1.03418517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56105275400001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.49, Y:3.55, Z:0.00 [[ 9.73891953e-01 -2.27010295e-01 8.89052015e-04 4.04946100e+01] [ 2.27010255e-01 9.73892357e-01 1.46704665e-04 3.54829296e+00] [-8.99144432e-04 5.89494322e-05 9.99999594e-01 6.11347124e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:3.57, Z:-0.00 [[ 9.74125620e-01 -2.26005501e-01 8.89038319e-04 4.05501838e+01] [ 2.26005461e-01 9.74126024e-01 1.46787620e-04 3.57264595e+00] [-8.99210172e-04 5.79379331e-05 9.99999594e-01 -2.89906199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68105275400001 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:40.60, Y:3.60, Z:-0.00 [[ 9.73888893e-01 -2.27023422e-01 8.89002242e-04 4.06047725e+01] [ 2.27023382e-01 9.73889297e-01 1.47005788e-04 3.60037089e+00] [-8.99163526e-04 5.86569918e-05 9.99999594e-01 -3.19114291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74105275400001 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:40.66, Y:3.63, Z:-0.00 [[ 9.73857178e-01 -2.27159430e-01 8.88983104e-04 4.06591919e+01] [ 2.27159390e-01 9.73857582e-01 1.47121432e-04 3.62781951e+00] [-8.99162957e-04 5.86655968e-05 9.99999594e-01 -3.03875146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:40.71, Y:3.65, Z:-0.00 [[ 9.74646809e-01 -2.23747197e-01 8.88942652e-04 4.07146523e+01] [ 2.23747155e-01 9.74647213e-01 1.47365444e-04 3.65134321e+00] [-8.99378083e-04 5.52691297e-05 9.99999594e-01 -1.90153303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754000006 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:3.68, Z:-0.00 [[ 9.76412275e-01 -2.15912666e-01 8.88906866e-04 4.07705180e+01] [ 2.15912621e-01 9.76412678e-01 1.47580990e-04 3.67657941e+00] [-8.99804539e-04 4.78263210e-05 9.99999594e-01 -1.67428948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92105275400001 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:3.69, Z:-0.00 [[ 9.77144480e-01 -2.12574401e-01 8.88871373e-04 4.08277558e+01] [ 2.12574354e-01 9.77144883e-01 1.47794457e-04 3.69220213e+00] [-8.99973432e-04 4.45347201e-05 9.99999594e-01 -3.68765004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:3.71, Z:-0.01 [[ 9.79457362e-01 -2.01649416e-01 8.88835203e-04 4.08839963e+01] [ 2.01649364e-01 9.79457764e-01 1.48011663e-04 3.71466380e+00] [-9.00423006e-04 3.42619411e-05 9.99999594e-01 -7.01912132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754000006 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:3.73, Z:-0.00 [[ 9.81274372e-01 -1.92613126e-01 8.88798875e-04 4.09404712e+01] [ 1.92613070e-01 9.81274775e-01 1.48229488e-04 3.73242572e+00] [-9.00706861e-04 2.57404819e-05 9.99999594e-01 -3.94819445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10105275400001 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:3.75, Z:-0.00 [[ 9.82441456e-01 -1.86569013e-01 8.88762720e-04 4.09974155e+01] [ 1.86568955e-01 9.82441857e-01 1.48445954e-04 3.75062570e+00] [-9.00853112e-04 1.99760728e-05 9.99999594e-01 -4.31888444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:3.77, Z:-0.01 [[ 9.83009509e-01 -1.83552488e-01 8.88726656e-04 4.10547286e+01] [ 1.83552429e-01 9.83009910e-01 1.48661551e-04 3.76507439e+00] [-9.00914308e-04 1.69922184e-05 9.99999594e-01 -1.13694149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754000006 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:3.78, Z:-0.00 [[ 9.82570160e-01 -1.85889997e-01 8.88690195e-04 4.11118791e+01] [ 1.85889939e-01 9.82570562e-01 1.48879194e-04 3.77526705e+00] [-9.00875977e-04 1.89143125e-05 9.99999594e-01 -4.99123462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28105275400001 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:3.79, Z:-0.01 [[ 9.82425864e-01 -1.86651099e-01 8.88676175e-04 4.11698034e+01] [ 1.86651040e-01 9.82426265e-01 1.48962831e-04 3.78579103e+00] [-9.00862892e-04 1.95273950e-05 9.99999594e-01 -6.30103648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:41.23, Y:3.79, Z:-0.01 [[ 9.82473784e-01 -1.86398699e-01 8.88639335e-04 4.12274084e+01] [ 1.86398640e-01 9.82474185e-01 1.49182281e-04 3.79353860e+00] [-9.00872590e-04 1.90734830e-05 9.99999594e-01 -5.11966124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754000006 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:41.29, Y:3.80, Z:-0.01 [[ 9.82948009e-01 -1.83881543e-01 8.88597243e-04 4.12855979e+01] [ 1.83881483e-01 9.82948411e-01 1.49432580e-04 3.80285712e+00] [-9.00923141e-04 1.65121221e-05 9.99999594e-01 -6.44474418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46105275400001 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:41.34, Y:3.81, Z:-0.01 [[ 9.84265348e-01 -1.76694471e-01 8.88560010e-04 4.13433930e+01] [ 1.76694408e-01 9.84265749e-01 1.49653648e-04 3.80808761e+00] [-9.01022155e-04 9.70468421e-06 9.99999594e-01 -8.71544976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:41.40, Y:3.81, Z:-0.01 [[ 9.85827999e-01 -1.67756870e-01 8.88546927e-04 4.14020508e+01] [ 1.67756804e-01 9.85828399e-01 1.49731287e-04 3.81010436e+00] [-9.01073246e-04 1.45049719e-06 9.99999594e-01 -9.25267432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754000005 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:41.46, Y:3.82, Z:-0.01 [[ 9.86091822e-01 -1.66199067e-01 8.88504613e-04 4.14593384e+01] [ 1.66198999e-01 9.86092222e-01 1.49981958e-04 3.81530896e+00] [-9.01074349e-04 -2.27405300e-07 9.99999594e-01 -9.33535661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64105275400001 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:41.52, Y:3.81, Z:-0.00 [[ 9.85028150e-01 -1.72391283e-01 8.88486431e-04 4.15196515e+01] [ 1.72391218e-01 9.85028551e-01 1.50089588e-04 3.80794525e+00] [-9.01058638e-04 5.32478864e-06 9.99999594e-01 -3.15536083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70105275400001 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:41.58, Y:3.81, Z:-0.00 [[ 9.83187787e-01 -1.82595144e-01 8.88444992e-04 4.15779308e+01] [ 1.82595083e-01 9.83188188e-01 1.50334485e-04 3.81412239e+00] [-9.00958969e-04 1.44186568e-05 9.99999594e-01 -7.17541164e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754000005 meters Centerline goodness : 0.995761 with order 1 Centerline is valid? [True, True] Translation: X:41.64, Y:3.82, Z:-0.00 [[ 9.82442652e-01 -1.86562716e-01 8.88403018e-04 4.16356411e+01] [ 1.86562656e-01 9.82443053e-01 1.50582126e-04 3.81840368e+00] [-9.00898383e-04 1.78045235e-05 9.99999594e-01 -2.52513209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82105275400001 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:3.82, Z:0.00 [[ 9.82941870e-01 -1.83914358e-01 8.88349251e-04 4.16933711e+01] [ 1.83914296e-01 9.82942271e-01 1.50898654e-04 3.81900961e+00] [-9.00948459e-04 1.50555219e-05 9.99999594e-01 2.74516786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88105275400001 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:3.83, Z:0.00 [[ 9.84345123e-01 -1.76249507e-01 8.88325757e-04 4.17518156e+01] [ 1.76249443e-01 9.84345524e-01 1.51036830e-04 3.82553630e+00] [-9.01039650e-04 7.89455313e-06 9.99999594e-01 1.65447048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:3.83, Z:-0.00 [[ 9.85676577e-01 -1.68644291e-01 8.88289412e-04 4.18100328e+01] [ 1.68644223e-01 9.85676977e-01 1.51250286e-04 3.82947428e+00] [-9.01073920e-04 7.21013646e-07 9.99999594e-01 -3.66913669e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00105275400001 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:3.83, Z:0.00 [[ 9.86183564e-01 -1.65653823e-01 8.88275443e-04 4.18687680e+01] [ 1.65653754e-01 9.86183964e-01 1.51332279e-04 3.83101970e+00] [-9.01071768e-04 -2.09524485e-06 9.99999594e-01 1.42287288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06105275400001 meters Centerline goodness : 0.995221 with order 1 Centerline is valid? [True, True] Translation: X:41.93, Y:3.83, Z:-0.00 [[ 9.86270855e-01 -1.65133312e-01 8.88261900e-04 4.19291400e+01] [ 1.65133242e-01 9.86271255e-01 1.51411729e-04 3.82757789e+00] [-9.01070300e-04 -2.65140796e-06 9.99999594e-01 -9.92338377e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:41.99, Y:3.83, Z:-0.00 [[ 9.87217974e-01 -1.59373405e-01 8.88219592e-04 4.19879491e+01] [ 1.59373333e-01 9.87218374e-01 1.51659515e-04 3.82643715e+00] [-9.01037194e-04 -8.16248219e-06 9.99999594e-01 -1.00834633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18105275400001 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:3.83, Z:-0.00 [[ 9.87062924e-01 -1.60330890e-01 8.88203329e-04 4.20477549e+01] [ 1.60330819e-01 9.87063324e-01 1.51754700e-04 3.82505487e+00] [-9.01043896e-04 -7.38507157e-06 9.99999594e-01 -1.62330752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24105275400001 meters Centerline goodness : 0.995307 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:3.82, Z:0.00 [[ 9.83958475e-01 -1.78395435e-01 8.88164641e-04 4.21084609e+01] [ 1.78395370e-01 9.83958876e-01 1.51980787e-04 3.81704152e+00] [-9.01030160e-04 8.90167650e-06 9.99999594e-01 1.05101583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters Centerline goodness : 0.994792 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:3.82, Z:-0.00 [[ 9.81504584e-01 -1.91436577e-01 8.88121293e-04 4.21669103e+01] [ 1.91436518e-01 9.81504985e-01 1.52233678e-04 3.81688974e+00] [-9.00838571e-04 2.06007946e-05 9.99999594e-01 -9.95127220e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754000006 meters Centerline goodness : 0.994731 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:3.82, Z:0.00 [[ 9.81185510e-01 -1.93065288e-01 8.88105823e-04 4.22255942e+01] [ 1.93065229e-01 9.81185912e-01 1.52323877e-04 3.82125265e+00] [-9.00805375e-04 2.20043734e-05 9.99999594e-01 1.64127032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42105275400001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:3.82, Z:0.00 [[ 9.81305470e-01 -1.92454634e-01 8.88062723e-04 4.22855104e+01] [ 1.92454575e-01 9.81305871e-01 1.52574738e-04 3.82153235e+00] [-9.00824880e-04 2.11893092e-05 9.99999594e-01 3.62112634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:42.34, Y:3.83, Z:0.01 [[ 9.82870277e-01 -1.84296584e-01 8.88018611e-04 4.23430185e+01] [ 1.84296521e-01 9.82870678e-01 1.52831052e-04 3.82737499e+00] [-9.00973694e-04 1.34456421e-05 9.99999594e-01 1.03547532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754000006 meters Centerline goodness : 0.994831 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:3.84, Z:0.00 [[ 9.84284501e-01 -1.76587748e-01 8.87970082e-04 4.23997806e+01] [ 1.76587682e-01 9.84284901e-01 1.53112491e-04 3.83572214e+00] [-9.01053335e-04 6.09832668e-06 9.99999594e-01 3.29472308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:3.83, Z:0.01 [[ 9.86117040e-01 -1.66049377e-01 8.87953938e-04 4.24598951e+01] [ 1.66049306e-01 9.86117440e-01 1.53206059e-04 3.83422743e+00] [-9.01066634e-04 -3.63497009e-06 9.99999594e-01 6.59609312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:3.84, Z:0.00 [[ 9.87860582e-01 -1.55340535e-01 8.87908410e-04 4.25188807e+01] [ 1.55340460e-01 9.87860981e-01 1.53469463e-04 3.83998783e+00] [-9.00970102e-04 -1.36783322e-05 9.99999594e-01 3.01758641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754000006 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:3.84, Z:0.01 [[ 9.89811310e-01 -1.42382518e-01 8.87897185e-04 4.25774751e+01] [ 1.42382437e-01 9.89811708e-01 1.53534377e-04 3.84420344e+00] [-9.00711641e-04 -2.55490981e-05 9.99999594e-01 6.70080622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78105275400001 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:3.84, Z:0.00 [[ 9.90735666e-01 -1.35801515e-01 8.87875697e-04 4.26378451e+01] [ 1.35801432e-01 9.90736063e-01 1.53658544e-04 3.84052781e+00] [-9.00517536e-04 -3.16602088e-05 9.99999594e-01 3.68642280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:42.70, Y:3.85, Z:0.00 [[ 9.90841999e-01 -1.35023499e-01 8.87831131e-04 4.26958664e+01] [ 1.35023416e-01 9.90842396e-01 1.53915614e-04 3.84677313e+00] [-9.00482950e-04 -3.26280628e-05 9.99999594e-01 1.39283121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754000006 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:42.76, Y:3.85, Z:-0.01 [[ 9.91370441e-01 -1.31087224e-01 8.87815233e-04 4.27558841e+01] [ 1.31087138e-01 9.91370838e-01 1.54007260e-04 3.84579567e+00] [-9.00342516e-04 -3.62970869e-05 9.99999594e-01 -5.61424036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96105275400001 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:3.84, Z:0.00 [[ 9.91698351e-01 -1.28583019e-01 8.87792698e-04 4.28165051e+01] [ 1.28582932e-01 9.91698748e-01 1.54137056e-04 3.83970942e+00] [-9.00242315e-04 -3.87024760e-05 9.99999594e-01 4.76700962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:3.83, Z:0.01 [[ 9.91134382e-01 -1.32860258e-01 8.87748135e-04 4.28777038e+01] [ 1.32860173e-01 9.91134779e-01 1.54393292e-04 3.82558673e+00] [-9.00390784e-04 -3.50781297e-05 9.99999594e-01 1.11973883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754000005 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:3.83, Z:0.01 [[ 9.90439411e-01 -1.37945584e-01 8.87706443e-04 4.29375663e+01] [ 1.37945501e-01 9.90439809e-01 1.54632631e-04 3.82616632e+00] [-9.00550689e-04 -3.06991420e-05 9.99999594e-01 5.61250770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14105275400001 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:3.82, Z:0.01 [[ 9.90091210e-01 -1.40422960e-01 8.87663992e-04 4.29981602e+01] [ 1.40422877e-01 9.90091608e-01 1.54875940e-04 3.82038939e+00] [-9.00616807e-04 -2.86929748e-05 9.99999594e-01 7.48052118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20105275400001 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:3.81, Z:0.01 [[ 9.89635148e-01 -1.43601828e-01 8.87621474e-04 4.30596620e+01] [ 1.43601747e-01 9.89635546e-01 1.55119237e-04 3.81271011e+00] [-9.00697168e-04 -2.60474546e-05 9.99999594e-01 1.27075564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754000005 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:3.81, Z:0.01 [[ 9.88111196e-01 -1.53738336e-01 8.87576318e-04 4.31199200e+01] [ 1.53738259e-01 9.88111595e-01 1.55377183e-04 3.81116602e+00] [-9.00911881e-04 -1.70754968e-05 9.99999594e-01 1.13737383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32105275400001 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:3.81, Z:0.02 [[ 9.86655408e-01 -1.62819896e-01 8.87531479e-04 4.31795861e+01] [ 1.62819822e-01 9.86655807e-01 1.55632888e-04 3.81342542e+00] [-9.01028218e-04 -9.04831302e-06 9.99999594e-01 1.67732790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38105275400001 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:3.83, Z:0.02 [[ 9.86810820e-01 -1.61875317e-01 8.87487045e-04 4.32366764e+01] [ 1.61875243e-01 9.86811219e-01 1.55885861e-04 3.82528419e+00] [-9.01016246e-04 -1.01676732e-05 9.99999594e-01 1.76158299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:3.84, Z:0.02 [[ 9.87466628e-01 -1.57825442e-01 8.87473925e-04 4.32941507e+01] [ 1.57825366e-01 9.87467027e-01 1.55960515e-04 3.83987542e+00] [-9.00965776e-04 -1.39399071e-05 9.99999594e-01 1.92009897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50105275400001 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:3.85, Z:0.01 [[ 9.87766740e-01 -1.55936140e-01 8.87436969e-04 4.33505276e+01] [ 1.55936063e-01 9.87767138e-01 1.56170517e-04 3.85171726e+00] [-9.00933704e-04 -1.58766152e-05 9.99999594e-01 1.01434263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56105275400001 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:3.86, Z:0.01 [[ 9.87580105e-01 -1.57113807e-01 8.87394615e-04 4.34085167e+01] [ 1.57113730e-01 9.87580504e-01 1.56410817e-04 3.86301965e+00] [-9.00947919e-04 -1.50463333e-05 9.99999594e-01 1.43886624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.47, Y:3.87, Z:0.02 [[ 9.87208831e-01 -1.59430037e-01 8.87350989e-04 4.34671933e+01] [ 1.59429961e-01 9.87209230e-01 1.56657922e-04 3.87161368e+00] [-9.00977065e-04 -1.31837506e-05 9.99999594e-01 2.01570321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.53, Y:3.88, Z:0.02 [[ 9.87522802e-01 -1.57473578e-01 8.87343161e-04 4.35251193e+01] [ 1.57473500e-01 9.87523201e-01 1.56702251e-04 3.88205144e+00] [-9.00948423e-04 -1.50140123e-05 9.99999594e-01 2.26768046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.58, Y:3.89, Z:0.02 [[ 9.87710982e-01 -1.56288927e-01 8.87304959e-04 4.35824780e+01] [ 1.56288849e-01 9.87711381e-01 1.56918266e-04 3.89450707e+00] [-9.00925793e-04 -1.63140243e-05 9.99999594e-01 1.68034562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.64, Y:3.90, Z:0.02 [[ 9.87069533e-01 -1.60290202e-01 8.87266551e-04 4.36399387e+01] [ 1.60290125e-01 9.87069932e-01 1.57135136e-04 3.89962929e+00] [-9.00981357e-04 -1.28832391e-05 9.99999594e-01 1.76845327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.70, Y:3.91, Z:0.02 [[ 9.86882413e-01 -1.61438270e-01 8.87253102e-04 4.36978308e+01] [ 1.61438194e-01 9.86882812e-01 1.57211040e-04 3.90926162e+00] [-9.00994715e-04 -1.19122723e-05 9.99999594e-01 1.73346528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92105275400001 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:3.92, Z:0.02 [[ 9.87043590e-01 -1.60449880e-01 8.87214861e-04 4.37535615e+01] [ 1.60449804e-01 9.87043989e-01 1.57426556e-04 3.91917583e+00] [-9.00979167e-04 -1.30334227e-05 9.99999594e-01 1.60632626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:3.93, Z:0.02 [[ 9.86762572e-01 -1.62169168e-01 8.87195918e-04 4.38113225e+01] [ 1.62169092e-01 9.86762971e-01 1.57533237e-04 3.92998335e+00] [-9.00999114e-04 -1.15721457e-05 9.99999594e-01 1.91110476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754000006 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:3.94, Z:0.02 [[ 9.86418596e-01 -1.64248488e-01 8.87158972e-04 4.38691101e+01] [ 1.64248413e-01 9.86418995e-01 1.57741027e-04 3.94233641e+00] [-9.01019187e-04 -9.88422883e-06 9.99999594e-01 1.62018793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:3.95, Z:0.02 [[ 9.86724635e-01 -1.62399841e-01 8.87118851e-04 4.39261015e+01] [ 1.62399765e-01 9.86725033e-01 1.57966342e-04 3.95121717e+00] [-9.00996087e-04 -1.18013880e-05 9.99999594e-01 2.22936506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:3.96, Z:0.02 [[ 9.87087582e-01 -1.60179020e-01 8.87103429e-04 4.39837582e+01] [ 1.60178942e-01 9.87087981e-01 1.58052905e-04 3.96465262e+00] [-9.00965891e-04 -1.39167706e-05 9.99999594e-01 1.63071105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:3.98, Z:0.01 [[ 9.87972284e-01 -1.54628517e-01 8.87064949e-04 4.40407137e+01] [ 1.54628437e-01 9.87972682e-01 1.58268575e-04 3.97831996e+00] [-9.00868772e-04 -1.91994984e-05 9.99999594e-01 9.02256696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28105275400001 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:3.99, Z:0.01 [[ 9.88676746e-01 -1.50058340e-01 8.87026931e-04 4.40982212e+01] [ 1.50058259e-01 9.88677143e-01 1.58481366e-04 3.99001760e+00] [-9.00764703e-04 -2.35811245e-05 9.99999594e-01 5.19313670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:4.00, Z:0.01 [[ 9.88592725e-01 -1.50610879e-01 8.87016077e-04 4.41565424e+01] [ 1.50610797e-01 9.88593123e-01 1.58542093e-04 4.00120350e+00] [-9.00776157e-04 -2.31393611e-05 9.99999594e-01 5.05660548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.22, Y:4.01, Z:0.01 [[ 9.88174451e-01 -1.53331237e-01 8.86977951e-04 4.42154122e+01] [ 1.53331156e-01 9.88174849e-01 1.58755105e-04 4.00911410e+00] [-9.00831419e-04 -2.08763839e-05 9.99999594e-01 7.01232885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:4.02, Z:0.01 [[ 9.87161532e-01 -1.59722647e-01 8.86940089e-04 4.42740058e+01] [ 1.59722569e-01 9.87161930e-01 1.58966353e-04 4.01673966e+00] [-9.00944016e-04 -1.52611194e-05 9.99999594e-01 1.11832389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:4.02, Z:0.02 [[ 9.86300622e-01 -1.64955438e-01 8.86902523e-04 4.43326559e+01] [ 1.64955361e-01 9.86301021e-01 1.59175663e-04 4.02494560e+00] [-9.01009755e-04 -1.06957294e-05 9.99999594e-01 1.57540182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.39, Y:4.04, Z:0.01 [[ 9.86120151e-01 -1.66030906e-01 8.86865024e-04 4.43900607e+01] [ 1.66030830e-01 9.86120549e-01 1.59384318e-04 4.03625589e+00] [-9.01018548e-04 -9.92515139e-06 9.99999594e-01 1.01980999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64105275400001 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:4.05, Z:0.00 [[ 9.86726110e-01 -1.62390876e-01 8.86843096e-04 4.44479765e+01] [ 1.62390799e-01 9.86726509e-01 1.59506240e-04 4.05010231e+00] [-9.00973950e-04 -1.33738131e-05 9.99999594e-01 4.26450133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:4.06, Z:0.00 [[ 9.87196962e-01 -1.59503517e-01 8.86804707e-04 4.45057306e+01] [ 1.59503438e-01 9.87197360e-01 1.59719386e-04 4.06386068e+00] [-9.00927069e-04 -1.62260932e-05 9.99999594e-01 1.44774017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754000005 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:4.08, Z:-0.00 [[ 9.87578318e-01 -1.57125042e-01 8.86767447e-04 4.45614857e+01] [ 1.57124962e-01 9.87578716e-01 1.59925983e-04 4.07629903e+00] [-9.00881034e-04 -1.86061327e-05 9.99999594e-01 -1.02877398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82105275400001 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:4.09, Z:-0.01 [[ 9.87502410e-01 -1.57601411e-01 8.86749165e-04 4.46193051e+01] [ 1.57601331e-01 9.87502808e-01 1.60027293e-04 4.08790517e+00] [-9.00887817e-04 -1.82744886e-05 9.99999594e-01 -1.15433652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88105275400001 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:4.10, Z:-0.02 [[ 9.86540236e-01 -1.63516287e-01 8.86703119e-04 4.46766187e+01] [ 1.63516209e-01 9.86540635e-01 1.60282024e-04 4.09762433e+00] [-9.00977379e-04 -1.31343326e-05 9.99999594e-01 -1.70435986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:4.10, Z:-0.01 [[ 9.86442323e-01 -1.64105932e-01 8.86686694e-04 4.47354683e+01] [ 1.64105854e-01 9.86442722e-01 1.60372837e-04 4.10450911e+00] [-9.00983769e-04 -1.26880766e-05 9.99999594e-01 -7.24328476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00105275400001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:4.11, Z:-0.00 [[ 9.86517613e-01 -1.63652721e-01 8.86641204e-04 4.47940660e+01] [ 1.63652643e-01 9.86518011e-01 1.60623942e-04 4.11296695e+00] [-9.00974062e-04 -1.33571713e-05 9.99999594e-01 -1.47110349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:4.12, Z:-0.00 [[ 9.86358967e-01 -1.64606204e-01 8.86596833e-04 4.48524411e+01] [ 1.64606126e-01 9.86359365e-01 1.60868482e-04 4.12444671e+00] [-9.00983040e-04 -1.27347998e-05 9.99999594e-01 -3.08209691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:4.14, Z:-0.00 [[ 9.85717583e-01 -1.68404454e-01 8.86556272e-04 4.49101200e+01] [ 1.68404377e-01 9.85717982e-01 1.61091706e-04 4.13699337e+00] [-9.01023020e-04 -9.49097110e-06 9.99999594e-01 -3.13535452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:4.14, Z:-0.00 [[ 9.85594998e-01 -1.69120415e-01 8.86514560e-04 4.49681874e+01] [ 1.69120339e-01 9.85595396e-01 1.61320929e-04 4.14194323e+00] [-9.01027331e-04 -9.06945761e-06 9.99999594e-01 -3.05048742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:4.15, Z:-0.01 [[ 9.85585025e-01 -1.69178525e-01 8.86493707e-04 4.50264470e+01] [ 1.69178448e-01 9.85585423e-01 1.61435439e-04 4.15344313e+00] [-9.01026685e-04 -9.13272132e-06 9.99999594e-01 -5.47882705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:45.08, Y:4.17, Z:-0.01 [[ 9.85732603e-01 -1.68316517e-01 8.86452708e-04 4.50832023e+01] [ 1.68316440e-01 9.85733001e-01 1.61660257e-04 4.16758916e+00] [-9.01015779e-04 -1.01492217e-05 9.99999594e-01 -6.96559535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:4.18, Z:-0.01 [[ 9.85854084e-01 -1.67603516e-01 8.86406455e-04 4.51394133e+01] [ 1.67603438e-01 9.85854483e-01 1.61913468e-04 4.17757171e+00] [-9.01005044e-04 -1.10582847e-05 9.99999594e-01 -6.19842010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.20, Y:4.19, Z:-0.01 [[ 9.85683827e-01 -1.68601920e-01 8.86375383e-04 4.51962729e+01] [ 1.68601842e-01 9.85684226e-01 1.62083389e-04 4.18684305e+00] [-9.01013804e-04 -1.03184528e-05 9.99999594e-01 -5.75522047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:4.20, Z:-0.01 [[ 9.86179121e-01 -1.65680280e-01 8.86361505e-04 4.52539637e+01] [ 1.65680201e-01 9.86179519e-01 1.62159247e-04 4.19658879e+00] [-9.00978153e-04 -1.30655115e-05 9.99999594e-01 -7.23697976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754000006 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:4.21, Z:-0.00 [[ 9.86799410e-01 -1.61944864e-01 8.86322765e-04 4.53116235e+01] [ 1.61944784e-01 9.86799808e-01 1.62370716e-04 4.20711943e+00] [-9.00918238e-04 -1.66919787e-05 9.99999594e-01 -4.34016814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60105275400001 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:4.22, Z:-0.01 [[ 9.86988460e-01 -1.60788665e-01 8.86273766e-04 4.53675231e+01] [ 1.60788584e-01 9.86988858e-01 1.62637730e-04 4.22097599e+00] [-9.00892635e-04 -1.80188592e-05 9.99999594e-01 -6.38325853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:4.23, Z:-0.01 [[ 9.86979911e-01 -1.60841129e-01 8.86240670e-04 4.54244273e+01] [ 1.60841048e-01 9.86980309e-01 1.62817874e-04 4.23084784e+00] [-9.00889902e-04 -1.81540926e-05 9.99999594e-01 -8.95919654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754000006 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:4.24, Z:-0.01 [[ 9.86684011e-01 -1.62646480e-01 8.86225953e-04 4.54818467e+01] [ 1.62646399e-01 9.86684409e-01 1.62897941e-04 4.24044930e+00] [-9.00920107e-04 -1.65873338e-05 9.99999594e-01 -1.15846603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78105275400001 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:4.25, Z:-0.02 [[ 9.86714065e-01 -1.62464056e-01 8.86178227e-04 4.55381402e+01] [ 1.62463975e-01 9.86714462e-01 1.63157164e-04 4.25169386e+00] [-9.00912047e-04 -1.70174307e-05 9.99999594e-01 -1.62630433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:4.26, Z:-0.02 [[ 9.86775235e-01 -1.62092102e-01 8.86163612e-04 4.55955694e+01] [ 1.62092021e-01 9.86775633e-01 1.63236501e-04 4.26358266e+00] [-9.00904007e-04 -1.74376852e-05 9.99999594e-01 -1.76918871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754000006 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:4.28, Z:-0.02 [[ 9.86821917e-01 -1.61807659e-01 8.86123165e-04 4.56521581e+01] [ 1.61807577e-01 9.86822315e-01 1.63455772e-04 4.27552336e+00] [-9.00894509e-04 -1.79202959e-05 9.99999594e-01 -1.81530615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96105275400001 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:4.29, Z:-0.02 [[ 9.87622638e-01 -1.56846228e-01 8.86108927e-04 4.57087640e+01] [ 1.56846144e-01 9.87623035e-01 1.63532920e-04 4.28758651e+00] [-9.00791110e-04 -2.25260454e-05 9.99999594e-01 -2.27384763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:4.30, Z:-0.02 [[ 9.87572875e-01 -1.57159256e-01 8.86080347e-04 4.57662101e+01] [ 1.57159172e-01 9.87573272e-01 1.63687632e-04 4.29865790e+00] [-9.00794294e-04 -2.23978112e-05 9.99999594e-01 -2.44379786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.82, Y:4.31, Z:-0.02 [[ 9.86931220e-01 -1.61139632e-01 8.86031678e-04 4.58237340e+01] [ 1.61139550e-01 9.86931618e-01 1.63950650e-04 4.30674347e+00] [-9.00871626e-04 -1.90332692e-05 9.99999594e-01 -2.11146819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14105275400001 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:45.88, Y:4.31, Z:-0.02 [[ 9.86740190e-01 -1.62305304e-01 8.85982570e-04 4.58811909e+01] [ 1.62305221e-01 9.86740588e-01 1.64215601e-04 4.31485970e+00] [-9.00888025e-04 -1.82385360e-05 9.99999594e-01 -2.43084123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20105275400001 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:45.94, Y:4.33, Z:-0.02 [[ 9.86284121e-01 -1.65054073e-01 8.85927910e-04 4.59387470e+01] [ 1.65053992e-01 9.86284519e-01 1.64509958e-04 4.32553573e+00] [-9.00930022e-04 -1.60276214e-05 9.99999594e-01 -2.33928012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.00, Y:4.34, Z:-0.02 [[ 9.86033860e-01 -1.66542614e-01 8.85879822e-04 4.59971965e+01] [ 1.66542533e-01 9.86034258e-01 1.64768506e-04 4.33608335e+00] [-9.00948830e-04 -1.49306562e-05 9.99999594e-01 -2.09360425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32105275400001 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:4.35, Z:-0.02 [[ 9.85986612e-01 -1.66822109e-01 8.85831310e-04 4.60543012e+01] [ 1.66822028e-01 9.85987010e-01 1.65028904e-04 4.34769403e+00] [-9.00948635e-04 -1.49401140e-05 9.99999594e-01 -2.20213085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38105275400001 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:4.36, Z:-0.02 [[ 9.85799417e-01 -1.67924759e-01 8.85779876e-04 4.61110363e+01] [ 1.67924678e-01 9.85799815e-01 1.65304516e-04 4.35909958e+00] [-9.00960358e-04 -1.42127946e-05 9.99999594e-01 -2.20818411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:4.37, Z:-0.02 [[ 9.86176421e-01 -1.65696356e-01 8.85723825e-04 4.61685675e+01] [ 1.65696274e-01 9.86176819e-01 1.65604298e-04 4.37022924e+00] [-9.00920333e-04 -1.65539161e-05 9.99999594e-01 -2.13516225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50105275400001 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:4.38, Z:-0.02 [[ 9.86433668e-01 -1.64157956e-01 8.85670747e-04 4.62248592e+01] [ 1.64157873e-01 9.86434065e-01 1.65887683e-04 4.38312972e+00] [-9.00887578e-04 -1.82473699e-05 9.99999594e-01 -2.46567210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56105275400001 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:46.28, Y:4.39, Z:-0.02 [[ 9.86295435e-01 -1.64986458e-01 8.85643850e-04 4.62821537e+01] [ 1.64986376e-01 9.86295832e-01 1.66031157e-04 4.39122568e+00] [-9.00899730e-04 -1.76366030e-05 9.99999594e-01 -2.10826658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:4.40, Z:-0.02 [[ 9.85928304e-01 -1.67166372e-01 8.85587965e-04 4.63397279e+01] [ 1.67166290e-01 9.85928701e-01 1.66328705e-04 4.40227132e+00] [-9.00931158e-04 -1.59477238e-05 9.99999594e-01 -2.08383257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68105275400001 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:4.41, Z:-0.02 [[ 9.85329643e-01 -1.70659633e-01 8.85536237e-04 4.63966241e+01] [ 1.70659552e-01 9.85330041e-01 1.66603653e-04 4.41179744e+00] [-9.00977974e-04 -1.30343000e-05 9.99999594e-01 -2.26702475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74105275400001 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:4.42, Z:-0.02 [[ 9.85542003e-01 -1.69428968e-01 8.85519021e-04 4.64550913e+01] [ 1.69428887e-01 9.85542401e-01 1.66695106e-04 4.42151146e+00] [-9.00959522e-04 -1.42525271e-05 9.99999594e-01 -2.21168181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:4.43, Z:-0.02 [[ 9.85772302e-01 -1.68083859e-01 8.85469559e-04 4.65121205e+01] [ 1.68083777e-01 9.85772700e-01 1.66957433e-04 4.43480808e+00] [-9.00934567e-04 -1.57489452e-05 9.99999594e-01 -1.87481846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754000006 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:4.45, Z:-0.03 [[ 9.86165968e-01 -1.65758559e-01 8.85420730e-04 4.65686451e+01] [ 1.65758476e-01 9.86166365e-01 1.67215983e-04 4.45089044e+00] [-9.00889623e-04 -1.81367210e-05 9.99999594e-01 -2.59048428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92105275400001 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:4.46, Z:-0.03 [[ 9.85878463e-01 -1.67460065e-01 8.85387262e-04 4.66251968e+01] [ 1.67459982e-01 9.85878860e-01 1.67393007e-04 4.46295347e+00] [-9.00916228e-04 -1.67622254e-05 9.99999594e-01 -2.60539630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:4.47, Z:-0.01 [[ 9.85780905e-01 -1.68033400e-01 8.85362089e-04 4.66834695e+01] [ 1.68033317e-01 9.85781302e-01 1.67526045e-04 4.47032539e+00] [-9.00923364e-04 -1.63736471e-05 9.99999594e-01 -1.44670353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754000006 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:4.48, Z:-0.02 [[ 9.85017226e-01 -1.72453708e-01 8.85307581e-04 4.67411891e+01] [ 1.72453627e-01 9.85017623e-01 1.67813603e-04 4.48234504e+00] [-9.00983647e-04 -1.26247860e-05 9.99999594e-01 -2.14037331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:4.49, Z:-0.01 [[ 9.84662024e-01 -1.74470385e-01 8.85260566e-04 4.67990170e+01] [ 1.74470304e-01 9.84662422e-01 1.68061255e-04 4.49179631e+00] [-9.01004524e-04 -1.10318552e-05 9.99999594e-01 -1.46491274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:4.50, Z:-0.01 [[ 9.84496741e-01 -1.75400635e-01 8.85212701e-04 4.68573147e+01] [ 1.75400554e-01 9.84497139e-01 1.68312991e-04 4.50150334e+00] [-9.01011577e-04 -1.04367930e-05 9.99999594e-01 -1.32242486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:4.51, Z:-0.01 [[ 9.84702626e-01 -1.74241082e-01 8.85172326e-04 4.69145456e+01] [ 1.74241000e-01 9.84703024e-01 1.68525060e-04 4.51338392e+00] [-9.00995855e-04 -1.17137573e-05 9.99999594e-01 -1.42766064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:4.53, Z:-0.02 [[ 9.84771939e-01 -1.73848913e-01 8.85132465e-04 4.69712356e+01] [ 1.73848832e-01 9.84772337e-01 1.68734157e-04 4.52636519e+00] [-9.00988216e-04 -1.22854180e-05 9.99999594e-01 -1.54514609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34105275400001 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:4.54, Z:-0.02 [[ 9.84444441e-01 -1.75693934e-01 8.85084994e-04 4.70286728e+01] [ 1.75693853e-01 9.84444839e-01 1.68982797e-04 4.53793184e+00] [-9.01006607e-04 -1.08501826e-05 9.99999594e-01 -2.26633516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:4.55, Z:-0.01 [[ 9.84773768e-01 -1.73838554e-01 8.85040000e-04 4.70860421e+01] [ 1.73838472e-01 9.84774165e-01 1.69218122e-04 4.54800537e+00] [-9.00981162e-04 -1.27875661e-05 9.99999594e-01 -1.25701682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.14, Y:4.56, Z:-0.01 [[ 9.84711543e-01 -1.74190682e-01 8.85022706e-04 4.71441319e+01] [ 1.74190601e-01 9.84711941e-01 1.69308525e-04 4.56270918e+00] [-9.00984394e-04 -1.25574225e-05 9.99999594e-01 -1.36930139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52105275400001 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:47.20, Y:4.57, Z:-0.02 [[ 9.84104882e-01 -1.77586032e-01 8.85016959e-04 4.72029078e+01] [ 1.77585952e-01 9.84105279e-01 1.69338559e-04 4.57153197e+00] [-9.01022025e-04 -9.48032380e-06 9.99999594e-01 -1.69403668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754000005 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:47.26, Y:4.58, Z:-0.01 [[ 9.83157363e-01 -1.82758905e-01 8.84974599e-04 4.72608113e+01] [ 1.82758826e-01 9.83157761e-01 1.69559649e-04 4.58100275e+00] [-9.01058181e-04 -4.96689816e-06 9.99999594e-01 -1.44034271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64105275400001 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:4.59, Z:-0.02 [[ 9.82336483e-01 -1.87120954e-01 8.84927503e-04 4.73172630e+01] [ 1.87120877e-01 9.82336881e-01 1.69805084e-04 4.59447970e+00] [-9.01071013e-04 -1.21731807e-06 9.99999594e-01 -1.66390406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70105275400001 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:4.61, Z:-0.02 [[ 9.81650510e-01 -1.90686900e-01 8.84873854e-04 4.73752122e+01] [ 1.90686824e-01 9.81650909e-01 1.70084197e-04 4.60628437e+00] [-9.01070051e-04 1.77054645e-06 9.99999594e-01 -2.02924617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754000005 meters Centerline goodness : 0.997645 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:4.62, Z:-0.02 [[ 9.81387623e-01 -1.92035284e-01 8.84860677e-04 4.74325407e+01] [ 1.92035208e-01 9.81388022e-01 1.70152724e-04 4.61911127e+00] [-9.01066996e-04 2.93862716e-06 9.99999594e-01 -1.97013997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82105275400001 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:4.63, Z:-0.01 [[ 9.81350425e-01 -1.92225285e-01 8.84812677e-04 4.74893487e+01] [ 1.92225209e-01 9.81350824e-01 1.70401962e-04 4.63188778e+00] [-9.01067216e-04 2.85926437e-06 9.99999594e-01 -1.16112777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88105275400001 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:47.55, Y:4.64, Z:-0.01 [[ 9.81831423e-01 -1.89753192e-01 8.84798127e-04 4.75470060e+01] [ 1.89753115e-01 9.81831822e-01 1.70477478e-04 4.64214620e+00] [-9.01071603e-04 5.13055908e-07 9.99999594e-01 -6.53811165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:4.65, Z:-0.00 [[ 9.82755624e-01 -1.84907005e-01 8.84751345e-04 4.76044193e+01] [ 1.84906927e-01 9.82756022e-01 1.70719929e-04 4.65496565e+00] [-9.01062023e-04 -4.17931819e-06 9.99999594e-01 -4.87234878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00105275400001 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:4.67, Z:-0.00 [[ 9.83968510e-01 -1.78340092e-01 8.84703662e-04 4.76616864e+01] [ 1.78340010e-01 9.83968908e-01 1.70966672e-04 4.66664454e+00] [-9.01011108e-04 -1.04477609e-05 9.99999594e-01 -2.52507706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:4.68, Z:-0.00 [[ 9.84821117e-01 -1.73570114e-01 8.84647385e-04 4.77191704e+01] [ 1.73570030e-01 9.84821514e-01 1.71257375e-04 4.67623457e+00] [-9.00944940e-04 -1.51096057e-05 9.99999594e-01 -2.81403566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:4.68, Z:-0.01 [[ 9.85266785e-01 -1.71022163e-01 8.84593345e-04 4.77775821e+01] [ 1.71022078e-01 9.85267182e-01 1.71536057e-04 4.68467618e+00] [-9.00897259e-04 -1.77237869e-05 9.99999594e-01 -1.09785069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18105275400001 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:4.69, Z:-0.02 [[ 9.84929556e-01 -1.72953717e-01 8.84580023e-04 4.78362472e+01] [ 1.72953632e-01 9.84929953e-01 1.71604726e-04 4.69272137e+00] [-9.00929036e-04 -1.60272384e-05 9.99999594e-01 -1.64821929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:4.70, Z:-0.01 [[ 9.84594405e-01 -1.74851583e-01 8.84566303e-04 4.78938373e+01] [ 1.74851499e-01 9.84594802e-01 1.71675418e-04 4.70480281e+00] [-9.00957103e-04 -1.43629121e-05 9.99999594e-01 -1.04268415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:4.72, Z:-0.01 [[ 9.84767286e-01 -1.73875269e-01 8.84518024e-04 4.79512868e+01] [ 1.73875185e-01 9.84767684e-01 1.71923809e-04 4.71590632e+00] [-9.00938064e-04 -1.55092084e-05 9.99999594e-01 -9.33549515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:4.73, Z:-0.01 [[ 9.85195316e-01 -1.71433387e-01 8.84476575e-04 4.80085683e+01] [ 1.71433302e-01 9.85195713e-01 1.72136779e-04 4.72880752e+00] [-9.00892522e-04 -1.79596086e-05 9.99999594e-01 -8.46646060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:4.74, Z:-0.01 [[ 9.85552502e-01 -1.69367896e-01 8.84435526e-04 4.80657629e+01] [ 1.69367810e-01 9.85552898e-01 1.72347431e-04 4.74434990e+00] [-9.00848118e-04 -2.00625335e-05 9.99999594e-01 -1.08733808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:4.76, Z:-0.01 [[ 9.85521448e-01 -1.69548498e-01 8.84393534e-04 4.81210823e+01] [ 1.69548411e-01 9.85521845e-01 1.72562642e-04 4.75647576e+00] [-9.00846884e-04 -2.01166666e-05 9.99999594e-01 -1.29555912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:4.77, Z:-0.01 [[ 9.85487835e-01 -1.69743763e-01 8.84372845e-04 4.81797346e+01] [ 1.69743676e-01 9.85488232e-01 1.72668610e-04 4.76575365e+00] [-9.00848450e-04 -2.00461164e-05 9.99999594e-01 -8.64218726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:4.78, Z:-0.01 [[ 9.85605936e-01 -1.69056668e-01 8.84330923e-04 4.82377604e+01] [ 1.69056581e-01 9.85606332e-01 1.72883046e-04 4.77566906e+00] [-9.00829190e-04 -2.08925942e-05 9.99999594e-01 -7.31191450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:4.79, Z:-0.01 [[ 9.85726962e-01 -1.68349559e-01 8.84289015e-04 4.82946607e+01] [ 1.68349472e-01 9.85727359e-01 1.73097142e-04 4.78751756e+00] [-9.00808702e-04 -2.17569319e-05 9.99999594e-01 -6.06454304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:4.80, Z:-0.01 [[ 9.85147385e-01 -1.71708614e-01 8.84239898e-04 4.83511847e+01] [ 1.71708528e-01 9.85147782e-01 1.73347685e-04 4.79795961e+00] [-9.00872264e-04 -1.89414874e-05 9.99999594e-01 -5.10718639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:4.81, Z:-0.01 [[ 9.84447983e-01 -1.75674093e-01 8.84224899e-04 4.84097630e+01] [ 1.75674008e-01 9.84448380e-01 1.73424161e-04 4.80569436e+00] [-9.00939901e-04 -1.53917333e-05 9.99999594e-01 -5.25003536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:4.82, Z:-0.00 [[ 9.83836735e-01 -1.79065621e-01 8.84183135e-04 4.84670710e+01] [ 1.79065537e-01 9.83837133e-01 1.73636826e-04 4.81767820e+00] [-9.00984586e-04 -1.25035603e-05 9.99999594e-01 -2.54573645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754000006 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:4.83, Z:0.00 [[ 9.83264701e-01 -1.82180533e-01 8.84160085e-04 4.85247251e+01] [ 1.82180450e-01 9.83265098e-01 1.73754119e-04 4.83055812e+00] [-9.01018371e-04 -9.76960925e-06 9.99999594e-01 2.03153017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:4.84, Z:0.00 [[ 9.82298928e-01 -1.87318005e-01 8.84151134e-04 4.85825668e+01] [ 1.87317925e-01 9.82299326e-01 1.73799656e-04 4.84182415e+00] [-9.01056867e-04 -5.10586061e-06 9.99999594e-01 4.32316379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:4.85, Z:0.00 [[ 9.81078675e-01 -1.93607469e-01 8.84109760e-04 4.86407149e+01] [ 1.93607391e-01 9.81079073e-01 1.74009867e-04 4.85421344e+00] [-9.01071194e-04 4.52814811e-07 9.99999594e-01 1.19146099e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:4.86, Z:-0.00 [[ 9.79118694e-01 -2.03287487e-01 8.84071510e-04 4.86976250e+01] [ 2.03287412e-01 9.79119093e-01 1.74203984e-04 4.86468544e+00] [-9.01024785e-04 9.15423208e-06 9.99999594e-01 -3.43533722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:4.88, Z:-0.00 [[ 9.78136922e-01 -2.07960045e-01 8.84050140e-04 4.87551620e+01] [ 2.07959973e-01 9.78137321e-01 1.74312366e-04 4.87852244e+00] [-9.00972443e-04 1.33456819e-05 9.99999594e-01 -3.72166145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:4.89, Z:-0.00 [[ 9.78361940e-01 -2.06898846e-01 8.84010482e-04 4.88126938e+01] [ 2.06898773e-01 9.78362340e-01 1.74513256e-04 4.89324216e+00] [-9.00989154e-04 1.21635563e-05 9.99999594e-01 -2.37906790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:4.91, Z:-0.01 [[ 9.78717432e-01 -2.05210642e-01 8.83970110e-04 4.88688304e+01] [ 2.05210568e-01 9.78717831e-01 1.74717514e-04 4.90907834e+00] [-9.01011202e-04 1.04009309e-05 9.99999594e-01 -5.04166457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:4.92, Z:-0.00 [[ 9.79085923e-01 -2.03445262e-01 8.83922633e-04 4.89257570e+01] [ 2.03445187e-01 9.79086322e-01 1.74957377e-04 4.92041993e+00] [-9.01030809e-04 8.53150040e-06 9.99999594e-01 -2.24916969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:4.93, Z:0.00 [[ 9.79544936e-01 -2.01223601e-01 8.83908029e-04 4.89826319e+01] [ 2.01223525e-01 9.79545335e-01 1.75031126e-04 4.93110625e+00] [-9.01048380e-04 6.41223600e-06 9.99999594e-01 6.06830792e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:4.94, Z:0.00 [[ 9.80560913e-01 -1.96212930e-01 8.83886591e-04 4.90409912e+01] [ 1.96212852e-01 9.80561312e-01 1.75139321e-04 4.94060572e+00] [-9.01069594e-04 1.69513545e-06 9.99999594e-01 1.28543808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:4.95, Z:-0.00 [[ 9.81980082e-01 -1.88982372e-01 8.83845425e-04 4.90995262e+01] [ 1.88982291e-01 9.81980480e-01 1.75346821e-04 4.95083337e+00] [-9.01056413e-04 -5.15595315e-06 9.99999594e-01 -3.38942448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:4.96, Z:-0.00 [[ 9.83180794e-01 -1.82632817e-01 8.83807064e-04 4.91577511e+01] [ 1.82632733e-01 9.83181191e-01 1.75539961e-04 4.95803767e+00] [-9.01001839e-04 -1.11754189e-05 9.99999594e-01 -3.57297873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:4.97, Z:-0.01 [[ 9.83433611e-01 -1.81266519e-01 8.83764342e-04 4.92148876e+01] [ 1.81266435e-01 9.83434008e-01 1.75754782e-04 4.96909300e+00] [-9.00982367e-04 -1.26463483e-05 9.99999594e-01 -1.26535184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:4.98, Z:-0.01 [[ 9.83597128e-01 -1.80377129e-01 8.83749321e-04 4.92733736e+01] [ 1.80377044e-01 9.83597525e-01 1.75830280e-04 4.98003570e+00] [-9.00969406e-04 -1.35380681e-05 9.99999594e-01 -1.32028705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:4.99, Z:-0.01 [[ 9.83626368e-01 -1.80217609e-01 8.83710877e-04 4.93309115e+01] [ 1.80217524e-01 9.83626765e-01 1.76023284e-04 4.99259156e+00] [-9.00964167e-04 -1.38809576e-05 9.99999594e-01 -1.47548817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:5.01, Z:-0.01 [[ 9.83522968e-01 -1.80781058e-01 8.83672630e-04 4.93875113e+01] [ 1.80780973e-01 9.83523365e-01 1.76215086e-04 5.00517668e+00] [-9.00969028e-04 -1.35603873e-05 9.99999594e-01 -1.49672042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:5.02, Z:-0.02 [[ 9.83560578e-01 -1.80576321e-01 8.83624531e-04 4.94448766e+01] [ 1.80576235e-01 9.83560975e-01 1.76455945e-04 5.01821650e+00] [-9.00962371e-04 -1.39935198e-05 9.99999594e-01 -1.57430268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:5.03, Z:-0.02 [[ 9.83995222e-01 -1.78192657e-01 8.83582353e-04 4.95027352e+01] [ 1.78192571e-01 9.83995618e-01 1.76666896e-04 5.02929881e+00] [-9.00921907e-04 -1.63915708e-05 9.99999594e-01 -1.71392605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:5.04, Z:-0.02 [[ 9.84381389e-01 -1.76046868e-01 8.83569955e-04 4.95603219e+01] [ 1.76046780e-01 9.84381786e-01 1.76728877e-04 5.03924457e+00] [-9.00882736e-04 -1.84189720e-05 9.99999594e-01 -1.91041967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:5.05, Z:-0.02 [[ 9.84658421e-01 -1.74490723e-01 8.83527097e-04 4.96179046e+01] [ 1.74490634e-01 9.84658818e-01 1.76942882e-04 5.05179437e+00] [-9.00847638e-04 -2.00610957e-05 9.99999594e-01 -1.80612008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:5.06, Z:-0.01 [[ 9.84802047e-01 -1.73678290e-01 8.83484738e-04 4.96754315e+01] [ 1.73678201e-01 9.84802443e-01 1.77154132e-04 5.06385655e+00] [-9.00825754e-04 -2.10197112e-05 9.99999594e-01 -1.32064053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.73, Y:5.07, Z:-0.02 [[ 9.84559403e-01 -1.75048568e-01 8.83440718e-04 4.97326780e+01] [ 1.75048479e-01 9.84559799e-01 1.77373380e-04 5.07482424e+00] [-9.00849172e-04 -1.99896757e-05 9.99999594e-01 -1.61007130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:5.09, Z:-0.02 [[ 9.84162615e-01 -1.77265806e-01 8.83425262e-04 4.97904611e+01] [ 1.77265718e-01 9.84163012e-01 1.77450327e-04 5.08537615e+00] [-9.00890342e-04 -1.80389640e-05 9.99999594e-01 -1.76735258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:5.09, Z:-0.01 [[ 9.83453760e-01 -1.81157175e-01 8.83382874e-04 4.98493496e+01] [ 1.81157088e-01 9.83454156e-01 1.77661094e-04 5.09336144e+00] [-9.00951141e-04 -1.46904019e-05 9.99999594e-01 -1.29504183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:5.11, Z:-0.01 [[ 9.82937746e-01 -1.83936419e-01 8.83340963e-04 4.99069782e+01] [ 1.83936334e-01 9.82938143e-01 1.77869231e-04 5.10648643e+00] [-9.00986156e-04 -1.23558834e-05 9.99999594e-01 -1.26219297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:5.12, Z:-0.01 [[ 9.82247487e-01 -1.87587562e-01 8.83298723e-04 4.99639387e+01] [ 1.87587477e-01 9.82247885e-01 1.78078750e-04 5.11772734e+00] [-9.01023660e-04 -9.22162602e-06 9.99999594e-01 -1.22963216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:5.13, Z:-0.01 [[ 9.81910809e-01 -1.89341975e-01 8.83276691e-04 5.00216262e+01] [ 1.89341891e-01 9.81911206e-01 1.78187960e-04 5.12921676e+00] [-9.01037742e-04 -7.72340456e-06 9.99999594e-01 -1.23444933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:5.14, Z:-0.01 [[ 9.81375414e-01 -1.92097675e-01 8.83235729e-04 5.00788758e+01] [ 1.92097593e-01 9.81375811e-01 1.78390770e-04 5.13953282e+00] [-9.01054632e-04 -5.40085853e-06 9.99999594e-01 -1.20808017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:5.15, Z:-0.01 [[ 9.81033867e-01 -1.93834391e-01 8.83221310e-04 5.01369937e+01] [ 1.93834309e-01 9.81034265e-01 1.78462131e-04 5.15158091e+00] [-9.01062467e-04 -3.87880309e-06 9.99999594e-01 -1.22158109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.19, Y:5.16, Z:-0.02 [[ 9.80600338e-01 -1.96015810e-01 8.83177025e-04 5.01935437e+01] [ 1.96015729e-01 9.80600735e-01 1.78681019e-04 5.16451509e+00] [-9.01068345e-04 -2.09807863e-06 9.99999594e-01 -1.77483748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.25, Y:5.18, Z:-0.02 [[ 9.79300632e-01 -2.02409219e-01 8.83161427e-04 5.02504429e+01] [ 2.02409141e-01 9.79301030e-01 1.78758084e-04 5.18111254e+00] [-9.01063179e-04 3.70204114e-06 9.99999594e-01 -2.29986564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754000005 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:50.31, Y:5.19, Z:-0.02 [[ 9.79984310e-01 -1.99072783e-01 8.83118939e-04 5.03086499e+01] [ 1.99072703e-01 9.79984708e-01 1.78967741e-04 5.18970616e+00] [-9.01070661e-04 4.19295577e-07 9.99999594e-01 -2.32811231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.37, Y:5.21, Z:-0.03 [[ 9.80465934e-01 -1.96686989e-01 8.83076188e-04 5.03656937e+01] [ 1.96686908e-01 9.80466332e-01 1.79178436e-04 5.20708187e+00] [-9.01068538e-04 -1.98882762e-06 9.99999594e-01 -2.96496864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.42, Y:5.22, Z:-0.03 [[ 9.79947710e-01 -1.99252869e-01 8.83053433e-04 5.04226194e+01] [ 1.99252788e-01 9.79948108e-01 1.79290511e-04 5.22475701e+00] [-9.01070690e-04 2.55532486e-07 9.99999594e-01 -3.36161661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:5.23, Z:-0.03 [[ 9.80476191e-01 -1.96635853e-01 8.83044185e-04 5.04814880e+01] [ 1.96635771e-01 9.80476589e-01 1.79336052e-04 5.22897926e+00] [-9.01068047e-04 -2.19665440e-06 9.99999594e-01 -2.77638468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.54, Y:5.24, Z:-0.03 [[ 9.80788334e-01 -1.95072974e-01 8.83001328e-04 5.05385617e+01] [ 1.95072891e-01 9.80788731e-01 1.79546819e-04 5.24186548e+00] [-9.01062484e-04 -3.84780360e-06 9.99999594e-01 -2.82235768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:5.25, Z:-0.03 [[ 9.80905657e-01 -1.94482166e-01 8.82957959e-04 5.05964507e+01] [ 1.94482083e-01 9.80906054e-01 1.79759842e-04 5.25387457e+00] [-9.01058891e-04 -4.60794228e-06 9.99999594e-01 -2.70349006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:5.26, Z:-0.03 [[ 9.81513656e-01 -1.91390080e-01 8.82914299e-04 5.06555514e+01] [ 1.91389996e-01 9.81514053e-01 1.79974029e-04 5.26139452e+00] [-9.01038036e-04 -7.66600290e-06 9.99999594e-01 -3.02838224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.71, Y:5.27, Z:-0.03 [[ 9.82829989e-01 -1.84511338e-01 8.82874018e-04 5.07129711e+01] [ 1.84511251e-01 9.82830385e-01 1.80171410e-04 5.27474678e+00] [-9.00959079e-04 -1.41776755e-05 9.99999594e-01 -3.26847748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.77, Y:5.29, Z:-0.03 [[ 9.83782112e-01 -1.79365482e-01 8.82829511e-04 5.07688571e+01] [ 1.79365392e-01 9.83782508e-01 1.80389229e-04 5.28825058e+00] [-9.00867832e-04 -1.91146355e-05 9.99999594e-01 -3.44856454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.83, Y:5.30, Z:-0.03 [[ 9.83933974e-01 -1.78530547e-01 8.82807539e-04 5.08266311e+01] [ 1.78530457e-01 9.83934369e-01 1.80496696e-04 5.29809120e+00] [-9.00848853e-04 -1.99887977e-05 9.99999594e-01 -3.15243980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.88, Y:5.31, Z:-0.03 [[ 9.83649672e-01 -1.80090373e-01 8.82762941e-04 5.08829489e+01] [ 1.80090284e-01 9.83650068e-01 1.80714547e-04 5.31025786e+00] [-9.00874778e-04 -1.87827768e-05 9.99999594e-01 -3.29866616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.94, Y:5.32, Z:-0.03 [[ 9.83178012e-01 -1.82647797e-01 8.82747284e-04 5.09412364e+01] [ 1.82647708e-01 9.83178408e-01 1.80790996e-04 5.32118012e+00] [-9.00919147e-04 -1.65179639e-05 9.99999594e-01 -3.17799293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:5.33, Z:-0.03 [[ 9.82101567e-01 -1.88350028e-01 8.82704295e-04 5.09996350e+01] [ 1.88349941e-01 9.82101964e-01 1.81000646e-04 5.33100488e+00] [-9.00997098e-04 -1.15037153e-05 9.99999594e-01 -2.81582307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:5.34, Z:-0.03 [[ 9.81321572e-01 -1.92372540e-01 8.82660001e-04 5.10564582e+01] [ 1.92372455e-01 9.81321968e-01 1.81216390e-04 5.34429874e+00] [-9.01034707e-04 -8.03208119e-06 9.99999594e-01 -2.99977755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.11, Y:5.35, Z:-0.03 [[ 9.79158228e-01 -2.03096986e-01 8.82644445e-04 5.11137596e+01] [ 2.03096905e-01 9.79158626e-01 1.81292128e-04 5.35330987e+00] [-9.01068807e-04 1.74867615e-06 9.99999594e-01 -2.91896831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.17, Y:5.36, Z:-0.03 [[ 9.76555702e-01 -2.15263052e-01 8.82594259e-04 5.11710596e+01] [ 2.15262976e-01 9.76556101e-01 1.81536121e-04 5.36429998e+00] [-9.00980828e-04 1.27097325e-05 9.99999594e-01 -2.74830753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:5.38, Z:-0.03 [[ 9.74072133e-01 -2.26235940e-01 8.82578885e-04 5.12269047e+01] [ 2.26235868e-01 9.74072533e-01 1.81610837e-04 5.37967982e+00] [-9.00782748e-04 2.27689448e-05 9.99999594e-01 -2.89465031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78105275400001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:5.39, Z:-0.03 [[ 9.69563389e-01 -2.44838835e-01 8.82528057e-04 5.12829925e+01] [ 2.44838771e-01 9.69563790e-01 1.81857496e-04 5.39320301e+00] [-9.00193026e-04 3.97547146e-05 9.99999594e-01 -2.95834201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:5.41, Z:-0.03 [[ 9.68636825e-01 -2.48479220e-01 8.82504675e-04 5.13385466e+01] [ 2.48479157e-01 9.68637226e-01 1.81970895e-04 5.41106957e+00] [-9.00042866e-04 4.30203073e-05 9.99999594e-01 -3.04451581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.39, Y:5.43, Z:-0.03 [[ 9.70173623e-01 -2.42409493e-01 8.82455007e-04 5.13941926e+01] [ 2.42409428e-01 9.70174024e-01 1.82211435e-04 5.42764162e+00] [-9.00304707e-04 3.71386853e-05 9.99999594e-01 -2.94351159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.45, Y:5.45, Z:-0.03 [[ 9.72438574e-01 -2.33157546e-01 8.82404216e-04 5.14497786e+01] [ 2.33157476e-01 9.72438974e-01 1.82457076e-04 5.44522259e+00] [-9.00625494e-04 2.83108409e-05 9.99999594e-01 -2.80267677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.51, Y:5.46, Z:-0.03 [[ 9.75461057e-01 -2.20170271e-01 8.82353263e-04 5.15051565e+01] [ 2.20170195e-01 9.75461456e-01 1.82703150e-04 5.46141729e+00] [-9.00927400e-04 1.60480827e-05 9.99999594e-01 -2.58959330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.56, Y:5.48, Z:-0.03 [[ 9.78185840e-01 -2.07729832e-01 8.82337566e-04 5.15621170e+01] [ 2.07729751e-01 9.78186238e-01 1.82778923e-04 5.47933566e+00] [-9.01059100e-04 4.49600873e-06 9.99999594e-01 -2.58454766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.62, Y:5.49, Z:-0.03 [[ 9.79485306e-01 -2.01513664e-01 8.82294570e-04 5.16178437e+01] [ 2.01513581e-01 9.79485703e-01 1.82986236e-04 5.49472235e+00] [-9.01069144e-04 -1.43799135e-06 9.99999594e-01 -2.68319643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.67, Y:5.51, Z:-0.03 [[ 9.80101737e-01 -1.98493845e-01 8.82243820e-04 5.16743878e+01] [ 1.98493761e-01 9.80102134e-01 1.83230593e-04 5.50762067e+00] [-9.01059196e-04 -4.46472879e-06 9.99999594e-01 -2.78574652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:5.52, Z:-0.03 [[ 9.80501481e-01 -1.96509715e-01 8.82193027e-04 5.17326104e+01] [ 1.96509629e-01 9.80501878e-01 1.83474817e-04 5.51925761e+00] [-9.01046503e-04 -6.53790526e-06 9.99999594e-01 -2.75336570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:5.53, Z:-0.03 [[ 9.81534236e-01 -1.91284515e-01 8.82148138e-04 5.17896288e+01] [ 1.91284427e-01 9.81534632e-01 1.83690389e-04 5.53078648e+00] [-9.00996076e-04 -1.15572039e-05 9.99999594e-01 -2.77308201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:5.54, Z:-0.03 [[ 9.81657712e-01 -1.90649833e-01 8.82096910e-04 5.18468217e+01] [ 1.90649745e-01 9.81658108e-01 1.83936064e-04 5.54242750e+00] [-9.00984964e-04 -1.23907050e-05 9.99999594e-01 -2.98882515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:5.55, Z:-0.03 [[ 9.82549874e-01 -1.85997222e-01 8.82044959e-04 5.19055526e+01] [ 1.85997132e-01 9.82550270e-01 1.84184851e-04 5.54949633e+00] [-9.00911384e-04 -1.69129702e-05 9.99999594e-01 -3.09187055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:5.55, Z:-0.03 [[ 9.82868619e-01 -1.84305451e-01 8.81998180e-04 5.19642548e+01] [ 1.84305359e-01 9.82869015e-01 1.84408591e-04 5.55227017e+00] [-9.00876190e-04 -1.86924254e-05 9.99999594e-01 -2.97975414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:5.56, Z:-0.03 [[ 9.83212078e-01 -1.82464333e-01 8.81944038e-04 5.20226915e+01] [ 1.82464241e-01 9.83212473e-01 1.84667164e-04 5.55698383e+00] [-9.00833549e-04 -2.06437373e-05 9.99999594e-01 -2.99402493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:5.56, Z:-0.03 [[ 9.83349660e-01 -1.81721406e-01 8.81927361e-04 5.20829097e+01] [ 1.81721313e-01 9.83350055e-01 1.84746776e-04 5.55828597e+00] [-9.00815762e-04 -2.14056807e-05 9.99999594e-01 -2.94355238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:5.56, Z:-0.03 [[ 9.82815627e-01 -1.84587827e-01 8.81878963e-04 5.21426302e+01] [ 1.84587735e-01 9.82816022e-01 1.84977512e-04 5.56255669e+00] [-9.00869372e-04 -1.90147485e-05 9.99999594e-01 -3.40372968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:5.57, Z:-0.03 [[ 9.82670451e-01 -1.85359132e-01 8.81872008e-04 5.21993006e+01] [ 1.85359041e-01 9.82670846e-01 1.85010664e-04 5.57442593e+00] [-9.00883328e-04 -1.83415635e-05 9.99999594e-01 -3.08731031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:5.59, Z:-0.03 [[ 9.82650567e-01 -1.85464512e-01 8.81854596e-04 5.22569637e+01] [ 1.85464420e-01 9.82650963e-01 1.85093622e-04 5.58923443e+00] [-9.00883566e-04 -1.83297016e-05 9.99999594e-01 -3.15706071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.31, Y:5.60, Z:-0.03 [[ 9.82638377e-01 -1.85529089e-01 8.81810598e-04 5.23139940e+01] [ 1.85528998e-01 9.82638772e-01 1.85302998e-04 5.60090048e+00] [-9.00880380e-04 -1.84844004e-05 9.99999594e-01 -3.38289362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.37, Y:5.62, Z:-0.04 [[ 9.81016411e-01 -1.93922727e-01 8.81793817e-04 5.23713649e+01] [ 1.93922639e-01 9.81016807e-01 1.85382817e-04 5.61794527e+00] [-9.01004496e-04 -1.08638019e-05 9.99999594e-01 -3.89084912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:5.62, Z:-0.03 [[ 9.80861626e-01 -1.94704114e-01 8.81786947e-04 5.24311981e+01] [ 1.94704026e-01 9.80862023e-01 1.85415491e-04 5.62257698e+00] [-9.01012487e-04 -1.01794715e-05 9.99999594e-01 -2.58998818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:5.64, Z:-0.02 [[ 9.80464346e-01 -1.96694911e-01 8.81780161e-04 5.24880079e+01] [ 1.96694824e-01 9.80464743e-01 1.85447758e-04 5.63608144e+00] [-9.01030989e-04 -8.38332122e-06 9.99999594e-01 -2.34726587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.55, Y:5.65, Z:-0.02 [[ 9.80151860e-01 -1.98246194e-01 8.81766844e-04 5.25454144e+01] [ 1.98246108e-01 9.80152257e-01 1.85511053e-04 5.64704276e+00] [-9.01042622e-04 -7.02215881e-06 9.99999594e-01 -2.13040837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.60, Y:5.66, Z:-0.03 [[ 9.79602653e-01 -2.00942442e-01 8.81713427e-04 5.26020001e+01] [ 2.00942356e-01 9.79603050e-01 1.85764590e-04 5.66071797e+00] [-9.01057153e-04 -4.80191173e-06 9.99999594e-01 -2.81857169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754000006 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:52.66, Y:5.67, Z:-0.03 [[ 9.80675495e-01 -1.95639454e-01 8.81696949e-04 5.26619915e+01] [ 1.95639366e-01 9.80675891e-01 1.85842770e-04 5.66725451e+00] [-9.01017119e-04 -9.75681836e-06 9.99999594e-01 -3.12262069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28105275400001 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:5.68, Z:-0.03 [[ 9.80775158e-01 -1.95139214e-01 8.81696949e-04 5.27187155e+01] [ 1.95139126e-01 9.80775554e-01 1.85842770e-04 5.68267062e+00] [-9.01012025e-04 -1.02164002e-05 9.99999594e-01 -3.32835562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34105275400001 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:52.78, Y:5.69, Z:-0.03 [[ 9.80784677e-01 -1.95091365e-01 8.81644543e-04 5.27768082e+01] [ 1.95091276e-01 9.80785073e-01 1.86091053e-04 5.69400092e+00] [-9.01008565e-04 -1.05140937e-05 9.99999594e-01 -2.51785687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754000006 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:52.83, Y:5.71, Z:-0.03 [[ 9.80986788e-01 -1.94072522e-01 8.81589185e-04 5.28341108e+01] [ 1.94072433e-01 9.80987184e-01 1.86352936e-04 5.70654896e+00] [-9.00993677e-04 -1.17176102e-05 9.99999594e-01 -2.83396972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.89, Y:5.72, Z:-0.03 [[ 9.80548897e-01 -1.96272982e-01 8.81533929e-04 5.28901626e+01] [ 1.96272894e-01 9.80549293e-01 1.86613957e-04 5.72043249e+00] [-9.01014749e-04 -9.96289460e-06 9.99999594e-01 -2.53718836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52105275400001 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:5.73, Z:-0.03 [[ 9.80458495e-01 -1.96724078e-01 8.81514888e-04 5.29487742e+01] [ 1.96723990e-01 9.80458891e-01 1.86703862e-04 5.73006569e+00] [-9.01018254e-04 -9.64026135e-06 9.99999594e-01 -2.69638068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.01, Y:5.74, Z:-0.02 [[ 9.79771824e-01 -2.00115954e-01 8.81487549e-04 5.30059158e+01] [ 2.00115867e-01 9.79772221e-01 1.86832848e-04 5.74185295e+00] [-9.01045247e-04 -6.65391482e-06 9.99999594e-01 -1.93941777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:5.75, Z:-0.02 [[ 9.79341032e-01 -2.02213666e-01 8.81458227e-04 5.30628654e+01] [ 2.02213579e-01 9.79341428e-01 1.86971083e-04 5.75496836e+00] [-9.01056667e-04 -4.86563040e-06 9.99999594e-01 -1.65090047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:5.77, Z:-0.02 [[ 9.79003785e-01 -2.03840165e-01 8.81434498e-04 5.31176645e+01] [ 2.03840079e-01 9.79004181e-01 1.87082882e-04 5.76947683e+00] [-9.01063064e-04 -3.48317156e-06 9.99999594e-01 -1.74820405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:5.78, Z:-0.02 [[ 9.79453349e-01 -2.01668938e-01 8.81412649e-04 5.31747888e+01] [ 2.01668851e-01 9.79453745e-01 1.87185762e-04 5.78255314e+00] [-9.01052474e-04 -5.58624522e-06 9.99999594e-01 -2.34684502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:5.79, Z:-0.02 [[ 9.79625490e-01 -2.00831077e-01 8.81369440e-04 5.32328527e+01] [ 2.00830990e-01 9.79625887e-01 1.87388992e-04 5.79226007e+00] [-9.01045853e-04 -6.56473598e-06 9.99999594e-01 -1.60662996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:5.80, Z:-0.02 [[ 9.79795514e-01 -1.99999933e-01 8.81325066e-04 5.32900195e+01] [ 1.99999845e-01 9.79795911e-01 1.87597459e-04 5.80416548e+00] [-9.01038175e-04 -7.54227171e-06 9.99999594e-01 -1.55000310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:5.81, Z:-0.01 [[ 9.80087067e-01 -1.98566271e-01 8.81309599e-04 5.33466889e+01] [ 1.98566182e-01 9.80087463e-01 1.87670094e-04 5.81492265e+00] [-9.01025440e-04 -8.93474901e-06 9.99999594e-01 -1.39673563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:5.82, Z:-0.01 [[ 9.80148219e-01 -1.98264197e-01 8.81260221e-04 5.34024319e+01] [ 1.98264108e-01 9.80148615e-01 1.87901677e-04 5.82489872e+00] [-9.01020160e-04 -9.44922214e-06 9.99999594e-01 -1.15443108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:5.84, Z:-0.01 [[ 9.80538580e-01 -1.96324517e-01 8.81238946e-04 5.34594323e+01] [ 1.96324427e-01 9.80538976e-01 1.88001400e-04 5.84050809e+00] [-9.00998418e-04 -1.13338944e-05 9.99999594e-01 -1.17342562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.52, Y:5.86, Z:-0.02 [[ 9.80854719e-01 -1.94738912e-01 8.81194206e-04 5.35156055e+01] [ 1.94738822e-01 9.80855115e-01 1.88210872e-04 5.85555347e+00] [-9.00975824e-04 -1.30048007e-05 9.99999594e-01 -2.04758587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:5.87, Z:-0.02 [[ 9.80820669e-01 -1.94910336e-01 8.81178576e-04 5.35732768e+01] [ 1.94910245e-01 9.80821065e-01 1.88284021e-04 5.86610800e+00] [-9.00977011e-04 -1.29221265e-05 9.99999594e-01 -1.58595256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:5.88, Z:-0.01 [[ 9.80726056e-01 -1.95385841e-01 8.81127641e-04 5.36318356e+01] [ 1.95385751e-01 9.80726452e-01 1.88522086e-04 5.87553855e+00] [-9.00979731e-04 -1.27287362e-05 9.99999594e-01 -1.23791259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.69, Y:5.89, Z:-0.01 [[ 9.81063253e-01 -1.93685613e-01 8.81083008e-04 5.36891208e+01] [ 1.93685521e-01 9.81063649e-01 1.88730451e-04 5.88956050e+00] [-9.00952884e-04 -1.45034881e-05 9.99999594e-01 -1.20006549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.75, Y:5.90, Z:-0.02 [[ 9.81105069e-01 -1.93473685e-01 8.81038538e-04 5.37456712e+01] [ 1.93473593e-01 9.81105465e-01 1.88937823e-04 5.90372744e+00] [-9.00946221e-04 -1.49101645e-05 9.99999594e-01 -1.72379633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:5.91, Z:-0.01 [[ 9.81169429e-01 -1.93147033e-01 8.81015361e-04 5.38025555e+01] [ 1.93146941e-01 9.81169824e-01 1.89045833e-04 5.91460437e+00] [-9.00939329e-04 -1.53205698e-05 9.99999594e-01 -1.35600583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48105275400001 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:5.92, Z:-0.02 [[ 9.81047663e-01 -1.93764565e-01 8.80962711e-04 5.38608579e+01] [ 1.93764474e-01 9.81048058e-01 1.89290866e-04 5.92347471e+00] [-9.00944620e-04 -1.50040857e-05 9.99999594e-01 -1.55258998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:5.94, Z:-0.01 [[ 9.80663953e-01 -1.95697308e-01 8.80909472e-04 5.39164616e+01] [ 1.95697216e-01 9.80664348e-01 1.89538307e-04 5.93952298e+00] [-9.00968649e-04 -1.34818534e-05 9.99999594e-01 -1.30578285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60105275400001 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:5.95, Z:-0.01 [[ 9.80563968e-01 -1.96197679e-01 8.80890469e-04 5.39748627e+01] [ 1.96197588e-01 9.80564363e-01 1.89626582e-04 5.94977053e+00] [-9.00974097e-04 -1.31124082e-05 9.99999594e-01 -1.38755273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66105275400001 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:5.96, Z:-0.01 [[ 9.80888807e-01 -1.94567141e-01 8.80841960e-04 5.40311945e+01] [ 1.94567049e-01 9.80889202e-01 1.89851647e-04 5.96154804e+00] [-9.00947259e-04 -1.48405345e-05 9.99999594e-01 -1.44308203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:5.98, Z:-0.02 [[ 9.81228882e-01 -1.92844772e-01 8.80823314e-04 5.40877055e+01] [ 1.92844679e-01 9.81229277e-01 1.89938112e-04 5.97981183e+00] [-9.00918196e-04 -1.65106717e-05 9.99999594e-01 -1.71298704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78105275400001 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:5.99, Z:-0.02 [[ 9.80396714e-01 -1.97031740e-01 8.80768157e-04 5.41453752e+01] [ 1.97031649e-01 9.80397110e-01 1.90193541e-04 5.99293741e+00] [-9.00976720e-04 -1.29259199e-05 9.99999594e-01 -1.89425687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84105275400001 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:6.01, Z:-0.02 [[ 9.80154642e-01 -1.98232446e-01 8.80720622e-04 5.42022447e+01] [ 1.98232355e-01 9.80155037e-01 1.90413406e-04 6.00543655e+00] [-9.00988869e-04 -1.20472606e-05 9.99999594e-01 -2.49246325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:6.02, Z:-0.02 [[ 9.80458522e-01 -1.96723947e-01 8.80663945e-04 5.42600974e+01] [ 1.96723855e-01 9.80458917e-01 1.90675178e-04 6.01770533e+00] [-9.00965191e-04 -1.37014965e-05 9.99999594e-01 -1.89989188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96105275400001 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:6.03, Z:-0.02 [[ 9.80029694e-01 -1.98849246e-01 8.80608894e-04 5.43172554e+01] [ 1.98849155e-01 9.80030090e-01 1.90929086e-04 6.03144372e+00] [-9.00989318e-04 -1.20078393e-05 9.99999594e-01 -1.94599524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02105275400001 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:6.04, Z:-0.01 [[ 9.79418337e-01 -2.01838913e-01 8.80554456e-04 5.43752658e+01] [ 2.01838822e-01 9.79418732e-01 1.91179822e-04 6.04074290e+00] [-9.01019056e-04 -9.51494896e-06 9.99999594e-01 -1.32021688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754000005 meters Centerline goodness : 0.997726 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:6.05, Z:-0.01 [[ 9.78518084e-01 -2.06159121e-01 8.80499461e-04 5.44335199e+01] [ 2.06159033e-01 9.78518480e-01 1.91432771e-04 6.05238884e+00] [-9.01050607e-04 -5.79751122e-06 9.99999594e-01 -1.15944876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14105275400001 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:6.06, Z:-0.01 [[ 9.77907127e-01 -2.09037978e-01 8.80449906e-04 5.44907533e+01] [ 2.09037890e-01 9.77907523e-01 1.91660417e-04 6.06410706e+00] [-9.01062893e-04 -3.37869761e-06 9.99999594e-01 -9.63228850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20105275400001 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:54.55, Y:6.08, Z:-0.01 [[ 9.78032376e-01 -2.08451182e-01 8.80386095e-04 5.45483619e+01] [ 2.08451094e-01 9.78032773e-01 1.91953083e-04 6.07587584e+00] [-9.01059301e-04 -4.21888498e-06 9.99999594e-01 -1.10016258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.61, Y:6.09, Z:-0.01 [[ 9.78562103e-01 -2.05950080e-01 8.80329789e-04 5.46057995e+01] [ 2.05949990e-01 9.78562499e-01 1.92210968e-04 6.08934597e+00] [-9.01043582e-04 -6.78645805e-06 9.99999594e-01 -9.94305808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:6.11, Z:-0.01 [[ 9.80063816e-01 -1.98681005e-01 8.80275014e-04 5.46620465e+01] [ 1.98680912e-01 9.80064211e-01 1.92461496e-04 6.10597401e+00] [-9.00964480e-04 -1.37307059e-05 9.99999594e-01 -1.19761800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:6.12, Z:-0.01 [[ 9.80594140e-01 -1.96046828e-01 8.80229184e-04 5.47187615e+01] [ 1.96046734e-01 9.80594534e-01 1.92670874e-04 6.12104744e+00] [-9.00920440e-04 -1.63658734e-05 9.99999594e-01 -1.28635423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:6.13, Z:-0.01 [[ 9.80869023e-01 -1.94666857e-01 8.80180286e-04 5.47764487e+01] [ 1.94666762e-01 9.80869418e-01 1.92893993e-04 6.13343097e+00] [-9.00891992e-04 -1.78618965e-05 9.99999594e-01 -6.23528313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.83, Y:6.14, Z:-0.01 [[ 9.79679764e-01 -2.00566163e-01 8.80131866e-04 5.48336184e+01] [ 2.00566071e-01 9.79680159e-01 1.93114671e-04 6.14416918e+00] [-9.00979995e-04 -1.26659455e-05 9.99999594e-01 -9.43351271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.89, Y:6.16, Z:-0.01 [[ 9.78935095e-01 -2.04169795e-01 8.80113247e-04 5.48916065e+01] [ 2.04169704e-01 9.78935491e-01 1.93199492e-04 6.15585432e+00] [-9.01019594e-04 -9.43730218e-06 9.99999594e-01 -8.62355966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754000004 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:54.95, Y:6.17, Z:-0.02 [[ 9.78227230e-01 -2.07534846e-01 8.80069206e-04 5.49496155e+01] [ 2.07534756e-01 9.78227626e-01 1.93399901e-04 6.16865192e+00] [-9.01045228e-04 -6.54410099e-06 9.99999594e-01 -1.55080281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68105275400001 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:6.18, Z:-0.01 [[ 9.78552862e-01 -2.05993985e-01 8.80041119e-04 5.50074146e+01] [ 2.05993894e-01 9.78553258e-01 1.93527621e-04 6.18216985e+00] [-9.01032630e-04 -8.09391026e-06 9.99999594e-01 -1.48556992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74105275400001 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:6.20, Z:-0.02 [[ 9.79137534e-01 -2.03196738e-01 8.79983754e-04 5.50640291e+01] [ 2.03196646e-01 9.79137930e-01 1.93788113e-04 6.19905759e+00] [-9.01002584e-04 -1.09354679e-05 9.99999594e-01 -1.56450235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:6.21, Z:-0.01 [[ 9.79966874e-01 -1.99158612e-01 8.79922708e-04 5.51198667e+01] [ 1.99158518e-01 9.79967268e-01 1.94064906e-04 6.21382860e+00] [-9.00945150e-04 -1.49330773e-05 9.99999594e-01 -1.27449871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:6.23, Z:-0.01 [[ 9.80039316e-01 -1.98801824e-01 8.79901377e-04 5.51778235e+01] [ 1.98801729e-01 9.80039711e-01 1.94161576e-04 6.22663861e+00] [-9.00937966e-04 -1.53600629e-05 9.99999594e-01 -1.46927967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:6.24, Z:-0.01 [[ 9.79363266e-01 -2.02105958e-01 8.79854264e-04 5.52357759e+01] [ 2.02105865e-01 9.79363662e-01 1.94374834e-04 6.23532160e+00] [-9.00981606e-04 -1.25398651e-05 9.99999594e-01 -1.19687742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.29, Y:6.25, Z:-0.01 [[ 9.78613231e-01 -2.05707003e-01 8.79837364e-04 5.52941169e+01] [ 2.05706911e-01 9.78613626e-01 1.94451303e-04 6.24535644e+00] [-9.01020828e-04 -9.30399140e-06 9.99999594e-01 -1.01562903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:6.26, Z:-0.01 [[ 9.78188713e-01 -2.07716315e-01 8.79790574e-04 5.53508018e+01] [ 2.07716224e-01 9.78189109e-01 1.94662772e-04 6.25677442e+00] [-9.01036191e-04 -7.67015092e-06 9.99999594e-01 -1.15407307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:6.27, Z:-0.01 [[ 9.77670482e-01 -2.10141988e-01 8.79773981e-04 5.54086045e+01] [ 2.10141898e-01 9.77670878e-01 1.94737735e-04 6.26781083e+00] [-9.01051975e-04 -5.51196149e-06 9.99999594e-01 -1.11108138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:6.28, Z:-0.01 [[ 9.77928812e-01 -2.08936510e-01 8.79727750e-04 5.54660888e+01] [ 2.08936419e-01 9.77929207e-01 1.94946363e-04 6.27928602e+00] [-9.01042874e-04 -6.83649890e-06 9.99999594e-01 -1.24561694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754000006 meters Centerline goodness : 0.998367 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:6.29, Z:-0.02 [[ 9.78571580e-01 -2.05905048e-01 8.79680975e-04 5.55238432e+01] [ 2.05904956e-01 9.78571975e-01 1.95157200e-04 6.29154674e+00] [-9.01015003e-04 -9.84461772e-06 9.99999594e-01 -1.60926027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28105275400001 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:6.31, Z:-0.02 [[ 9.79233879e-01 -2.02731933e-01 8.79626567e-04 5.55800186e+01] [ 2.02731839e-01 9.79234274e-01 1.95402126e-04 6.30620461e+00] [-9.00974733e-04 -1.30160699e-05 9.99999594e-01 -1.86321737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.64, Y:6.32, Z:-0.02 [[ 9.79258792e-01 -2.02611560e-01 8.79558539e-04 5.56358931e+01] [ 2.02611466e-01 9.79259187e-01 1.95707859e-04 6.32079621e+00] [-9.00968455e-04 -1.34399966e-05 9.99999594e-01 -1.56079166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:6.33, Z:-0.01 [[ 9.78923464e-01 -2.04225557e-01 8.79537771e-04 5.56925070e+01] [ 2.04225464e-01 9.78923859e-01 1.95801152e-04 6.33389627e+00] [-9.00988108e-04 -1.20503327e-05 9.99999594e-01 -1.32355067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.75, Y:6.35, Z:-0.02 [[ 9.78856562e-01 -2.04545981e-01 8.79520823e-04 5.57501804e+01] [ 2.04545888e-01 9.78856957e-01 1.95877252e-04 6.34824805e+00] [-9.00990980e-04 -1.18333659e-05 9.99999594e-01 -1.50145718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.81, Y:6.36, Z:-0.02 [[ 9.78900028e-01 -2.04337862e-01 8.79473885e-04 5.58066435e+01] [ 2.04337768e-01 9.78900423e-01 1.96087771e-04 6.36185191e+00] [-9.00985514e-04 -1.22405939e-05 9.99999594e-01 -1.78740846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:6.37, Z:-0.02 [[ 9.78717898e-01 -2.05208439e-01 8.79419244e-04 5.58637918e+01] [ 2.05208346e-01 9.78718293e-01 1.96332521e-04 6.37421941e+00] [-9.00992791e-04 -1.16899845e-05 9.99999594e-01 -1.60107543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:6.39, Z:-0.02 [[ 9.78552624e-01 -2.05995118e-01 8.79363980e-04 5.59192609e+01] [ 2.05995024e-01 9.78553019e-01 1.96579737e-04 6.38605876e+00] [-9.00998743e-04 -1.12190129e-05 9.99999594e-01 -1.67073036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:6.40, Z:-0.02 [[ 9.78432282e-01 -2.06565960e-01 8.79340495e-04 5.59756426e+01] [ 2.06565866e-01 9.78432677e-01 1.96684732e-04 6.40163030e+00] [-9.01003845e-04 -1.08009598e-05 9.99999594e-01 -2.13013248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:6.42, Z:-0.02 [[ 9.78585361e-01 -2.05839547e-01 8.79287742e-04 5.60333727e+01] [ 2.05839453e-01 9.78585756e-01 1.96920284e-04 6.41570706e+00] [-9.00992441e-04 -1.17111997e-05 9.99999594e-01 -2.19583731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:6.43, Z:-0.02 [[ 9.77775033e-01 -2.09654983e-01 8.79240213e-04 5.60915918e+01] [ 2.09654890e-01 9.77775428e-01 1.97132271e-04 6.42776215e+00] [-9.01029239e-04 -8.41400274e-06 9.99999594e-01 -2.05203720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:6.44, Z:-0.02 [[ 9.75982194e-01 -2.17848536e-01 8.79196030e-04 5.61493464e+01] [ 2.17848447e-01 9.75982590e-01 1.97329129e-04 6.44001841e+00] [-9.01067880e-04 -1.05822637e-06 9.99999594e-01 -2.09689236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:6.45, Z:-0.02 [[ 9.75436738e-01 -2.20277998e-01 8.79148703e-04 5.62060720e+01] [ 2.20277910e-01 9.75437135e-01 1.97539754e-04 6.45139521e+00] [-9.01067954e-04 9.69505136e-07 9.99999594e-01 -1.61810405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:6.46, Z:-0.01 [[ 9.75140528e-01 -2.21585597e-01 8.79132152e-04 5.62628786e+01] [ 2.21585509e-01 9.75140925e-01 1.97613387e-04 6.46490794e+00] [-9.01066020e-04 2.10212343e-06 9.99999594e-01 -1.26909088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:6.48, Z:-0.01 [[ 9.76021697e-01 -2.17671484e-01 8.79115544e-04 5.63196687e+01] [ 2.17671394e-01 9.76022092e-01 1.97687243e-04 6.48006012e+00] [-9.01067068e-04 -1.58873195e-06 9.99999594e-01 -1.08372248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.38, Y:6.49, Z:-0.01 [[ 9.76705005e-01 -2.14584621e-01 8.79068895e-04 5.63774679e+01] [ 2.14584530e-01 9.76705401e-01 1.97894462e-04 6.49176199e+00] [-9.01056446e-04 -4.64992590e-06 9.99999594e-01 -1.17955896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:6.51, Z:-0.02 [[ 9.77511310e-01 -2.10881167e-01 8.79022198e-04 5.64340364e+01] [ 2.10881074e-01 9.77511705e-01 1.98101670e-04 6.50795367e+00] [-9.01030398e-04 -8.27747714e-06 9.99999594e-01 -1.64625927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:6.52, Z:-0.02 [[ 9.78432236e-01 -2.06566180e-01 8.78975118e-04 5.64911003e+01] [ 2.06566085e-01 9.78432631e-01 1.98310344e-04 6.52173582e+00] [-9.00982147e-04 -1.24667839e-05 9.99999594e-01 -2.05723232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:6.53, Z:-0.02 [[ 9.79007786e-01 -2.03820955e-01 8.78928292e-04 5.65504492e+01] [ 2.03820859e-01 9.79008181e-01 1.98517664e-04 6.53050388e+00] [-9.00940048e-04 -1.52064194e-05 9.99999594e-01 -1.80584554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.61, Y:6.55, Z:-0.02 [[ 9.78083765e-01 -2.08209932e-01 8.78927628e-04 5.66078374e+01] [ 2.08209838e-01 9.78084160e-01 1.98520603e-04 6.54678752e+00] [-9.00999152e-04 -1.11684003e-05 9.99999594e-01 -2.31092656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.67, Y:6.56, Z:-0.02 [[ 9.78126635e-01 -2.08008446e-01 8.78920499e-04 5.66671602e+01] [ 2.08008352e-01 9.78127030e-01 1.98552158e-04 6.55716005e+00] [-9.00996423e-04 -1.13863499e-05 9.99999594e-01 -1.97752930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.72, Y:6.57, Z:-0.02 [[ 9.77502007e-01 -2.10924284e-01 8.78920499e-04 5.67246555e+01] [ 2.10924191e-01 9.77502402e-01 1.98552158e-04 6.57292689e+00] [-9.01026371e-04 -8.69953782e-06 9.99999594e-01 -1.71680606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754000006 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:56.78, Y:6.59, Z:-0.02 [[ 9.77210381e-01 -2.12271285e-01 8.78912980e-04 5.67806786e+01] [ 2.12271192e-01 9.77210776e-01 1.98585436e-04 6.58924963e+00] [-9.01037221e-04 -7.49184341e-06 9.99999594e-01 -2.12116350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.84, Y:6.60, Z:-0.02 [[ 9.76792102e-01 -2.14187809e-01 8.78857807e-04 5.68370067e+01] [ 2.14187717e-01 9.76792497e-01 1.98829310e-04 6.60159872e+00] [-9.01048526e-04 -5.97435254e-06 9.99999594e-01 -1.99631901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.90, Y:6.61, Z:-0.02 [[ 9.76684076e-01 -2.14679862e-01 8.78793882e-04 5.68950565e+01] [ 2.14679769e-01 9.76684472e-01 1.99111449e-04 6.61403644e+00] [-9.01049556e-04 -5.80971348e-06 9.99999594e-01 -2.03301643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.95, Y:6.63, Z:-0.03 [[ 9.75888940e-01 -2.18265903e-01 8.78769434e-04 5.69518984e+01] [ 2.18265812e-01 9.75889336e-01 1.99219289e-04 6.63289484e+00] [-9.01064498e-04 -2.61057647e-06 9.99999594e-01 -3.06066384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.01, Y:6.64, Z:-0.02 [[ 9.76698327e-01 -2.14615016e-01 8.78762518e-04 5.70109708e+01] [ 2.14614924e-01 9.76698723e-01 1.99249792e-04 6.63810852e+00] [-9.01048226e-04 -6.01138763e-06 9.99999594e-01 -2.05707797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.07, Y:6.65, Z:-0.01 [[ 9.77015393e-01 -2.13166952e-01 8.78752334e-04 5.70685894e+01] [ 2.13166859e-01 9.77015788e-01 1.99294698e-04 6.64922446e+00] [-9.01037947e-04 -7.39311274e-06 9.99999594e-01 -1.42523412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.13, Y:6.67, Z:-0.02 [[ 9.77302651e-01 -2.11846068e-01 8.78705677e-04 5.71262456e+01] [ 2.11845975e-01 9.77303046e-01 1.99500201e-04 6.66512750e+00] [-9.01025067e-04 -8.82181503e-06 9.99999594e-01 -1.81503115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96105275400001 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:57.18, Y:6.68, Z:-0.02 [[ 9.77207565e-01 -2.12284250e-01 8.78698689e-04 5.71842142e+01] [ 2.12284156e-01 9.77207960e-01 1.99530975e-04 6.67775084e+00] [-9.01028636e-04 -8.44936909e-06 9.99999594e-01 -1.93911688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.24, Y:6.69, Z:-0.01 [[ 9.75659575e-01 -2.19288902e-01 8.78673151e-04 5.72408139e+01] [ 2.19288811e-01 9.75659970e-01 1.99643372e-04 6.68823495e+00] [-9.01065796e-04 -2.10077671e-06 9.99999594e-01 -1.38619298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:6.70, Z:-0.01 [[ 9.74797554e-01 -2.23089572e-01 8.78653197e-04 5.72973073e+01] [ 2.23089482e-01 9.74797950e-01 1.99731154e-04 6.70016944e+00] [-9.01067272e-04 1.32084650e-06 9.99999594e-01 -1.33475592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:6.72, Z:-0.01 [[ 9.74437346e-01 -2.24657709e-01 8.78636603e-04 5.73541959e+01] [ 2.24657620e-01 9.74437742e-01 1.99804127e-04 6.71549263e+00] [-9.01064205e-04 2.69580482e-06 9.99999594e-01 -1.44875181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:6.73, Z:-0.02 [[ 9.75401268e-01 -2.20435011e-01 8.78608922e-04 5.74107906e+01] [ 2.20434920e-01 9.75401664e-01 1.99925773e-04 6.72876365e+00] [-9.01067245e-04 -1.33176527e-06 9.99999594e-01 -1.52808160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:6.74, Z:-0.01 [[ 9.76282558e-01 -2.16498485e-01 8.78581848e-04 5.74682430e+01] [ 2.16498393e-01 9.76282954e-01 2.00044683e-04 6.73996823e+00] [-9.01053852e-04 -5.08857638e-06 9.99999594e-01 -1.23295080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:6.76, Z:-0.01 [[ 9.77452412e-01 -2.11153999e-01 8.78527862e-04 5.75253300e+01] [ 2.11153904e-01 9.77452806e-01 2.00281491e-04 6.75608336e+00] [-9.01009761e-04 -1.02610382e-05 9.99999594e-01 -1.30277252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.58, Y:6.77, Z:-0.02 [[ 9.78120509e-01 -2.08037250e-01 8.78480068e-04 5.75834314e+01] [ 2.08037153e-01 9.78120904e-01 2.00490906e-04 6.76783361e+00] [-9.00969295e-04 -1.33477744e-05 9.99999594e-01 -1.54927037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.64, Y:6.78, Z:-0.01 [[ 9.77868308e-01 -2.09219505e-01 8.78435641e-04 5.76403102e+01] [ 2.09219409e-01 9.77868702e-01 2.00685369e-04 6.77786061e+00] [-9.00982014e-04 -1.24580763e-05 9.99999594e-01 -1.25207506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.70, Y:6.79, Z:-0.01 [[ 9.77623398e-01 -2.10360926e-01 8.78378055e-04 5.76965487e+01] [ 2.10360831e-01 9.77623793e-01 2.00937100e-04 6.79162595e+00] [-9.00992601e-04 -1.16644734e-05 9.99999594e-01 -1.47906114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56105275400001 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:57.75, Y:6.81, Z:-0.02 [[ 9.77969656e-01 -2.08745251e-01 8.78360663e-04 5.77534051e+01] [ 2.08745155e-01 9.77970051e-01 2.01013100e-04 6.80664506e+00] [-9.00970952e-04 -1.32311797e-05 9.99999594e-01 -1.76263171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:6.82, Z:-0.01 [[ 9.77821488e-01 -2.09438214e-01 8.78306031e-04 5.78100132e+01] [ 2.09438118e-01 9.77821883e-01 2.01251526e-04 6.81911966e+00] [-9.00976617e-04 -1.28373054e-05 9.99999594e-01 -1.09763936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:6.83, Z:-0.02 [[ 9.77143181e-01 -2.12580412e-01 8.78240726e-04 5.78661618e+01] [ 2.12580317e-01 9.77143576e-01 2.01536105e-04 6.83321215e+00] [-9.01009912e-04 -1.02329395e-05 9.99999594e-01 -1.81660405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:6.85, Z:-0.02 [[ 9.77172329e-01 -2.12446389e-01 8.78223479e-04 5.79241746e+01] [ 2.12446294e-01 9.77172724e-01 2.01611237e-04 6.84590490e+00] [-9.01007608e-04 -1.04335989e-05 9.99999594e-01 -1.88691741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:6.86, Z:-0.01 [[ 9.77209009e-01 -2.12277605e-01 8.78175915e-04 5.79818332e+01] [ 2.12277510e-01 9.77209403e-01 2.01818201e-04 6.85824887e+00] [-9.01003246e-04 -1.08015682e-05 9.99999594e-01 -1.33393444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:6.87, Z:-0.01 [[ 9.77097719e-01 -2.12789275e-01 8.78127450e-04 5.80393282e+01] [ 2.12789179e-01 9.77098114e-01 2.02028857e-04 6.87272806e+00] [-9.01006249e-04 -1.05459165e-05 9.99999594e-01 -1.21773113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:6.88, Z:-0.01 [[ 9.76401277e-01 -2.15962438e-01 8.78080224e-04 5.80967266e+01] [ 2.15962344e-01 9.76401672e-01 2.02233909e-04 6.88362152e+00] [-9.01033927e-04 -7.82918447e-06 9.99999594e-01 -9.00965508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98105275400001 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:6.90, Z:-0.02 [[ 9.75452710e-01 -2.20207264e-01 8.78063514e-04 5.81529630e+01] [ 2.20207171e-01 9.75453105e-01 2.02306431e-04 6.89568775e+00] [-9.01059128e-04 -3.98447418e-06 9.99999594e-01 -1.55779705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:6.91, Z:-0.01 [[ 9.75399159e-01 -2.20444348e-01 8.78010256e-04 5.82105023e+01] [ 2.20444255e-01 9.75399554e-01 2.02537310e-04 6.90888833e+00] [-9.01059017e-04 -4.00240489e-06 9.99999594e-01 -1.18971216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:6.92, Z:-0.01 [[ 9.75694176e-01 -2.19134899e-01 8.77955265e-04 5.82684130e+01] [ 2.19134805e-01 9.75694571e-01 2.02775406e-04 6.92204666e+00] [-9.01051353e-04 -5.45622643e-06 9.99999594e-01 -5.96572241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.33, Y:6.94, Z:-0.01 [[ 9.75379760e-01 -2.20530165e-01 8.77902251e-04 5.83258936e+01] [ 2.20530072e-01 9.75380155e-01 2.03004666e-04 6.93674229e+00] [-9.01057086e-04 -4.40279534e-06 9.99999594e-01 -6.19369947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:6.95, Z:-0.01 [[ 9.75161773e-01 -2.21492088e-01 8.77854069e-04 5.83836803e+01] [ 2.21491995e-01 9.75162169e-01 2.03212804e-04 6.95022729e+00] [-9.01060106e-04 -3.72770904e-06 9.99999594e-01 -7.62852729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:6.96, Z:-0.01 [[ 9.75428598e-01 -2.20314047e-01 8.77804796e-04 5.84397887e+01] [ 2.20313953e-01 9.75428993e-01 2.03425423e-04 6.96370154e+00] [-9.01053727e-04 -5.03433075e-06 9.99999594e-01 -1.22228885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:6.98, Z:-0.01 [[ 9.75715755e-01 -2.19038799e-01 8.77779339e-04 5.84959042e+01] [ 2.19038705e-01 9.75716150e-01 2.03535213e-04 6.97793802e+00] [-9.01045585e-04 -6.32486515e-06 9.99999594e-01 -1.26210043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.55, Y:6.99, Z:-0.01 [[ 9.76406470e-01 -2.15938963e-01 8.77723912e-04 5.85524146e+01] [ 2.15938867e-01 9.76406864e-01 2.03773956e-04 6.99361944e+00] [-9.01018389e-04 -9.43150164e-06 9.99999594e-01 -1.00095874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:7.01, Z:-0.01 [[ 9.76330086e-01 -2.16284054e-01 8.77675074e-04 5.86092853e+01] [ 2.16283958e-01 9.76330481e-01 2.03984090e-04 7.00637816e+00] [-9.01019433e-04 -9.32876548e-06 9.99999594e-01 -1.11090601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:7.02, Z:-0.01 [[ 9.75962932e-01 -2.17934817e-01 8.77619261e-04 5.86668658e+01] [ 2.17934722e-01 9.75963327e-01 2.04223935e-04 7.01777130e+00] [-9.01031720e-04 -8.05128159e-06 9.99999594e-01 -7.99506674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:7.03, Z:-0.01 [[ 9.76481602e-01 -2.15598956e-01 8.77570707e-04 5.87234594e+01] [ 2.15598860e-01 9.76481997e-01 2.04432365e-04 7.02958123e+00] [-9.01007401e-04 -1.04212003e-05 9.99999594e-01 -5.44343011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:7.04, Z:-0.01 [[ 9.75960831e-01 -2.17944230e-01 8.77514464e-04 5.87820686e+01] [ 2.17944134e-01 9.75961225e-01 2.04673499e-04 7.03989913e+00] [-9.01027499e-04 -8.50418821e-06 9.99999594e-01 -6.66397661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.84, Y:7.05, Z:-0.01 [[ 9.75568886e-01 -2.19692010e-01 8.77487865e-04 5.88392950e+01] [ 2.19691915e-01 9.75569280e-01 2.04787473e-04 7.05042944e+00] [-9.01040376e-04 -7.00729683e-06 9.99999594e-01 -8.51984561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:7.06, Z:-0.01 [[ 9.75735934e-01 -2.18948894e-01 8.77470656e-04 5.88967662e+01] [ 2.18948798e-01 9.75736328e-01 2.04861184e-04 7.06427698e+00] [-9.01034125e-04 -7.76927270e-06 9.99999594e-01 -7.84756969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.95, Y:7.08, Z:-0.01 [[ 9.76296262e-01 -2.16436685e-01 8.77422003e-04 5.89529417e+01] [ 2.16436588e-01 9.76296656e-01 2.05069353e-04 7.08184987e+00] [-9.01008699e-04 -1.03022188e-05 9.99999594e-01 -6.34503111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:7.09, Z:-0.01 [[ 9.75864833e-01 -2.18373665e-01 8.77371647e-04 5.90099140e+01] [ 2.18373569e-01 9.75865228e-01 2.05284571e-04 7.09421268e+00] [-9.01025226e-04 -8.73521607e-06 9.99999594e-01 -6.00116459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.07, Y:7.11, Z:-0.00 [[ 9.75671532e-01 -2.19235699e-01 8.77353986e-04 5.90671394e+01] [ 2.19235603e-01 9.75671927e-01 2.05360023e-04 7.10671791e+00] [-9.01031902e-04 -8.01669801e-06 9.99999594e-01 -4.27828234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00105275400001 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:7.12, Z:-0.00 [[ 9.75651014e-01 -2.19326991e-01 8.77299220e-04 5.91242932e+01] [ 2.19326895e-01 9.75651409e-01 2.05593716e-04 7.11993303e+00] [-9.01030471e-04 -8.17240375e-06 9.99999594e-01 -4.17388443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:7.13, Z:-0.00 [[ 9.76239268e-01 -2.16693611e-01 8.77240409e-04 5.91802945e+01] [ 2.16693514e-01 9.76239662e-01 2.05844352e-04 7.13445195e+00] [-9.01002037e-04 -1.08610330e-05 9.99999594e-01 -2.52609412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:7.15, Z:-0.00 [[ 9.76610769e-01 -2.15013106e-01 8.77219418e-04 5.92377051e+01] [ 2.15013008e-01 9.76611163e-01 2.05933766e-04 7.14582234e+00] [-9.00980735e-04 -1.25035472e-05 9.99999594e-01 -3.89080632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:7.16, Z:-0.01 [[ 9.77400187e-01 -2.11395613e-01 8.77169836e-04 5.92958105e+01] [ 2.11395513e-01 9.77400580e-01 2.06144744e-04 7.15718038e+00] [-9.00924401e-04 -1.60561437e-05 9.99999594e-01 -5.05208416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:7.17, Z:-0.01 [[ 9.78149198e-01 -2.07902327e-01 8.77119069e-04 5.93526524e+01] [ 2.07902226e-01 9.78149591e-01 2.06360526e-04 7.17398121e+00] [-9.00856492e-04 -1.94963760e-05 9.99999594e-01 -8.81817468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:7.19, Z:-0.01 [[ 9.78650317e-01 -2.05530504e-01 8.77068226e-04 5.94087767e+01] [ 2.05530402e-01 9.78650710e-01 2.06576391e-04 7.19222663e+00] [-9.00801192e-04 -2.19018654e-05 9.99999594e-01 -1.20591412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:7.20, Z:-0.01 [[ 9.78455856e-01 -2.06454278e-01 8.77017216e-04 5.94671154e+01] [ 2.06454175e-01 9.78456249e-01 2.06792728e-04 7.20359482e+00] [-9.00816218e-04 -2.12736896e-05 9.99999594e-01 -9.77246877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:7.22, Z:-0.01 [[ 9.78400663e-01 -2.06715681e-01 8.76970009e-04 5.95252046e+01] [ 2.06715578e-01 9.78401056e-01 2.06992731e-04 7.21600180e+00] [-9.00817026e-04 -2.12384626e-05 9.99999594e-01 -1.02365969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:7.23, Z:-0.01 [[ 9.77840072e-01 -2.09351438e-01 8.76918896e-04 5.95812083e+01] [ 2.09351336e-01 9.77840465e-01 2.07209044e-04 7.22947829e+00] [-9.00866292e-04 -1.90331638e-05 9.99999594e-01 -1.14014551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754000006 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:7.24, Z:-0.02 [[ 9.77320877e-01 -2.11761976e-01 8.76891926e-04 5.96390426e+01] [ 2.11761875e-01 9.77321270e-01 2.07323116e-04 7.24115190e+00] [-9.00908283e-04 -1.69289310e-05 9.99999594e-01 -1.63830019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.70, Y:7.25, Z:-0.01 [[ 9.77069634e-01 -2.12918202e-01 8.76834241e-04 5.96961456e+01] [ 2.12918102e-01 9.77070028e-01 2.07566797e-04 7.25426431e+00] [-9.00923205e-04 -1.61133322e-05 9.99999594e-01 -9.63129123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:7.27, Z:-0.00 [[ 9.76621154e-01 -2.14965936e-01 8.76776253e-04 5.97530047e+01] [ 2.14965836e-01 9.76621547e-01 2.07811452e-04 7.26871629e+00] [-9.00950964e-04 -1.44761197e-05 9.99999594e-01 -4.28529922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754000006 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:7.28, Z:-0.01 [[ 9.76431848e-01 -2.15824181e-01 8.76723407e-04 5.98101494e+01] [ 2.15824081e-01 9.76432242e-01 2.08034162e-04 7.28203626e+00] [-9.00959805e-04 -1.39131568e-05 9.99999594e-01 -1.12162256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.87, Y:7.30, Z:-0.01 [[ 9.75789097e-01 -2.18711842e-01 8.76668644e-04 5.98676902e+01] [ 2.18711743e-01 9.75789491e-01 2.08264683e-04 7.29558701e+00] [-9.00994002e-04 -1.14846798e-05 9.99999594e-01 -6.15799832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:7.31, Z:-0.00 [[ 9.75545247e-01 -2.19796960e-01 8.76607297e-04 5.99243925e+01] [ 2.19796861e-01 9.75545640e-01 2.08522579e-04 7.30739912e+00] [-9.01003056e-04 -1.07476783e-05 9.99999594e-01 -3.88938900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:7.32, Z:-0.00 [[ 9.75052987e-01 -2.21970502e-01 8.76589374e-04 5.99814098e+01] [ 2.21970404e-01 9.75053381e-01 2.08597896e-04 7.32252533e+00] [-9.01024013e-04 -8.81710441e-06 9.99999594e-01 -1.43844344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.04, Y:7.34, Z:-0.00 [[ 9.74429602e-01 -2.24691305e-01 8.76539877e-04 6.00389158e+01] [ 2.24691208e-01 9.74429996e-01 2.08805678e-04 7.33639496e+00] [-9.01043569e-04 -6.51563045e-06 9.99999594e-01 -2.10580621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.10, Y:7.35, Z:-0.01 [[ 9.74384078e-01 -2.24888638e-01 8.76488787e-04 6.00963342e+01] [ 2.24888541e-01 9.74384473e-01 2.09019914e-04 7.34943066e+00] [-9.01043269e-04 -6.55339190e-06 9.99999594e-01 -5.06109251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:7.36, Z:-0.00 [[ 9.74664760e-01 -2.23669035e-01 8.76438595e-04 6.01527713e+01] [ 2.23668937e-01 9.74665154e-01 2.09230165e-04 7.36253004e+00] [-9.01032467e-04 -7.89717992e-06 9.99999594e-01 -4.36861011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:7.38, Z:-0.00 [[ 9.75649173e-01 -2.19335184e-01 8.76382119e-04 6.02086584e+01] [ 2.19335084e-01 9.75649567e-01 2.09466450e-04 7.38089793e+00] [-9.00985197e-04 -1.21444234e-05 9.99999594e-01 -4.43835092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:7.40, Z:-0.01 [[ 9.76224539e-01 -2.16759962e-01 8.76331599e-04 6.02642777e+01] [ 2.16759862e-01 9.76224932e-01 2.09677597e-04 7.39702029e+00] [-9.00946464e-04 -1.47388991e-05 9.99999594e-01 -6.18321552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:7.41, Z:-0.01 [[ 9.75697750e-01 -2.19118994e-01 8.76274169e-04 6.03215119e+01] [ 2.19118894e-01 9.75698143e-01 2.09917330e-04 7.40799396e+00] [-9.00975954e-04 -1.28076402e-05 9.99999594e-01 -6.14227428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:7.42, Z:-0.01 [[ 9.75323581e-01 -2.20778498e-01 8.76256520e-04 6.03793906e+01] [ 2.20778398e-01 9.75323974e-01 2.09990975e-04 7.41866097e+00] [-9.00995484e-04 -1.13506391e-05 9.99999594e-01 -9.17977655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:7.43, Z:-0.01 [[ 9.75325563e-01 -2.20769741e-01 8.76207798e-04 6.04358848e+01] [ 2.20769641e-01 9.75325957e-01 2.10194080e-04 7.43158629e+00] [-9.00992701e-04 -1.15675786e-05 9.99999594e-01 -7.59278498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:7.45, Z:-0.01 [[ 9.75571253e-01 -2.19681502e-01 8.76150526e-04 6.04916735e+01] [ 2.19681402e-01 9.75571646e-01 2.10432534e-04 7.44878697e+00] [-9.00975746e-04 -1.28179547e-05 9.99999594e-01 -1.29229824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:7.46, Z:-0.01 [[ 9.75563526e-01 -2.19715812e-01 8.76132888e-04 6.05490007e+01] [ 2.19715712e-01 9.75563920e-01 2.10505944e-04 7.46114926e+00] [-9.00975119e-04 -1.28617598e-05 9.99999594e-01 -1.43055771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:7.47, Z:-0.01 [[ 9.75165752e-01 -2.21474576e-01 8.76083164e-04 6.06065203e+01] [ 2.21474476e-01 9.75166146e-01 2.10712681e-04 7.47226765e+00] [-9.00994144e-04 -1.14497306e-05 9.99999594e-01 -9.00509557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:7.49, Z:-0.01 [[ 9.75268209e-01 -2.21022968e-01 8.76031192e-04 6.06624932e+01] [ 2.21022868e-01 9.75268603e-01 2.10928533e-04 7.48895754e+00] [-9.00985767e-04 -1.20889658e-05 9.99999594e-01 -1.08998352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:7.50, Z:-0.01 [[ 9.75270815e-01 -2.21011471e-01 8.76013094e-04 6.07181519e+01] [ 2.21011370e-01 9.75271208e-01 2.11003671e-04 7.50337000e+00] [-9.00984580e-04 -1.21768683e-05 9.99999594e-01 -1.26454649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.77, Y:7.51, Z:-0.01 [[ 9.74647417e-01 -2.23744600e-01 8.75988105e-04 6.07749463e+01] [ 2.23744500e-01 9.74647810e-01 2.11107362e-04 7.51483805e+00] [-9.01014020e-04 -9.75772413e-06 9.99999594e-01 -9.93585754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.83, Y:7.53, Z:-0.01 [[ 9.74004328e-01 -2.26527707e-01 8.75928592e-04 6.08315508e+01] [ 2.26527609e-01 9.74004722e-01 2.11354003e-04 7.53071709e+00] [-9.01036123e-04 -7.43770435e-06 9.99999594e-01 -1.17027191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.89, Y:7.54, Z:-0.01 [[ 9.73144208e-01 -2.30194663e-01 8.75877583e-04 6.08885748e+01] [ 2.30194566e-01 9.73144602e-01 2.11565180e-04 7.54328203e+00] [-9.01056718e-04 -4.26116944e-06 9.99999594e-01 -1.14346395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:7.56, Z:-0.01 [[ 9.72091947e-01 -2.34598551e-01 8.75859651e-04 6.09465589e+01] [ 2.34598456e-01 9.72092341e-01 2.11639393e-04 7.55558883e+00] [-9.01066753e-04 -2.57627866e-07 9.99999594e-01 -9.97644210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.00, Y:7.57, Z:-0.01 [[ 9.71619403e-01 -2.36548025e-01 8.75808808e-04 6.10037248e+01] [ 2.36547930e-01 9.71619798e-01 2.11849584e-04 7.56956797e+00] [-9.01065777e-04 1.33359456e-06 9.99999594e-01 -9.14615449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:7.58, Z:-0.01 [[ 9.71107374e-01 -2.38641364e-01 8.75757533e-04 6.10597556e+01] [ 2.38641269e-01 9.71107769e-01 2.12061335e-04 7.58377057e+00] [-9.01061550e-04 3.05756348e-06 9.99999594e-01 -9.67112346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:7.60, Z:-0.01 [[ 9.70923672e-01 -2.39387671e-01 8.75739619e-04 6.11177728e+01] [ 2.39387577e-01 9.70924067e-01 2.12135287e-04 7.59655907e+00] [-9.01059245e-04 3.67401361e-06 9.99999594e-01 -6.85037911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:7.61, Z:-0.01 [[ 9.71150336e-01 -2.38466472e-01 8.75689980e-04 6.11743441e+01] [ 2.38466377e-01 9.71150731e-01 2.12339999e-04 7.60972581e+00] [-9.01062934e-04 2.60855596e-06 9.99999594e-01 -5.76069964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:7.63, Z:-0.01 [[ 9.72208016e-01 -2.34117078e-01 8.75631579e-04 6.12300673e+01] [ 2.34116981e-01 9.72208411e-01 2.12580557e-04 7.62656525e+00] [-9.01065124e-04 -1.67229931e-06 9.99999594e-01 -1.20182110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.281052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:7.64, Z:-0.01 [[ 9.73542037e-01 -2.28506315e-01 8.75613598e-04 6.12871475e+01] [ 2.28506216e-01 9.73542431e-01 2.12654594e-04 7.64031064e+00] [-9.01039908e-04 -6.94503664e-06 9.99999594e-01 -1.35666615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:7.65, Z:-0.02 [[ 9.74657155e-01 -2.23702176e-01 8.75562634e-04 6.13447565e+01] [ 2.23702075e-01 9.74657548e-01 2.12864222e-04 7.65498490e+00] [-9.00991920e-04 -1.16044592e-05 9.99999594e-01 -1.54202337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:7.67, Z:-0.02 [[ 9.75554914e-01 -2.19754051e-01 8.75514991e-04 6.14009670e+01] [ 2.19753948e-01 9.75555307e-01 2.13059998e-04 7.67025965e+00] [-9.00934093e-04 -1.54538521e-05 9.99999594e-01 -1.98472115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:7.68, Z:-0.02 [[ 9.75738395e-01 -2.18937933e-01 8.75456822e-04 6.14583713e+01] [ 2.18937830e-01 9.75738787e-01 2.13298744e-04 7.68420471e+00] [-9.00916364e-04 -1.64531571e-05 9.99999594e-01 -1.90958249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:7.70, Z:-0.01 [[ 9.74828631e-01 -2.22953749e-01 8.75405525e-04 6.15167408e+01] [ 2.22953647e-01 9.74829024e-01 2.13509068e-04 7.69554033e+00] [-9.00973360e-04 -1.29598975e-05 9.99999594e-01 -1.48863431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:7.71, Z:-0.02 [[ 9.74145692e-01 -2.25919022e-01 8.75353517e-04 6.15729479e+01] [ 2.25918921e-01 9.74146085e-01 2.13722080e-04 7.70849418e+00] [-9.01006085e-04 -1.04375216e-05 9.99999594e-01 -1.54233861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:7.72, Z:-0.02 [[ 9.74169218e-01 -2.25817556e-01 8.75335307e-04 6.16293721e+01] [ 2.25817455e-01 9.74169611e-01 2.13796635e-04 7.72366226e+00] [-9.01004089e-04 -1.06081087e-05 9.99999594e-01 -1.66940909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:7.74, Z:-0.02 [[ 9.74107712e-01 -2.26082729e-01 8.75276400e-04 6.16866759e+01] [ 2.26082628e-01 9.74108105e-01 2.14037527e-04 7.73954271e+00] [-9.01004023e-04 -1.06108171e-05 9.99999594e-01 -1.83570264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.74, Y:7.75, Z:-0.02 [[ 9.73542993e-01 -2.28502243e-01 8.75228621e-04 6.17427301e+01] [ 2.28502143e-01 9.73543386e-01 2.14232726e-04 7.75445686e+00] [-9.01025693e-04 -8.57315313e-06 9.99999594e-01 -1.78870465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.80, Y:7.77, Z:-0.01 [[ 9.72485551e-01 -2.32961557e-01 8.75170449e-04 6.18001195e+01] [ 2.32961459e-01 9.72485945e-01 2.14470100e-04 7.76683054e+00] [-9.01054250e-04 -4.68808916e-06 9.99999594e-01 -1.42440017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.86, Y:7.78, Z:-0.01 [[ 9.71271224e-01 -2.37973619e-01 8.75118381e-04 6.18560706e+01] [ 2.37973522e-01 9.71271618e-01 2.14682349e-04 7.77974982e+00] [-9.01066382e-04 -2.59785242e-07 9.99999594e-01 -8.86219344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.91, Y:7.79, Z:-0.01 [[ 9.69828221e-01 -2.43787726e-01 8.75096607e-04 6.19125680e+01] [ 2.43787632e-01 9.69828616e-01 2.14771066e-04 7.79224902e+00] [-9.01052282e-04 5.04668803e-06 9.99999594e-01 -8.02254217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.97, Y:7.81, Z:-0.01 [[ 9.68409960e-01 -2.49361953e-01 8.75038828e-04 6.19689786e+01] [ 2.49361860e-01 9.68410355e-01 2.15006218e-04 7.80509022e+00] [-9.01011033e-04 9.98714722e-06 9.99999594e-01 -7.20587170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.061052754 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:7.82, Z:-0.00 [[ 9.66766912e-01 -2.55657920e-01 8.74980776e-04 6.20269751e+01] [ 2.55657830e-01 9.66767308e-01 2.15242206e-04 7.81779292e+00] [-9.00931184e-04 1.56066431e-05 9.99999594e-01 -1.79021714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:7.83, Z:-0.00 [[ 9.65198632e-01 -2.61516417e-01 8.74924598e-04 6.20823701e+01] [ 2.61516329e-01 9.65199028e-01 2.15470318e-04 7.83495683e+00] [-9.00825397e-04 2.08354129e-05 9.99999594e-01 -3.99994010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:7.85, Z:-0.01 [[ 9.65082345e-01 -2.61945228e-01 8.74853383e-04 6.21394635e+01] [ 2.61945140e-01 9.65082741e-01 2.15759079e-04 7.85122677e+00] [-9.00822962e-04 2.09383146e-05 9.99999594e-01 -8.63250015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.19, Y:7.87, Z:-0.01 [[ 9.64671191e-01 -2.63455363e-01 8.74799600e-04 6.21949253e+01] [ 2.63455275e-01 9.64671587e-01 2.15976922e-04 7.86716378e+00] [-9.00794597e-04 2.21238554e-05 9.99999594e-01 -1.10567883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.25, Y:7.88, Z:-0.01 [[ 9.64890902e-01 -2.62649542e-01 8.74780782e-04 6.22502776e+01] [ 2.62649454e-01 9.64891298e-01 2.16053115e-04 7.88407199e+00] [-9.00814616e-04 2.12930093e-05 9.99999594e-01 -9.71149547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.31, Y:7.90, Z:-0.01 [[ 9.65572883e-01 -2.60131204e-01 8.74722165e-04 6.23068779e+01] [ 2.60131115e-01 9.65573279e-01 2.16290174e-04 7.90073022e+00] [-9.00872172e-04 1.86985254e-05 9.99999594e-01 -7.89973738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.36, Y:7.92, Z:-0.01 [[ 9.66139381e-01 -2.58019247e-01 8.74669586e-04 6.23622188e+01] [ 2.58019157e-01 9.66139776e-01 2.16502595e-04 7.91659300e+00] [-9.00914915e-04 1.65098262e-05 9.99999594e-01 -5.96522125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481052754 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:62.42, Y:7.93, Z:-0.00 [[ 9.65733526e-01 -2.59534182e-01 8.74651091e-04 6.24181995e+01] [ 2.59534092e-01 9.65733922e-01 2.16577286e-04 7.93149747e+00] [-9.00889437e-04 1.78458310e-05 9.99999594e-01 -2.82446105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.541052754 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:7.95, Z:-0.00 [[ 9.65708909e-01 -2.59625767e-01 8.74590420e-04 6.24743896e+01] [ 2.59625677e-01 9.65709305e-01 2.16822015e-04 7.94604281e+00] [-9.00892688e-04 1.76791783e-05 9.99999594e-01 -3.15742843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:7.96, Z:-0.01 [[ 9.65599577e-01 -2.60032099e-01 8.74519431e-04 6.25306117e+01] [ 2.60032009e-01 9.65599973e-01 2.17107962e-04 7.96276732e+00] [-9.00890977e-04 1.77636882e-05 9.99999594e-01 -5.43767331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters Centerline goodness : 0.998273 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:7.97, Z:-0.00 [[ 9.66450733e-01 -2.56850573e-01 8.74447385e-04 6.25880454e+01] [ 2.56850482e-01 9.66451128e-01 2.17397753e-04 7.97437299e+00] [-9.00949399e-04 1.44980144e-05 9.99999594e-01 -4.73416811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters Centerline goodness : 0.997927 with order 1 Centerline is valid? [True, True] Translation: X:62.64, Y:7.99, Z:-0.00 [[ 9.66340869e-01 -2.57263602e-01 8.74386204e-04 6.26448016e+01] [ 2.57263510e-01 9.66341264e-01 2.17643551e-04 7.98955881e+00] [-9.00947233e-04 1.46298060e-05 9.99999594e-01 -1.51606851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:8.00, Z:-0.00 [[ 9.66014227e-01 -2.58487425e-01 8.74323607e-04 6.27017591e+01] [ 2.58487334e-01 9.66014622e-01 2.17894725e-04 8.00351928e+00] [-9.00932436e-04 1.55121733e-05 9.99999594e-01 -1.33205788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:8.02, Z:-0.00 [[ 9.64237498e-01 -2.65038268e-01 8.74251134e-04 6.27585659e+01] [ 2.65038179e-01 9.64237894e-01 2.18185118e-04 8.01626378e+00] [-9.00813478e-04 2.13276563e-05 9.99999594e-01 -6.95920712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:8.03, Z:0.00 [[ 9.60668084e-01 -2.77697800e-01 8.74184808e-04 6.28157290e+01] [ 2.77697716e-01 9.60668481e-01 2.18450539e-04 8.02763756e+00] [-9.00465026e-04 3.29006641e-05 9.99999594e-01 3.88313091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:8.04, Z:0.00 [[ 9.55741057e-01 -2.94207866e-01 8.74117496e-04 6.28727354e+01] [ 2.94207789e-01 9.55741455e-01 2.18719554e-04 8.04084936e+00] [-8.99779341e-04 4.81329182e-05 9.99999594e-01 1.86913569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.93, Y:8.05, Z:0.01 [[ 9.51532055e-01 -3.07548343e-01 8.74059463e-04 6.29288642e+01] [ 3.07548271e-01 9.51532455e-01 2.18951221e-04 8.05341227e+00] [-8.99034032e-04 6.04763717e-05 9.99999594e-01 5.30189599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:8.07, Z:0.01 [[ 9.48614572e-01 -3.16432662e-01 8.74029201e-04 6.29829005e+01] [ 3.16432593e-01 9.48614972e-01 2.19071959e-04 8.07491838e+00] [-8.98438709e-04 6.87564734e-05 9.99999594e-01 6.28078775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters Centerline goodness : 0.998438 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:8.10, Z:0.01 [[ 9.48365640e-01 -3.17177944e-01 8.74011069e-04 6.30379417e+01] [ 3.17177876e-01 9.48366040e-01 2.19144273e-04 8.09896166e+00] [-8.98390147e-04 6.93880762e-05 9.99999594e-01 1.11106611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:8.13, Z:0.01 [[ 9.51418793e-01 -3.07898549e-01 8.73956507e-04 6.30910345e+01] [ 3.07898477e-01 9.51419192e-01 2.19361652e-04 8.12770299e+00] [-8.99040129e-04 6.03850793e-05 9.99999594e-01 1.07853790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261052754 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:8.16, Z:0.00 [[ 9.57896045e-01 -2.87113922e-01 8.73886615e-04 6.31437081e+01] [ 2.87113840e-01 9.57896442e-01 2.19639736e-04 8.15504543e+00] [-9.00154505e-04 4.05129076e-05 9.99999594e-01 4.18297773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:8.18, Z:0.00 [[ 9.60173028e-01 -2.79404713e-01 8.73820413e-04 6.31974606e+01] [ 2.79404628e-01 9.60173425e-01 2.19902799e-04 8.17848941e+00] [-9.00461017e-04 3.30047317e-05 9.99999594e-01 4.05245800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:8.20, Z:-0.00 [[ 9.64487024e-01 -2.64128789e-01 8.73798378e-04 6.32519357e+01] [ 2.64128698e-01 9.64487420e-01 2.19990322e-04 8.20346246e+00] [-9.00873320e-04 1.86174172e-05 9.99999594e-01 -3.73427139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:8.22, Z:-0.01 [[ 9.65885163e-01 -2.58969279e-01 8.73746583e-04 6.33085620e+01] [ 2.58969186e-01 9.65885559e-01 2.20195847e-04 8.21832284e+00] [-9.00963166e-04 1.35895403e-05 9.99999594e-01 -7.80745453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:8.23, Z:-0.00 [[ 9.66649554e-01 -2.56101303e-01 8.73695615e-04 6.33655533e+01] [ 2.56101208e-01 9.66649948e-01 2.20397895e-04 8.23204941e+00] [-9.01002009e-04 1.07069760e-05 9.99999594e-01 -4.73666650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:8.25, Z:-0.00 [[ 9.69035504e-01 -2.46919883e-01 8.73639623e-04 6.34215918e+01] [ 2.46919784e-01 9.69035898e-01 2.20619617e-04 8.24553519e+00] [-9.01063527e-04 1.93066559e-06 9.99999594e-01 -8.47585688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:8.26, Z:-0.01 [[ 9.69532276e-01 -2.44962043e-01 8.73620062e-04 6.34795127e+01] [ 2.44961944e-01 9.69532670e-01 2.20697049e-04 8.25828506e+00] [-9.01065591e-04 3.07567255e-08 9.99999594e-01 -5.70978045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:8.26, Z:-0.00 [[ 9.68805055e-01 -2.47822522e-01 8.73569866e-04 6.35371202e+01] [ 2.47822423e-01 9.68805449e-01 2.20895560e-04 8.26210032e+00] [-9.01062140e-04 2.48546547e-06 9.99999594e-01 -4.09160453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:8.27, Z:0.00 [[ 9.66012559e-01 -2.58493660e-01 8.73542844e-04 6.35959059e+01] [ 2.58493566e-01 9.66012954e-01 2.21002368e-04 8.26767231e+00] [-9.00981414e-04 1.23141411e-05 9.99999594e-01 2.43867055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:8.27, Z:0.00 [[ 9.63486754e-01 -2.67754575e-01 8.73522146e-04 6.36537885e+01] [ 2.67754485e-01 9.63487149e-01 2.21084145e-04 8.27437447e+00] [-9.00823654e-04 2.08778267e-05 9.99999594e-01 3.71168752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:8.27, Z:0.01 [[ 9.59341877e-01 -2.82245285e-01 8.73503169e-04 6.37139682e+01] [ 2.82245200e-01 9.59342274e-01 2.21159099e-04 8.27435687e+00] [-9.00409629e-04 3.43748917e-05 9.99999594e-01 8.96592204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:8.28, Z:0.01 [[ 9.58485914e-01 -2.85138544e-01 8.73441206e-04 6.37716926e+01] [ 2.85138460e-01 9.58486312e-01 2.21403545e-04 8.28128617e+00] [-9.00312124e-04 3.68395013e-05 9.99999594e-01 8.15233605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:8.29, Z:0.01 [[ 9.57766698e-01 -2.87545107e-01 8.73378977e-04 6.38297950e+01] [ 2.87545024e-01 9.57767096e-01 2.21648748e-04 8.28896152e+00] [-9.00227660e-04 3.88479891e-05 9.99999594e-01 8.11006293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:8.30, Z:0.01 [[ 9.57102126e-01 -2.89749474e-01 8.73316997e-04 6.38863633e+01] [ 2.89749392e-01 9.57102524e-01 2.21892687e-04 8.29860746e+00] [-9.00147191e-04 4.06691068e-05 9.99999594e-01 7.34056043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.94, Y:8.31, Z:0.01 [[ 9.55718974e-01 -2.94279595e-01 8.73290317e-04 6.39446507e+01] [ 2.94279515e-01 9.55719372e-01 2.21997643e-04 8.30625474e+00] [-8.99949849e-04 4.48240913e-05 9.99999594e-01 6.73764477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.00, Y:8.32, Z:0.00 [[ 9.54529455e-01 -2.98115341e-01 8.73229021e-04 6.40031040e+01] [ 2.98115262e-01 9.54529853e-01 2.22238489e-04 8.31710925e+00] [-8.99775872e-04 4.81897149e-05 9.99999594e-01 4.97682292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.06, Y:8.33, Z:0.00 [[ 9.54595957e-01 -2.97902327e-01 8.73175364e-04 6.40593995e+01] [ 2.97902248e-01 9.54596355e-01 2.22449105e-04 8.33023802e+00] [-8.99798126e-04 4.77718871e-05 9.99999594e-01 3.57962868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.12, Y:8.35, Z:0.00 [[ 9.54517519e-01 -2.98153557e-01 8.73112873e-04 6.41154073e+01] [ 2.98153478e-01 9.54517917e-01 2.22694114e-04 8.34524067e+00] [-8.99798923e-04 4.77562063e-05 9.99999594e-01 4.22079539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:8.36, Z:0.00 [[ 9.53165860e-01 -3.02446823e-01 8.73093641e-04 6.41719899e+01] [ 3.02446746e-01 9.53166259e-01 2.22769489e-04 8.36079111e+00] [-8.99579324e-04 5.17280587e-05 9.99999594e-01 3.82622955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:8.38, Z:0.01 [[ 9.50843257e-01 -3.09671341e-01 8.73038562e-04 6.42274472e+01] [ 3.09671266e-01 9.50843656e-01 2.22985135e-04 8.37777484e+00] [-8.99175284e-04 5.83310446e-05 9.99999594e-01 7.65145572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:8.39, Z:0.01 [[ 9.49585527e-01 -3.13506880e-01 8.72975683e-04 6.42828014e+01] [ 3.13506807e-01 9.49585927e-01 2.23231033e-04 8.39428535e+00] [-8.98949888e-04 6.17068603e-05 9.99999594e-01 1.24010881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:8.41, Z:0.01 [[ 9.49507363e-01 -3.13743534e-01 8.72956362e-04 6.43381108e+01] [ 3.13743461e-01 9.49507762e-01 2.23306565e-04 8.41349377e+00] [-8.98939833e-04 6.18531222e-05 9.99999594e-01 1.32352374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:8.43, Z:0.01 [[ 9.50052078e-01 -3.12090191e-01 8.72894333e-04 6.43936740e+01] [ 3.12090117e-01 9.50052477e-01 2.23548770e-04 8.43313807e+00] [-8.99062802e-04 6.00387205e-05 9.99999594e-01 1.03506114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:8.45, Z:0.01 [[ 9.49941416e-01 -3.12426863e-01 8.72840692e-04 6.44497839e+01] [ 3.12426789e-01 9.49941815e-01 2.23758014e-04 8.45003619e+00] [-8.99055885e-04 6.01418098e-05 9.99999594e-01 1.44573241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:8.47, Z:0.01 [[ 9.50481318e-01 -3.10780473e-01 8.72782846e-04 6.45038124e+01] [ 3.10780398e-01 9.50481717e-01 2.23983420e-04 8.47329930e+00] [-8.99173811e-04 5.83517431e-05 9.99999594e-01 1.07444131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:8.49, Z:0.01 [[ 9.53367215e-01 -3.01811517e-01 8.72720108e-04 6.45588408e+01] [ 3.01811437e-01 9.53367613e-01 2.24227604e-04 8.49166194e+00] [-8.99697559e-04 4.96256634e-05 9.99999594e-01 8.39247715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82105275400001 meters Centerline goodness : 0.994715 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:8.51, Z:0.00 [[ 9.57959294e-01 -2.86902823e-01 8.72700820e-04 6.46146070e+01] [ 2.86902738e-01 9.57959691e-01 2.24302649e-04 8.51002363e+00] [-9.00365270e-04 3.55074477e-05 9.99999594e-01 4.82683900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.67, Y:8.53, Z:0.00 [[ 9.61454973e-01 -2.74961041e-01 8.72614735e-04 6.46683983e+01] [ 2.74960950e-01 9.61455368e-01 2.24637050e-04 8.52938561e+00] [-9.00746558e-04 2.39565680e-05 9.99999594e-01 2.04552965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.73, Y:8.54, Z:0.00 [[ 9.64451579e-01 -2.64258188e-01 8.72555787e-04 6.47250005e+01] [ 2.64258093e-01 9.64451974e-01 2.24865786e-04 8.54416231e+00] [-9.00960777e-04 1.37077659e-05 9.99999594e-01 1.87022545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.78, Y:8.56, Z:-0.00 [[ 9.67032768e-01 -2.54650475e-01 8.72493930e-04 6.47802749e+01] [ 2.54650376e-01 9.67033162e-01 2.25105540e-04 8.55762269e+00] [-9.01053796e-04 4.49647357e-06 9.99999594e-01 -4.97347715e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.84, Y:8.57, Z:-0.00 [[ 9.68242044e-01 -2.50013167e-01 8.72468029e-04 6.48390824e+01] [ 2.50013066e-01 9.68242437e-01 2.25205882e-04 8.56662822e+00] [-9.01065007e-04 7.46036196e-08 9.99999594e-01 -4.00162537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.121052754 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:64.90, Y:8.57, Z:-0.00 [[ 9.68338608e-01 -2.49638896e-01 8.72415820e-04 6.48976235e+01] [ 2.49638794e-01 9.68339001e-01 2.25407951e-04 8.57371153e+00] [-9.01064856e-04 -4.82387981e-07 9.99999594e-01 -4.38952460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:8.58, Z:-0.01 [[ 9.67820519e-01 -2.51639985e-01 8.72345330e-04 6.49545093e+01] [ 2.51639884e-01 9.67820912e-01 2.25680424e-04 8.58447226e+00] [-9.01064272e-04 1.09873206e-06 9.99999594e-01 -6.10237699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:8.59, Z:-0.01 [[ 9.66975781e-01 -2.54866786e-01 8.72274591e-04 6.50148973e+01] [ 2.54866686e-01 9.66976174e-01 2.25953507e-04 8.58817036e+00] [-9.01056791e-04 3.82216608e-06 9.99999594e-01 -1.16631108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:8.60, Z:-0.01 [[ 9.65550077e-01 -2.60215848e-01 8.72213703e-04 6.50737213e+01] [ 2.60215750e-01 9.65550471e-01 2.26188300e-04 8.59613848e+00] [-9.01024132e-04 8.56761227e-06 9.99999594e-01 -1.31536343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:8.61, Z:-0.00 [[ 9.64789142e-01 -2.63023099e-01 8.72147527e-04 6.51301298e+01] [ 2.63023002e-01 9.64789536e-01 2.26443178e-04 8.61331707e+00] [-9.00998594e-04 1.09249408e-05 9.99999594e-01 -4.63685176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:8.63, Z:-0.01 [[ 9.65659981e-01 -2.59807699e-01 8.72080599e-04 6.51856474e+01] [ 2.59807601e-01 9.65660375e-01 2.26700637e-04 8.63175186e+00] [-9.01032249e-04 7.65743530e-06 9.99999594e-01 -1.06019800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.24, Y:8.65, Z:-0.02 [[ 9.66272264e-01 -2.57521167e-01 8.72051454e-04 6.52402124e+01] [ 2.57521067e-01 9.66272657e-01 2.26812693e-04 8.65148784e+00] [-9.01048546e-04 5.40880698e-06 9.99999594e-01 -1.80122919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.541052754 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:65.30, Y:8.66, Z:-0.02 [[ 9.66783800e-01 -2.55594061e-01 8.72032122e-04 6.52975868e+01] [ 2.55593960e-01 9.66784193e-01 2.26886996e-04 8.66369817e+00] [-9.01057840e-04 3.53547115e-06 9.99999594e-01 -2.41977691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:8.68, Z:-0.02 [[ 9.67856576e-01 -2.51501269e-01 8.71969945e-04 6.53539607e+01] [ 2.51501167e-01 9.67856969e-01 2.27125705e-04 8.67661814e+00] [-9.01064590e-04 -5.23649000e-07 9.99999594e-01 -1.91505598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:65.41, Y:8.69, Z:-0.02 [[ 9.69779154e-01 -2.43982854e-01 8.71897471e-04 6.54112688e+01] [ 2.43982748e-01 9.69779546e-01 2.27403578e-04 8.69233991e+00] [-9.01030907e-04 -7.80330869e-06 9.99999594e-01 -1.86470522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.47, Y:8.71, Z:-0.01 [[ 9.71665291e-01 -2.36359478e-01 8.71862190e-04 6.54672469e+01] [ 2.36359369e-01 9.71665682e-01 2.27538765e-04 8.70736440e+00] [-9.00939513e-04 -1.50187236e-05 9.99999594e-01 -1.37162020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.52, Y:8.72, Z:-0.01 [[ 9.72204452e-01 -2.34131894e-01 8.71788534e-04 6.55247939e+01] [ 2.34131784e-01 9.72204843e-01 2.27820621e-04 8.72052762e+00] [-9.00897108e-04 -1.73748172e-05 9.99999594e-01 -9.16526106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.841052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:65.58, Y:8.74, Z:-0.01 [[ 9.72371054e-01 -2.33439016e-01 8.71732510e-04 6.55811288e+01] [ 2.33438906e-01 9.72371444e-01 2.28034790e-04 8.73536375e+00] [-9.00880017e-04 -1.82381457e-05 9.99999594e-01 -1.07430520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:65.64, Y:8.75, Z:-0.01 [[ 9.71753129e-01 -2.35998087e-01 8.71712739e-04 6.56380763e+01] [ 2.35997978e-01 9.71753519e-01 2.28110345e-04 8.74700478e+00] [-9.00923527e-04 -1.59444977e-05 9.99999594e-01 -1.28415390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96105275400001 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:65.70, Y:8.76, Z:-0.01 [[ 9.71475978e-01 -2.37136385e-01 8.71693387e-04 6.56955056e+01] [ 2.37136275e-01 9.71476369e-01 2.28184271e-04 8.75870287e+00] [-9.00940319e-04 -1.49654147e-05 9.99999594e-01 -1.12772070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:8.77, Z:-0.01 [[ 9.71479172e-01 -2.37123298e-01 8.71629936e-04 6.57534194e+01] [ 2.37123189e-01 9.71479563e-01 2.28426387e-04 8.77142557e+00] [-9.00935888e-04 -1.52278075e-05 9.99999594e-01 -1.02242929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:8.79, Z:-0.01 [[ 9.71319142e-01 -2.37777973e-01 8.71575160e-04 6.58109214e+01] [ 2.37777864e-01 9.71319533e-01 2.28635198e-04 8.78550227e+00] [-9.00942391e-04 -1.48364646e-05 9.99999594e-01 -1.27948144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:8.80, Z:-0.02 [[ 9.71159410e-01 -2.38429528e-01 8.71519195e-04 6.58656131e+01] [ 2.38429419e-01 9.71159801e-01 2.28848329e-04 8.80382752e+00] [-9.00948607e-04 -1.44523932e-05 9.99999594e-01 -1.79309452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:8.82, Z:-0.02 [[ 9.71166706e-01 -2.38399810e-01 8.71497680e-04 6.59229828e+01] [ 2.38399701e-01 9.71167097e-01 2.28930231e-04 8.81880181e+00] [-9.00946796e-04 -1.45646328e-05 9.99999594e-01 -1.75342567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.261052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:8.84, Z:-0.01 [[ 9.70630961e-01 -2.40571773e-01 8.71443504e-04 6.59800984e+01] [ 2.40571664e-01 9.70631352e-01 2.29136272e-04 8.83758159e+00] [-9.00974106e-04 -1.27621463e-05 9.99999594e-01 -1.33931103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:8.85, Z:-0.01 [[ 9.72136523e-01 -2.34413782e-01 8.71434675e-04 6.60372464e+01] [ 2.34413671e-01 9.72136913e-01 2.29169846e-04 8.84719984e+00] [-9.00874385e-04 -1.85081764e-05 9.99999594e-01 -9.76721157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:8.86, Z:-0.01 [[ 9.71655503e-01 -2.36399713e-01 8.71416754e-04 6.60940274e+01] [ 2.36399603e-01 9.71655893e-01 2.29237968e-04 8.86232726e+00] [-9.00909015e-04 -1.67377582e-05 9.99999594e-01 -1.33698267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:8.87, Z:-0.01 [[ 9.71032102e-01 -2.38947478e-01 8.71350931e-04 6.61512384e+01] [ 2.38947369e-01 9.71032493e-01 2.29487897e-04 8.87176155e+00] [-9.00945621e-04 -1.46331027e-05 9.99999594e-01 -1.15978471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:8.88, Z:-0.01 [[ 9.69655120e-01 -2.44475334e-01 8.71328097e-04 6.62081044e+01] [ 2.44475227e-01 9.69655511e-01 2.29574560e-04 8.88274143e+00] [-9.01013409e-04 -9.59001324e-06 9.99999594e-01 -9.94502611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:8.90, Z:-0.01 [[ 9.70118680e-01 -2.42629323e-01 8.71308417e-04 6.62648586e+01] [ 2.42629214e-01 9.70119071e-01 2.29649228e-04 8.89877686e+00] [-9.00992548e-04 -1.13821288e-05 9.99999594e-01 -8.29206954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:8.92, Z:-0.01 [[ 9.70522427e-01 -2.41009250e-01 8.71252630e-04 6.63203178e+01] [ 2.41009141e-01 9.70522818e-01 2.29860680e-04 8.92132878e+00] [-9.00969108e-04 -1.31050971e-05 9.99999594e-01 -1.25676635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.681052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:66.38, Y:8.94, Z:-0.01 [[ 9.70153645e-01 -2.42489477e-01 8.71239850e-04 6.63758683e+01] [ 2.42489368e-01 9.70154036e-01 2.29909110e-04 8.93589081e+00] [-9.00987396e-04 -1.17807604e-05 9.99999594e-01 -1.33289813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:8.95, Z:-0.01 [[ 9.69761213e-01 -2.44054157e-01 8.71219043e-04 6.64320287e+01] [ 2.44054049e-01 9.69761604e-01 2.29987930e-04 8.95196087e+00] [-9.01004286e-04 -1.04088395e-05 9.99999594e-01 -1.32354002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.49, Y:8.97, Z:-0.01 [[ 9.68821542e-01 -2.47758068e-01 8.71198465e-04 6.64885803e+01] [ 2.47757962e-01 9.68821934e-01 2.30065854e-04 8.96535660e+00] [-9.01036853e-04 -7.04639923e-06 9.99999594e-01 -1.38565837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.54, Y:8.98, Z:-0.02 [[ 9.68721906e-01 -2.48147357e-01 8.71133575e-04 6.65438474e+01] [ 2.48147250e-01 9.68722297e-01 2.30311293e-04 8.98263715e+00] [-9.01037657e-04 -6.93819396e-06 9.99999594e-01 -1.57172307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.60, Y:9.00, Z:-0.02 [[ 9.69245216e-01 -2.46095414e-01 8.71068671e-04 6.66001880e+01] [ 2.46095306e-01 9.69245607e-01 2.30556506e-04 9.00015228e+00] [-9.01018382e-04 -9.09987923e-06 9.99999594e-01 -1.55018972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.66, Y:9.02, Z:-0.02 [[ 9.69649112e-01 -2.44499165e-01 8.71012504e-04 6.66571475e+01] [ 2.44499056e-01 9.69649503e-01 2.30768505e-04 9.01657302e+00] [-9.00999548e-04 -1.08027405e-05 9.99999594e-01 -1.76763591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.71, Y:9.03, Z:-0.02 [[ 9.70402244e-01 -2.41492704e-01 8.70956030e-04 6.67123896e+01] [ 2.41492594e-01 9.70402635e-01 2.30981451e-04 9.03492048e+00] [-9.00958361e-04 -1.38154868e-05 9.99999594e-01 -1.71210057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:9.05, Z:-0.02 [[ 9.70645141e-01 -2.40514557e-01 8.70934324e-04 6.67679168e+01] [ 2.40514446e-01 9.70645531e-01 2.31063264e-04 9.05133008e+00] [-9.00942588e-04 -1.48081477e-05 9.99999594e-01 -1.64913355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:9.07, Z:-0.02 [[ 9.70392378e-01 -2.41532348e-01 8.70868801e-04 6.68235467e+01] [ 2.41532237e-01 9.70392768e-01 2.31309957e-04 9.06718336e+00] [-9.00953623e-04 -1.41185289e-05 9.99999594e-01 -1.77224006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:9.08, Z:-0.02 [[ 9.69981621e-01 -2.43176677e-01 8.70803336e-04 6.68802571e+01] [ 2.43176567e-01 9.69982012e-01 2.31556148e-04 9.08226073e+00] [-9.00972626e-04 -1.28462417e-05 9.99999594e-01 -2.03267393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:9.10, Z:-0.02 [[ 9.69565207e-01 -2.44831679e-01 8.70746993e-04 6.69370748e+01] [ 2.44831570e-01 9.69565598e-01 2.31767826e-04 9.09529828e+00] [-9.00990435e-04 -1.15276672e-05 9.99999594e-01 -1.85974704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:9.11, Z:-0.02 [[ 9.69349340e-01 -2.45684958e-01 8.70725338e-04 6.69939694e+01] [ 2.45684849e-01 9.69349731e-01 2.31849153e-04 9.10885859e+00] [-9.00999222e-04 -1.08188003e-05 9.99999594e-01 -1.79327258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:9.12, Z:-0.02 [[ 9.68989598e-01 -2.47099981e-01 8.70670519e-04 6.70515609e+01] [ 2.47099872e-01 9.68989989e-01 2.32054834e-04 9.12147652e+00] [-9.01011762e-04 -9.71614580e-06 9.99999594e-01 -1.50541752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:9.14, Z:-0.01 [[ 9.68723665e-01 -2.48140490e-01 8.70614910e-04 6.71078918e+01] [ 2.48140382e-01 9.68724056e-01 2.32263277e-04 9.13535207e+00] [-9.01019531e-04 -8.96421688e-06 9.99999594e-01 -1.43941411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:9.15, Z:-0.02 [[ 9.68948902e-01 -2.47259513e-01 8.70551834e-04 6.71632064e+01] [ 2.47259404e-01 9.68949293e-01 2.32499455e-04 9.15289912e+00] [-9.01008286e-04 -1.00279643e-05 9.99999594e-01 -1.66308883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:9.17, Z:-0.02 [[ 9.69658602e-01 -2.44461525e-01 8.70489262e-04 6.72190390e+01] [ 2.44461415e-01 9.69658993e-01 2.32733494e-04 9.17173923e+00] [-9.00972126e-04 -1.28709979e-05 9.99999594e-01 -1.97203101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:9.19, Z:-0.02 [[ 9.70085335e-01 -2.42762612e-01 8.70434668e-04 6.72764536e+01] [ 2.42762500e-01 9.70085725e-01 2.32937497e-04 9.18687799e+00] [-9.00944761e-04 -1.46603538e-05 9.99999594e-01 -2.03030432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:9.20, Z:-0.02 [[ 9.69246458e-01 -2.46090525e-01 8.70380478e-04 6.73340352e+01] [ 2.46090414e-01 9.69246849e-01 2.33139806e-04 9.20002963e+00] [-9.00987032e-04 -1.17776383e-05 9.99999594e-01 -1.61819487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:9.21, Z:-0.02 [[ 9.68909019e-01 -2.47415755e-01 8.70323224e-04 6.73900656e+01] [ 2.47415645e-01 9.68909410e-01 2.33353342e-04 9.21459999e+00] [-9.00999654e-04 -1.07665757e-05 9.99999594e-01 -1.54774736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.45, Y:9.23, Z:-0.01 [[ 9.68701260e-01 -2.48227943e-01 8.70303072e-04 6.74458918e+01] [ 2.48227833e-01 9.68701651e-01 2.33428476e-04 9.22955884e+00] [-9.01007493e-04 -1.00890130e-05 9.99999594e-01 -1.40020945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:9.25, Z:-0.02 [[ 9.68867181e-01 -2.47579540e-01 8.70273245e-04 6.75014839e+01] [ 2.47579430e-01 9.68867571e-01 2.33539623e-04 9.24823857e+00] [-9.00999158e-04 -1.08071219e-05 9.99999594e-01 -1.72851099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.56, Y:9.26, Z:-0.02 [[ 9.69013523e-01 -2.47006145e-01 8.70216262e-04 6.75571657e+01] [ 2.47006035e-01 9.69013913e-01 2.33751760e-04 9.26332751e+00] [-9.00989787e-04 -1.15599480e-05 9.99999594e-01 -1.62824893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:9.28, Z:-0.02 [[ 9.68583564e-01 -2.48686795e-01 8.70150847e-04 6.76139296e+01] [ 2.48686685e-01 9.68583955e-01 2.33995019e-04 9.27920565e+00] [-9.01005620e-04 -1.02487999e-05 9.99999594e-01 -1.68303391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.061052754 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:9.29, Z:-0.02 [[ 9.67839963e-01 -2.51565197e-01 8.70093930e-04 6.76707468e+01] [ 2.51565088e-01 9.67840354e-01 2.34206471e-04 9.29165286e+00] [-9.01030214e-04 -7.78912558e-06 9.99999594e-01 -1.92333758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:9.31, Z:-0.02 [[ 9.68268452e-01 -2.49910880e-01 8.70059495e-04 6.77277686e+01] [ 2.49910770e-01 9.68268843e-01 2.34334323e-04 9.30787087e+00] [-9.01014197e-04 -9.46129382e-06 9.99999594e-01 -1.69259689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.181052754 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:9.32, Z:-0.02 [[ 9.68271601e-01 -2.49898678e-01 8.69992157e-04 6.77842373e+01] [ 2.49898568e-01 9.68271992e-01 2.34584056e-04 9.32318994e+00] [-9.01011285e-04 -9.73128607e-06 9.99999594e-01 -2.09932561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:9.34, Z:-0.01 [[ 9.68361023e-01 -2.49551942e-01 8.69926714e-04 6.78402172e+01] [ 2.49551832e-01 9.68361414e-01 2.34826492e-04 9.33861077e+00] [-9.01004870e-04 -1.03050171e-05 9.99999594e-01 -1.27749298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:9.36, Z:-0.02 [[ 9.68422231e-01 -2.49314310e-01 8.69903363e-04 6.78964483e+01] [ 2.49314199e-01 9.68422622e-01 2.34912964e-04 9.35555818e+00] [-9.01001259e-04 -1.06156761e-05 9.99999594e-01 -1.76199632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:9.37, Z:-0.02 [[ 9.68411125e-01 -2.49357448e-01 8.69841788e-04 6.79533481e+01] [ 2.49357337e-01 9.68411515e-01 2.35140743e-04 9.37186157e+00] [-9.00998900e-04 -1.08114797e-05 9.99999594e-01 -1.70420795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:9.39, Z:-0.01 [[ 9.68176971e-01 -2.50265053e-01 8.69773703e-04 6.80101093e+01] [ 2.50264942e-01 9.68177362e-01 2.35392319e-04 9.38562835e+00] [-9.01005680e-04 -1.02275570e-05 9.99999594e-01 -1.42677661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:9.40, Z:-0.02 [[ 9.68480724e-01 -2.49086993e-01 8.69707741e-04 6.80654574e+01] [ 2.49086882e-01 9.68481115e-01 2.35635779e-04 9.40283655e+00] [-9.00989330e-04 -1.15759212e-05 9.99999594e-01 -1.56243528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.541052754 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:9.42, Z:-0.02 [[ 9.69049076e-01 -2.46866627e-01 8.69687498e-04 6.81225201e+01] [ 2.46866515e-01 9.69049466e-01 2.35710466e-04 9.41754934e+00] [-9.00959254e-04 -1.37182882e-05 9.99999594e-01 -2.25950201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.18, Y:9.43, Z:-0.02 [[ 9.69028284e-01 -2.46948232e-01 8.69624038e-04 6.81778761e+01] [ 2.46948120e-01 9.69028674e-01 2.35944364e-04 9.43344544e+00] [-9.00956671e-04 -1.38847408e-05 9.99999594e-01 -1.78178597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:9.45, Z:-0.02 [[ 9.69010686e-01 -2.47017275e-01 8.69599637e-04 6.82351663e+01] [ 2.47017163e-01 9.69011076e-01 2.36034260e-04 9.44800064e+00] [-9.00956220e-04 -1.39136857e-05 9.99999594e-01 -1.55317450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:9.46, Z:-0.01 [[ 9.68937386e-01 -2.47304640e-01 8.69542666e-04 6.82904360e+01] [ 2.47304528e-01 9.68937776e-01 2.36243955e-04 9.46260698e+00] [-9.00956963e-04 -1.38637621e-05 9.99999594e-01 -1.47472257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:9.48, Z:-0.02 [[ 9.68761829e-01 -2.47991456e-01 8.69514701e-04 6.83468470e+01] [ 2.47991344e-01 9.68762219e-01 2.36346838e-04 9.47813579e+00] [-9.00964988e-04 -1.33316764e-05 9.99999594e-01 -1.50470332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.40, Y:9.49, Z:-0.02 [[ 9.68998343e-01 -2.47065689e-01 8.69449243e-04 6.84020175e+01] [ 2.47065576e-01 9.68998733e-01 2.36587391e-04 9.49417447e+00] [-9.00947842e-04 -1.44418121e-05 9.99999594e-01 -1.77861249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.46, Y:9.51, Z:-0.02 [[ 9.69292738e-01 -2.45908178e-01 8.69419377e-04 6.84588753e+01] [ 2.45908065e-01 9.69293128e-01 2.36697096e-04 9.51000159e+00] [-9.00927979e-04 -1.56315397e-05 9.99999594e-01 -1.67760756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96105275400001 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:9.53, Z:-0.02 [[ 9.69506997e-01 -2.45062090e-01 8.69361752e-04 6.85156392e+01] [ 2.45061976e-01 9.69507386e-01 2.36908555e-04 9.52624272e+00] [-9.00909946e-04 -1.66369927e-05 9.99999594e-01 -1.64345614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.57, Y:9.54, Z:-0.01 [[ 9.69705868e-01 -2.44273973e-01 8.69296009e-04 6.85718253e+01] [ 2.44273858e-01 9.69706257e-01 2.37149543e-04 9.54123939e+00] [-9.00891241e-04 -1.76190127e-05 9.99999594e-01 -1.39079957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:68.63, Y:9.56, Z:-0.02 [[ 9.69411043e-01 -2.45441388e-01 8.69270738e-04 6.86272551e+01] [ 2.45441274e-01 9.69411432e-01 2.37242139e-04 9.55994377e+00] [-9.00910031e-04 -1.66302325e-05 9.99999594e-01 -1.94914163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:9.57, Z:-0.01 [[ 9.70171048e-01 -2.42419849e-01 8.69192066e-04 6.86854958e+01] [ 2.42419733e-01 9.70171437e-01 2.37530022e-04 9.57161442e+00] [-9.00847307e-04 -1.97354418e-05 9.99999594e-01 -1.47646669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.201052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:68.74, Y:9.59, Z:-0.02 [[ 9.68944794e-01 -2.47275617e-01 8.69122446e-04 6.87422934e+01] [ 2.47275504e-01 9.68945184e-01 2.37784490e-04 9.58695152e+00] [-9.00930314e-04 -1.54873528e-05 9.99999594e-01 -1.74369021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.80, Y:9.60, Z:-0.02 [[ 9.67427445e-01 -2.53146960e-01 8.69062609e-04 6.87990210e+01] [ 2.53146848e-01 9.67427835e-01 2.38002982e-04 9.59972241e+00] [-9.01005090e-04 -1.02501569e-05 9.99999594e-01 -1.67718077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.86, Y:9.61, Z:-0.01 [[ 9.67129962e-01 -2.54281105e-01 8.69041649e-04 6.88551450e+01] [ 2.54280994e-01 9.67130353e-01 2.38079490e-04 9.61392409e+00] [-9.01015673e-04 -9.27303404e-06 9.99999594e-01 -1.33666252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:68.91, Y:9.63, Z:-0.01 [[ 9.67343239e-01 -2.53468542e-01 8.69011645e-04 6.89097928e+01] [ 2.53468431e-01 9.67343630e-01 2.38188958e-04 9.63428252e+00] [-9.01006287e-04 -1.01434609e-05 9.99999594e-01 -1.46965002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:9.65, Z:-0.02 [[ 9.67976906e-01 -2.51037755e-01 8.68933263e-04 6.89641835e+01] [ 2.51037642e-01 9.67977296e-01 2.38474559e-04 9.65344076e+00] [-9.00973788e-04 -1.27029081e-05 9.99999594e-01 -1.69154177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:9.67, Z:-0.01 [[ 9.68863550e-01 -2.47593752e-01 8.68907184e-04 6.90218397e+01] [ 2.47593638e-01 9.68863940e-01 2.38569543e-04 9.66503777e+00] [-9.00921166e-04 -1.60054433e-05 9.99999594e-01 -1.16668352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:9.68, Z:-0.01 [[ 9.69016459e-01 -2.46994632e-01 8.68849500e-04 6.90782651e+01] [ 2.46994517e-01 9.69016848e-01 2.38779438e-04 9.68281747e+00] [-9.00907043e-04 -1.67801429e-05 9.99999594e-01 -1.24137856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:9.70, Z:-0.02 [[ 9.68750715e-01 -2.48034869e-01 8.68791905e-04 6.91344152e+01] [ 2.48034755e-01 9.68751105e-01 2.38988813e-04 9.69933977e+00] [-9.00920677e-04 -1.60299965e-05 9.99999594e-01 -1.51688246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.681052754 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:9.71, Z:-0.02 [[ 9.67189925e-01 -2.54052936e-01 8.68724245e-04 6.91914447e+01] [ 2.54052823e-01 9.67190315e-01 2.39234505e-04 9.71056056e+00] [-9.00999904e-04 -1.06833560e-05 9.99999594e-01 -2.17826316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.25, Y:9.73, Z:-0.02 [[ 9.67524970e-01 -2.52773965e-01 8.68656735e-04 6.92480289e+01] [ 2.52773851e-01 9.67525360e-01 2.39479381e-04 9.72644904e+00] [-9.00981573e-04 -1.21285729e-05 9.99999594e-01 -1.54753777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.30, Y:9.75, Z:-0.01 [[ 9.68177554e-01 -2.50262799e-01 8.68589519e-04 6.93033679e+01] [ 2.50262685e-01 9.68177944e-01 2.39722926e-04 9.74559126e+00] [-9.00942945e-04 -1.47188116e-05 9.99999594e-01 -1.29278503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.36, Y:9.76, Z:-0.01 [[ 9.68556648e-01 -2.48791612e-01 8.68568696e-04 6.93591656e+01] [ 2.48791497e-01 9.68557037e-01 2.39798347e-04 9.76402690e+00] [-9.00918140e-04 -1.61657768e-05 9.99999594e-01 -1.20326604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:9.78, Z:-0.01 [[ 9.68632901e-01 -2.48494565e-01 8.68510932e-04 6.94157055e+01] [ 2.48494450e-01 9.68633290e-01 2.40007379e-04 9.77940310e+00] [-9.00909131e-04 -1.66588979e-05 9.99999594e-01 -1.08556820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:9.80, Z:-0.01 [[ 9.68100009e-01 -2.50562605e-01 8.68444157e-04 6.94720736e+01] [ 2.50562491e-01 9.68100398e-01 2.40248754e-04 9.79702309e+00] [-9.00938488e-04 -1.49852902e-05 9.99999594e-01 -1.41633627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.53, Y:9.81, Z:-0.02 [[ 9.66763898e-01 -2.55669339e-01 8.68384331e-04 6.95281907e+01] [ 2.55669226e-01 9.66764288e-01 2.40464803e-04 9.80958590e+00] [-9.01002437e-04 -1.04535407e-05 9.99999594e-01 -1.80048470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.59, Y:9.82, Z:-0.02 [[ 9.65123987e-01 -2.61791780e-01 8.68363452e-04 6.95860221e+01] [ 2.61791669e-01 9.65124378e-01 2.40540175e-04 9.82147844e+00] [-9.01050177e-04 -4.82077535e-06 9.99999594e-01 -1.76153156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:9.84, Z:-0.02 [[ 9.65584023e-01 -2.60089872e-01 8.68306000e-04 6.96419998e+01] [ 2.60089760e-01 9.65584413e-01 2.40747390e-04 9.83859591e+00] [-9.01038697e-04 -6.62433400e-06 9.99999594e-01 -1.79458310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:9.86, Z:-0.02 [[ 9.67154127e-01 -2.54189184e-01 8.68248548e-04 6.96983152e+01] [ 2.54189070e-01 9.67154516e-01 2.40954411e-04 9.85669823e+00] [-9.00978509e-04 -1.23407623e-05 9.99999594e-01 -1.63476662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:9.87, Z:-0.02 [[ 9.67362127e-01 -2.53396453e-01 8.68190984e-04 6.97551726e+01] [ 2.53396339e-01 9.67362516e-01 2.41161643e-04 9.87222497e+00] [-9.00964919e-04 -1.32942237e-05 9.99999594e-01 -1.52603007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.81, Y:9.89, Z:-0.01 [[ 9.66957140e-01 -2.54937514e-01 8.68132929e-04 6.98116753e+01] [ 2.54937400e-01 9.66957529e-01 2.41370449e-04 9.88725148e+00] [-9.00982054e-04 -1.20753265e-05 9.99999594e-01 -1.25302293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.87, Y:9.90, Z:-0.01 [[ 9.66855916e-01 -2.55321139e-01 8.68112327e-04 6.98688998e+01] [ 2.55321025e-01 9.66856306e-01 2.41444521e-04 9.90301094e+00] [-9.00985768e-04 -1.17947347e-05 9.99999594e-01 -1.18322468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:9.92, Z:-0.01 [[ 9.66954144e-01 -2.54948878e-01 8.68055144e-04 6.99261443e+01] [ 2.54948764e-01 9.66954533e-01 2.41649937e-04 9.91750954e+00] [-9.00978236e-04 -1.23548219e-05 9.99999594e-01 -7.37230867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.98, Y:9.93, Z:-0.01 [[ 9.66790518e-01 -2.55568661e-01 8.67997263e-04 6.99825551e+01] [ 2.55568547e-01 9.66790908e-01 2.41857664e-04 9.93108109e+00] [-9.00983101e-04 -1.19928971e-05 9.99999594e-01 -9.25017150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:9.95, Z:-0.01 [[ 9.66351514e-01 -2.57223634e-01 8.67928985e-04 7.00392181e+01] [ 2.57223520e-01 9.66351904e-01 2.42102439e-04 9.94665765e+00] [-9.00999296e-04 -1.07043098e-05 9.99999594e-01 -1.34808506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.10, Y:9.96, Z:-0.01 [[ 9.67333719e-01 -2.53504878e-01 8.67863811e-04 7.00962460e+01] [ 2.53504763e-01 9.67334108e-01 2.42335840e-04 9.96214208e+00] [-9.00947583e-04 -1.44120195e-05 9.99999594e-01 -1.44560223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:9.98, Z:-0.02 [[ 9.68936253e-01 -2.47309086e-01 8.67802053e-04 7.01533640e+01] [ 2.47308968e-01 9.68936642e-01 2.42556794e-04 9.97693219e+00] [-9.00831706e-04 -2.04068414e-05 9.99999594e-01 -1.82993497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:10.00, Z:-0.02 [[ 9.69082169e-01 -2.46736695e-01 8.67768022e-04 7.02073386e+01] [ 2.46736576e-01 9.69082557e-01 2.42678481e-04 9.99759921e+00] [-9.00816541e-04 -2.10652779e-05 9.99999594e-01 -2.08773311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:10.01, Z:-0.02 [[ 9.68822522e-01 -2.47754251e-01 8.67714611e-04 7.02652285e+01] [ 2.47754133e-01 9.68822910e-01 2.42869309e-04 1.00058136e+01] [-9.00833698e-04 -2.03173755e-05 9.99999594e-01 -1.65806332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:10.02, Z:-0.01 [[ 9.67300920e-01 -2.53630000e-01 8.67638957e-04 7.03210307e+01] [ 2.53629884e-01 9.67301309e-01 2.43139276e-04 1.00223606e+01] [-9.00935714e-04 -1.51296767e-05 9.99999594e-01 -1.25515304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:10.04, Z:-0.01 [[ 9.66434402e-01 -2.56912034e-01 8.67619973e-04 7.03769531e+01] [ 2.56911919e-01 9.66434792e-01 2.43207002e-04 1.00407392e+01] [-9.00980933e-04 -1.21417011e-05 9.99999594e-01 -1.24983495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:10.05, Z:-0.01 [[ 9.65777164e-01 -2.59371772e-01 8.67561656e-04 7.04344542e+01] [ 2.59371658e-01 9.65777554e-01 2.43414851e-04 1.00545837e+01] [-9.01006515e-04 -1.00635993e-05 9.99999594e-01 -1.35574263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:10.07, Z:-0.01 [[ 9.64848883e-01 -2.62803881e-01 8.67503794e-04 7.04899802e+01] [ 2.62803768e-01 9.64849273e-01 2.43620890e-04 1.00702555e+01] [-9.01034921e-04 -7.07407800e-06 9.99999594e-01 -1.44062184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:10.09, Z:-0.01 [[ 9.64602285e-01 -2.63707563e-01 8.67437449e-04 7.05450856e+01] [ 2.63707450e-01 9.64602675e-01 2.43856891e-04 1.00877704e+01] [-9.01039390e-04 -6.47519620e-06 9.99999594e-01 -1.34985504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.60, Y:10.10, Z:-0.01 [[ 9.64522936e-01 -2.63997639e-01 8.67406769e-04 7.06005183e+01] [ 2.63997526e-01 9.64523326e-01 2.43965970e-04 1.01042384e+01] [-9.01040502e-04 -6.31753323e-06 9.99999594e-01 -1.16962692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.66, Y:10.12, Z:-0.01 [[ 9.63836060e-01 -2.66494461e-01 8.67340448e-04 7.06580248e+01] [ 2.66494349e-01 9.63836450e-01 2.44201526e-04 1.01187791e+01] [-9.01052692e-04 -4.22890881e-06 9.99999594e-01 -7.81453048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.71, Y:10.14, Z:-0.01 [[ 9.63548314e-01 -2.67532978e-01 8.67282537e-04 7.07144287e+01] [ 2.67532867e-01 9.63548704e-01 2.44407024e-04 1.01351212e+01] [-9.01055904e-04 -3.47139308e-06 9.99999594e-01 -8.64843390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.77, Y:10.15, Z:-0.01 [[ 9.64340259e-01 -2.64664150e-01 8.67224801e-04 7.07705304e+01] [ 2.64664037e-01 9.64340649e-01 2.44611715e-04 1.01506801e+01] [-9.01040079e-04 -6.36570704e-06 9.99999594e-01 -9.71941380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.83, Y:10.16, Z:-0.01 [[ 9.65175562e-01 -2.61601572e-01 8.67204507e-04 7.08277836e+01] [ 2.61601458e-01 9.65175951e-01 2.44683640e-04 1.01642689e+01] [-9.01014560e-04 -9.30070618e-06 9.99999594e-01 -8.56405162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:10.18, Z:-0.02 [[ 9.65855085e-01 -2.59081461e-01 8.67144742e-04 7.08838484e+01] [ 2.59081345e-01 9.65855474e-01 2.44895263e-04 1.01826655e+01] [-9.00984318e-04 -1.18723089e-05 9.99999594e-01 -1.58373356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.541052754 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:10.20, Z:-0.02 [[ 9.66597677e-01 -2.56297053e-01 8.67086097e-04 7.09400553e+01] [ 2.56296936e-01 9.66598066e-01 2.45102727e-04 1.02003418e+01] [-9.00942851e-04 -1.46842170e-05 9.99999594e-01 -2.02457139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60105275400001 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:10.22, Z:-0.02 [[ 9.66329239e-01 -2.57307306e-01 8.67026069e-04 7.09966360e+01] [ 2.57307189e-01 9.66329628e-01 2.45314886e-04 1.02173774e+01] [-9.00954291e-04 -1.39629065e-05 9.99999594e-01 -2.42004046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:10.23, Z:-0.02 [[ 9.66353946e-01 -2.57214502e-01 8.66953842e-04 7.10543740e+01] [ 2.57214385e-01 9.66354335e-01 2.45569874e-04 1.02307986e+01] [-9.00948736e-04 -1.43144174e-05 9.99999594e-01 -2.21096193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:10.25, Z:-0.02 [[ 9.65805416e-01 -2.59266557e-01 8.66881073e-04 7.11092969e+01] [ 2.59266441e-01 9.65805805e-01 2.45826487e-04 1.02470334e+01] [-9.00973359e-04 -1.26673822e-05 9.99999594e-01 -1.87286832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:10.26, Z:-0.01 [[ 9.65417027e-01 -2.60709056e-01 8.66849109e-04 7.11659492e+01] [ 2.60708940e-01 9.65417416e-01 2.45939150e-04 1.02611740e+01] [-9.00989791e-04 -1.14385302e-05 9.99999594e-01 -1.27276132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:10.28, Z:-0.02 [[ 9.64860669e-01 -2.62760610e-01 8.66828172e-04 7.12214885e+01] [ 2.62760495e-01 9.64861058e-01 2.46012921e-04 1.02779804e+01] [-9.01011252e-04 -9.59999188e-06 9.99999594e-01 -1.67005340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:10.29, Z:-0.02 [[ 9.64649035e-01 -2.63536503e-01 8.66760593e-04 7.12774948e+01] [ 2.63536388e-01 9.64649424e-01 2.46250787e-04 1.02915174e+01] [-9.01016178e-04 -9.12262792e-06 9.99999594e-01 -1.77283294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:10.31, Z:-0.01 [[ 9.65582141e-01 -2.60096864e-01 8.66739819e-04 7.13329287e+01] [ 2.60096748e-01 9.65582529e-01 2.46323885e-04 1.03108243e+01] [-9.00976897e-04 -1.24097362e-05 9.99999594e-01 -1.43680201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:10.33, Z:-0.01 [[ 9.66562933e-01 -2.56428050e-01 8.66680973e-04 7.13879683e+01] [ 2.56427932e-01 9.66563322e-01 2.46530757e-04 1.03306167e+01] [-9.00919442e-04 -1.60462817e-05 9.99999594e-01 -1.36907550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:10.34, Z:-0.01 [[ 9.67139675e-01 -2.54244169e-01 8.66611275e-04 7.14469035e+01] [ 2.54244050e-01 9.67140063e-01 2.46775521e-04 1.03396384e+01] [-9.00875720e-04 -1.83356365e-05 9.99999594e-01 -1.48641525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:10.36, Z:-0.01 [[ 9.65789913e-01 -2.59324302e-01 8.66578165e-04 7.15019584e+01] [ 2.59324185e-01 9.65790301e-01 2.46891735e-04 1.03592900e+01] [-9.00957814e-04 -1.37208709e-05 9.99999594e-01 -1.18368815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:10.37, Z:-0.01 [[ 9.65874990e-01 -2.59007245e-01 8.66555979e-04 7.15588616e+01] [ 2.59007127e-01 9.65875379e-01 2.46969581e-04 1.03740979e+01] [-9.00951995e-04 -1.40975666e-05 9.99999594e-01 -9.58225628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:10.39, Z:-0.01 [[ 9.65962006e-01 -2.58682530e-01 8.66496670e-04 7.16161694e+01] [ 2.58682412e-01 9.65962395e-01 2.47177492e-04 1.03891830e+01] [-9.00943697e-04 -1.46166168e-05 9.99999594e-01 -1.09116359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:10.41, Z:-0.01 [[ 9.65955061e-01 -2.58708463e-01 8.66437876e-04 7.16714956e+01] [ 2.58708345e-01 9.65955450e-01 2.47383412e-04 1.04061969e+01] [-9.00940570e-04 -1.48065495e-05 9.99999594e-01 -1.25144414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:10.42, Z:-0.02 [[ 9.66413625e-01 -2.56990184e-01 8.66370066e-04 7.17264165e+01] [ 2.56990065e-01 9.66414013e-01 2.47620663e-04 1.04246998e+01] [-9.00908252e-04 -1.66554827e-05 9.99999594e-01 -1.50055313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:10.44, Z:-0.01 [[ 9.66038482e-01 -2.58396790e-01 8.66301243e-04 7.17823881e+01] [ 2.58396671e-01 9.66038870e-01 2.47861209e-04 1.04417703e+01] [-9.00927214e-04 -1.55941085e-05 9.99999594e-01 -1.31673305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:10.46, Z:-0.01 [[ 9.65556753e-01 -2.60191097e-01 8.66240186e-04 7.18377339e+01] [ 2.60190979e-01 9.65557141e-01 2.48074409e-04 1.04582887e+01] [-9.00951150e-04 -1.41420381e-05 9.99999594e-01 -1.34698816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:10.47, Z:-0.01 [[ 9.65333663e-01 -2.61017564e-01 8.66218724e-04 7.18931770e+01] [ 2.61017447e-01 9.65334051e-01 2.48149327e-04 1.04739782e+01] [-9.00961763e-04 -1.34486991e-05 9.99999594e-01 -1.47904810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:10.49, Z:-0.01 [[ 9.65393999e-01 -2.60794317e-01 8.66197544e-04 7.19492843e+01] [ 2.60794199e-01 9.65394388e-01 2.48223237e-04 1.04899174e+01] [-9.00957457e-04 -1.37339286e-05 9.99999594e-01 -1.22153573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:10.50, Z:-0.01 [[ 9.66649317e-01 -2.56102223e-01 8.66129106e-04 7.20063460e+01] [ 2.56102103e-01 9.66649704e-01 2.48461810e-04 1.05006975e+01] [-9.00875066e-04 -1.83579531e-05 9.99999594e-01 -1.44878832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.06, Y:10.52, Z:-0.02 [[ 9.64737928e-01 -2.63210905e-01 8.66108064e-04 7.20613427e+01] [ 2.63210788e-01 9.64738316e-01 2.48535138e-04 1.05239116e+01] [-9.00984794e-04 -1.18022880e-05 9.99999594e-01 -1.59743095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.12, Y:10.53, Z:-0.01 [[ 9.64709900e-01 -2.63313613e-01 8.66047720e-04 7.21218368e+01] [ 2.63313495e-01 9.64710289e-01 2.48745234e-04 1.05272470e+01] [-9.00983153e-04 -1.19249368e-05 9.99999594e-01 -6.22444843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:10.55, Z:-0.01 [[ 9.64063378e-01 -2.65670948e-01 8.66011795e-04 7.21761541e+01] [ 2.65670832e-01 9.64063767e-01 2.48870247e-04 1.05476415e+01] [-9.01008188e-04 -9.85261733e-06 9.99999594e-01 -7.18173477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:10.57, Z:-0.01 [[ 9.62087138e-01 -2.72740882e-01 8.65976437e-04 7.22294048e+01] [ 2.72740769e-01 9.62087528e-01 2.48993219e-04 1.05735587e+01] [-9.01055759e-04 -3.36609441e-06 9.99999594e-01 -9.79810224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:10.59, Z:-0.01 [[ 9.59042427e-01 -2.83261141e-01 8.65953381e-04 7.22866191e+01] [ 2.83261032e-01 9.59042817e-01 2.49073378e-04 1.05865736e+01] [-9.01039179e-04 6.41891105e-06 9.99999594e-01 -7.43745421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:10.60, Z:-0.01 [[ 9.58914425e-01 -2.83694157e-01 8.65886384e-04 7.23446445e+01] [ 2.83694048e-01 9.58914816e-01 2.49306070e-04 1.05995772e+01] [-9.01037958e-04 6.58362645e-06 9.99999594e-01 -7.94363607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:10.62, Z:-0.01 [[ 9.58381956e-01 -2.85487788e-01 8.65821467e-04 7.23994269e+01] [ 2.85487679e-01 9.58382347e-01 2.49531318e-04 1.06198697e+01] [-9.01026154e-04 8.03504858e-06 9.99999594e-01 -9.48167134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.45, Y:10.64, Z:-0.01 [[ 9.59940551e-01 -2.80202408e-01 8.65798426e-04 7.24543546e+01] [ 2.80202297e-01 9.59940941e-01 2.49611237e-04 1.06401119e+01] [-9.01057026e-04 2.98675914e-06 9.99999594e-01 -8.95631794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.51, Y:10.66, Z:-0.01 [[ 9.62796991e-01 -2.70224359e-01 8.65725844e-04 7.25099347e+01] [ 2.70224244e-01 9.62797380e-01 2.49862721e-04 1.06578327e+01] [-9.01037568e-04 -6.62696399e-06 9.99999594e-01 -6.55869986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:10.68, Z:-0.01 [[ 9.64732561e-01 -2.63230578e-01 8.65703561e-04 7.25642733e+01] [ 2.63230459e-01 9.64732949e-01 2.49939901e-04 1.06783372e+01] [-9.00964574e-04 -1.32456148e-05 9.99999594e-01 -8.14742940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:10.69, Z:-0.00 [[ 9.68316377e-01 -2.49725137e-01 8.65626403e-04 7.26228951e+01] [ 2.49725013e-01 9.68316764e-01 2.50206839e-04 1.06871359e+01] [-9.00683495e-04 -2.61108147e-05 9.99999594e-01 -1.52940436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:10.71, Z:-0.01 [[ 9.66903786e-01 -2.55139802e-01 8.65555473e-04 7.26771584e+01] [ 2.55139680e-01 9.66904174e-01 2.50451972e-04 1.07089027e+01] [-9.00809466e-04 -2.13254140e-05 9.99999594e-01 -9.74799144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:10.72, Z:-0.01 [[ 9.65179460e-01 -2.61587195e-01 8.65533147e-04 7.27346294e+01] [ 2.61587075e-01 9.65179848e-01 2.50529105e-04 1.07201532e+01] [-9.00930357e-04 -1.53932621e-05 9.99999594e-01 -7.53985300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:10.73, Z:-0.01 [[ 9.65783192e-01 -2.59349335e-01 8.65500484e-04 7.27918900e+01] [ 2.59349215e-01 9.65783579e-01 2.50641893e-04 1.07335370e+01] [-9.00889964e-04 -1.75988567e-05 9.99999594e-01 -5.10672289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:10.75, Z:-0.01 [[ 9.64527701e-01 -2.63980236e-01 8.65436611e-04 7.28482253e+01] [ 2.63980117e-01 9.64528089e-01 2.50862245e-04 1.07473552e+01] [-9.00960596e-04 -1.35055265e-05 9.99999594e-01 -8.55765882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:10.77, Z:-0.01 [[ 9.64859976e-01 -2.62763158e-01 8.65372623e-04 7.29040891e+01] [ 2.62763039e-01 9.64860364e-01 2.51082786e-04 1.07661569e+01] [-9.00939050e-04 -1.48717907e-05 9.99999594e-01 -1.34823149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:10.78, Z:-0.01 [[ 9.65091884e-01 -2.61910112e-01 8.65310884e-04 7.29603602e+01] [ 2.61909991e-01 9.65092272e-01 2.51295377e-04 1.07823134e+01] [-9.00921647e-04 -1.58895624e-05 9.99999594e-01 -1.29827395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:10.80, Z:-0.01 [[ 9.65253821e-01 -2.61312670e-01 8.65252084e-04 7.30174025e+01] [ 2.61312549e-01 9.65254209e-01 2.51497672e-04 1.07979788e+01] [-9.00907744e-04 -1.66578605e-05 9.99999594e-01 -6.41360217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:10.82, Z:-0.01 [[ 9.64934895e-01 -2.62487904e-01 8.65184185e-04 7.30720831e+01] [ 2.62487783e-01 9.64935283e-01 2.51731037e-04 1.08174875e+01] [-9.00923099e-04 -1.58037826e-05 9.99999594e-01 -1.05826175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:10.83, Z:-0.01 [[ 9.65517772e-01 -2.60335713e-01 8.65118946e-04 7.31288533e+01] [ 2.60335591e-01 9.65518160e-01 2.51955043e-04 1.08322419e+01] [-9.00880948e-04 -1.80458192e-05 9.99999594e-01 -1.00125243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.19, Y:10.85, Z:-0.01 [[ 9.64235574e-01 -2.65045298e-01 8.65053726e-04 7.31855508e+01] [ 2.65045178e-01 9.64235962e-01 2.52178768e-04 1.08463034e+01] [-9.00954708e-04 -1.38814201e-05 9.99999594e-01 -7.56499487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:10.86, Z:-0.00 [[ 9.63404536e-01 -2.68050278e-01 8.64981163e-04 7.32411635e+01] [ 2.68050160e-01 9.63404924e-01 2.52427418e-04 1.08637806e+01] [-9.00990351e-04 -1.13313804e-05 9.99999594e-01 -2.85968873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.30, Y:10.88, Z:-0.01 [[ 9.63960141e-01 -2.66045294e-01 8.64958706e-04 7.32972154e+01] [ 2.66045175e-01 9.63960529e-01 2.52504345e-04 1.08838119e+01] [-9.00963644e-04 -1.32860341e-05 9.99999594e-01 -1.02871361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:10.90, Z:-0.01 [[ 9.63238086e-01 -2.68647803e-01 8.64893081e-04 7.33523321e+01] [ 2.68647685e-01 9.63238474e-01 2.52728927e-04 1.09015165e+01] [-9.00993363e-04 -1.10866042e-05 9.99999594e-01 -1.44866444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.181052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:10.91, Z:-0.01 [[ 9.62962016e-01 -2.69635695e-01 8.64857956e-04 7.34091477e+01] [ 2.69635577e-01 9.62962404e-01 2.52849072e-04 1.09147775e+01] [-9.01002831e-04 -1.02875783e-05 9.99999594e-01 -1.43813879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.46, Y:10.94, Z:-0.01 [[ 9.61665215e-01 -2.74224847e-01 8.64792963e-04 7.34637600e+01] [ 2.74224730e-01 9.61665604e-01 2.53071163e-04 1.09369253e+01] [-9.01040048e-04 -6.22211734e-06 9.99999594e-01 -1.30379975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:10.96, Z:-0.01 [[ 9.62239664e-01 -2.72202281e-01 8.64722601e-04 7.35192865e+01] [ 2.72202163e-01 9.62240052e-01 2.53311358e-04 1.09559067e+01] [-9.01022650e-04 -8.36687282e-06 9.99999594e-01 -1.30488181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:10.97, Z:-0.01 [[ 9.62419344e-01 -2.71566306e-01 8.64655819e-04 7.35756541e+01] [ 2.71566188e-01 9.62419732e-01 2.53539105e-04 1.09738385e+01] [-9.01014501e-04 -9.19965443e-06 9.99999594e-01 -1.43853212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:10.99, Z:-0.02 [[ 9.62984949e-01 -2.69553779e-01 8.64595864e-04 7.36322440e+01] [ 2.69553660e-01 9.62985337e-01 2.53743395e-04 1.09902252e+01] [-9.00990631e-04 -1.12960903e-05 9.99999594e-01 -2.15889028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:11.01, Z:-0.02 [[ 9.62946025e-01 -2.69692799e-01 8.64525811e-04 7.36888472e+01] [ 2.69692680e-01 9.62946413e-01 2.53981847e-04 1.10066331e+01] [-9.00989104e-04 -1.14145271e-05 9.99999594e-01 -2.17533487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:11.02, Z:-0.03 [[ 9.62750217e-01 -2.70390961e-01 8.64455178e-04 7.37454887e+01] [ 2.70390842e-01 9.62750605e-01 2.54222028e-04 1.10242042e+01] [-9.00994084e-04 -1.10115489e-05 9.99999594e-01 -2.64470778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.80, Y:11.04, Z:-0.03 [[ 9.62976504e-01 -2.69583949e-01 8.64395926e-04 7.38011957e+01] [ 2.69583830e-01 9.62976892e-01 2.54423335e-04 1.10425330e+01] [-9.00981750e-04 -1.19765301e-05 9.99999594e-01 -2.55060610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.86, Y:11.06, Z:-0.02 [[ 9.63543869e-01 -2.67548997e-01 8.64379654e-04 7.38572536e+01] [ 2.67548877e-01 9.63544256e-01 2.54478605e-04 1.10585235e+01] [-9.00953547e-04 -1.39374935e-05 9.99999594e-01 -2.36588376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.91, Y:11.08, Z:-0.03 [[ 9.63843699e-01 -2.66466840e-01 8.64358762e-04 7.39137698e+01] [ 2.66466719e-01 9.63844086e-01 2.54549547e-04 1.10767620e+01] [-9.00936095e-04 -1.50231334e-05 9.99999594e-01 -2.67588201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.97, Y:11.09, Z:-0.03 [[ 9.63826584e-01 -2.66528741e-01 8.64301628e-04 7.39710738e+01] [ 2.66528620e-01 9.63826971e-01 2.54743395e-04 1.10912355e+01] [-9.00933656e-04 -1.51673359e-05 9.99999594e-01 -2.66093617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:11.10, Z:-0.02 [[ 9.63321265e-01 -2.68349386e-01 8.64245380e-04 7.40270604e+01] [ 2.68349265e-01 9.63321653e-01 2.54934078e-04 1.11048876e+01] [-9.00957691e-04 -1.36638061e-05 9.99999594e-01 -2.32283851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:11.12, Z:-0.02 [[ 9.63261819e-01 -2.68562695e-01 8.64225529e-04 7.40835773e+01] [ 2.68562574e-01 9.63262207e-01 2.55001356e-04 1.11197309e+01] [-9.00959641e-04 -1.35344369e-05 9.99999594e-01 -1.97286452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:11.14, Z:-0.02 [[ 9.63155284e-01 -2.68944514e-01 8.64155973e-04 7.41404921e+01] [ 2.68944394e-01 9.63155672e-01 2.55236851e-04 1.11367129e+01] [-9.00961278e-04 -1.34228173e-05 9.99999594e-01 -2.48276676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:11.15, Z:-0.03 [[ 9.63029922e-01 -2.69393062e-01 8.64099535e-04 7.41962975e+01] [ 2.69392941e-01 9.63030310e-01 2.55427777e-04 1.11524366e+01] [-9.00964514e-04 -1.32022769e-05 9.99999594e-01 -2.86361078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:11.17, Z:-0.03 [[ 9.63736740e-01 -2.66853424e-01 8.64078100e-04 7.42534700e+01] [ 2.66853303e-01 9.63737127e-01 2.55500270e-04 1.11685950e+01] [-9.00925267e-04 -1.56529024e-05 9.99999594e-01 -2.71336450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:11.19, Z:-0.03 [[ 9.63368417e-01 -2.68180063e-01 8.64069390e-04 7.43100256e+01] [ 2.68179941e-01 9.63368805e-01 2.55529721e-04 1.11866740e+01] [-9.00945472e-04 -1.44431845e-05 9.99999594e-01 -2.50044918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:11.20, Z:-0.02 [[ 9.63308746e-01 -2.68394326e-01 8.64001814e-04 7.43664791e+01] [ 2.68394204e-01 9.63309133e-01 2.55758007e-04 1.12000367e+01] [-9.00944836e-04 -1.44808459e-05 9.99999594e-01 -2.18328378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:11.22, Z:-0.02 [[ 9.63747363e-01 -2.66815055e-01 8.63977918e-04 7.44235046e+01] [ 2.66814932e-01 9.63747750e-01 2.55838704e-04 1.12159857e+01] [-9.00918393e-04 -1.60416665e-05 9.99999594e-01 -2.14710497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:11.23, Z:-0.03 [[ 9.64290158e-01 -2.64846645e-01 8.63915166e-04 7.44787241e+01] [ 2.64846521e-01 9.64290545e-01 2.56050431e-04 1.12341421e+01] [-9.00879323e-04 -1.81019843e-05 9.99999594e-01 -2.97896093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:11.25, Z:-0.03 [[ 9.64356204e-01 -2.64606055e-01 8.63893537e-04 7.45354354e+01] [ 2.64605932e-01 9.64356591e-01 2.56123383e-04 1.12495412e+01] [-9.00873225e-04 -1.84028191e-05 9.99999594e-01 -2.88146527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:11.26, Z:-0.02 [[ 9.64198446e-01 -2.65180336e-01 8.63833308e-04 7.45924933e+01] [ 2.65180213e-01 9.64198833e-01 2.56326359e-04 1.12640153e+01] [-9.00879777e-04 -1.80779766e-05 9.99999594e-01 -2.28733798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:11.28, Z:-0.03 [[ 9.63974935e-01 -2.65991688e-01 8.63770951e-04 7.46476192e+01] [ 2.65991565e-01 9.63975322e-01 2.56536320e-04 1.12811127e+01] [-9.00890409e-04 -1.75387953e-05 9.99999594e-01 -2.81831586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:11.30, Z:-0.03 [[ 9.64060969e-01 -2.65679699e-01 8.63738030e-04 7.47040461e+01] [ 2.65679575e-01 9.64061356e-01 2.56647114e-04 1.12979157e+01] [-9.00882384e-04 -1.79459128e-05 9.99999594e-01 -2.72823483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:11.31, Z:-0.03 [[ 9.64229594e-01 -2.65067055e-01 8.63674383e-04 7.47591922e+01] [ 2.65066931e-01 9.64229981e-01 2.56861120e-04 1.13129775e+01] [-9.00866155e-04 -1.87415749e-05 9.99999594e-01 -2.89748425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.681052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:11.33, Z:-0.03 [[ 9.64779254e-01 -2.63059393e-01 8.63625230e-04 7.48134282e+01] [ 2.63059269e-01 9.64779641e-01 2.57026279e-04 1.13307543e+01] [-9.00821216e-04 -2.07890010e-05 9.99999594e-01 -3.05903832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.87, Y:11.35, Z:-0.03 [[ 9.64596638e-01 -2.63728231e-01 8.63596721e-04 7.48694316e+01] [ 2.63728106e-01 9.64597025e-01 2.57122032e-04 1.13467924e+01] [-9.00833166e-04 -2.02643202e-05 9.99999594e-01 -2.64959203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.93, Y:11.36, Z:-0.03 [[ 9.64094731e-01 -2.65557157e-01 8.63524447e-04 7.49263984e+01] [ 2.65557033e-01 9.64095118e-01 2.57364529e-04 1.13630760e+01] [-9.00864696e-04 -1.88087963e-05 9.99999594e-01 -2.66175639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:11.38, Z:-0.03 [[ 9.62666038e-01 -2.70690515e-01 8.63461545e-04 7.49815644e+01] [ 2.70690392e-01 9.62666425e-01 2.57575393e-04 1.13838069e+01] [-9.00948654e-04 -1.42283380e-05 9.99999594e-01 -2.98923481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:11.40, Z:-0.03 [[ 9.61997268e-01 -2.73057706e-01 8.63400437e-04 7.50371778e+01] [ 2.73057585e-01 9.61997655e-01 2.57780067e-04 1.14027767e+01] [-9.00978030e-04 -1.22256819e-05 9.99999594e-01 -2.80973905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.09, Y:11.42, Z:-0.03 [[ 9.62807456e-01 -2.70187077e-01 8.63331787e-04 7.50932465e+01] [ 2.70186955e-01 9.62807843e-01 2.58009777e-04 1.14155802e+01] [-9.00933524e-04 -1.51527506e-05 9.99999594e-01 -2.71390321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.15, Y:11.43, Z:-0.03 [[ 9.61893183e-01 -2.73424137e-01 8.63300437e-04 7.51477349e+01] [ 2.73424015e-01 9.61893571e-01 2.58114633e-04 1.14349483e+01] [-9.00977910e-04 -1.22316344e-05 9.99999594e-01 -2.88311831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.20, Y:11.46, Z:-0.03 [[ 9.59551980e-01 -2.81530197e-01 8.63230107e-04 7.52013013e+01] [ 2.81530078e-01 9.59552369e-01 2.58349626e-04 1.14607613e+01] [-9.01047716e-04 -4.87465584e-06 9.99999594e-01 -3.09867116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.26, Y:11.47, Z:-0.03 [[ 9.58799644e-01 -2.84081850e-01 8.63165705e-04 7.52572332e+01] [ 2.84081732e-01 9.58800033e-01 2.58564621e-04 1.14713341e+01] [-9.01056822e-04 -2.70205744e-06 9.99999594e-01 -2.87920852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.31, Y:11.49, Z:-0.03 [[ 9.57640161e-01 -2.87966277e-01 8.63134204e-04 7.53134314e+01] [ 2.87966161e-01 9.57640550e-01 2.58669735e-04 1.14887299e+01] [-9.01060474e-04 8.40915965e-07 9.99999594e-01 -3.11402891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:11.50, Z:-0.03 [[ 9.56918626e-01 -2.90354953e-01 8.63073428e-04 7.53704197e+01] [ 2.90354838e-01 9.56919015e-01 2.58872358e-04 1.15040747e+01] [-9.01056246e-04 2.87776401e-06 9.99999594e-01 -2.77085207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.341052754 meters Centerline goodness : 0.999837 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:11.52, Z:-0.03 [[ 9.58475328e-01 -2.85174159e-01 8.63011277e-04 7.54264174e+01] [ 2.85174042e-01 9.58475716e-01 2.59079388e-04 1.15236278e+01] [-9.01058099e-04 -2.21278755e-06 9.99999594e-01 -2.87058409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.48, Y:11.54, Z:-0.03 [[ 9.59328539e-01 -2.82290647e-01 8.62940744e-04 7.54830940e+01] [ 2.82290528e-01 9.59328927e-01 2.59314107e-04 1.15401732e+01] [-9.01045965e-04 -5.16742453e-06 9.99999594e-01 -2.57083471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.54, Y:11.56, Z:-0.02 [[ 9.60595431e-01 -2.77949047e-01 8.62869796e-04 7.55382129e+01] [ 2.77948926e-01 9.60595819e-01 2.59549972e-04 1.15581726e+01] [-9.01010786e-04 -9.48878460e-06 9.99999594e-01 -2.32194201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:75.59, Y:11.58, Z:-0.03 [[ 9.61411927e-01 -2.75111544e-01 8.62797010e-04 7.55934936e+01] [ 2.75111422e-01 9.61412314e-01 2.59791703e-04 1.15750321e+01] [-9.00975367e-04 -1.24015293e-05 9.99999594e-01 -3.35487081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:11.59, Z:-0.03 [[ 9.61154769e-01 -2.76008632e-01 8.62742272e-04 7.56476900e+01] [ 2.76008510e-01 9.61155157e-01 2.59973356e-04 1.15945219e+01] [-9.00984074e-04 -1.17504223e-05 9.99999594e-01 -3.08625871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:11.61, Z:-0.03 [[ 9.61498824e-01 -2.74807693e-01 8.62701394e-04 7.57047127e+01] [ 2.74807570e-01 9.61499210e-01 2.60108935e-04 1.16108796e+01] [-9.00966646e-04 -1.30175615e-05 9.99999594e-01 -2.50061443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:11.63, Z:-0.03 [[ 9.61808537e-01 -2.73721747e-01 8.62638201e-04 7.57590648e+01] [ 2.73721624e-01 9.61808923e-01 2.60318343e-04 1.16274359e+01] [-9.00947911e-04 -1.42536756e-05 9.99999594e-01 -2.60878398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:11.64, Z:-0.03 [[ 9.60890047e-01 -2.76928825e-01 8.62607212e-04 7.58149193e+01] [ 2.76928703e-01 9.60890434e-01 2.60420990e-04 1.16431981e+01] [-9.00989097e-04 -1.13552407e-05 9.99999594e-01 -2.79222462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:11.66, Z:-0.03 [[ 9.60404982e-01 -2.78606400e-01 8.62535302e-04 7.58725428e+01] [ 2.78606278e-01 9.60405369e-01 2.60658944e-04 1.16557036e+01] [-9.01004785e-04 -1.00303975e-05 9.99999594e-01 -2.80597687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:11.67, Z:-0.03 [[ 9.60742686e-01 -2.77439629e-01 8.62470486e-04 7.59292635e+01] [ 2.77439507e-01 9.60743073e-01 2.60873230e-04 1.16713360e+01] [-9.00989118e-04 -1.13486618e-05 9.99999594e-01 -3.15553620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:11.69, Z:-0.03 [[ 9.61646255e-01 -2.74291335e-01 8.62406728e-04 7.59847189e+01] [ 2.74291211e-01 9.61646642e-01 2.61083836e-04 1.16898467e+01] [-9.00943568e-04 -1.45197074e-05 9.99999594e-01 -3.28512608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:11.70, Z:-0.03 [[ 9.61934577e-01 -2.73278478e-01 8.62334600e-04 7.60404895e+01] [ 2.73278353e-01 9.61934963e-01 2.61321850e-04 1.17046785e+01] [-9.00923439e-04 -1.57171437e-05 9.99999594e-01 -2.94753119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.061052754 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:11.72, Z:-0.04 [[ 9.62257957e-01 -2.72137615e-01 8.62261708e-04 7.60975404e+01] [ 2.72137490e-01 9.62258343e-01 2.61562145e-04 1.17210424e+01] [-9.00899421e-04 -1.70365177e-05 9.99999594e-01 -3.69069999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:11.74, Z:-0.03 [[ 9.62602337e-01 -2.70916958e-01 8.62224380e-04 7.61532844e+01] [ 2.70916832e-01 9.62602723e-01 2.61685136e-04 1.17387890e+01] [-9.00874477e-04 -1.83076260e-05 9.99999594e-01 -3.17086608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:11.75, Z:-0.03 [[ 9.62946767e-01 -2.69690158e-01 8.62136870e-04 7.62084135e+01] [ 2.69690032e-01 9.62947152e-01 2.61973126e-04 1.17548291e+01] [-9.00843818e-04 -1.97564553e-05 9.99999594e-01 -2.99227342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:11.77, Z:-0.03 [[ 9.63261455e-01 -2.68564006e-01 8.62114618e-04 7.62643718e+01] [ 2.68563879e-01 9.63261841e-01 2.62046335e-04 1.17718864e+01] [-9.00818327e-04 -2.08862885e-05 9.99999594e-01 -3.16840167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.32, Y:11.79, Z:-0.03 [[ 9.63144236e-01 -2.68984086e-01 8.62051179e-04 7.63202231e+01] [ 2.68983959e-01 9.63144621e-01 2.62254863e-04 1.17879847e+01] [-9.00822341e-04 -2.07113209e-05 9.99999594e-01 -3.39323685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.38, Y:11.80, Z:-0.03 [[ 9.63330656e-01 -2.68315680e-01 8.61979460e-04 7.63777926e+01] [ 2.68315552e-01 9.63331041e-01 2.62490378e-04 1.18018118e+01] [-9.00801855e-04 -2.15825334e-05 9.99999594e-01 -2.77776510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.43, Y:11.82, Z:-0.03 [[ 9.63418811e-01 -2.67998978e-01 8.61939598e-04 7.64328516e+01] [ 2.67998851e-01 9.63419196e-01 2.62621209e-04 1.18193679e+01] [-9.00791370e-04 -2.20153911e-05 9.99999594e-01 -2.59696050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.49, Y:11.84, Z:-0.03 [[ 9.63368880e-01 -2.68178409e-01 8.61901925e-04 7.64873121e+01] [ 2.68178281e-01 9.63369265e-01 2.62744788e-04 1.18380207e+01] [-9.00792303e-04 -2.19767752e-05 9.99999594e-01 -3.40431843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:11.85, Z:-0.03 [[ 9.62763652e-01 -2.70343130e-01 8.61868794e-04 7.65448747e+01] [ 2.70343003e-01 9.62764037e-01 2.62853423e-04 1.18506030e+01] [-9.00836897e-04 -2.00655236e-05 9.99999594e-01 -2.98546418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:11.87, Z:-0.03 [[ 9.61854321e-01 -2.73560821e-01 8.61803551e-04 7.65999675e+01] [ 2.73560695e-01 9.61854707e-01 2.63067158e-04 1.18675544e+01] [-9.00894669e-04 -1.72767046e-05 9.99999594e-01 -2.87887889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:11.89, Z:-0.03 [[ 9.60105512e-01 -2.79636661e-01 8.61780499e-04 7.66557303e+01] [ 2.79636538e-01 9.60105899e-01 2.63142652e-04 1.18866156e+01] [-9.00984873e-04 -1.16593962e-05 9.99999594e-01 -2.89648531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:11.90, Z:-0.03 [[ 9.57887705e-01 -2.87141781e-01 8.61718153e-04 7.67123572e+01] [ 2.87141660e-01 9.57888092e-01 2.63346657e-04 1.19025694e+01] [-9.01047386e-04 -4.82134377e-06 9.99999594e-01 -2.66846188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:11.92, Z:-0.02 [[ 9.57776711e-01 -2.87511790e-01 8.61654902e-04 7.67698569e+01] [ 2.87511669e-01 9.57777099e-01 2.63553451e-04 1.19178209e+01] [-9.01048056e-04 -4.68951857e-06 9.99999594e-01 -2.31538612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:11.94, Z:-0.03 [[ 9.58944499e-01 -2.83592498e-01 8.61592229e-04 7.68241283e+01] [ 2.83592375e-01 9.58944886e-01 2.63758179e-04 1.19361016e+01] [-9.01019302e-04 -8.58846850e-06 9.99999594e-01 -2.84937307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:11.95, Z:-0.03 [[ 9.61935759e-01 -2.73274320e-01 8.61559095e-04 7.68792179e+01] [ 2.73274194e-01 9.61936144e-01 2.63866365e-04 1.19533299e+01] [-9.00872735e-04 -1.83806247e-05 9.99999594e-01 -3.17759828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:11.97, Z:-0.03 [[ 9.63522221e-01 -2.67626957e-01 8.61537824e-04 7.69350167e+01] [ 2.67626828e-01 9.63522606e-01 2.63935796e-04 1.19689039e+01] [-9.00747503e-04 -2.37373695e-05 9.99999594e-01 -3.28163207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.99, Y:11.99, Z:-0.03 [[ 9.62858007e-01 -2.70006881e-01 8.61516975e-04 7.69904953e+01] [ 2.70006752e-01 9.62858393e-01 2.64003834e-04 1.19868966e+01] [-9.00801701e-04 -2.15828051e-05 9.99999594e-01 -3.34523897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:12.00, Z:-0.03 [[ 9.63239748e-01 -2.68641854e-01 8.61450982e-04 7.70461618e+01] [ 2.68641725e-01 9.63240133e-01 2.64218994e-04 1.20045254e+01] [-9.00764439e-04 -2.30845595e-05 9.99999594e-01 -3.19324494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.10, Y:12.02, Z:-0.03 [[ 9.61132501e-01 -2.76086171e-01 8.61430636e-04 7.71020710e+01] [ 2.76086045e-01 9.61132887e-01 2.64285313e-04 1.20242757e+01] [-9.00914834e-04 -1.61842267e-05 9.99999594e-01 -2.96541895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.16, Y:12.04, Z:-0.04 [[ 9.59710891e-01 -2.80988013e-01 8.61365362e-04 7.71576154e+01] [ 2.80987889e-01 9.59711278e-01 2.64497885e-04 1.20413660e+01] [-9.00982787e-04 -1.18082659e-05 9.99999594e-01 -3.59577370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.261052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:77.21, Y:12.06, Z:-0.03 [[ 9.60372415e-01 -2.78718645e-01 8.61342439e-04 7.72146579e+01] [ 2.78718520e-01 9.60372801e-01 2.64572510e-04 1.20600622e+01] [-9.00951143e-04 -1.40160502e-05 9.99999594e-01 -3.20127609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.27, Y:12.08, Z:-0.04 [[ 9.60664062e-01 -2.77711753e-01 8.61339987e-04 7.72705800e+01] [ 2.77711627e-01 9.60664448e-01 2.64580493e-04 1.20820566e+01] [-9.00935816e-04 -1.49688419e-05 9.99999594e-01 -3.90299806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.33, Y:12.10, Z:-0.04 [[ 9.59860947e-01 -2.80474991e-01 8.61321634e-04 7.73271240e+01] [ 2.80474867e-01 9.59861333e-01 2.64640227e-04 1.20978082e+01] [-9.00974297e-04 -1.24387485e-05 9.99999594e-01 -4.09078665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.38, Y:12.12, Z:-0.04 [[ 9.59872800e-01 -2.80434425e-01 8.61306470e-04 7.73842193e+01] [ 2.80434300e-01 9.59873186e-01 2.64689572e-04 1.21154474e+01] [-9.00973053e-04 -1.25284433e-05 9.99999594e-01 -4.45925662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.44, Y:12.13, Z:-0.05 [[ 9.59986900e-01 -2.80043585e-01 8.61303843e-04 7.74399354e+01] [ 2.80043460e-01 9.59987287e-01 2.64698121e-04 1.21340427e+01] [-9.00967749e-04 -1.29042200e-05 9.99999594e-01 -4.55271472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:12.15, Z:-0.04 [[ 9.61023722e-01 -2.76464581e-01 8.61235165e-04 7.74971376e+01] [ 2.76464454e-01 9.61024108e-01 2.64921385e-04 1.21511353e+01] [-9.00909136e-04 -1.64948250e-05 9.99999594e-01 -4.08188113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.55, Y:12.17, Z:-0.04 [[ 9.60700323e-01 -2.77586288e-01 8.61225935e-04 7.75531444e+01] [ 2.77586162e-01 9.60700709e-01 2.64951389e-04 1.21687060e+01] [-9.00927239e-04 -1.54744830e-05 9.99999594e-01 -4.06523837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.61, Y:12.19, Z:-0.03 [[ 9.60216342e-01 -2.79255860e-01 8.61210561e-04 7.76099621e+01] [ 2.79255735e-01 9.60216728e-01 2.65001351e-04 1.21859192e+01] [-9.00951967e-04 -1.39606397e-05 9.99999594e-01 -3.43487990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.67, Y:12.21, Z:-0.03 [[ 9.59767157e-01 -2.80795767e-01 8.61197173e-04 7.76655996e+01] [ 2.80795642e-01 9.59767543e-01 2.65044851e-04 1.22055874e+01] [-9.00972567e-04 -1.25609297e-05 9.99999594e-01 -3.17909105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:12.22, Z:-0.03 [[ 9.60524845e-01 -2.78192885e-01 8.61135021e-04 7.77219648e+01] [ 2.78192759e-01 9.60525231e-01 2.65246632e-04 1.22237248e+01] [-9.00931640e-04 -1.52144526e-05 9.99999594e-01 -2.89447683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:12.25, Z:-0.03 [[ 9.62210197e-01 -2.72306438e-01 8.61072794e-04 7.77755146e+01] [ 2.72306309e-01 9.62210582e-01 2.65448484e-04 1.22462113e+01] [-9.00816685e-04 -2.09416834e-05 9.99999594e-01 -3.05503755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.83, Y:12.27, Z:-0.03 [[ 9.63480731e-01 -2.67776285e-01 8.61002521e-04 7.78302054e+01] [ 2.67776155e-01 9.63481116e-01 2.65676225e-04 1.22676478e+01] [-9.00701462e-04 -2.54179791e-05 9.99999594e-01 -3.15884729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.89, Y:12.29, Z:-0.03 [[ 9.62979053e-01 -2.69574855e-01 8.60938247e-04 7.78857619e+01] [ 2.69574725e-01 9.62979438e-01 2.65884347e-04 1.22855942e+01] [-9.00741563e-04 -2.39538660e-05 9.99999594e-01 -2.94619740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:12.30, Z:-0.03 [[ 9.62070585e-01 -2.72799283e-01 8.60915284e-04 7.79415436e+01] [ 2.72799154e-01 9.62070970e-01 2.65958678e-04 1.23026347e+01] [-9.00814939e-04 -2.10140593e-05 9.99999594e-01 -2.95579151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:12.32, Z:-0.03 [[ 9.60748483e-01 -2.77419558e-01 8.60892646e-04 7.79987704e+01] [ 2.77419431e-01 9.60748869e-01 2.66031937e-04 1.23182616e+01] [-9.00904098e-04 -1.67614315e-05 9.99999594e-01 -3.17312232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:12.33, Z:-0.03 [[ 9.60329496e-01 -2.78866487e-01 8.60827972e-04 7.80558322e+01] [ 2.78866360e-01 9.60329882e-01 2.66241043e-04 1.23343518e+01] [-9.00924529e-04 -1.56231629e-05 9.99999594e-01 -2.88627006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:12.35, Z:-0.03 [[ 9.60897707e-01 -2.76902249e-01 8.60763970e-04 7.81112976e+01] [ 2.76902122e-01 9.60898092e-01 2.66447804e-04 1.23519742e+01] [-9.00886453e-04 -1.76817146e-05 9.99999594e-01 -2.89563865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.281052754 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:12.37, Z:-0.04 [[ 9.62290890e-01 -2.72021141e-01 8.60691130e-04 7.81669349e+01] [ 2.72021012e-01 9.62291275e-01 2.66682885e-04 1.23718105e+01] [-9.00778948e-04 -2.25004392e-05 9.99999594e-01 -4.03594252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:12.38, Z:-0.03 [[ 9.63622463e-01 -2.67265799e-01 8.60612725e-04 7.82241341e+01] [ 2.67265667e-01 9.63622847e-01 2.66935669e-04 1.23844914e+01] [-9.00648859e-04 -2.72129733e-05 9.99999594e-01 -3.02555132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.401052754 meters Centerline goodness : 0.998323 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:12.40, Z:-0.04 [[ 9.62950297e-01 -2.69677558e-01 8.60592891e-04 7.82801293e+01] [ 2.69677427e-01 9.62950681e-01 2.66999599e-04 1.24035105e+01] [-9.00712310e-04 -2.50248658e-05 9.99999594e-01 -3.78164954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.33, Y:12.42, Z:-0.03 [[ 9.61166259e-01 -2.75968625e-01 8.60576238e-04 7.83348335e+01] [ 2.75968496e-01 9.61166644e-01 2.67053262e-04 1.24218443e+01] [-9.00855496e-04 -1.91906540e-05 9.99999594e-01 -3.25028712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.39, Y:12.43, Z:-0.03 [[ 9.60463640e-01 -2.78404123e-01 8.60548473e-04 7.83930401e+01] [ 2.78403995e-01 9.60464025e-01 2.67142701e-04 1.24344700e+01] [-9.00899480e-04 -1.70007175e-05 9.99999594e-01 -3.11286922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.45, Y:12.45, Z:-0.03 [[ 9.58202156e-01 -2.86090700e-01 8.60485829e-04 7.84491381e+01] [ 2.86090575e-01 9.58202542e-01 2.67344330e-04 1.24504654e+01] [-9.01004435e-04 -9.99302719e-06 9.99999594e-01 -2.85384858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.51, Y:12.46, Z:-0.02 [[ 9.58722729e-01 -2.84341324e-01 8.60466914e-04 7.85070143e+01] [ 2.84341199e-01 9.58723115e-01 2.67405196e-04 1.24609481e+01] [-9.00983867e-04 -1.17012457e-05 9.99999594e-01 -2.32533431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:12.48, Z:-0.03 [[ 9.57685487e-01 -2.87815508e-01 8.60396407e-04 7.85622712e+01] [ 2.87815384e-01 9.57685874e-01 2.67631866e-04 1.24782322e+01] [-9.01018086e-04 -8.67183143e-06 9.99999594e-01 -2.85323143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:12.49, Z:-0.03 [[ 9.57894457e-01 -2.87119260e-01 8.60374509e-04 7.86201377e+01] [ 2.87119135e-01 9.57894843e-01 2.67702243e-04 1.24896656e+01] [-9.01010775e-04 -9.40051018e-06 9.99999594e-01 -2.80862994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82105275400001 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:12.51, Z:-0.03 [[ 9.57902803e-01 -2.87091415e-01 8.60314017e-04 7.86774541e+01] [ 2.87091290e-01 9.57903189e-01 2.67896504e-04 1.25054005e+01] [-9.01008327e-04 -9.63015083e-06 9.99999594e-01 -3.47827967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.73, Y:12.53, Z:-0.04 [[ 9.57006044e-01 -2.90066701e-01 8.60278738e-04 7.87308348e+01] [ 2.90066578e-01 9.57006431e-01 2.68009745e-04 1.25277109e+01] [-9.01032988e-04 -6.94883630e-06 9.99999594e-01 -3.51205742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.79, Y:12.55, Z:-0.04 [[ 9.58296793e-01 -2.85773539e-01 8.60254271e-04 7.87863121e+01] [ 2.85773413e-01 9.58297180e-01 2.68088258e-04 1.25480447e+01] [-9.00991771e-04 -1.10703187e-05 9.99999594e-01 -3.77863007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:12.57, Z:-0.04 [[ 9.58844988e-01 -2.83928776e-01 8.60237638e-04 7.88417390e+01] [ 2.83928649e-01 9.58845373e-01 2.68141618e-04 1.25678697e+01] [-9.00968001e-04 -1.28601358e-05 9.99999594e-01 -3.70646492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:12.59, Z:-0.04 [[ 9.58770485e-01 -2.84180253e-01 8.60172294e-04 7.88967941e+01] [ 2.84180127e-01 9.58770871e-01 2.68351071e-04 1.25859866e+01] [-9.00968215e-04 -1.28432147e-05 9.99999594e-01 -4.01308451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:12.60, Z:-0.02 [[ 9.60191410e-01 -2.79341578e-01 8.60101755e-04 7.89539216e+01] [ 2.79341449e-01 9.60191795e-01 2.68576970e-04 1.26039546e+01] [-9.00887362e-04 -1.76232288e-05 9.99999594e-01 -2.37646838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:12.62, Z:-0.02 [[ 9.59324074e-01 -2.82305830e-01 8.60091390e-04 7.90094063e+01] [ 2.82305702e-01 9.59324459e-01 2.68610156e-04 1.26247420e+01] [-9.00936921e-04 -1.48754851e-05 9.99999594e-01 -2.48907353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:12.64, Z:-0.02 [[ 9.58203373e-01 -2.86086622e-01 8.60025346e-04 7.90654195e+01] [ 2.86086496e-01 9.58203759e-01 2.68821448e-04 1.26384445e+01] [-9.00985740e-04 -1.15439806e-05 9.99999594e-01 -2.47629712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:79.12, Y:12.65, Z:-0.03 [[ 9.58050545e-01 -2.86598001e-01 8.60002242e-04 7.91225367e+01] [ 2.86597875e-01 9.58050931e-01 2.68895341e-04 1.26537669e+01] [-9.00990816e-04 -1.11405120e-05 9.99999594e-01 -2.75932867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.18, Y:12.67, Z:-0.03 [[ 9.58774780e-01 -2.84165765e-01 8.59929057e-04 7.91773088e+01] [ 2.84165638e-01 9.58775165e-01 2.69129183e-04 1.26735681e+01] [-9.00955924e-04 -1.36719838e-05 9.99999594e-01 -3.02772274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:12.69, Z:-0.03 [[ 9.59012631e-01 -2.83362020e-01 8.59902956e-04 7.92327478e+01] [ 2.83361892e-01 9.59013016e-01 2.69212555e-04 1.26924924e+01] [-9.00942741e-04 -1.45145122e-05 9.99999594e-01 -3.20435578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:12.71, Z:-0.03 [[ 9.60145336e-01 -2.79499901e-01 8.59831720e-04 7.92903923e+01] [ 2.79499772e-01 9.60145721e-01 2.69439881e-04 1.27056997e+01] [-9.00872167e-04 -1.83786759e-05 9.99999594e-01 -2.99933695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:12.73, Z:-0.04 [[ 9.59838320e-01 -2.80552421e-01 8.59765616e-04 7.93428033e+01] [ 2.80552292e-01 9.59838705e-01 2.69650650e-04 1.27297271e+01] [-9.00887458e-04 -1.76118129e-05 9.99999594e-01 -3.79568684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:12.74, Z:-0.04 [[ 9.59501284e-01 -2.81702942e-01 8.59730051e-04 7.94000152e+01] [ 2.81702813e-01 9.59501669e-01 2.69763995e-04 1.27439060e+01] [-9.00905729e-04 -1.66505258e-05 9.99999594e-01 -3.59197724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.45, Y:12.76, Z:-0.03 [[ 9.58806371e-01 -2.84059154e-01 8.59668703e-04 7.94548987e+01] [ 2.84059026e-01 9.58806757e-01 2.69959353e-04 1.27609345e+01] [-9.00940587e-04 -1.46420932e-05 9.99999594e-01 -3.46881257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:12.78, Z:-0.03 [[ 9.58680387e-01 -2.84484052e-01 8.59630866e-04 7.95104682e+01] [ 2.84483924e-01 9.58680773e-01 2.70079784e-04 1.27773984e+01] [-9.00944974e-04 -1.43690298e-05 9.99999594e-01 -3.36541712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:12.79, Z:-0.03 [[ 9.59092971e-01 -2.83089977e-01 8.59563195e-04 7.95660370e+01] [ 2.83089848e-01 9.59093356e-01 2.70294985e-04 1.27949165e+01] [-9.00919150e-04 -1.59044060e-05 9.99999594e-01 -3.34336656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:12.81, Z:-0.03 [[ 9.59325450e-01 -2.82301155e-01 8.59489986e-04 7.96217701e+01] [ 2.82301025e-01 9.59325835e-01 2.70527575e-04 1.28124459e+01] [-9.00901196e-04 -1.68890828e-05 9.99999594e-01 -3.16413404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:12.83, Z:-0.03 [[ 9.59346925e-01 -2.82228169e-01 8.59411527e-04 7.96770647e+01] [ 2.82228039e-01 9.59347310e-01 2.70776596e-04 1.28313845e+01] [-9.00894919e-04 -1.72186648e-05 9.99999594e-01 -3.21993505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.73, Y:12.85, Z:-0.03 [[ 9.59298271e-01 -2.82393500e-01 8.59376930e-04 7.97341336e+01] [ 2.82393370e-01 9.59298656e-01 2.70886353e-04 1.28479440e+01] [-9.00895679e-04 -1.71784626e-05 9.99999594e-01 -3.16949620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:12.86, Z:-0.03 [[ 9.59156808e-01 -2.82873610e-01 8.59312502e-04 7.97894817e+01] [ 2.82873480e-01 9.59157193e-01 2.71090580e-04 1.28635439e+01] [-9.00900138e-04 -1.69416573e-05 9.99999594e-01 -3.03143477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:12.88, Z:-0.03 [[ 9.59412573e-01 -2.82004922e-01 8.59289703e-04 7.98453074e+01] [ 2.82004792e-01 9.59412958e-01 2.71162828e-04 1.28826769e+01] [-9.00882927e-04 -1.78332122e-05 9.99999594e-01 -2.57609124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.90, Y:12.90, Z:-0.03 [[ 9.59697876e-01 -2.81032470e-01 8.59221770e-04 7.98987129e+01] [ 2.81032340e-01 9.59698260e-01 2.71377912e-04 1.29031094e+01] [-9.00859643e-04 -1.89717018e-05 9.99999594e-01 -2.96261586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.96, Y:12.92, Z:-0.03 [[ 9.59340510e-01 -2.82249974e-01 8.59188940e-04 7.99553795e+01] [ 2.82249844e-01 9.59340895e-01 2.71481813e-04 1.29197089e+01] [-9.00880821e-04 -1.79375569e-05 9.99999594e-01 -3.13842111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:12.94, Z:-0.03 [[ 9.58967101e-01 -2.83516067e-01 8.59122855e-04 8.00119105e+01] [ 2.83515938e-01 9.58967486e-01 2.71690782e-04 1.29352606e+01] [-9.00899587e-04 -1.69674998e-05 9.99999594e-01 -3.13292081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:12.95, Z:-0.03 [[ 9.59304471e-01 -2.82372439e-01 8.59055007e-04 8.00675247e+01] [ 2.82372309e-01 9.59304855e-01 2.71905140e-04 1.29541683e+01] [-9.00874157e-04 -1.82664706e-05 9.99999594e-01 -3.48213304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:12.97, Z:-0.04 [[ 9.59796505e-01 -2.80695441e-01 8.58989213e-04 8.01224735e+01] [ 2.80695310e-01 9.59796889e-01 2.72112837e-04 1.29738332e+01] [-9.00836007e-04 -2.00587060e-05 9.99999594e-01 -3.84640466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:12.99, Z:-0.03 [[ 9.59299761e-01 -2.82388439e-01 8.58914783e-04 8.01793291e+01] [ 2.82388308e-01 9.59300146e-01 2.72347570e-04 1.29889795e+01] [-9.00864881e-04 -1.87154669e-05 9.99999594e-01 -3.30899897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:13.01, Z:-0.03 [[ 9.58487795e-01 -2.85132266e-01 8.58849141e-04 8.02355237e+01] [ 2.85132137e-01 9.58488180e-01 2.72554414e-04 1.30051152e+01] [-9.00910808e-04 -1.63545889e-05 9.99999594e-01 -2.75617397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:13.02, Z:-0.03 [[ 9.57662573e-01 -2.87891747e-01 8.58825310e-04 8.02914965e+01] [ 2.87891619e-01 9.57662958e-01 2.72629487e-04 1.30225349e+01] [-9.00952966e-04 -1.38384472e-05 9.99999594e-01 -2.97176012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.35, Y:13.04, Z:-0.03 [[ 9.56344188e-01 -2.92241437e-01 8.58759873e-04 8.03476025e+01] [ 2.92241310e-01 9.56344573e-01 2.72835452e-04 1.30381702e+01] [-9.01004168e-04 -9.95948886e-06 9.99999594e-01 -2.98090461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:13.06, Z:-0.03 [[ 9.55156452e-01 -2.96100345e-01 8.58736769e-04 8.04027513e+01] [ 2.96100219e-01 9.55156838e-01 2.72908149e-04 1.30584468e+01] [-9.01036495e-04 -6.39783371e-06 9.99999594e-01 -2.80526330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:13.08, Z:-0.03 [[ 9.53590610e-01 -3.01104984e-01 8.58671861e-04 8.04571936e+01] [ 3.01104860e-01 9.53590997e-01 2.73112224e-04 1.30798573e+01] [-9.01057207e-04 -1.88698183e-06 9.99999594e-01 -2.71957319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:13.10, Z:-0.03 [[ 9.52907652e-01 -3.03259408e-01 8.58648501e-04 8.05121278e+01] [ 3.03259285e-01 9.52908039e-01 2.73185644e-04 1.30975545e+01] [-9.01059177e-04 7.24404150e-08 9.99999594e-01 -2.86227463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:13.12, Z:-0.03 [[ 9.52588104e-01 -3.04261675e-01 8.58557926e-04 8.05663611e+01] [ 3.04261552e-01 9.52588491e-01 2.73470005e-04 1.31173188e+01] [-9.01058841e-04 7.21893721e-07 9.99999594e-01 -2.79642803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:13.14, Z:-0.03 [[ 9.54220600e-01 -2.99102505e-01 8.58466771e-04 8.06219334e+01] [ 2.99102380e-01 9.54220987e-01 2.73755857e-04 1.31357628e+01] [-9.01048072e-04 -4.45402383e-06 9.99999594e-01 -2.80568053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:13.16, Z:-0.03 [[ 9.57212746e-01 -2.89383866e-01 8.58391246e-04 8.06760361e+01] [ 2.89383736e-01 9.57213131e-01 2.73992470e-04 1.31561013e+01] [-9.00952372e-04 -1.38646187e-05 9.99999594e-01 -2.99101167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:13.18, Z:-0.03 [[ 9.60176649e-01 -2.79392316e-01 8.58314254e-04 8.07315435e+01] [ 2.79392182e-01 9.60177032e-01 2.74233444e-04 1.31767092e+01] [-9.00752350e-04 -2.35062570e-05 9.99999594e-01 -3.45531654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:13.19, Z:-0.03 [[ 9.59604790e-01 -2.81350155e-01 8.58246798e-04 8.07881991e+01] [ 2.81350022e-01 9.59605174e-01 2.74444394e-04 1.31909296e+01] [-9.00793040e-04 -2.18903995e-05 9.99999594e-01 -3.20261284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:13.20, Z:-0.03 [[ 9.58942353e-01 -2.83599765e-01 8.58222992e-04 8.08457908e+01] [ 2.83599633e-01 9.58942737e-01 2.74518817e-04 1.32042425e+01] [-9.00840177e-04 -1.98559951e-05 9.99999594e-01 -2.69126659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:13.22, Z:-0.03 [[ 9.58376010e-01 -2.85507770e-01 8.58154856e-04 8.09003080e+01] [ 2.85507639e-01 9.58376394e-01 2.74731647e-04 1.32233167e+01] [-9.00873377e-04 -1.82864532e-05 9.99999594e-01 -2.90603100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:13.24, Z:-0.04 [[ 9.58092317e-01 -2.86458330e-01 8.58130812e-04 8.09566530e+01] [ 2.86458199e-01 9.58092702e-01 2.74806728e-04 1.32384499e+01] [-9.00889545e-04 -1.74716084e-05 9.99999594e-01 -3.63540603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:13.25, Z:-0.03 [[ 9.57868683e-01 -2.87205239e-01 8.58054621e-04 8.10141073e+01] [ 2.87205108e-01 9.57869068e-01 2.75044421e-04 1.32538136e+01] [-9.00898179e-04 -1.70187679e-05 9.99999594e-01 -3.26121468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:13.27, Z:-0.03 [[ 9.57742203e-01 -2.87626733e-01 8.57991511e-04 8.10687557e+01] [ 2.87626601e-01 9.57742587e-01 2.75241151e-04 1.32739751e+01] [-9.00901722e-04 -1.68288835e-05 9.99999594e-01 -3.17637740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:13.29, Z:-0.04 [[ 9.58640708e-01 -2.84617740e-01 8.57914888e-04 8.11246826e+01] [ 2.84617607e-01 9.58641091e-01 2.75479774e-04 1.32936776e+01] [-9.00838895e-04 -1.99084425e-05 9.99999594e-01 -3.54386931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:13.31, Z:-0.03 [[ 9.57387809e-01 -2.88804169e-01 8.57842873e-04 8.11806268e+01] [ 2.88804038e-01 9.57388193e-01 2.75703848e-04 1.33101590e+01] [-9.00913058e-04 -1.62070173e-05 9.99999594e-01 -3.16321651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:13.32, Z:-0.03 [[ 9.56816612e-01 -2.90690961e-01 8.57817853e-04 8.12376307e+01] [ 2.90690831e-01 9.56816996e-01 2.75781671e-04 1.33232604e+01] [-9.00941941e-04 -1.45126994e-05 9.99999594e-01 -3.12428304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.29, Y:13.34, Z:-0.03 [[ 9.56328891e-01 -2.92291492e-01 8.57731412e-04 8.12916177e+01] [ 2.92291362e-01 9.56329276e-01 2.76050258e-04 1.33448140e+01] [-9.00960801e-04 -1.32873544e-05 9.99999594e-01 -3.20254166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.35, Y:13.36, Z:-0.03 [[ 9.57189219e-01 -2.89461677e-01 8.57702638e-04 8.13486556e+01] [ 2.89461546e-01 9.57189604e-01 2.76139630e-04 1.33607757e+01] [-9.00915889e-04 -1.60459457e-05 9.99999594e-01 -3.33363134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.40, Y:13.38, Z:-0.03 [[ 9.56846061e-01 -2.90594014e-01 8.57636098e-04 8.14034192e+01] [ 2.90593883e-01 9.56846445e-01 2.76346137e-04 1.33801439e+01] [-9.00930584e-04 -1.51969088e-05 9.99999594e-01 -3.07872943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.46, Y:13.40, Z:-0.03 [[ 9.58224815e-01 -2.86014804e-01 8.57612606e-04 8.14584014e+01] [ 2.86014671e-01 9.58225199e-01 2.76419022e-04 1.34003831e+01] [-9.00845942e-04 -1.95817791e-05 9.99999594e-01 -3.05295737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:13.42, Z:-0.03 [[ 9.58344579e-01 -2.85613255e-01 8.57545823e-04 8.15136608e+01] [ 2.85613122e-01 9.58344963e-01 2.76626051e-04 1.34170282e+01] [-9.00832787e-04 -2.01767364e-05 9.99999594e-01 -2.94841634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.57, Y:13.43, Z:-0.03 [[ 9.57121144e-01 -2.89686694e-01 8.57461876e-04 8.15704419e+01] [ 2.89686562e-01 9.57121528e-01 2.76886017e-04 1.34312813e+01] [-9.00905416e-04 -1.66182788e-05 9.99999594e-01 -2.90986058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.63, Y:13.45, Z:-0.03 [[ 9.56447775e-01 -2.91902241e-01 8.57389836e-04 8.16263269e+01] [ 2.91902110e-01 9.56448159e-01 2.77108915e-04 1.34507126e+01] [-9.00937643e-04 -1.47663033e-05 9.99999594e-01 -3.08940211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:13.47, Z:-0.03 [[ 9.56239342e-01 -2.92584323e-01 8.57319615e-04 8.16824052e+01] [ 2.92584192e-01 9.56239726e-01 2.77325994e-04 1.34692825e+01] [-9.00944312e-04 -1.43518592e-05 9.99999594e-01 -3.00168197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.121052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:13.49, Z:-0.03 [[ 9.56400361e-01 -2.92057554e-01 8.57245097e-04 8.17371340e+01] [ 2.92057423e-01 9.56400745e-01 2.77556145e-04 1.34864259e+01] [-9.00932218e-04 -1.50900035e-05 9.99999594e-01 -3.00702714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:13.50, Z:-0.03 [[ 9.55678100e-01 -2.94412355e-01 8.57208228e-04 8.17924196e+01] [ 2.94412224e-01 9.55678484e-01 2.77669964e-04 1.35022085e+01] [-9.00964929e-04 -1.29905229e-05 9.99999594e-01 -3.20514643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:13.52, Z:-0.03 [[ 9.54982134e-01 -2.96662079e-01 8.57183830e-04 8.18477470e+01] [ 2.96661949e-01 9.54982519e-01 2.77745265e-04 1.35222730e+01] [-9.00992060e-04 -1.09479397e-05 9.99999594e-01 -3.36362628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.90, Y:13.54, Z:-0.03 [[ 9.54947841e-01 -2.96772449e-01 8.57114154e-04 8.19029685e+01] [ 2.96772319e-01 9.54948226e-01 2.77960115e-04 1.35411734e+01] [-9.00990545e-04 -1.10696567e-05 9.99999594e-01 -3.30848184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:13.56, Z:-0.03 [[ 9.55856309e-01 -2.93833256e-01 8.57094557e-04 8.19595763e+01] [ 2.93833125e-01 9.55856693e-01 2.78020532e-04 1.35581279e+01] [-9.00951246e-04 -1.39049075e-05 9.99999594e-01 -3.00349449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.01, Y:13.58, Z:-0.03 [[ 9.55797823e-01 -2.94023445e-01 8.57025443e-04 8.20141543e+01] [ 2.94023314e-01 9.55798208e-01 2.78233418e-04 1.35772017e+01] [-9.00950530e-04 -1.39494344e-05 9.99999594e-01 -2.90040955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.481052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.07, Y:13.60, Z:-0.03 [[ 9.55515801e-01 -2.94938672e-01 8.57001190e-04 8.20698452e+01] [ 2.94938541e-01 9.55516185e-01 2.78308100e-04 1.35951032e+01] [-9.00962329e-04 -1.31651069e-05 9.99999594e-01 -3.18660204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.13, Y:13.61, Z:-0.03 [[ 9.54151831e-01 -2.99321816e-01 8.56924986e-04 8.21262882e+01] [ 2.99321686e-01 9.54152216e-01 2.78542540e-04 1.36090329e+01] [-9.01010733e-04 -9.27564329e-06 9.99999594e-01 -3.12497065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.18, Y:13.63, Z:-0.03 [[ 9.53487635e-01 -3.01430915e-01 8.56848581e-04 8.21825044e+01] [ 3.01430786e-01 9.53488020e-01 2.78777379e-04 1.36262915e+01] [-9.01026976e-04 -7.53024209e-06 9.99999594e-01 -2.76464906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:13.65, Z:-0.03 [[ 9.53836972e-01 -3.00323654e-01 8.56780115e-04 8.22368316e+01] [ 3.00323524e-01 9.53837357e-01 2.78987639e-04 1.36463359e+01] [-9.01015467e-04 -8.79750070e-06 9.99999594e-01 -2.70101323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:13.67, Z:-0.03 [[ 9.54106320e-01 -2.99466853e-01 8.56743647e-04 8.22914246e+01] [ 2.99466723e-01 9.54106705e-01 2.79099583e-04 1.36688801e+01] [-9.01005932e-04 -9.72446365e-06 9.99999594e-01 -2.94191942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:13.69, Z:-0.03 [[ 9.54829318e-01 -2.97153564e-01 8.56675544e-04 8.23477352e+01] [ 2.97153433e-01 9.54829702e-01 2.79308465e-04 1.36868787e+01] [-9.00976760e-04 -1.21278323e-05 9.99999594e-01 -3.31236841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:13.71, Z:-0.03 [[ 9.55105061e-01 -2.96266078e-01 8.56611196e-04 8.24016249e+01] [ 2.96265946e-01 9.55105445e-01 2.79505675e-04 1.37063443e+01] [-9.00962067e-04 -1.31725582e-05 9.99999594e-01 -2.84485874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:13.73, Z:-0.03 [[ 9.56738807e-01 -2.90946938e-01 8.56526986e-04 8.24571266e+01] [ 2.90946804e-01 9.56739191e-01 2.79763492e-04 1.37254214e+01] [-9.00869267e-04 -1.84568007e-05 9.99999594e-01 -3.23961991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:13.75, Z:-0.03 [[ 9.57067941e-01 -2.89862421e-01 8.56448576e-04 8.25100995e+01] [ 2.89862286e-01 9.57068324e-01 2.80003326e-04 1.37480751e+01] [-9.00842245e-04 -1.97300650e-05 9.99999594e-01 -3.31362086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.57, Y:13.77, Z:-0.04 [[ 9.57850308e-01 -2.87266522e-01 8.56415044e-04 8.25659905e+01] [ 2.87266386e-01 9.57850690e-01 2.80105848e-04 1.37674558e+01] [-9.00782774e-04 -2.22802181e-05 9.99999594e-01 -3.58281156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:13.78, Z:-0.03 [[ 9.56553309e-01 -2.91556229e-01 8.56345664e-04 8.26233676e+01] [ 2.91556095e-01 9.56553692e-01 2.80317799e-04 1.37816248e+01] [-9.00869006e-04 -1.84661202e-05 9.99999594e-01 -2.96123286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.68, Y:13.80, Z:-0.03 [[ 9.56408437e-01 -2.92031110e-01 8.56276635e-04 8.26786102e+01] [ 2.92030976e-01 9.56408820e-01 2.80528499e-04 1.38004491e+01] [-9.00873575e-04 -1.82405219e-05 9.99999594e-01 -3.08667437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.201052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:13.82, Z:-0.03 [[ 9.56428904e-01 -2.91964071e-01 8.56251975e-04 8.27329475e+01] [ 2.91963937e-01 9.56429287e-01 2.80603749e-04 1.38174990e+01] [-9.00870679e-04 -1.83828383e-05 9.99999594e-01 -3.21676290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.79, Y:13.83, Z:-0.03 [[ 9.54137832e-01 -2.99366439e-01 8.56217998e-04 8.27899881e+01] [ 2.99366308e-01 9.54138216e-01 2.80707385e-04 1.38322335e+01] [-9.00984684e-04 -1.15107153e-05 9.99999594e-01 -2.80199029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:13.85, Z:-0.03 [[ 9.52735869e-01 -3.03798667e-01 8.56149579e-04 8.28453717e+01] [ 3.03798538e-01 9.52736254e-01 2.80915907e-04 1.38496247e+01] [-9.01026621e-04 -7.54167135e-06 9.99999594e-01 -2.61060550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.90, Y:13.87, Z:-0.03 [[ 9.51898637e-01 -3.06411898e-01 8.56125446e-04 8.28999701e+01] [ 3.06411769e-01 9.51899022e-01 2.80989437e-04 1.38683901e+01] [-9.01043482e-04 -5.14654982e-06 9.99999594e-01 -2.68394305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:13.89, Z:-0.03 [[ 9.50804570e-01 -3.09790151e-01 8.56049625e-04 8.29548701e+01] [ 3.09790023e-01 9.50804955e-01 2.81220240e-04 1.38880958e+01] [-9.01055486e-04 -2.18985653e-06 9.99999594e-01 -2.64575270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:13.90, Z:-0.03 [[ 9.50131405e-01 -3.11848650e-01 8.55973124e-04 8.30111115e+01] [ 3.11848523e-01 9.50131791e-01 2.81452900e-04 1.39013523e+01] [-9.01057984e-04 -4.83285400e-07 9.99999594e-01 -2.58282232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561052754 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:13.92, Z:-0.02 [[ 9.48497473e-01 -3.16783540e-01 8.55904568e-04 8.30660028e+01] [ 3.16783415e-01 9.48497859e-01 2.81661225e-04 1.39240822e+01] [-9.01049290e-04 3.98141158e-06 9.99999594e-01 -2.22956480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:13.94, Z:-0.02 [[ 9.48135209e-01 -3.17866155e-01 8.55835610e-04 8.31204655e+01] [ 3.17866030e-01 9.48135595e-01 2.81870600e-04 1.39432751e+01] [-9.01045330e-04 4.78962811e-06 9.99999594e-01 -2.35431238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:13.95, Z:-0.02 [[ 9.50652132e-01 -3.10257621e-01 8.55756359e-04 8.31802040e+01] [ 3.10257492e-01 9.50652517e-01 2.82111001e-04 1.39509376e+01] [-9.01054025e-04 -2.68460242e-06 9.99999594e-01 -1.68185616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:13.97, Z:-0.02 [[ 9.51396637e-01 -3.07967054e-01 8.55683082e-04 8.32342005e+01] [ 3.07966925e-01 9.51397022e-01 2.82333087e-04 1.39734736e+01] [-9.01043625e-04 -5.08866250e-06 9.99999594e-01 -2.20845384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:83.29, Y:14.00, Z:-0.03 [[ 9.51370523e-01 -3.08047716e-01 8.55657184e-04 8.32869502e+01] [ 3.08047586e-01 9.51370908e-01 2.82411551e-04 1.39979232e+01] [-9.01043586e-04 -5.09489467e-06 9.99999594e-01 -2.69784174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.34, Y:14.02, Z:-0.03 [[ 9.52238131e-01 -3.05355220e-01 8.55627931e-04 8.33395257e+01] [ 3.05355089e-01 9.52238515e-01 2.82500154e-04 1.40218035e+01] [-9.01024767e-04 -7.73707538e-06 9.99999594e-01 -2.97809236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.39, Y:14.04, Z:-0.03 [[ 9.52316181e-01 -3.05111717e-01 8.55593015e-04 8.33946717e+01] [ 3.05111586e-01 9.52316565e-01 2.82605861e-04 1.40419974e+01] [-9.01021761e-04 -8.07879238e-06 9.99999594e-01 -2.93768513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.45, Y:14.05, Z:-0.03 [[ 9.52427642e-01 -3.04763605e-01 8.55525773e-04 8.34521599e+01] [ 3.04763474e-01 9.52428026e-01 2.82809275e-04 1.40548518e+01] [-9.01016697e-04 -8.62236506e-06 9.99999594e-01 -2.79148955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:14.07, Z:-0.03 [[ 9.52358977e-01 -3.04978108e-01 8.55461476e-04 8.35074889e+01] [ 3.04977977e-01 9.52359362e-01 2.83003632e-04 1.40741204e+01] [-9.01016657e-04 -8.62413917e-06 9.99999594e-01 -2.55199970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:14.10, Z:-0.03 [[ 9.52354956e-01 -3.04990666e-01 8.55379572e-04 8.35620780e+01] [ 3.04990535e-01 9.52355340e-01 2.83250970e-04 1.40959130e+01] [-9.01014205e-04 -8.87279156e-06 9.99999594e-01 -3.28862908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:14.11, Z:-0.04 [[ 9.51865758e-01 -3.06514023e-01 8.55303015e-04 8.36186871e+01] [ 3.06513892e-01 9.51866143e-01 2.83481953e-04 1.41107773e+01] [-9.01025176e-04 -7.67450814e-06 9.99999594e-01 -3.55995332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.67, Y:14.13, Z:-0.03 [[ 9.49336908e-01 -3.14258977e-01 8.55285608e-04 8.36734809e+01] [ 3.14258849e-01 9.49337293e-01 2.83534462e-04 1.41349574e+01] [-9.01057774e-04 -3.88658607e-07 9.99999594e-01 -2.99105453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.73, Y:14.15, Z:-0.03 [[ 9.48082205e-01 -3.18024215e-01 8.55268245e-04 8.37301794e+01] [ 3.18024089e-01 9.48082591e-01 2.83586828e-04 1.41511099e+01] [-9.01052411e-04 3.13227918e-06 9.99999594e-01 -3.25300792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.341052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:14.17, Z:-0.02 [[ 9.47380136e-01 -3.20109586e-01 8.55197223e-04 8.37853239e+01] [ 3.20109460e-01 9.47380522e-01 2.83800841e-04 1.41701522e+01] [-9.01044561e-04 4.88944226e-06 9.99999594e-01 -2.36645035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:14.19, Z:-0.02 [[ 9.47952374e-01 -3.18411000e-01 8.55175379e-04 8.38407797e+01] [ 3.18410874e-01 9.47952760e-01 2.83866648e-04 1.41910352e+01] [-9.01052125e-04 3.20507639e-06 9.99999594e-01 -2.22743266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:14.21, Z:-0.03 [[ 9.49305980e-01 -3.14352389e-01 8.55108114e-04 8.38959978e+01] [ 3.14352261e-01 9.49306365e-01 2.84069132e-04 1.42113312e+01] [-9.01057386e-04 -8.63356420e-07 9.99999594e-01 -2.73038467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.95, Y:14.23, Z:-0.02 [[ 9.49616354e-01 -3.13413542e-01 8.55041018e-04 8.39531968e+01] [ 3.13413414e-01 9.49616739e-01 2.84270946e-04 1.42258968e+01] [-9.01055627e-04 -1.96701556e-06 9.99999594e-01 -2.44834641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.01, Y:14.24, Z:-0.02 [[ 9.47857682e-01 -3.18692772e-01 8.54973028e-04 8.40088774e+01] [ 3.18692645e-01 9.47858068e-01 2.84475287e-04 1.42437692e+01] [-9.01053300e-04 2.83153012e-06 9.99999594e-01 -2.19525174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.641052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:14.26, Z:-0.02 [[ 9.47431170e-01 -3.19958509e-01 8.54899742e-04 8.40647992e+01] [ 3.19958382e-01 9.47431556e-01 2.84695351e-04 1.42632342e+01] [-9.01049693e-04 3.80308861e-06 9.99999594e-01 -1.89419426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:14.28, Z:-0.02 [[ 9.45019565e-01 -3.27012676e-01 8.54827717e-04 8.41179764e+01] [ 3.27012552e-01 9.45019952e-01 2.84911451e-04 1.42838413e+01] [-9.00998904e-04 1.02924977e-05 9.99999594e-01 -1.57025541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.17, Y:14.31, Z:-0.01 [[ 9.42927173e-01 -3.32997921e-01 8.54792204e-04 8.41727310e+01] [ 3.32997799e-01 9.42927561e-01 2.85017956e-04 1.43096775e+01] [-9.00917515e-04 1.58927467e-05 9.99999594e-01 -5.89615899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82105275400001 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:14.35, Z:-0.02 [[ 9.35749634e-01 -3.52663994e-01 8.54729813e-04 8.42206367e+01] [ 3.52663880e-01 9.35750023e-01 2.85204938e-04 1.43497003e+01] [-9.00394955e-04 3.45519157e-05 9.99999594e-01 -2.23484792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.28, Y:14.37, Z:-0.01 [[ 9.36953313e-01 -3.49453513e-01 8.54709775e-04 8.42769511e+01] [ 3.49453398e-01 9.36953703e-01 2.85264975e-04 1.43666250e+01] [-9.00510336e-04 3.14012715e-05 9.99999594e-01 -1.41775257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:14.40, Z:-0.02 [[ 9.36031976e-01 -3.51913924e-01 8.54685800e-04 8.43279709e+01] [ 3.51913810e-01 9.36032365e-01 2.85336787e-04 1.44033823e+01] [-9.00427560e-04 3.36913800e-05 9.99999594e-01 -1.97494335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:14.45, Z:-0.02 [[ 9.35123530e-01 -3.54320835e-01 8.54656071e-04 8.43741255e+01] [ 3.54320721e-01 9.35123920e-01 2.85425806e-04 1.44500550e+01] [-9.00341645e-04 3.59139689e-05 9.99999594e-01 -2.45631276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.061052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:14.47, Z:-0.01 [[ 9.41472598e-01 -3.37088440e-01 8.54587386e-04 8.44291921e+01] [ 3.37088320e-01 9.41472986e-01 2.85631308e-04 1.44688408e+01] [-9.00853950e-04 1.91573760e-05 9.99999594e-01 -1.31930829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.121052754 meters Centerline goodness : 0.991515 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:14.52, Z:-0.03 [[ 9.36277317e-01 -3.51260667e-01 8.54572484e-04 8.44740403e+01] [ 3.51260552e-01 9.36277706e-01 2.85675886e-04 1.45214526e+01] [-9.00463867e-04 3.27057507e-05 9.99999594e-01 -3.11778842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:14.54, Z:-0.01 [[ 9.42744723e-01 -3.33514104e-01 8.54501740e-04 8.45297478e+01] [ 3.33513982e-01 9.42745110e-01 2.85887334e-04 1.45415280e+01] [-9.00924795e-04 1.54695023e-05 9.99999594e-01 -1.09567827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:14.58, Z:-0.02 [[ 9.44433920e-01 -3.28700229e-01 8.54472533e-04 8.45781502e+01] [ 3.28700105e-01 9.44434306e-01 2.85974605e-04 1.45804858e+01] [-9.00993092e-04 1.07810943e-05 9.99999594e-01 -1.73062562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:14.63, Z:-0.03 [[ 9.43126799e-01 -3.32432115e-01 8.54392586e-04 8.46251235e+01] [ 3.32431992e-01 9.43127186e-01 2.86213257e-04 1.46268904e+01] [-9.00947354e-04 1.40920367e-05 9.99999594e-01 -3.13571818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:14.68, Z:-0.03 [[ 9.42993150e-01 -3.32811040e-01 8.54380063e-04 8.46694728e+01] [ 3.32810917e-01 9.42993537e-01 2.86250636e-04 1.46751772e+01] [-9.00942250e-04 1.44146237e-05 9.99999594e-01 -3.32929447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:14.70, Z:-0.03 [[ 9.45330945e-01 -3.26111446e-01 8.54347187e-04 8.47220172e+01] [ 3.26111320e-01 9.45331331e-01 2.86348723e-04 1.47036563e+01] [-9.01022760e-04 7.91798048e-06 9.99999594e-01 -2.94926061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481052754 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:14.74, Z:-0.03 [[ 9.48025489e-01 -3.18193247e-01 8.54280832e-04 8.47729219e+01] [ 3.18193118e-01 9.48025874e-01 2.86546547e-04 1.47386351e+01] [-9.01057509e-04 1.72851313e-07 9.99999594e-01 -2.82463707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.81, Y:14.80, Z:-0.04 [[ 9.49783520e-01 -3.12906593e-01 8.54211617e-04 8.48143331e+01] [ 3.12906462e-01 9.49783904e-01 2.86752733e-04 1.47987481e+01] [-9.01043265e-04 -5.06468505e-06 9.99999594e-01 -3.61179109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60105275400001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:84.86, Y:14.84, Z:-0.04 [[ 9.49653641e-01 -3.13300546e-01 8.54172139e-04 8.48622037e+01] [ 3.13300414e-01 9.49654025e-01 2.86870282e-04 1.48368473e+01] [-9.01044626e-04 -4.81492261e-06 9.99999594e-01 -3.75753185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:14.86, Z:-0.03 [[ 9.50826671e-01 -3.09722314e-01 8.54146557e-04 8.49145953e+01] [ 3.09722182e-01 9.50827055e-01 2.86946432e-04 1.48644596e+01] [-9.01019368e-04 -8.28818570e-06 9.99999594e-01 -2.70827981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:14.90, Z:-0.04 [[ 9.52060788e-01 -3.05907709e-01 8.54076803e-04 8.49641289e+01] [ 3.05907575e-01 9.52061171e-01 2.87153898e-04 1.49025657e+01] [-9.00975953e-04 -1.21194028e-05 9.99999594e-01 -3.65901999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.781052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:14.93, Z:-0.04 [[ 9.52925817e-01 -3.03202338e-01 8.54005000e-04 8.50144973e+01] [ 3.03202202e-01 9.52926200e-01 2.87367287e-04 1.49308025e+01] [-9.00934172e-04 -1.49035102e-05 9.99999594e-01 -3.73238837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.841052754 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:14.98, Z:-0.04 [[ 9.53563573e-01 -3.01190609e-01 8.53969486e-04 8.50608934e+01] [ 3.01190472e-01 9.53563955e-01 2.87472784e-04 1.49765425e+01] [-9.00898623e-04 -1.69161026e-05 9.99999594e-01 -3.50257243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:15.01, Z:-0.03 [[ 9.54316643e-01 -2.98795944e-01 8.53897520e-04 8.51099295e+01] [ 2.98795806e-01 9.54317025e-01 2.87686389e-04 1.50138556e+01] [-9.00848467e-04 -1.94029113e-05 9.99999594e-01 -3.01167132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.16, Y:15.04, Z:-0.03 [[ 9.53840085e-01 -3.00313776e-01 8.53882444e-04 8.51613002e+01] [ 3.00313639e-01 9.53840467e-01 2.87731131e-04 1.50423621e+01] [-9.00877251e-04 -1.80169422e-05 9.99999594e-01 -2.98651038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:15.09, Z:-0.04 [[ 9.54616891e-01 -2.97835296e-01 8.53800627e-04 8.52075263e+01] [ 2.97835157e-01 9.54617272e-01 2.87973705e-04 1.50893330e+01] [-9.00821559e-04 -2.06127186e-05 9.99999594e-01 -3.56470492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:85.26, Y:15.12, Z:-0.04 [[ 9.55522411e-01 -2.94917266e-01 8.53785582e-04 8.52596021e+01] [ 2.94917126e-01 9.55522792e-01 2.88018304e-04 1.51201984e+01] [-9.00753154e-04 -2.34119537e-05 9.99999594e-01 -4.08874691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:15.13, Z:-0.06 [[ 9.55356915e-01 -2.95452933e-01 8.53714880e-04 8.53171646e+01] [ 2.95452793e-01 9.55357296e-01 2.88227718e-04 1.51335464e+01] [-9.00760465e-04 -2.31278979e-05 9.99999594e-01 -6.21725812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201052754 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:15.17, Z:-0.04 [[ 9.56340860e-01 -2.92252340e-01 8.53709908e-04 8.53660971e+01] [ 2.92252199e-01 9.56341241e-01 2.88242446e-04 1.51714349e+01] [-9.00677522e-04 -2.61594313e-05 9.99999594e-01 -3.77241558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:15.19, Z:-0.06 [[ 9.58642560e-01 -2.84611514e-01 8.53637386e-04 8.54226965e+01] [ 2.84611369e-01 9.58642939e-01 2.88457061e-04 1.51891155e+01] [-9.00431654e-04 -3.35723099e-05 9.99999594e-01 -5.80508109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32105275400001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.48, Y:15.21, Z:-0.06 [[ 9.61413197e-01 -2.75107135e-01 8.53601324e-04 8.54760916e+01] [ 2.75106987e-01 9.61413575e-01 2.88563737e-04 1.52100069e+01] [-9.00049843e-04 -4.25972967e-05 9.99999594e-01 -5.70325561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:15.23, Z:-0.06 [[ 9.61975917e-01 -2.73132948e-01 8.53555876e-04 8.55293707e+01] [ 2.73132799e-01 9.61976294e-01 2.88698108e-04 1.52329607e+01] [-8.99953483e-04 -4.45865209e-05 9.99999594e-01 -5.91375801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:15.25, Z:-0.06 [[ 9.61934341e-01 -2.73279336e-01 8.53518206e-04 8.55844521e+01] [ 2.73279187e-01 9.61934718e-01 2.88809434e-04 1.52542511e+01] [-8.99954445e-04 -4.45669507e-05 9.99999594e-01 -5.59020819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:15.27, Z:-0.05 [[ 9.61739852e-01 -2.73963007e-01 8.53448523e-04 8.56387601e+01] [ 2.73962858e-01 9.61740229e-01 2.89015202e-04 1.52741284e+01] [-8.99975253e-04 -4.41442412e-05 9.99999594e-01 -5.38078614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.561052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:15.30, Z:-0.05 [[ 9.62011468e-01 -2.73007704e-01 8.53369352e-04 8.56928327e+01] [ 2.73007554e-01 9.62011846e-01 2.89248782e-04 1.52970351e+01] [-8.99918571e-04 -4.52843655e-05 9.99999594e-01 -5.30839001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.621052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.75, Y:15.32, Z:-0.05 [[ 9.61500354e-01 -2.74802366e-01 8.53297319e-04 8.57457326e+01] [ 2.74802218e-01 9.61500732e-01 2.89461125e-04 1.53216143e+01] [-8.99990599e-04 -4.38289784e-05 9.99999594e-01 -5.45326534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.80, Y:15.34, Z:-0.05 [[ 9.61652047e-01 -2.74271058e-01 8.53216074e-04 8.57997343e+01] [ 2.74270908e-01 9.61652424e-01 2.89700406e-04 1.53436311e+01] [-8.99953743e-04 -4.45786406e-05 9.99999594e-01 -5.36646743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.85, Y:15.37, Z:-0.05 [[ 9.61322889e-01 -2.75422538e-01 8.53191156e-04 8.58536206e+01] [ 2.75422389e-01 9.61323267e-01 2.89773772e-04 1.53673440e+01] [-9.00002738e-04 -4.35782133e-05 9.99999594e-01 -4.79231611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.91, Y:15.40, Z:-0.05 [[ 9.59466926e-01 -2.81819962e-01 8.53118862e-04 8.59054352e+01] [ 2.81819815e-01 9.59467304e-01 2.89986457e-04 1.53960238e+01] [-9.00263627e-04 -3.78066146e-05 9.99999594e-01 -4.79007223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:15.42, Z:-0.05 [[ 9.57388753e-01 -2.88801054e-01 8.53093486e-04 8.59591728e+01] [ 2.88800910e-01 9.57389132e-01 2.90061090e-04 1.54202180e+01] [-9.00512380e-04 -3.13270508e-05 9.99999594e-01 -4.64014664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:15.45, Z:-0.05 [[ 9.55849971e-01 -2.93853883e-01 8.53023302e-04 8.60112230e+01] [ 2.93853741e-01 9.55850351e-01 2.90267344e-04 1.54506519e+01] [-9.00658809e-04 -2.67879440e-05 9.99999594e-01 -5.07800593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:15.48, Z:-0.04 [[ 9.55925482e-01 -2.93608149e-01 8.52952048e-04 8.60624151e+01] [ 2.93608007e-01 9.55925862e-01 2.90476572e-04 1.54811289e+01] [-9.00645211e-04 -2.72404066e-05 9.99999594e-01 -4.09082524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:15.52, Z:-0.04 [[ 9.55783847e-01 -2.94068887e-01 8.52870687e-04 8.61112893e+01] [ 2.94068745e-01 9.55784227e-01 2.90715261e-04 1.55197136e+01] [-9.00650664e-04 -2.70583377e-05 9.99999594e-01 -3.53840192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10105275400001 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:15.56, Z:-0.04 [[ 9.53379803e-01 -3.01771809e-01 8.52801276e-04 8.61577458e+01] [ 3.01771670e-01 9.53380184e-01 2.90918732e-04 1.55641353e+01] [-9.00834910e-04 -2.00047778e-05 9.99999594e-01 -3.89402164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.21, Y:15.59, Z:-0.04 [[ 9.53908434e-01 -3.00096607e-01 8.52706620e-04 8.62095328e+01] [ 3.00096466e-01 9.53908814e-01 2.91195913e-04 1.55903581e+01] [-9.00791266e-04 -2.18799936e-05 9.99999594e-01 -3.74934043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:86.26, Y:15.64, Z:-0.04 [[ 9.55192417e-01 -2.95984323e-01 8.52602643e-04 8.62554608e+01] [ 2.95984181e-01 9.55192797e-01 2.91500032e-04 1.56386682e+01] [-9.00679344e-04 -2.60817253e-05 9.99999594e-01 -3.51734017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.281052754 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:15.69, Z:-0.03 [[ 9.56979784e-01 -2.90153348e-01 8.52530476e-04 8.63027859e+01] [ 2.90153204e-01 9.56980164e-01 2.91710944e-04 1.56862810e+01] [-9.00495661e-04 -3.17970278e-05 9.99999594e-01 -3.38814491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.341052754 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:86.36, Y:15.72, Z:-0.04 [[ 9.57533919e-01 -2.88319384e-01 8.52535556e-04 8.63551785e+01] [ 2.88319239e-01 9.57534298e-01 2.91696096e-04 1.57240763e+01] [-9.00433674e-04 -3.35065037e-05 9.99999594e-01 -3.64710840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.401052754 meters Centerline goodness : 0.997901 with order 1 Centerline is valid? [True, True] Translation: X:86.41, Y:15.77, Z:-0.04 [[ 9.58063052e-01 -2.86556210e-01 8.52555320e-04 8.64066798e+01] [ 2.86556064e-01 9.58063431e-01 2.91638320e-04 1.57655203e+01] [-9.00372846e-04 -3.51030026e-05 9.99999594e-01 -3.85479455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46105275400001 meters Centerline goodness : 0.997507 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:15.82, Z:-0.04 [[ 9.58121470e-01 -2.86360826e-01 8.52579618e-04 8.64541161e+01] [ 2.86360680e-01 9.58121848e-01 2.91567270e-04 1.58225349e+01] [-9.00368603e-04 -3.52115819e-05 9.99999594e-01 -3.60989826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52105275400001 meters Centerline goodness : 0.996773 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:15.86, Z:-0.04 [[ 9.57922228e-01 -2.87026616e-01 8.52658958e-04 8.65076880e+01] [ 2.87026470e-01 9.57922607e-01 2.91335061e-04 1.58562732e+01] [-9.00402209e-04 -3.43406398e-05 9.99999594e-01 -3.97831196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters Centerline goodness : 0.995458 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:15.91, Z:-0.04 [[ 9.55647744e-01 -2.94510888e-01 8.52732616e-04 8.65571173e+01] [ 2.94510745e-01 9.55648124e-01 2.91119305e-04 1.59066052e+01] [-9.00650130e-04 -2.70685893e-05 9.99999594e-01 -3.97939216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641052754 meters Centerline goodness : 0.994086 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:15.96, Z:-0.03 [[ 9.52542754e-01 -3.04403637e-01 8.52810619e-04 8.66064583e+01] [ 3.04403499e-01 9.52543136e-01 2.90890624e-04 1.59564446e+01] [-9.00887065e-04 -1.74872203e-05 9.99999594e-01 -3.49976970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701052754 meters Centerline goodness : 0.994378 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:15.97, Z:-0.04 [[ 9.55666286e-01 -2.94450714e-01 8.52888878e-04 8.66681139e+01] [ 2.94450572e-01 9.55666666e-01 2.90660986e-04 1.59720560e+01] [-9.00662806e-04 -2.66412875e-05 9.99999594e-01 -4.14617093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.761052754 meters Centerline goodness : 0.995916 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:16.02, Z:-0.04 [[ 9.52374140e-01 -3.04930762e-01 8.52973467e-04 8.67168347e+01] [ 3.04930624e-01 9.52374522e-01 2.90412539e-04 1.60247002e+01] [-9.00905915e-04 -1.64836601e-05 9.99999594e-01 -3.94026157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82105275400001 meters Centerline goodness : 0.996724 with order 1 Centerline is valid? [True, True] Translation: X:86.76, Y:16.10, Z:-0.04 [[ 9.46986044e-01 -3.21273568e-01 8.53055117e-04 8.67581838e+01] [ 3.21273437e-01 9.46986428e-01 2.90172502e-04 1.60974334e+01] [-9.01056374e-04 -7.25360722e-07 9.99999594e-01 -3.89417344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88105275400001 meters Centerline goodness : 0.997613 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:16.16, Z:-0.03 [[ 9.47941016e-01 -3.18444817e-01 8.53135794e-04 8.68028577e+01] [ 3.18444685e-01 9.47941400e-01 2.89935112e-04 1.61632241e+01] [-9.01051073e-04 -3.16482523e-06 9.99999594e-01 -3.35748058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:16.22, Z:-0.03 [[ 9.54290470e-01 -2.98879527e-01 8.53216104e-04 8.68485007e+01] [ 2.98879387e-01 9.54290851e-01 2.89698584e-04 1.62238125e+01] [-9.00801297e-04 -2.14478922e-05 9.99999594e-01 -2.85636258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.001052754 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:16.28, Z:-0.04 [[ 9.61923901e-01 -2.73316081e-01 8.53287171e-04 8.68930828e+01] [ 2.73315932e-01 9.61924279e-01 2.89489108e-04 1.62836586e+01] [-8.99919675e-04 -4.52495137e-05 9.99999594e-01 -3.55400759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.061052754 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:86.95, Y:16.31, Z:-0.03 [[ 9.57172891e-01 -2.89515681e-01 8.53327103e-04 8.69491905e+01] [ 2.89515537e-01 9.57173271e-01 2.89371355e-04 1.63120292e+01] [-9.00559438e-04 -2.99269612e-05 9.99999594e-01 -3.49608624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.121052754 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:16.31, Z:-0.04 [[ 9.54525757e-01 -2.98127239e-01 8.53395940e-04 8.70164784e+01] [ 2.98127100e-01 9.54526138e-01 2.89168201e-04 1.63088213e+01] [-9.00797648e-04 -2.15980398e-05 9.99999594e-01 -4.17979446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.181052754 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:87.07, Y:16.35, Z:-0.04 [[ 9.50260404e-01 -3.11455351e-01 8.53432937e-04 8.70684292e+01] [ 3.11455217e-01 9.50260787e-01 2.89058968e-04 1.63487766e+01] [-9.01012817e-04 -8.87515095e-06 9.99999594e-01 -4.36950861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24105275400001 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:87.13, Y:16.35, Z:-0.04 [[ 9.57369263e-01 -2.88865652e-01 8.53457185e-04 8.71332996e+01] [ 2.88865509e-01 9.57369643e-01 2.88987358e-04 1.63521488e+01] [-9.00552522e-04 -3.01332698e-05 9.99999594e-01 -4.00884542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:87.19, Y:16.38, Z:-0.04 [[ 9.60019043e-01 -2.79933400e-01 8.53529875e-04 8.71905697e+01] [ 2.79933253e-01 9.60019422e-01 2.88772508e-04 1.63768500e+01] [-9.00242327e-04 -3.82957123e-05 9.99999594e-01 -3.89948927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:87.25, Y:16.39, Z:-0.04 [[ 9.58457920e-01 -2.85232688e-01 8.53599777e-04 8.72489591e+01] [ 2.85232544e-01 9.58458300e-01 2.88565733e-04 1.63949767e+01] [-9.00448170e-04 -3.31036760e-05 9.99999594e-01 -4.12580210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421052754 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:87.31, Y:16.42, Z:-0.04 [[ 9.58894752e-01 -2.83760683e-01 8.53609400e-04 8.73061525e+01] [ 2.83760539e-01 9.58895132e-01 2.88537262e-04 1.64192598e+01] [-9.00397429e-04 -3.44562035e-05 9.99999594e-01 -3.91828380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.481052754 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:16.44, Z:-0.03 [[ 9.58536795e-01 -2.84967514e-01 8.53675965e-04 8.73617998e+01] [ 2.84967370e-01 9.58537174e-01 2.88340187e-04 1.64443573e+01] [-9.00447734e-04 -3.31148839e-05 9.99999594e-01 -2.86636661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541052754 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:16.47, Z:-0.03 [[ 9.57939637e-01 -2.86968507e-01 8.53680892e-04 8.74185188e+01] [ 2.86968364e-01 9.57940016e-01 2.88325598e-04 1.64684100e+01] [-9.00515454e-04 -3.12191094e-05 9.99999594e-01 -2.81826748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60105275400001 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:16.49, Z:-0.03 [[ 9.57784666e-01 -2.87485311e-01 8.53743160e-04 8.74770899e+01] [ 2.87485169e-01 9.57785046e-01 2.88141102e-04 1.64891589e+01] [-9.00538767e-04 -3.05386328e-05 9.99999594e-01 -2.65815220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:16.51, Z:-0.03 [[ 9.59357822e-01 -2.82191142e-01 8.53811409e-04 8.75356348e+01] [ 2.82190998e-01 9.59358201e-01 2.87938726e-04 1.65082673e+01] [-9.00364736e-04 -3.52983752e-05 9.99999594e-01 -3.33679700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:16.54, Z:-0.04 [[ 9.60818112e-01 -2.77178331e-01 8.53873727e-04 8.75903425e+01] [ 2.77178185e-01 9.60818490e-01 2.87753805e-04 1.65424645e+01] [-9.00176785e-04 -3.98038978e-05 9.99999594e-01 -3.56025633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781052754 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:87.65, Y:16.56, Z:-0.03 [[ 9.64903752e-01 -2.62602398e-01 8.53940097e-04 8.76491636e+01] [ 2.62602246e-01 9.64904129e-01 2.87556710e-04 1.65608658e+01] [-8.99483407e-04 -5.32179607e-05 9.99999594e-01 -3.39386506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841052754 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:16.57, Z:-0.03 [[ 9.67820767e-01 -2.51639096e-01 8.53974310e-04 8.77124870e+01] [ 2.51638940e-01 9.67821141e-01 2.87455071e-04 1.65693701e+01] [-8.98829325e-04 -6.33117977e-05 9.99999594e-01 -2.91199913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:16.60, Z:-0.02 [[ 9.71992327e-01 -2.35011035e-01 8.53997959e-04 8.77661174e+01] [ 2.35010872e-01 9.71992699e-01 2.87384795e-04 1.66031604e+01] [-8.97618379e-04 -7.86370109e-05 9.99999594e-01 -2.39332806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:16.62, Z:-0.02 [[ 9.74208201e-01 -2.25649402e-01 8.54031790e-04 8.78261575e+01] [ 2.25649236e-01 9.74208571e-01 2.87284224e-04 1.66225045e+01] [-8.96830603e-04 -8.71630259e-05 9.99999594e-01 -2.28987468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02105275400001 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:16.64, Z:-0.02 [[ 9.75253947e-01 -2.21085977e-01 8.54106261e-04 8.78856248e+01] [ 2.21085809e-01 9.75254317e-01 2.87062647e-04 1.66425665e+01] [-8.96436344e-04 -9.11282061e-05 9.99999594e-01 -2.34441907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.95, Y:16.66, Z:-0.03 [[ 9.75618333e-01 -2.19472410e-01 8.54179912e-04 8.79456181e+01] [ 2.19472242e-01 9.75618702e-01 2.86843325e-04 1.66612775e+01] [-8.96308093e-04 -9.23808258e-05 9.99999594e-01 -2.63502830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:88.01, Y:16.68, Z:-0.03 [[ 9.76218928e-01 -2.16785320e-01 8.54255623e-04 8.80055236e+01] [ 2.16785152e-01 9.76219297e-01 2.86617671e-04 1.66825151e+01] [-8.96075327e-04 -9.46116605e-05 9.99999594e-01 -2.59534815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:16.70, Z:-0.03 [[ 9.76979223e-01 -2.13332762e-01 8.54330257e-04 8.80642866e+01] [ 2.13332592e-01 9.76979592e-01 2.86395034e-04 1.67021174e+01] [-8.95760669e-04 -9.75455097e-05 9.99999594e-01 -2.72326728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261052754 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:16.72, Z:-0.03 [[ 9.76809728e-01 -2.14107508e-01 8.54395900e-04 8.81237325e+01] [ 2.14107338e-01 9.76810097e-01 2.86199068e-04 1.67205065e+01] [-8.95859911e-04 -9.66296019e-05 9.99999594e-01 -3.07332718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32105275400001 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:88.18, Y:16.74, Z:-0.03 [[ 9.76169728e-01 -2.17006757e-01 8.54461621e-04 8.81839535e+01] [ 2.17006589e-01 9.76170097e-01 2.86002718e-04 1.67397629e+01] [-8.96164407e-04 -9.37633940e-05 9.99999594e-01 -2.95416911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.24, Y:16.76, Z:-0.02 [[ 9.75350107e-01 -2.20661366e-01 8.54539823e-04 8.82414819e+01] [ 2.20661199e-01 9.75350477e-01 2.85768870e-04 1.67611267e+01] [-8.96533974e-04 -9.01609160e-05 9.99999594e-01 -2.43006893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:88.30, Y:16.78, Z:-0.02 [[ 9.73289369e-01 -2.29580213e-01 8.54602400e-04 8.83011659e+01] [ 2.29580050e-01 9.73289740e-01 2.85581610e-04 1.67821749e+01] [-8.97339635e-04 -8.17538825e-05 9.99999594e-01 -2.17544912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:16.80, Z:-0.02 [[ 9.69495261e-01 -2.45108563e-01 8.54680856e-04 8.83599903e+01] [ 2.45108406e-01 9.69495636e-01 2.85346614e-04 1.68029459e+01] [-8.98550259e-04 -6.71527282e-05 9.99999594e-01 -2.39144470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.42, Y:16.82, Z:-0.03 [[ 9.64351842e-01 -2.64621982e-01 8.54753340e-04 8.84199261e+01] [ 2.64621833e-01 9.64352220e-01 2.85129325e-04 1.68243090e+01] [-8.99734768e-04 -4.87785947e-05 9.99999594e-01 -2.58045360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:16.85, Z:-0.03 [[ 9.59009689e-01 -2.83371991e-01 8.54828962e-04 8.84795139e+01] [ 2.83371850e-01 9.59010070e-01 2.84902427e-04 1.68459383e+01] [-9.00522950e-04 -3.09897237e-05 9.99999594e-01 -2.55467994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:16.87, Z:-0.02 [[ 9.54941686e-01 -2.96792260e-01 8.54904177e-04 8.85386554e+01] [ 2.96792124e-01 9.54942068e-01 2.84676549e-04 1.68695063e+01] [-9.00873760e-04 -1.81206770e-05 9.99999594e-01 -2.44051007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74105275400001 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:88.60, Y:16.89, Z:-0.02 [[ 9.57893085e-01 -2.87123853e-01 8.54980523e-04 8.85974602e+01] [ 2.87123713e-01 9.57893466e-01 2.84447071e-04 1.68898416e+01] [-9.00651796e-04 -2.69846997e-05 9.99999594e-01 -1.99283744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:16.91, Z:-0.02 [[ 9.60527838e-01 -2.78182568e-01 8.55046490e-04 8.86578316e+01] [ 2.78182425e-01 9.60528218e-01 2.84248638e-04 1.69093274e+01] [-9.00369297e-04 -3.51698235e-05 9.99999594e-01 -1.81063711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:16.92, Z:-0.03 [[ 9.61917696e-01 -2.73337913e-01 8.55123140e-04 8.87179711e+01] [ 2.73337768e-01 9.61918075e-01 2.84017859e-04 1.69239975e+01] [-9.00191254e-04 -3.94643538e-05 9.99999594e-01 -2.64723891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:16.94, Z:-0.03 [[ 9.62964935e-01 -2.69625300e-01 8.55193555e-04 8.87790847e+01] [ 2.69625154e-01 9.62965314e-01 2.83805678e-04 1.69404793e+01] [-9.00042921e-04 -4.27132219e-05 9.99999594e-01 -2.74959880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:16.96, Z:-0.03 [[ 9.62931348e-01 -2.69745227e-01 8.55267439e-04 8.88397213e+01] [ 2.69745082e-01 9.62931727e-01 2.83582848e-04 1.69578018e+01] [-9.00059272e-04 -4.23666286e-05 9.99999594e-01 -2.60149749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.041052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:88.90, Y:16.97, Z:-0.03 [[ 9.61285779e-01 -2.75552026e-01 8.55341947e-04 8.89007040e+01] [ 2.75551883e-01 9.61286159e-01 2.83357937e-04 1.69716102e+01] [-9.00308229e-04 -3.66968709e-05 9.99999594e-01 -3.05252503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10105275400001 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:16.99, Z:-0.03 [[ 9.58986592e-01 -2.83450144e-01 8.55407468e-04 8.89611306e+01] [ 2.83450004e-01 9.58986973e-01 2.83160005e-04 1.69853682e+01] [-9.00586362e-04 -2.90813981e-05 9.99999594e-01 -3.25207026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:17.00, Z:-0.03 [[ 9.55885329e-01 -2.93738839e-01 8.55476779e-04 8.90226186e+01] [ 2.93738703e-01 9.55885712e-01 2.82950447e-04 1.70011591e+01] [-9.00851566e-04 -1.91815421e-05 9.99999594e-01 -3.33322669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters Centerline goodness : 0.999930 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:17.02, Z:-0.04 [[ 9.51785260e-01 -3.06763895e-01 8.55552109e-04 8.90816390e+01] [ 3.06763764e-01 9.51785644e-01 2.82722491e-04 1.70164465e+01] [-9.01031268e-04 -6.63871366e-06 9.99999594e-01 -3.59606421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281052754 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:17.04, Z:-0.03 [[ 9.49181648e-01 -3.14727607e-01 8.55612337e-04 8.91419858e+01] [ 3.14727480e-01 9.49182034e-01 2.82540103e-04 1.70352579e+01] [-9.01055029e-04 1.10283423e-06 9.99999594e-01 -3.19576053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.341052754 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:17.05, Z:-0.03 [[ 9.49492723e-01 -3.13787886e-01 8.55688450e-04 8.92011767e+01] [ 3.13787759e-01 9.49493108e-01 2.82309402e-04 1.70539820e+01] [-9.01055556e-04 4.53837807e-07 9.99999594e-01 -3.02020936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.401052754 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:17.07, Z:-0.03 [[ 9.50266044e-01 -3.11438138e-01 8.55754128e-04 8.92604503e+01] [ 3.11438010e-01 9.50266429e-01 2.82110173e-04 1.70742167e+01] [-9.01054287e-04 -1.56535520e-06 9.99999594e-01 -2.50928806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46105275400001 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:17.09, Z:-0.03 [[ 9.51603830e-01 -3.07326239e-01 8.55820833e-04 8.93198247e+01] [ 3.07326110e-01 9.51604215e-01 2.81907671e-04 1.70917871e+01] [-9.01040336e-04 -5.24833197e-06 9.99999594e-01 -2.74772042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52105275400001 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:17.11, Z:-0.03 [[ 9.53406264e-01 -3.01688189e-01 8.55891347e-04 8.93802699e+01] [ 3.01688057e-01 9.53406648e-01 2.81693421e-04 1.71102562e+01] [-9.00996078e-04 -1.03560745e-05 9.99999594e-01 -2.61616757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:17.14, Z:-0.03 [[ 9.57833690e-01 -2.87321925e-01 8.55969522e-04 8.94381150e+01] [ 2.87321788e-01 9.57834073e-01 2.81455674e-04 1.71363324e+01] [-9.00745159e-04 -2.36490330e-05 9.99999594e-01 -2.57014141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.641052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:89.49, Y:17.17, Z:-0.02 [[ 9.62836137e-01 -2.70084876e-01 8.56046628e-04 8.94913611e+01] [ 2.70084732e-01 9.62836517e-01 2.81220961e-04 1.71716458e+01] [-9.00186482e-04 -3.95645799e-05 9.99999594e-01 -2.23374149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.701052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:17.20, Z:-0.02 [[ 9.59832709e-01 -2.80571626e-01 8.56094302e-04 8.95490436e+01] [ 2.80571486e-01 9.59833091e-01 2.81075756e-04 1.71962255e+01] [-9.00569522e-04 -2.95900541e-05 9.99999594e-01 -2.19259003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.761052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:89.61, Y:17.22, Z:-0.03 [[ 9.51836910e-01 -3.06603594e-01 8.56159804e-04 8.96095167e+01] [ 3.06603465e-01 9.51837295e-01 2.80876095e-04 1.72159365e+01] [-9.01042452e-04 -4.84667220e-06 9.99999594e-01 -2.81295087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82105275400001 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:17.23, Z:-0.04 [[ 9.44865285e-01 -3.27458180e-01 8.56237648e-04 8.96694853e+01] [ 3.27458060e-01 9.44865673e-01 2.80638589e-04 1.72327457e+01] [-9.00926963e-04 1.52162592e-05 9.99999594e-01 -3.54888394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88105275400001 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:89.73, Y:17.25, Z:-0.04 [[ 9.45157526e-01 -3.26613712e-01 8.56305019e-04 8.97291771e+01] [ 3.26613592e-01 9.45157914e-01 2.80432872e-04 1.72517763e+01] [-9.00936687e-04 1.46276186e-05 9.99999594e-01 -3.84027104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:17.27, Z:-0.04 [[ 9.46030256e-01 -3.24077185e-01 8.56376810e-04 8.97883062e+01] [ 3.24077064e-01 9.46030643e-01 2.80213466e-04 1.72734165e+01] [-9.00969496e-04 1.24416653e-05 9.99999594e-01 -3.55565852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001052754 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:89.85, Y:17.29, Z:-0.03 [[ 9.47952471e-01 -3.18410710e-01 8.56409996e-04 8.98460946e+01] [ 3.18410586e-01 9.47952857e-01 2.80112005e-04 1.72927334e+01] [-9.01026965e-04 7.15714156e-06 9.99999594e-01 -3.30390276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.061052754 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:17.30, Z:-0.05 [[ 9.53116861e-01 -3.02601250e-01 8.56471333e-04 8.99073874e+01] [ 3.02601121e-01 9.53117245e-01 2.79924335e-04 1.73022853e+01] [-9.01023051e-04 -7.63141823e-06 9.99999594e-01 -4.59077696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.121052754 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:17.33, Z:-0.03 [[ 9.50718772e-01 -3.10053355e-01 8.56485324e-04 8.99617011e+01] [ 3.10053229e-01 9.50719158e-01 2.79881519e-04 1.73292953e+01] [-9.01055210e-04 -5.32573520e-07 9.99999594e-01 -3.33820329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.181052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:17.35, Z:-0.03 [[ 9.50361620e-01 -3.11146360e-01 8.56488840e-04 9.00221049e+01] [ 3.11146234e-01 9.50362006e-01 2.79870760e-04 1.73489476e+01] [-9.01055220e-04 5.14847468e-07 9.99999594e-01 -3.32207819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24105275400001 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:17.37, Z:-0.03 [[ 9.49459791e-01 -3.13887515e-01 8.56562853e-04 9.00803715e+01] [ 3.13887390e-01 9.49460177e-01 2.79644053e-04 1.73673082e+01] [-9.01049095e-04 3.35349387e-06 9.99999594e-01 -3.32990651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:17.39, Z:-0.04 [[ 9.47765842e-01 -3.18965790e-01 8.56622094e-04 9.01393801e+01] [ 3.18965667e-01 9.47766229e-01 2.79462466e-04 1.73865127e+01] [-9.01016458e-04 8.36805800e-06 9.99999594e-01 -3.75704981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:17.40, Z:-0.05 [[ 9.47228232e-01 -3.20558796e-01 8.56689299e-04 9.01981561e+01] [ 3.20558675e-01 9.47228620e-01 2.79256298e-04 1.74036233e+01] [-9.00998685e-04 1.00997372e-05 9.99999594e-01 -4.50789824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421052754 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:90.26, Y:17.42, Z:-0.05 [[ 9.48135555e-01 -3.17865122e-01 8.56725511e-04 9.02587534e+01] [ 3.17865000e-01 9.48135942e-01 2.79145160e-04 1.74205750e+01] [-9.01022759e-04 7.65560318e-06 9.99999594e-01 -4.51277719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481052754 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:17.44, Z:-0.04 [[ 9.47265687e-01 -3.20448098e-01 8.56801307e-04 9.03176345e+01] [ 3.20447977e-01 9.47266075e-01 2.78912318e-04 1.74431552e+01] [-9.00995733e-04 1.03561771e-05 9.99999594e-01 -4.20191595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541052754 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:90.38, Y:17.46, Z:-0.04 [[ 9.46932622e-01 -3.21430981e-01 8.56878017e-04 9.03769959e+01] [ 3.21430861e-01 9.46933009e-01 2.78676451e-04 1.74634208e+01] [-9.00981324e-04 1.15392162e-05 9.99999594e-01 -3.65496034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60105275400001 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:17.48, Z:-0.04 [[ 9.47334362e-01 -3.20245020e-01 8.56901749e-04 9.04379534e+01] [ 3.20244899e-01 9.47334749e-01 2.78603458e-04 1.74816192e+01] [-9.00994173e-04 1.04877851e-05 9.99999594e-01 -3.87355408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:17.50, Z:-0.04 [[ 9.47438665e-01 -3.19936309e-01 8.56978713e-04 9.04974778e+01] [ 3.19936188e-01 9.47439053e-01 2.78366514e-04 1.74990255e+01] [-9.00994655e-04 1.04433038e-05 9.99999594e-01 -4.05946658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:17.52, Z:-0.04 [[ 9.48046599e-01 -3.18130337e-01 8.57049714e-04 9.05569424e+01] [ 3.18130215e-01 9.48046987e-01 2.78147742e-04 1.75171335e+01] [-9.01010634e-04 8.95638882e-06 9.99999594e-01 -4.11918379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.781052754 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:17.54, Z:-0.04 [[ 9.48248137e-01 -3.17529112e-01 8.57096324e-04 9.06176456e+01] [ 3.17528990e-01 9.48248524e-01 2.78004043e-04 1.75351068e+01] [-9.01014701e-04 8.53611429e-06 9.99999594e-01 -4.39026509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.841052754 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:17.55, Z:-0.05 [[ 9.48714877e-01 -3.16131852e-01 8.57169348e-04 9.06785103e+01] [ 3.16131730e-01 9.48715264e-01 2.77778704e-04 1.75530415e+01] [-9.01024341e-04 7.44563969e-06 9.99999594e-01 -4.62761833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.901052754 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:17.57, Z:-0.05 [[ 9.50690148e-01 -3.10141108e-01 8.57241087e-04 9.07376103e+01] [ 3.10140984e-01 9.50690535e-01 2.77557138e-04 1.75687796e+01] [-9.01052866e-04 1.99475787e-06 9.99999594e-01 -4.84935831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96105275400001 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:17.59, Z:-0.05 [[ 9.51815924e-01 -3.06668734e-01 8.57275985e-04 9.07983579e+01] [ 3.06668608e-01 9.51816310e-01 2.77449308e-04 1.75874685e+01] [-9.01054292e-04 -1.18103603e-06 9.99999594e-01 -4.72947171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02105275400001 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:17.61, Z:-0.05 [[ 9.51679073e-01 -3.07093156e-01 8.57349307e-04 9.08583372e+01] [ 3.07093031e-01 9.51679459e-01 2.77222550e-04 1.76068921e+01] [-9.01054873e-04 -5.40902150e-07 9.99999594e-01 -4.54302497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:17.62, Z:-0.05 [[ 9.51469800e-01 -3.07740938e-01 8.57422712e-04 9.09186813e+01] [ 3.07740813e-01 9.51470186e-01 2.76995328e-04 1.76239860e+01] [-9.01054949e-04 3.11272712e-07 9.99999594e-01 -4.77409183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.141052754 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:17.64, Z:-0.05 [[ 9.50890742e-01 -3.09525542e-01 8.57498894e-04 9.09779166e+01] [ 3.09525418e-01 9.50891129e-01 2.76759290e-04 1.76447223e+01] [-9.01052160e-04 2.24985677e-06 9.99999594e-01 -4.56488405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.201052754 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:17.66, Z:-0.05 [[ 9.50639925e-01 -3.10295018e-01 8.57575902e-04 9.10360969e+01] [ 3.10294895e-01 9.50640311e-01 2.76520463e-04 1.76649651e+01] [-9.01049145e-04 3.23003238e-06 9.99999594e-01 -4.82333654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.261052754 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:17.68, Z:-0.05 [[ 9.50522742e-01 -3.10653797e-01 8.57637414e-04 9.10957191e+01] [ 3.10653674e-01 9.50523129e-01 2.76329549e-04 1.76837964e+01] [-9.01047022e-04 3.77069254e-06 9.99999594e-01 -4.91526682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32105275400001 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:17.69, Z:-0.04 [[ 9.50540461e-01 -3.10599576e-01 8.57703005e-04 9.11593349e+01] [ 3.10599453e-01 9.50540848e-01 2.76125813e-04 1.76905059e+01] [-9.01046301e-04 3.93332738e-06 9.99999594e-01 -4.26317409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38105275400001 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:17.73, Z:-0.04 [[ 9.50692551e-01 -3.10133742e-01 8.57769919e-04 9.12117782e+01] [ 3.10133619e-01 9.50692938e-01 2.75917790e-04 1.77260605e+01] [-9.01047221e-04 3.71030162e-06 9.99999594e-01 -4.00894804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:17.74, Z:-0.03 [[ 9.50036903e-01 -3.12136424e-01 8.57802659e-04 9.12737461e+01] [ 3.12136302e-01 9.50037290e-01 2.75815967e-04 1.77365074e+01] [-9.01036723e-04 5.71600282e-06 9.99999594e-01 -3.29563779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501052754 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:17.76, Z:-0.04 [[ 9.43704668e-01 -3.30788095e-01 8.57868454e-04 9.13318744e+01] [ 3.30787981e-01 9.43705057e-01 2.75611173e-04 1.77604306e+01] [-9.00743694e-04 2.36770241e-05 9.99999594e-01 -3.81634474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.561052754 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:17.79, Z:-0.04 [[ 9.39133620e-01 -3.43551028e-01 8.57933832e-04 9.13882119e+01] [ 3.43550919e-01 9.39134011e-01 2.75407512e-04 1.77911107e+01] [-9.00331374e-04 3.60995027e-05 9.99999594e-01 -4.33418759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621052754 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:17.81, Z:-0.05 [[ 9.36822040e-01 -3.49805273e-01 8.58008940e-04 9.14470424e+01] [ 3.49805167e-01 9.36822432e-01 2.75173319e-04 1.78121410e+01] [-9.00059100e-04 4.23475302e-05 9.99999594e-01 -4.58557000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.681052754 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:17.83, Z:-0.05 [[ 9.34973854e-01 -3.54715599e-01 8.58074171e-04 9.15075860e+01] [ 3.54715495e-01 9.34974247e-01 2.74969758e-04 1.78296588e+01] [-8.99813314e-04 4.72826702e-05 9.99999594e-01 -4.83941489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74105275400001 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:17.85, Z:-0.05 [[ 9.34594730e-01 -3.55713303e-01 8.58150195e-04 9.15663876e+01] [ 3.55713201e-01 9.34595123e-01 2.74732292e-04 1.78492060e+01] [-8.99748918e-04 4.84920000e-05 9.99999594e-01 -4.89078266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:17.87, Z:-0.05 [[ 9.38718161e-01 -3.44684607e-01 8.58215745e-04 9.16247602e+01] [ 3.44684500e-01 9.38718552e-01 2.74527371e-04 1.78705252e+01] [-9.00248401e-04 3.81098363e-05 9.99999594e-01 -5.06950884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:17.89, Z:-0.05 [[ 9.43536094e-01 -3.31268625e-01 8.58281748e-04 9.16828621e+01] [ 3.31268513e-01 9.43536484e-01 2.74320864e-04 1.78907511e+01] [-9.00694039e-04 2.54900816e-05 9.99999594e-01 -4.61212621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921052754 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:17.91, Z:-0.04 [[ 9.49405633e-01 -3.14051282e-01 8.58341983e-04 9.17420527e+01] [ 3.14051162e-01 9.49406021e-01 2.74132261e-04 1.79097105e+01] [-9.01006634e-04 9.30058500e-06 9.99999594e-01 -4.38720821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:17.93, Z:-0.04 [[ 9.53804090e-01 -3.00428062e-01 8.58406688e-04 9.18023145e+01] [ 3.00427937e-01 9.53804477e-01 2.73929495e-04 1.79263596e+01] [-9.01048249e-04 -3.38572208e-06 9.99999594e-01 -4.43555508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.041052754 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:17.95, Z:-0.04 [[ 9.57809274e-01 -2.87403303e-01 8.58474802e-04 9.18626599e+01] [ 2.87403173e-01 9.57809658e-01 2.73715865e-04 1.79455600e+01] [-9.00922300e-04 -1.54392124e-05 9.99999594e-01 -4.23309509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10105275400001 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:17.96, Z:-0.04 [[ 9.60256043e-01 -2.79119318e-01 8.58546626e-04 9.19226637e+01] [ 2.79119185e-01 9.60256427e-01 2.73490395e-04 1.79625999e+01] [-9.00761368e-04 -2.29839701e-05 9.99999594e-01 -4.08492646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:17.98, Z:-0.04 [[ 9.61883297e-01 -2.73458929e-01 8.58608919e-04 9.19829909e+01] [ 2.73458794e-01 9.61883680e-01 2.73294687e-04 1.79822613e+01] [-9.00616779e-04 -2.80834351e-05 9.99999594e-01 -3.81701938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:18.00, Z:-0.04 [[ 9.62442444e-01 -2.71484447e-01 8.58680453e-04 9.20420185e+01] [ 2.71484311e-01 9.62442826e-01 2.73069746e-04 1.80011620e+01] [-9.00565031e-04 -2.96956425e-05 9.99999594e-01 -3.79709593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.281052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:18.02, Z:-0.04 [[ 9.61647491e-01 -2.74287014e-01 8.58743659e-04 9.21025651e+01] [ 2.74286880e-01 9.61647874e-01 2.72870832e-04 1.80200702e+01] [-9.00653940e-04 -2.68634323e-05 9.99999594e-01 -3.80594875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:18.04, Z:-0.03 [[ 9.58455949e-01 -2.85239297e-01 8.58816691e-04 9.21622726e+01] [ 2.85239167e-01 9.58456334e-01 2.72640781e-04 1.80416065e+01] [-9.00906162e-04 -1.63460213e-05 9.99999594e-01 -3.49401716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:18.06, Z:-0.03 [[ 9.54770936e-01 -2.97341087e-01 8.58889738e-04 9.22211269e+01] [ 2.97340963e-01 9.54771322e-01 2.72410470e-04 1.80622803e+01] [-9.01042116e-04 -4.70649800e-06 9.99999594e-01 -3.42916584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46105275400001 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:92.28, Y:18.08, Z:-0.04 [[ 9.49801597e-01 -3.12851704e-01 8.58934639e-04 9.22817288e+01] [ 3.12851585e-01 9.49801985e-01 2.72268822e-04 1.80793996e+01] [-9.00997590e-04 1.01177017e-05 9.99999594e-01 -3.96101361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52105275400001 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:92.34, Y:18.10, Z:-0.04 [[ 9.45832992e-01 -3.24652450e-01 8.59005325e-04 9.23407840e+01] [ 3.24652337e-01 9.45833382e-01 2.72045624e-04 1.80992564e+01] [-9.00796190e-04 2.15683596e-05 9.99999594e-01 -4.11564282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:92.40, Y:18.12, Z:-0.04 [[ 9.47181922e-01 -3.20695602e-01 8.59070733e-04 9.24010983e+01] [ 3.20695488e-01 9.47182311e-01 2.71838920e-04 1.81176868e+01] [-9.00874148e-04 1.80191975e-05 9.99999594e-01 -4.15286403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.641052754 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:92.46, Y:18.14, Z:-0.04 [[ 9.48469595e-01 -3.16866990e-01 8.59142769e-04 9.24605575e+01] [ 3.16866873e-01 9.48469984e-01 2.71611059e-04 1.81351006e+01] [-9.00935707e-04 1.46190516e-05 9.99999594e-01 -4.14236223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.701052754 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:92.52, Y:18.16, Z:-0.04 [[ 9.49620904e-01 -3.13399745e-01 8.59187202e-04 9.25203874e+01] [ 3.13399627e-01 9.49621293e-01 2.71470433e-04 1.81555334e+01] [-9.00981226e-04 1.14749512e-05 9.99999594e-01 -3.66885379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.761052754 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:92.58, Y:18.18, Z:-0.03 [[ 9.51576298e-01 -3.07411468e-01 8.59258330e-04 9.25808158e+01] [ 3.07411348e-01 9.51576686e-01 2.71245110e-04 1.81751811e+01] [-9.01034052e-04 6.03534428e-06 9.99999594e-01 -3.33201074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82105275400001 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:92.64, Y:18.19, Z:-0.03 [[ 9.52045384e-01 -3.05955632e-01 8.59329489e-04 9.26413591e+01] [ 3.05955512e-01 9.52045771e-01 2.71019486e-04 1.81934022e+01] [-9.01040944e-04 4.89374363e-06 9.99999594e-01 -3.38476390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88105275400001 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:18.21, Z:-0.04 [[ 9.52193992e-01 -3.05492820e-01 8.59400873e-04 9.27024629e+01] [ 3.05492700e-01 9.52194380e-01 2.70792939e-04 1.82105819e+01] [-9.01041979e-04 4.69328320e-06 9.99999594e-01 -3.94419055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:92.76, Y:18.23, Z:-0.04 [[ 9.52327323e-01 -3.05076927e-01 8.59471630e-04 9.27612988e+01] [ 3.05076807e-01 9.52327711e-01 2.70568175e-04 1.82306644e+01] [-9.01042757e-04 4.53539512e-06 9.99999594e-01 -4.13741080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.001052754 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:92.82, Y:18.25, Z:-0.04 [[ 9.50910732e-01 -3.09464118e-01 8.59535139e-04 9.28212766e+01] [ 3.09464000e-01 9.50911121e-01 2.70366270e-04 1.82487189e+01] [-9.01010182e-04 8.90099445e-06 9.99999594e-01 -4.20411120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.061052754 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:92.88, Y:18.27, Z:-0.04 [[ 9.49561269e-01 -3.13580386e-01 8.59601844e-04 9.28815375e+01] [ 3.13580270e-01 9.49561658e-01 2.70154021e-04 1.82668620e+01] [-9.00959954e-04 1.30263829e-05 9.99999594e-01 -4.04078487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.121052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:92.94, Y:18.29, Z:-0.03 [[ 9.49308908e-01 -3.14343536e-01 8.59672435e-04 9.29402022e+01] [ 3.14343421e-01 9.49309297e-01 2.69929204e-04 1.82867071e+01] [-9.00945535e-04 1.39861754e-05 9.99999594e-01 -3.48384491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.181052754 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:18.31, Z:-0.03 [[ 9.49800017e-01 -3.12856498e-01 8.59733499e-04 9.30006159e+01] [ 3.12856382e-01 9.49800406e-01 2.69734573e-04 1.83062934e+01] [-9.00963440e-04 1.27792100e-05 9.99999594e-01 -3.29298961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:18.33, Z:-0.03 [[ 9.51461045e-01 -3.07767997e-01 8.59804601e-04 9.30603114e+01] [ 3.07767879e-01 9.51461434e-01 2.69507738e-04 1.83268764e+01] [-9.01016775e-04 8.19412374e-06 9.99999594e-01 -3.12905310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:18.34, Z:-0.03 [[ 9.52705051e-01 -3.03895288e-01 8.59875214e-04 9.31198791e+01] [ 3.03895168e-01 9.52705439e-01 2.69282254e-04 1.83445888e+01] [-9.01041402e-04 4.76535942e-06 9.99999594e-01 -3.40412833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:18.36, Z:-0.03 [[ 9.54071377e-01 -2.99578149e-01 8.59940234e-04 9.31788905e+01] [ 2.99578028e-01 9.54071765e-01 2.69074455e-04 1.83633668e+01] [-9.01053524e-04 9.02963242e-07 9.99999594e-01 -2.87676341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.421052754 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:18.38, Z:-0.03 [[ 9.55653256e-01 -2.94492980e-01 8.60000399e-04 9.32398286e+01] [ 2.94492857e-01 9.55653643e-01 2.68882021e-04 1.83809926e+01] [-9.01046382e-04 -3.69400413e-06 9.99999594e-01 -2.66818731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.481052754 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:18.40, Z:-0.03 [[ 9.55438338e-01 -2.95189504e-01 8.60074207e-04 9.33000592e+01] [ 2.95189382e-01 9.55438725e-01 2.68645724e-04 1.83969869e+01] [-9.01049602e-04 -2.78965068e-06 9.99999594e-01 -3.00049362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.541052754 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:18.41, Z:-0.04 [[ 9.54100277e-01 -2.99486097e-01 8.60138556e-04 9.33597014e+01] [ 2.99485977e-01 9.54100664e-01 2.68439538e-04 1.84103049e+01] [-9.01052677e-04 1.48119792e-06 9.99999594e-01 -3.66006807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60105275400001 meters Centerline goodness : 0.997700 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:18.43, Z:-0.04 [[ 9.52782747e-01 -3.03651605e-01 8.60197399e-04 9.34208048e+01] [ 3.03651486e-01 9.52783135e-01 2.68250846e-04 1.84270926e+01] [-9.01036374e-04 5.61544036e-06 9.99999594e-01 -3.67749656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66105275400001 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:93.48, Y:18.44, Z:-0.04 [[ 9.51532705e-01 -3.07546373e-01 8.60269782e-04 9.34812588e+01] [ 3.07546256e-01 9.51533094e-01 2.68018514e-04 1.84448678e+01] [-9.01003289e-04 9.54436913e-06 9.99999594e-01 -3.71231433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters Centerline goodness : 0.997532 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:18.46, Z:-0.04 [[ 9.49769427e-01 -3.12949348e-01 8.60341257e-04 9.35416204e+01] [ 3.12949234e-01 9.49769817e-01 2.67788882e-04 1.84628812e+01] [-9.00930514e-04 1.49054444e-05 9.99999594e-01 -3.52811964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.781052754 meters Centerline goodness : 0.997352 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:18.48, Z:-0.04 [[ 9.49470812e-01 -3.13854165e-01 8.60414502e-04 9.36011011e+01] [ 3.13854051e-01 9.49471202e-01 2.67553336e-04 1.84824266e+01] [-9.00911520e-04 1.60104935e-05 9.99999594e-01 -3.52558465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.841052754 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:18.51, Z:-0.03 [[ 9.51562605e-01 -3.07453846e-01 8.60482097e-04 9.36599988e+01] [ 3.07453730e-01 9.51562994e-01 2.67335767e-04 1.85055528e+01] [-9.00996331e-04 1.01717117e-05 9.99999594e-01 -3.47041497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.901052754 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:93.72, Y:18.52, Z:-0.04 [[ 9.52177570e-01 -3.05543997e-01 8.60555366e-04 9.37196449e+01] [ 3.05543880e-01 9.52177959e-01 2.67099705e-04 1.85226258e+01] [-9.01012564e-04 8.61107815e-06 9.99999594e-01 -3.81702009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96105275400001 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:93.78, Y:18.54, Z:-0.04 [[ 9.51106861e-01 -3.08860808e-01 8.60622933e-04 9.37785447e+01] [ 3.08860693e-01 9.51107250e-01 2.66881819e-04 1.85449470e+01] [-9.00974046e-04 1.19794667e-05 9.99999594e-01 -3.54137740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02105275400001 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:93.84, Y:18.57, Z:-0.04 [[ 9.50726216e-01 -3.10030516e-01 8.60695982e-04 9.38357002e+01] [ 3.10030402e-01 9.50726606e-01 2.66646027e-04 1.85686531e+01] [-9.00954975e-04 1.33345530e-05 9.99999594e-01 -3.83576100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:93.90, Y:18.59, Z:-0.04 [[ 9.47815560e-01 -3.18818010e-01 8.60754317e-04 9.38958721e+01] [ 3.18817900e-01 9.47815950e-01 2.66457586e-04 1.85886978e+01] [-9.00788148e-04 2.18712376e-05 9.99999594e-01 -4.08210222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.141052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:18.61, Z:-0.04 [[ 9.43155466e-01 -3.32350757e-01 8.60827580e-04 9.39521619e+01] [ 3.32350652e-01 9.43155858e-01 2.66220688e-04 1.86128192e+01] [-9.00373222e-04 3.50091096e-05 9.99999594e-01 -3.75564381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.201052754 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:18.63, Z:-0.04 [[ 9.40024497e-01 -3.41105854e-01 8.60886122e-04 9.40121832e+01] [ 3.41105753e-01 9.40024891e-01 2.66031244e-04 1.86340790e+01] [-8.99999197e-04 4.35773225e-05 9.99999594e-01 -3.98912627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.261052754 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:18.65, Z:-0.04 [[ 9.39225191e-01 -3.43300596e-01 8.60955618e-04 9.40707765e+01] [ 3.43300496e-01 9.39225584e-01 2.65806143e-04 1.86540989e+01] [-8.99882951e-04 4.59146659e-05 9.99999594e-01 -3.71338622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32105275400001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:18.67, Z:-0.04 [[ 9.40694085e-01 -3.39254915e-01 8.61018222e-04 9.41303304e+01] [ 3.39254814e-01 9.40694478e-01 2.65603197e-04 1.86742073e+01] [-9.00062277e-04 4.22532204e-05 9.99999594e-01 -3.51998254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38105275400001 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:18.69, Z:-0.04 [[ 9.45154585e-01 -3.26622211e-01 8.61090000e-04 9.41915521e+01] [ 3.26622104e-01 9.45154977e-01 2.65370288e-04 1.86916033e+01] [-9.00539329e-04 3.04350836e-05 9.99999594e-01 -3.71684861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:94.25, Y:18.71, Z:-0.04 [[ 9.49632621e-01 -3.13364235e-01 8.61162394e-04 9.42519319e+01] [ 3.13364123e-01 9.49633011e-01 2.65135152e-04 1.87087915e+01] [-9.00872111e-04 1.80764088e-05 9.99999594e-01 -3.53617377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:18.73, Z:-0.04 [[ 9.53664725e-01 -3.00870157e-01 8.61234137e-04 9.43115323e+01] [ 3.00870040e-01 9.53665114e-01 2.64901903e-04 1.87258354e+01] [-9.01030028e-04 6.49194911e-06 9.99999594e-01 -3.60359766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561052754 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:18.74, Z:-0.04 [[ 9.55998547e-01 -2.93370134e-01 8.61296288e-04 9.43723045e+01] [ 2.93370015e-01 9.55998935e-01 2.64699672e-04 1.87398908e+01] [-9.01053313e-04 -3.73996816e-07 9.99999594e-01 -3.75718146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:18.76, Z:-0.03 [[ 9.59376682e-01 -2.82126993e-01 8.61358712e-04 9.44305219e+01] [ 2.82126870e-01 9.59377068e-01 2.64496384e-04 1.87616343e+01] [-9.00989365e-04 -1.07392265e-05 9.99999594e-01 -3.32265904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.681052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:18.78, Z:-0.03 [[ 9.60076745e-01 -2.79735413e-01 8.61424478e-04 9.44903143e+01] [ 2.79735289e-01 9.60077132e-01 2.64282020e-04 1.87806394e+01] [-9.00962982e-04 -1.27601970e-05 9.99999594e-01 -3.16725375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74105275400001 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:18.80, Z:-0.03 [[ 9.59587719e-01 -2.81408364e-01 8.61494939e-04 9.45490905e+01] [ 2.81408241e-01 9.59588106e-01 2.64052134e-04 1.87992662e+01] [-9.00986776e-04 -1.09494098e-05 9.99999594e-01 -2.97207742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:18.82, Z:-0.03 [[ 9.57900179e-01 -2.87100165e-01 8.61551084e-04 9.46086752e+01] [ 2.87100044e-01 9.57900567e-01 2.63868817e-04 1.88198233e+01] [-9.01037052e-04 -5.40863318e-06 9.99999594e-01 -2.50123899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:18.83, Z:-0.03 [[ 9.54507625e-01 -2.98185264e-01 8.61621652e-04 9.46692761e+01] [ 2.98185148e-01 9.54508014e-01 2.63638187e-04 1.88335025e+01] [-9.01037794e-04 5.27811995e-06 9.99999594e-01 -2.86257805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.921052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:18.85, Z:-0.02 [[ 9.53304322e-01 -3.02010144e-01 8.61686845e-04 9.47293348e+01] [ 3.02010029e-01 9.53304712e-01 2.63424934e-04 1.88532650e+01] [-9.01007131e-04 9.11394113e-06 9.99999594e-01 -2.46126378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.981052754 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:18.87, Z:-0.03 [[ 9.53730035e-01 -3.00663063e-01 8.61754843e-04 9.47897038e+01] [ 3.00662948e-01 9.53730424e-01 2.63202302e-04 1.88727024e+01] [-9.01017022e-04 8.07381125e-06 9.99999594e-01 -2.51824614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041052754 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:18.89, Z:-0.03 [[ 9.54595472e-01 -2.97903914e-01 8.61822053e-04 9.48514887e+01] [ 2.97903798e-01 9.54595861e-01 2.62982048e-04 1.88854377e+01] [-9.01035146e-04 5.69859132e-06 9.99999594e-01 -3.19525008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10105275400001 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:18.90, Z:-0.03 [[ 9.55153774e-01 -2.96108975e-01 8.61890799e-04 9.49119458e+01] [ 2.96108858e-01 9.55154163e-01 2.62756547e-04 1.89033850e+01] [-9.01043156e-04 4.24059211e-06 9.99999594e-01 -3.27861204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16105275400001 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:18.92, Z:-0.03 [[ 9.56198093e-01 -2.92719088e-01 8.61960004e-04 9.49721218e+01] [ 2.92718971e-01 9.56198481e-01 2.62529326e-04 1.89214008e+01] [-9.01052192e-04 1.28200427e-06 9.99999594e-01 -3.04379680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:18.94, Z:-0.03 [[ 9.58301843e-01 -2.85756602e-01 8.62028075e-04 9.50335890e+01] [ 2.85756481e-01 9.58302230e-01 2.62305621e-04 1.89379580e+01] [-9.01038990e-04 -5.03785000e-06 9.99999594e-01 -3.44969279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.281052754 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:18.95, Z:-0.04 [[ 9.59958266e-01 -2.80141722e-01 8.62095534e-04 9.50932254e+01] [ 2.80141599e-01 9.59958653e-01 2.62083722e-04 1.89542775e+01] [-9.00996653e-04 -1.00806134e-05 9.99999594e-01 -3.91905310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.341052754 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:18.97, Z:-0.04 [[ 9.60258320e-01 -2.79111476e-01 8.62153452e-04 9.51540244e+01] [ 2.79111353e-01 9.60258707e-01 2.61893056e-04 1.89727157e+01] [-9.00987716e-04 -1.08481698e-05 9.99999594e-01 -3.59934242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.401052754 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:18.99, Z:-0.03 [[ 9.59862036e-01 -2.80471260e-01 8.62220312e-04 9.52141920e+01] [ 2.80471139e-01 9.59862423e-01 2.61672750e-04 1.89917517e+01] [-9.01004564e-04 -9.34182599e-06 9.99999594e-01 -3.35713691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46105275400001 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:19.01, Z:-0.03 [[ 9.59341077e-01 -2.82248036e-01 8.62286471e-04 9.52733114e+01] [ 2.82247915e-01 9.59341465e-01 2.61454556e-04 1.90065882e+01] [-9.01022201e-04 -7.44553662e-06 9.99999594e-01 -3.08623042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52105275400001 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:95.33, Y:19.02, Z:-0.03 [[ 9.58860628e-01 -2.83875946e-01 8.62339436e-04 9.53340127e+01] [ 2.83875825e-01 9.58861016e-01 2.61279747e-04 1.90233730e+01] [-9.01034703e-04 -5.73354346e-06 9.99999594e-01 -2.78221307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:19.04, Z:-0.03 [[ 9.58361854e-01 -2.85555273e-01 8.62403697e-04 9.53950590e+01] [ 2.85555154e-01 9.58362242e-01 2.61067470e-04 1.90396894e+01] [-9.01044333e-04 -3.93328456e-06 9.99999594e-01 -3.17281251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.641052754 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:95.45, Y:19.05, Z:-0.04 [[ 9.57014239e-01 -2.90039658e-01 8.62467741e-04 9.54545257e+01] [ 2.90039540e-01 9.57014627e-01 2.60855720e-04 1.90538593e+01] [-9.01052748e-04 5.07108290e-07 9.99999594e-01 -3.66909601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.701052754 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:19.07, Z:-0.04 [[ 9.55610495e-01 -2.94631699e-01 8.62499019e-04 9.55152624e+01] [ 2.94631584e-01 9.55610884e-01 2.60752261e-04 1.90697387e+01] [-9.01039332e-04 4.94185542e-06 9.99999594e-01 -4.16889836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.761052754 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:19.09, Z:-0.04 [[ 9.55354493e-01 -2.95460740e-01 8.62518415e-04 9.55753355e+01] [ 2.95460626e-01 9.55354882e-01 2.60688086e-04 1.90876640e+01] [-9.01034274e-04 5.79069596e-06 9.99999594e-01 -4.06022861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82105275400001 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:19.11, Z:-0.04 [[ 9.56090620e-01 -2.93069926e-01 8.62585406e-04 9.56345245e+01] [ 2.93069810e-01 9.56091009e-01 2.60466234e-04 1.91064673e+01] [-9.01044971e-04 3.76841804e-06 9.99999594e-01 -3.76796701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88105275400001 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:95.69, Y:19.13, Z:-0.04 [[ 9.57656897e-01 -2.87910618e-01 8.62645629e-04 9.56930119e+01] [ 2.87910501e-01 9.57657285e-01 2.60266627e-04 1.91267052e+01] [-9.01052396e-04 -8.81395278e-07 9.99999594e-01 -3.57604864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:19.15, Z:-0.04 [[ 9.59231439e-01 -2.82620420e-01 8.62705831e-04 9.57514776e+01] [ 2.82620300e-01 9.59231827e-01 2.60066922e-04 1.91469606e+01] [-9.01035113e-04 -5.64618664e-06 9.99999594e-01 -3.56751012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.001052754 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:95.81, Y:19.17, Z:-0.03 [[ 9.59827069e-01 -2.80590900e-01 8.62769564e-04 9.58117283e+01] [ 2.80590780e-01 9.59827457e-01 2.59855314e-04 1.91662382e+01] [-9.01022953e-04 -7.33097960e-06 9.99999594e-01 -3.20090396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.061052754 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:19.19, Z:-0.03 [[ 9.61536621e-01 -2.74675410e-01 8.62838477e-04 9.58709376e+01] [ 2.74675288e-01 9.61537009e-01 2.59626290e-04 1.91866759e+01] [-9.00964086e-04 -1.26397786e-05 9.99999594e-01 -3.14681313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.121052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:19.21, Z:-0.03 [[ 9.64381505e-01 -2.64513833e-01 8.62902103e-04 9.59310145e+01] [ 2.64513707e-01 9.64381891e-01 2.59414650e-04 1.92074327e+01] [-9.00785925e-04 -2.19252572e-05 9.99999594e-01 -3.09283853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.181052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:19.21, Z:-0.04 [[ 9.64828051e-01 -2.62880366e-01 8.62972116e-04 9.59930305e+01] [ 2.62880240e-01 9.64828437e-01 2.59181533e-04 1.92134332e+01] [-9.00753774e-04 -2.32072966e-05 9.99999594e-01 -3.52205955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24105275400001 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:19.23, Z:-0.03 [[ 9.63849124e-01 -2.66447222e-01 8.63006210e-04 9.60521724e+01] [ 2.66447097e-01 9.63849510e-01 2.59067960e-04 1.92298726e+01] [-9.00836050e-04 -1.97569274e-05 9.99999594e-01 -2.97130562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:19.25, Z:-0.04 [[ 9.60769833e-01 -2.77345604e-01 8.63012297e-04 9.61099699e+01] [ 2.77345483e-01 9.60770220e-01 2.59047681e-04 1.92508549e+01] [-9.01002250e-04 -9.53263475e-06 9.99999594e-01 -3.97514400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361052754 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:19.27, Z:-0.03 [[ 9.58669462e-01 -2.84520858e-01 8.63021085e-04 9.61683590e+01] [ 2.84520740e-01 9.58669850e-01 2.59018400e-04 1.92733361e+01] [-9.01048431e-04 -2.76563246e-06 9.99999594e-01 -3.15825658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421052754 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:19.29, Z:-0.03 [[ 9.56110359e-01 -2.93005523e-01 8.63081855e-04 9.62284370e+01] [ 2.93005408e-01 9.56110749e-01 2.58815750e-04 1.92919060e+01] [-9.01036282e-04 5.43123204e-06 9.99999594e-01 -2.67293609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481052754 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:19.31, Z:-0.03 [[ 9.53911719e-01 -3.00086132e-01 8.63150889e-04 9.62886487e+01] [ 3.00086021e-01 9.53912110e-01 2.58585314e-04 1.93120982e+01] [-9.00967952e-04 1.23519549e-05 9.99999594e-01 -3.08446928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541052754 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:19.33, Z:-0.03 [[ 9.51423744e-01 -3.07883281e-01 8.63219878e-04 9.63486474e+01] [ 3.07883174e-01 9.51424135e-01 2.58354806e-04 1.93328311e+01] [-9.00831351e-04 1.99659794e-05 9.99999594e-01 -2.87510164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60105275400001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:19.35, Z:-0.04 [[ 9.51656401e-01 -3.07163393e-01 8.63288894e-04 9.64093953e+01] [ 3.07163285e-01 9.51656792e-01 2.58123985e-04 1.93509550e+01] [-9.00840978e-04 1.95253103e-05 9.99999594e-01 -3.55882654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66105275400001 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:96.47, Y:19.37, Z:-0.03 [[ 9.53159545e-01 -3.02466752e-01 8.63358673e-04 9.64697788e+01] [ 3.02466642e-01 9.53159936e-01 2.57890381e-04 1.93685708e+01] [-9.00922163e-04 1.53265202e-05 9.99999594e-01 -3.42211919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:19.40, Z:-0.03 [[ 9.56993126e-01 -2.90109309e-01 8.63428152e-04 9.65253707e+01] [ 2.90109195e-01 9.56993516e-01 2.57657552e-04 1.93978666e+01] [-9.01043997e-04 3.91194017e-06 9.99999594e-01 -3.35777594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781052754 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:19.41, Z:-0.04 [[ 9.58392739e-01 -2.85451595e-01 8.63487795e-04 9.65877678e+01] [ 2.85451479e-01 9.58393128e-01 2.57457514e-04 1.94055328e+01] [-9.01052427e-04 -2.61544203e-07 9.99999594e-01 -3.71130467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841052754 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:19.43, Z:-0.04 [[ 9.60385304e-01 -2.78674222e-01 8.63547272e-04 9.66454584e+01] [ 2.78674104e-01 9.60385692e-01 2.57257867e-04 1.94306756e+01] [-9.01029580e-04 -6.41841268e-06 9.99999594e-01 -4.15143058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901052754 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:96.71, Y:19.44, Z:-0.03 [[ 9.63364977e-01 -2.68192422e-01 8.63609770e-04 9.67069730e+01] [ 2.68192299e-01 9.63365364e-01 2.57047889e-04 1.94417079e+01] [-9.00910037e-04 -1.60174440e-05 9.99999594e-01 -3.34237259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96105275400001 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:19.46, Z:-0.04 [[ 9.61086432e-01 -2.76246493e-01 8.63668377e-04 9.67678223e+01] [ 2.76246374e-01 9.61086820e-01 2.56850824e-04 1.94598432e+01] [-9.01014433e-04 -8.27058413e-06 9.99999594e-01 -3.76799065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02105275400001 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:19.49, Z:-0.03 [[ 9.65341489e-01 -2.60988628e-01 8.63734870e-04 9.68254010e+01] [ 2.60988503e-01 9.65341875e-01 2.56627027e-04 1.94864729e+01] [-9.00776174e-04 -2.23078453e-05 9.99999594e-01 -3.36124886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:19.50, Z:-0.03 [[ 9.66747748e-01 -2.55730415e-01 8.63795414e-04 9.68841571e+01] [ 2.55730288e-01 9.66748134e-01 2.56423075e-04 1.95048173e+01] [-9.00647784e-04 -2.69977812e-05 9.99999594e-01 -2.90921425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141052754 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:96.95, Y:19.51, Z:-0.03 [[ 9.69427717e-01 -2.45375537e-01 8.63850717e-04 9.69462464e+01] [ 2.45375406e-01 9.69428102e-01 2.56236632e-04 1.95125016e+01] [-9.00315362e-04 -3.64351729e-05 9.99999594e-01 -3.07295969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.201052754 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:19.54, Z:-0.03 [[ 9.65815382e-01 -2.59229437e-01 8.63909284e-04 9.70020444e+01] [ 2.59229312e-01 9.65815768e-01 2.56039020e-04 1.95387684e+01] [-9.00750060e-04 -2.33358145e-05 9.99999594e-01 -2.59373131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.261052754 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:19.54, Z:-0.04 [[ 9.64812534e-01 -2.62937307e-01 8.63965865e-04 9.70644665e+01] [ 2.62937183e-01 9.64812921e-01 2.55847954e-04 1.95439571e+01] [-9.00837401e-04 -1.96765616e-05 9.99999594e-01 -3.88361724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32105275400001 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:97.12, Y:19.57, Z:-0.03 [[ 9.58170247e-01 -2.86197538e-01 8.63971913e-04 9.71199133e+01] [ 2.86197424e-01 9.58170637e-01 2.55827528e-04 1.95730416e+01] [-9.01049726e-04 2.14020994e-06 9.99999594e-01 -3.13727870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38105275400001 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:19.59, Z:-0.03 [[ 9.54065254e-01 -2.99597637e-01 8.63981315e-04 9.71806042e+01] [ 2.99597528e-01 9.54065645e-01 2.55795771e-04 1.95904061e+01] [-9.00930699e-04 1.48008095e-05 9.99999594e-01 -3.49990073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:97.24, Y:19.61, Z:-0.03 [[ 9.54252751e-01 -2.98999900e-01 8.64048697e-04 9.72409846e+01] [ 2.98999791e-01 9.54253142e-01 2.55567960e-04 1.96085467e+01] [-9.00935978e-04 1.44739506e-05 9.99999594e-01 -3.44148432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.501052754 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:97.30, Y:19.63, Z:-0.03 [[ 9.55598998e-01 -2.94668981e-01 8.64118704e-04 9.72996632e+01] [ 2.94668870e-01 9.55599389e-01 2.55331034e-04 1.96265440e+01] [-9.00989441e-04 1.06348023e-05 9.99999594e-01 -3.02530921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.561052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:19.64, Z:-0.03 [[ 9.56910300e-01 -2.90382387e-01 8.64152991e-04 9.73608452e+01] [ 2.90382275e-01 9.56910690e-01 2.55214937e-04 1.96432870e+01] [-9.01027158e-04 6.71690934e-06 9.99999594e-01 -3.18925561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.621052754 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:19.66, Z:-0.03 [[ 9.58758132e-01 -2.84221915e-01 8.64220735e-04 9.74211445e+01] [ 2.84221800e-01 9.58758522e-01 2.54985333e-04 1.96582918e+01] [-9.01051414e-04 1.16111164e-06 9.99999594e-01 -3.25365583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.681052754 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:19.68, Z:-0.03 [[ 9.61086851e-01 -2.76245034e-01 8.64283643e-04 9.74806311e+01] [ 2.76244916e-01 9.61087239e-01 2.54771928e-04 1.96758744e+01] [-9.01031460e-04 -6.10398733e-06 9.99999594e-01 -3.06940172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74105275400001 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:19.69, Z:-0.03 [[ 9.63160340e-01 -2.68926408e-01 8.64345120e-04 9.75399936e+01] [ 2.68926287e-01 9.63160728e-01 2.54563187e-04 1.96892105e+01] [-9.00962038e-04 -1.27400413e-05 9.99999594e-01 -3.32665811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:19.70, Z:-0.04 [[ 9.64267615e-01 -2.64928705e-01 8.64373317e-04 9.76018419e+01] [ 2.64928583e-01 9.64268003e-01 2.54467408e-04 1.97037061e+01] [-9.00903253e-04 -1.63774825e-05 9.99999594e-01 -3.57428811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:97.66, Y:19.72, Z:-0.04 [[ 9.66854540e-01 -2.55326362e-01 8.64436658e-04 9.76631540e+01] [ 2.55326237e-01 9.66854926e-01 2.54252053e-04 1.97195817e+01] [-9.00702093e-04 -2.51113930e-05 9.99999594e-01 -3.77941144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:19.74, Z:-0.03 [[ 9.68202573e-01 -2.50166007e-01 8.64502529e-04 9.77219580e+01] [ 2.50165880e-01 9.68202958e-01 2.54027881e-04 1.97396285e+01] [-9.00563047e-04 -2.96814126e-05 9.99999594e-01 -2.98773235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.981052754 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:19.76, Z:-0.03 [[ 9.68125165e-01 -2.50465401e-01 8.64563514e-04 9.77824728e+01] [ 2.50465274e-01 9.68125551e-01 2.53820154e-04 1.97560057e+01] [-9.00579195e-04 -2.91865415e-05 9.99999594e-01 -2.68348283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.041052754 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:19.77, Z:-0.03 [[ 9.66138102e-01 -2.58024070e-01 8.64628658e-04 9.78426763e+01] [ 2.58023946e-01 9.66138488e-01 2.53598049e-04 1.97707893e+01] [-9.00785426e-04 -2.19158393e-05 9.99999594e-01 -2.68804510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:97.90, Y:19.79, Z:-0.03 [[ 9.64278176e-01 -2.64890264e-01 8.64688706e-04 9.79028588e+01] [ 2.64890143e-01 9.64278563e-01 2.53393138e-04 1.97865523e+01] [-9.00922159e-04 -1.52939581e-05 9.99999594e-01 -2.66052460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16105275400001 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:97.96, Y:19.80, Z:-0.03 [[ 9.63534168e-01 -2.67583928e-01 8.64747329e-04 9.79636388e+01] [ 2.67583808e-01 9.63534556e-01 2.53192920e-04 1.98043296e+01] [-9.00964290e-04 -1.25676457e-05 9.99999594e-01 -2.65897973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:19.82, Z:-0.03 [[ 9.62321121e-01 -2.71914162e-01 8.64809954e-04 9.80256136e+01] [ 2.71914045e-01 9.62321510e-01 2.52978838e-04 1.98190535e+01] [-9.01013749e-04 -8.29290708e-06 9.99999594e-01 -3.05887981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.281052754 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:19.83, Z:-0.04 [[ 9.60178762e-01 -2.79385033e-01 8.64877775e-04 9.80870212e+01] [ 2.79384919e-01 9.60179152e-01 2.52746758e-04 1.98325597e+01] [-9.01051270e-04 -1.04826232e-06 9.99999594e-01 -3.74069779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.341052754 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:19.85, Z:-0.05 [[ 9.58665483e-01 -2.84534256e-01 8.64936348e-04 9.81481693e+01] [ 2.84534144e-01 9.58665874e-01 2.52546156e-04 1.98470691e+01] [-9.01042992e-04 3.99664028e-06 9.99999594e-01 -4.66642829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.401052754 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:19.87, Z:-0.04 [[ 9.57368009e-01 -2.88869777e-01 8.64957030e-04 9.82073614e+01] [ 2.88869667e-01 9.57368399e-01 2.52475300e-04 1.98672185e+01] [-9.01015011e-04 8.14807355e-06 9.99999594e-01 -4.45653401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46105275400001 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:19.89, Z:-0.04 [[ 9.56362656e-01 -2.92180976e-01 8.65014414e-04 9.82661083e+01] [ 2.92180867e-01 9.56363047e-01 2.52278541e-04 1.98858976e+01] [-9.00978811e-04 1.14708862e-05 9.99999594e-01 -4.40126267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52105275400001 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:19.90, Z:-0.04 [[ 9.54618155e-01 -2.97831210e-01 8.65066958e-04 9.83257645e+01] [ 2.97831104e-01 9.54618547e-01 2.52098239e-04 1.99037317e+01] [-9.00891686e-04 1.69862915e-05 9.99999594e-01 -4.28397034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:98.38, Y:19.92, Z:-0.04 [[ 9.54751395e-01 -2.97403810e-01 8.65126870e-04 9.83843655e+01] [ 2.97403703e-01 9.54751786e-01 2.51892472e-04 1.99240018e+01] [-9.00895205e-04 1.67972465e-05 9.99999594e-01 -4.37302763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.641052754 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:19.94, Z:-0.04 [[ 9.57482971e-01 -2.88488494e-01 8.65169185e-04 9.84437947e+01] [ 2.88488385e-01 9.57483362e-01 2.51747047e-04 1.99437805e+01] [-9.01011227e-04 8.54775038e-06 9.99999594e-01 -4.38085014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.701052754 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:19.96, Z:-0.05 [[ 9.59029535e-01 -2.83304788e-01 8.65228361e-04 9.85032431e+01] [ 2.83304676e-01 9.59029925e-01 2.51543500e-04 1.99624615e+01] [-9.01043368e-04 3.88559422e-06 9.99999594e-01 -4.53289193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.761052754 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:19.98, Z:-0.05 [[ 9.60755033e-01 -2.77396860e-01 8.65290797e-04 9.85637528e+01] [ 2.77396746e-01 9.60755423e-01 2.51328542e-04 1.99806830e+01] [-9.01050574e-04 -1.43631018e-06 9.99999594e-01 -4.60011118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82105275400001 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:20.00, Z:-0.05 [[ 9.63537893e-01 -2.67570515e-01 8.65357972e-04 9.86237827e+01] [ 2.67570397e-01 9.63538281e-01 2.51097035e-04 1.99988462e+01] [-9.00991696e-04 -1.03973317e-05 9.99999594e-01 -4.55183382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88105275400001 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:98.68, Y:20.02, Z:-0.04 [[ 9.65388112e-01 -2.60816110e-01 8.65427008e-04 9.86844584e+01] [ 2.60815990e-01 9.65388500e-01 2.50858872e-04 2.00166694e+01] [-9.00901317e-04 -1.64589711e-05 9.99999594e-01 -4.43364433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:20.03, Z:-0.04 [[ 9.67889781e-01 -2.51373473e-01 8.65495238e-04 9.87446370e+01] [ 2.51373350e-01 9.67890167e-01 2.50623250e-04 2.00342602e+01] [-9.00704367e-04 -2.50132455e-05 9.99999594e-01 -4.27458875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.001052754 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:20.05, Z:-0.04 [[ 9.70564787e-01 -2.40838628e-01 8.65555489e-04 9.88039764e+01] [ 2.40838500e-01 9.70565173e-01 2.50414993e-04 2.00512999e+01] [-9.00387616e-04 -3.45848886e-05 9.99999594e-01 -4.26708437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061052754 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:20.07, Z:-0.04 [[ 9.72113845e-01 -2.34507830e-01 8.65610329e-04 9.88644884e+01] [ 2.34507700e-01 9.72114230e-01 2.50225282e-04 2.00678741e+01] [-9.00151907e-04 -4.02551740e-05 9.99999594e-01 -4.03248337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.121052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:20.09, Z:-0.04 [[ 9.73546969e-01 -2.28485336e-01 8.65676785e-04 9.89237038e+01] [ 2.28485204e-01 9.73547353e-01 2.49995160e-04 2.00885594e+01] [-8.99897571e-04 -4.55876933e-05 9.99999594e-01 -3.82599396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.181052754 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:20.11, Z:-0.04 [[ 9.74188830e-01 -2.25732969e-01 8.65738089e-04 9.89848324e+01] [ 2.25732836e-01 9.74189214e-01 2.49782685e-04 2.01054974e+01] [-8.99776895e-04 -4.79099875e-05 9.99999594e-01 -4.04428499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24105275400001 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:20.12, Z:-0.04 [[ 9.73055680e-01 -2.30568631e-01 8.65804796e-04 9.90455850e+01] [ 2.30568500e-01 9.73056064e-01 2.49551246e-04 2.01244367e+01] [-9.00015297e-04 -4.31999437e-05 9.99999594e-01 -4.11322279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:20.14, Z:-0.04 [[ 9.70532107e-01 -2.40970286e-01 8.65870505e-04 9.91064602e+01] [ 2.40970160e-01 9.70532493e-01 2.49323046e-04 2.01412117e+01] [-9.00434906e-04 -3.33270673e-05 9.99999594e-01 -4.37072911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361052754 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:20.16, Z:-0.04 [[ 9.68557259e-01 -2.48789240e-01 8.65936418e-04 9.91662337e+01] [ 2.48789116e-01 9.68557646e-01 2.49093911e-04 2.01600198e+01] [-9.00681223e-04 -2.58261599e-05 9.99999594e-01 -4.29543168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:20.18, Z:-0.04 [[ 9.66482943e-01 -2.56729372e-01 8.65997384e-04 9.92260717e+01] [ 2.56729252e-01 9.66483331e-01 2.48881777e-04 2.01791710e+01] [-9.00867298e-04 -1.82131321e-05 9.99999594e-01 -4.07886452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.481052754 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:20.20, Z:-0.04 [[ 9.65497348e-01 -2.60411447e-01 8.66063384e-04 9.92863295e+01] [ 2.60411329e-01 9.65497736e-01 2.48651897e-04 2.01981070e+01] [-9.00934036e-04 -1.45400302e-05 9.99999594e-01 -4.25036495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541052754 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:20.21, Z:-0.04 [[ 9.63609186e-01 -2.67313648e-01 8.66131036e-04 9.93469038e+01] [ 2.67313533e-01 9.63609575e-01 2.48416020e-04 2.02148090e+01] [-9.01017152e-04 -7.84741138e-06 9.99999594e-01 -4.36319376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60105275400001 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:20.23, Z:-0.04 [[ 9.63337889e-01 -2.68289697e-01 8.66197976e-04 9.94065236e+01] [ 2.68289582e-01 9.63338278e-01 2.48182388e-04 2.02320404e+01] [-9.01026444e-04 -6.69160439e-06 9.99999594e-01 -4.42985539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66105275400001 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:20.25, Z:-0.04 [[ 9.64683348e-01 -2.63410874e-01 8.66259798e-04 9.94665674e+01] [ 2.63410758e-01 9.64683736e-01 2.47966417e-04 2.02506785e+01] [-9.00983789e-04 -1.10269235e-05 9.99999594e-01 -4.21836551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:99.53, Y:20.27, Z:-0.04 [[ 9.65729348e-01 -2.59549755e-01 8.66324955e-04 9.95271257e+01] [ 2.59549637e-01 9.65729737e-01 2.47738566e-04 2.02682050e+01] [-9.00936255e-04 -1.43940759e-05 9.99999594e-01 -4.21710991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:99.59, Y:20.28, Z:-0.04 [[ 9.65400118e-01 -2.60771667e-01 8.66391712e-04 9.95890486e+01] [ 2.60771550e-01 9.65400506e-01 2.47504882e-04 2.02827375e+01] [-9.00957258e-04 -1.30109327e-05 9.99999594e-01 -4.22849073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:20.30, Z:-0.04 [[ 9.64886952e-01 -2.62664079e-01 8.66457628e-04 9.96491862e+01] [ 2.62663963e-01 9.64887341e-01 2.47273912e-04 2.03018663e+01] [-9.00983971e-04 -1.10041768e-05 9.99999594e-01 -4.32693612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.901052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:20.32, Z:-0.04 [[ 9.64502241e-01 -2.64073240e-01 8.66523133e-04 9.97089416e+01] [ 2.64073124e-01 9.64502630e-01 2.47044147e-04 2.03216636e+01] [-9.01001589e-04 -9.44916275e-06 9.99999594e-01 -4.15526050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96105275400001 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:20.34, Z:-0.04 [[ 9.63970367e-01 -2.66008235e-01 8.66588728e-04 9.97693618e+01] [ 2.66008121e-01 9.63970756e-01 2.46813836e-04 2.03387951e+01] [-9.01020704e-04 -7.40158494e-06 9.99999594e-01 -4.10882291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:20.36, Z:-0.04 [[ 9.64057559e-01 -2.65692063e-01 8.66654345e-04 9.98292370e+01] [ 2.65691949e-01 9.64057948e-01 2.46583214e-04 2.03580230e+01] [-9.01020213e-04 -7.45732956e-06 9.99999594e-01 -3.75177670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:20.37, Z:-0.04 [[ 9.65659681e-01 -2.59808830e-01 8.66719488e-04 9.98904894e+01] [ 2.59808714e-01 9.65660070e-01 2.46354031e-04 2.03727628e+01] [-9.00961354e-04 -1.27128801e-05 9.99999594e-01 -3.80596652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:20.39, Z:-0.04 [[ 9.67458066e-01 -2.53029917e-01 8.66786317e-04 9.99513526e+01] [ 2.53029798e-01 9.67458454e-01 2.46118670e-04 2.03873103e+01] [-9.00855137e-04 -1.87867251e-05 9.99999594e-01 -3.61265609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:20.41, Z:-0.04 [[ 9.69632832e-01 -2.44563733e-01 8.66843874e-04 1.00010521e+02] [ 2.44563610e-01 9.69633219e-01 2.45915785e-04 2.04068966e+01] [-9.00662698e-04 -2.64495518e-05 9.99999594e-01 -3.59204740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:100.07, Y:20.42, Z:-0.04 [[ 9.70301598e-01 -2.41896792e-01 8.66900825e-04 1.00071702e+02] [ 2.41896669e-01 9.70301984e-01 2.45714855e-04 2.04201135e+01] [-9.00593226e-04 -2.87170945e-05 9.99999594e-01 -3.86032263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.13, Y:20.44, Z:-0.04 [[ 9.69928035e-01 -2.43390336e-01 8.66956950e-04 1.00132232e+02] [ 2.43390214e-01 9.69928422e-01 2.45516670e-04 2.04390733e+01] [-9.00642571e-04 -2.71246638e-05 9.99999594e-01 -3.98096539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38105275400001 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:100.19, Y:20.45, Z:-0.04 [[ 9.67062972e-01 -2.54535768e-01 8.67023489e-04 1.00191279e+02] [ 2.54535651e-01 9.67063360e-01 2.45281467e-04 2.04548835e+01] [-9.00899555e-04 -1.65142367e-05 9.99999594e-01 -4.05495050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:20.47, Z:-0.05 [[ 9.65067542e-01 -2.61999786e-01 8.67076568e-04 1.00251781e+02] [ 2.61999671e-01 9.65067931e-01 2.45093687e-04 2.04719410e+01] [-9.01002284e-04 -9.35818636e-06 9.99999594e-01 -4.54554271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:20.49, Z:-0.04 [[ 9.64628841e-01 -2.63610409e-01 8.67142736e-04 1.00311451e+02] [ 2.63610296e-01 9.64629230e-01 2.44859363e-04 2.04916263e+01] [-9.01018707e-04 -7.61065030e-06 9.99999594e-01 -3.82666054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:20.51, Z:-0.03 [[ 9.64651166e-01 -2.63528702e-01 8.67208210e-04 1.00371808e+02] [ 2.63528588e-01 9.64651555e-01 2.44627256e-04 2.05091972e+01] [-9.01020052e-04 -7.44581257e-06 9.99999594e-01 -3.48434714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:20.52, Z:-0.04 [[ 9.65845437e-01 -2.59117424e-01 8.67273208e-04 1.00432343e+02] [ 2.59117309e-01 9.65845826e-01 2.44396602e-04 2.05231844e+01] [-9.00979626e-04 -1.13238428e-05 9.99999594e-01 -3.50566029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.681052754 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:20.54, Z:-0.04 [[ 9.66687975e-01 -2.55956261e-01 8.67331363e-04 1.00493213e+02] [ 2.55956145e-01 9.66688364e-01 2.44190042e-04 2.05387807e+01] [-9.00941106e-04 -1.40567856e-05 9.99999594e-01 -3.54439081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74105275400001 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:20.56, Z:-0.03 [[ 9.67700408e-01 -2.52101502e-01 8.67398562e-04 1.00551979e+02] [ 2.52101384e-01 9.67700797e-01 2.43951107e-04 2.05563822e+01] [-9.00882720e-04 -1.73992073e-05 9.99999594e-01 -3.26807202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80105275400001 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:20.57, Z:-0.03 [[ 9.67453663e-01 -2.53046750e-01 8.67452044e-04 1.00612892e+02] [ 2.53046633e-01 9.67454052e-01 2.43760786e-04 2.05729391e+01] [-9.00902869e-04 -1.63214459e-05 9.99999594e-01 -3.43910815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861052754 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:20.59, Z:-0.04 [[ 9.65304295e-01 -2.61126149e-01 8.67519109e-04 1.00674142e+02] [ 2.61126035e-01 9.65304685e-01 2.43521874e-04 2.05871115e+01] [-9.01010189e-04 -8.54088555e-06 9.99999594e-01 -3.99927006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921052754 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:20.60, Z:-0.04 [[ 9.60595359e-01 -2.77949282e-01 8.67585310e-04 1.00734547e+02] [ 2.77949176e-01 9.60595751e-01 2.43285795e-04 2.06042523e+01] [-9.01019874e-04 7.44541554e-06 9.99999594e-01 -3.90197894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:20.62, Z:-0.04 [[ 9.60547798e-01 -2.78113602e-01 8.67651259e-04 1.00795318e+02] [ 2.78113496e-01 9.60548189e-01 2.43050367e-04 2.06205277e+01] [-9.01016459e-04 7.84403061e-06 9.99999594e-01 -3.70978748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041052754 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:20.64, Z:-0.03 [[ 9.62637122e-01 -2.70793314e-01 8.67716974e-04 1.00855944e+02] [ 2.70793205e-01 9.62637513e-01 2.42815528e-04 2.06379803e+01] [-9.01049732e-04 1.22861878e-06 9.99999594e-01 -3.40359810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10105275400001 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:20.65, Z:-0.03 [[ 9.64480899e-01 -2.64151173e-01 8.67782472e-04 1.00916823e+02] [ 2.64151062e-01 9.64481289e-01 2.42581223e-04 2.06541418e+01] [-9.01038073e-04 -4.73929424e-06 9.99999594e-01 -3.43991476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16105275400001 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:20.67, Z:-0.04 [[ 9.63650071e-01 -2.67166215e-01 8.67849962e-04 1.00976596e+02] [ 2.67166105e-01 9.63650462e-01 2.42339534e-04 2.06665403e+01] [-9.01048953e-04 -1.67041543e-06 9.99999594e-01 -3.83474361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:20.68, Z:-0.04 [[ 9.60868162e-01 -2.77004733e-01 8.67903794e-04 1.01037442e+02] [ 2.77004628e-01 9.60868554e-01 2.42146588e-04 2.06816997e+01] [-9.01017215e-04 7.74242079e-06 9.99999594e-01 -3.94405930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.281052754 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:20.70, Z:-0.04 [[ 9.57689990e-01 -2.87800505e-01 8.67961302e-04 1.01097175e+02] [ 2.87800404e-01 9.57690383e-01 2.41940280e-04 2.06980227e+01] [-9.00868726e-04 1.80958290e-05 9.99999594e-01 -3.81360146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.341052754 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:20.71, Z:-0.04 [[ 9.54793688e-01 -2.97267993e-01 8.68001944e-04 1.01157419e+02] [ 2.97267896e-01 9.54794082e-01 2.41794379e-04 2.07123321e+01] [-9.00640850e-04 2.71653648e-05 9.99999594e-01 -4.15283010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.401052754 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:20.73, Z:-0.04 [[ 9.52874542e-01 -3.03363401e-01 8.68060391e-04 1.01217720e+02] [ 3.03363306e-01 9.52874937e-01 2.41584370e-04 2.07292637e+01] [-9.00440846e-04 3.31380737e-05 9.99999594e-01 -4.09372224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46105275400001 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:20.75, Z:-0.04 [[ 9.52065820e-01 -3.05892009e-01 8.68118735e-04 1.01277756e+02] [ 3.05891916e-01 9.52066215e-01 2.41374532e-04 2.07464745e+01] [-9.00341058e-04 3.57460614e-05 9.99999594e-01 -4.10010542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52105275400001 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:20.76, Z:-0.04 [[ 9.52054083e-01 -3.05928538e-01 8.68176220e-04 1.01337118e+02] [ 3.05928445e-01 9.52054478e-01 2.41167591e-04 2.07611663e+01] [-9.00331106e-04 3.59952110e-05 9.99999594e-01 -4.35699122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:20.78, Z:-0.04 [[ 9.53700049e-01 -3.00758146e-01 8.68207299e-04 1.01396369e+02] [ 3.00758051e-01 9.53700444e-01 2.41055656e-04 2.07799504e+01] [-9.00509138e-04 3.12255439e-05 9.99999594e-01 -3.71712027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.641052754 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:20.80, Z:-0.03 [[ 9.55321171e-01 -2.95568446e-01 8.68264807e-04 1.01456647e+02] [ 2.95568349e-01 9.55321565e-01 2.40848335e-04 2.07964685e+01] [-9.00659263e-04 2.65440822e-05 9.99999594e-01 -3.43381490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.701052754 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:101.52, Y:20.81, Z:-0.04 [[ 9.57452565e-01 -2.88589383e-01 8.68321310e-04 1.01517356e+02] [ 2.88589283e-01 9.57452958e-01 2.40644455e-04 2.08108412e+01] [-9.00824242e-04 2.01825744e-05 9.99999594e-01 -3.75879617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761052754 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:20.83, Z:-0.04 [[ 9.60674148e-01 -2.77676840e-01 8.68376947e-04 1.01576093e+02] [ 2.77676736e-01 9.60674540e-01 2.40443521e-04 2.08292312e+01] [-9.00993221e-04 1.01402014e-05 9.99999594e-01 -4.09783233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82105275400001 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:20.85, Z:-0.04 [[ 9.62321809e-01 -2.71911716e-01 8.68427770e-04 1.01635907e+02] [ 2.71911610e-01 9.62322201e-01 2.40259818e-04 2.08465556e+01] [-9.01036782e-04 4.92832982e-06 9.99999594e-01 -4.01588442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88105275400001 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:101.69, Y:20.87, Z:-0.04 [[ 9.62264976e-01 -2.72112774e-01 8.68481685e-04 1.01694020e+02] [ 2.72112668e-01 9.62265368e-01 2.40064772e-04 2.08683177e+01] [-9.01034539e-04 5.31894708e-06 9.99999594e-01 -3.84712895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:101.75, Y:20.89, Z:-0.04 [[ 9.60537725e-01 -2.78148384e-01 8.68534722e-04 1.01754019e+02] [ 2.78148281e-01 9.60538118e-01 2.39872734e-04 2.08863668e+01] [-9.00980920e-04 1.11746303e-05 9.99999594e-01 -4.12178640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001052754 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:20.90, Z:-0.04 [[ 9.58036248e-01 -2.86645763e-01 8.68586940e-04 1.01812641e+02] [ 2.86645663e-01 9.58036642e-01 2.39683500e-04 2.09042651e+01] [-9.00842375e-04 1.93511987e-05 9.99999594e-01 -3.79003440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061052754 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:20.93, Z:-0.03 [[ 9.56391836e-01 -2.92085435e-01 8.68634761e-04 1.01869924e+02] [ 2.92085338e-01 9.56392230e-01 2.39510069e-04 2.09258575e+01] [-9.00712939e-04 2.46500031e-05 9.99999594e-01 -3.06385789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:20.94, Z:-0.03 [[ 9.54896210e-01 -2.96938501e-01 8.68681967e-04 1.01930830e+02] [ 2.96938406e-01 9.54896605e-01 2.39338732e-04 2.09418704e+01] [-9.00570345e-04 2.94013904e-05 9.99999594e-01 -3.23055873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.181052754 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:20.96, Z:-0.03 [[ 9.55190399e-01 -2.95990788e-01 8.68739184e-04 1.01991402e+02] [ 2.95990693e-01 9.55190794e-01 2.39130869e-04 2.09586454e+01] [-9.00592205e-04 2.87232031e-05 9.99999594e-01 -3.42819683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24105275400001 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:20.98, Z:-0.04 [[ 9.57386293e-01 -2.88809160e-01 8.68802801e-04 1.02051309e+02] [ 2.88809062e-01 9.57386687e-01 2.38899514e-04 2.09758972e+01] [-9.00776603e-04 2.21990020e-05 9.99999594e-01 -3.62106602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30105275400001 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:20.99, Z:-0.03 [[ 9.59946670e-01 -2.80181434e-01 8.68842026e-04 1.02112018e+02] [ 2.80181332e-01 9.59947063e-01 2.38756771e-04 2.09930710e+01] [-9.00937566e-04 1.42395490e-05 9.99999594e-01 -3.40802472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361052754 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:21.01, Z:-0.03 [[ 9.62619004e-01 -2.70857707e-01 8.68897972e-04 1.02172808e+02] [ 2.70857602e-01 9.62619396e-01 2.38552998e-04 2.10080231e+01] [-9.01031959e-04 5.71197120e-06 9.99999594e-01 -3.44297297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421052754 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:102.23, Y:21.02, Z:-0.04 [[ 9.65754808e-01 -2.59454998e-01 8.68954248e-04 1.02233116e+02] [ 2.59454889e-01 9.65755199e-01 2.38347829e-04 2.10231055e+01] [-9.01037618e-04 -4.73113437e-06 9.99999594e-01 -3.56083370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481052754 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:102.29, Y:21.04, Z:-0.03 [[ 9.68640915e-01 -2.48463323e-01 8.69011659e-04 1.02292424e+02] [ 2.48463209e-01 9.68641305e-01 2.38138327e-04 2.10393075e+01] [-9.00929227e-04 -1.47531016e-05 9.99999594e-01 -3.19558590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541052754 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:21.05, Z:-0.03 [[ 9.71026091e-01 -2.38971913e-01 8.69063854e-04 1.02354108e+02] [ 2.38971796e-01 9.71026480e-01 2.37947690e-04 2.10459451e+01] [-9.00746830e-04 -2.33716657e-05 9.99999594e-01 -3.13235467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60105275400001 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:21.06, Z:-0.03 [[ 9.71564555e-01 -2.36773225e-01 8.69094136e-04 1.02414136e+02] [ 2.36773107e-01 9.71564943e-01 2.37837039e-04 2.10634707e+01] [-9.00694837e-04 -2.52959180e-05 9.99999594e-01 -2.93132882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66105275400001 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:21.09, Z:-0.02 [[ 9.69965212e-01 -2.43242126e-01 8.69147978e-04 1.02472480e+02] [ 2.43242011e-01 9.69965601e-01 2.37640113e-04 2.10896454e+01] [-9.00847728e-04 -1.90893405e-05 9.99999594e-01 -2.30483219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:21.11, Z:-0.02 [[ 9.68834535e-01 -2.47707264e-01 8.69174979e-04 1.02533094e+02] [ 2.47707150e-01 9.68834925e-01 2.37541316e-04 2.11057112e+01] [-9.00927785e-04 -1.48373737e-05 9.99999594e-01 -2.47359247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.781052754 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:21.12, Z:-0.03 [[ 9.67699535e-01 -2.52104847e-01 8.69238562e-04 1.02594339e+02] [ 2.52104736e-01 9.67699926e-01 2.37308419e-04 2.11228802e+01] [-9.00988694e-04 -1.05040891e-05 9.99999594e-01 -2.61033251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841052754 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:21.14, Z:-0.02 [[ 9.64712356e-01 -2.63304603e-01 8.69301410e-04 1.02654709e+02] [ 2.63304496e-01 9.64712748e-01 2.37077972e-04 2.11410742e+01] [-9.01049873e-04 1.78921133e-07 9.99999594e-01 -2.49317575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901052754 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:21.16, Z:-0.02 [[ 9.63255080e-01 -2.68586848e-01 8.69364707e-04 1.02715820e+02] [ 2.68586744e-01 9.63255472e-01 2.36845635e-04 2.11560628e+01] [-9.01033934e-04 5.35707446e-06 9.99999594e-01 -2.45536122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96105275400001 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:102.78, Y:21.17, Z:-0.03 [[ 9.62799762e-01 -2.70214477e-01 8.69428660e-04 1.02776358e+02] [ 2.70214373e-01 9.62800154e-01 2.36610637e-04 2.11713912e+01] [-9.01021667e-04 7.12345519e-06 9.99999594e-01 -2.51718350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02105275400001 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:102.84, Y:21.19, Z:-0.02 [[ 9.63513340e-01 -2.67658902e-01 8.69468053e-04 1.02837225e+02] [ 2.67658797e-01 9.63513732e-01 2.36465792e-04 2.11875985e+01] [-9.01036583e-04 4.88282860e-06 9.99999594e-01 -2.06372049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:102.90, Y:21.20, Z:-0.02 [[ 9.66358051e-01 -2.57199069e-01 8.69531770e-04 1.02898756e+02] [ 2.57198961e-01 9.66358442e-01 2.36231261e-04 2.12025499e+01] [-9.01037827e-04 -4.64131336e-06 9.99999594e-01 -2.15220726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.141052754 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:102.96, Y:21.22, Z:-0.02 [[ 9.68649026e-01 -2.48431698e-01 8.69595275e-04 1.02959316e+02] [ 2.48431586e-01 9.68649416e-01 2.35997260e-04 2.12182310e+01] [-9.00962155e-04 -1.25635828e-05 9.99999594e-01 -1.98838687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.201052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:21.23, Z:-0.02 [[ 9.70772413e-01 -2.40000344e-01 8.69653787e-04 1.03020751e+02] [ 2.40000229e-01 9.70772803e-01 2.35781443e-04 2.12341690e+01] [-9.00823872e-04 -2.01730124e-05 9.99999594e-01 -2.05129614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:103.08, Y:21.25, Z:-0.02 [[ 9.71752681e-01 -2.35999937e-01 8.69716817e-04 1.03082008e+02] [ 2.35999820e-01 9.71753070e-01 2.35548716e-04 2.12483196e+01] [-9.00739470e-04 -2.36420833e-05 9.99999594e-01 -2.25376847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32105275400001 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:103.14, Y:21.27, Z:-0.02 [[ 9.71141787e-01 -2.38501305e-01 8.69778680e-04 1.03142403e+02] [ 2.38501190e-01 9.71142177e-01 2.35320062e-04 2.12661271e+01] [-9.00802902e-04 -2.10858951e-05 9.99999594e-01 -2.04052938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38105275400001 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:21.28, Z:-0.02 [[ 9.69025803e-01 -2.46957964e-01 8.69840546e-04 1.03203700e+02] [ 2.46957853e-01 9.69026193e-01 2.35091157e-04 2.12817207e+01] [-9.00955907e-04 -1.29954432e-05 9.99999594e-01 -2.27591975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:21.30, Z:-0.02 [[ 9.66162167e-01 -2.57933926e-01 8.69902835e-04 1.03262749e+02] [ 2.57933819e-01 9.66162559e-01 2.34860443e-04 2.13021460e+01] [-9.01046025e-04 -2.53591404e-06 9.99999594e-01 -2.37041289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:21.32, Z:-0.03 [[ 9.62748588e-01 -2.70396745e-01 8.69958027e-04 1.03323982e+02] [ 2.70396643e-01 9.62748981e-01 2.34655827e-04 2.13161775e+01] [-9.01001376e-04 9.31916408e-06 9.99999594e-01 -2.55047727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.561052754 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:21.33, Z:-0.02 [[ 9.64944670e-01 -2.62451951e-01 8.70012912e-04 1.03382889e+02] [ 2.62451846e-01 9.64945063e-01 2.34452158e-04 2.13333820e+01] [-9.01047090e-04 2.10313441e-06 9.99999594e-01 -1.98201895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621052754 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:21.35, Z:-0.01 [[ 9.67433899e-01 -2.53122289e-01 8.70063154e-04 1.03443921e+02] [ 2.53122181e-01 9.67434291e-01 2.34265557e-04 2.13504346e+01] [-9.01026765e-04 -6.40415857e-06 9.99999594e-01 -1.06310117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:21.36, Z:-0.02 [[ 9.69278048e-01 -2.45966072e-01 8.70125670e-04 1.03505123e+02] [ 2.45965961e-01 9.69278438e-01 2.34033126e-04 2.13610168e+01] [-9.00958260e-04 -1.28218747e-05 9.99999594e-01 -1.82460171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74105275400001 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:21.38, Z:-0.02 [[ 9.70179269e-01 -2.42386939e-01 8.70183318e-04 1.03565137e+02] [ 2.42386827e-01 9.70179659e-01 2.33818581e-04 2.13762477e+01] [-9.00908726e-04 -1.59249667e-05 9.99999594e-01 -1.65396808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80105275400001 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:21.39, Z:-0.02 [[ 9.70530989e-01 -2.40974776e-01 8.70221047e-04 1.03625826e+02] [ 2.40974663e-01 9.70531379e-01 2.33678081e-04 2.13914546e+01] [-9.00887355e-04 -1.70905957e-05 9.99999594e-01 -1.69522048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.861052754 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:21.40, Z:-0.03 [[ 9.70058858e-01 -2.42868391e-01 8.70276386e-04 1.03687531e+02] [ 2.42868279e-01 9.70059248e-01 2.33471802e-04 2.14017013e+01] [-9.00922577e-04 -1.51188616e-05 9.99999594e-01 -2.80780650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.921052754 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:21.41, Z:-0.03 [[ 9.68750151e-01 -2.48037070e-01 8.70327779e-04 1.03748044e+02] [ 2.48036961e-01 9.68750541e-01 2.33280062e-04 2.14132215e+01] [-9.00992610e-04 -1.01166378e-05 9.99999594e-01 -3.16220467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.981052754 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:21.43, Z:-0.03 [[ 9.65594369e-01 -2.60051452e-01 8.70374753e-04 1.03810362e+02] [ 2.60051348e-01 9.65594761e-01 2.33104669e-04 2.14263808e+01] [-9.01048509e-04 1.25757178e-06 9.99999594e-01 -2.95616284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.041052754 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:21.44, Z:-0.03 [[ 9.61397002e-01 -2.75163675e-01 8.70435945e-04 1.03872306e+02] [ 2.75163576e-01 9.61397395e-01 2.32875947e-04 2.14405956e+01] [-9.00913852e-04 1.56260303e-05 9.99999594e-01 -3.14467701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10105275400001 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:21.46, Z:-0.03 [[ 9.58650392e-01 -2.84585081e-01 8.70499115e-04 1.03933687e+02] [ 2.84584987e-01 9.58650787e-01 2.32639577e-04 2.14557933e+01] [-9.00710414e-04 2.47109571e-05 9.99999594e-01 -3.05967101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16105275400001 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:21.47, Z:-0.03 [[ 9.56541463e-01 -2.91595046e-01 8.70562897e-04 1.03993749e+02] [ 2.91594955e-01 9.56541859e-01 2.32400650e-04 2.14738738e+01] [-9.00496730e-04 3.15508908e-05 9.99999594e-01 -2.59275792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:21.49, Z:-0.02 [[ 9.56679886e-01 -2.91140582e-01 8.70618886e-04 1.04052937e+02] [ 2.91140491e-01 9.56680281e-01 2.32190715e-04 2.14923654e+01] [-9.00504061e-04 3.13402234e-05 9.99999594e-01 -2.27609766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281052754 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:21.51, Z:-0.03 [[ 9.58703728e-01 -2.84405350e-01 8.70675746e-04 1.04113156e+02] [ 2.84405256e-01 9.58704124e-01 2.31977303e-04 2.15076956e+01] [-9.00696014e-04 2.52272533e-05 9.99999594e-01 -2.63168531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341052754 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:21.52, Z:-0.03 [[ 9.60774424e-01 -2.77329675e-01 8.70735827e-04 1.04173607e+02] [ 2.77329579e-01 9.60774818e-01 2.31751567e-04 2.15248333e+01] [-9.00852643e-04 1.88198220e-05 9.99999594e-01 -2.65612055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401052754 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:21.54, Z:-0.03 [[ 9.65332235e-01 -2.61022828e-01 8.70800574e-04 1.04232268e+02] [ 2.61022726e-01 9.65332628e-01 2.31508026e-04 2.15418128e+01] [-9.01041087e-04 3.81657931e-06 9.99999594e-01 -2.97933805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46105275400001 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:21.56, Z:-0.03 [[ 9.68193970e-01 -2.50199277e-01 8.70851988e-04 1.04291823e+02] [ 2.50199170e-01 9.68194362e-01 2.31314463e-04 2.15597638e+01] [-9.01028696e-04 -6.07082345e-06 9.99999594e-01 -3.27544179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52105275400001 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:21.58, Z:-0.03 [[ 9.70489756e-01 -2.41140778e-01 8.70906779e-04 1.04352922e+02] [ 2.41140668e-01 9.70490147e-01 2.31107990e-04 2.15768928e+01] [-9.00936008e-04 -1.42768950e-05 9.99999594e-01 -3.31828278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:21.59, Z:-0.03 [[ 9.71078427e-01 -2.38759147e-01 8.70969130e-04 1.04413708e+02] [ 2.38759036e-01 9.71078817e-01 2.30872769e-04 2.15925994e+01] [-9.00902658e-04 -1.62438156e-05 9.99999594e-01 -3.37251184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641052754 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:21.61, Z:-0.03 [[ 9.73082399e-01 -2.30455823e-01 8.71033220e-04 1.04472438e+02] [ 2.30455709e-01 9.73082788e-01 2.30630720e-04 2.16094355e+01] [-9.00737627e-04 -2.36881157e-05 9.99999594e-01 -3.15143538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701052754 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:21.63, Z:-0.03 [[ 9.74633625e-01 -2.23804686e-01 8.71084249e-04 1.04532939e+02] [ 2.23804570e-01 9.74634014e-01 2.30437822e-04 2.16267265e+01] [-9.00561403e-04 -2.96398143e-05 9.99999594e-01 -2.72859968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.761052754 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:21.64, Z:-0.03 [[ 9.75249125e-01 -2.21107181e-01 8.71146823e-04 1.04593648e+02] [ 2.21107064e-01 9.75249513e-01 2.30201026e-04 2.16424130e+01] [-9.00484615e-04 -3.18866328e-05 9.99999594e-01 -2.79187084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82105275400001 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:21.66, Z:-0.03 [[ 9.75771949e-01 -2.18788357e-01 8.71210138e-04 1.04653405e+02] [ 2.18788239e-01 9.75772337e-01 2.29961155e-04 2.16579829e+01] [-9.00415576e-04 -3.37791132e-05 9.99999594e-01 -3.12081268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88105275400001 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:21.67, Z:-0.03 [[ 9.76108718e-01 -2.17280949e-01 8.71268554e-04 1.04714356e+02] [ 2.17280830e-01 9.76109107e-01 2.29739618e-04 2.16745620e+01] [-9.00371212e-04 -3.49408889e-05 9.99999594e-01 -3.25682804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:104.78, Y:21.69, Z:-0.03 [[ 9.75814582e-01 -2.18598128e-01 8.71329656e-04 1.04775079e+02] [ 2.18598011e-01 9.75814971e-01 2.29507644e-04 2.16917876e+01] [-9.00426464e-04 -3.34859766e-05 9.99999594e-01 -3.39426007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.001052754 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:21.71, Z:-0.04 [[ 9.74756249e-01 -2.23270005e-01 8.71392893e-04 1.04834509e+02] [ 2.23269889e-01 9.74756638e-01 2.29267292e-04 2.17084825e+01] [-9.00584517e-04 -2.89239309e-05 9.99999594e-01 -3.57040421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.061052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:21.73, Z:-0.04 [[ 9.73216341e-01 -2.29889527e-01 8.71451208e-04 1.04894868e+02] [ 2.29889414e-01 9.73216731e-01 2.29045420e-04 2.17259834e+01] [-9.00766039e-04 -2.25733386e-05 9.99999594e-01 -3.59634327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.121052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:21.74, Z:-0.04 [[ 9.72765130e-01 -2.31791377e-01 8.71512815e-04 1.04953795e+02] [ 2.31791265e-01 9.72765520e-01 2.28810768e-04 2.17435860e+01] [-9.00813980e-04 -2.05700785e-05 9.99999594e-01 -3.50311142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.181052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:21.76, Z:-0.03 [[ 9.71663101e-01 -2.36368482e-01 8.71542997e-04 1.05013109e+02] [ 2.36368372e-01 9.71663491e-01 2.28695744e-04 2.17622359e+01] [-9.00902978e-04 -1.62100163e-05 9.99999594e-01 -3.09250961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24105275400001 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:21.78, Z:-0.03 [[ 9.70995301e-01 -2.39096979e-01 8.71596396e-04 1.05074376e+02] [ 2.39096871e-01 9.70995692e-01 2.28492051e-04 2.17786056e+01] [-9.00948105e-04 -1.34687369e-05 9.99999594e-01 -3.20907105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30105275400001 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:21.80, Z:-0.03 [[ 9.70388441e-01 -2.41548161e-01 8.71657089e-04 1.05134056e+02] [ 2.41548054e-01 9.70388832e-01 2.28260285e-04 2.17963818e+01] [-9.00982157e-04 -1.09540682e-05 9.99999594e-01 -3.18432939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.19, Y:21.81, Z:-0.03 [[ 9.70159796e-01 -2.42464863e-01 8.71710935e-04 1.05194571e+02] [ 2.42464756e-01 9.70160188e-01 2.28054464e-04 2.18114993e+01] [-9.00994439e-04 -9.89009378e-06 9.99999594e-01 -3.46524128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.421052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:105.25, Y:21.83, Z:-0.04 [[ 9.69879590e-01 -2.43583293e-01 8.71764354e-04 1.05253899e+02] [ 2.43583186e-01 9.69879982e-01 2.27850081e-04 2.18255586e+01] [-9.01007269e-04 -8.64000378e-06 9.99999594e-01 -3.94615690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:21.84, Z:-0.04 [[ 9.69931851e-01 -2.43375109e-01 8.71813285e-04 1.05315492e+02] [ 2.43375003e-01 9.69932243e-01 2.27662706e-04 2.18413774e+01] [-9.01007251e-04 -8.63974908e-06 9.99999594e-01 -3.89897522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:21.86, Z:-0.04 [[ 9.70721418e-01 -2.40206510e-01 8.71873652e-04 1.05376099e+02] [ 2.40206403e-01 9.70721810e-01 2.27431283e-04 2.18550361e+01] [-9.00977244e-04 -1.13427843e-05 9.99999594e-01 -3.91562904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:21.87, Z:-0.04 [[ 9.72106944e-01 -2.34536412e-01 8.71926531e-04 1.05436053e+02] [ 2.34536302e-01 9.72107335e-01 2.27228376e-04 2.18715798e+01] [-9.00899504e-04 -1.63918580e-05 9.99999594e-01 -3.53062974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:21.89, Z:-0.03 [[ 9.73801266e-01 -2.27399065e-01 8.71979587e-04 1.05496332e+02] [ 2.27398952e-01 9.73801656e-01 2.27024593e-04 2.18903059e+01] [-9.00760345e-04 -2.27895917e-05 9.99999594e-01 -3.26170341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:21.91, Z:-0.03 [[ 9.76335040e-01 -2.16261713e-01 8.72039965e-04 1.05556578e+02] [ 2.16261596e-01 9.76335429e-01 2.26792430e-04 2.19056729e+01] [-9.00450033e-04 -3.28366416e-05 9.99999594e-01 -3.33924557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:21.92, Z:-0.03 [[ 9.77485652e-01 -2.11000092e-01 8.72094806e-04 1.05616942e+02] [ 2.10999974e-01 9.77486041e-01 2.26581352e-04 2.19207564e+01] [-9.00269185e-04 -3.74680397e-05 9.99999594e-01 -3.32322575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:21.94, Z:-0.03 [[ 9.77404250e-01 -2.11376846e-01 8.72152724e-04 1.05678689e+02] [ 2.11376728e-01 9.77404639e-01 2.26358195e-04 2.19358994e+01] [-9.00293000e-04 -3.68906725e-05 9.99999594e-01 -3.37923597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:21.95, Z:-0.03 [[ 9.76786925e-01 -2.14211445e-01 8.72213671e-04 1.05739529e+02] [ 2.14211328e-01 9.76787313e-01 2.26123107e-04 2.19507855e+01] [-9.00405406e-04 -3.40360453e-05 9.99999594e-01 -3.35989033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:21.97, Z:-0.04 [[ 9.74253317e-01 -2.25454462e-01 8.72266290e-04 1.05799916e+02] [ 2.25454350e-01 9.74253707e-01 2.25919948e-04 2.19679012e+01] [-9.00743327e-04 -2.34470295e-05 9.99999594e-01 -3.56701430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:21.98, Z:-0.04 [[ 9.70228207e-01 -2.42190971e-01 8.72319412e-04 1.05860592e+02] [ 2.42190866e-01 9.70228599e-01 2.25714646e-04 2.19827708e+01] [-9.01015290e-04 -7.72692309e-06 9.99999594e-01 -4.23927749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:22.00, Z:-0.04 [[ 9.66157971e-01 -2.57949635e-01 8.72372249e-04 1.05922037e+02] [ 2.57949536e-01 9.66158365e-01 2.25510250e-04 2.19992565e+01] [-9.01020033e-04 7.14949122e-06 9.99999594e-01 -4.28311646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.141052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.98, Y:22.02, Z:-0.04 [[ 9.64325705e-01 -2.64717159e-01 8.72432531e-04 1.05980763e+02] [ 2.64717064e-01 9.64326099e-01 2.25276796e-04 2.20152097e+01] [-9.00944093e-04 1.37075732e-05 9.99999594e-01 -3.92442183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.201052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:22.03, Z:-0.03 [[ 9.64510320e-01 -2.64043712e-01 8.72480624e-04 1.06040946e+02] [ 2.64043616e-01 9.64510714e-01 2.25090382e-04 2.20325281e+01] [-9.00950610e-04 1.32709429e-05 9.99999594e-01 -3.45505903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.261052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:22.05, Z:-0.04 [[ 9.66012655e-01 -2.58493306e-01 8.72533767e-04 1.06100977e+02] [ 2.58493208e-01 9.66013049e-01 2.24884191e-04 2.20480404e+01] [-9.01010063e-04 8.30307808e-06 9.99999594e-01 -3.50088234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:22.06, Z:-0.04 [[ 9.67394478e-01 -2.53272901e-01 8.72586488e-04 1.06161550e+02] [ 2.53272801e-01 9.67394872e-01 2.24679440e-04 2.20624978e+01] [-9.01040907e-04 3.64877451e-06 9.99999594e-01 -3.85639130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:22.08, Z:-0.04 [[ 9.68270227e-01 -2.49903995e-01 8.72640144e-04 1.06222257e+02] [ 2.49903894e-01 9.68270620e-01 2.24470847e-04 2.20768729e+01] [-9.01047975e-04 7.27731758e-07 9.99999594e-01 -4.01038602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.28, Y:22.09, Z:-0.04 [[ 9.69761004e-01 -2.44054979e-01 8.72693186e-04 1.06282737e+02] [ 2.44054876e-01 9.69761397e-01 2.24264441e-04 2.20912164e+01] [-9.01037017e-04 -4.49788216e-06 9.99999594e-01 -4.29573685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.34, Y:22.11, Z:-0.04 [[ 9.70658225e-01 -2.40461741e-01 8.72745639e-04 1.06343766e+02] [ 2.40461636e-01 9.70658617e-01 2.24060132e-04 2.21055741e+01] [-9.01015964e-04 -7.62396573e-06 9.99999594e-01 -4.31934578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:22.12, Z:-0.04 [[ 9.71842277e-01 -2.35630699e-01 8.72805276e-04 1.06405179e+02] [ 2.35630593e-01 9.71842669e-01 2.23827578e-04 2.21202842e+01] [-9.00970058e-04 -1.18654785e-05 9.99999594e-01 -4.14528195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:22.14, Z:-0.04 [[ 9.73557928e-01 -2.28438609e-01 8.72868343e-04 1.06466366e+02] [ 2.28438501e-01 9.73558319e-01 2.23581366e-04 2.21378246e+01] [-9.00862853e-04 -1.82726759e-05 9.99999594e-01 -4.22964802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.681052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:22.15, Z:-0.04 [[ 9.74134774e-01 -2.25966105e-01 8.72931868e-04 1.06526211e+02] [ 2.25965995e-01 9.74135165e-01 2.23333068e-04 2.21516911e+01] [-9.00819332e-04 -2.03035891e-05 9.99999594e-01 -3.98499390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.59, Y:22.17, Z:-0.04 [[ 9.74557957e-01 -2.24133948e-01 8.72982647e-04 1.06586808e+02] [ 2.24133838e-01 9.74558348e-01 2.23134400e-04 2.21678924e+01] [-9.00784520e-04 -2.17924537e-05 9.99999594e-01 -4.01049180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.65, Y:22.18, Z:-0.04 [[ 9.73134158e-01 -2.30237155e-01 8.73045533e-04 1.06648495e+02] [ 2.30237048e-01 9.73134550e-01 2.22888077e-04 2.21814684e+01] [-9.00907889e-04 -1.58925754e-05 9.99999594e-01 -4.13284561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:22.20, Z:-0.04 [[ 9.71986093e-01 -2.35036749e-01 8.73107583e-04 1.06708443e+02] [ 2.35036644e-01 9.71986485e-01 2.22644747e-04 2.21974397e+01] [-9.00978468e-04 -1.11953215e-05 9.99999594e-01 -4.15945839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:106.77, Y:22.21, Z:-0.04 [[ 9.70345007e-01 -2.41722578e-01 8.73164818e-04 1.06770448e+02] [ 2.41722476e-01 9.70345400e-01 2.22420057e-04 2.22104510e+01] [-9.01035414e-04 -4.76063004e-06 9.99999594e-01 -4.29741603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:106.83, Y:22.22, Z:-0.04 [[ 9.68652179e-01 -2.48419390e-01 8.73224809e-04 1.06832006e+02] [ 2.48419291e-01 9.68652573e-01 2.22184282e-04 2.22245703e+01] [-9.01046342e-04 1.70659908e-06 9.99999594e-01 -4.15220625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:106.89, Y:22.24, Z:-0.04 [[ 9.67244218e-01 -2.53846136e-01 8.73284799e-04 1.06893597e+02] [ 2.53846039e-01 9.67244612e-01 2.21948242e-04 2.22372700e+01] [-9.01020720e-04 7.00173337e-06 9.99999594e-01 -4.48203966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10105275400001 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:22.25, Z:-0.05 [[ 9.67136785e-01 -2.54255139e-01 8.73344342e-04 1.06955756e+02] [ 2.54255042e-01 9.67137180e-01 2.21713699e-04 2.22505425e+01] [-9.01015631e-04 7.62472821e-06 9.99999594e-01 -4.71213085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16105275400001 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:22.27, Z:-0.04 [[ 9.68476858e-01 -2.49102011e-01 8.73403429e-04 1.07016154e+02] [ 2.49101912e-01 9.68477252e-01 2.21480690e-04 2.22653445e+01] [-9.01042639e-04 3.06754192e-06 9.99999594e-01 -4.35260607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:22.28, Z:-0.04 [[ 9.69650851e-01 -2.44492256e-01 8.73457604e-04 1.07076855e+02] [ 2.44492156e-01 9.69651245e-01 2.21266835e-04 2.22794119e+01] [-9.01047281e-04 -9.98041548e-07 9.99999594e-01 -4.46850597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281052754 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:22.29, Z:-0.05 [[ 9.70644574e-01 -2.40516836e-01 8.73514846e-04 1.07138943e+02] [ 2.40516734e-01 9.70644967e-01 2.21040624e-04 2.22902455e+01] [-9.01036780e-04 -4.45694445e-06 9.99999594e-01 -4.96269154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341052754 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:22.30, Z:-0.05 [[ 9.70827806e-01 -2.39776162e-01 8.73575733e-04 1.07198420e+02] [ 2.39776061e-01 9.70828199e-01 2.20799728e-04 2.23035609e+01] [-9.01034467e-04 -4.89596776e-06 9.99999594e-01 -5.42288110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401052754 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:22.32, Z:-0.06 [[ 9.70847588e-01 -2.39696053e-01 8.73624198e-04 1.07259813e+02] [ 2.39695952e-01 9.70847981e-01 2.20607805e-04 2.23169617e+01] [-9.01035109e-04 -4.77237210e-06 9.99999594e-01 -5.58452705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46105275400001 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:22.33, Z:-0.06 [[ 9.70083871e-01 -2.42768448e-01 8.73683195e-04 1.07318752e+02] [ 2.42768348e-01 9.70084265e-01 2.20373907e-04 2.23332368e+01] [-9.01046151e-04 -1.67854612e-06 9.99999594e-01 -5.80891899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52105275400001 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:107.38, Y:22.35, Z:-0.06 [[ 9.69103377e-01 -2.46653364e-01 8.73730231e-04 1.07379125e+02] [ 2.46653265e-01 9.69103771e-01 2.20187262e-04 2.23505021e+01] [-9.01045190e-04 2.12419569e-06 9.99999594e-01 -5.95622336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:107.44, Y:22.37, Z:-0.06 [[ 9.67931846e-01 -2.51211421e-01 8.73787397e-04 1.07437471e+02] [ 2.51211325e-01 9.67932240e-01 2.19960172e-04 2.23682513e+01] [-9.01023500e-04 6.59883495e-06 9.99999594e-01 -5.61350826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641052754 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:107.50, Y:22.39, Z:-0.05 [[ 9.67907570e-01 -2.51304938e-01 8.73814488e-04 1.07497478e+02] [ 2.51304842e-01 9.67907965e-01 2.19852497e-04 2.23873629e+01] [-9.01022021e-04 6.79691542e-06 9.99999594e-01 -5.41425453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701052754 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:107.56, Y:22.40, Z:-0.05 [[ 9.68674188e-01 -2.48333553e-01 8.73870975e-04 1.07558843e+02] [ 2.48333456e-01 9.68674582e-01 2.19627742e-04 2.24030026e+01] [-9.01037539e-04 4.26367492e-06 9.99999594e-01 -5.27013083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761052754 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:22.42, Z:-0.05 [[ 9.70048659e-01 -2.42909108e-01 8.73929030e-04 1.07619681e+02] [ 2.42909009e-01 9.70049053e-01 2.19396492e-04 2.24211162e+01] [-9.01047434e-04 -5.40038881e-07 9.99999594e-01 -4.81392325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82105275400001 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:22.44, Z:-0.05 [[ 9.71032057e-01 -2.38947653e-01 8.73986600e-04 1.07680495e+02] [ 2.38947553e-01 9.71032450e-01 2.19166915e-04 2.24366764e+01] [-9.01038769e-04 -3.98114053e-06 9.99999594e-01 -5.00937168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88105275400001 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:107.74, Y:22.45, Z:-0.05 [[ 9.71020778e-01 -2.38993483e-01 8.74043220e-04 1.07742207e+02] [ 2.38993382e-01 9.71021171e-01 2.18940880e-04 2.24511981e+01] [-9.01039915e-04 -3.70559797e-06 9.99999594e-01 -5.26062071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94105275400001 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:22.47, Z:-0.05 [[ 9.69626998e-01 -2.44586837e-01 8.74099435e-04 1.07802492e+02] [ 2.44586739e-01 9.69627392e-01 2.18716218e-04 2.24666593e+01] [-9.01045863e-04 1.71998040e-06 9.99999594e-01 -5.45235560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001052754 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:22.48, Z:-0.05 [[ 9.67586079e-01 -2.52539930e-01 8.74151352e-04 1.07861852e+02] [ 2.52539835e-01 9.67586474e-01 2.18508519e-04 2.24847303e+01] [-9.00999150e-04 9.33223727e-06 9.99999594e-01 -5.21938069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061052754 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:22.50, Z:-0.05 [[ 9.66322370e-01 -2.57333078e-01 8.74185311e-04 1.07921500e+02] [ 2.57332986e-01 9.66322765e-01 2.18372577e-04 2.25022552e+01] [-9.00939654e-04 1.39384099e-05 9.99999594e-01 -5.31177140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121052754 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:22.52, Z:-0.05 [[ 9.64878888e-01 -2.62693677e-01 8.74235567e-04 1.07983104e+02] [ 2.62693587e-01 9.64879283e-01 2.18171195e-04 2.25170333e+01] [-9.00843981e-04 1.91472974e-05 9.99999594e-01 -5.11114556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.181052754 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:22.53, Z:-0.05 [[ 9.65231820e-01 -2.61393896e-01 8.74289153e-04 1.08042381e+02] [ 2.61393806e-01 9.65232216e-01 2.17956245e-04 2.25325888e+01] [-9.00864489e-04 1.81554664e-05 9.99999594e-01 -4.63002981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24105275400001 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:108.10, Y:22.55, Z:-0.04 [[ 9.67199308e-01 -2.54017193e-01 8.74331933e-04 1.08103552e+02] [ 2.54017100e-01 9.67199703e-01 2.17784497e-04 2.25465129e+01] [-9.00974593e-04 1.14542472e-05 9.99999594e-01 -4.36682392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30105275400001 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:108.17, Y:22.56, Z:-0.04 [[ 9.69557771e-01 -2.44861112e-01 8.74347981e-04 1.08165673e+02] [ 2.44861015e-01 9.69558165e-01 2.17720052e-04 2.25603515e+01] [-9.01042398e-04 3.00156606e-06 9.99999594e-01 -4.40644922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361052754 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:22.58, Z:-0.04 [[ 9.70174754e-01 -2.42404997e-01 8.74405749e-04 1.08227108e+02] [ 2.42404899e-01 9.70175148e-01 2.17487795e-04 2.25752081e+01] [-9.01046855e-04 9.59068770e-07 9.99999594e-01 -4.48008413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:22.59, Z:-0.05 [[ 9.71217819e-01 -2.38191484e-01 8.74463931e-04 1.08287785e+02] [ 2.38191385e-01 9.71218213e-01 2.17253608e-04 2.25873981e+01] [-9.01043256e-04 -2.71080027e-06 9.99999594e-01 -4.83217006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481052754 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:22.60, Z:-0.05 [[ 9.72311401e-01 -2.33687345e-01 8.74511616e-04 1.08348112e+02] [ 2.33687245e-01 9.72311794e-01 2.17061490e-04 2.26009091e+01] [-9.01022482e-04 -6.68915143e-06 9.99999594e-01 -5.14138690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.541052754 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:22.62, Z:-0.05 [[ 9.72782623e-01 -2.31717941e-01 8.74565816e-04 1.08409545e+02] [ 2.31717839e-01 9.72783016e-01 2.16842893e-04 2.26158238e+01] [-9.01009161e-04 -8.28849714e-06 9.99999594e-01 -5.03142396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60105275400001 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:108.47, Y:22.63, Z:-0.05 [[ 9.73817384e-01 -2.27330021e-01 8.74623853e-04 1.08470523e+02] [ 2.27329918e-01 9.73817776e-01 2.16608553e-04 2.26307811e+01] [-9.00965882e-04 -1.21090059e-05 9.99999594e-01 -4.91490622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66105275400001 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:108.53, Y:22.65, Z:-0.05 [[ 9.74841357e-01 -2.22898103e-01 8.74681472e-04 1.08531558e+02] [ 2.22897999e-01 9.74841749e-01 2.16375633e-04 2.26451927e+01] [-9.00905733e-04 -1.59671659e-05 9.99999594e-01 -4.58943694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:22.66, Z:-0.05 [[ 9.75279349e-01 -2.20973813e-01 8.74700147e-04 1.08593168e+02] [ 2.20973708e-01 9.75279741e-01 2.16300110e-04 2.26596193e+01] [-9.00873993e-04 -1.76672958e-05 9.99999594e-01 -4.56233168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781052754 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:108.65, Y:22.67, Z:-0.04 [[ 9.74285813e-01 -2.25313981e-01 8.74759841e-04 1.08653559e+02] [ 2.25313878e-01 9.74286205e-01 2.16058426e-04 2.26728829e+01] [-9.00947430e-04 -1.34071274e-05 9.99999594e-01 -4.03753967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841052754 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:22.69, Z:-0.04 [[ 9.73358220e-01 -2.29288050e-01 8.74811136e-04 1.08715476e+02] [ 2.29287949e-01 9.73358613e-01 2.15850535e-04 2.26861221e+01] [-9.00996902e-04 -9.51624129e-06 9.99999594e-01 -4.32769879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901052754 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:22.70, Z:-0.04 [[ 9.72028889e-01 -2.34859688e-01 8.74869367e-04 1.08776333e+02] [ 2.34859589e-01 9.72029283e-01 2.15614259e-04 2.27002298e+01] [-9.01037741e-04 -4.11182878e-06 9.99999594e-01 -4.40908362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96105275400001 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:108.84, Y:22.71, Z:-0.05 [[ 9.70907731e-01 -2.39452317e-01 8.74923136e-04 1.08837949e+02] [ 2.39452220e-01 9.70908125e-01 2.15395851e-04 2.27125527e+01] [-9.01047018e-04 3.72789976e-07 9.99999594e-01 -4.88966372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02105275400001 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:108.90, Y:22.72, Z:-0.05 [[ 9.71034165e-01 -2.38939080e-01 8.74972701e-04 1.08898361e+02] [ 2.38938983e-01 9.71034560e-01 2.15194325e-04 2.27226625e+01] [-9.01047065e-04 1.04045698e-07 9.99999594e-01 -5.37014364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:108.96, Y:22.74, Z:-0.05 [[ 9.72605601e-01 -2.32459844e-01 8.75000241e-04 1.08959249e+02] [ 2.32459745e-01 9.72605995e-01 2.15082284e-04 2.27351444e+01] [-9.01028474e-04 -5.78790183e-06 9.99999594e-01 -5.32857340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141052754 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:22.75, Z:-0.05 [[ 9.75433114e-01 -2.20294061e-01 8.75051690e-04 1.09020975e+02] [ 2.20293957e-01 9.75433507e-01 2.14872762e-04 2.27464335e+01] [-9.00889932e-04 -1.68254076e-05 9.99999594e-01 -5.25688245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201052754 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:22.76, Z:-0.05 [[ 9.79182468e-01 -2.02980120e-01 8.75103193e-04 1.09080611e+02] [ 2.02980009e-01 9.79182858e-01 2.14662804e-04 2.27636820e+01] [-9.00458327e-04 -3.25656007e-05 9.99999594e-01 -5.08473354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261052754 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:22.77, Z:-0.05 [[ 9.80275678e-01 -1.97633067e-01 8.75136995e-04 1.09143343e+02] [ 1.97632954e-01 9.80276068e-01 2.14524912e-04 2.27724291e+01] [-9.00273068e-04 -3.73376445e-05 9.99999594e-01 -5.25729038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32105275400001 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:22.78, Z:-0.05 [[ 9.79889165e-01 -1.99540621e-01 8.75189634e-04 1.09204559e+02] [ 1.99540509e-01 9.79889555e-01 2.14309947e-04 2.27845598e+01] [-9.00352720e-04 -3.53642099e-05 9.99999594e-01 -5.42959864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38105275400001 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:109.26, Y:22.80, Z:-0.06 [[ 9.79678205e-01 -2.00573800e-01 8.75236200e-04 1.09263895e+02] [ 2.00573688e-01 9.79678595e-01 2.14119604e-04 2.27989771e+01] [-9.00396953e-04 -3.42189568e-05 9.99999594e-01 -6.01633531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44105275400001 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:22.81, Z:-0.06 [[ 9.78769952e-01 -2.04960030e-01 8.75278793e-04 1.09323962e+02] [ 2.04959921e-01 9.78770343e-01 2.13945351e-04 2.28138280e+01] [-9.00547170e-04 -3.00062086e-05 9.99999594e-01 -6.10580108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501052754 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:22.83, Z:-0.06 [[ 9.77167330e-01 -2.12469391e-01 8.75324405e-04 1.09382709e+02] [ 2.12469285e-01 9.77167722e-01 2.13758572e-04 2.28313163e+01] [-9.00755909e-04 -2.28983429e-05 9.99999594e-01 -6.38621940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561052754 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:22.84, Z:-0.06 [[ 9.75765960e-01 -2.18815046e-01 8.75366112e-04 1.09443097e+02] [ 2.18814942e-01 9.75766353e-01 2.13587639e-04 2.28448330e+01] [-9.00888988e-04 -1.68683624e-05 9.99999594e-01 -6.46468130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621052754 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:22.87, Z:-0.06 [[ 9.75709666e-01 -2.19065931e-01 8.75414711e-04 1.09501622e+02] [ 2.19065828e-01 9.75710058e-01 2.13388267e-04 2.28661230e+01] [-9.00897038e-04 -1.64315457e-05 9.99999594e-01 -5.56604977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.681052754 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:22.88, Z:-0.06 [[ 9.76560797e-01 -2.15239966e-01 8.75460132e-04 1.09563551e+02] [ 2.15239861e-01 9.76561189e-01 2.13201757e-04 2.28796468e+01] [-9.00829926e-04 -1.97705604e-05 9.99999594e-01 -5.77585189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74105275400001 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:22.89, Z:-0.06 [[ 9.78059109e-01 -2.08325736e-01 8.75516745e-04 1.09624174e+02] [ 2.08325629e-01 9.78059501e-01 2.12969018e-04 2.28938607e+01] [-9.00674398e-04 -2.59037122e-05 9.99999594e-01 -5.92053759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80105275400001 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:22.91, Z:-0.06 [[ 9.80507359e-01 -1.96480413e-01 8.75568808e-04 1.09684182e+02] [ 1.96480301e-01 9.80507749e-01 2.12754760e-04 2.29088029e+01] [-9.00304144e-04 -3.65755847e-05 9.99999594e-01 -5.87490871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.861052754 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:22.92, Z:-0.06 [[ 9.82707308e-01 -1.85163660e-01 8.75618135e-04 1.09744072e+02] [ 1.85163544e-01 9.82707697e-01 2.12551553e-04 2.29208658e+01] [-8.99833504e-04 -4.67434069e-05 9.99999594e-01 -6.04624685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921052754 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:22.93, Z:-0.06 [[ 9.84595219e-01 -1.74847044e-01 8.75663235e-04 1.09805783e+02] [ 1.74846924e-01 9.84595606e-01 2.12365590e-04 2.29333266e+01] [-8.99305669e-04 -5.59871217e-05 9.99999594e-01 -6.04038890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981052754 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:22.95, Z:-0.06 [[ 9.85211415e-01 -1.71340888e-01 8.75719613e-04 1.09865703e+02] [ 1.71340767e-01 9.85211803e-01 2.12132852e-04 2.29503208e+01] [-8.99116330e-04 -5.89492369e-05 9.99999594e-01 -5.61556871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.041052754 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:109.93, Y:22.97, Z:-0.06 [[ 9.84879927e-01 -1.73236146e-01 8.75768041e-04 1.09927583e+02] [ 1.73236026e-01 9.84880315e-01 2.11932735e-04 2.29651968e+01] [-8.99241114e-04 -5.70137215e-05 9.99999594e-01 -5.70314724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10105275400001 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:109.99, Y:22.98, Z:-0.06 [[ 9.84228560e-01 -1.76899335e-01 8.75823752e-04 1.09986480e+02] [ 1.76899217e-01 9.84228948e-01 2.11702256e-04 2.29802768e+01] [-8.99461078e-04 -5.34308706e-05 9.99999594e-01 -6.01402569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16105275400001 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:22.99, Z:-0.06 [[ 9.84597224e-01 -1.74835751e-01 8.75851193e-04 1.10045767e+02] [ 1.74835632e-01 9.84597612e-01 2.11588666e-04 2.29949815e+01] [-8.99354256e-04 -5.51996163e-05 9.99999594e-01 -6.26587017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.221052754 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:23.01, Z:-0.06 [[ 9.85436024e-01 -1.70044334e-01 8.75894917e-04 1.10106849e+02] [ 1.70044213e-01 9.85436411e-01 2.11407507e-04 2.30072013e+01] [-8.99087393e-04 -5.93877115e-05 9.99999594e-01 -6.48889204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.281052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:110.17, Y:23.02, Z:-0.06 [[ 9.85566089e-01 -1.69288855e-01 8.75941190e-04 1.10168692e+02] [ 1.69288734e-01 9.85566477e-01 2.11215607e-04 2.30214020e+01] [-8.99054721e-04 -5.98799648e-05 9.99999594e-01 -6.23343253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:110.23, Y:23.04, Z:-0.06 [[ 9.86764691e-01 -1.62156335e-01 8.75995994e-04 1.10227631e+02] [ 1.62156211e-01 9.86765078e-01 2.10988070e-04 2.30364853e+01] [-8.98615307e-04 -6.61473861e-05 9.99999594e-01 -6.05420050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401052754 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:110.29, Y:23.05, Z:-0.06 [[ 9.87504365e-01 -1.57589217e-01 8.76039779e-04 1.10289213e+02] [ 1.57589092e-01 9.87504751e-01 2.10806115e-04 2.30516907e+01] [-8.98314214e-04 -7.01176458e-05 9.99999594e-01 -6.22348214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46105275400001 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:110.35, Y:23.07, Z:-0.06 [[ 9.87392765e-01 -1.58286954e-01 8.76091554e-04 1.10349112e+02] [ 1.58286829e-01 9.87393151e-01 2.10590722e-04 2.30665308e+01] [-8.98380564e-04 -6.92620009e-05 9.99999594e-01 -6.08289418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52105275400001 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:23.08, Z:-0.06 [[ 9.85610046e-01 -1.69032746e-01 8.76132960e-04 1.10410706e+02] [ 1.69032625e-01 9.85610434e-01 2.10418315e-04 2.30820116e+01] [-8.99093372e-04 -5.92953512e-05 9.99999594e-01 -5.74344081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:23.10, Z:-0.06 [[ 9.84228984e-01 -1.76896977e-01 8.76188763e-04 1.10471164e+02] [ 1.76896859e-01 9.84229372e-01 2.10185693e-04 2.30973476e+01] [-8.99551930e-04 -5.18758112e-05 9.99999594e-01 -5.84997423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:110.53, Y:23.11, Z:-0.05 [[ 9.81776544e-01 -1.90036969e-01 8.76236835e-04 1.10530367e+02] [ 1.90036857e-01 9.81776934e-01 2.09985095e-04 2.31138767e+01] [-9.00174045e-04 -3.96411466e-05 9.99999594e-01 -5.06387794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701052754 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:23.13, Z:-0.06 [[ 9.82226946e-01 -1.87695123e-01 8.76247324e-04 1.10591843e+02] [ 1.87695010e-01 9.82227336e-01 2.09941315e-04 2.31262863e+01] [-9.00079036e-04 -4.17427661e-05 9.99999594e-01 -6.06788509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.761052754 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:23.14, Z:-0.06 [[ 9.84065479e-01 -1.77804288e-01 8.76296476e-04 1.10653235e+02] [ 1.77804172e-01 9.84065868e-01 2.09735956e-04 2.31407146e+01] [-8.99625404e-04 -5.05847450e-05 9.99999594e-01 -6.10382070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82105275400001 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:23.15, Z:-0.06 [[ 9.86634348e-01 -1.62947521e-01 8.76355617e-04 1.10713826e+02] [ 1.62947399e-01 9.86634736e-01 2.09488549e-04 2.31540581e+01] [-8.98778532e-04 -6.38887296e-05 9.99999594e-01 -5.63746169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88105275400001 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:23.17, Z:-0.05 [[ 9.89410782e-01 -1.45139712e-01 8.76407061e-04 1.10773146e+02] [ 1.45139583e-01 9.89411167e-01 2.09273108e-04 2.31658541e+01] [-8.97500772e-04 -7.98557140e-05 9.99999594e-01 -5.38538380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94105275400001 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:23.18, Z:-0.06 [[ 9.92178352e-01 -1.24825276e-01 8.76410694e-04 1.10834315e+02] [ 1.24825139e-01 9.92178734e-01 2.09257894e-04 2.31785920e+01] [-8.95676727e-04 -9.82230652e-05 9.99999594e-01 -5.51376732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001052754 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:23.19, Z:-0.05 [[ 9.94037179e-01 -1.09038149e-01 8.76459716e-04 1.10894679e+02] [ 1.09038006e-01 9.94037559e-01 2.09052366e-04 2.31916891e+01] [-8.94028560e-04 -1.12238404e-04 9.99999594e-01 -5.43141352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061052754 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:23.20, Z:-0.06 [[ 9.95407722e-01 -9.57219825e-02 8.76486152e-04 1.10954751e+02] [ 9.57218348e-02 9.95408101e-01 2.08941471e-04 2.32028564e+01] [-8.92461708e-04 -1.24083091e-04 9.99999594e-01 -5.62259723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121052754 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:23.22, Z:-0.06 [[ 9.95924910e-01 -9.01820701e-02 8.76530681e-04 1.11016206e+02] [ 9.01819206e-02 9.95925287e-01 2.08754499e-04 2.32170096e+01] [-8.91784983e-04 -1.28856585e-04 9.99999594e-01 -5.56664117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.181052754 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:23.23, Z:-0.06 [[ 9.95724308e-01 -9.23706336e-02 8.76585776e-04 1.11076731e+02] [ 9.23704851e-02 9.95724686e-01 2.08522892e-04 2.32296051e+01] [-8.92099488e-04 -1.26660659e-04 9.99999594e-01 -5.54991386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24105275400001 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:23.24, Z:-0.06 [[ 9.95206547e-01 -9.77914140e-02 8.76630683e-04 1.11136553e+02] [ 9.77912677e-02 9.95206926e-01 2.08333931e-04 2.32446717e+01] [-8.92802197e-04 -1.21608466e-04 9.99999594e-01 -5.99803625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30105275400001 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:23.26, Z:-0.06 [[ 9.93039431e-01 -1.17779116e-01 8.76664801e-04 1.11197501e+02] [ 1.17778978e-01 9.93039812e-01 2.08190263e-04 2.32589868e+01] [-8.95083515e-04 -1.03488457e-04 9.99999594e-01 -5.84164363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.361052754 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:23.28, Z:-0.06 [[ 9.90442192e-01 -1.37925691e-01 8.76712298e-04 1.11257481e+02] [ 1.37925561e-01 9.90442576e-01 2.07990056e-04 2.32753122e+01] [-8.97020360e-04 -8.50810918e-05 9.99999594e-01 -6.07984106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421052754 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:23.29, Z:-0.06 [[ 9.88763320e-01 -1.49486887e-01 8.76761390e-04 1.11316841e+02] [ 1.49486761e-01 9.88763705e-01 2.07782911e-04 2.32931995e+01] [-8.97970661e-04 -7.43839008e-05 9.99999594e-01 -5.62794499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.481052754 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:23.31, Z:-0.05 [[ 9.87574320e-01 -1.57150224e-01 8.76810889e-04 1.11378166e+02] [ 1.57150102e-01 9.87574707e-01 2.07573822e-04 2.33085209e+01] [-8.98536529e-04 -6.72036558e-05 9.99999594e-01 -5.48822850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.541052754 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:23.32, Z:-0.06 [[ 9.86989535e-01 -1.60782118e-01 8.76867393e-04 1.11440542e+02] [ 1.60781997e-01 9.86989922e-01 2.07334850e-04 2.33202679e+01] [-8.98795017e-04 -6.36528371e-05 9.99999594e-01 -5.88467191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60105275400001 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:23.33, Z:-0.06 [[ 9.88257688e-01 -1.52793892e-01 8.76923311e-04 1.11502521e+02] [ 1.52793768e-01 9.88258074e-01 2.07098076e-04 2.33334429e+01] [-8.98269864e-04 -7.06778489e-05 9.99999594e-01 -5.85425701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66105275400001 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:111.56, Y:23.35, Z:-0.06 [[ 9.90503913e-01 -1.37481744e-01 8.76979237e-04 1.11564461e+02] [ 1.37481614e-01 9.90504297e-01 2.06860982e-04 2.33477903e+01] [-8.97091311e-04 -8.43280907e-05 9.99999594e-01 -5.77657808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.721052754 meters Centerline goodness : 0.999975 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:23.36, Z:-0.06 [[ 9.92605613e-01 -1.21380923e-01 8.77034413e-04 1.11625068e+02] [ 1.21380787e-01 9.92605995e-01 2.06626785e-04 2.33609673e+01] [-8.95630166e-04 -9.86437791e-05 9.99999594e-01 -5.94494383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:23.38, Z:-0.06 [[ 9.94251970e-01 -1.07061902e-01 8.77083213e-04 1.11684246e+02] [ 1.07061761e-01 9.94252351e-01 2.06419429e-04 2.33755154e+01] [-8.94141703e-04 -1.11330851e-04 9.99999594e-01 -6.12233175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841052754 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:111.75, Y:23.39, Z:-0.06 [[ 9.94939751e-01 -1.00469506e-01 8.77127659e-04 1.11746219e+02] [ 1.00469362e-01 9.94940131e-01 2.06230397e-04 2.33890785e+01] [-8.93409374e-04 -1.17062363e-04 9.99999594e-01 -6.17032141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901052754 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:111.81, Y:23.40, Z:-0.06 [[ 9.95343401e-01 -9.63885055e-02 8.77179839e-04 1.11807262e+02] [ 9.63883607e-02 9.95343781e-01 2.06008216e-04 2.34029589e+01] [-8.92952321e-04 -1.20498991e-04 9.99999594e-01 -6.06648153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96105275400001 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:111.87, Y:23.42, Z:-0.06 [[ 9.95357192e-01 -9.62459913e-02 8.77228524e-04 1.11867863e+02] [ 9.62458466e-02 9.95357571e-01 2.05800692e-04 2.34175315e+01] [-8.92963545e-04 -1.20415597e-04 9.99999594e-01 -5.61886269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02105275400001 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:23.43, Z:-0.05 [[ 9.95189261e-01 -9.79671622e-02 8.77276715e-04 1.11928458e+02] [ 9.79670183e-02 9.95189641e-01 2.05595060e-04 2.34343101e+01] [-8.93198264e-04 -1.18661812e-04 9.99999594e-01 -5.26753767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:23.44, Z:-0.06 [[ 9.94572460e-01 -1.04042551e-01 8.77332137e-04 1.11991190e+02] [ 1.04042410e-01 9.94572840e-01 2.05358287e-04 2.34445146e+01] [-8.93936716e-04 -1.12963947e-04 9.99999594e-01 -5.70028583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141052754 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:23.46, Z:-0.06 [[ 9.94129103e-01 -1.08196840e-01 8.77387476e-04 1.12052957e+02] [ 1.08196700e-01 9.94129484e-01 2.05121582e-04 2.34577387e+01] [-8.94430266e-04 -1.08986904e-04 9.99999594e-01 -5.63995947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.201052754 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:23.47, Z:-0.06 [[ 9.94334863e-01 -1.06289273e-01 8.77443345e-04 1.12114571e+02] [ 1.06289133e-01 9.94335244e-01 2.04882313e-04 2.34724572e+01] [-8.94249635e-04 -1.10458934e-04 9.99999594e-01 -5.79622824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.261052754 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:112.18, Y:23.49, Z:-0.06 [[ 9.95105434e-01 -9.88150098e-02 8.77498432e-04 1.12175844e+02] [ 9.88148671e-02 9.95105814e-01 2.04646104e-04 2.34875105e+01] [-8.93425898e-04 -1.16934559e-04 9.99999594e-01 -5.79002694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32105275400001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:112.24, Y:23.50, Z:-0.05 [[ 9.95410221e-01 -9.56959839e-02 8.77552897e-04 1.12235991e+02] [ 9.56958402e-02 9.95410601e-01 2.04412285e-04 2.35010640e+01] [-8.93086891e-04 -1.19495916e-04 9.99999594e-01 -5.37093387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38105275400001 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:112.30, Y:23.51, Z:-0.05 [[ 9.95452101e-01 -9.52593531e-02 8.77596322e-04 1.12297617e+02] [ 9.52592093e-02 9.95452481e-01 2.04225679e-04 2.35135125e+01] [-8.93059842e-04 -1.19697750e-04 9.99999594e-01 -5.23723743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44105275400001 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:23.53, Z:-0.05 [[ 9.95157808e-01 -9.82861437e-02 8.77648983e-04 1.12360120e+02] [ 9.82860013e-02 9.95158189e-01 2.03999118e-04 2.35253567e+01] [-8.93449859e-04 -1.16750706e-04 9.99999594e-01 -4.99898741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.501052754 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:23.54, Z:-0.05 [[ 9.94687361e-01 -1.02938253e-01 8.77705171e-04 1.12421329e+02] [ 1.02938112e-01 9.94687742e-01 2.03757083e-04 2.35370924e+01] [-8.94016973e-04 -1.12325282e-04 9.99999594e-01 -4.87451402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.561052754 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:23.55, Z:-0.05 [[ 9.94340218e-01 -1.06239163e-01 8.77757102e-04 1.12482856e+02] [ 1.06239025e-01 9.94340600e-01 2.03533127e-04 2.35505780e+01] [-8.94412712e-04 -1.09129115e-04 9.99999594e-01 -4.99709849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621052754 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:112.54, Y:23.56, Z:-0.05 [[ 9.94404111e-01 -1.05639451e-01 8.77812038e-04 1.12543378e+02] [ 1.05639312e-01 9.94404492e-01 2.03295919e-04 2.35646424e+01] [-8.94376303e-04 -1.09426838e-04 9.99999594e-01 -5.44304469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.681052754 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:23.58, Z:-0.05 [[ 9.94373777e-01 -1.05924601e-01 8.77859591e-04 1.12603779e+02] [ 1.05924463e-01 9.94374158e-01 2.03090369e-04 2.35803830e+01] [-8.94433159e-04 -1.08960932e-04 9.99999594e-01 -5.46735273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74105275400001 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:23.59, Z:-0.06 [[ 9.93921689e-01 -1.10085898e-01 8.77907157e-04 1.12664287e+02] [ 1.10085762e-01 9.93922071e-01 2.02884546e-04 2.35947358e+01] [-8.94906027e-04 -1.05006272e-04 9.99999594e-01 -5.66780922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80105275400001 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:23.61, Z:-0.06 [[ 9.93162124e-01 -1.16739983e-01 8.77955352e-04 1.12724375e+02] [ 1.16739849e-01 9.93162508e-01 2.02675772e-04 2.36097258e+01] [-8.95612706e-04 -9.87975251e-05 9.99999594e-01 -5.74520727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861052754 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:23.63, Z:-0.06 [[ 9.92025949e-01 -1.26030733e-01 8.78004098e-04 1.12785771e+02] [ 1.26030603e-01 9.92026333e-01 2.02464380e-04 2.36261584e+01] [-8.96519921e-04 -9.01945334e-05 9.99999594e-01 -5.52030906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921052754 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:23.64, Z:-0.05 [[ 9.90893594e-01 -1.34644397e-01 8.78059571e-04 1.12846977e+02] [ 1.34644271e-01 9.90893980e-01 2.02223517e-04 2.36398748e+01] [-8.97292207e-04 -8.21562966e-05 9.99999594e-01 -5.24504099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:23.66, Z:-0.05 [[ 9.89727787e-01 -1.42962014e-01 8.78109064e-04 1.12907626e+02] [ 1.42961891e-01 9.89728173e-01 2.02008378e-04 2.36556472e+01] [-8.97968804e-04 -7.43971730e-05 9.99999594e-01 -5.05947266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:23.67, Z:-0.05 [[ 9.89058132e-01 -1.47523693e-01 8.78161363e-04 1.12968415e+02] [ 1.47523572e-01 9.89058520e-01 2.01780769e-04 2.36711063e+01] [-8.98320422e-04 -7.00234099e-05 9.99999594e-01 -5.23782851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:23.69, Z:-0.05 [[ 9.90050897e-01 -1.40706962e-01 8.78216621e-04 1.13028100e+02] [ 1.40706838e-01 9.90051284e-01 2.01539978e-04 2.36910181e+01] [-8.97837572e-04 -7.59637519e-05 9.99999594e-01 -5.12537944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16105275400001 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:23.71, Z:-0.05 [[ 9.91624362e-01 -1.29152443e-01 8.78265739e-04 1.13086956e+02] [ 1.29152315e-01 9.91624747e-01 2.01325708e-04 2.37131517e+01] [-8.96911748e-04 -8.62094233e-05 9.99999594e-01 -4.98748997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.221052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:23.73, Z:-0.05 [[ 9.91769405e-01 -1.28033887e-01 8.78317543e-04 1.13148045e+02] [ 1.28033759e-01 9.91769790e-01 2.01099447e-04 2.37256286e+01] [-8.96836349e-04 -8.69899826e-05 9.99999594e-01 -4.84323078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:23.74, Z:-0.05 [[ 9.91853135e-01 -1.27383621e-01 8.78365605e-04 1.13209756e+02] [ 1.27383492e-01 9.91853520e-01 2.00889304e-04 2.37383989e+01] [-8.96800024e-04 -8.73634073e-05 9.99999594e-01 -4.76823911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:23.75, Z:-0.05 [[ 9.92552858e-01 -1.21811545e-01 8.78420288e-04 1.13272341e+02] [ 1.21811415e-01 9.92553242e-01 2.00649908e-04 2.37491198e+01] [-8.96320380e-04 -9.21540221e-05 9.99999594e-01 -4.58086723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:23.76, Z:-0.04 [[ 9.94143655e-01 -1.08063043e-01 8.78476187e-04 1.13333762e+02] [ 1.08062907e-01 9.94144038e-01 2.00404875e-04 2.37568492e+01] [-8.94988224e-04 -1.04300545e-04 9.99999594e-01 -4.28359945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46105275400001 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:113.40, Y:23.77, Z:-0.05 [[ 9.94587836e-01 -1.03895451e-01 8.78507185e-04 1.13396615e+02] [ 1.03895314e-01 9.94588218e-01 2.00268896e-04 2.37655672e+01] [-8.94559923e-04 -1.07912227e-04 9.99999594e-01 -4.71290993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52105275400001 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:23.77, Z:-0.05 [[ 9.94751160e-01 -1.02319883e-01 8.78560725e-04 1.13459721e+02] [ 1.02319746e-01 9.94751542e-01 2.00033746e-04 2.37696300e+01] [-8.94417065e-04 -1.09089691e-04 9.99999594e-01 -5.21654767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:23.77, Z:-0.05 [[ 9.94472973e-01 -1.04989206e-01 8.78607425e-04 1.13524743e+02] [ 1.04989070e-01 9.94473356e-01 1.99828414e-04 2.37680209e+01] [-8.94731501e-04 -1.06479781e-04 9.99999594e-01 -5.37367053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641052754 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:23.77, Z:-0.05 [[ 9.94108988e-01 -1.08381496e-01 8.78661780e-04 1.13588536e+02] [ 1.08381361e-01 9.94109371e-01 1.99589125e-04 2.37714086e+01] [-8.95117677e-04 -1.03182783e-04 9.99999594e-01 -5.32210768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701052754 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:23.77, Z:-0.05 [[ 9.93755569e-01 -1.11575524e-01 8.78716752e-04 1.13653344e+02] [ 1.11575390e-01 9.93755952e-01 1.99346811e-04 2.37733244e+01] [-8.95472227e-04 -1.00058839e-04 9.99999594e-01 -5.29888704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.761052754 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:23.78, Z:-0.05 [[ 9.93622212e-01 -1.12756937e-01 8.78771130e-04 1.13716261e+02] [ 1.12756804e-01 9.93622596e-01 1.99106810e-04 2.37776754e+01] [-8.95617525e-04 -9.87495246e-05 9.99999594e-01 -5.01337125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82105275400001 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:23.78, Z:-0.05 [[ 9.93708553e-01 -1.11993481e-01 8.78821322e-04 1.13779334e+02] [ 1.11993348e-01 9.93708936e-01 1.98885025e-04 2.37805663e+01] [-8.95566427e-04 -9.92116081e-05 9.99999594e-01 -4.69063589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88105275400001 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:23.78, Z:-0.05 [[ 9.94311671e-01 -1.06506005e-01 8.78870619e-04 1.13843622e+02] [ 1.06505870e-01 9.94312054e-01 1.98666942e-04 2.37846839e+01] [-8.95030872e-04 -1.03931979e-04 9.99999594e-01 -4.60232771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94105275400001 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:23.79, Z:-0.04 [[ 9.95398764e-01 -9.58150677e-02 8.78925441e-04 1.13906251e+02] [ 9.58149292e-02 9.95399146e-01 1.98424107e-04 2.37873999e+01] [-8.93893652e-04 -1.13296932e-04 9.99999594e-01 -4.48241161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001052754 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:23.79, Z:-0.05 [[ 9.96012699e-01 -8.92072385e-02 8.78975903e-04 1.13970414e+02] [ 8.92070977e-02 9.96013079e-01 1.98200320e-04 2.37878394e+01] [-8.93152399e-04 -1.18999146e-04 9.99999594e-01 -4.68765432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061052754 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:114.03, Y:23.79, Z:-0.05 [[ 9.95603421e-01 -9.36645909e-02 8.79030635e-04 1.14034016e+02] [ 9.36644520e-02 9.95603802e-01 1.97957279e-04 2.37905699e+01] [-8.93707830e-04 -1.14753022e-04 9.99999594e-01 -4.71577878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121052754 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:114.10, Y:23.80, Z:-0.05 [[ 9.95389444e-01 -9.59118426e-02 8.79085810e-04 1.14096247e+02] [ 9.59117048e-02 9.95389826e-01 1.97711957e-04 2.37999799e+01] [-8.93995989e-04 -1.12485776e-04 9.99999594e-01 -4.72747437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.181052754 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:114.16, Y:23.80, Z:-0.05 [[ 9.94714406e-01 -1.02676571e-01 8.79140322e-04 1.14161010e+02] [ 1.02676436e-01 9.94714789e-01 1.97469265e-04 2.37982053e+01] [-8.94769347e-04 -1.06158528e-04 9.99999594e-01 -5.01150693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24105275400001 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:114.22, Y:23.81, Z:-0.05 [[ 9.94308161e-01 -1.06538759e-01 8.79194997e-04 1.14223699e+02] [ 1.06538625e-01 9.94308545e-01 1.97225536e-04 2.38053700e+01] [-8.95203262e-04 -1.02434733e-04 9.99999594e-01 -4.67262137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30105275400001 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:23.81, Z:-0.05 [[ 9.93576673e-01 -1.13157510e-01 8.79249473e-04 1.14285865e+02] [ 1.13157380e-01 9.93577057e-01 1.96982376e-04 2.38111290e+01] [-8.95892139e-04 -9.62235271e-05 9.99999594e-01 -5.10910147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361052754 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:23.82, Z:-0.05 [[ 9.92482199e-01 -1.22385912e-01 8.79299806e-04 1.14348912e+02] [ 1.22385786e-01 9.92482585e-01 1.96757441e-04 2.38199455e+01] [-8.96770083e-04 -8.76644605e-05 9.99999594e-01 -5.29709061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421052754 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:114.41, Y:23.83, Z:-0.05 [[ 9.90395120e-01 -1.38263274e-01 8.79352235e-04 1.14410690e+02] [ 1.38263154e-01 9.90395508e-01 1.96522845e-04 2.38340831e+01] [-8.98078395e-04 -7.30532532e-05 9.99999594e-01 -4.93917841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481052754 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:114.47, Y:23.85, Z:-0.05 [[ 9.89013301e-01 -1.47823940e-01 8.79404122e-04 1.14472699e+02] [ 1.47823823e-01 9.89013690e-01 1.96290386e-04 2.38457579e+01] [-8.98759133e-04 -6.41369230e-05 9.99999594e-01 -4.94604026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541052754 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:23.86, Z:-0.05 [[ 9.87699374e-01 -1.56362313e-01 8.79429342e-04 1.14532871e+02] [ 1.56362200e-01 9.87699764e-01 1.96177326e-04 2.38612816e+01] [-8.99286894e-04 -5.62547155e-05 9.99999594e-01 -5.18824423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60105275400001 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:23.88, Z:-0.05 [[ 9.86497973e-01 -1.63771110e-01 8.79483183e-04 1.14593154e+02] [ 1.63771000e-01 9.86498363e-01 1.95935656e-04 2.38828607e+01] [-8.99697320e-04 -4.92562870e-05 9.99999594e-01 -4.57144078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66105275400001 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:23.91, Z:-0.05 [[ 9.86956685e-01 -1.60983627e-01 8.79539321e-04 1.14651699e+02] [ 1.60983516e-01 9.86957076e-01 1.95683331e-04 2.39075199e+01] [-8.99569369e-04 -5.15396388e-05 9.99999594e-01 -4.73020361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721052754 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:23.94, Z:-0.04 [[ 9.88810563e-01 -1.49174048e-01 8.79574298e-04 1.14707955e+02] [ 1.49173933e-01 9.88810952e-01 1.95525988e-04 2.39386073e+01] [-8.98900102e-04 -6.21286046e-05 9.99999594e-01 -4.42065025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781052754 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:114.77, Y:23.97, Z:-0.04 [[ 9.91609310e-01 -1.29267949e-01 8.79624620e-04 1.14766300e+02] [ 1.29267827e-01 9.91609697e-01 1.95299339e-04 2.39671219e+01] [-8.97490247e-04 -7.99534799e-05 9.99999594e-01 -4.46065225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841052754 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:114.83, Y:23.99, Z:-0.05 [[ 9.93473157e-01 -1.14062754e-01 8.79677263e-04 1.14825010e+02] [ 1.14062626e-01 9.93473542e-01 1.95061934e-04 2.39940026e+01] [-8.96185387e-04 -9.34504969e-05 9.99999594e-01 -4.74176057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901052754 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:24.02, Z:-0.05 [[ 9.94343787e-01 -1.06205740e-01 8.79728869e-04 1.14883505e+02] [ 1.06205608e-01 9.94344171e-01 1.94828909e-04 2.40206210e+01] [-8.95445222e-04 -1.00294775e-04 9.99999594e-01 -4.51649622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96105275400001 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:24.04, Z:-0.05 [[ 9.94399638e-01 -1.05681530e-01 8.79779530e-04 1.14944914e+02] [ 1.05681398e-01 9.94400022e-01 1.94599873e-04 2.40357285e+01] [-8.95418397e-04 -1.00533712e-04 9.99999594e-01 -4.94417793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02105275400001 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:24.05, Z:-0.04 [[ 9.93616122e-01 -1.12810581e-01 8.79829500e-04 1.15005577e+02] [ 1.12810452e-01 9.93616508e-01 1.94373687e-04 2.40513123e+01] [-8.96140523e-04 -9.38788655e-05 9.99999594e-01 -4.27941460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08105275400001 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:115.07, Y:24.06, Z:-0.05 [[ 9.91969180e-01 -1.26476766e-01 8.79856241e-04 1.15066859e+02] [ 1.26476643e-01 9.91969567e-01 1.94252565e-04 2.40590776e+01] [-8.97359050e-04 -8.14112944e-05 9.99999594e-01 -4.63623362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141052754 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:24.06, Z:-0.05 [[ 9.89404814e-01 -1.45180367e-01 8.79881779e-04 1.15130242e+02] [ 1.45180252e-01 9.89405204e-01 1.94136819e-04 2.40632316e+01] [-8.98744465e-04 -6.43384453e-05 9.99999594e-01 -4.83011169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201052754 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:24.07, Z:-0.04 [[ 9.86824028e-01 -1.61794817e-01 8.79935401e-04 1.15192004e+02] [ 1.61794708e-01 9.86824419e-01 1.93893470e-04 2.40743135e+01] [-8.99712699e-04 -4.89698437e-05 9.99999594e-01 -4.36979659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261052754 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:24.09, Z:-0.04 [[ 9.85463243e-01 -1.69886496e-01 8.79990009e-04 1.15253262e+02] [ 1.69886390e-01 9.85463636e-01 1.93645310e-04 2.40858885e+01] [-9.00095877e-04 -4.13320090e-05 9.99999594e-01 -4.41931217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32105275400001 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:24.10, Z:-0.05 [[ 9.85253232e-01 -1.71100247e-01 8.80040509e-04 1.15313975e+02] [ 1.71100143e-01 9.85253624e-01 1.93415538e-04 2.41025711e+01] [-9.00156547e-04 -3.99882275e-05 9.99999594e-01 -4.70794911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38105275400001 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:24.13, Z:-0.05 [[ 9.85219262e-01 -1.71295741e-01 8.80095425e-04 1.15372645e+02] [ 1.71295636e-01 9.85219655e-01 1.93165327e-04 2.41251321e+01] [-9.00175709e-04 -3.95536948e-05 9.99999594e-01 -4.70192177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44105275400001 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:24.15, Z:-0.05 [[ 9.84977766e-01 -1.72678970e-01 8.80146057e-04 1.15432672e+02] [ 1.72678867e-01 9.84978158e-01 1.92934353e-04 2.41457403e+01] [-9.00240347e-04 -3.80534242e-05 9.99999594e-01 -4.87755125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501052754 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:24.17, Z:-0.05 [[ 9.84731998e-01 -1.74075036e-01 8.80199590e-04 1.15491928e+02] [ 1.74074933e-01 9.84732390e-01 1.92689816e-04 2.41721029e+01] [-9.00303533e-04 -3.65271426e-05 9.99999594e-01 -4.70338100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561052754 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:24.20, Z:-0.04 [[ 9.85348868e-01 -1.70548627e-01 8.80254106e-04 1.15550122e+02] [ 1.70548523e-01 9.85349260e-01 1.92440451e-04 2.41994748e+01] [-9.00178186e-04 -3.94949428e-05 9.99999594e-01 -4.43999057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621052754 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:24.22, Z:-0.05 [[ 9.87226770e-01 -1.59318958e-01 8.80309016e-04 1.15608596e+02] [ 1.59318850e-01 9.87227161e-01 1.92188939e-04 2.42235304e+01] [-8.99684312e-04 -4.94842454e-05 9.99999594e-01 -4.58333431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.681052754 meters Centerline goodness : 0.999883 with order 1 Centerline is valid? [True, True] Translation: X:115.67, Y:24.25, Z:-0.04 [[ 9.89342522e-01 -1.45604252e-01 8.80359673e-04 1.15666487e+02] [ 1.45604139e-01 9.89342912e-01 1.91956612e-04 2.42510171e+01] [-8.98927302e-04 -6.17268271e-05 9.99999594e-01 -4.39216641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:24.27, Z:-0.05 [[ 9.91006725e-01 -1.33809178e-01 8.80408784e-04 1.15726601e+02] [ 1.33809060e-01 9.91007113e-01 1.91731100e-04 2.42721634e+01] [-8.98146748e-04 -7.22001375e-05 9.99999594e-01 -4.63103930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:24.29, Z:-0.05 [[ 9.92008737e-01 -1.26166120e-01 8.80461951e-04 1.15786122e+02] [ 1.26165999e-01 9.92009125e-01 1.91486637e-04 2.42912100e+01] [-8.97585415e-04 -7.88720550e-05 9.99999594e-01 -4.81424755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:24.31, Z:-0.05 [[ 9.92426294e-01 -1.22838414e-01 8.80507594e-04 1.15846445e+02] [ 1.22838292e-01 9.92426681e-01 1.91276529e-04 2.43081175e+01] [-8.97335334e-04 -8.16678079e-05 9.99999594e-01 -4.93550113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:115.91, Y:24.32, Z:-0.05 [[ 9.92211588e-01 -1.24560783e-01 8.80555737e-04 1.15909080e+02] [ 1.24560662e-01 9.92211976e-01 1.91054641e-04 2.43195461e+01] [-8.97495863e-04 -7.98840238e-05 9.99999594e-01 -5.11521266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:24.33, Z:-0.05 [[ 9.91479049e-01 -1.30263270e-01 8.80608023e-04 1.15970135e+02] [ 1.30263151e-01 9.91479437e-01 1.90813336e-04 2.43337626e+01] [-8.97960717e-04 -7.44766489e-05 9.99999594e-01 -4.91566749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:116.03, Y:24.35, Z:-0.05 [[ 9.90952736e-01 -1.34208420e-01 8.80660745e-04 1.16032007e+02] [ 1.34208303e-01 9.90953125e-01 1.90569700e-04 2.43476996e+01] [-8.98269575e-04 -7.06535814e-05 9.99999594e-01 -4.63422239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10105275400001 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:24.36, Z:-0.05 [[ 9.90405200e-01 -1.38191039e-01 8.80712713e-04 1.16094567e+02] [ 1.38190924e-01 9.90405590e-01 1.90329227e-04 2.43593214e+01] [-8.98564588e-04 -6.67965522e-05 9.99999594e-01 -4.90926922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:24.37, Z:-0.05 [[ 9.89703580e-01 -1.43129480e-01 8.80764548e-04 1.16155158e+02] [ 1.43129367e-01 9.89703970e-01 1.90089052e-04 2.43741203e+01] [-8.98903517e-04 -6.20685425e-05 9.99999594e-01 -4.97539920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:116.22, Y:24.39, Z:-0.05 [[ 9.89017524e-01 -1.47795676e-01 8.80781772e-04 1.16215443e+02] [ 1.47795565e-01 9.89017914e-01 1.90009212e-04 2.43861923e+01] [-8.99191491e-04 -5.77468010e-05 9.99999594e-01 -5.01928102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281052754 meters Centerline goodness : 0.994911 with order 1 Centerline is valid? [True, True] Translation: X:116.28, Y:24.40, Z:-0.05 [[ 9.88295089e-01 -1.52551768e-01 8.80826427e-04 1.16276563e+02] [ 1.52551659e-01 9.88295480e-01 1.89801979e-04 2.43993175e+01] [-8.99471404e-04 -5.32088309e-05 9.99999594e-01 -5.24503404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341052754 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:116.34, Y:24.42, Z:-0.04 [[ 9.86362087e-01 -1.64587536e-01 8.80887729e-04 1.16336684e+02] [ 1.64587433e-01 9.86362480e-01 1.89517045e-04 2.44154410e+01] [-9.00066748e-04 -4.19493784e-05 9.99999594e-01 -4.49677330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.40, Y:24.42, Z:-0.05 [[ 9.84372652e-01 -1.76095727e-01 8.80949000e-04 1.16398233e+02] [ 1.76095628e-01 9.84373046e-01 1.89231801e-04 2.44228646e+01] [-9.00505362e-04 -3.11433417e-05 9.99999594e-01 -4.89763512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46105275400001 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:116.46, Y:24.44, Z:-0.05 [[ 9.81448969e-01 -1.91721528e-01 8.80995098e-04 1.16458266e+02] [ 1.91721436e-01 9.81449365e-01 1.89016942e-04 2.44409413e+01] [-9.00890696e-04 -1.66048377e-05 9.99999594e-01 -4.76417347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:24.46, Z:-0.04 [[ 9.80087006e-01 -1.98566575e-01 8.81041624e-04 1.16518542e+02] [ 1.98566485e-01 9.80087402e-01 1.88799827e-04 2.44592505e+01] [-9.00987131e-04 -1.00949192e-05 9.99999594e-01 -4.26493611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:24.48, Z:-0.04 [[ 9.78849890e-01 -2.04577900e-01 8.81059069e-04 1.16578581e+02] [ 2.04577813e-01 9.78850286e-01 1.88718384e-04 2.44780121e+01] [-9.01032532e-04 -4.48183195e-06 9.99999594e-01 -4.42905399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.641052754 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:24.50, Z:-0.05 [[ 9.77847694e-01 -2.09315815e-01 8.81076715e-04 1.16637088e+02] [ 2.09315730e-01 9.77848091e-01 1.88635962e-04 2.44977939e+01] [-9.01043674e-04 -3.40248200e-08 9.99999594e-01 -4.59497219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:24.51, Z:-0.05 [[ 9.78025285e-01 -2.08484449e-01 8.81122481e-04 1.16698469e+02] [ 2.08484363e-01 9.78025682e-01 1.88421945e-04 2.45141593e+01] [-9.01043461e-04 -5.81166683e-07 9.99999594e-01 -4.55823419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.761052754 meters Centerline goodness : 0.999927 with order 1 Centerline is valid? [True, True] Translation: X:116.76, Y:24.53, Z:-0.04 [[ 9.78962058e-01 -2.04040466e-01 8.81175521e-04 1.16760098e+02] [ 2.04040380e-01 9.78962455e-01 1.88173573e-04 2.45284909e+01] [-9.01032774e-04 -4.41940074e-06 9.99999594e-01 -4.17936023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:24.54, Z:-0.04 [[ 9.81574830e-01 -1.91076102e-01 8.81228188e-04 1.16821312e+02] [ 1.91076011e-01 9.81575225e-01 1.87926605e-04 2.45391743e+01] [-9.00900040e-04 -1.60824586e-05 9.99999594e-01 -4.01542350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:24.55, Z:-0.04 [[ 9.87209677e-01 -1.59424833e-01 8.81276679e-04 1.16884206e+02] [ 1.59424729e-01 9.87210069e-01 1.87698932e-04 2.45481669e+01] [-8.99929082e-04 -4.48009072e-05 9.99999594e-01 -4.19239487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94105275400001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.95, Y:24.56, Z:-0.04 [[ 9.89999883e-01 -1.41065428e-01 8.81328952e-04 1.16946750e+02] [ 1.41065317e-01 9.90000273e-01 1.87453164e-04 2.45559990e+01] [-8.98959064e-04 -6.12536622e-05 9.99999594e-01 -4.31328247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001052754 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.01, Y:24.56, Z:-0.04 [[ 9.91154568e-01 -1.32709626e-01 8.81381532e-04 1.17010202e+02] [ 1.32709512e-01 9.91154958e-01 1.87205611e-04 2.45631268e+01] [-8.98429662e-04 -6.85819838e-05 9.99999594e-01 -4.26216111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061052754 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:117.07, Y:24.57, Z:-0.05 [[ 9.91210564e-01 -1.32290745e-01 8.81434113e-04 1.17073710e+02] [ 1.32290631e-01 9.91210953e-01 1.86957712e-04 2.45657807e+01] [-8.98419923e-04 -6.87089839e-05 9.99999594e-01 -4.60803390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121052754 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:117.14, Y:24.57, Z:-0.05 [[ 9.90725079e-01 -1.35878774e-01 8.81479282e-04 1.17136390e+02] [ 1.35878661e-01 9.90725469e-01 1.86744504e-04 2.45711497e+01] [-8.98678589e-04 -6.52382385e-05 9.99999594e-01 -4.73736127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.181052754 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:24.57, Z:-0.05 [[ 9.90070568e-01 -1.40568465e-01 8.81524390e-04 1.17199583e+02] [ 1.40568354e-01 9.90070959e-01 1.86531331e-04 2.45737756e+01] [-8.98992120e-04 -6.07647483e-05 9.99999594e-01 -4.59027348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24105275400001 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:24.58, Z:-0.04 [[ 9.90140681e-01 -1.40073748e-01 8.81570058e-04 1.17261937e+02] [ 1.40073638e-01 9.90141071e-01 1.86315249e-04 2.45784322e+01] [-8.98976597e-04 -6.09935829e-05 9.99999594e-01 -4.18916166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30105275400001 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:24.58, Z:-0.04 [[ 9.90660413e-01 -1.36349435e-01 8.81616093e-04 1.17324811e+02] [ 1.36349323e-01 9.90660803e-01 1.86097162e-04 2.45829484e+01] [-8.98756750e-04 -6.41513336e-05 9.99999594e-01 -4.11573543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361052754 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:24.58, Z:-0.04 [[ 9.91375456e-01 -1.31049335e-01 8.81661543e-04 1.17387843e+02] [ 1.31049222e-01 9.91375845e-01 1.85881586e-04 2.45839460e+01] [-8.98417616e-04 -6.87373832e-05 9.99999594e-01 -4.16460542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421052754 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:24.59, Z:-0.04 [[ 9.92016766e-01 -1.26102969e-01 8.81709431e-04 1.17451696e+02] [ 1.26102853e-01 9.92017155e-01 1.85654154e-04 2.45854290e+01] [-8.98082422e-04 -7.29859579e-05 9.99999594e-01 -3.75500699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481052754 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:24.58, Z:-0.04 [[ 9.92659384e-01 -1.20940357e-01 8.81763714e-04 1.17516035e+02] [ 1.20940240e-01 9.92659773e-01 1.85395980e-04 2.45817635e+01] [-8.97713224e-04 -7.73943441e-05 9.99999594e-01 -3.77695516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541052754 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:117.58, Y:24.58, Z:-0.04 [[ 9.93467967e-01 -1.14107936e-01 8.81814321e-04 1.17581085e+02] [ 1.14107816e-01 9.93468355e-01 1.85154960e-04 2.45772047e+01] [-8.97182273e-04 -8.33236148e-05 9.99999594e-01 -3.62012424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60105275400001 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:117.65, Y:24.57, Z:-0.04 [[ 9.93828091e-01 -1.10927671e-01 8.81867380e-04 1.17645898e+02] [ 1.10927551e-01 9.93828478e-01 1.84901903e-04 2.45710204e+01] [-8.96935654e-04 -8.59373168e-05 9.99999594e-01 -3.93217749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66105275400001 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:24.56, Z:-0.04 [[ 9.93633736e-01 -1.12655315e-01 8.81916354e-04 1.17712354e+02] [ 1.12655195e-01 9.93634124e-01 1.84668018e-04 2.45623377e+01] [-8.97106018e-04 -8.41399137e-05 9.99999594e-01 -4.19208356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.721052754 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:24.55, Z:-0.04 [[ 9.93502960e-01 -1.13802859e-01 8.81967479e-04 1.17777617e+02] [ 1.13802740e-01 9.93503348e-01 1.84423520e-04 2.45539221e+01] [-8.97225568e-04 -8.28549972e-05 9.99999594e-01 -4.14901359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.781052754 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:24.55, Z:-0.04 [[ 9.93073935e-01 -1.17487793e-01 8.82013690e-04 1.17842761e+02] [ 1.17487675e-01 9.93074324e-01 1.84202249e-04 2.45504677e+01] [-8.97546665e-04 -7.93007139e-05 9.99999594e-01 -4.10952554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.841052754 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:24.54, Z:-0.04 [[ 9.92575285e-01 -1.21628636e-01 8.82068579e-04 1.17907503e+02] [ 1.21628520e-01 9.92575674e-01 1.83939036e-04 2.45438046e+01] [-8.97892068e-04 -7.52886452e-05 9.99999594e-01 -4.00677084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901052754 meters Centerline goodness : 0.996664 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:24.54, Z:-0.04 [[ 9.91529638e-01 -1.29877634e-01 8.82115699e-04 1.17971391e+02] [ 1.29877521e-01 9.91530028e-01 1.83712783e-04 2.45438089e+01] [-8.98504385e-04 -6.75896682e-05 9.99999594e-01 -4.32392377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96105275400001 meters Centerline goodness : 0.996198 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:24.55, Z:-0.04 [[ 9.91063083e-01 -1.33391103e-01 8.82162805e-04 1.18034239e+02] [ 1.33390992e-01 9.91063474e-01 1.83486305e-04 2.45490897e+01] [-8.98754775e-04 -6.41739316e-05 9.99999594e-01 -4.31256353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02105275400001 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:24.55, Z:-0.04 [[ 9.90978733e-01 -1.34016317e-01 8.82213383e-04 1.18097951e+02] [ 1.34016207e-01 9.90979123e-01 1.83242804e-04 2.45537095e+01] [-8.98812570e-04 -6.33588300e-05 9.99999594e-01 -3.98438985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08105275400001 meters Centerline goodness : 0.995741 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:24.56, Z:-0.04 [[ 9.91645000e-01 -1.28993859e-01 8.82267384e-04 1.18161448e+02] [ 1.28993747e-01 9.91645390e-01 1.82982431e-04 2.45565152e+01] [-8.98499994e-04 -6.76466373e-05 9.99999594e-01 -4.07154231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.141052754 meters Centerline goodness : 0.994983 with order 1 Centerline is valid? [True, True] Translation: X:118.22, Y:24.56, Z:-0.04 [[ 9.92620312e-01 -1.21260620e-01 8.82321718e-04 1.18224356e+02] [ 1.21260506e-01 9.92620701e-01 1.82720059e-04 2.45603516e+01] [-8.97967551e-04 -7.43808644e-05 9.99999594e-01 -4.03977739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.201052754 meters Centerline goodness : 0.995295 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:24.56, Z:-0.04 [[ 9.93264674e-01 -1.15864184e-01 8.82355150e-04 1.18288248e+02] [ 1.15864067e-01 9.93265063e-01 1.82558473e-04 2.45638879e+01] [-8.97564532e-04 -7.90956265e-05 9.99999594e-01 -3.89968908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.261052754 meters Centerline goodness : 0.995026 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:24.56, Z:-0.04 [[ 9.93467828e-01 -1.14109137e-01 8.82409317e-04 1.18352155e+02] [ 1.14109020e-01 9.93468217e-01 1.82296280e-04 2.45635052e+01] [-8.97447282e-04 -8.04146272e-05 9.99999594e-01 -3.58571316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32105275400001 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:118.42, Y:24.57, Z:-0.03 [[ 9.93502488e-01 -1.13806978e-01 8.82458927e-04 1.18416103e+02] [ 1.13806861e-01 9.93502876e-01 1.82055812e-04 2.45660555e+01] [-8.97444704e-04 -8.04430214e-05 9.99999594e-01 -3.46339414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38105275400001 meters Centerline goodness : 0.995799 with order 1 Centerline is valid? [True, True] Translation: X:118.48, Y:24.57, Z:-0.04 [[ 9.93736058e-01 -1.11749129e-01 8.82511396e-04 1.18480298e+02] [ 1.11749011e-01 9.93736447e-01 1.81801110e-04 2.45668107e+01] [-8.97299855e-04 -8.20425424e-05 9.99999594e-01 -4.04485996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44105275400001 meters Centerline goodness : 0.996225 with order 1 Centerline is valid? [True, True] Translation: X:118.54, Y:24.57, Z:-0.04 [[ 9.93613845e-01 -1.12830617e-01 8.82563963e-04 1.18544633e+02] [ 1.12830500e-01 9.93614234e-01 1.81545560e-04 2.45663224e+01] [-8.97412014e-04 -8.08060491e-05 9.99999594e-01 -4.16480824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501052754 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:118.61, Y:24.57, Z:-0.04 [[ 9.93284739e-01 -1.15692040e-01 8.82616259e-04 1.18608737e+02] [ 1.15691924e-01 9.93285128e-01 1.81290957e-04 2.45666187e+01] [-8.97663525e-04 -7.79619674e-05 9.99999594e-01 -4.08590788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.561052754 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:118.67, Y:24.57, Z:-0.04 [[ 9.92677725e-01 -1.20789713e-01 8.82635765e-04 1.18672731e+02] [ 1.20789600e-01 9.92678115e-01 1.81195941e-04 2.45707086e+01] [-8.98059813e-04 -7.32559543e-05 9.99999594e-01 -3.92316803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.621052754 meters Centerline goodness : 0.997519 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:24.57, Z:-0.04 [[ 9.91818156e-01 -1.27655654e-01 8.82658893e-04 1.18736816e+02] [ 1.27655543e-01 9.91818547e-01 1.81083209e-04 2.45725181e+01] [-8.98553756e-04 -6.69253133e-05 9.99999594e-01 -3.67938472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.681052754 meters Centerline goodness : 0.997481 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:24.57, Z:-0.04 [[ 9.90418300e-01 -1.38097108e-01 8.82678936e-04 1.18800309e+02] [ 1.38097002e-01 9.90418692e-01 1.80985457e-04 2.45745690e+01] [-8.99215286e-04 -5.73559938e-05 9.99999594e-01 -3.83779779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74105275400001 meters Centerline goodness : 0.997703 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:24.58, Z:-0.04 [[ 9.89514778e-01 -1.44428960e-01 8.82698635e-04 1.18863526e+02] [ 1.44428856e-01 9.89515171e-01 1.80889329e-04 2.45815936e+01] [-8.99569348e-04 -5.15055103e-05 9.99999594e-01 -3.56258227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80105275400001 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:118.92, Y:24.59, Z:-0.03 [[ 9.90289730e-01 -1.39016080e-01 8.82718905e-04 1.18924342e+02] [ 1.39015974e-01 9.90290122e-01 1.80790359e-04 2.45912902e+01] [-8.99280580e-04 -5.63228073e-05 9.99999594e-01 -3.34185969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.861052754 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:24.60, Z:-0.03 [[ 9.91852133e-01 -1.27391393e-01 8.82736049e-04 1.18984025e+02] [ 1.27391283e-01 9.91852524e-01 1.80706617e-04 2.46024668e+01] [-8.98564445e-04 -6.67813659e-05 9.99999594e-01 -2.80641027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.921052754 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:119.05, Y:24.61, Z:-0.03 [[ 9.92495887e-01 -1.22274834e-01 8.82748808e-04 1.19045127e+02] [ 1.22274721e-01 9.92496277e-01 1.80644265e-04 2.46144964e+01] [-8.98213153e-04 -7.13508257e-05 9.99999594e-01 -2.69211679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.981052754 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:119.11, Y:24.62, Z:-0.03 [[ 9.91987196e-01 -1.26335364e-01 8.82761282e-04 1.19106693e+02] [ 1.26335253e-01 9.91987586e-01 1.80583289e-04 2.46233317e+01] [-8.98502289e-04 -6.76124408e-05 9.99999594e-01 -2.54755420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.041052754 meters Centerline goodness : 0.998038 with order 1 Centerline is valid? [True, True] Translation: X:119.17, Y:24.63, Z:-0.03 [[ 9.91491307e-01 -1.30169926e-01 8.82773840e-04 1.19169473e+02] [ 1.30169817e-01 9.91491697e-01 1.80521875e-04 2.46297926e+01] [-8.98761453e-04 -6.40753609e-05 9.99999594e-01 -3.11759930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10105275400001 meters Centerline goodness : 0.997514 with order 1 Centerline is valid? [True, True] Translation: X:119.23, Y:24.65, Z:-0.02 [[ 9.90688377e-01 -1.36146101e-01 8.82796966e-04 1.19230044e+02] [ 1.36145994e-01 9.90688768e-01 1.80408713e-04 2.46472323e+01] [-8.99138982e-04 -5.85395442e-05 9.99999594e-01 -2.35190679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16105275400001 meters Centerline goodness : 0.997973 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:24.66, Z:-0.02 [[ 9.90144858e-01 -1.40044213e-01 8.82817319e-04 1.19289872e+02] [ 1.40044108e-01 9.90145250e-01 1.80309064e-04 2.46620346e+01] [-8.99368616e-04 -5.48987290e-05 9.99999594e-01 -2.19607598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221052754 meters Centerline goodness : 0.996954 with order 1 Centerline is valid? [True, True] Translation: X:119.35, Y:24.68, Z:-0.03 [[ 9.89812551e-01 -1.42373928e-01 8.82833441e-04 1.19349869e+02] [ 1.42373824e-01 9.89812943e-01 1.80230093e-04 2.46775109e+01] [-8.99500032e-04 -5.27016354e-05 9.99999594e-01 -2.54017477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281052754 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:119.41, Y:24.69, Z:-0.03 [[ 9.90472544e-01 -1.37707516e-01 8.82850317e-04 1.19409871e+02] [ 1.37707410e-01 9.90472936e-01 1.80147389e-04 2.46941781e+01] [-8.99246995e-04 -5.68560126e-05 9.99999594e-01 -2.87572795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.341052754 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:119.47, Y:24.70, Z:-0.04 [[ 9.93242126e-01 -1.16057308e-01 8.82867616e-04 1.19471940e+02] [ 1.16057193e-01 9.93242516e-01 1.80062571e-04 2.46977672e+01] [-8.97799229e-04 -7.63825934e-05 9.99999594e-01 -4.38067554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.401052754 meters Centerline goodness : 0.995295 with order 1 Centerline is valid? [True, True] Translation: X:119.53, Y:24.73, Z:-0.03 [[ 9.92137445e-01 -1.25149956e-01 8.82874267e-04 1.19526260e+02] [ 1.25149845e-01 9.92137835e-01 1.80029954e-04 2.47326914e+01] [-8.98463704e-04 -6.81228805e-05 9.99999594e-01 -2.70963226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46105275400001 meters Centerline goodness : 0.995944 with order 1 Centerline is valid? [True, True] Translation: X:119.59, Y:24.75, Z:-0.03 [[ 9.92282498e-01 -1.23994614e-01 8.82877473e-04 1.19587955e+02] [ 1.23994503e-01 9.92282889e-01 1.80014228e-04 2.47462095e+01] [-8.98385004e-04 -6.91530144e-05 9.99999594e-01 -2.87783218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52105275400001 meters Centerline goodness : 0.995851 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:24.77, Z:-0.03 [[ 9.91862329e-01 -1.27311982e-01 8.82914445e-04 1.19647520e+02] [ 1.27311872e-01 9.91862720e-01 1.79832708e-04 2.47656899e+01] [-8.98624781e-04 -6.59637978e-05 9.99999594e-01 -2.55732078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58105275400001 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:119.71, Y:24.78, Z:-0.02 [[ 9.92122030e-01 -1.25272096e-01 8.82948591e-04 1.19708926e+02] [ 1.25271985e-01 9.92122421e-01 1.79664901e-04 2.47809799e+01] [-8.98500092e-04 -6.76407832e-05 9.99999594e-01 -2.47323957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.641052754 meters Centerline goodness : 0.995721 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:24.80, Z:-0.03 [[ 9.92379802e-01 -1.23213425e-01 8.82967712e-04 1.19768423e+02] [ 1.23213313e-01 9.92380193e-01 1.79570880e-04 2.47982548e+01] [-8.98365212e-04 -6.94091374e-05 9.99999594e-01 -2.73063426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701052754 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:24.81, Z:-0.02 [[ 9.93214524e-01 -1.16293290e-01 8.82992168e-04 1.19829338e+02] [ 1.16293176e-01 9.93214914e-01 1.79450545e-04 2.48120206e+01] [-8.97869884e-04 -7.55469235e-05 9.99999594e-01 -2.42903842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.761052754 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:24.82, Z:-0.07 [[ 9.94090033e-01 -1.08555177e-01 8.83005670e-04 1.19889108e+02] [ 1.08555060e-01 9.94090422e-01 1.79384081e-04 2.48243805e+01] [-8.97260550e-04 -8.24691938e-05 9.99999594e-01 -6.55589993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82105275400001 meters Centerline goodness : 0.994755 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:24.83, Z:-0.06 [[ 9.95305156e-01 -9.67825740e-02 8.83006215e-04 1.19949246e+02] [ 9.67824525e-02 9.95305543e-01 1.79381399e-04 2.48264562e+01] [-8.96221974e-04 -9.30797241e-05 9.99999594e-01 -6.15792309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88105275400001 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:24.85, Z:-0.06 [[ 9.94670192e-01 -1.03103969e-01 8.83007700e-04 1.20006886e+02] [ 1.03103850e-01 9.94670581e-01 1.79374088e-04 2.48455571e+01] [-8.96795962e-04 -8.73765644e-05 9.99999594e-01 -6.04405902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94105275400001 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:24.86, Z:-0.06 [[ 9.92907093e-01 -1.18889547e-01 8.83012172e-04 1.20066061e+02] [ 1.18889434e-01 9.92907483e-01 1.79352073e-04 2.48567347e+01] [-8.98072480e-04 -7.30991279e-05 9.99999594e-01 -6.21991953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1432.41 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%| | 0/4166 [00:00